CN212239993U - New Precision Compound Six-axis Linkage CNC Machine Tool - Google Patents

New Precision Compound Six-axis Linkage CNC Machine Tool Download PDF

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CN212239993U
CN212239993U CN202020465028.3U CN202020465028U CN212239993U CN 212239993 U CN212239993 U CN 212239993U CN 202020465028 U CN202020465028 U CN 202020465028U CN 212239993 U CN212239993 U CN 212239993U
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axis
seat
machine tool
tool
linear guide
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罗熙淳
赵茂俞
姜海
徐强
甄冒发
秦强
蒋克荣
蒙争争
戴淮初
田一鸣
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Hefei University
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Abstract

本实用新型的目的是设计一种新型精密复合六轴联动的数控机床,刀座安装在滑座上,且刀座相对于滑座在铅垂面内摆动,床身设置有驱动滑座上下运动的Z轴驱动装置以及沿X向、Y向运动的X轴驱动装置和Y轴驱动装置,所述的床身上还设有旋转加工平台,旋转加工平台上设置有夹持工件并使之回转和定位的夹持机构,旋转加工平台的回转中心与Z向一致、夹持机构的回转中心与X向一致。由于Z、X和Y轴驱动装置的设置,刀座上的刀具可以移动到操作区域的任意位置,夹持机构和旋转加工平台均可任意旋转,实现工件的回转运动,再加之刀座可在铅垂面内摆动,从而实现六轴联动的加工方式,能够适应不同复杂曲面结构零件的加工,满足工件的高精度加工。

Figure 202020465028

The purpose of this utility model is to design a novel precision composite six-axis linkage CNC machine tool. The tool seat is installed on the sliding seat, and the tool seat swings in the vertical plane relative to the sliding seat, and the bed is provided with a driving sliding seat to move up and down. The Z-axis drive device and the X-axis drive device and the Y-axis drive device that move along the X and Y directions, the bed is also provided with a rotary machining platform, and the rotary machining platform is provided with a workpiece that clamps and rotates and rotates. For the positioning clamping mechanism, the rotation center of the rotary machining platform is consistent with the Z direction, and the rotation center of the clamping mechanism is consistent with the X direction. Due to the setting of the Z, X and Y axis drive devices, the tool on the tool holder can be moved to any position in the operation area, the clamping mechanism and the rotary machining platform can be rotated arbitrarily to realize the rotary motion of the workpiece, and the tool holder can be Swing in the vertical plane, so as to realize the processing method of six-axis linkage, which can adapt to the processing of parts with different complex surface structures and meet the high-precision processing of workpieces.

Figure 202020465028

Description

新型精密复合六轴联动的数控机床New Precision Compound Six-axis Linkage CNC Machine Tool

技术领域technical field

本实用新型涉及机床精密加工技术领域,特别是一种新型精密复合六轴联动的数控机床。The utility model relates to the technical field of machine tool precision machining, in particular to a novel precision composite six-axis linkage numerically controlled machine tool.

背景技术Background technique

代表机床制造业最高境界是五轴联动以上的精密数控机床,它在工业生产中占有非常重要的作用。随着机械加工向集成化、高速化、高精度、多轴联动的方向发展,多轴数控加工已成为现代制造技术的主流。传统的三、四轴数控机床加工自适应性低,工序集中、一机多用功能不强,复杂曲面的加工难以实现,加工表面质量不稳定。Representing the highest state of the machine tool manufacturing industry is the precision CNC machine tool with more than five-axis linkage, which plays a very important role in industrial production. With the development of machining in the direction of integration, high speed, high precision and multi-axis linkage, multi-axis CNC machining has become the mainstream of modern manufacturing technology. The traditional three- and four-axis CNC machine tools have low processing adaptability, concentrated processes, weak multi-purpose functions, difficult to process complex curved surfaces, and unstable surface quality.

实用新型内容Utility model content

本实用新型的目的是提供一种功能齐全且加工精度高的新型精密复合六轴联动的数控机床。The purpose of the utility model is to provide a novel precision compound six-axis linkage numerical control machine tool with complete functions and high machining accuracy.

