CN207508291U - Novel five-axis machining center - Google Patents
Novel five-axis machining center Download PDFInfo
- Publication number
- CN207508291U CN207508291U CN201721447333.4U CN201721447333U CN207508291U CN 207508291 U CN207508291 U CN 207508291U CN 201721447333 U CN201721447333 U CN 201721447333U CN 207508291 U CN207508291 U CN 207508291U
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- Prior art keywords
- speed reducer
- harmonic speed
- axis
- shaft
- novel
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000009434 installation Methods 0.000 claims abstract description 19
- 238000003754 machining Methods 0.000 claims abstract description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 238000005192 partition Methods 0.000 claims description 11
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000000354 decomposition reaction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000005538 encapsulation Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002688 persistence Effects 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses a kind of Novel five-axis machining center, including engine base, column, slide, workbench, machining spindle, X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism, C shaft rotations platform and spindle swing device；The smart structural design of the utility model, rationally, it is applied widely by five-axle linkage, it is high in machining efficiency；Wherein oscillating motor drives the rotation of main shaft installation set to realize the purpose of adjustment machining spindle angle by harmonic speed reducer, is not only driven more direct, efficient, and torsion is big, can flexible, smooth adjustment machining spindle angle；Turntable motor drives driving mounting disc by harmonic speed reducer simultaneously, enormously simplify the traditional structure of conventional worm worm gear, and eliminate the problem of caused transmission efficiency during conventional worm worm-drive is low and operating accuracy is not high, compact overall structure, cooperation is close, and gap is small, high transmission accuracy, good operating stability is further ensured that operating accuracy, conducive to wide popularization and application.
Description
Technical field
The utility model is related to machining center technical fields, and in particular to a kind of Novel five-axis machining center.
Background technology
With the increasingly maturation of domestic Numeric Control Technology, five-shaft linkage numerical control machining center is got in each field in recent years
To be more widely applied.In practical applications, when people run into efficient abnormal complex part, high quality processing problem, five
Axis linkage technique is undoubtedly the important means for such issues that solve.In recent years with China's aerospace, war industry, automobile zero
Component and mould manufacturing industry flourish, and more and more producers tend to find five axis equipment to meet high efficiency, height
The processing of quality.
Five-axis machine tool（5 Axis Machining）, as its name suggests, refer in X, Y, Z, add on three common linear axis
Upper two rotary shafts.A, two rotary shafts in tri- axis of B, C have different motion modes, to meet the technology need of various product
It asks.And in the Machine Design of 5 axis machining centers, Machine Manufacture quotient is dedicated to developing new movement mould always by persistence
Formula, to meet various requirement.
Comprehensive five-axis machine tools all kinds of currently on the market, although its mechanical structure form is varied, in order to reduce body
Product, main axis device be that main axis is driven using DD motors, to realize adjustment main shaft angle；Although it can be real
The purpose of existing small size, but in contrast, torsion it is smaller, it is impossible to flexible, smooth adjustment main shaft angle is brought to processing
It is inconvenient, it is difficult to meet high efficiency, the process requirements of high quality.In addition, its C axis turntable structures are subtracting using worm and gear
Fast drive mechanism, it is not only complicated, it is bulky, and also transmission efficiency is low, and operating accuracy is not high, it is difficult to ensure processing matter
Amount.
Utility model content
Against the above deficiency, the purpose of the utility model is to provide a kind of smart structural design, rationally, torsion is big, work
Make the good Novel five-axis machining center of stability.
To achieve the above object, technical solution provided by the utility model is：A kind of Novel five-axis machining center, packet
Include engine base, column, slide, workbench, machining spindle, X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism, C shaft rotation platforms
With spindle swing device, the column is arranged on the tail position of engine base, and Y-axis moving mechanism is arranged on the front of the engine base
It puts, workbench is arranged on by X-axis mobile mechanism in Y-axis moving mechanism, and the C shaft rotations platform is set on the table, the cunning
Seat is arranged on by Z axis mobile mechanism on column, and the spindle swing device includes oscillating motor, harmonic speed reducer, main shaft peace
Encapsulation, driving pulley and driven pulley, harmonic speed reducer are arranged on the front of slide, and the main shaft installation is set on harmonic wave
On the output terminal of retarder, driven pulley is arranged on the input terminal of harmonic speed reducer；Oscillating motor corresponds to the one of driven pulley
Side position is arranged on slide, and the driving pulley is arranged in the drive shaft of oscillating motor, and passes through belt and driven pulley
It is connected, the machining spindle is arranged in main shaft installation set.
