CN113103043B - Machining center tool changing manipulator hydraulic control mechanism - Google Patents
Machining center tool changing manipulator hydraulic control mechanism Download PDFInfo
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- CN113103043B CN113103043B CN202110387331.5A CN202110387331A CN113103043B CN 113103043 B CN113103043 B CN 113103043B CN 202110387331 A CN202110387331 A CN 202110387331A CN 113103043 B CN113103043 B CN 113103043B
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- shaft
- spline shaft
- hydraulic cylinder
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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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
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Abstract
The invention provides a hydraulic control mechanism of a tool changing manipulator of a machining center, which comprises a box body, wherein a rotary hydraulic cylinder, a spline shaft and a telescopic hydraulic cylinder are respectively arranged at the upper, middle and lower positions in the box body, the axis of a rotating shaft in the rotary hydraulic cylinder and the axis of a telescopic shaft in the telescopic hydraulic cylinder are parallel to the axis of the spline shaft, the rotary hydraulic cylinder drives the spline shaft to rotate through the meshing between a driving gear and a driven gear between the spline shaft and the rotary hydraulic cylinder, the telescopic cylinder is connected with the spline shaft through a connecting rod, the telescopic motion of the telescopic cylinder is converted into the telescopic motion of the spline shaft, and the rotary motion and the telescopic motion of the tool changing manipulator are realized through the rotary motion of the spline shaft driven by the rotary hydraulic cylinder and the telescopic motion of the spline shaft driven by the telescopic cylinder, so that the tool changing manipulator can reach a specified position to grab a tool, and finally realize the replacement of the tool.
Description
Technical Field
The invention relates to the technical field of numerical control machines, in particular to a hydraulic control mechanism of a tool changing manipulator of a machining center.
Background
With the rapid development of science and technology, a numerical control machine tool becomes one of indispensable tools in the manufacturing industry, as an important component of a machining center, a tool changing and tool changing manipulator is a key functional component for stable and reliable operation of the machining center, and rapid and accurate tool changing of the tool changing and tool changing manipulator is an important factor influencing the performance of the machining center in high efficiency, reliable machining and the like.
The tool changing manipulator mainly exchanges the working tool on the main shaft and the standby tool in the tool magazine. For a machining center tool changing manipulator, the machining center tool changing manipulator has the characteristics of short tool changing time, stable work and accurate positioning. At present, a plurality of numerical control machining centers use a rotary single-arm double-claw tool changing manipulator driven by air pressure, and the tool changing manipulator is poor in working stability, large in structural size and high in noise in the tool changing process due to the fact that the compressibility of air is large and the working pressure is low. And the hydraulic driving method can improve these problems.
Disclosure of Invention
The invention aims to provide a hydraulic control mechanism of a tool changing manipulator of a machining center, wherein the tool changing manipulator in the tool changing mechanism can rotate along with a rotary hydraulic cylinder or move back and forth along with a telescopic cylinder, so that the tool changing manipulator can stably run.
Further, the invention provides a hydraulic control mechanism of a tool changing manipulator of a machining center, which is characterized by comprising a box body, wherein a spline shaft is rotatably connected to the box body, a shaft mounting opening is formed in one side of the box body, the spline shaft penetrates from the outside of the box body to the inside of the box body through the shaft mounting opening, a rotary seat is fixedly mounted in the shaft mounting opening, the middle part of the spline shaft is mounted in the rotary seat through two first sleeves, the first sleeves are rotatably connected with the rotary seat through bearings, a second sleeve is mounted at the tail end of the rotary seat, a driven gear is fixedly mounted at the outside of the second sleeve, a rotary hydraulic cylinder is mounted at one side, far away from the spline shaft, in the box body, a telescopic hydraulic cylinder is mounted at the bottom end in the box body, one end, located at the outside of the box body, of the spline shaft is connected with the tool changing manipulator, the end of the spline shaft positioned in the box body is respectively connected with the rotary hydraulic cylinder and the telescopic hydraulic cylinder, the end of the spline shaft positioned in the box body is provided with a driven gear, the front end of the rotary hydraulic cylinder is provided with a driving gear, the driving gear is meshed with the driven gear, the spline shaft is connected with the telescopic hydraulic cylinder through a connecting rod, the connecting rod comprises a big head hole and a small head hole, two bearing mounting grooves are symmetrically arranged at two sides of the big head hole, bearings are respectively arranged in the two bearing mounting grooves, the connecting rod is rotationally connected with the spline shaft through the two bearings, the small head hole is fixedly connected with the telescopic shaft at the front end of the telescopic hydraulic cylinder, the rotary hydraulic cylinder comprises a cylinder body, and the cylinder body is provided with a rotating shaft coaxially arranged along the length direction of the cylinder body, be equipped with the stator that sets up along its length direction on the inner wall of cylinder body, the stator with the inner wall fixed connection of cylinder body fixed mounting has the rotor in the axis of rotation, the rotor is followed the axis of rotation rotates, tool changing manipulator includes the support arm, the both ends of support arm all are equipped with semicircular stationary dog, two semicircular stationary dog is central symmetry and sets up, be in on the support arm stationary dog one side is equipped with the mounting groove, install the movable claw in the mounting groove, the bottom mounting of movable claw has the spring, be equipped with in the mounting groove and be used for the restriction the movable claw reciprocates the gag lever post of stroke.
