CN209239473U - Large complicated carved blade intelligence milling grinding and polishing multi robot processing system - Google Patents

Large complicated carved blade intelligence milling grinding and polishing multi robot processing system Download PDF

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Publication number
CN209239473U
CN209239473U CN201822070413.3U CN201822070413U CN209239473U CN 209239473 U CN209239473 U CN 209239473U CN 201822070413 U CN201822070413 U CN 201822070413U CN 209239473 U CN209239473 U CN 209239473U
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CN
China
Prior art keywords
blade
robot
heavily loaded
polishing
milling
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Expired - Fee Related
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CN201822070413.3U
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Chinese (zh)
Inventor
李峥
尤于朋
顾守宽
杨彤
王智勇
金丰铁
高君成
房晓
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Shenyang Yuanda Intelligent Hi Tech Robot Co Ltd
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Shenyang Yuanda Intelligent Hi Tech Robot Co Ltd
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Priority to CN201822070413.3U priority Critical patent/CN209239473U/en
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Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing systems, it uses symmetrical layout to make two heavily loaded six-joint robot work compounds, every heavily loaded six-joint robot changes processing stations by linear movement modified gear and rotation modified gear, by vision system, positioning and the calculating of processing capacity are carried out to blade.The utility model fundamentally solves the problems, such as that blade weakness zone existing for existing large complicated carved blade forming technology, overlapping region cannot achieve lathe milling, the grinding and polishing of artificial type face forms, be repeatedly loaded and repeatedly Surface inspection is reprocessed, it only needs to carry out blade clamped one time positioning during milling grinding and polishing operation and on-line checking type face function is provided, in the case where guaranteeing machining accuracy, greatly reduce human assistance, significantly improve blade forming efficiency, securely and reliably, high-efficiency environment friendly.

Description

Large complicated carved blade intelligence milling grinding and polishing multi robot processing system
Technical field
The utility model relates to a kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing systems, belong to work Industry intelligent robot milling grinding-polishing manufacture field.
Background technique
With the development of new and high technology, complex-curved application is also more and more extensive, and application depends primarily on two sides Face: on the one hand it is the needs of mechanical characteristic and function, equipment is made to meet specific performance requirement, this requires product type faces to reach High-precision mathematical feature;On the other hand it is the needs of external aesthetical effect, meets the needs of people are to product shape.It is complicated bent The development and realization in face, and depend on complex-curved designing technique and manufacturing technology.Complex-curved practical application is very extensive, If propeller blade, car body external form and engine turbine blade are complex-curved.
There are the spies such as Surface inspection difficulty, milling grinding and polishing process complexity for the milling polishing processing of large complicated carved blade Point.The country there is no the mature automated arm and technique for supporting this series parts milling polishing processing at present, adopt always for a long time With lathe milling partial blade, human assistance milling remainder, and to the method that blade carries out grinding and polishing.The method efficiency Low, large labor intensity, grinding and polishing quality are difficult to ensure and dust pollution is serious.
Mobile manipulator is a complicated multiple-input and multiple-output, time-varying, the nonlinear system of close coupling, manipulator+view Feel that guidance detection+off-line programing+power control technology+modified gear has been increasingly becoming the research hotspot of robot field, it is domestic Outer enterprise puts into a large amount of capital and carries out research practice, to capture the commanding elevation of industrial robot field.Based on this, state at present It is inside and outside also to exist for utilization mobile manipulator (industrial robot) completion to the research of the operations for forming of large complicated carved blade It carries out steadily.
CN107931682A discloses a kind of robot of milling marine propeller blade, however, the robot lacks type Face detection device and edge cutter device, and the list for using vertical processing method that its clamped one time is made only to be able to achieve blade again Side processing, secondary clamping bring position error, seriously affect machining accuracy;It is more that CN107511745A discloses a kind of blade processing Intelligent robot work compound equipment, but the equipment is only applicable to the polishing processing of small-sized single blade.
To sum up, existing curved surface blade face forming technique adds mainly for the part tracking of the polishing processing, large-scale blade of blade Work etc., and there is no systematic technical solution in terms of large-scale blade milling grinding and polishing detects operation.
