CN109129006B - Method for correcting position deviation of rotating shaft of four-shaft horizontal linkage machining center - Google Patents
Method for correcting position deviation of rotating shaft of four-shaft horizontal linkage machining center Download PDFInfo
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- 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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
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Abstract
The invention discloses a method for correcting position deviation of a rotating shaft of a four-shaft horizontal linkage machining center, which comprises the following steps of: a main shaft is provided with a calibration tool and is respectively moved to the rotation center positions of an X axis and a Z axis of a machining center; determining the deviation between the actual center of the rotating shaft and the program set center in the X direction and the Z direction by utilizing the dial indicator and the rotation of the workbench; and calculating the machining compensation amount of the workbench after rotating each angle through a mathematical model so as to program. By the method, the machining precision is improved, and the mechanical deviation of the machining center is compensated.
Description
Technical Field
The invention relates to a method for correcting position deviation of a rotating shaft of a four-shaft horizontal linkage machining center.
Background
At present, in the use process of a four-axis horizontal machining center, due to the reasons of air temperature, service life, machine tool manufacturing accuracy and the like, a rotating shaft slightly deviates, so that the actual center of the rotating shaft of a workbench deviates from a program setting center, and a serious error occurs in part machining.
Disclosure of Invention
The invention aims to provide a method for correcting the position deviation of a rotating shaft of a four-shaft horizontal linkage machining center, which aims to solve the technical problems in the prior art.
The invention provides a method for correcting the position deviation of a rotating shaft of a four-shaft horizontal linkage machining center, which comprises the following steps of:
a main shaft is provided with a calibration tool and is respectively moved to the rotation center positions of an X axis and a Z axis of a machining center;
determining the deviation between the actual center of the rotating shaft and the program set center in the X direction and the Z direction by utilizing the dial indicator and the rotation of the workbench;
and calculating the machining compensation amount of the workbench after rotating each angle through a mathematical model so as to program.
Furthermore, the method for determining the deviation of the actual center of the rotating shaft and the program set center in the X direction by utilizing the dial indicator and the rotation of the workbench is that;
the rotating shaft moves to a position with a mechanical coordinate of 0 degree, the main shaft is installed with a calibration tool and moves to a position of a machining center X-axis rotation center, and the position of the large diameter of the calibration tool is measured through a dial indicator, so that the scale of the dial indicator points to a zero position;
moving the main shaft in the Z direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Z shaft is moved, the main shaft is moved to the position of the X-axis rotation center of the machining center, and the large diameter of the tool is measured and calibrated through a dial indicator;
and finishing the precision compensation of the X-axis rotating shaft in the corresponding parameters of the mechanical machine tool by reading the pointer of the dial indicator.
Further, the principle of determining the precision compensation value of the X-axis rotation center is as follows: the dial gauge pointer reading is divided by 2.
Further, the positive and negative number determination principle of the precision compensation value of the X-axis rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the X axis is compensated towards the positive direction.
Furthermore, the method for determining the deviation of the actual center of the rotating shaft and the program set center in the Z direction by utilizing the dial indicator and the rotation of the workbench is that;
the method comprises the following steps that a rotating shaft rotates to a position with a mechanical coordinate of 0 degree, a main shaft is installed in a calibration cutter and moves to an X-axis rotation center position of a machine tool along the X-axis direction, and a main shaft moves to a position L/2 beyond the Z-axis rotation center of the machine tool along the Z direction, wherein L is the length of the calibration cutter, one end face of the calibration cutter is measured through a dial indicator, and the scale of the dial indicator points to a zero position;
moving the main shaft in the Y direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Y shaft is moved, the main shaft is moved to the position of the X-shaft rotation center of the machine tool, and the other end surface of the tool is calibrated through measurement of a dial indicator;
and completing the precision compensation of the Z-axis rotating shaft in the corresponding machine tool mechanical parameters by reading the pointer of the dial indicator.
Further, the principle of determining the precision compensation value of the Z-axis rotation center is as follows: the dial gauge pointer reading is divided by 2.
Further, the positive and negative number determination principle of the precision compensation value of the Z-axis rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the Z axis is compensated towards the positive direction.