Furthermore, the rear end of cylinder body is fixed on the inner wall of cylinder body, the axis of rotation by the rear end of cylinder body runs through to the front end of cylinder body, the axis of rotation with be equipped with the bearing between the front end housing of cylinder body, the front end of axis of rotation is installed the driving gear, the driving gear with axis of rotation fixed connection.
Further, the central axis of the rotating shaft and the central axis of the spline shaft are parallel to each other.
Further, the central axis of the telescopic shaft is parallel to the central axis of the spline shaft.
Furthermore, a connecting seat is installed at one end, located on the outer side of the box body, of the spline shaft, and the spline shaft is connected with the tool changing manipulator through the connecting seat.
According to the technical scheme, the hydraulic control mechanism of the tool changing manipulator of the machining center is provided, a rotary hydraulic cylinder, a spline shaft and a telescopic hydraulic cylinder are respectively arranged at the upper, middle and lower positions in a box body, the axis of a rotating shaft in the rotary hydraulic cylinder and the axis of a telescopic shaft in the telescopic hydraulic cylinder are parallel to the axis of the spline shaft, so that stable operation of the whole mechanism is guaranteed, the rotary hydraulic cylinder drives the spline shaft to rotate through meshing of a driving gear and a driven gear between the spline shaft and the rotary hydraulic cylinder, the telescopic cylinder is connected with the spline shaft through a connecting rod, telescopic motion of the telescopic cylinder is converted into telescopic motion of the spline shaft, and therefore the rotary motion and the telescopic motion of the tool changing manipulator are achieved through the rotary motion of the spline shaft driven by the rotary hydraulic cylinder and the telescopic motion of the spline shaft driven by the telescopic cylinder, the tool changing manipulator can reach an appointed position to grab a tool, and replacement of the tool is finally achieved.
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 cross-sectional view of the present invention as a whole;
FIG. 2 is a partial schematic view of the invention at A of FIG. 1;
FIG. 3 is a partial schematic view of the invention at B of FIG. 1;
FIG. 4 isbase:Sub>A cross-sectional view taken along line A-A of FIG. 1 in accordance with the present invention;
FIG. 5 is a cross-sectional view of a rotary hydraulic cylinder according to the present invention;
FIG. 6 is a cross-sectional view taken along line D-D of FIG. 5 in accordance with the present invention;
FIG. 7 is a front view of the connecting rod of the present invention;
FIG. 8 is a cross-sectional view taken along line B-B of FIG. 7 in accordance with the present invention;
description of reference numerals: 1-box body, 101-shaft mounting opening, 2-rotary hydraulic cylinder, 201-rotating shaft, 202-front end cover, 203-rear end cover, 3-telescopic hydraulic cylinder, 4-spline shaft, 5-tool changing manipulator, 6-driving gear, 7-driven gear, 8-connecting rod, 801-big head hole, 802-small head hole, 803-bearing mounting groove, 9-connecting seat, 901-mounting hole, 902-cylindrical bulge, 10-rotary seat, 11-first sleeve, 12-second sleeve, 13-bearing, 14-bearing end cover, 15-flat key, 16-pin shaft and 17-retaining ring;
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, 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 is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections; 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 in specific cases to those skilled in the art.
