CN102101189A - Numerical control milling machine - Google Patents
Numerical control milling machine Download PDFInfo
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- CN102101189A CN102101189A CN2009102012784A CN200910201278A CN102101189A CN 102101189 A CN102101189 A CN 102101189A CN 2009102012784 A CN2009102012784 A CN 2009102012784A CN 200910201278 A CN200910201278 A CN 200910201278A CN 102101189 A CN102101189 A CN 102101189A
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Abstract
The invention provides a numerical control milling machine which comprises a central processing unit, a memory, a display control unit, an input unit, an output unit, a system power supply and a position interface unit, wherein the central processing unit is connected with the memory, the display control unit, the input unit, the output unit, the system power supply and the position interface unit through a bus; the position interface unit is connected with a servo unit; the servo unit is used for controlling x-axis, y-axis and z-axis servo motors; the zero-speed torques of the x-axis and y-axis servo motors are 5nm, and the power is 1.3KW; the zero-speed torque of the z-axis servo motor z is 7.7nm, and the power is 1.6KW; and the z-axis servo motor is provided with a power-off brake. The numerical control milling machine has the advantages of low manufacturing cost and higher processing precision.
Description
[technical field]
The present invention relates to the Computerized Numerical Control processing technology field, particularly relate to a kind of CNC milling machine.
[background technology]
Along with science and technology development, traditional numerically controlled processing equipment has been difficult to adapt to demand of market competition.The performance of micro-processor controlled Digit Control Machine Tool of industrial needs and suitable processed complex part could satisfy the needs that develop.PN-30 milling machine for example, its core mechanical system, hardware control circuit and control software can not satisfy the needs of present digital control processing, therefore, use AC servo and Numeric Control Technology that original equipment is transformed and designed, realize control with less hardware and succinct control software, it is transformed into meets existing processing request and lower-cost CNC milling machine is necessary production miller.
[summary of the invention]
The objective of the invention is to solve the above-mentioned problems in the prior art, a kind of CNC milling machine through transforming is provided, it is simple in structure, manufacturing cost is lower, and can reach the requirement of processing high precision part.
The objective of the invention is to realize by following technological means:
A kind of CNC milling machine, comprise: central processing unit, memory, indicative control unit, input block, output unit, system power supply and positional interface unit, described central processing unit connects described memory by bus, indicative control unit, input block, output unit, system power supply and positional interface unit, described positional interface unit connects servo unit, described servo unit control x, y, three servomotors of z, x wherein, the zero-speed torque of y axle servomotor is 5Nm, power is 1.3KW, the zero-speed torque of z axle servomotor is 7.7Nm, power is 1.6KW, and described z axle servomotor has electricity loss brake.
CNC milling machine of the present invention also comprises: spindle motor, oil pump, coolant pump and lubricating pump, described spindle motor, oil pump, coolant pump and lubricating pump are by the saturated contactor control of band heat.
Input, the instruction output unit of described servo unit are 0.001mm, and the highest quick speed is 4500mm/ minute, and the highest feeding rate is 3000mm/ minute.
Beneficial effect of the present invention is that the present invention uses modern AC servo-drive system and Computerized Numerical Control technology, and legacy equipment is carried out improvement and design, improves and promote the technical performance of existing equipment, to adapt to the needs of processing high precision part.
[description of drawings]
Fig. 1 is the electric control structure schematic diagram of CNC milling machine of the present invention;
Fig. 2 is the major loop schematic diagram of CNC milling machine of the present invention;
Fig. 3 is the wiring schematic diagram of servomotor of the present invention and servo-driver;
Fig. 4 is part input signal of the present invention and output signal interface table;
The control principle figure that Fig. 5 reports to the police for the present invention;
Fig. 6 is main shaft control principle figure of the present invention;
Fig. 7 is output signal control principle figure of the present invention;
Fig. 8 is motor of the present invention, oil pump, coolant pump, lubricating pump signal output principle figure;
Fig. 9 is a principal shaft braking schematic diagram of the present invention.
[specific embodiment]
Below in conjunction with embodiment and with reference to accompanying drawing the present invention is further described.