为了实现上述目的,本实用新型采用的技术方案为:一种新型精密复合六轴联动的数控机床,床身上设置装夹刀具的刀座,刀座安装在滑座上,且刀座相对于滑座在铅垂面内摆动,床身设置有驱动滑座上下运动的Z轴驱动装置,以及沿X向、Y向运动的X轴驱动装置和Y轴驱动装置,所述的床身上还设有旋转加工平台,旋转加工平台上设置有用于夹持工件并使之回转和定位的夹持机构,旋转加工平台的回转中心与Z向一致、夹持机构的回转中心与X向一致。In order to achieve the above purpose, the technical scheme adopted by the present invention is as follows: a new type of precision composite six-axis linkage CNC machine tool, a tool holder for clamping a tool is arranged on the bed, the tool holder is installed on a sliding seat, and the tool holder is opposite to the sliding seat. The seat swings in the vertical plane, and the bed is provided with a Z-axis driving device that drives the sliding seat to move up and down, as well as an X-axis driving device and a Y-axis driving device that move along the X and Y directions. The bed is also provided with The rotary processing platform is provided with a clamping mechanism for clamping the workpiece, rotating and positioning it. The rotation center of the rotary processing platform is consistent with the Z direction, and the rotation center of the clamping mechanism is consistent with the X direction.

上述方案中,由于Z轴驱动装置、X轴驱动装置和Y轴驱动装置的设置,刀座上的刀具可以移动到操作区域的任意位置,工件装夹在夹持机构上,夹持机构和旋转加工平台均可任意旋转,实现工件的回转运动,再加之刀座可在铅垂面内摆动,从而实现六轴联动的数控加工方式,能够适应不同复杂曲面结构零件的加工,对工件的加工精度高。In the above scheme, due to the settings of Z-axis drive device, X-axis drive device and Y-axis drive device, the tool on the tool holder can be moved to any position in the operation area, the workpiece is clamped on the clamping mechanism, the clamping mechanism and rotation The machining platform can be rotated arbitrarily to realize the rotary motion of the workpiece, and the tool holder can swing in the vertical plane, so as to realize the CNC machining method of six-axis linkage, which can adapt to the machining of parts with different complex surface structures, and improve the machining accuracy of the workpiece. high.

附图说明Description of drawings

图1为机床的整体结构示意图;Figure 1 is a schematic diagram of the overall structure of the machine tool;

图2为刀座上安装车刀架的结构示意图;Figure 2 is a schematic diagram of the structure of the tool holder installed on the tool holder;

图3为刀座上安装电主轴的结构示意图;Fig. 3 is the structural schematic diagram of the electric spindle installed on the tool holder;

图4为图1的俯视图;Fig. 4 is the top view of Fig. 1;

图5为图3的部分结构示意图;Fig. 5 is the partial structure schematic diagram of Fig. 3;

图6为刀具库的安装结构图;Fig. 6 is the installation structure diagram of the tool magazine;

图7为底座的结构示意图。FIG. 7 is a schematic view of the structure of the base.

具体实施方式Detailed ways

下面结合图1-图7对本实用新型作进一步详细论述。The present utility model will be discussed in further detail below with reference to FIGS. 1 to 7 .