As shown in FIGS. 1 to 8
The invention provides a hydraulic control mechanism of a tool changing manipulator of a machining center, which comprises a box body 1, wherein a shaft mounting hole 101 is formed in the front side of the box body 1, a spline shaft 4 is arranged in the shaft mounting hole 101, the spline shaft 4 penetrates into the box body 1 from the outside of the box body 1 through the mounting hole, one end, positioned outside the box body 1, of the spline shaft 4 is fixedly connected with the tool changing manipulator 5 through a connecting seat 9, a cylindrical bulge 902 is arranged at the front end of the connecting seat 9, the cylindrical bulge 902 is inserted into a central hole in the tool changing manipulator 5 during connection, the periphery of the connecting seat 9 is fixed with the tool changing manipulator 5 through bolts, a mounting hole 901 is formed in the rear end of the connecting seat 9, the front end of the spline shaft 4 is mounted in the mounting hole 901, and then a pin shaft 16 is mounted at the intersection of the spline shaft 4 and the connecting seat 9 to further fix the connection of the spline shaft 4 and the connecting seat 9.
In order to enable the spline shaft 4 to realize barrier-free rotary motion, a rotary seat 10 is installed in an installation opening, the front end of the rotary seat 10 is fixed on the outer wall of a box body 1 through screws, the rear end of the rotary seat 10 extends into the box body 1, the middle part of the spline shaft 4 is installed in the rotary seat 10 through a front first sleeve 11 and a rear first sleeve 11, the two first sleeves 11 are respectively and rotatably connected with the rotary seat 10 through bearings 13, spline grooves matched with splines on the spline shaft 4 are formed in the inner walls of the two first sleeves 11, so that the spline shaft 4 can respectively and freely slide along the two first sleeves 11, when the spline shaft 4 rotates, the two first sleeves 11 are driven to rotate along the inner wall of the rotary seat 10 under the action of the bearings 13, in order to limit the bearings 13 installed on the inner wall of the front end of the rotary seat 10 to slide outwards, a bearing end cover 14 is fixed at the front end of the rotary seat 10, so that the bearing end cover 14 can be used for resisting the integral axial sliding of the spline shaft 13, and the rotary effect of the spline shaft 4 is improved; the tail end of the rotary seat 10 is provided with a second sleeve 12, the front end of the second sleeve 12 is limited in the rotary seat 10 through a baffle ring 17, the outer wall of the second sleeve 12 is provided with a driven gear 7, the driven gear 7 is connected with the second sleeve 12 through a flat key 15, so that the second sleeve 12 can synchronously rotate along with the driven gear 7, and the inner wall of the second sleeve 12 is also provided with a spline groove matched with a spline, so that the second sleeve 12 can only relatively slide with the spline shaft 4 but cannot relatively rotate.
A rotary hydraulic cylinder 2 is attached to the tip end of the side opposite to the shaft attachment opening 101 in the case 1, and a cylinder body of the rotary hydraulic cylinder 2 is provided with a rotary shaft 201 coaxially provided along the longitudinal direction thereof, and the center axis of the rotary shaft 201 and the center axis of the spline shaft 4 are parallel to each other. The rear end cover 203 of the cylinder body is fixed on the inner wall of the cylinder body through bolts, the rotating shaft 201 penetrates through the outer side of the front end cover 202 of the cylinder body from the rear end cover 203 of the cylinder body, a bearing 13 is arranged between the rotating shaft 201 and the front end cover 202 of the cylinder body, the bearing 13 can better assist the rotating shaft 201 to do rotary motion, the driving gear 6 is installed at the front end of the rotating shaft 201, the driving gear 6 is connected with the rotating shaft 201 through a flat key 15, then the driving gear 6 is fixed at the front end of the rotating shaft 201 through a locking nut, and the driving gear 6 after installation is just meshed with the driven gear 7. The inner wall of the cylinder body is provided with a stator arranged along the length direction of the cylinder body, the stator is fixedly connected with the inner wall of the cylinder body and always kept in a static state, the rotating shaft 201 in the cylinder body is fixedly provided with a rotor, the rotor rotates along with the rotating shaft 201, and when the rotary hydraulic cylinder 2 works, the cutter changing manipulator 5 just can rotate 180 degrees and then stops through the limitation of the stator or the rotor, so that the accuracy of the rotating angle of the cutter changing manipulator 5 is ensured.