As a kind of improvement of the utility model, the front of the slide is equipped with installing plate, and installing plate, which is equipped with, to be used for
The strip fluting of accommodating driving pulley and driven pulley, harmonic speed reducer is arranged on the front lower position of installing plate, and this is humorous
The input terminal of wave retarder is located at an end position of strip fluting；The drive shaft of oscillating motor is located at the other end position of strip fluting
It puts.It is ingenious to utilize space, volume is effectively reduced, reduces occupied space.
As a kind of improvement of the utility model, the front of the installing plate is equipped with and can believe the harmonic speed reducer cover
Protective cover, which is equipped with and allows the through-hole that the output terminal of harmonic speed reducer stretches out.The protective cover, which is equipped with, allows harmonic wave to subtract
The through-hole that the output terminal of fast device stretches out.Effective protection harmonic speed reducer is not by F. O. D, good operating stability.
As a kind of improvement of the utility model, the main shaft installation set includes rear body and preceding body, the rear body
The back side be equipped with the mounting flange that is adapted with the output terminal of the harmonic speed reducer, the preceding body is fastened on rear body
On front, and form a mounting hole for being used for installing machining spindle.It is simple in structure, it is easy to install and use.
As a kind of improvement of the utility model, the C shaft rotations platform includes pedestal, mounting disc, turntable motor, main belt
Wheel, driven pulley and harmonic speed reducer, harmonic speed reducer are arranged in pedestal, and the top surface of the pedestal, which is equipped with, allows the harmonic reduction
The axis hole that the output shaft of device stretches out, the peripheral position of the axis hole are equipped with annular spacing groove, and the mounting disc is fixed on the output
On axis, and the limiting protruding rail being adapted with the annular spacing groove is equipped in the bottom surface of the mounting disc, driven pulley is arranged on harmonic wave
On the input shaft of retarder, the side position that the turntable motor corresponds to harmonic speed reducer is arranged in pedestal, the main belt
Wheel is arranged in the shaft of the turntable motor, and pass through belt and be connected with the driven pulley.
As a kind of improvement of the utility model, the top surface of the pedestal is equipped with opening, and be equipped in the opening by it
The cover board of encapsulation, the annular spacing groove are arranged on the upper surface of cover board.It is simple in structure, it is easily assembled.
As a kind of improvement of the utility model, horizontal be equipped with makes its inner cavity be divided into upper plenum and lower cavity in the pedestal
Partition board, turntable motor and harmonic speed reducer be located in upper plenum, and be arranged on the upper surface of partition board, and turntable motor turns
Axis stretches into lower cavity through partition board, and the input shaft of harmonic speed reducer stretches into lower cavity through partition board, and driving pulley is located at lower cavity
It is interior, and be fixed in the shaft of turntable motor；Driven pulley is located in lower cavity, and is fixed on the input terminal of harmonic speed reducer
On.Reasonable structural arrangement effectively avoids each component from interfering, it is ensured that job stability, while also allow for installation and maintenance.
As a kind of improvement of the utility model, the peripheral position of the mounting disc is equipped with mounting hole.Promote applicability, spirit
It is active high, meet and different install and use demand.
As a kind of improvement of the utility model, the side wall of the pedestal is equipped with wiring hole.Give the wiring process side of bringing
Just.
The beneficial effects of the utility model are：The smart structural design of the utility model, rationally, by five-axle linkage, is fitted
It is wide with range, it is high in machining efficiency；Wherein oscillating motor drives the rotation of main shaft installation set corresponding to realize by harmonic speed reducer
The purpose of machining spindle angle is adjusted, is not only driven more direct, efficient, torsion is big, can flexible, smooth adjustment machining spindle
Angle, and the cooperation of each component is close, gap is small, and kinematic accuracy is high, stationarity is good, and processing quality is effectively ensured；Turn simultaneously
Platform motor drives driving mounting disc by harmonic speed reducer, enormously simplifies the traditional structure of conventional worm worm gear, and disappears
The problem of caused transmission efficiency is low during in addition to conventional worm worm-drive and operating accuracy is not high, compact overall structure is matched
It closes closely, gap is small, high transmission accuracy, good operating stability；In addition also by annular spacing groove with limiting protruding rail match come
Mounting disc is limited, beat and the possibility shaken is effectively reduced, greatly promotes stability during rotation, be further ensured that
Operating accuracy, conducive to wide popularization and application.
