CN210998683U - Four-branch three-degree-of-freedom redundant drive type parallel machining head - Google Patents
Four-branch three-degree-of-freedom redundant drive type parallel machining head Download PDFInfo
- Publication number
- CN210998683U CN210998683U CN201920994990.3U CN201920994990U CN210998683U CN 210998683 U CN210998683 U CN 210998683U CN 201920994990 U CN201920994990 U CN 201920994990U CN 210998683 U CN210998683 U CN 210998683U
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- redundant
- branch
- connecting rod
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Machine Tool Units (AREA)
Abstract
The utility model discloses a four divide parallelly connected processing heads of redundant drive formula of three degrees of freedom, including electric main shaft, processing platform, frame, three the same drive branch and redundant drive branch, drive branch all contains motor-reduction gear module one, carousel one, connecting rod one, free bearing one and free bearing two, motor-reduction gear module one rotates drive to carousel one through fifth revolute pair, and a carousel edge both sides are equipped with a pair of gudgeon, and it is articulated with the connecting rod one-end through the fourth revolute pair, and the other end of connecting rod one is articulated mutually through third revolute pair and free bearing one, and free bearing one and free bearing two do not articulate through first revolute pair and second revolute pair, the rotation axis quadrature each other of first revolute pair, second revolute pair and third revolute pair. The utility model discloses a redundant driven structural style can improve the load situation of driver, and bearing capacity is strong, the overload problem of driver when avoiding processing complicated large-scale work piece.
Description
Technical Field
The utility model relates to a four divide parallelly connected processing heads of redundant drive formula of three degrees of freedom of branch belongs to parallel mechanism and learns the field.
Background
With the continuous development of military industry in China, more and more large complex parts need to be machined, and machining equipment needs to have high overall rigidity and machining precision. The processing equipment can be divided into two main types according to the structural type, namely a series type and a parallel type. The traditional tandem machine tool has the advantages that the occupied space is small, the working space is large, but the rigidity of the traditional tandem machine tool cannot meet the processing requirement of a large-sized workpiece; although the parallel machine tool can meet the requirements on rigidity and precision, the parallel machine tool occupies a large space and has a relatively small operation space, so that the waste of resources is caused. Therefore, the serial machine tool and the parallel machine tool are combined, in order to ensure that the occupied space is as small as possible on the basis of ensuring the rigidity, a modularized and integratable small parallel machining head form is selected, the modularized and integratable small parallel machining head form has modularization and integratability, can be combined with the serial track to form a serial and parallel multi-axis machining center, and has a good machining effect. The type selection of the parallel machining heads is the key for determining the machining performance of the multi-axis machining center.
At present, the more mature parallel processing heads in the market comprise a Tricept processing module, an Execho processing module, a Z3 head, an A3 head and the like. The Tricept processing module and the Execho processing module are asymmetric redundant driving mechanisms, the isotropy of the rigidity of the mechanisms is weak, the control difficulty is high, and the occupied space is large; the Z3 head and the A3 head are both symmetrical non-redundant driving mechanisms, and the driving mechanisms have high requirements on the load performance of driving and have weak adaptability to the processing environment.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem:
aiming at the problems that when a three-degree-of-freedom parallel machining head exists in the current market, when a large-scale load workpiece is machined, the load capacity of a driver is limited, the overall rigidity of a mechanism is low, and meanwhile, the mechanism has a singular configuration and occupies a large space, so that the operability is limited, a four-branch three-degree-of-freedom redundant drive type parallel machining head is provided, the overall rigidity of the existing three-degree-of-freedom parallel machining head is improved, the occupied space of the existing three-degree-of-freedom parallel machining head is reduced as much as possible, and the redundant drive of the four-branch.