Summary of the invention
The purpose of this utility model is to provide for a kind of large complicated carved blade intelligence milling grinding and polishing multirobot work Industry system solves large complicated carved blade milling problem, greatly reduces human assistance, avoids and is repeatedly loaded and multiple type Error caused by face is detected only needs in milling grinding and polishing operation process to carry out blade clamped one time positioning and provides on-line checking type Face function significantly improves blade forming efficiency, securely and reliably, high-efficiency environment friendly in the case where guaranteeing machining accuracy.
The technical solution of the utility model is:
A kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including activity bases, heavy duty six Axis robot, blade installing mechanism, robot control cabinet and main power control cabinet, are characterized in that: opening in the middle part of the activity bases Equipped with the melt pit for disappearing blade-section blade to be processed, the blade installing mechanism is rotation modified gear and the rotation Modified gear includes for installing the horizontal rotating shaft of blade to be processed, being arranged in melt pit side and the bed of support level shaft one end Head case, the tailstock case for being arranged in the melt pit other side and the support level shaft other end, the melt pit two sides are separately symmetrically arranged with straight line Mobile modified gear, each linear movement modified gear top is respectively arranged a heavily loaded six-joint robot, so that leaf to be processed The blade two sides of piece are respectively disposed with heavily loaded six-joint robot, and the arm front end of the heavy duty six-joint robot is respectively equipped with power control Detection device and fast replacing device, the corresponding linear movement position of the modified gear far from melt pit side in activity bases top are set respectively There are the tool rack for disposing power tool and the tool magazine for disposing all kinds of cutters of milling grinding and polishing, heavily loaded six-joint robot point Not Pei Zhiyou vision system, the vision system includes the view of industrial personal computer, PLC system and responsible blade different location scanning work Feel detection device, the robot control cabinet, tool magazine, tool rack, linear movement modified gear, rotation modified gear, power control Detection device and vision system are electrically connected with main power control cabinet respectively.
Above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system, the vision inspection apparatus are Intelligent laser camera, quantity is three, wherein two intelligent laser cameras are fixed on the arm front end of uniform machinery people, Ling Yitai It is placed in tool rack.
Sand is arranged in the tool rack in above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system Band machine, intelligent laser camera, plasma cut tool, milling damping device and high-speed milling electro spindle, heavily loaded six-joint robot After carrying out crawl using arm front end fast replacing device to realize that function switch, heavily loaded six-joint robot grab electro spindle, utilize Quick-changing mechanism grabs the cutter in tool magazine.
Above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system, the linear movement positioner Structure is made of slide unit and ram, and the heavy duty six-joint robot is mounted on ram, and ram is followed to move along a straight line on slide unit.
Above-mentioned large complicated carved blade intelligence milling grinding and polishing multi robot processing system is laid out, i.e., using symmetrical expression Heavily loaded six-joint robot, linear movement modified gear are arranged symmetrically in blade two sides, and quantity is two heavily loaded six-joint robots, two Platform moves linearly modified gear or four heavily loaded six-joint robots, four linear movement modified gears, four robots two-by-two one Group is distributed in the horizontal rotating shaft two sides of blade.
The beneficial effects of the utility model are:
1, it is laid out using two or four heavily loaded six-joint robots and corresponding auxiliary facility symmetrical expression, blade is added using horizontal The method of work, two Tai Huositai robots, which can assist, to be done or processes simultaneously to blade, improves processing efficiency, and improve Weakness zone cannot achieve the problem of automation milling because of vibration problems, realize the integration of milling grinding and polishing process, and change The interference problem being apt to during blade processing.
2, the integration that positioning, processing compensation calibration and Surface inspection are realized by vision system, avoids secondary dress The inaccurate problem in position is clamped, only needs to carry out clamped one time positioning to blade during milling grinding and polishing operation, and pass through knot It closes off-line programing system and power control detection device ensure that the machining accuracy of blade surface, ensure that the quality of finished surface.
3, it is moved linearly using high-precision linear movement modified gear band mobile robot, using rotation modified gear band movable vane Piece rotation, processing of the auxiliary robot to large-scale blade different location at least shorten 50% compared to processing method traditional at present Activity duration, reduce by 80% human assistance, significantly improve blade forming efficiency, securely and reliably, high-efficiency environment friendly.
