CN107716983A - A kind of intelligent numerical control drilling machine - Google Patents
A kind of intelligent numerical control drilling machine Download PDFInfo
- Publication number
- CN107716983A CN107716983A CN201711060244.9A CN201711060244A CN107716983A CN 107716983 A CN107716983 A CN 107716983A CN 201711060244 A CN201711060244 A CN 201711060244A CN 107716983 A CN107716983 A CN 107716983A
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- workpiece
- picture
- processed
- coordinate
- drilling machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B39/00—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines
- B23B39/14—General-purpose boring or drilling machines or devices; Sets of boring and/or drilling machines with special provision to enable the machine or the drilling or boring head to be moved into any desired position, e.g. with respect to immovable work
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Numerical Control (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The present invention relates to a kind of intelligent numerical control drilling machine, including base, base upper horizontal is provided with a workbench；Column, the inside of column are provided with master controller；Main spindle box, main spindle box include radial up-down motor and laser drill head, and the output end of motor is connected in laser drill head；The laser of laser drill head is used to launch alignment cursor；Image acquisition mechanism, the workpiece to be processed that image acquisition mechanism is used to be located at this on workbench carry out IMAQ；Indication mechanism, indication mechanism are used for the image imaging collected to image acquisition mechanism；Input mechanism, the position that need to be drilled for inputting workpiece；Processing mechanism, including memory and image processor, the workpiece picture that image processor collects to image acquisition mechanism analyze and process, the position for looking for the need corresponding to the workpiece taken in picture to drill by calculating analysis.Good reliability of the present invention, using laser drill head and image procossing compensation technique is combined, workpiece to be processed can be accurately directed at, greatly improve the precision of processing.
Description
Technical field
The invention belongs to numerical control field, and in particular to a kind of drilling machine, more particularly to a kind of intelligent numerical control drilling machine.
Background technology
Drilling machine refers to the main lathe for processing hole on workpiece with drill bit.Usual bit is main motion, and drill bit axially moves
Move as feed motion.Drilling machine is simple in construction, and machining accuracy is relatively low, can holes drilled through, blind hole, change special tool, can expand, ream
Hole, the processing such as fraising or progress tapping.Workpiece is motionless in process, allows cutter to move, by center cutter alignment hole center, and
Cutter is set to rotate (main motion).The characteristics of drilling machine is that workpiece is fixed, and cutter rotates, and is fed along major axes orientation,
Operation can be manual or motor-driven.
Drilling machine is the versatility lathe for having extensive use, part can be drilled, reaming, fraising, spot facing and attacked
Screw thread etc. is processed.When being furnished with technological equipment on drilling machine, bore hole can also be carried out, can also be carried out with universal table on drilling machine
Drilling, reaming, fraising.
Traditional drilling machine is mostly manual hand manipulation, not accurate enough during positioning, and position it is very slow, during punching dynamics it is uneven and
Shake larger, easily produce burr.There is the danger scalded by residue during manual operation.