Further, the mathematical model is:
X′＝X1*COS(B)＝【X-Z*Tg(B)】*COS(B)＝X*COS(B)-Z*SIN(B)
Z′＝Z1*COS(B)＝【Z+Z*Tg(B)】*COS(B)＝Z*COS(B)+X*SIN(B)
wherein, B is the rotation angle of the central shaft of the workbench;
x' is the actual deviation of the center of the workbench in the X direction;
z' is the actual deviation of the center of the workbench in the Z direction;
x1 is the distance of the intersection point of the X axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the X axis of the coordinate before the B axis does not rotate;
z1 is the distance of the intersection point of the Z axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the Z axis of the coordinate before the B axis does not rotate;
x is the distance between the X-direction center of the workpiece and the X-direction center of the worktable
Z is the distance between the Z-direction center of the workpiece and the Z-direction center of the workbench.
Further, the dial indicator is arranged on the rotating shaft.
Furthermore, the dial indicator scale points to the zero position through fine adjustment of the dial indicator frame adjusting mechanism.
The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center has the following advantages:
1) the machining precision is improved.
2) The mechanical deviation of the machining center is compensated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a spindle provided in an embodiment of the present invention, where the spindle is installed with a calibration tool and moves to a position of a machining center X-axis rotation center.
Fig. 2 is a schematic view of moving the spindle in the Z direction to move the spindle away from the worktable according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating that the spindle moves to the rotation center of the X-axis of the machining center by moving the Z-axis after the rotation axis rotates to a plane of 180 degrees according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the spindle Z-direction moving beyond the Z-axis rotation center L/2 of the machine tool according to the first embodiment of the present invention.
Fig. 5 is a schematic diagram of moving the spindle Y away from the worktable according to a first embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating that the spindle is moved to the X-axis rotation center position of the machine tool by moving the Y-axis after the rotation axis rotates to a 180-degree plane according to the first embodiment of the present invention.
Fig. 7 is a schematic diagram of the precision deviation of the machine tool rotation center in the XZ plane of the machine tool coordinate system according to the first embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The first embodiment is as follows:
fig. 1 is a schematic view of a spindle provided in an embodiment of the present invention, the spindle being inserted into a calibration tool and moving the spindle to a position of a machining center X-axis rotation center; FIG. 2 is a schematic view of the spindle moving in the Z direction away from the worktable according to an embodiment of the present invention; fig. 3 is a schematic diagram illustrating that the spindle moves to the rotation center of the X-axis of the machining center by moving the Z-axis after the rotation axis rotates to a plane of 180 degrees according to the first embodiment of the present invention; FIG. 4 is a schematic view of the spindle moving in the Z direction to a position beyond the Z-axis rotation center L/2 of the machine tool according to the first embodiment of the present invention; FIG. 5 is a schematic view of the spindle moving in the Y direction away from the worktable according to the first embodiment of the present invention; fig. 6 is a schematic diagram illustrating that the spindle moves to the X-axis rotation center of the machine tool after the rotation axis rotates to 180 degrees according to the first embodiment of the present invention; fig. 7 is a schematic diagram of precision deviation of a machine tool rotation center in an XZ plane of a machine tool coordinate system according to a first embodiment of the present invention; as shown in fig. 1 to 7, a method for correcting a position deviation of a rotating shaft of a four-axis horizontal linkage machining center according to an embodiment of the present invention includes the following steps:
a main shaft is provided with a calibration tool and is respectively moved to the rotation center positions of an X axis and a Z axis of a machining center;
determining the deviation between the actual center of the rotating shaft and the program set center in the X direction and the Z direction by utilizing the dial indicator and the rotation of the workbench;
and calculating the machining compensation amount of the workbench after rotating each angle through a mathematical model so as to program.