一种新型精密复合六轴联动的数控机床,床身10上设置装夹刀具的刀座20,刀座20安装在滑座31上,且刀座20相对于滑座31在铅垂面内摆动(即绕图中的B轴转动),床身10设置有驱动滑座31上下运动的Z轴驱动装置以及沿X向、Y向运动的X轴驱动装置和Y轴驱动装置,所述的床身10上还设有旋转加工平台40,旋转加工平台40上设置有用于夹持工件并使之回转和定位的夹持机构50,旋转加工平台40的回转中心(即图中所示的C轴)与Z向一致、夹持机构50的回转中心(即图中所示的A轴)与X向一致。由于Z轴驱动装置、X轴驱动装置和Y轴驱动装置的设置,刀座20可以移动到操作区域的任意位置,也就是说刀座20上安装的刀具可以移动到操作区域的任何位置对待加工工件进行加工;夹持机构50和旋转加工平台40均可任意旋转,实现工件的回转运动,待加工工件只需一次装夹即可实现正反面及各个部位的加工,误差小,加工精度高,同时也提高了生产效率;再加之在待加工工件不需要从夹持机构50上多次拆装的情况下,通过在刀座20上安装不同的刀具,例如车刀、磨头、铣刀等,对工件进行全方位的加工,误差小,加工精度高,同时也提高了生产效率。本申请中的数控机床采用X、Y、Z三个直线轴和A、B、C三个转动轴构成的六轴联动的数控加工方式,工序集成度高、复合度高,能够适应不同复杂曲面结构零件的加工,能保证工件的加工精度高。A new type of precision composite six-axis linkage CNC machine tool, the bed 10 is provided with a tool holder 20 for clamping tools, the tool holder 20 is mounted on a sliding seat 31, and the tool holder 20 swings relative to the sliding seat 31 in a vertical plane (that is, rotating around the B-axis in the figure), the bed 10 is provided with a Z-axis driving device that drives the sliding seat 31 to move up and down, and an X-axis driving device and a Y-axis driving device that move along the X and Y directions. The body 10 is also provided with a rotary processing platform 40, and the rotary processing platform 40 is provided with a clamping mechanism 50 for clamping the workpiece and rotating and positioning it. ) coincides with the Z direction, and the rotation center of the clamping mechanism 50 (ie, the A axis shown in the figure) coincides with the X direction. Due to the arrangement of the Z-axis driving device, the X-axis driving device and the Y-axis driving device, the tool holder 20 can be moved to any position in the operation area, that is to say, the tool installed on the tool holder 20 can be moved to any position in the operation area to be processed The workpiece is processed; the clamping mechanism 50 and the rotary processing platform 40 can be freely rotated to realize the rotary motion of the workpiece. The workpiece to be processed can be processed on the front and back and various parts with only one clamping. The error is small and the machining accuracy is high. At the same time, the production efficiency is also improved; in addition, when the workpiece to be processed does not need to be disassembled and assembled from the clamping mechanism 50 for many times, different tools, such as turning tools, grinding heads, milling cutters, etc., can be installed on the tool holder 20 , the workpiece is processed in all directions, the error is small, the processing precision is high, and the production efficiency is also improved. The CNC machine tool in this application adopts a six-axis linkage CNC machining method consisting of three linear axes of X, Y, and Z and three rotating axes of A, B, and C, which has high process integration and high compounding degree, and can adapt to different complex curved surfaces. The machining of structural parts can ensure high machining accuracy of the workpiece.

进一步的,所述的Y轴驱动装置包括设有旋转加工平台40两侧的箱体61,箱体61的上端面设置有第一直线导轨62,第一直线导轨62的长度方向与Y向平行,第一直线导轨62与第一滑块63构成滑动配合,横梁64的两端分别与两个箱体61上的第一滑块63固接,横梁64上设置有第二直线导轨65,第二直线导轨65的长度方向与X向平行,第二直线导轨65上设置有第二滑块66,第二滑块66上设置有与Z向平行的第三直线导轨67,所述的滑座31与第三直线导轨67构成滑动配合。将横梁64设置在两个箱体61上方并随着第一滑块63同步动作。因此,能承受XYZ方向的外载荷重载的高抗弯力,减小了X轴和Y轴间的扭转误差,保证了该数控机床在加工时的刚度和精度。三个直线导轨采用精密滚动导轨,可以承受径向、法向的荷载,具有刚抗弯和高刚度的性能。Further, the Y-axis drive device includes a box body 61 provided with two sides of the rotary processing platform 40, the upper end surface of the box body 61 is provided with a first linear guide rail 62, and the length direction of the first linear guide rail 62 is the same as that of the Y axis. The first linear guide rail 62 and the first sliding block 63 form a sliding fit, the two ends of the beam 64 are respectively fixed with the first sliding block 63 on the two boxes 61, and the transverse beam 64 is provided with a second linear guide rail 65, the length direction of the second linear guide 65 is parallel to the X direction, the second linear guide 65 is provided with a second sliding block 66, and the second sliding block 66 is provided with a third linear guide 67 parallel to the Z direction. The sliding seat 31 and the third linear guide 67 form a sliding fit. The cross beam 64 is arranged above the two boxes 61 and moves synchronously with the first sliding block 63 . Therefore, the high bending resistance that can withstand the heavy external load in the XYZ direction reduces the torsional error between the X axis and the Y axis, and ensures the rigidity and precision of the CNC machine tool during processing. The three linear guides adopt precision rolling guides, which can bear radial and normal loads, and have the performance of rigid bending resistance and high rigidity.