In consideration of it, propose a kind of intelligent numerical control drilling machine problem of the invention to be studied.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of intelligent numerical control drilling machine, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve these goals, the present invention uses following technical scheme：A kind of intelligent numerical control drilling machine, including：
Base, positioned at the bottom of drilling machine, the base upper horizontal is provided with a workbench, and a work is correspondingly provided with workbench
Part fixture, the work piece holder are used to fix workpiece to be processed；
Column, is fixed on the top of the base vertically, and the inside of the column is provided with master controller；
Main spindle box, the upper area of column is coupled to by a horizontal guide rail；The main spindle box include radial up-down motor,
Straight horizontal motor and laser drill head, the radial up-down motor and straight horizontal motor are respectively used to drive the laser drilling
Head moves up and down along column and along horizontal guide rail horizontal movement；The laser of the laser drill head is used to launch alignment cursor, will be right
On quasi-optical mark transmitting to the workpiece to be processed being located on workbench, to form a shinny cursor on workpiece to be processed；
Image acquisition mechanism, the workpiece to be processed that described image collecting mechanism is used to be located at this on workbench carry out image
Collection；
Indication mechanism, the indication mechanism are used for the image imaging collected to image acquisition mechanism；
Input mechanism, the position that need to be drilled for inputting workpiece；
Processing mechanism, including memory, image processor and position compensation module, described image processor are adopted to image
The workpiece picture that collecting mechanism collects is analyzed and processed, and the workpiece institute taken in picture is looked for by calculating analysis binding site compensation
The corresponding position for needing drilling；
In working condition, first the workpiece to be processed is fixed on the table by work piece holder, described image is adopted
Collecting mechanism carries out IMAQ to the workpiece to be processed placed on the table, obtains the first workpiece picture, the first workpiece figure
Picture on the basis of piece, and the first workpiece picture is shown by indication mechanism, by artificially inputting workpiece in the first workpiece picture
The position that need to be drilled, the position is the standard coordinate point on the first workpiece picture, and is marked on the first workpiece picture
Corresponding standard coordinate point, the image processor in the processing mechanism correspondingly look for the standard taken in the first workpiece picture with input
The corresponding expectation coordinate points of coordinate points, the processing mechanism simultaneously send the expectation coordinate points found as the first input signal
To the master controller, the controller is converted into the first command signal and sent extremely according to the first input signal received
Radial up-down motor, control radial up-down motor preliminary motion carry out Primary Location to corresponding expectation coordinate points with this；It is described
Laser drill head transmitting alignment cursor, alignment cursor is projected on workpiece to be processed, actual coordinate point is formed, then gathers throwing again
The second workpiece picture of alignment cursor is penetrated, and the first workpiece picture and second workpiece picture are matched, finds out the first workpiece
The standard coordinate point marked in picture is directed at the actual coordinate point that cursor is projected with second workpiece picture, according to reference base picture
The difference of actual coordinate point in the standard coordinate point and second workpiece picture of upper mark accurately calculates control radial up-down electricity
To the differential distance for it is expected coordinate displacement, this sends to the master control machine using the differential distance of the calculating as the second input signal
Device processed, the controller are converted into the second command signal and sent to radial up-down electricity according to the second input signal received
Machine, control radial up-down motor precise motion to corresponding expectation coordinate points；Treat the laser drill head precise motion to it is expected to sit
During punctuate, workpiece to be processed is drilled described in the master controller control laser drill head.
As a further improvement on the present invention, the alignment cursor uses " tracking cross " or " luminous point cursor ".
As a further improvement on the present invention, the input mechanism is inputted using keyboard and mouse.
As a further improvement on the present invention, the processing mechanism looks for modulus block, picture amplification module, contrast including coordinate
Module and computing module, the coordinate look for modulus block by picture amplification module by the workpiece picture segmentation of amplification into many individual pictures
Vegetarian refreshments, and the standard coordinate point is found by way of the coordinate points that need to be drilled finding workpiece from multiple pixels.
As a further improvement on the present invention, the contrast module is used to fold in the first workpiece picture and second workpiece picture
Put, then contrast the actual gap of two coordinates in two pictures, be the standard coordinate of mark in one, be laser in another one
The actual coordinate of projection；The gap that the computing module is used between the standard coordinate and actual coordinate that contrast contrast module
Difference coordinate is calculated, and is sent using difference difference as input signal into master controller, the master controller is according to acquisition
Difference difference, control radial up-down motor precise motion is to corresponding expectation coordinate points.
As a further improvement on the present invention, oild chuck is filled on the workbench, realizes the automatic clamping of workpiece to be processed
Tightly.
As a further improvement on the present invention, the oild chuck is provided with the adjustment spiral shell on adjustment claw or adjustment claw
Bolt, the work pieces process of different size can be achieved.
