WO1999032256A1 - Machine-outil pour l'usinage de pieces allongees - Google Patents

Machine-outil pour l'usinage de pieces allongees Download PDF

Info

Publication number
WO1999032256A1
WO1999032256A1 PCT/CH1997/000479 CH9700479W WO9932256A1 WO 1999032256 A1 WO1999032256 A1 WO 1999032256A1 CH 9700479 W CH9700479 W CH 9700479W WO 9932256 A1 WO9932256 A1 WO 9932256A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
tool
machine
rotation
guide
Prior art date
Application number
PCT/CH1997/000479
Other languages
German (de)
English (en)
Inventor
Ralph Liechti
Fritz Lehmann
Original Assignee
Liechti Engineering Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liechti Engineering Ag filed Critical Liechti Engineering Ag
Priority to PCT/CH1997/000479 priority Critical patent/WO1999032256A1/fr
Priority to AU39095/99A priority patent/AU3909599A/en
Priority to TW087106881A priority patent/TW443955B/zh
Publication of WO1999032256A1 publication Critical patent/WO1999032256A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • B23C3/16—Working surfaces curved in two directions
    • B23C3/18—Working surfaces curved in two directions for shaping screw-propellers, turbine blades, or impellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • B23Q1/4861—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed parallelly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods

Definitions

  • the invention relates to a machine tool for machining elongated workpieces with at least one clamping device for a workpiece which can be driven about a first axis of rotation and at least one tool spindle which can be driven about a second axis of rotation lying in the tool axis and which runs along a first translation axis parallel to the first axis of rotation and along one of the axes the first axis of rotation is perpendicular and the second axis of rotation is parallel to the second translation axis, wherein the clamping device is displaceable along a third axis of translation perpendicular to the first and second axes of translation and wherein the tool spindle is also pivotable about a pivot axis parallel to the third axis of translation.
  • Numerically controlled machining centers are almost exclusively used today for machining workpieces with complex shaped surfaces, such as turbine blades.
  • the design of such machining centers is based on the idea of enabling the complete machining of different and complicated workpieces in a single clamping.
  • the centers have at least three translational movement axes with a numerical path control, which are usually supplemented by one or two likewise numerically controlled rotation axes.
  • the way in which these axes of motion are assigned to the tool or workpiece determines the design of the machining center, in particular the structure and mutual arrangement of the various stand and table assemblies.
  • the range of parts to be manufactured determines the technical parameters of a machining center, such as the type and number of controlled axes, cutting performance, speed and feed range, and length of travel.
  • Efforts to reduce the manufacturing costs of machining workpieces of the type mentioned above are essentially two-way. Firstly, one tries to reduce the acquisition and operating costs of the corresponding machining centers by simplifying their construction as much as possible and - if this also simplifies is bound - adapted to the workpieces to be processed with it. Second, many efforts to reduce manufacturing costs are aimed at shortening the machining time per workpiece. This can be achieved, in particular, by increasing the speed of the relative movements between the tool and the workpiece during actual machining, but also when advancing and changing the tools. There is a limit to the acceleration that can be achieved, which is significantly influenced by the size of the moving masses.
  • a machine known as a "six-axis tool device" has become known under publication number WO 91/03145, which has two spaced-apart platforms, one of which can carry a tool and the other a workpiece.
  • the two platforms are connected to one another by six elements that can be changed in length, for example hydraulic cylinders or threaded spindles, and can be moved relative to one another. By changing the length of the elements in a controlled manner, one of the platforms can be moved spatially in any area in relation to the other.
  • the document WO 92/17313 entitled “Manipulator” shows a similar machine, in which, however, two platforms, one of which can carry a workpiece, are immovably connected to one another.
  • the six variable-length elements in this case carry the tool and are mounted on the other of the platforms mentioned. By controlling the length of the elements in a controlled manner, the tool can be moved anywhere in an area.
  • a disadvantage of the first of the machines mentioned is that a relatively large mass has to be accelerated with the movable platform, as a result of which the working speed of this machine is limited.
  • Both of the machines mentioned have in common that they have at least six controlled drives and just as many guides for carrying out the relative movements between the tool and the workpiece, which is not only very complex and expensive, but also difficult to master in terms of control technology.
  • a first object of the present invention is to provide a machine tool for machining elongated workpieces which has a structure which is considerably simplified compared to known machines of this type.
  • a second aim is to make such a machine modular so that, in particular, its frame can be assembled easily and quickly according to the required size.
  • the machine according to the invention enables all movements of the tool spindle in a plane determined by the first and second translation axes and the pivoting movement of the tool spindle with a single guide, it is simpler, smaller, lighter and less expensive than machines of the prior art with comparable ones Tasks.
  • the drives of the sliding carriage there is considerably more freedom than in the elements of the prior art which are variable in length.