The technical solution of the utility model is as follows:
a four-branch three-degree-of-freedom redundant drive type parallel machining head comprises an electric spindle, a machining table, a frame, three same drive branches and redundant drive branches, wherein each drive branch comprises a motor-reducer module I, a first rotating disc, a first connecting rod, a first hinged support and a second hinged support; the rotation axes of the first rotation pair, the second rotation pair and the third rotation pair are mutually orthogonal;
the redundant driving branch comprises a redundant driving unit and a spherical hinge seat, one end of the redundant driving unit is fixedly connected to the frame, and the other end of the redundant driving unit is hinged with the spherical hinge seat through a spherical joint;
the first scheme is as follows: the three driving branches are fixedly connected to the inner side of the frame in a centrosymmetric mode, and the central lines of the driving branches projected along the bottom surface direction of the frame form an angle of 120 degrees with each other; the center line of the redundant driving branch is superposed with the center line of the processing table in an initial state, and the center line of the spherical hinge seat is always consistent with the center line of the electric spindle in direction;
or scheme two: the three driving branches and one redundant driving branch are fixedly connected to the inner side of the frame in a centrosymmetric mode, and two adjacent central lines projected along the bottom surface direction of the frame are perpendicular to each other.
The redundancy driving unit comprises an inner frame, a telescopic rod and an electric cylinder body, wherein trunnions outside the inner frame are hinged to the frame through a sixth revolute pair, the inner sides of the inner frame are hinged to trunnions outside the electric cylinder body through a seventh revolute pair, the electric cylinder body and the telescopic rod carry out redundancy driving through a sliding pair, one end of the telescopic rod is hinged to a spherical hinge seat through a spherical hinge, and the spherical hinge seat is fixedly connected to a mounting seat of the electric spindle.
The intersection point of the axes of the sixth rotating pair and the seventh rotating pair of the redundant driving branch is always on the axial central line of the frame, the central line of the electric cylinder body is superposed with the central line of the processing table in the initial state, and the central line of the spherical hinge seat of the electric cylinder body is always consistent with the central line of the electric spindle.
The redundant driving unit comprises a motor-reducer module II, a rotary table II, a connecting rod III, a hinged support III and a hinged support IV, the motor-reducer module II drives the rotary table II to rotate through a sixth revolute pair, a pair of trunnions are arranged on two sides of the edge of the rotary table II and hinged to one end of the connecting rod II through a seventh revolute pair, the other end of the connecting rod II is hinged to one end of the connecting rod III through an eighth revolute pair, the other end of the connecting rod III is hinged to the hinged support three-phase through a ninth revolute pair, the hinged support III and the hinged support IV are hinged through a tenth revolute pair and an eleventh revolute pair respectively, and the hinged support IV is fixedly connected to the processing table.
The three driving branches and one redundant driving branch are fixedly connected to the inner side of the frame in a centrosymmetric manner, and two adjacent central lines projected along the bottom surface direction of the frame are mutually vertical; the axes of the seventh rotating pair and the eighth rotating pair are perpendicular to each other.
And the axes of the ninth revolute pair, the tenth revolute pair and the eleventh revolute pair are mutually orthogonal.
The first motor-reducer module can be driven by hydraulic pressure, and the three orthogonal rotating pairs and the ball hinge can be replaced mutually.
The angle between the axis of the driving branch and the axis of the electric spindle is changed within the range of 15-75 degrees.
The diameter of the first rotating disc and the diameter of the second rotating disc are smaller than the length of the first connecting rod.
The sum of the lengths of the second connecting rod and the third connecting rod is greater than the length of the first connecting rod.
Compared with the prior art, the utility model the advantage as follows:
(1) the utility model can improve the load condition of the driver through the structure form of the redundant drive, has strong bearing capacity and avoids the overload problem of the driver when processing complex large-scale workpieces;
(2) the utility model adopts four driving inputs to realize two-rotation one-movement three-dimensional output, realizes that the same movement has more driving input modes, avoids instant singularity existing in a single-branch single-driving mode, and can improve the adaptability of the mechanism to complex environment;
(3) in the utility model, each driving branch and the redundant driving branch can be driven and transmitted by the rotary joint, thus reducing the occupied space to the maximum extent and having stronger modularization and integration;
(4) the utility model discloses in take the redundant drive structural style of symmetrical arrangement, compare in the redundant drive form of conventionality, under hoist mechanism global rigidity's prerequisite, can effectively reduce the degree of difficulty of power position hybrid control.