Specifically, the method for determining the deviation of the actual center of the rotating shaft and the program set center in the X direction by utilizing the dial indicator and the rotation of the workbench is that;
the rotating shaft moves to a position with a mechanical coordinate of 0 degree, the main shaft is installed with a calibration tool and moves to a position of a machining center X-axis rotation center, and the position of the large diameter of the calibration tool is measured through a dial indicator, so that the scale of the dial indicator points to a zero position;
moving the main shaft in the Z direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Z shaft is moved, the main shaft is moved to the position of the X-axis rotation center of the machining center, and the large diameter of the tool is measured and calibrated through a dial indicator;
and finishing the precision compensation of the X-axis rotating shaft in the corresponding parameters of the mechanical machine tool by reading the pointer of the dial indicator.
Specifically, the principle of determining the precision compensation value of the X-axis rotation center is as follows: the dial gauge pointer reading is divided by 2.
Specifically, the positive and negative number determination principle of the precision compensation value of the X-axis rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the X axis is compensated towards the positive direction.
Specifically, the method for determining the deviation of the actual center of the rotating shaft and the program set center in the Z direction by utilizing the dial indicator and the rotation of the workbench is that;
the method comprises the following steps that a rotating shaft rotates to a position with a mechanical coordinate of 0 degree, a main shaft is installed in a calibration cutter and moves to an X-axis rotation center position of a machine tool along the X-axis direction, and a main shaft moves to a position L/2 beyond the Z-axis rotation center of the machine tool along the Z direction, wherein L is the length of the calibration cutter, one end face of the calibration cutter is measured through a dial indicator, and the scale of the dial indicator points to a zero position;
moving the main shaft in the Y direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Y shaft is moved, the main shaft is moved to the position of the X-shaft rotation center of the machine tool, and the other end surface of the tool is calibrated through measurement of a dial indicator;
and completing the precision compensation of the Z-axis rotating shaft in the corresponding machine tool mechanical parameters by reading the pointer of the dial indicator.
Specifically, the principle of determining the precision compensation value of the Z-axis rotation center is as follows: the dial gauge pointer reading is divided by 2.
Specifically, the positive and negative number determination principle of the precision compensation value of the Z-axis rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the Z axis is compensated towards the positive direction.
Specifically, the mathematical model is:
X′＝X1*COS(B)＝【X-Z*Tg(B)】*COS(B)＝X*COS(B)-Z*SIN(B)
Z′＝Z1*COS(B)＝【Z+Z*Tg(B)】*COS(B)＝Z*COS(B)+X*SIN(B)
wherein, B is the rotation angle of the central shaft of the workbench;
x' is the actual deviation of the center of the workbench in the X direction;
z' is the actual deviation of the center of the workbench in the Z direction;
x1 is the distance of the intersection point of the X axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the X axis of the coordinate before the B axis does not rotate;
z1 is the distance of the intersection point of the Z axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the Z axis of the coordinate before the B axis does not rotate;
x is the distance between the X-direction center of the workpiece and the X-direction center of the worktable
Z is the distance between the Z-direction center of the workpiece and the Z-direction center of the workbench.
Example two:
the method for correcting the position deviation of the rotating shaft of the four-axis horizontal type linkage machining center provided by the second embodiment is a further improvement of the method for correcting the position deviation of the rotating shaft of the four-axis horizontal type linkage machining center provided by the first embodiment, and on the basis of the first embodiment and fig. 1 to 7, the method for correcting the position deviation of the rotating shaft of the four-axis horizontal type linkage machining center provided by the second embodiment comprises the following steps:
a main shaft is provided with a calibration tool and is respectively moved to the rotation center positions of an X axis and a Z axis of a machining center;
determining the deviation between the actual center of the rotating shaft and the program set center in the X direction and the Z direction by utilizing the dial indicator and the rotation of the workbench;
and calculating the machining compensation amount of the workbench after rotating each angle through a mathematical model so as to program.
Specifically, the method for determining the deviation of the actual center of the rotating shaft and the program set center in the X direction by utilizing the dial indicator and the rotation of the workbench is that;
the rotating shaft moves to a position with a mechanical coordinate of 0 degree, the main shaft is installed with a calibration tool and moves to a position of a machining center X-axis rotation center, and the position of the large diameter of the calibration tool is measured through a dial indicator, so that the scale of the dial indicator points to a zero position;
moving the main shaft in the Z direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Z shaft is moved, the main shaft is moved to the position of the X-axis rotation center of the machining center, and the large diameter of the tool is measured and calibrated through a dial indicator;
and finishing the precision compensation of the X-axis rotating shaft in the corresponding parameters of the mechanical machine tool by reading the pointer of the dial indicator.