4, robot is realized by fast replacing device and quick-changing mechanism to cut electro spindle, belt sander, damping device, plasma The automatic replacement for cutting tool and cutter, further improves operating efficiency.
In order to be further understood that the feature and technology contents of the utility model, please refer to practical new below in connection with this The detailed description and accompanying drawings of type, however, the drawings only provide reference and explanation, is not used to limit the utility model.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model;
Fig. 2 is the portion I enlarged drawing in Fig. 1;
Fig. 3 is the functional block diagram of the utility model operational method.
In figure: 1. heavily loaded six-joint robots, 2. linear movement modified gears, 3. rotation modified gears, 4. power controls detection dress Set, 5. vision inspection apparatus, 6. robot control cabinets, 7. main power control cabinets, 8. tool magazines, 9. tool racks, 10. cutter controllers, 11. blade to be processed, 12. fast replacing devices, 13. activity bases, 14. melt pits, 15. milling electro spindles.
Specific embodiment
The preferred embodiment of the utility model is described in detail with reference to the accompanying drawing, so that the advantages of the utility model It can be easier to be readily appreciated by one skilled in the art with feature, to make the protection scope of the utility model apparent clear Define.
As shown in Figure 1, the large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including activity bases 13, heavily loaded six-joint robot 1, blade installing mechanism, robot control cabinet 6 and main power control cabinet 7.Wherein, the activity bases 13 Middle part offers the melt pit 14 for disappearing 11 part blade of blade to be processed, and the blade installing mechanism is rotation modified gear 3 and the rotation modified gear 3 include for installing the horizontal rotating shaft of blade 11 to be processed, being arranged in 14 side of melt pit and branch It supports the headstock of horizontal rotating shaft one end, be arranged in the tailstock case of 14 other side of melt pit and the support level shaft other end.Describedly It cheats 14 two sides and is separately symmetrically arranged with linear movement modified gear 2, the quantity of the heavy duty six-joint robot 1 is two and symmetrical cloth It is placed in two linear movement modified gears, 2 top, two heavily loaded six-joint robots 1 are located at the blade two sides of blade 11 to be processed, The arm front end of the heavy duty six-joint robot 1 is respectively equipped with power control detection device 4 and fast replacing device 12.The activity bases 13 The corresponding two linear movement modified gears in top are respectively provided with the tool rack 9 of placement power tool far from the position of melt pit side With for disposing the tool magazine 8 of all kinds of cutters of milling grinding and polishing.Two heavily loaded six-joint robots 1 are each configured with vision system, institute Vision system is stated to be made of industrial personal computer, PLC system and the vision inspection apparatus 5 of responsible blade different location scanning work.It is described Robot control cabinet 6, tool magazine 8, tool rack 9, linear movement modified gear 2, rotation modified gear 3, power control detection device 4 and Vision system is electrically connected with main power control cabinet 7 respectively.
In the present embodiment, the vision inspection apparatus 5 is intelligent laser camera, and quantity is three, wherein two laser intelligence Energy camera is fixed on the arm front end (being symmetrically set in two sides) of robot, and another is placed in tool rack 9.
The power control detection device 4 is force snesor.In the tool rack 9 be arranged belt sander, intelligent laser camera, etc. from Sub- cutting tool, milling damping device and high-speed milling electro spindle 15 (being furnished with quick-changing mechanism in front end), heavily loaded 1 benefit of six-joint robot After carrying out crawl with arm front end fast replacing device 12 to realize that function switch, the heavy duty six-joint robot 1 grab electro spindle, The cutter in tool magazine is grabbed using quick-changing mechanism.
The linear movement modified gear 2 is made of slide unit and ram, and the heavy duty six-joint robot 1 is mounted on ram On, follow ram to move along a straight line on slide unit.Blade 11 to be processed be mounted on horizontal rotating shaft after in headstock or tailstock case Driving mechanism function under occur rotary motion, when specific works, blade to be processed presses the Surface inspection knot of vision inspection apparatus Fruit and process planning subregion change blade angular displacement, and headstock is equipped with high-precision rotary encoder and carries out angle feed-back, rotation Certain angle after-vision detection device carries out Surface inspection again, is processed to obtain corresponding processing of robots track.