Drawings
Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;
fig. 2 is a schematic view of the overall structure of embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of a non-redundant driving branch structure of the present invention;
fig. 4 is a schematic diagram of a redundant driving branch structure according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a redundant driving branch structure according to embodiment 2 of the present invention.
Detailed Description
The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, 3 and 4, the scheme comprises three identical driving branches, a redundant driving branch, a frame and a processing platform; the three driving branches are symmetrically distributed on the inner side of the frame, each driving branch is rotationally driven, and each transmission joint is also a revolute pair, so that the occupied space is reduced; each driving branch comprises a rotation driving unit, a turntable and a connecting rod, wherein the center of the turntable is provided with a through hole and is hinged with a rotation driving main shaft through a rotation pair, the edge of the turntable is provided with a trunnion and is hinged with the connecting rod through the rotation pair, and the connecting rod is hinged with the processing platform through three orthogonal rotation pairs;
the redundancy driving branch comprises an inner frame, a redundancy driving unit and a spherical hinge seat, the outer side and the inner side of the inner frame are respectively hinged with the frame and the redundancy driving unit body through revolute pairs, the intersection point of the axes of the two revolute pairs is positioned on the axial central line of the frame, the electric cylinder body and the telescopic rod carry out redundancy driving through a revolute pair, the telescopic rod is hinged with the spherical hinge seat through a spherical hinge, and the spherical hinge seat is fixedly connected with the electric main shaft mounting seat; the processing table is provided with the electric spindle, so that the processing function of two rotations and one moving direction under the symmetrical four-branch redundant driving can be realized.
As shown in fig. 2, 3 and 5, the scheme configuration comprises three identical driving branches, a redundant driving branch, a frame and a processing platform; the three driving branches and the redundant driving branch are symmetrically distributed on the inner side of the frame, each driving branch is rotationally driven, and each transmission joint is also a revolute pair, so that the occupied space of the transmission joint is reduced to the maximum extent; the component composition and the connection mode of each driving branch are consistent with those of the technical scheme 1; the redundant driving branch mainly comprises a redundant driving unit, a rotary table, two connecting rods and two hinged supports, wherein the center of the rotary table is provided with a through hole and is hinged with a redundant driving main shaft through a revolute pair, a trunnion is arranged at the edge of the rotary table and is hinged with a first connecting rod through a revolute pair, the other end of the first connecting rod is hinged with a second connecting rod through a revolute pair, the other end of the second connecting rod is hinged with the first hinged support through a revolute pair, the first hinged support and the second hinged support are respectively hinged through two revolute pairs with orthogonal axes, and the second hinged support is fixedly connected to a processing table; the processing table is provided with an electric spindle, and a corresponding cutter can be configured on the electric spindle according to the processing requirement, so that the processing function of two rotations and one moving direction under the redundant driving of four branches is realized.