As a further improvement on the present invention, the laser of the laser drill head is located at the head tip of drill bit.
As a further improvement on the present invention, the horizontal guide rail is provided with scale, for checking the laser drill head edge
The distance moved horizontally.
The present invention has the beneficial effect that relative to prior art：
The present invention relates to a kind of intelligent numerical control drilling machine, including base, base upper horizontal is provided with a workbench；Column, machine
The inside of post is provided with master controller；Main spindle box, main spindle box include radial up-down motor and laser drill head, the output end transmission of motor
It is connected to laser drill head；The laser of laser drill head is used to launch alignment cursor；Image acquisition mechanism, image acquisition mechanism be used for pair
The workpiece to be processed being located on workbench carries out IMAQ；Indication mechanism, indication mechanism are used to adopt image acquisition mechanism
The image imaging collected；Input mechanism, the position that need to be drilled for inputting workpiece；At processing mechanism, including memory and image
Device is managed, the workpiece picture that image processor collects to image acquisition mechanism analyzes and processes, and looks for by calculating analysis and takes figure
The position of need drilling corresponding to workpiece in piece.Good reliability of the present invention, using laser drill head, and combine image procossing skill
Art, workpiece to be processed can be accurately directed at, so as to substantially increase the precision of workpieces processing.
Brief description of the drawings
Accompanying drawing described here is only used for task of explanation, and is not intended in any way to limit model disclosed in the present application
Enclose.In addition, shape and proportional sizes of each part in figure etc. are only schematical, the understanding to the application is used to help, and
It is not the specific shape and proportional sizes for limiting each part of the application.Those skilled in the art, can under teachings of the present application
To select various possible shapes and proportional sizes to implement the application as the case may be.In the accompanying drawings：
Accompanying drawing 1 is the structural representation of the embodiment of the present invention.
Embodiment
The present invention will be further illustrated in example below.These embodiments are merely to illustrate the present invention, but not to appoint
Where formula limitation is of the invention.
Embodiment：A kind of intelligent numerical control drilling machine
Referring to accompanying drawing 1, including：Base 1, positioned at the bottom of drilling machine, the upper horizontal of base 1 is provided with a workbench 2, work
Make to be correspondingly provided with a work piece holder 3 on platform 2, the work piece holder 3 is used to fix workpiece to be processed.
Column 4, is fixed on the top of base 1 vertically, and the inside of the column 4 is provided with master controller 5.
Main spindle box 6, the upper area of column 4 is coupled to by a horizontal guide rail 13；The main spindle box 6 includes radial up-down
Motor 7, straight horizontal motor 14 and laser drill head 8, the radial up-down motor 7 and straight horizontal motor 14 are respectively used to drive
Move the laser drill head 8 to move up and down along column 4 and move horizontally along horizontal guide rail 13, the He of radial up-down motor 7
Straight horizontal motor 14 is respectively used to drive the laser drill head 8 to move up and down along column 4 and transport along horizontal guide rail 13 is horizontal
It is dynamic；The laser of the laser drill head 8 is used to launch alignment cursor, and alignment cursor is launched to be processed on workbench 2
On workpiece, to form a shinny cursor on workpiece to be processed.
Image acquisition mechanism 9, the workpiece to be processed that described image collecting mechanism 9 is used to be located at this on workbench 2 are carried out
IMAQ.
Indication mechanism 10, the indication mechanism 10 are used for the image imaging collected to image acquisition mechanism 9.
Input mechanism 11, in the present embodiment, input mechanism 11 uses mouse, the position that need to be drilled for inputting workpiece.
Processing mechanism 12, including memory, image processor and position compensation module, described image processor is to image
The workpiece picture that collecting mechanism collects is analyzed and processed, and the workpiece taken in picture is looked for by calculating analysis binding site compensation
The position of corresponding need drilling.