Specifically, the principle of determining the precision compensation value of the X-axis rotation center is as follows: the dial gauge pointer reading is divided by 2.
Specifically, the positive and negative number determination principle of the precision compensation value of the X-axis rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the X axis is compensated towards the positive direction.
Specifically, the method for determining the deviation of the actual center of the rotating shaft and the program set center in the Z direction by utilizing the dial indicator and the rotation of the workbench is that;
the method comprises the following steps that a rotating shaft rotates to a position with a mechanical coordinate of 0 degree, a main shaft is installed in a calibration cutter and moves to an X-axis rotation center position of a machine tool along the X-axis direction, and a main shaft moves to a position L/2 beyond the Z-axis rotation center of the machine tool along the Z direction, wherein L is the length of the calibration cutter, one end face of the calibration cutter is measured through a dial indicator, and the scale of the dial indicator points to a zero position;
moving the main shaft in the Y direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Y shaft is moved, the main shaft is moved to the position of the X-shaft rotation center of the machine tool, and the other end surface of the tool is calibrated through measurement of a dial indicator;
and completing the precision compensation of the Z-axis rotating shaft in the corresponding machine tool mechanical parameters by reading the pointer of the dial indicator.
Specifically, the principle of determining the precision compensation value of the Z-axis rotation center is as follows: the dial gauge pointer reading is divided by 2.
Specifically, the positive and negative number determination principle of the precision compensation value of the Z-axis rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the Z axis is compensated towards the positive direction.
Specifically, the mathematical model is:
X′＝X1*COS(B)＝【X-Z*Tg(B)】*COS(B)＝X*COS(B)-Z*SIN(B)
Z′＝Z1*COS(B)＝【Z+Z*Tg(B)】*COS(B)＝Z*COS(B)+X*SIN(B)
wherein, B is the rotation angle of the central shaft of the workbench;
x' is the actual deviation of the center of the workbench in the X direction;
z' is the actual deviation of the center of the workbench in the Z direction;
x1 is the distance of the intersection point of the X axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the X axis of the coordinate before the B axis does not rotate;
z1 is the distance of the intersection point of the Z axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the Z axis of the coordinate before the B axis does not rotate;
x is the distance between the X-direction center of the workpiece and the X-direction center of the worktable
Z is the distance between the Z-direction center of the workpiece and the Z-direction center of the workbench.
Specifically, the dial indicator is mounted on the rotating shaft.
Specifically, the dial indicator scale points to a zero position through fine adjustment of the dial indicator frame adjusting mechanism.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A correction method for position deviation of a rotating shaft of a four-shaft horizontal linkage machining center is characterized by comprising the following steps:
a main shaft is provided with a calibration tool and is respectively moved to the rotation center positions of an X axis and a Z axis of a machining center;
determining the deviation between the actual center of the rotating shaft and the program set center in the X direction and the Z direction by utilizing the dial indicator and the rotation of the workbench;
calculating the machining compensation amount of the workbench after rotating each angle through a mathematical model so as to program;
the mathematical model is as follows:
X′＝X1*COS(B)＝【X-Z*Tg(B)】*COS(B)＝X*COS(B)-Z*SIN(B)
Z′＝Z1*COS(B)＝【Z+Z*Tg(B)】*COS(B)＝Z*COS(B)+X*SIN(B)
wherein, B is the rotation angle of the central shaft of the workbench;
x' is the actual deviation of the center of the workbench in the X direction;
z' is the actual deviation of the center of the workbench in the Z direction;
x1 is the distance of the intersection point of the X axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the X axis of the coordinate before the B axis does not rotate;
z1 is the distance of the intersection point of the Z axis of the coordinate after the rotation angle of the B axis and the vertical line of the workpiece origin on the Z axis of the coordinate before the B axis does not rotate;
x is the distance between the X-direction center of the workpiece and the X-direction center of the workbench;
z is the distance between the Z-direction center of the workpiece and the Z-direction center of the workbench;
the method for determining the deviation of the actual center of the rotating shaft and the program set center in the Z direction by utilizing the dial indicator and the rotation of the workbench is characterized in that;
the method comprises the following steps that a rotating shaft rotates to a position with a mechanical coordinate of 0 degree, a main shaft is installed in a calibration cutter and moves to an X-axis rotation center position of a machine tool along the X-axis direction, and a main shaft moves to a position L/2 beyond the Z-axis rotation center of the machine tool along the Z direction, wherein L is the length of the calibration cutter, one end face of the calibration cutter is measured through a dial indicator, and the scale of the dial indicator points to a zero position;
moving the main shaft in the Y direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Y shaft is moved, the main shaft is moved to the position of the X-shaft rotation center of the machine tool, and the other end surface of the tool is calibrated through measurement of a dial indicator;
and completing the precision compensation of the Z-axis rotating shaft in the corresponding machine tool mechanical parameters by reading the pointer of the dial indicator.