As shown in Figure 1, be the electric control structure schematic diagram of CNC milling machine of the present invention.A kind of CNC milling machine, comprise: central processing unit, memory, indicative control unit, input block, output unit, system power supply and positional interface unit, described central processing unit connects described memory by bus, indicative control unit, input block, output unit, system power supply and positional interface unit, described positional interface unit connects servo unit, described servo unit control x, y, three servomotors of z, x wherein, the zero-speed torque of y axle servomotor is 5Nm, power is 1.3KW, the zero-speed torque of z axle servomotor is 7.7Nm, power is 1.6KW, and described z axle servomotor has electricity loss brake.Wherein, indicative control unit connects CRT, and input block comprises keyboard interface and input interface, keyboard interface attended operation keyboard, and input interface all is connected system power supply 220V with the output interface of output unit with strong electrical control circuit.
In this specific embodiment, also comprise the selection of following each several part:
(1) type selecting of transmission mechanism.In the prior art, by step motor control, consider that the required precision of processing parts is higher, adopt AC servo in the present invention as three moving directions of PN-30 milling equipment.The motor of characteristics such as it is good that selection has low speed, and overload capacity is strong, dielectric strength and insulaion resistance height, security are good, the flatness of its motor mechanical characteristic curve is good.Like this, it is less that the change data of locating hole are changed and installed to the size of electric machine main shaft, and the gear on the main shaft also will be with the gear on the former stepper motor main shaft.
(2) selection of servomotor watt level
Determining of servomotor power must be taken all factors into consideration load inertia, load torque, the acceleration and deceleration torque, a series of data such as effective torque, the size of current of the stepper motor on the original PN-30 milling machine of foundation is roughly calculated the size of selected servomotor, about 6A.Because the control three-phase voltage of servomotor is 220V.So power selection is 1.3KW.Its zero-speed torque is 5Nm, consider the deadweight of Z axle (being the work top above-below direction) work top, so the servomotor power of selection Z axle more greatly, be 1.6KW, torque is 7.7Nm, and in order to prevent that work top from not producing the phenomenon that moves down when the power failure state, so this Z spindle motor has selected to have the servomotor of electricity loss brake.
(3) type selecting of the type selecting of servo-drive system and digital control system
According to the processing request of part, digital control system need have straight line, circular interpolation function, and three interlocks, and input, instruction output unit are 0.001mm, and the highest quick speed is 4500mm/min (4500 millimeters of per minutes).The highest feed speed is 3000mm/min, and has cutter compensation and other as manually, controls main shaft automatically and just changes, and counter-rotating stops miscellaneous functions such as cooling fluid start and stop.
Servo-driver will have the integrated level height, and volume is little, advantages such as good reliability, and install fairly simple, to the characteristics such as low that require of temperature.
(4) selection of transformer and source of stable pressure
Because the input voltage of selected servomotor is 50HZ, 220V rather than 380V, so power selection transformer according to three phase electric machine, in order to reduce the possibility that shocks by electricity and be subjected to power supply, the interference of electromagnetic field, need to adopt isolating transformer to power to driver, the selection capacity is the three-phase isolation transformer of 3.0KVA.
In addition, digital control system inside carries the 24V power supply, but electric current is too little, has only 1A.And the coil voltage of the three-phase electromagnetic clutch of control main shaft speed change and control milling cutter clamping magnetic valve is direct current 24V.So select a direct current voltage source in addition, electric current is 5A.Also select transformer.The 380V input, 220V, 36V, 24V output.24V is used for illuminating lamp, the dynamic braking voltage that 36V adopts when being used for the main shaft stall, and 220V is used for the input voltage of control loop.
As shown in Figure 2, be the major loop schematic diagram.Characteristic according to milling machine should have spindle motor, oil pump, coolant pump, lubricating pump.According to the structure of former lathe, lubricating pump needs three to be lubricating of mainshaft gear case and lubricating of each screw mandrel.Spindle Motor needs rotating, and the work operation of motor and pump is controlled by the saturated contactor of band heat.
Be illustrated in figure 3 as the wiring schematic diagram of servomotor and servo-driver.Wherein, the R of servo-driver, S, T, PE, U, V, W terminal line footpath must be more than or equal to 1.5mm square, r, t terminal line footpath must be more than or equal to 10mm square, earth connection should be as far as possible more slightly, and driver and servomotor are at PE terminal one point earth, and earth resistance is less than 100 ohm, and the line of controller signals CN1 and feedback signal CN2 footpath must be more than or equal to 0.12mm square, and preferably select shielded cable for use.Screen layer must connect the FG terminal, and the length of line can not surpass 5 meters and separately wiring of power line.All everything all is to disturb in order to prevent, improves antijamming capability, and CN1, CN2 are the connector of 25 cores.