The bottom end inside the box body 1 is fixedly provided with the telescopic hydraulic cylinder 3, the spline shaft 4 is connected with the telescopic hydraulic cylinder 3 through the connecting rod 8, the connecting rod 8 comprises a big end hole 801 and a small end hole 802, two bearing installation grooves 803 are symmetrically arranged on two sides of the big end hole 801, the two bearing installation grooves 803 are coaxially arranged with the big end hole 801, the two bearing installation grooves 803 are respectively provided with the bearing 13, the big end hole 801 is rotatably connected with the spline shaft 4 through the two bearings 13, the tail end of the spline shaft 4 is provided with a baffle plate, the axial sliding of one end of the big end hole 801, which is provided with the big end hole 801, of the connecting rod 8 is limited, the small end hole 802 is directly sleeved on a telescopic shaft at the front end of the telescopic hydraulic cylinder 3 and is locked and fixed through nuts, the central axis of the telescopic shaft is parallel to the central axis of the spline shaft 4, so that the telescopic motion of the telescopic cylinder is transmitted to the spline shaft 4 through the connecting rod 8, and the spline shaft 4 is driven to do telescopic motion.
As shown in fig. 4: tool changing manipulator 5 includes the support arm, the both ends of support arm all are equipped with semicircular stationary dog, two semicircular stationary dogs are the central symmetry setting, be equipped with the mounting groove on the support arm in stationary dog one side, install the movable jaw in the mounting groove, the bottom mounting of movable jaw has the spring, be equipped with the gag lever post that is used for restricting the movable jaw and reciprocates the stroke in the mounting groove, the gag lever post runs through and the perpendicular to movable jaw, automatic re-setting effect through the spring, it is flexible and cooperation and stationary dog clip the work piece to make the movable jaw can be accomplished automatically.
The technical scheme of the invention provides a hydraulic control mechanism of a tool changing manipulator of a machining center, wherein a rotary hydraulic cylinder, a spline shaft and a telescopic hydraulic cylinder are sequentially arranged from top to bottom, when the whole tool changing mechanism works, the telescopic cylinder drives the spline shaft 4 to slide back and forth along the axial direction of a rotary seat 10 through a connecting rod 8, a driving gear 6 rotates to drive a driven gear 7 to rotate when the rotary hydraulic cylinder 2 works, the spline shaft 4 is driven to rotate under the action of a second sleeve 12, the second sleeve 12 cannot move along the spline shaft 4 relatively, the driving gear 6 and the driven gear 7 are always in a meshed state, the risk of two gears being separated is avoided, bearings 13 are arranged on two sides of a big-end hole 801 of the connecting rod 8, only two bearings 13 in the big-end hole 801 are driven to rotate while the rotary hydraulic cylinder drives the spline shaft 4 to rotate, the connecting rod 8 cannot influence the connecting rod 8, the connecting rod 8 can drive the spline shaft 4 to do telescopic motion while the spline shaft 4 rotates, and the spline shaft 4 can be driven to do telescopic motion when the spline shaft 4 is static, so that the connecting rod 8 hydraulic cylinder 2 and the rotary hydraulic cylinder 3 and the telescopic hydraulic cylinder 3 can run simultaneously and can operate independently without interference.
The shape symmetry of tool changing manipulator 5 fixes on integral key shaft 4 and follows rotary hydraulic cylinder 2 and telescopic hydraulic cylinder 3 and do corresponding motion, and tool changing manipulator 5 has actions such as flexible, gyration, grabs the sword, pine sword, flexible action: the telescopic motion of the telescopic hydraulic cylinder 3 drives the spline shaft 4 to do telescopic motion, so that the tool changing manipulator 5 is driven to complete telescopic motion. Rotating movement: the rotary hydraulic cylinder 2 rotates to enable the driving gear 6 to drive the driven gear 7 to rotate, so that the spline shaft 4 rotates to drive the tool changing manipulator 5 to rotate. The whole working process of the tool changing mechanism is as follows: firstly, the main shaft is stopped accurately, a cutter on the main shaft is reversed by 90 degrees, the cutter point faces to the cutter changing manipulator 5, the telescopic hydraulic cylinder 3 works to extend the cutter changing manipulator 5 to a specified position through the spline shaft 4, the cutter changing manipulator 5 finishes the cutter grabbing action, the cutter grabbing action comprises grabbing of the cutter on the main shaft and the cutter in the cutter storeroom, then the hydraulic cylinder works again to pull the cutter changing manipulator 5 back, at the moment, the rotary hydraulic cylinder works to drive the spline shaft 4 to rotate, the cutter changing manipulator 5 rotates by 180 degrees, the position of the cutter on the main shaft and the position of the cutter in the cutter storeroom are exchanged, the cutter changing manipulator 5 is extended to the specified position again under the action of the telescopic cylinder, the main shaft clamps a new cutter, then the telescopic cylinder withdraws the cutter changing manipulator 5, and finally the whole cutter changing action is finished.