刀座20包括固定在滑座31上的固定座21,固定座21中部设置有与固定座21构成径向转动配合、轴向限位配合的旋转座22,旋转座22的端部连接有用于连接车刀刀架23或电主轴刀架24,力矩电机机构驱动旋转座22摆动带动车刀刀架23或电主轴刀架24在铅垂面内摆动。旋转座22的摆动角度为-170°—+170°。对于车刀来说刀架如图2所示。对于铣刀、磨头等来说,刀架如图3所示,因此车刀刀架23或电主轴刀架24可更换地安装在旋转座22上,并相对于滑座31在铅垂面内摆动,实现数控机床五轴或六轴联动的运动,能加工不同复杂件的加工,具有工序集中,加工效率高,反复装夹定位误差极小的优点。在必要时(即刀具是磨、铣削刀具时),驱动机构可以驱动旋转座21带动刀具在铅垂面内摆动(-170°—+170°),使铣刀或磨头能够避开顶点切削和切削干涉,保证刀具切削点具有一定的线速度,可有效地提高工件表面的加工精度和表面粗糙度。The tool seat 20 includes a fixed seat 21 fixed on the sliding seat 31. The middle of the fixed seat 21 is provided with a rotary seat 22 that forms a radial rotation fit and an axial limit fit with the fixed seat 21. The end of the rotary seat 22 is connected with a The turning tool rest 23 or the electric spindle tool rest 24 is connected, and the torque motor mechanism drives the rotary base 22 to swing to drive the turning tool rest 23 or the electric spindle tool rest 24 to swing in the vertical plane. The swing angle of the rotating base 22 is -170°-+170°. For turning tools, the tool holder is shown in Figure 2. For milling cutters, grinding heads, etc., the tool holder is shown in FIG. 3 , so the turning tool holder 23 or the electric spindle tool holder 24 is replaceably installed on the rotary seat 22 and is in the vertical plane relative to the sliding seat 31 Swing, realize the five-axis or six-axis linkage movement of CNC machine tools, and can process different complex parts. It has the advantages of concentrated process, high processing efficiency, and minimal positioning error of repeated clamping. When necessary (that is, when the tool is a grinding or milling tool), the driving mechanism can drive the rotary seat 21 to drive the tool to swing in the vertical plane (-170°—+170°), so that the milling cutter or grinding head can avoid the vertex cutting Interfering with cutting to ensure that the cutting point of the tool has a certain linear speed, which can effectively improve the machining accuracy and surface roughness of the workpiece surface.

为了方便的更换刀具,箱体61上固定有防护板71,防护板71的板面位于铅锤面内,防护板71上设置有气缸72,气缸72的上方设置有刀具库73,气缸72动作将刀具在刀具库73与电主轴刀架24之间转运。In order to conveniently replace the tool, a protective plate 71 is fixed on the box body 61, the plate surface of the protective plate 71 is located in the plumb surface, the protective plate 71 is provided with an air cylinder 72, and a tool magazine 73 is arranged above the air cylinder 72, and the air cylinder 72 operates The tools are transferred between the tool magazine 73 and the motor spindle tool rest 24 .

由于滑座31上连接有刀座20,刀座20是用于安装刀具的部件,所以为了保证滑座31在Z向运动时的稳定性,第二滑块66的上端连接有配重平衡系统32,通过配重平衡系统32的设置,保证滑座31在Z向运动的平稳性,消除重力的影响,从而确保主轴头运动的稳定性和响应速度,有效保护被加工工件和刀具的安全,提高工件的加工精度。Since the sliding seat 31 is connected with the tool seat 20, the tool seat 20 is a component for installing the tool, so in order to ensure the stability of the sliding seat 31 during the Z-direction movement, the upper end of the second sliding block 66 is connected with a counterweight balance system 32. Through the setting of the counterweight balance system 32, the stability of the movement of the sliding seat 31 in the Z direction is ensured, and the influence of gravity is eliminated, so as to ensure the stability and response speed of the movement of the spindle head, and effectively protect the safety of the workpiece and the tool. Improve the machining accuracy of the workpiece.