Be illustrated in figure 4 as part input signal and output signal interface table.DECX among the XS40, DECY, three input signals of DECZ are the speed reducing switch signal.This signal uses when returning mechanical reference point, is normally-closed contact.When on panel, selecting the mechanical origin mode, press the hand feed key of corresponding axis afterwards, then lathe will move to the reference point direction with fast moving speed, when returning reference point reduce-speed sign (DECX, DCXY, when DCXZ) contact disconnects (pressing the deceleration limit switch), feed speed descends immediately, and lathe continues operation with fixing low speed afterwards.After speed reducing switch discharged, the reduce-speed sign contact was closed again, and lathe runs to the reference point limit switch always, and then motion stops, and lighted time zero indicator lamp of corresponding axis on the guidance panel simultaneously, returned the reference point operation and also just finished.ESP signal among the XS40 is a washout, also can be used as excess of stroke alarm signal.
Two limit switches respectively have been installed on the moving direction of each, a limit switch is the mobile switch that slows down, at ordinary times for often opening, the another limit switch is an excess of stroke switch, also as excess of stroke emergency stop switch, is that positive direction and negative direction are respectively installed a collision block at each both direction, no matter which side to collision block press emergency stop switch, control system resets, and is that lathe promptly stops, and has blocked the output of movement instruction simultaneously.Control principle figure sees Fig. 5.
S01～S04 in the XS39 interface is the spindle speed signal, this group signal indication fourth gear spindle speed, having only a signal simultaneously effectively is level signal, this lathe is owing to have only three electromagnetic clutch, so select S01～S03, when the S01 signal is effective, auxiliary reclay KA8 connects, get voltage by the contact of KA8 control electromagnetic clutch S1 coil and be+24V, the electromagnetic clutch adhesive is when Spindle Motor moves, change the variation of inner gear of the gear box by clutch, with different speed main axis rotation, schematic diagram is Fig. 6, Fig. 7.
MO3 in the XS39 interface, MO4, MO5 are respectively that main shaft just changes, counter-rotating, stop signal, control KA1, KA2, KA13 when signal is effective respectively, and control contactor MC1, MC2 again realize the forward and backward of main shaft.M08, M09, M10, M32 are respectively the signal output of oil pump, coolant pump, lubricating pump, see Fig. 8.
A spindle brake signal ZD is arranged in the XS39 interface in addition.According to the characteristics of milling machine, main shaft is after the M05 signal sends, and main shaft needs stall at once, so adopt the dynamic braking mode.When the ZD brake signal is effective, KA1, KA2 dead electricity, time relay RT gets electric, and contactor MC8 gets electric, (because electric current is bigger, adopt the contact of big contactor to come output dc voltage), DC voltage is added to the U1 of spindle motor, brakes on the V1 terminal, delays time after 2 seconds, the RT Time Delay Opening, the MC8 dead electricity realizes whole braking procedure, and braking principle figure sees Fig. 9.
The PN-30 lathe can end mill head and the conversion of horizontal-milling head dual mode.The locking of cutter is not controlled by digital control system by hydraulic control, at other two buttons of installing of main tapping, control clamping magnetic valve J1 and J2 by auxiliary reclay KA11, KA12, and could be effectively when main shaft stops.See Fig. 6.
Handwheel interface XS38 is arranged in 980M C data system.Handwheel is installed on the guidance panel, the minimum amount of movement of scale is 0.001mm, by the control of source of stable pressure in the system+5V,, can select arbitrary axle to carry out fast arbitrarily or move at a slow speed in handwheel mode following time, and when the excess of stroke, after resetting, also want armrest to take turns to move three and leave excess of stroke position, therefore, in this equipment, also selected handwheel.
Because in the Z axle servomotor one group of restraining coil is arranged, under the ready situation of Z axle servo-driver, restraining coil gets electric, discharge brake.Control KA15 by No. 1 among the CN in the servo-driver (servo being ready to) signal, control the stop coil, make motor discharge brake, see Fig. 5 by KA15.
Under the environment temperature condition with higher, servo-driver is when work, self produces very high temperature, and as long-term work, temperature continues to raise, influence the stability of driver, so 4 fans have been installed, 2 air drafts, 2 blowings in addition in electric control box, making has convection current wind all the time in the electric cabinet, the assurance servo-driver is worked in normal temperature range.