  • the simplicity of the structural design favors the design of the machine in a modular design.
  • the relatively small moving masses result in improved dynamics of the machine according to the invention compared to known machines.
  • the method defined in claim 8 for operating a machine according to the invention ensures that the point of contact or working point between the tool and the workpiece is practically retained when the tool spindle is pivoted, so that linear corrections only have to be made must be done to a small extent. This saves unnecessarily long readjustments.
  • FIG. 1 shows a front view of an embodiment of the machine according to the invention
  • FIGS. 2 and 3 basic diagrams to illustrate the kinematics of the machine according to FIG. 1,
  • FIGS. 4 to 7 basic sketches of control arm arrangements of further embodiments of the machine according to the invention, each with three control arms and
  • FIGS. 8 to 10 basic sketches of handlebar arrangements of further embodiments of the machine according to the invention, each with four handlebars.
  • the milling machine shown in Figure 1 is especially for the production of
  • Turbine blades designed and contains a machine bed 1, on which an upper support 3 is held by means of supports 2. On the side of this carrier 3 facing the machine bed 1 there is a guide 4 which extends in the direction of the first translation axis X and on which three carriages 5, 6 and 7 are displaceably mounted independently of one another. Each carriage is equipped with a drive, not shown, which moves the carriage along the guide 4 in a controlled manner. Each carriage 5, 6 and 7 contains a joint 8, 9 and 10, with which one end of a link 11, 12 and 13 is connected. Each of the links is connected at its other end by means of a further joint 14, 15 or 16 to a milling unit 17, which includes the tool spindle 18 receiving a tool, for example a milling tool 19, together with its drive.
  • a table 20 is slidably received on a guide 21 in the direction of the third translation axis Y.
  • This table carries a clamping device 22 with which a workpiece 23 is held rotatably about a first axis of rotation A.
  • a tailstock 24 which can be displaced in the direction of the first translation axis X on the table 20.
  • FIG. 2 shows how the tool 19 is moved by the amount z19 in the direction of the second translation axis Z from a starting position shown in solid lines to an end position shown in broken lines.
  • a movement of the tool in the direction of the first translation axis X is achieved in that all three slides 5, 6 and 7 are shifted in the same direction by the same amount.
  • FIG. 3 shows a case in which the axis of the tool spindle, starting from a vertical position about the axis B shown with solid lines, pivots by the angle ⁇ into a position shown with broken lines.
  • the position of the swivel axis can be arbitrarily selected in a certain range by corresponding control of the displacement paths x'5, x'6 and x'7.
  • the position of the pivot axis B is selected such that it lies close to the point of contact of the milling tool 19 on the workpiece 23. This choice has the advantage that the point of contact is approximately preserved when the tool is swiveled, so that only minimal linear corrections have to be made. This saves unnecessarily long readjustments.
  • FIGS. 4 to 10 show, in the form of schematic diagrams, handlebar arrangements of further embodiments of the machine according to the invention, the same parts being provided with the same reference numerals.
  • the embodiments of Figures 4 to 7 are each equipped with three handlebars.
  • the arrangement of the joints on the milling unit 17 is essentially the same as in the embodiment explained with reference to FIGS. 1 to 3.
  • the joints provided on the carriages 5 to 7 are not arranged on an axis parallel to the X axis, but are offset in the Z direction.
  • the handlebar that controls the inclination of the milling unit 17 should in fact have the smallest possible angle with respect to the X axis, whereas the handlebars which cause the milling unit to move in the Z direction have an angle as large as possible with respect to the X axis should.
  • this arrangement has the disadvantage that the guide 4 has to be built longer because of the handlebar 11 which is led out flat.
  • FIG. 5 shows an example in which this disadvantage is eliminated in that the joint 14 for the handlebar 11 on the milling unit 17 is laterally offset with respect to the axis C, so that the handlebar 11 can be arranged relatively flat even without crossing with the handlebar 12 can.
  • the exemplary embodiment according to FIG. 6 illustrates that the joints 15 and 16 of the links 12 and 13 arranged on the milling unit 17 do not have to be spaced apart from one another in the X direction as previously shown, but can lie on the same axis.
  • the carriages 5 and 6 can interfere with one another during their movements on the common guide 4. This can be remedied with an embodiment according to FIG. 7 by providing a further guide 4a parallel to the guide 4 on which one of the slides runs. Thus, the carriages 5 and 6 can cross to move the milling unit 17.
  • FIGS. 8 to 10 show basic sketches of control arm arrangements of further embodiments of the machine according to the invention, each with four control arms.
  • Such handlebar arrangements are statically indefinite, but can be easily controlled with appropriate controls of the drives of the sled.
  • the exemplary embodiment according to FIG. 8 corresponds in principle that shown in FIG. 6, only that it has a further link 11a with an associated slide 5a.
  • the positions of the carriages 5, 5a, 6, and 7 on the guide 4 are interchanged with respect to FIG. 8, so that the links 11 and 12 or 11a and 13 intersect.
  • FIG. 10 shows that embodiments are also conceivable in which two of the joints arranged on the milling unit are located on a common axis, which axes lie on a line parallel to the X axis.
  • the guide 4 is arranged above the first axis of rotation A.
  • the guide could take any other position, for example sideways next to the first axis of rotation A.

