3354 results about "Machining system" patented technology

The invention relates to an industrial robot cooperative control method, system and device and a storage medium. The method comprises the following steps: acquiring machine system information, working environment conditions, task demand contents and cooperative mode information of a plurality of industrial robots; performing spatial analysis on the working environment condition to obtain environment structure characteristics; performing task decomposition on the task demand content according to the cooperation mode information to obtain a sub-task list; mapping the machine system information into the environment structure features to obtain a corresponding mapping relationship, and performing association analysis on the mapping relationship to obtain a task allocation scheme; performing individual optimization on the comprehensive control parameters based on a task allocation scheme to obtain robot control parameters; and performing cooperative strategy analysis according to the sub-task list and the robot control parameters to obtain robot cooperative strategies, and performing comprehensive analysis on all the robot cooperative strategies to obtain an overall cooperative control strategy. According to the invention, the whole industrial robot system can be more suitable for complex and changeable actual production scenes.

The invention relates to the field of bending machines, in particular to a bending machine system based on real-time springback compensation and a bending angle dynamic calibration method, and the bending machine system comprises a bending machine sliding block, a workbench, a linear guide rail, a sensor, a compensation calculation module and an electric control cabinet; an upper die is arranged at the bottom of the bending machine sliding block, a lower die matched with the upper die is arranged above the workbench, a material to be bent is placed on the lower die, linear guide rails are symmetrically arranged on the two sides of the workbench, angle detectors are symmetrically arranged on the linear guide rails, high-precision angle sensors are arranged in the angle detectors, and the high-precision angle sensors are arranged on the linear guide rails. The angle acquisition module is used for acquiring material bending angle data in real time and uploading the data to a control system of the electric control cabinet through the communication module; the sensor and the compensation calculation module are arranged in the electric control cabinet, the degree-of-freedom rotating arm is arranged on the electric control cabinet, through real-time feedback, dynamic compensation and intelligent decision making, the precision and efficiency bottlenecks caused by material springback are solved, and the industrial application value is remarkable.

The invention provides a calculation task scheduling method and system applied to a numerical control machining system, and the method comprises the steps: obtaining a task request set containing a machining process type and a real-time constraint identifier, extracting a processing complexity feature and a resource demand feature, calling a task priority evaluation model to generate a priority sequence, and carrying out the calculation of a task. Generating an initial scheduling scheme according to the sequence and current available resource information of the system, adaptively adjusting the initial scheduling scheme based on task execution state information fed back in real time, and generating a final scheduling scheme including a task execution sequence and resource allocation parameters, thereby comprehensively considering task complexity, resource requirements and real-time constraints, and improving the scheduling efficiency. Dynamic matching and optimal scheduling of tasks and resources are achieved, and the machining efficiency and the resource utilization rate of the numerical control machining system are effectively improved.

The invention relates to the technical field of CNC machining control, and discloses an intelligent CNC machining system and method, and the method comprises the steps: carrying out the comprehensive modeling of the machining quality, efficiency and energy consumption of CNC, and obtaining a machining quality-efficiency-energy consumption function model; obtaining the multi-dimensional time sequence state data set for feature extraction to obtain a feature data set; constructing a processing state real-time identification model; carrying out five-axis linkage CNC machining simulation to obtain a machining simulation state data set, and carrying out machining state classification identification through the machining state real-time identification model to obtain a machining state simulation identification result; and performing deep reinforcement learning, generating a machining parameter dynamic adjustment strategy and performing global parameter optimization to obtain a target CNC machining control parameter set, and the method can adaptively optimize the machining parameters to cope with different machining tasks and environment changes, thereby improving the machining precision, efficiency and energy utilization rate.