Above several sections has constituted the electric control theory of whole lathe, and all appliance components all are installed on the plate, disturbs for preventing during wiring, and power line and control line separate as much as possible.
For being had, drive characteristics, lathe specification, function etc. bring into play to greatest extent, needing that driver is carried out parameter sets, otherwise servomotor can't run well, also have digital control system has also been carried out many parameters settings, could really embody some special function, the setting of parameter only in debug process, by the test to each function, is set and is revised.
Before debugging, at first will be to all kinds of parameters of input in servo and the digital control system.
Servo parameter:
The effect of No.3 parameter function has multiple, be specially: " 0 " shows motor speed, " 1 " shows low 4 of current location, " 2 " show that current location is high 4, low 4 of " 3 " display position instruction, " 4 " display position instructs high 4, low 4 of " 5 " display position deviation, " 6 " display position deviation is high 4, " 7 " display position motor torque, " 8 " display position current of electric, " 9 " show space rate, " 10 " show control mode, " 11 " display position command pulse frequency, the instruction of " 12 " display speed, " 13 " show torque instruction, " 14 " show the rotor absolute position, " 15 " show the input terminal state, and " 16 " show lead-out terminal state, " 17 " display encoder input signal, " 18 " show running status, " 19 " display alarm code.Select now " 0 ", promptly show motor speed.
The No.4 parameter function is the control mode that driver is set, be specially: " 0 " expression Position Control mode, " 2 " expression trial run control mode, " 3 " expression JOG crawl control mode, " 4 " expression motor zero test mode, " 5 " expression electromechanical testing mode is selected " 2 " the trial run control mode now.
The No.5 parameter is the speed proportional gain parameter.The value of setting is big more, and it is high more to gain, and rigidity is big more.Do not produce in system under the condition of vibration, that sets is bigger as far as possible, is set at " 155 ", and scope is 5～300.
The No.6 parameter area is 50～3000, is set to 2000.This parameter is represented the integration time constant of speed ring adjuster, and under the highest wisdom situation, load inertia is big more, sets value more for a short time, but does not produce in system under the condition of vibration, and that sets is bigger as far as possible.
The No.7 parameter area is 1～300, is set to 50, the speed regulator input saturation, and numerical value is more little, and speed governing is steady more.
The No.8 parameter area is 20～220, is set to 120, and expression speed detects the characteristic of low pass filter, and numerical value is more little, and the noise that motor produces is more little, if but numerical value is too little, and can cause response slack-off, cause vibration, be advisable so should get median.
The No.9 parameter area is 1～1000, the proportional gain of position ring adjuster.Set value greatly more, it is high more to gain, and rigidity is big more, and the position hysteresis is more little, but numerical value can cause vibration or overshoot too greatly, and suggestion selects 128.
The No.11 parameter area is 1～1200, selects 16, the low pass filter cutoff frequency of expression position ring feedforward amount, and the effect of this wave filter is the stability that increases recombination site control.
The No.12 parameter area is 1～9999, is set to 1, and the branch frequency multiplication 9 of expression position command pulse is an electronic gear, form the electronic gear ratio together with the No.13 parameter, therefore the No.13 parameter also can be made as 1, in the debugging of back, adjusts according to concrete change in location again.
The No.15 parameter is the negate of position command pulse direction, table rotating speed of motor direction.If run well, choosing " 0 " if will adjust direction, is got " 1 ", temporarily is set at " 0 ", adjusts in the height process again.
The No.16 parameter area is 1～9999 pulse, and expression control is finished or pulsating sphere the location down.When the residual impulse number in the position deviation counter is less than or equal to this pre-set parameter, driver think the location finish, send signal COIN ON otherwise COIN OFF.So setting value should be a little bit smaller, is advisable with 8 pulses.
The No.17 parameter is the overproof detection range in position, and scope is 0～9999 * 100 pulses, is set at 200, and under the control mode of position, when the count value of position deviation counter surpassed this parameter value, servo-driver provided the overproof warning in position.
It is effective that the No.18 parameter is set to 0, the 0 expression overproof warning in position; The 1 expression overproof warning in position is invalid, stops to detect; 2 expressions stop to detect the All Alerts mistake.
The No.21 parameter is JOG, i.e. the crawl speed of service tentatively is 200r/min, and scope is-3000～3000r/min.
The No.22 parameter area is 0～9999, sets 240, the time of integration of expression electric current loop adjuster.Big more as the value of setting, integrating rate is fast more, and the current tracking error just goes up more, but the time of integration is too big, and noise and vibration can take place, and is irrelevant with load.