Below in conjunction with the accompanying drawings with embodiment, the utility model is further illustrated.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model.
Fig. 2 is the dimensional structure diagram of spindle swing device in the utility model.
Fig. 3 is the decomposition texture schematic diagram one of spindle swing device in the utility model.
Fig. 4 is the decomposition texture schematic diagram two of spindle swing device in the utility model.
Fig. 5 is the dimensional structure diagram of C shaft rotations platform in the utility model.
Fig. 6 is the decomposition texture schematic diagram of C shaft rotations platform in the utility model.
Fig. 7 is the decomposition texture schematic diagram of mounting disc in the utility model.
Specific embodiment
Referring to Fig. 1 to Fig. 7, a kind of Novel five-axis machining center provided in this embodiment including engine base 1, column 2, is slided
Seat 3, workbench 4, machining spindle 5, X-axis mobile mechanism 8, Y-axis moving mechanism 9, Z axis mobile mechanism 10, C shaft rotations platform 6 and main shaft
Pendulous device 7, the column 2 are arranged on the tail position of engine base 1, and Y-axis moving mechanism 9 is arranged on the forward position of the engine base 1,
Workbench 4 is arranged on by X-axis mobile mechanism 8 in Y-axis moving mechanism 9, and the C shaft rotations platform 6 is arranged on workbench 4, described
Slide 3 is arranged on by Z axis mobile mechanism 10 on column 2, and the spindle swing device 7 includes oscillating motor 71, harmonic reduction
Device 72, main shaft installation set 73, driving pulley 74 and driven pulley 75, harmonic speed reducer 72 is arranged on the front of slide 3, described
Main shaft installation set 73 is arranged on the output terminal of harmonic speed reducer 72, and driven pulley 75 is arranged on the input terminal of harmonic speed reducer 72
On；The side position that oscillating motor 71 corresponds to driven pulley 75 is arranged on slide 3, and the driving pulley 74 is arranged on swing electricity
In the drive shaft of machine 71, and pass through belt 76 and be connected with driven pulley 75, the machining spindle 5 is arranged on main shaft installation set 73
On.
Specifically, being equipped with installing plate 77 on the front of the slide 3, installing plate 77, which is equipped with, to be used for housing driving pulley
74 and driven pulley 75 strip fluting, harmonic speed reducer 72 is arranged on the front lower position of installing plate 77, and the harmonic wave subtracts
The input terminal of fast device 72 is located at an end position of strip fluting；The drive shaft of oscillating motor 71 is located at the other end position of strip fluting
It puts.It is ingenious to utilize space, volume is effectively reduced, reduces occupied space.
The front of the installing plate 77 is equipped with the protective cover 78 that the harmonic speed reducer 72 can be covered to letter, the protective cover 78
It is equipped with and allows the through-hole 781 that the output terminal of harmonic speed reducer 72 stretches out.The protective cover 78 is equipped with and allows the defeated of harmonic speed reducer 72
The through-hole 781 that outlet is stretched out.Effective protection harmonic speed reducer 72 is not by F. O. D, good operating stability.
The main shaft installation set 73 include rear body 731 and preceding body 732, it is described after body 731 the back side be equipped with
The mounting flange 733 that the output terminal of the harmonic speed reducer 72 is adapted, the preceding body 732 are being fastened on rear body 731 just
On face, and form a mounting hole for being used for installing machining spindle 5.It is simple in structure, it is easy to install and use.