Abstract

L'invention concerne une machine qui comporte au moins un dispositif de serrage (22) pour une pièce (23), tournant autour d'un premier axe de rotation (A), et au moins une broche d'outil (18) tournant autour d'un deuxième axe de rotation (C). Trois chariots (5, 6, 7) peuvent être déplacés, indépendamment les uns des autres, sur un guidage (4) par des entraînements et peuvent être reliés au moyen de guides (11, 12, 13) à une unité (17) portant la broche d'outil. L'outil (19) peut être déplacé le long d'un axe X et d'un axe Z et également être incliné dans une zone, par déplacement des chariots le long du guidage. La machine selon l'invention présente, par rapport aux machines comparables connues, un nombre réduit d'entraînements et en particulier de guidages; une conception modulaire est également aisée. En outre, dans cette machine, les masses déplacées sont faibles par rapport à l'état connu de la technique, ce qui améliore la dynamique de la machine.
PCT/CH1997/000479 1997-12-22 1997-12-22 Machine-outil pour l'usinage de pieces allongees WO1999032256A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CH1997/000479 WO1999032256A1 (fr) 1997-12-22 1997-12-22 Machine-outil pour l'usinage de pieces allongees
AU39095/99A AU3909599A (en) 1997-12-22 1997-12-22 Machine tool for machining elongated workpieces
TW087106881A TW443955B (en) 1997-12-22 1998-05-04 Machine tool for machining elongated workpieces

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CH1997/000479 WO1999032256A1 (fr) 1997-12-22 1997-12-22 Machine-outil pour l'usinage de pieces allongees

Publications (1)

Publication Number Publication Date
WO1999032256A1 true WO1999032256A1 (fr) 1999-07-01

Family

ID=4550919

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CH1997/000479 WO1999032256A1 (fr) 1997-12-22 1997-12-22 Machine-outil pour l'usinage de pieces allongees

Country Status (3)