In working condition, first workpiece to be processed is fixed on workbench 2 by work piece holder 3, described image collection
Mechanism 9 carries out IMAQ to the workpiece to be processed being placed on workbench 2, obtains the first workpiece picture, the first workpiece figure
Picture on the basis of piece, and the first workpiece picture is shown by indication mechanism 10, by artificially inputting work in the first workpiece picture
The position that part need to drill, the position are the standard coordinate point on the first workpiece picture, and in the first workpiece picture subscript
Standard coordinate point corresponding to going out, the image processor in the processing mechanism 12 correspondingly look for take in the first workpiece picture with input
The corresponding expectation coordinate points of standard coordinate point, the processing mechanism 12 are simultaneously believed the expectation coordinate points found as the first input
Number send to the master controller 5, the controller 5 and first command signal is converted into according to the first input signal received
And send to radial up-down motor 7, the preliminary motion of control radial up-down motor 7 to corresponding expectation coordinate points, carried out just with this
Step positioning；The transmitting of the laser drill head 8 alignment cursor, alignment cursor is projected on workpiece to be processed, forms actual coordinate point,
Then gathering projection again has the second workpiece picture of alignment cursor, and the first workpiece picture and second workpiece picture are matched,
Find out the standard coordinate point marked in the first workpiece picture and the actual coordinate point that cursor is projected be directed at second workpiece picture,
The difference of actual coordinate point in the standard coordinate point and second workpiece picture marked in reference base picture accurately calculates control
Radial up-down motor 7 processed is to the differential distance for it is expected coordinate displacement, and this is using the differential distance of the calculating as the second input signal
Send to the master controller 5, the controller 5 and second command signal is converted into simultaneously according to the second input signal received
Send to radial up-down motor 7, the precise motion of control radial up-down motor 7 to corresponding expectation coordinate points；Treat the laser drilling
To when it is expected coordinate points, the master controller 5 controls and workpiece to be processed is drilled described in laser drill head 8 first 8 precise motion.
Further, the horizontal guide rail 13 is provided with scale, for check the laser drill head 8 along move horizontally away from
From.
It should be noted that in the description of the present application, unless otherwise indicated, " multiple " be meant that two or two with
On.
Using term "comprising" or " comprising " describing the combination of element here, composition, part or step it is also contemplated that
Substantially the embodiment being made up of these elements, composition, part or step.Here by using term " can with ", it is intended to illustrate
Described any attribute that " can with " includes all is optional.
Multiple element, composition, part or step can be provided by single integrated component, composition, part or step.It is alternative
Ground, single integrated component, composition, part or step can be divided into multiple element, composition, part or the step of separation.It is used for
The open "a" or "an" for describing element, composition, part or step is not said to exclude other elements, composition, part
Or step.
It should be understood that above description is to illustrate rather than to be limited.By reading above-mentioned retouch
State, many embodiments and many applications outside the example provided all will be aobvious and easy for a person skilled in the art
See.Therefore, the scope of this teaching should not determine with reference to foregoing description, but should with reference to preceding claims and this
The four corner of the equivalent that a little claims are possessed determines.It is for comprehensive purpose, all articles and special with reference to including
The disclosure of profit application and bulletin is all by reference to being incorporated herein.Theme disclosed herein is omitted in preceding claims
Any aspect is not intended to abandon the body matter, also should not be considered as applicant the theme is not thought of as it is disclosed
Apply for a part for theme.
Those listed above it is a series of describe in detail only for the application feasibility embodiment specifically
Bright, they are simultaneously not used to limit the protection domain of the application, all equivalent implementations made without departing from the application skill spirit
Or change should be included within the protection domain of the application.