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 these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A machining center tool changing manipulator hydraulic control mechanism is characterized by comprising a box body, wherein a spline shaft is rotatably connected to the box body, a shaft mounting opening is formed in one side of the box body, the spline shaft penetrates from the outside of the box body to the inside of the box body through the shaft mounting opening, a rotary seat is fixedly mounted in the shaft mounting opening, the middle part of the spline shaft is mounted in the rotary seat through two first sleeves, the first sleeves are rotatably connected with the rotary seat through bearings, a second sleeve is mounted at the tail end of the rotary seat, a driven gear is fixedly mounted on the outer side of the second sleeve, a rotary hydraulic cylinder is mounted on one side, away from the spline shaft, in the box body, a telescopic hydraulic cylinder is mounted at the bottom end in the box body, and one end, located outside the box body, of the spline shaft is connected with a tool changing manipulator, the one end that the integral key shaft is located inside the box is connected with rotary hydraulic cylinder and telescopic hydraulic cylinder respectively, the one end that the integral key shaft is located inside the box is installed driven gear, the front end of rotary hydraulic cylinder is installed with the driving gear, the driving gear meshes with the driven gear, the integral key shaft is connected with the telescopic hydraulic cylinder through the connecting rod, the connecting rod includes big head hole and little head hole, two bearing installation grooves are symmetrically arranged on the two sides of the big head hole, two bearings are installed in the two bearing installation grooves respectively, the connecting rod is rotationally connected with the integral key shaft through two bearings, the little head hole is fixedly connected with the telescopic shaft at the front end of the telescopic hydraulic cylinder, the rotary hydraulic cylinder includes a cylinder body, a rotating shaft coaxially arranged along the length direction of the cylinder body is arranged on the cylinder body, be equipped with the stator that sets up along its length direction on the inner wall of cylinder body, the stator with the inner wall fixed connection of cylinder body fixed mounting has the rotor in the axis of rotation, the rotor is followed the axis of rotation rotates, tool changing manipulator includes the support arm, the both ends of support arm all are equipped with semicircular stationary dog, two semicircular stationary dog is central symmetry and sets up, on the support arm stationary dog one side is equipped with the mounting groove, install the movable jaw in the mounting groove, the bottom mounting of movable jaw has the spring, be equipped with in the mounting groove and be used for the restriction the movable jaw reciprocates the gag lever post of stroke.
2. The machining center tool changing manipulator hydraulic control mechanism as claimed in claim 1, wherein the rear end of the cylinder body is fixed on the inner wall of the cylinder body, the rotating shaft penetrates from the rear end of the cylinder body to the front end of the cylinder body, a bearing is arranged between the rotating shaft and the front end cover of the cylinder body, the driving gear is mounted at the front end of the rotating shaft, and the driving gear is fixedly connected with the rotating shaft.
3. The machining center tool changing robot hydraulic control mechanism according to claim 2, wherein a central axis of the rotating shaft and a central axis of the spline shaft are parallel to each other.
4. The machining center tool changing robot hydraulic control mechanism according to claim 1, wherein a central axis of the telescopic shaft and a central axis of the spline shaft are parallel to each other.
5. The machining center tool changing manipulator hydraulic control mechanism as claimed in claim 1, wherein a connecting seat is installed at one end, located outside the box body, of the spline shaft, and the spline shaft is connected with the tool changing manipulator through the connecting seat.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110387331.5A CN113103043B (en) | 2021-04-09 | 2021-04-09 | Machining center tool changing manipulator hydraulic control mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110387331.5A CN113103043B (en) | 2021-04-09 | 2021-04-09 | Machining center tool changing manipulator hydraulic control mechanism |
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| CN113103043A CN113103043A (en) | 2021-07-13 |
| CN113103043B true CN113103043B (en) | 2023-02-17 |
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| CN113909981B (en) * | 2021-09-29 | 2023-03-28 | 方冠（常州）数控科技有限公司 | A manipulator assembly for unloading in automation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208289499U (en) * | 2018-04-01 | 2018-12-28 | 台州轩朗机电科技有限公司 | The cutter-exchange mechanism of machining center |
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| CN107605844B (en) * | 2017-11-01 | 2023-08-29 | 中科新松有限公司 | Rotary hydraulic cylinder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN208289499U (en) * | 2018-04-01 | 2018-12-28 | 台州轩朗机电科技有限公司 | The cutter-exchange mechanism of machining center |
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