The invention discloses a laser-assisted machining path thermal error pre-compensation method, which comprises the following steps of: establishing a force-thermal coupling analysis model for a laser-assisted machining system, accurately calculating the temperature field change and deformation condition of a tool rest structural part in the laser-assisted machining process, and accurately correcting the parameter precision of the force-thermal coupling analysis model through model calibration. Thermal deformation epsilon t of a system tool nose point, a tool placement pose theta and an uncompensated tool path (xt ', zt') are obtained based on model calculation, and a processing tool path (xt, zt) is obtained through pre-compensation tool nose thermal deformation calculation, so that high-precision laser-assisted ultra-precision processing is realized under the condition that a tool rest has a thermal drift error.

The invention relates to the technical field of energy storage systems, and discloses a three-phase parallel operation system and a power distribution method and device thereof. The method comprises the following steps: acquiring initial distribution power of each phase of each energy storage inverter; determining a locked phase, a non-locked phase, a locked energy storage inverter and a non-locked energy storage inverter according to the initial distribution power of each phase of each energy storage inverter; determining missing power of the locked phase of the locked energy storage inverter according to the locked energy storage inverter and the locked phase; according to the initial distribution power of the non-locked phase of the locked energy storage inverter, the charging margin is obtained; according to the initial distribution power of the non-locking phase of the non-locking energy storage inverter, obtaining a discharge margin; and obtaining the target distribution power of each phase of each energy storage inverter according to the missing power, the charging margin and the discharging margin. Through overall calculation of the global margin, the problems that interphase power of a traditional parallel operation system is rigid and the overall performance is restricted by a single-point bottleneck are solved, and the load adaptability and the operation reliability of the parallel operation system are remarkably improved.

The invention belongs to the technical field of matching control of a network construction type system, and particularly discloses a power feedback control method suitable for matching control low-frequency oscillation suppression, which comprises the following steps: establishing a power-frequency transfer relation of a multi-matching control parallel system, analyzing the torque of the multi-matching control parallel system based on a damping torque method, and calculating the power-frequency transfer relation of the multi-matching control parallel system; determining an introduction factor of a negative damping torque component in the multi-matching control parallel system and a stability condition in the multi-matching control parallel system; and then additional damping control based on power feedback is designed through a lead-lag compensator, a negative damping torque part in the multi-matching control parallel system is compensated, and power feedback control is completed. According to the method, the problems that the dynamic response of the whole system becomes extremely complex due to the dynamic interaction among the converters when a plurality of matched control network-forming converters exist in the network-forming system, and the oscillation suppression effect under the multi-machine system is difficult to guarantee by the existing suppression strategy are solved.

The present invention discloses a laser metal curved surface automatic focus processing system and method thereof, including: a multimodal data fusion device, a curved surface detection module with a secondary tracking structure, integrated 3D structured light vision and vibration sensing equipment; a dynamic focus correction module, configured with an adaptive energy control unit and a beam shaping component; a nonlinear motion control console, including a six-degree-of-freedom parallel mechanism motion platform, and its servo control system integrates a time-space phase compensation algorithm; a core control unit, the core control unit has an embedded fusion algorithm model, and establishes a nonlinear mapping between material removal efficiency η and multivariable dynamic parameters. The processing quality level of the present invention is improved through the multi-source data fusion of 3D structured light and vibration sensing, the curvature recognition accuracy is improved, and the focus offset is reduced in combination with the axial vibration compensation mechanism, thereby effectively improving the processing quality.

The invention provides an automatic machining system for integrated die-casting parts and a control method. The system comprises a plurality of numerical control machining centers, a conveying robot, a robot ground rail and an intelligent main control system. The numerical control machining center is used for executing different machining procedures of the integrated die-casting part, the conveying robot supports walking through the robot ground rail to complete automatic feeding and discharging, and the intelligent main control system controls the numerical control machining center and the conveying robot to work cooperatively. According to the control method, the technological process is determined, the technological process is decomposed into sub-procedures, the sub-procedures are distributed to different numerical control machining centers, a target scheme is generated based on sub-procedure priority scores and technological process dynamic planning, and the transport robot is controlled to conduct feeding, discharging and cleaning operation. According to the method, simultaneous production of parts in different procedures is achieved, and the problem that in the prior art, an automatic feeding and discharging system and method for different parts in different procedures are lacked is solved.