The cutter controller 10 being electrically connected with plasma cut tool, the cutter controller are additionally provided on activity bases 13 10 are electrically connected with main power control cabinet 7.
The operational method of the large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including walk as follows It is rapid:
The first step is assembled by large complicated carved leaf blade hanging above activity bases 13 and with rotation modified gear 3.
Second step, using symmetric configuration in 1 work compound of heavily loaded six-joint robot of large complicated carved blade two sides, root Cutting operation, milling operation and grinding and polishing operation are successively carried out to large complicated carved blade according to the planning of process decision system, In cutting operation, milling operation and grinding and polishing operation process, ideal shape that heavily loaded six-joint robot 1 is formulated according to off-line programing system Processing of robots track is run under state, changes processing stations by linear movement modified gear 2 and rotation modified gear 3, simultaneously It is calibrated and compensated according to the blade profile testing result of vision system.
Wherein, to the robot interference problem being related in processing of robots blade process and added using off-line programing system Work area domain partitioning problem is emulated, and determines the corresponding linear movement modified gear 2 of processing stations and rotation modified gear 3 Position and robot pose, thus make in process process ideal blade model processing of robots track.
By the vision system, positioning and the calculating of processing capacity are carried out to blade, i.e., cutting operation, milling operation and In grinding and polishing operation process, blade is scanned using vision inspection apparatus 5, identifies that the surface characteristics of blade, scan data are logical It crosses ethernet communication and is transmitted to industrial personal computer, scan data is handled by the image processing software in industrial personal computer, is calculated To the offset and processing capacity of blade, then in conjunction with the processing of robots track that off-line programing system under ideal model is formulated, really Determine the final control program of robot, be calibrated and compensated with realizing, finally main power control cabinet 7 is according to the final control program of robot Heavily loaded six-joint robot 1 is guided to process blade.
Milling operation process specifically:
1), heavily loaded six-joint robot 1 is by linear movement modified gear 2, and before being automatically moved into tool magazine 8, tool magazine 8 is certainly It is dynamic to open tool magazine door, required floating cutter arbor and milling cutter are replaced by fast replacing device 12, then return to Milling Process station.
2), large complicated carved blade is processed by each blade subregion, rotation modified gear 3 revolves blade to be processed Heavily loaded 1 machining area of six-joint robot is gone to calculate to be added using the characteristic point of intelligent laser camera scanning blade to be processed Position of the work blade under robot coordinate system, then go to compare with these characteristic points and the characteristic point in master pattern, it calculates The transformation relation of position in practical blade to be processed and theoretical model carries out the cutter track in theoretical model according to the transformation relation Evolution makes it carry out Milling Process along practical blade to be processed.
3), when Milling Process, power control detection device 4 feeds back milling cutter pressure, and heavily loaded six-joint robot 1 is in entire machining locus Milling cutter and blade constant pressure to be processed are kept using floating cutter arbor in the process.
4), when Milling Process, heavily loaded six-joint robot 1 controls Milling Speed, and electro spindle controls the revolving speed of milling cutter.
5), after the completion of milling, the two sides robot of symmetric configuration utilizes intelligent laser camera scanning blade again, obtains table Face point cloud data judges whether that there are also machining allowance, to machined paddle with machined blade thickness is calculated according to these data Leaf thickness reaches setting thickness, and rotation modified gear 3 is rotated with movable vane piece to next blade to be processed, until completing blade Milling Process.
During milling blade edge weakness zone, the robot of side utilizes milling damping device in blade two sides Blade is gripped, other side robot carries out milling operation;Or Liang Ge robot simultaneously milling operation, with offset blade vibration It is dynamic.
When cutting operation, robot is coupled with plasma cutting machines by quick-changing mechanism, by process decision system and Vision system generates robotic cutting track, carries out cutting operation to blade edge.