2. The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center according to claim 1, wherein the method for determining the deviation of the actual center of the rotating shaft and the program set center in the X direction by using the dial indicator and the rotation of the workbench is;
the rotating shaft moves to a position with a mechanical coordinate of 0 degree, the main shaft is installed with a calibration tool and moves to a position of a machining center X-axis rotation center, and the position of the large diameter of the calibration tool is measured through a dial indicator, so that the scale of the dial indicator points to a zero position;
moving the main shaft in the Z direction to enable the main shaft to be far away from the workbench;
after the rotating shaft rotates to a 180-degree surface, the Z shaft is moved, the main shaft is moved to the position of the X-axis rotation center of the machining center, and the large diameter of the tool is measured and calibrated through a dial indicator;
and finishing the precision compensation of the X-axis rotating shaft in the corresponding parameters of the mechanical machine tool by reading the pointer of the dial indicator.
3. The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center according to claim 2, wherein the principle for determining the precision compensation value of the X-shaft rotation center is as follows: the dial gauge pointer reading is divided by 2.
4. The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center according to claim 2, wherein the principle of determining the positive and negative values of the precision compensation value of the X-shaft rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the X axis is compensated towards the positive direction.
5. The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center according to claim 1, wherein a Z-shaft rotation center precision compensation value determining principle is as follows: the dial gauge pointer reading is divided by 2.
6. The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center according to claim 1, wherein a positive and negative number determination principle of a precision compensation value of a Z-shaft rotation center is as follows: and if the reading of the dial indicator is positive, the rotation center of the Z axis is compensated towards the positive direction.
7. The method for correcting the positional deviation of the rotating shaft of the four-shaft horizontal-type linkage machining center according to claim 1 or 2, wherein the dial indicator is mounted on the rotating shaft.
8. The method for correcting the position deviation of the rotating shaft of the four-shaft horizontal linkage machining center according to claim 1 or 2, characterized in that the scales of the dial indicator point to a zero position by finely adjusting the indicator frame adjusting mechanism.
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| CN111037328B (en) * | 2019-12-18 | 2022-02-22 | 陕西法士特齿轮有限责任公司 | Positioning method and machining method of shell part in horizontal machining center |
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| CN114289744B (en) * | 2021-12-31 | 2023-02-28 | 中国航空工业集团公司北京航空精密机械研究所 | Tool setting method of vertical lathe |
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| CN115647932B (en) * | 2022-11-02 | 2023-07-18 | 湖北工业大学 | Detachable milling head installation precision control method |
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| CN206029462U (en) * | 2016-09-22 | 2017-03-22 | 泰富重工制造有限公司 | Relative center of rotary workbench's of alignment floor type boring machine main shaft device |
| CN106312588A (en) * | 2016-11-25 | 2017-01-11 | 安徽江淮汽车集团股份有限公司 | Aligning method and device for central coordinate system of rotary working table of numerical control machining center |
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2018
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