Country Link
AU (1) AU3909599A (fr)
TW (1) TW443955B (fr)
WO (1) WO1999032256A1 (fr)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001032355A1 (fr) * 1999-10-30 2001-05-10 HüLLER HILLE GMBH Machine d'usinage pour le deplacement dans plusieurs axes d'un outil ou d'une piece
WO2002034480A1 (fr) * 2000-10-24 2002-05-02 Abb Ab Robot industriel
FR2816230A1 (fr) * 2000-11-08 2002-05-10 Greffioz Andre Machine-outil a plusieurs axes
WO2002049811A1 (fr) * 2000-12-20 2002-06-27 Maschinenfabrik Reichenbacher Gmbh Dispositif de placement d'une plate-forme par translation
EP1234632A1 (fr) * 2001-02-23 2002-08-28 Willemin Machines S.A. Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
WO2002102543A1 (fr) * 2001-06-18 2002-12-27 Kovosvit Mas A.S. Mecanisme de positionnement parallele permettant notamment d'effectuer un usinage et/ou une manipulation et/ou une mesure
WO2003005045A1 (fr) * 2001-07-05 2003-01-16 Heigl, Cornelia Dispositif de manipulation notamment destine au positionnement d'une tete de test sur un systeme de controle
DE10151631A1 (de) * 2001-10-19 2003-05-08 Volkswagen Ag Bewegungs- und/oder Positioniervorrichtung
WO2003078111A1 (fr) * 2002-03-18 2003-09-25 Abb Ab Manipulateur
WO2005002786A1 (fr) * 2003-07-01 2005-01-13 O.M.V. Officine Meccaniche Venete S.R.L. Machine a commande numerique
EP1759809A2 (fr) * 2005-09-01 2007-03-07 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil avec chariot à deux-axes mise en mouvement par des barres motrices de longueur constante
EP1790440A1 (fr) * 2005-11-24 2007-05-30 Jtekt Corporation Mécanisme à cinématique parallèle, méthode de calibration et machine-outil utilisant un tel mécanisme
WO2008019850A2 (fr) * 2006-08-16 2008-02-21 Kmb Produktions Ag Dispositif pour traiter et/ou manipuler des objets
US20090123246A1 (en) * 2006-06-19 2009-05-14 Jtekt Corporation Machine tool with turnable movable section
DE102004058437B4 (de) * 2003-12-05 2012-01-05 Janome Sewing Machine Co., Ltd. Roboter
DE102013206125A1 (de) * 2013-04-08 2014-10-09 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Umgang mit Artikeln
CN104384585A (zh) * 2014-09-03 2015-03-04 江苏科技大学 一种用于加工螺旋桨的机床
WO2017055457A1 (fr) * 2015-10-02 2017-04-06 Beckhoff Automation Gmbh Robot, table xy pour un tel robot et système de transport linéaire
CN110290899A (zh) * 2017-01-02 2019-09-27 曼兹股份公司 定位单元
CN113798870A (zh) * 2021-11-18 2021-12-17 浙江大学杭州国际科创中心 一种加工设备以及加工方法
DE102020120280A1 (de) 2020-07-31 2022-02-03 Krones Aktiengesellschaft Vorrichtung zum Greifen und Transportieren von Objekten