Referring to Fig. 5, Fig. 6 and Fig. 7, the C shaft rotations platform 6 includes pedestal 61, mounting disc 62, turntable motor 63, driving pulley
64th, driven pulley 65 and harmonic speed reducer 66, harmonic speed reducer 66 are arranged in pedestal 61, and the top surface of the pedestal 61, which is equipped with, allows institute
The axis hole 611 that the output shaft of harmonic speed reducer 66 stretches out is stated, the peripheral position of the axis hole 611 is equipped with annular spacing groove 612, described
Mounting disc 62 is fixed on the output shaft, and is equipped with what is be adapted with the annular spacing groove 612 in the bottom surface of the mounting disc 62
Protruding rail 621 is limited, driven pulley 65 is arranged on the input shaft of harmonic speed reducer 66, and the turntable motor 63 corresponds to harmonic reduction
One side position of device 66 is arranged in pedestal 61, and the driving pulley 64 is arranged in the shaft of the turntable motor 63, and pass through
Belt 67 is connected with the driven pulley 65.The side wall of the pedestal 61 is equipped with wiring hole 615.Give the wiring process side of bringing
Just.
Preferably, being equipped with opening in the top surface of the pedestal 61, and the cover board 613 being encapsulated is equipped in the opening,
The annular spacing groove 612 is arranged on the upper surface of cover board 613.It is simple in structure, it is easily assembled.
It is horizontal in the pedestal 61 to be equipped with the partition board 614 that its inner cavity is made to be divided into upper plenum and lower cavity, turntable motor 63
Be located in upper plenum with harmonic speed reducer 66, and be arranged on the upper surface of partition board 614, the shaft of turntable motor 63 run through every
Plate 614 stretches into lower cavity, and the input shaft of harmonic speed reducer 66 stretches into lower cavity through partition board 614, and driving pulley 64 is located at lower sky
Intracavitary, and be fixed in the shaft of turntable motor 63；Driven pulley 65 is located in lower cavity, and is fixed on harmonic speed reducer 66
On input terminal.Reasonable structural arrangement effectively avoids each component from interfering, it is ensured that job stability, while also allow for installation with
It safeguards.
Mounting hole 622 is equipped in the peripheral position of the mounting disc 62.To meet different demands of installing and using, promoted suitable
With property, flexibility height.
During work, machining spindle 5 is mounted on main shaft installation set 73, when needing to adjust the angle, oscillating motor 71 is by humorous
Wave retarder 72 drives the main shaft installation set 73 to rotate, so as to fulfill the purpose of corresponding adjustment main shaft angle.Adjustment process is simple,
Conveniently, and rotation torsion is big, and the angle of flexible, the smooth adjustment main shaft of energy, kinematic accuracy is high, stationarity is good, is effectively ensured and adds
Working medium amount；Turntable motor 63 can drive driving mounting disc 62 to rotate by harmonic speed reducer 66 simultaneously, enormously simplify tradition
The traditional structure of worm and wormwheel, and eliminate that caused transmission efficiency during conventional worm worm-drive is low and operating accuracy not
The problem of high, at the same annular spacing groove 612 with limiting protruding rail 621 match it is lower to mounting disc 62 carry out position-limiting action, effectively
Beat and the possibility shaken are reduced, cooperation is close, and gap is small, high transmission accuracy, good operating stability.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is changed.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the scope of the claims of the utility model.In addition, to the greatest extent
Some specific terms are used in pipe this specification, but these terms are merely for convenience of description, not to the utility model
Form any restrictions.As described in the utility model above-described embodiment, using other obtained from same or similar structure
Machining center, in scope of protection of the utility model.
Claims (9)
1. a kind of Novel five-axis machining center, it is characterised in that：It includes engine base, column, slide, workbench, machining spindle, X
Axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism, C shaft rotations platform and spindle swing device, the column are arranged on engine base
Tail position, Y-axis moving mechanism are arranged on the forward position of the engine base, and workbench is arranged on Y-axis by X-axis mobile mechanism and moves
In mechanism, on the table, the slide is arranged on by Z axis mobile mechanism on column, the main shaft for the C shaft rotations platform setting
Pendulous device includes oscillating motor, harmonic speed reducer, main shaft installation set, driving pulley and driven pulley, harmonic speed reducer setting
On the front of slide, the main shaft installation is set on the output terminal of harmonic speed reducer, and driven pulley is arranged on harmonic wave and subtracts
On the input terminal of fast device；The side position that oscillating motor corresponds to driven pulley is arranged on slide, and the driving pulley is arranged on
In the drive shaft of oscillating motor, and pass through belt and be connected with driven pulley, the machining spindle is arranged in main shaft installation set.