The No.23 parameter area is 0～4000, sets 2500, and the Maximum speed limit of expression servomotor with irrelevant to rotation direction, surpasses rated speed if be provided with, and then actual Maximum speed limit is a rated speed, and the rated speed of the motor that we select is exactly 2500r/min.
The No.24 parameter area is-3000～3000, and the motor speed of service of expression motor under test mode so select to hang down, is set at 100.
The No.29 parameter area is 0～9999, and the proportional gain of expression electric current loop adjuster does not produce in system under the condition of vibration, and that sets is bigger as far as possible, but setting value is big more, and it is high more to gain, and can produce noise and vibration, so select 3050.
The No.33 parameter area is 0～500, the initial test point of torque of expression motor heat overload.Setting value is the percentage of nominal torque, and when motor torque was lower than initial test point, the electronic thermal relay of internal system was not worked, and does not detect the motor heat overload; When motor torque was higher than initial test point, the electronic thermal relay of internal system was started working, and produced overload-alarm, expression motor overheating mistake.So be set at 180.
The No.34 parameter area is 0～300%, the maximum load limits value of expression servomotor.At any time, this restriction is all effective, so be set at 178.
The No.35 parameter area is-300～0%, and the inner torque limit value of expression servomotor surpasses the maximum overload ability that system allows as setting value, and then actual torque is restricted to the maximum overload ability of system's permission, so be set at-172%.
The No.36 parameter area is 1～1500, the cut-off frequency of expression current-order low pass filter.In addition, the systematic parameter and the Diagnostic parameters that also have many CNC.
Under the servomotor operating condition, determine determining of three moving directions and electronic gear ratio:
At first, according to the characteristics of milling machine, the left and right directions of setting the milling machine horizontal plane is an X-axis, and fore-and-aft direction is a Y-axis, and worktable lifting is the Z axle, and the direction close to processing work is negative direction, and the direction of leaving workpiece is a positive direction.After pressing the single step mode key, select shifting axle respectively, when selection+directions X, left and right directions that should the driving water plane moves to the direction of leaving workpiece, as on the contrary, then parameter N O.15 (position command pulse direction) be set to 1, otherwise be 0, through to three test, the direction of X-axis and Z axle is opposite, X-axis and Z axle drive parameter NO.15 are set to 1, and Y-axis drive parameter NO.15 is set to 0.
Second, so-called electronic gear just is meant the ratio of the actual distance that moves of workbench and how many umber of pulses of being sent than G, because its calculating relative complex, involves many mechanical parameters of lathe, can't calculate, so use a method the most direct to calculate this electronic gear ratio.
Press handwheel mode key, select " 1 " amount of movement, in the either direction of workbench one scale is installed, rotate handwheel, the numeral that shows on the display is 100.00mm, and observes the actual 20.00mm that moved of workbench by scale, pass through test of many times, three directions are 1: 5 relation, are 1: 5 so draw the electronic gear ratio, and O.12 it set with NO.13 by parameter N, NO.12 is the molecule of electronic gear ratio, NO.13 is a denominator, is 1 so set NO.12, and NO.13 is 5, test again after the setting, arbitrary numeral that display shows is mobile actual range.
The test of other motor and pump:
1, selecting by " program " key, to key in S01 respectively, S02 under the typing mode, the S03 instruction, three electromagnetic clutch adhesives are normal, after input S01 instruction, import the M03 instruction simultaneously, the spindle motor starting, milling cutter works well, and then key in the S0 instruction, electromagnetic clutch unclamps, and imports the M05 instruction simultaneously, spindle motor stops fully through after 2 seconds, illustrates that dynamic braking works, under the same operation, try two clutches in addition respectively, spindle motor works well.Wherein under the effect of S03 clutch, main shaft is with 1400 rev/mins of runnings of prestissimo, because this moment, the motor driving shaft directly drove the cutter head running, and motor is four utmost point motors, is 1450 rev/mins the most at a high speed, and under the effect of S01 clutch, speed is the slowest.
2. after keying in the M08 instruction, the coolant pump rotation, but the exit does not have cold oil to come out.Try after changing the two-phase power line, the exit has cold oil to come out again, and coolant pump is normal.After keying in the M09 instruction again, coolant pump stops.