The invention discloses a workpiece detection method, a storage medium, a console, a control machine tool and a machining system, and relates to the technical field of numerical control machining, and the method comprises the steps: obtaining a workpiece drawing file of a to-be-detected workpiece, carrying out the probe dotting of the workpiece drawing file, and obtaining the standard point location data corresponding to a to-be-detected point location; uploading the standard point location data to a digital control machine tool; and / or, the numerical control machine tool performs actual dotting on the to-be-detected workpiece according to the standard point location data and feeds back actual dotting data; and comparing actual dotting data fed back by the numerical control machine tool with the standard point location data to obtain a workpiece detection result. The probe dotting is performed on the workpiece drawing file of the to-be-detected workpiece in advance, and the standard point location data can be compared with the actual dotting data, so that the workpiece detection can be completed on the machine table before the workpiece is off the machine, the condition that the workpiece is detected to be unqualified after being off the machine and needs to be on the machine for the second time is avoided, and the detection efficiency is improved. Therefore, the processing efficiency is improved.

The invention relates to the technical field of sintering production, in particular to a self-adaptive control method for an ignition process of a metallurgical sintering machine, which comprises the following steps of: acquiring key parameters such as material layer thickness, hearth pressure, sintering machine speed and air box temperature in a sintering machine system in real time, and transmitting acquired data to an ignition control model unit; and parameters such as fuel and air flow and air volume are dynamically adjusted by adopting a self-adaptive optimization algorithm, so that rapid improvement and stable control of the ignition efficiency are realized. According to the method, temperature and fuel in the ignition process are evaluated through a big data analysis technology in combination with actual requirements of the sintering process, and an ignition control strategy is optimized in combination with an intelligent regulation and control algorithm. Aiming at the complexity of an ignition process of the metallurgical sintering machine, an adaptive optimization technology is utilized to realize accurate control of the ignition process, and optimization suggestions are comprehensively given according to an ignition temperature curve and a fuel consumption condition to timely guide an operator to adjust process parameters, so that the ignition efficiency is improved, the energy consumption is reduced, and the sintering quality is improved.

The invention relates to the technical field of laser welding, in particular to a cold-roll steel sheet laser welding machining system and method, the cold-roll steel sheet laser welding machining system is matched with the cold-roll steel sheet laser welding machining system for completion, and the cold-roll steel sheet laser welding machining system comprises a first rectangular plate, a working platform, a lifting clamping mechanism, a wheel disc clamping mechanism and a feeding auxiliary mechanism. According to the laser welding machining system and method for the cold-rolled steel sheets, the adopted lifting clamping mechanism is provided with the wheel disc clamping mechanism and the feeding auxiliary mechanism which are matched, the multiple blades can be driven to swing by a proper angle, then the multiple blades are jointly clamped through the multiple first arc-shaped clamping plates, and the machining efficiency is improved. The problem that the angles of the blades are not consistent when the blades are manually and sequentially placed during manual welding is solved, the front wheel disc and the rear wheel disc can be clamped, the multiple blades and multiple welding positions of the front wheel disc and the rear wheel disc are welded at the same time, manual sequential welding is not needed, and the welding efficiency and the welding quality of the multiple blades and the front wheel disc and the rear wheel disc are effectively improved.

The invention discloses an intelligent milling system for a weak-rigidity cylindrical part and a self-adaptive machining method, and relates to the technical field of mechanical cutting machining.The intelligent milling system comprises a six-degree-of-freedom robot, a milling device arranged at the tail end of the six-degree-of-freedom robot, an inner supporting floating tool for clamping the weak-rigidity cylindrical part and an industrial personal computer for controlling the machining system; the robot control cabinet is used for controlling the six-degree-of-freedom robot to move in space, detecting the global deformation of the wall surface of the weak-rigidity cylindrical part through the inner support floating tool, and constructing and utilizing a finite element simulation-recurrent neural network global wall surface deformation prediction model to predict the wall surface deformation. And the cutting amount of the cutter is adjusted in real time for dynamic compensation in the machining process. The machining precision can be improved, machining errors are reduced, the tool utilization rate is increased, and the production cost is reduced.