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Cited By (44)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001032355A1 (fr) * 1999-10-30 2001-05-10 HüLLER HILLE GMBH Machine d'usinage pour le deplacement dans plusieurs axes d'un outil ou d'une piece
US6974297B2 (en) 2000-10-24 2005-12-13 Abb Ab Industrial robot
WO2002034480A1 (fr) * 2000-10-24 2002-05-02 Abb Ab Robot industriel
FR2816230A1 (fr) * 2000-11-08 2002-05-10 Greffioz Andre Machine-outil a plusieurs axes
WO2002049811A1 (fr) * 2000-12-20 2002-06-27 Maschinenfabrik Reichenbacher Gmbh Dispositif de placement d'une plate-forme par translation
DE10063628A1 (de) * 2000-12-20 2002-07-04 Reichenbacher Gmbh Anordnung zur translatorischen Positionierung einer Plattform
DE10063628B4 (de) * 2000-12-20 2006-02-16 Reichenbacher Hamuel Gmbh Anordnung zur translatorischen Positionierung einer Plattform
US6976821B2 (en) 2000-12-20 2005-12-20 Machinenfabrik Reichenbacher Gmbh Device for the translatory positioning of a platform
EP1234632A1 (fr) * 2001-02-23 2002-08-28 Willemin Machines S.A. Dispositif cinématique du support et de déplacement programmable d'un élément terminal dans une machine ou un instrument
WO2002066203A1 (fr) * 2001-02-23 2002-08-29 Willemin Machines S.A. Dispositif cinematique de support et de deplacement programmable d'un element terminal dans une machine ou un instrument
US8303238B2 (en) 2001-02-23 2012-11-06 Willemin Machines S.A. Kinematic device for supporting and programmably moving a terminal element in a machine or an instrument
WO2002102543A1 (fr) * 2001-06-18 2002-12-27 Kovosvit Mas A.S. Mecanisme de positionnement parallele permettant notamment d'effectuer un usinage et/ou une manipulation et/ou une mesure
WO2003005045A1 (fr) * 2001-07-05 2003-01-16 Heigl, Cornelia Dispositif de manipulation notamment destine au positionnement d'une tete de test sur un systeme de controle
US6940273B2 (en) 2001-07-05 2005-09-06 Cornelia Heigl Handling device, especially for positioning a test head on a testing device
DE10151631B4 (de) * 2001-10-19 2004-02-12 Volkswagen Ag Bewegungs- und/oder Positioniervorrichtung
DE10151631A1 (de) * 2001-10-19 2003-05-08 Volkswagen Ag Bewegungs- und/oder Positioniervorrichtung
WO2003078111A1 (fr) * 2002-03-18 2003-09-25 Abb Ab Manipulateur
US7261502B2 (en) * 2003-07-01 2007-08-28 O.M.V. Officine Meccaniche Venete S.R.L. Numeric/control machine
WO2005002786A1 (fr) * 2003-07-01 2005-01-13 O.M.V. Officine Meccaniche Venete S.R.L. Machine a commande numerique
DE102004058437B4 (de) * 2003-12-05 2012-01-05 Janome Sewing Machine Co., Ltd. Roboter
DE102005041496A1 (de) * 2005-09-01 2007-03-08 Index-Werke Gmbh & Co. Kg Hahn & Tessky Werkzeugmaschine
EP1759809A3 (fr) * 2005-09-01 2007-05-09 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil avec chariot deux-axes mis en mouvement par des barres motrices de longueur constante.
US7578036B2 (en) 2005-09-01 2009-08-25 Index-Werke Gmbh Co. Kg Hahn & Tessky Machine tool
EP1759809A2 (fr) * 2005-09-01 2007-03-07 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine-outil avec chariot à deux-axes mise en mouvement par des barres motrices de longueur constante
US7334304B2 (en) 2005-09-01 2008-02-26 Index-Werke Gmbh & Co. Kg Hahn Tessky Machine tool
EP1790440A1 (fr) * 2005-11-24 2007-05-30 Jtekt Corporation Mécanisme à cinématique parallèle, méthode de calibration et machine-outil utilisant un tel mécanisme
US7905765B2 (en) 2005-11-24 2011-03-15 Jtekt Corporation Parallel mechanism, calibration method for use in the same, and machine tool including the same
US20090123246A1 (en) * 2006-06-19 2009-05-14 Jtekt Corporation Machine tool with turnable movable section
US8414233B2 (en) * 2006-06-19 2013-04-09 Jtekt Corporation Machine tool with turnable moving section
WO2008019850A2 (fr) * 2006-08-16 2008-02-21 Kmb Produktions Ag Dispositif pour traiter et/ou manipuler des objets
JP2010500041A (ja) * 2006-08-16 2010-01-07 カーエムべー プロドゥクツィオーンス アーゲー 物体の処理及び／又は搬送装置
US8348590B2 (en) 2006-08-16 2013-01-08 Kmb Produktions Ag Device for treating and/or handling articles
WO2008019850A3 (fr) * 2006-08-16 2008-07-31 Kmb Produktions Ag Dispositif pour traiter et/ou manipuler des objets
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CN104384585A (zh) * 2014-09-03 2015-03-04 江苏科技大学 一种用于加工螺旋桨的机床
CN108349077A (zh) * 2015-10-02 2018-07-31 倍福自动化有限公司 机器人、此类型的机器人xy机台及线性传输系统
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CN110290899B (zh) * 2017-01-02 2023-02-21 曼兹股份公司 定位单元
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CN113798870A (zh) * 2021-11-18 2021-12-17 浙江大学杭州国际科创中心 一种加工设备以及加工方法

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