Claims (9)
- A kind of 1. intelligent numerical control drilling machine, it is characterised in that including：Base, positioned at the bottom of drilling machine, the base upper horizontal is provided with a workbench, and a workpiece clamp is correspondingly provided with workbench Tool, the work piece holder are used to fix workpiece to be processed；Column, is fixed on the top of the base vertically, and the inside of the column is provided with master controller；Main spindle box, the upper area of column is coupled to by a horizontal guide rail；The main spindle box includes radial up-down motor, straight line Horizontal motor and laser drill head, the radial up-down motor and straight horizontal motor are respectively used to drive the laser drill head edge Column moves up and down and along horizontal guide rail horizontal movement；The laser of the laser drill head is used to launch alignment cursor, will be to quasi-optical On mark transmitting to the workpiece to be processed being located on workbench, to form a shinny cursor on workpiece to be processed；Image acquisition mechanism, the workpiece to be processed that described image collecting mechanism is used to be located at this on workbench carry out image and adopted Collection；Indication mechanism, the indication mechanism are used for the image imaging collected to image acquisition mechanism；Input mechanism, the position that need to be drilled for inputting workpiece；Processing mechanism, including memory, image processor and position compensation module, described image processor is to IMAQ machine The workpiece picture that structure collects is analyzed and processed, and is looked for by calculating analysis binding site compensation corresponding to the workpiece taken in picture Need drilling position；In working condition, first the workpiece to be processed is fixed on the table by work piece holder, described image harvester Structure carries out IMAQ to the workpiece to be processed placed on the table, obtains the first workpiece picture, and the first workpiece picture is Reference base picture, and the first workpiece picture is shown by indication mechanism, need to bore by artificially inputting workpiece in the first workpiece picture The position in hole, the position is the standard coordinate point on the first workpiece picture, and is marked correspondingly on the first workpiece picture Standard coordinate point, the image processor in the processing mechanism correspondingly looks for the standard coordinate taken in the first workpiece picture with input The corresponding expectation coordinate points of point, the processing mechanism are simultaneously sent the expectation coordinate points found as the first input signal to institute Master controller is stated, the controller is converted into the first command signal and sent to rocking arm according to the first input signal received Lifting motor, control radial up-down motor preliminary motion carry out Primary Location to corresponding expectation coordinate points with this；The laser Drill bit transmitting alignment cursor, alignment cursor is projected on workpiece to be processed, forms actual coordinate point, then gathering projection again has The second workpiece picture of cursor is directed at, and the first workpiece picture and second workpiece picture are matched, finds out the first workpiece picture The standard coordinate point of middle mark is directed at the actual coordinate point that cursor is projected with second workpiece picture, according to reference base picture subscript The difference of actual coordinate point in the standard coordinate point and second workpiece picture of note accurately calculate control radial up-down motor to It is expected the differential distance of coordinate displacement, this is sent the differential distance of the calculating as the second input signal to the master control Device, the controller are converted into the second command signal and sent to radial up-down motor according to the second input signal received, Radial up-down motor precise motion is controlled to corresponding expectation coordinate points；Treat the laser drill head precise motion to it is expected coordinate points When, the master controller controls and workpiece to be processed is drilled described in laser drill head.
- 2. intelligent numerical control drilling machine according to claim 1, it is characterised in that：The alignment cursor using " tracking cross " or " luminous point cursor ".
- 3. intelligent numerical control drilling machine according to claim 1, it is characterised in that：The input mechanism is defeated using keyboard and mouse Enter.
- 4. intelligent numerical control drilling machine according to claim 1, it is characterised in that：The processing mechanism looks for modulus including coordinate Block, picture amplification module, contrast module and computing module, the coordinate look for modulus block by picture amplification module by the work of amplification Part picture segmentation is found into many individual pixels by way of the coordinate points that need to be drilled finding workpiece from multiple pixels The standard coordinate point.
- 5. according to any described intelligent numerical control drilling machine of claim 4, it is characterised in that：The contrast module is used for the first work Part picture and second workpiece picture are stacked, and then contrast the actual gap of two coordinates in two pictures, are mark in one Standard coordinate, it is the actual coordinate of laser projection in another one；The computing module is used for the standard for contrasting contrast module Gap between coordinate and actual coordinate calculates difference coordinate, and is sent difference difference as input signal to master controller In, the master controller is according to the difference difference of acquisition, control radial up-down motor precise motion to corresponding expectation coordinate points.