The invention discloses a shield tunneling machine attitude control method and system based on axis deviation, relates to the technical field of shield tunneling machine control, and solves the problem that an existing shield tunneling machine control method cannot accurately control a shield tunneling machine to advance along a tunnel design axis. The method comprises the steps that in a posture control ring, a guiding system compares current posture data of a shield tunneling machine with target posture data determined by a tunnel design axis to obtain the axis deviation of the shield tunneling machine relative to the tunnel design axis through calculation, and the axis deviation is input into a posture controller to obtain the pressure difference between upper and lower partition hydraulic cylinders or left and right partition hydraulic cylinders; therefore, the pose deviation is continuously reduced, and the shield tunneling machine advances along the tunnel design axis; according to the method, a specific mathematical model is not needed, accurate tracking of the notch horizontal / vertical deviation reference trajectory can be achieved only through I / O data in the tunneling process of the shield tunneling machine, and the problem that attitude control is difficult due to the complexity of a shield tunneling machine system is solved.

The embodiment of the invention provides a battery conveying system, a battery processing system, a battery production line and a battery processing method, and belongs to the technical field of battery production. The battery conveying system comprises a logistics conveying line, a machining conveying line, magnetic driving structures and clamps. The multiple first magnetic driving structures and at least one set of second magnetic driving structures are suitable for being sequentially arranged along the logistics conveying line. The machining conveying line and the logistics conveying line are arranged in a crossed mode at the bridging position, and the second magnetic drive structure is movably installed on the machining conveying line between the bridging position and the avoiding position. The at least one group of third magnetic driving structures is movably mounted on the processing conveying line between the bridging position and the processing station; the multiple sets of clamps comprise magnetic parts and bearing parts used for bearing batteries, and the first magnetic driving structure, the second magnetic driving structure and the third magnetic driving structure are used for driving the clamps through the magnetic parts. By improving the transportation mode of the battery, the safety risk of the battery during transportation can be reduced, and the stability and production efficiency of battery transportation are improved.

The invention relates to a magnetic suspension air separation expansion machine system and an operation method thereof. The system comprises a base, a magnetic suspension bearing assembly, a rotor assembly and a control module. The magnetic suspension bearing assembly is arranged on the base, comprises an expansion end radial magnetic suspension bearing, a brake end radial magnetic suspension bearing and an axial thrust magnetic suspension bearing, and is used for supporting radial and axial forces of the rotor assembly; the rotor assembly is arranged in the machine body and connected with the machine body through the magnetic suspension bearing assembly, and non-contact suspension is achieved. The control module is electrically connected with the magnetic suspension bearing assembly and used for controlling the magnetic suspension bearing assembly to suspend the rotor. The operation method comprises the steps of self-checking before starting, electrifying to suspend the rotor, starting the air compressor to pressurize, adjusting flow to drive the expansion impeller, carrying out split-flow cooling on gas, and collecting data in real time to maintain stable suspension of the rotor. The device has the advantages of high efficiency, stability, energy conservation and the like and is suitable for the field of air separation.