进一步的,夹持机构50包括固定在旋转加工平台40上的固定座51,固定座51上设置有精密三爪卡盘52,精密三爪卡盘52的轴心方向为水平向布置。旋转加工平台40和精密三爪卡盘52均可任意角度旋转,工作时可以实现工件在三爪卡盘52的轴心方向以及水平面内的回转运动,精密三爪卡盘52能够提供可靠地夹紧力对工件进行夹紧定位,同时精密三爪卡盘52高速转动时可实现工件的切、削、磨等工艺,精密三爪卡盘52带动工件旋转一定角度时,可对工件上不同的面进行加工,旋转加工平台40旋转时,可调整三爪卡盘52的轴心方向,对工件进行斜孔等加工工艺;一次装夹即可实现不同面、不同角度、不同工序的加工。Further, the clamping mechanism 50 includes a fixed seat 51 fixed on the rotary processing platform 40 , the fixed seat 51 is provided with a precision three-jaw chuck 52 , and the axis of the precision three-jaw chuck 52 is arranged horizontally. The rotary processing platform 40 and the precision three-jaw chuck 52 can be rotated at any angle, and the workpiece can be rotated in the axial direction of the three-jaw chuck 52 and in the horizontal plane during operation. The precision three-jaw chuck 52 can provide reliable clamping. The workpiece is clamped and positioned by the tightening force. At the same time, when the precision three-jaw chuck 52 rotates at a high speed, it can realize the cutting, grinding, grinding and other processes of the workpiece. When the precision three-jaw chuck 52 drives the workpiece to rotate at a certain angle, it can When the rotary machining platform 40 rotates, the axis direction of the three-jaw chuck 52 can be adjusted, and the workpiece can be processed with oblique holes and other processes; the processing of different surfaces, different angles and different processes can be realized in one clamping.

为了提高加工精度,旋转加工平台40上还设置有对刀仪41和精密定位夹具42,精密定位夹具42在旋转加工平台40的两侧各安装有一个,且精密定位夹具42的长度方向与精密三爪卡盘52的轴心方向一致。In order to improve the machining accuracy, the rotary machining platform 40 is also provided with a tool setter 41 and a precision positioning fixture 42 , one precision positioning fixture 42 is installed on each side of the rotary machining platform 40 , and the length direction of the precision positioning fixture 42 is the same as that of the precision positioning fixture 42 . The axial directions of the three-jaw chucks 52 are the same.

床身10的下端的四个角部位置处通过空气隔振弹簧91与底座92相连起到缓冲作用,底座92包括上下位布置的上、下板921、922,主要用于安装时调底座92的水平度,上板921与空气隔振弹簧91通过螺钉连接,床身10侧部还设置有排屑器93用于排出碎屑。The four corner positions of the lower end of the bed 10 are connected to the base 92 through air vibration isolation springs 91 to play a buffering role. The base 92 includes upper and lower plates 921 and 922 arranged up and down, which are mainly used for adjusting the base 92 during installation. The upper plate 921 is connected with the air vibration isolation spring 91 by screws, and the side of the bed 10 is also provided with a chip conveyor 93 for discharging chips.

Claims (9)