- 6. intelligent numerical control drilling machine according to claim 1, it is characterised in that：The work piece holder is the dress liquid on workbench Chuck is pressed, realizes the automatic clamping of workpiece to be processed.
- 7. intelligent numerical control drilling machine according to claim 6, it is characterised in that：The oild chuck be provided with adjustment claw or The adjustment bolt on claw is adjusted, the work pieces process of different size can be achieved.
- 8. according to any described intelligent numerical control drilling machines of claim 1-7, it is characterised in that：The laser of the laser drill head is located at The head tip of drill bit.
- 9. intelligent numerical control drilling machine according to claim 1, it is characterised in that：The horizontal guide rail is provided with scale, is used for Check the laser drill head along the distance moved horizontally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711060244.9A CN107716983A (en) | 2017-11-01 | 2017-11-01 | A kind of intelligent numerical control drilling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711060244.9A CN107716983A (en) | 2017-11-01 | 2017-11-01 | A kind of intelligent numerical control drilling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107716983A true CN107716983A (en) | 2018-02-23 |
Family
ID=61222102
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711060244.9A Withdrawn CN107716983A (en) | 2017-11-01 | 2017-11-01 | A kind of intelligent numerical control drilling machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393511A (en) * | 2018-05-22 | 2018-08-14 | 安东石油技术（集团）有限公司 | Multi-drill head machine |
| CN109226805A (en) * | 2018-09-05 | 2019-01-18 | 宁波川田精密机械有限公司 | A kind of drilling machine |
| CN111360289A (en) * | 2020-04-15 | 2020-07-03 | 成都飞机工业（集团）有限责任公司 | Part hole site local correction device and system hole lathe |
| CN111375791A (en) * | 2020-02-27 | 2020-07-07 | 洛阳龙跃机械制造有限公司 | Drilling equipment based on ball-milling iron casting processing usefulness |
| CN116441934A (en) * | 2023-05-24 | 2023-07-18 | 大连工业大学 | Automatic positioning and processing equipment for surface holes of cylindrical part based on machine vision |
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| CN208067357U (en) * | 2017-11-01 | 2018-11-09 | 泰州市兴氟高分子材料有限公司 | A kind of intelligent numerical control drilling machine |
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| CN102107291A (en) * | 2011-03-17 | 2011-06-29 | 威海威高富森医用材料有限公司 | Automatic drilling method for needle tails through image recognition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108393511A (en) * | 2018-05-22 | 2018-08-14 | 安东石油技术（集团）有限公司 | Multi-drill head machine |
| CN109226805A (en) * | 2018-09-05 | 2019-01-18 | 宁波川田精密机械有限公司 | A kind of drilling machine |
| CN111375791A (en) * | 2020-02-27 | 2020-07-07 | 洛阳龙跃机械制造有限公司 | Drilling equipment based on ball-milling iron casting processing usefulness |
| CN111375791B (en) * | 2020-02-27 | 2021-07-27 | 洛阳龙跃机械制造有限公司 | Drilling equipment based on ball-milling iron casting processing usefulness |
| CN111360289A (en) * | 2020-04-15 | 2020-07-03 | 成都飞机工业（集团）有限责任公司 | Part hole site local correction device and system hole lathe |
| CN116441934A (en) * | 2023-05-24 | 2023-07-18 | 大连工业大学 | Automatic positioning and processing equipment for surface holes of cylindrical part based on machine vision |
| CN116441934B (en) * | 2023-05-24 | 2024-04-16 | 大连工业大学 | Automatic positioning and processing equipment for surface holes of cylindrical part based on machine vision |
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Application publication date: 20180223 |