The invention discloses a blade root machining system which is used for machining a blade root. The blade root comprises a skin, a core body and a flange, the blade root machining system comprises an assembly platform, the assembly platform is provided with a cloth paving station, an assembly station and a glue injection station, and tracks are arranged between the cloth paving station and the assembly station, between the assembly station and the glue injection station and between the cloth paving station and the glue injection station; the bearing device is arranged on the track and can reciprocate between the cloth paving station and the assembling station, between the assembling station and the glue injecting station and between the cloth paving station and the glue injecting station along the track; the mold is arranged on the bearing device; the cloth paving module is arranged at the cloth paving station, and the cloth paving module is configured to pave a skin on the mold; the assembling module is arranged on the assembling station and is configured to assemble the flange and the core body and place the flange and the core body on the mold. According to the blade root machining system, the labor intensity of workers can be effectively reduced, and the production efficiency and the qualified rate of blade roots are improved.

The invention belongs to the field of laser drilling, and discloses a blind hole laser machining system and method.The blind hole laser machining system comprises a laser, a zoom beam expander, a dynamic zoom module and a scanning galvanometer; a zoom beam expander is arranged at an outlet of the laser, and the zoom beam expander is sequentially provided with a dynamic zoom module and a scanning galvanometer in the laser emission direction; wherein the dynamic zooming module is used for changing the divergence angle of a laser beam so as to adjust the focal length in real time, and a first laser beam and a second laser beam are emitted through the exit aperture of the scanning galvanometer. Through focusing and microsecond-level compensation of the dynamic focusing module on the laser focus, accurate focusing in a three-dimensional space is achieved, light spots are adjusted in real time, the problem that the light path of double lasers is unstable is solved, and the machining precision in the whole machining process is ensured.

A machining system for vertically milling a large-diameter inner hole comprises a cutter bar, a bolt type coupler, a sleeve type cutter tower and a special milling cutter. The machining method for vertically milling the large-diameter inner hole by using the machining system comprises the following steps of: clamping a blank; the axis of the special milling cutter is on the H surface; during machining, the special milling cutter moves in the radial direction of the H face, when special conditions are met, the special milling cutter clockwise deflects by a given angle theta around the axis of an inner hole of the workpiece to be machined, and then the special milling cutter horizontally moves by a distance ld along the diameter of the workpiece according to the given cutting depth ap; and the special milling cutter is axially fed towards the direction of the chuck, and the linkage of the axial movement of the special milling cutter and the rotation of the workpiece to be machined is realized. According to the special milling cutter, the angle deflection of the cutter can be flexibly realized, and the machined surface is easily protected; according to the machining method, milling machining is adopted, the chip shape is good, the tool durability is high, the size precision and shape precision are high, the machining efficiency is high, and the comprehensive technical effect is good.

The invention relates to a virtual synchronous machine transient stability optimization control system and method, and the method comprises the steps: sampling a three-phase power grid to detect the angular frequency of a power grid in real time, carrying out the subtraction of the angular frequency and the angular frequency outputted by an active-frequency control module of a virtual synchronous machine, multiplying a coefficient, and introducing into a reactive-voltage control module. The voltage sag dynamic state of the virtual synchronous machine under the power grid voltage drop is slowed down by means of angular frequency fluctuation caused by active power adjustment of the virtual synchronous machine under the power grid voltage drop, and the transient voltage supporting capacity of the virtual synchronous machine under the fault is improved. Under stable operation, the output angular frequency of the active power-frequency control module of the virtual synchronous machine is equal to the angular frequency of the power grid, so that the additional loop has no influence on the virtual synchronous machine during stable operation. According to the invention, the difference between the power grid angular frequency and the output angular frequency of the active-frequency control module is introduced into the reactive-voltage control module, so that the system can maintain good damping characteristics during the transient period, and the transient stability of the virtual synchronous machine system is improved.