1. The utility model provides a digit control machine tool of six linkages of novel accurate complex which characterized in that: the lathe bed (10) is provided with a tool apron (20) for clamping a tool, the tool apron (20) is installed on a sliding seat (31), the tool apron (20) swings in the vertical plane relative to the sliding seat (31), the lathe bed (10) is provided with a Z-axis driving device for driving the sliding seat (31) to move up and down, an X-axis driving device and a Y-axis driving device for driving the sliding seat (31) to move in the X direction and the Y direction, the lathe bed (10) is further provided with a rotary processing platform (40), the rotary processing platform (40) is provided with a clamping mechanism (50) for clamping a workpiece and enabling the workpiece to rotate and be positioned, the rotation center of the rotary processing platform (40) is consistent with the Z direction, and the rotation center of the clamping mechanism (50).
2. The novel precise composite six-axis linkage numerical control machine tool according to claim 1, characterized in that: the Y-axis driving device comprises box bodies (61) arranged on two sides of a rotary processing platform (40), wherein first linear guide rails (62) are arranged on the upper end face of each box body (61), the length direction of each first linear guide rail (62) is parallel to the Y direction, each first linear guide rail (62) is in sliding fit with each first sliding block (63), two ends of each cross beam (64) are fixedly connected with the first sliding blocks (63) on the two box bodies (61) respectively, each cross beam (64) is provided with a second linear guide rail (65), the length direction of each second linear guide rail (65) is parallel to the X direction, each second linear guide rail (65) is provided with a second sliding block (66), each second sliding block (66) is provided with a third linear guide rail (67) parallel to the Z direction, and each sliding seat (31) is in sliding fit with the third linear guide rail (67).
3. The novel precise composite six-axis linkage numerical control machine tool according to claim 2, characterized in that: the tool apron (20) comprises a fixed seat (21) fixed on a sliding seat (31), a rotating seat (22) which is in radial rotation fit and axial limiting fit with the fixed seat (21) is arranged in the middle of the fixed seat (21), the end part of the rotating seat (22) is connected with a turning tool holder (23) or an electric spindle tool holder (24), and a torque motor mechanism drives the rotating seat (22) to drive the turning tool holder (23) or the electric spindle tool holder (24) to swing in a vertical plane.
4. The novel precise composite six-axis linkage numerical control machine tool according to claim 3, characterized in that: the swing angle of the rotating seat (22) is-170 degrees to +170 degrees.
5. The novel precise composite six-axis linkage numerical control machine tool according to claim 2, characterized in that: a protection plate (71) is fixed on the box body (61), the surface of the protection plate (71) is located in a plumb surface, an air cylinder (72) is arranged on the protection plate (71), a cutter warehouse (73) is arranged above the air cylinder (72), and the air cylinder (72) acts to transfer a cutter between the cutter warehouse (73) and the electric spindle tool rest (24).
6. The novel precise composite six-axis linkage numerical control machine tool according to claim 2, characterized in that: the upper end of the second sliding block (66) is connected with a counterweight balance system (32).
7. The novel precise composite six-axis linkage numerical control machine tool according to claim 1, characterized in that: the clamping mechanism (50) comprises a fixed seat (51) fixed on the rotary machining platform (40), a precise three-jaw chuck (52) is arranged on the fixed seat (51), and the axis direction of the precise three-jaw chuck (52) is arranged horizontally.
8. The novel precise composite six-axis linkage numerical control machine tool according to claim 7, characterized in that: the rotary machining platform (40) is further provided with a tool setting gauge (41) and a precision positioning clamp (42), the precision positioning clamp (42) is respectively arranged on two sides of the rotary machining platform (40), and the length direction of the precision positioning clamp (42) is consistent with the axis direction of the precision three-jaw chuck (52).
9. The novel precise composite six-axis linkage numerical control machine tool according to claim 1, characterized in that: four corner positions of the lower end of the lathe bed (10) are connected with a base (92) through air vibration isolation springs (91), the base (92) comprises an upper plate, a middle plate and a lower plate (921, 922 and 923) which are arranged at the upper position and the lower position, the upper plate (921) is connected with the air vibration isolation springs (91) through screws, and the side part of the lathe bed (10) is further provided with a chip cleaner (93).
CN202020465028.3U 2020-04-01 2020-04-01 New Precision Compound Six-axis Linkage CNC Machine Tool Active CN212239993U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111390562A (en) * 2020-04-01 2020-07-10 合肥学院 Novel precise composite six-axis linkage numerical control machine tool
CN115815663A (en) * 2022-12-09 2023-03-21 中国航发长春控制科技有限公司 Device and method for processing titanium alloy deep and narrow groove structure
CN116475848A (en) * 2023-06-15 2023-07-25 湖南元博科技有限公司 Multi-working-procedure integrated machine tool

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111390562A (en) * 2020-04-01 2020-07-10 合肥学院 Novel precise composite six-axis linkage numerical control machine tool
CN111390562B (en) * 2020-04-01 2025-02-11 合肥学院 New precision composite six-axis CNC machine tool
CN115815663A (en) * 2022-12-09 2023-03-21 中国航发长春控制科技有限公司 Device and method for processing titanium alloy deep and narrow groove structure
CN116475848A (en) * 2023-06-15 2023-07-25 湖南元博科技有限公司 Multi-working-procedure integrated machine tool
CN116475848B (en) * 2023-06-15 2024-06-04 湖南楚工数智科技有限公司 Multi-working-procedure integrated machine tool

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