Example 1
As shown in fig. 1, 3 and 4, the scheme is composed of three identical driving branches, one redundant driving branch, a frame 16 and a processing table 2; three driving branches are uniformly distributed on the inner side of the frame 16, and each driving branch is a motor-reducer module I8 passing through a fifth revolute pair R5A first rotating disk 6 is driven, and a pair of trunnions is arranged at two sides of the edge of the first rotating disk 6 and passes through a fourth revolute pair R4Is hinged with the first connecting rod 5, and the other end of the first connecting rod 5 is connected with the third revolute pair R3Hinged with the first hinged support 4, the first hinged support 4 and the second hinged support 3 are respectively hinged through a first revolute pair R1And a second revolute pair R2Hinging is carried out, and the hinged supports 3 of all branches are uniformly distributed on one side of the processing table 2; the redundant driving unit 9 mainly comprises an electric cylinder body, an expansion rod 11 and an inner frame 10, wherein the outer side of the inner frame 10 and the frame 16 pass through a sixth revolute pair R6Hinged, the inner side of the inner frame 10 and the trunnion of the electric cylinder body pass through a seventh revolute pair R7The electric cylinder body and the telescopic rod 11 are driven redundantly through a sliding pair P, the telescopic rod 11 is hinged with the spherical hinge seat 12 through a spherical hinge S, and the spherical hinge seat 12 is fixedly connected with the mounting seat of the electric main shaft 1; the center of the processing table 2 is provided with the electric spindle 1, and a corresponding cutter can be configured on the electric spindle 1 according to the processing requirement, so that the processing function of redundant driving type in two rotation and one movement directions is realized.
Example 2
As shown in fig. 2, 3 and 5, the scheme is composed of three identical driving branches, a redundant driving branch, a frame 16 and a processing table 2, wherein each driving branch and the redundant driving branch are fixedly connected to the inner side of the frame 16 in a central symmetry manner; the connection form of each driving branch is that a motor-reducer module I8 passes through a fifth revolute pair R5A first rotating disk 6 is driven, and a pair of trunnions is arranged at two sides of the edge of the first rotating disk 6 and passes through a fourth revolute pair R4Is hinged with one end of a first connecting rod 5, and the other end of the first connecting rod 5 is connected with a third revolute pair R3Hinged with the first hinged support 4, the first hinged support 4 and the second hinged support 3 are respectively hinged through a first revolute pair R1And a second revolute pair R2Hinging is carried out, and the hinged supports 3 of all branches are uniformly distributed on one side of the processing table 2; redundancyThe driving unit 9 mainly comprises a second motor-reducer module 22, a second rotary table 17, a second connecting rod 18, a third connecting rod 19, a third hinged support 20 and a fourth hinged support 21, wherein the second motor-reducer module 22 passes through a sixth revolute pair R6The second rotary table 17 is driven to rotate, and a pair of trunnions is arranged on two sides of the edge of the second rotary table 17 and passes through a seventh revolute pair R7One end of the second connecting rod 18 is hinged, and the other end of the second connecting rod 18 passes through an eighth revolute pair R8Is hinged with one end of a third connecting rod 19, and the other end of the third connecting rod 19 passes through a ninth revolute pair R9Hinged with a third hinged support 20, the third hinged support 20 and the fourth hinged support 21 are respectively hinged through a tenth revolute pair R10And an eleventh revolute pair R11The hinge seat four 21 is fixedly connected on the processing table 2; the machining table 2 is provided with an electric spindle 1, and corresponding cutters can be configured on the electric spindle 1 according to machining requirements.
In conclusion, utilize the utility model discloses can realize the processing function of two rotations a direction of movement under the redundant drive form of quartering branch.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The present invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification, and to any novel method or process steps or any novel combination of features disclosed.
The details of the present invention not described in detail in the specification are well known to those skilled in the art.