The invention discloses an error compensation correction method for a femtosecond laser galvanometer 4F machining system, and belongs to the technical field of high-precision machining. Leveling the processing system; processing and characterization of the square block are calibrated; deflection correction of a scanning galvanometer of the femtosecond laser processing system and deflection correction of a scanning plane of the scanning galvanometer of the femtosecond laser processing system; according to the method, the length and width data of the calibration square block are collected, pre-compensation operation is carried out on an original structure machining file, and the size error of a machining structure caused by deflection of laser through a scanning galvanometer reflector is eliminated; by collecting the angle difference value of the scanning plane of the scanning galvanometer control laser and the plane of the substrate, plane deflection correction operation is carried out on an original structure processing file, the problem that the scanning plane does not coincide with the plane of the substrate is solved, and the consistency of all areas of a scanning structure is extremely high; the preparation of a high-precision and large-size true three-dimensional structure can be realized through the galvanometer-based femtosecond laser two-photon polymerization processing system, and the processing capability of the galvanometer-based femtosecond laser processing system is successfully optimized; the method has the outstanding advantages of being universal, high in operability and wide in applicability.

A machining system configured to reduce spring back following machining operations comprising a machining tool and a spring back control system. The spring back control system comprises a number of force generators and a number of force loaded members coupled to the number of force generators, each force loaded member of the number of force loaded members comprising a material contact surface. The material contact surface is a roller, wherein the machining tool is independently moveable relative to the spring back control system.

The invention discloses a slope type caterpillar track gravity energy storage multi-machine system, and relates to the technical field of gravity energy storage. Comprising a main system unit, a supporting track laid according to a mountain structure, a chain type mass block dragging device arranged on the supporting track, double-motor assemblies arranged at the two ends of the supporting track, and a control system used for controlling the main system unit to operate in a power mode and a phase modulation mode. By designing a dual-mode operation system of a power mode and a phase modulation mode, dual functions of energy storage and discharge and reactive power regulation are realized, and by arranging an auxiliary motor and a kinetic energy recovery device and combining a staggered arrangement scheme of a heavy-load track and a light-load track, efficient recovery and cyclic utilization of energy in the movement process of the mass block are realized, and the energy utilization rate of the mass block is improved. By establishing a mathematical relationship model of track arrangement and adopting a design scheme of performing dynamic optimization according to mountain characteristics, the operation safety is ensured through an automatic mass block carrying and stacking system.

A component processing system (100) and a control method therefor. The component processing system (100) comprises: a positioning mechanism (10), comprising a positioning base (11), a first transverse moving member (12), a longitudinal moving member (13), and a second transverse moving member (14), wherein the first transverse moving member (12) is movably mounted on the base (11) along a first transverse direction, the longitudinal moving member (13) is movably mounted on the first transverse moving member (12) in the longitudinal direction, and the second transverse moving member (14) is movably mounted on the longitudinal moving member (13) along a second transverse direction; a processing mechanism (20), comprising a processing base (21), a main shaft assembly (22) and a pressing member (23), wherein the processing base (21) is mounted on the second transverse moving member (14), the main shaft assembly (22) is movably connected to the processing base (21) and is used for processing a component, the pressing member (23) is movably connected to the processing base (21) and is adapted to be in contact fit with the component, and the main shaft assembly (22) and the pressing member (23) can move independently; and an auxiliary tool (30), located on one side of the positioning mechanism (10) along the second transverse direction and used for fixing the component. The component processing system and the control method therefor can satisfy the requirements of local high-quality machining of large components.

The utility model belongs to the technical field of batching, and particularly relates to a batching mechanism and a processing system. The batching mechanism comprises a rack, a mechanical arm, a material box and a transferring assembly. The machine frame is provided with an inner cavity, the transferring assembly is arranged in the inner cavity, the material box is provided with a taking and placing layer and a plurality of storage layers in the height direction, the taking and placing layer and the storage layers are used for storing material discs provided with a plurality of cutter heads, and the transferring assembly is used for transferring the material discs on one storage layer to the taking and placing layer. Or the material disc on the taking and placing layer is transferred to one storage layer, and the mechanical arm is installed on the rack and used for taking and placing the cutter disc on the material disc on the taking and placing layer. According to the utility model, the transfer of the material disc between the pick-and-place layer and the storage layer is realized through the transfer assembly, the manipulator delivers the cutter disc to the drilling machine for batching, and the batching mechanism and the material box are integrated into an integrated structure, so that the space is greatly saved, the cost is reduced, and the transfer efficiency is improved.