2. Novel five-axis machining center according to claim 1, which is characterized in that the front of the slide is equipped with installation
Plate, installing plate are equipped with the strip fluting for being used for housing driving pulley and driven pulley, and harmonic speed reducer is arranged on installing plate
Front lower position, and the input terminal of the harmonic speed reducer is located at an end position of strip fluting；The driving axle position of oscillating motor
In another end position of strip fluting.
3. Novel five-axis machining center according to claim 1 or 2, which is characterized in that set on the front of the installing plate
There is a protective cover that the harmonic speed reducer cover can be believed, which, which is equipped with, allows leading to of stretching out of output terminal of harmonic speed reducer
Hole.
4. Novel five-axis machining center according to claim 1, which is characterized in that the main shaft installation set includes rear body
With preceding body, the back side of the rear body is equipped with the mounting flange being adapted with the output terminal of the harmonic speed reducer, described
Preceding body is fastened on the front of rear body, and forms a mounting hole for being used for installing machining spindle.
5. Novel five-axis machining center according to claim 1, which is characterized in that the C shaft rotations platform includes pedestal, installation
Disk, turntable motor, driving pulley, driven pulley and harmonic speed reducer, harmonic speed reducer are arranged in pedestal, the top surface of the pedestal
Equipped with the axis hole that the output shaft of the harmonic speed reducer is allowed to stretch out, the peripheral position of the axis hole is equipped with annular spacing groove, the peace
Sabot is fixed on the output shaft, and the limiting protruding rail being adapted with the annular spacing groove is equipped in the bottom surface of the mounting disc,
Driven pulley is arranged on the input shaft of harmonic speed reducer, and the side position that the turntable motor corresponds to harmonic speed reducer is arranged on
In pedestal, the driving pulley is arranged in the shaft of the turntable motor, and is passed through belt and be connected with the driven pulley.
6. Novel five-axis machining center according to claim 5, which is characterized in that the top surface of the pedestal is equipped with opening,
And the cover board being encapsulated is equipped in the opening, the annular spacing groove is arranged on the upper surface of cover board.
7. Novel five-axis machining center according to claim 5, which is characterized in that horizontal be equipped with makes in it in the pedestal
Chamber is divided into the partition board of upper plenum and lower cavity, and turntable motor and harmonic speed reducer are located in upper plenum, and be arranged on partition board
On upper surface, the shaft of turntable motor stretches into lower cavity through partition board, and the input shaft of harmonic speed reducer stretches into lower sky through partition board
Chamber, driving pulley is located in lower cavity, and is fixed in the shaft of turntable motor；Driven pulley is located in lower cavity, and fixed
On the input terminal of harmonic speed reducer.
8. Novel five-axis machining center according to claim 5, which is characterized in that the peripheral position of the mounting disc is equipped with
Mounting hole.
9. Novel five-axis machining center according to claim 5, which is characterized in that the side wall of the pedestal is equipped with wiring
Hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721447333.4U CN207508291U (en) | 2017-11-02 | 2017-11-02 | Novel five-axis machining center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721447333.4U CN207508291U (en) | 2017-11-02 | 2017-11-02 | Novel five-axis machining center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207508291U true CN207508291U (en) | 2018-06-19 |
Family
ID=62536768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721447333.4U Expired - Fee Related CN207508291U (en) | 2017-11-02 | 2017-11-02 | Novel five-axis machining center |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207508291U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103037A (en) * | 2019-05-22 | 2019-08-09 | 博罗县昶丰精密机械设备有限公司 | A kind of nonmetallic Five-axis NC Machining Center |
| CN113791480A (en) * | 2021-07-17 | 2021-12-14 | 国华(青岛)智能装备有限公司 | Precise swing angle table for optical experiment and assembling method |
-
2017
- 2017-11-02 CN CN201721447333.4U patent/CN207508291U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103037A (en) * | 2019-05-22 | 2019-08-09 | 博罗县昶丰精密机械设备有限公司 | A kind of nonmetallic Five-axis NC Machining Center |
| CN113791480A (en) * | 2021-07-17 | 2021-12-14 | 国华(青岛)智能装备有限公司 | Precise swing angle table for optical experiment and assembling method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180619 |