Claims (10)
1. The utility model provides a four divide redundant drive formula of degree of freedom parallel machining head which characterized in that: the three-axis redundant driving device comprises an electric spindle (1), a processing table (2), a frame (16), three same driving branches and redundant driving branches, wherein each driving branch comprises a motor-reducer module I (8), a turntable I (6), a connecting rod I (5), a hinged support I (4) and a hinged support II (3), and the motor-reducer module IThe first module (8) passes through a fifth revolute pair (R)5) The first rotating disk (6) is driven to rotate, a pair of trunnions is arranged on two sides of the edge of the first rotating disk (6), and the trunnions pass through a fourth revolute pair (R)4) Is hinged with one end of the connecting rod I (5), and the other end of the connecting rod I (5) passes through a third revolute pair (R)3) Hinged with the first hinged support (4), the first hinged support (4) and the second hinged support (3) are respectively connected through a first revolute pair (R)1) And a second revolute pair (R)2) The hinge seat II (3) is fixedly connected to the processing table (2), and the center of the processing table (2) is provided with an electric spindle (1); the first rotary pair (R)1) And a second revolute pair (R)2) And a third revolute pair (R)3) Are mutually orthogonal;
the redundant driving branch comprises a redundant driving unit (9) and a spherical hinge seat (12), one end of the redundant driving unit (9) is fixedly connected to the frame (16), and the other end of the redundant driving unit is hinged with the spherical hinge seat (12) through a spherical hinge (S);
the first scheme is as follows: the three driving branches are fixedly connected to the inner side of the frame (16) in a centrosymmetric mode, and the central lines of the three driving branches projected along the bottom surface direction of the frame (16) form an angle of 120 degrees with each other; the center line of the redundant driving branch is superposed with the center line of the processing table (2) in an initial state, and the center line of the spherical hinge seat (12) is always consistent with the center line of the electric spindle (1);
or scheme two: the three driving branches and one redundant driving branch are fixedly connected to the inner side of the frame (16) in a centrosymmetric mode, and two adjacent central lines projected along the bottom surface direction of the frame (16) are perpendicular to each other.
2. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 1, wherein: the redundant driving unit (9) comprises an inner frame (10), an expansion rod (11) and an electric cylinder body, wherein a trunnion at the outer side of the inner frame (10) and a frame (16) pass through a sixth revolute pair (R)6) Hinged, the inner side of the inner frame (10) and the trunnion at the outer side of the electric cylinder body pass through a seventh revolute pair (R)7) The electric cylinder body and the telescopic rod (11) are driven redundantly through a sliding pair (P), one end of the telescopic rod (11) is hinged with the spherical hinge seat (12) through a spherical hinge (S), and the spherical hinge seat (12) is fixedly connected to a mounting seat of the electric main shaft (1).
3. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 2, wherein: the redundant drive branch sixth revolute pair (R)6) And a seventh revolute pair (R)7) The intersection point of the axes of the electric cylinder body is always on the axial central line of the frame (16), the central line of the electric cylinder body is superposed with the central line of the processing table (2) under the initial state, and the central line of the spherical hinge seat (12) is always consistent with the central line of the electric spindle (1).
4. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 1, wherein: the redundant driving unit (9) comprises a motor-reducer module II (22), a rotary table II (17), a connecting rod II (18), a connecting rod III (19), a hinged support III (20) and a hinged support IV (21), and the motor-reducer module II (22) is connected with a motor-reducer module II through a sixth revolute pair (R)6) The second rotating disk (17) is driven to rotate, and a pair of trunnions is arranged on two sides of the edge of the second rotating disk (17) and passes through a seventh revolute pair (R)7) Is hinged with one end of the second connecting rod (18), and the other end of the second connecting rod (18) passes through an eighth revolute pair (R)8) Is hinged with one end of a connecting rod III (19), and the other end of the connecting rod III (19) passes through a ninth revolute pair (R)9) Hinged with a third hinged support (20), the third hinged support (20) and a fourth hinged support (21) are respectively connected through a tenth revolute pair (R)10) And an eleventh revolute pair (R)11) Hinged, and the hinged support four (21) is fixedly connected on the processing table (2).
5. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 4, wherein: the three driving branches and one redundant driving branch are fixedly connected to the inner side of the frame (16) in a centrosymmetric mode, and two adjacent central lines projected along the bottom surface direction of the frame (16) are mutually vertical; the seventh revolute pair (R)7) And an eighth revolute pair (R)8) Are perpendicular to each other.
6. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 5, wherein: the ninth rotationKinematic pair (R)9) And the tenth revolute pair (R)10) And an eleventh revolute pair (R)11) Are orthogonal to each other.