According to the truck loading method, the inner wall of a truck compartment / container is scanned through a laser radar, a model is constructed, and therefore reference is provided for goods stacking; meanwhile, when the forklift enters the boxcar / container through the movable track and the track forklift on the movable track, the movable track adapts to the inclination change of the boxcar / container and is aligned with the trend of the boxcar / container, and therefore it is guaranteed that goods do not need to be adjusted in the conveying process. According to the loading method provided by the invention, on the basis of the ground rail type loading machine system, the tray and the steel drum fine password on the tray can be placed in a boxcar / container.

The invention relates to the technical field of compound machine tools, and discloses a variable working condition tool wear prediction method based on a compound machine tool, which comprises the following steps: s1, collecting dynamic signals and acquiring process parameters; s2, constructing a tool wear prediction model; and s3, multi-task training of the meta learning framework: obtaining updated Wy and by through meta learning. And deploying the tool wear prediction model in an actual machining system of the compound machine tool, and quickly outputting a tool wear prediction value at the current moment according to the received dynamic signal and process parameters. The method has the beneficial effects that the machine tool does not need to be shut down and the tool wear prediction accuracy is high.

The invention provides an active learning miniature PCB cutter automatic welding machine system, and relates to the technical field of miniature PCB cutter automatic welding, and the system comprises a main system which is composed of a welding machine control system, a numerical control intelligent welding machine, an information collection system and a welding path planning system. According to the welding path planning system, a Seq2Seq deep learning model is adopted to build a welding path planning deep learning model, learning is carried out by recording welding path data and welding data which are manually planned in the past, and the optimal welding path is predicted; the main system is a comprehensive system integrating high-precision control, intelligent operation, real-time data acquisition and analysis and path planning optimization, and aims at improving the welding quality, efficiency and automation level and reducing manual intervention and errors, the welding control system serves as the core of the whole system, and the welding control system is suitable for large-scale popularization and application. And the controller is responsible for receiving instructions, controlling various parameters of the welding machine and ensuring the stability and safety of the welding process.

An agricultural machine system includes a baling system. The baling system includes a bale forming region. The baling system also includes a tensioning arm rotatably coupled to a frame of the baling system at a pivot. The baling system also includes a first plurality of rollers disposed about the bale forming region. The baling system also includes a second plurality of rollers rotatably coupled to the tensioning arm. The baling system also includes a bale forming belt disposed about the bale forming region. The bale forming belt is engaged with the first plurality of rollers and the second plurality of rollers. A rotational axis of the pivot is positioned below a longitudinal central axis of a fully-formed bale disposed in the bale forming region at an end of a bale forming stage. At least a portion of each roller of the first plurality of rollers is disposed below a height of the fully-formed bale at the end of the bale forming stage.

The invention relates to the technical field of deep hole machining, and provides a multi-axis linkage machining system for drilling and milling the inner wall of a deep hole, which adopts a linear motion device to directly drive a cutter support module, omits a lead screw and other intermediate transmission links, shortens the non-cutting time, has high positioning precision, can improve the machining efficiency, and has lower operation noise and vibration. The processing environment can be improved; according to the workpiece clamping device, a second hollow rotating platform is connected with a chuck, the chuck clamps the workpiece, through program control, the second hollow rotating platform can drive the workpiece on the chuck to rotate and position at any angle, and the requirement for machining the workpiece by a drilling and milling cutter module is met; the problems of time waste, positioning errors and the like caused by secondary clamping are avoided, and the workpiece machining efficiency is improved; a tool bit of the drilling tool module is fed by adopting a variable-diameter structure (a tool bit feeding assembly), and drilling and milling can be carried out on the inner walls of deep hole type workpieces with complex inner hole shapes such as bottleneck holes and stepped holes.