When grinding, polishing operation, robot is coupled by quick-changing mechanism with grinding, polishing tool, passes through process decision system System and vision system generate robot grinding and polishing track, carry out grinding and polishing operation to blade surface.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to It is any to be familiar with those skilled in the art within the technical scope disclosed by the utility model in this, can readily occur in variation or Replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model is answered described with right It is required that protection scope subject to.

Claims (5)

1. a kind of large complicated carved blade intelligence milling grinding and polishing multi robot processing system, including activity bases, heavily loaded six axis Robot, blade installing mechanism, robot control cabinet and main power control cabinet, it is characterised in that: offered in the middle part of the activity bases For disappearing the melt pit of blade-section blade to be processed, the blade installing mechanism is rotation modified gear and the rotation conjugates Mechanism includes for installing the horizontal rotating shaft of blade to be processed, being arranged in melt pit side and the head of a bed of support level shaft one end Case, the tailstock case for being arranged in the melt pit other side and the support level shaft other end, the melt pit two sides are separately symmetrically arranged with straight line shifting Dynamic modified gear, each linear movement modified gear top is respectively arranged a heavily loaded six-joint robot, so that blade to be processed Blade two sides be respectively disposed with heavily loaded six-joint robot, the arm front end of the heavy duty six-joint robot is respectively equipped with power control inspection Device and fast replacing device are surveyed, corresponding linear movement modified gear is respectively equipped with far from the position of melt pit side above the activity bases Tool magazine for disposing the tool rack of power tool and for disposing all kinds of cutters of milling grinding and polishing, heavily loaded six-joint robot difference Configured with vision system, the vision system includes the vision of industrial personal computer, PLC system and responsible blade different location scanning work Detection device, the robot control cabinet, tool magazine, tool rack, linear movement modified gear, rotation modified gear, power control inspection It surveys device and vision system is electrically connected with main power control cabinet respectively.
2. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature Be: the vision inspection apparatus be intelligent laser camera, quantity be three, wherein two intelligent laser cameras be fixed on it is same The arm front end of robot, another is placed in tool rack.
3. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature It is: belt sander, intelligent laser camera, plasma cut tool, milling damping device and High Speed Milling Operation is set in the tool rack Electro spindle is cut, heavily loaded six-joint robot carries out crawl using arm front end fast replacing device to realize function switch, heavily loaded six axis After robot grabs electro spindle, the cutter in tool magazine is grabbed using quick-changing mechanism.
4. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature Be: the linear movement modified gear is made of slide unit and ram, and the heavy duty six-joint robot is mounted on ram, is followed Ram moves along a straight line on slide unit.
5. large complicated carved blade intelligence milling grinding and polishing multi robot processing system according to claim 1, feature Be: using symmetrical layout, i.e., heavily loaded six-joint robot, linear movement modified gear are arranged symmetrically in blade two sides, quantity Become for two heavily loaded six-joint robots, two linear movement modified gears or four heavily loaded six-joint robots, four linear movements Position mechanism, four robots in pairs, are distributed in the horizontal rotating shaft two sides of blade.
CN201822070413.3U 2018-12-11 2018-12-11 Large complicated carved blade intelligence milling grinding and polishing multi robot processing system Expired - Fee Related CN209239473U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111958328A (en) * 2020-07-22 2020-11-20 中国空气动力研究与发展中心设备设计与测试技术研究所 Workpiece machining control method, device and system
CN111983976A (en) * 2020-07-22 2020-11-24 无锡中车时代智能装备有限公司 Robot milling and grinding control method, device and system for wind tunnel component
CN114643513A (en) * 2022-05-19 2022-06-21 潍坊科技学院 Grinding and polishing device for fan blades and working method of grinding and polishing device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111958328A (en) * 2020-07-22 2020-11-20 中国空气动力研究与发展中心设备设计与测试技术研究所 Workpiece machining control method, device and system
CN111983976A (en) * 2020-07-22 2020-11-24 无锡中车时代智能装备有限公司 Robot milling and grinding control method, device and system for wind tunnel component
CN114643513A (en) * 2022-05-19 2022-06-21 潍坊科技学院 Grinding and polishing device for fan blades and working method of grinding and polishing device

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190813

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