3. after keying in the M10 instruction, MC5 gets electric, and the starting of gear lubrication pump can see when the mainshaft gear case having lubricating oil to come out at once, key in the M11 instruction again after, the gear lubrication pump stops.
4. after keying in the M32 instruction, MC7, MC6 get electric, two screw gear lubricating pumps startings, wherein a pump does not go out lubricating pump, change phase place after, fuel-displaced, key in the M33 instruction again after, pump stops, and illustrate normally.
Mechanical zero is the test of reference point:
Mechanical zero is a very important notion for numerical control device, because after each start, all to carry out mechanical zero and return this action, and as the coordinate reference points of processing parts.Earlier systematic parameter 025,026,027 is carried out the setting of quick speed, they represent X-axis, Y-axis, Z axle fast moving speed respectively.Numerical value is 3000 millimeters/minute, No. 039 parameter is set again, and value is 200 millimeters/minute, the low speed when it has represented three to return reference point.
Above debugging routine finishes, and illustrates that this lathe can carry out programming operation.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (3)
1. CNC milling machine, comprise: central processing unit, memory, indicative control unit, input block, output unit, system power supply and positional interface unit, described central processing unit connects described memory by bus, indicative control unit, input block, output unit, system power supply and positional interface unit, it is characterized in that, described positional interface unit connects servo unit, described servo unit control x, y, three servomotors of z, x wherein, the zero-speed torque of y axle servomotor is 5Nm, power is 1.3KW, the zero-speed torque of z axle servomotor is 7.7Nm, power is 1.6KW, and described z axle servomotor has electricity loss brake.
2. CNC milling machine according to claim 1 is characterized in that, also comprises spindle motor, oil pump, coolant pump and lubricating pump, and described spindle motor, oil pump, coolant pump and lubricating pump are by the saturated contactor control of band heat.
3. CNC milling machine according to claim 1 is characterized in that, input, the instruction output unit of described servo unit are 0.001mm, and the highest quick speed is 4500mm/ minute, and the highest feeding rate is 3000mm/ minute.
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| CN2009102012784A CN102101189A (en) | 2009-12-17 | 2009-12-17 | Numerical control milling machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528133A (en) * | 2011-12-30 | 2012-07-04 | 杭州兴源过滤科技股份有限公司 | Numerical control planer type milling machine |
| CN103792883A (en) * | 2014-02-27 | 2014-05-14 | 北京理工大学 | Numerically-controlled machine tool control system with supportability redundant operation function |
| CN105302073A (en) * | 2014-07-08 | 2016-02-03 | 广东威德力机械实业股份有限公司 | Electrical control system of numerical-control curve edge milling machine and control method thereof |
| CN110320866A (en) * | 2019-07-24 | 2019-10-11 | 珠海格力智能装备有限公司 | Method and device for controlling rotation speed of machine tool spindle |
| CN114523133A (en) * | 2022-04-23 | 2022-05-24 | 达州市卡雷亚数控机床有限公司 | Numerical control machine tool and control device thereof |
-
2009
- 2009-12-17 CN CN2009102012784A patent/CN102101189A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102528133A (en) * | 2011-12-30 | 2012-07-04 | 杭州兴源过滤科技股份有限公司 | Numerical control planer type milling machine |
| CN103792883A (en) * | 2014-02-27 | 2014-05-14 | 北京理工大学 | Numerically-controlled machine tool control system with supportability redundant operation function |
| CN103792883B (en) * | 2014-02-27 | 2016-04-06 | 北京理工大学 | There is the Control System of NC Machine of protection redundant operation function |
| CN105302073A (en) * | 2014-07-08 | 2016-02-03 | 广东威德力机械实业股份有限公司 | Electrical control system of numerical-control curve edge milling machine and control method thereof |
| CN110320866A (en) * | 2019-07-24 | 2019-10-11 | 珠海格力智能装备有限公司 | Method and device for controlling rotation speed of machine tool spindle |
| CN110320866B (en) * | 2019-07-24 | 2021-07-13 | 珠海格力智能装备有限公司 | Method and device for controlling rotation speed of machine tool spindle |
| CN114523133A (en) * | 2022-04-23 | 2022-05-24 | 达州市卡雷亚数控机床有限公司 | Numerical control machine tool and control device thereof |
| CN114523133B (en) * | 2022-04-23 | 2022-07-12 | 达州市卡雷亚数控机床有限公司 | Numerical control machine tool and control device thereof |
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Application publication date: 20110622 |