7. A four-branch three-degree-of-freedom redundant-drive parallel machining head according to any one of claims 1-3, characterized in that: the motor-reducer module I (8) can be hydraulically driven, and three orthogonal rotating pairs and the ball hinge (S) can be replaced mutually.
8. A four-branch three-degree-of-freedom redundant-drive parallel machining head according to any one of claims 1 to 6, characterized in that: the angle between the axis of the driving branch and the axis of the electric spindle is changed within the range of 15-75 degrees.
9. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 1, wherein: the diameters of the first rotating disc (6) and the second rotating disc (17) are smaller than the length of the first connecting rod (5).
10. A four-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 1, wherein: the sum of the lengths of the second connecting rod (18) and the third connecting rod (19) is greater than the length of the first connecting rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920994990.3U CN210998683U (en) | 2019-06-28 | 2019-06-28 | Four-branch three-degree-of-freedom redundant drive type parallel machining head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920994990.3U CN210998683U (en) | 2019-06-28 | 2019-06-28 | Four-branch three-degree-of-freedom redundant drive type parallel machining head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210998683U true CN210998683U (en) | 2020-07-14 |
Family
ID=71500806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920994990.3U Active CN210998683U (en) | 2019-06-28 | 2019-06-28 | Four-branch three-degree-of-freedom redundant drive type parallel machining head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210998683U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303475A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of four branch's three freedom redundancy drive-type parallel connection processing heads |
-
2019
- 2019-06-28 CN CN201920994990.3U patent/CN210998683U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303475A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of four branch's three freedom redundancy drive-type parallel connection processing heads |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4541091B2 (en) | Processing transfer device | |
| EP1492649B1 (en) | Industrial robot | |
| KR101957864B1 (en) | Machine tool to which rotary tool unit can be attached | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN107443173B (en) | Large-stroke high-rigidity serial-parallel machine tool with reconfigurable characteristic | |
| CN200988220Y (en) | Parallel robot mechanism for realizing two dimension moving and rotation | |
| BR102012006723A2 (en) | Tire retreading system consisting of robot arm with angular interpolation movements | |
| CN209664802U (en) | A kind of six-DOF robot type Machining of Curved Surface machine tool structure | |
| CN109664112B (en) | Double-station curved surface machining machine tool structure | |
| CN111055135A (en) | Multi-degree-of-freedom numerical control rotary table | |
| CN104772628A (en) | Three-freedom-degree parallel-connection spindle head mechanism | |
| JP3216820U (en) | 5-axis machine tool | |
| CN210998683U (en) | Four-branch three-degree-of-freedom redundant drive type parallel machining head | |
| CN210998684U (en) | Three-branch three-degree-of-freedom redundant drive type parallel machining head | |
| CN100503150C (en) | Digital control machine tool with five degrees of freedom in parallel and series | |
| CN107876803A (en) | A kind of freedom degree parallel connection mainshaft head mechanism of redundant drive | |
| CN110053026B (en) | Five-freedom-degree series-parallel robot for workpiece machining | |
| CN110695716A (en) | Five-freedom-degree redundant drive hybrid machine tool for machining complex curved surface of large workpiece | |
| CN110774015A (en) | Hybrid machine tool containing over-constrained less-degree-of-freedom parallel module and motion method | |
| CN110480762B (en) | Modular three-degree-of-freedom machining robot | |
| CN212217783U (en) | Vertical series-parallel carving machine | |
| CN1470359A (en) | Special five-freedom cutter grinding machine working head for parallel mechanism based mixing mechanism | |
| CN116765832A (en) | Efficient turning and milling composite machining center | |
| CN1555963A (en) | Double gantry horizontal series parallel schematic milling composite digital controlled machine tool | |
| CN109108671B (en) | Five-axis parallel-serial machine tool for processing cylindrical parts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |