CN106094730B - Cutting Force Coefficient discrimination method based on main shaft of numerical control machine tool and servo shaft power - Google Patents
Cutting Force Coefficient discrimination method based on main shaft of numerical control machine tool and servo shaft power Download PDFInfo
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Abstract
Cutting Force Coefficient discrimination method of the invention based on main shaft of numerical control machine tool and servo shaft power, corresponding electric current and voltage data are obtained by being arranged in spindle motor of machine tool, the current sensor on servo feed spindle motor and voltage sensor, and power of motor is further calculated, expression formula function is obtained by linear fit, and then the Cutting Force Coefficient of each axle is obtained, method is more convenient.Suitable for numerically controlled lathe machining application field, substitute cutting force meansurement using power test, without the high specification high value measuring system such as dynamometer.Used measurement apparatus mainly can flexibly be built comprising current sensor, voltage sensor and monolithic data capture card composition, complete unit, and cheap.
Description
Technical field：
The present invention relates to metal cutting process technical field, and in particular to based on main shaft of numerical control machine tool and servo shaft power
Cutting Force Coefficient discrimination method.
Background technology：
Cutting Force Coefficient is the important parameter for assessing cutting force, and Cutting Force Coefficient is used for representing that cutter removes in machining
Cutting force needed for unit area material, it is relevant with being cut material, cutter, even lathe etc..Can be used to characterize material can
The performances such as the rigidity of machinability, the cutting ability of cutter and lathe.Commonly used to empirically formula, databook or number
Searched according to storehouse, so as to facilitate technologist to check the intensity of cutter or lathe, it is determined that the energy of consumption required for material is removed,
Or it is used as predicting the input condition of Cutting Process system cutting-vibration.
The acquisition methods of Cutting Force Coefficient are broadly divided into two kinds：A kind of method is to be determined by experiment Cutting Force Coefficient, base
Regression calculation, which is carried out, in experimental data establishes cutting force mathematical modeling；Another method is to calculate to cut according to cutter geometrical model
Force coefficient is cut, cutting test or finite element analysis by different technical parameters, is obtained using workpiece, cutter and cutting force relation
Cutting Force Coefficient.The Altintas of Canadian UBC universities, Smith of Univ Florida USA et al. are by measuring
Cutting force under various feed engagements, and data are carried out with linear regression, and then obtain Milling force parameter.At present, cutting
In terms of the research of force coefficient, most is all to carry out the identification of Cutting Force Coefficient using Altintas et al. basic theory.But
Also there is the exploration that some scholars have carried out some different angles, as engineering technology institute of Yunnan Prov Agriculture University Zhao Chang woodss pass through to cutting
Measure and the measure to process system rigidity or the calculating of state error duplicating are cut, radial cutting force coefficient can be calculated.Nanjing
Engineering college Hou Jun is bright et al. on the basis of the stress in thin-walled parts process and elastic deformation are analyzed, and builds
The work piece surface error that is based on solves the theoretical model of Cutting Force Coefficient.Tian Fengjie et al. establish comprising cutting speed,
Cutting depth and the Cutting Force Coefficient function that feed engagement is main machined parameters, Milling Force system is represented using quadratic polynomial
Exponential model.
All it is that direct utilize tests cutting force or analytic method calculating cutting force in the computational methods of above-mentioned Cutting Force Coefficient
And further identification draws Cutting Force Coefficient.But be all to need special dynamometer, price is higher；For turnery processing,
Dynamometer main body is suspended from the outside of knife rest or knife tower, reduces tooling system rigidity, flutter easily occurs, and can be produced not for processing
Profit influences, meanwhile, the cutting force data that flutter occurs is not easy to recognize.In addition, the tooling system cutting for reducing rigidity obtains
Cutting force it is bigger than normal compared with actual value.Dynamometer installation and debugging are more complicated, if power, electricity can be read in some lathe servo drive systems
The data such as stream or moment of torsion, then can be achieved the test identification without external sensor, and method is more convenient.
The content of the invention：
It is an object of the invention to provide it is a kind of using power test substitute cutting force meansurement based on main shaft of numerical control machine tool and
The Cutting Force Coefficient discrimination method of servo shaft power.
To achieve the above object, the present invention uses following technical scheme：
Cutting Force Coefficient discrimination method provided by the invention based on main shaft of numerical control machine tool and servo shaft power, including it is following
Step：
Step 1：The arrangement test sensor on Digit Control Machine Tool, and in corresponding cut using the dry run of the speed of mainshaft,
Under Z axis dry run, the uncharged static test of X-axis during corresponding cutting under Z axis feed speed, record main shaft, Z axis, X-axis motor
Three-phase current and voltage signal, and obtain the no-load power P of main shaft and Z axis0、Pz0With X-axis no-load current Ix0；
Step 2：Under certain cutting parameter, carry out becoming cutting-in cutting test, record main shaft, Z axis, the three-phase of X-axis motor
Electric current and voltage signal, and then obtain the power data P of main shaft and Z axiss、PzWith X-axis electric current Ix；
Step 3：The power data obtained according to step 2, the power for drawing out main shaft and Z axis motor are joined with corresponding cutting
The relation curve between material removing rate under several, and expression formula function is obtained by linear fit, extraction spindle motor is corresponding
Slope k and intercept a, and k corresponding to Z axis motorzAnd az；
Step 4：No-load power P during the main shaft dry run obtained by step 10And the spindle motor that step 3 obtains
Corresponding slope k and intercept a, and then obtain the Cutting Force Coefficient of main shaft；
Step 5：No-load power P during the Z axis dry run obtained by step 1z0And the Z axis motor pair that step 3 obtains
The k answeredzAnd az, and then obtain the Cutting Force Coefficient of Z axis；
Step 6：The X-axis no-load current I obtained by step 1x0, unloaded moment of torsion when obtaining X-axis without chip-load
Tx0, and the electric current I of the X-axis motor recorded by step 2x, draw the electric current of X-axis motor and the relation song of corresponding cutting depth
Line, and expression formula function is obtained by linear fit, and then obtain X-axis Cutting Force Coefficient.
In step 1, the test sensor is current sensor and voltage sensor, and current sensor is connect respectively
In the three-phase input end of tested motor, cable is passed through by current sensor intermediate throughholes, by voltage sensor by electric wire and
Binding post is connected with input end of motor, and output signal line is picked out, by the output end of current sensor and voltage sensor
It is connected on data collecting card or is transferred by binding post, then electric current and voltage signal is acquired.
The current sensor is Hall current sensor.
The voltage sensor is Alternative Voltage Converter.
In step 3, the relation between main shaft and the power of Z axis and the material removing rate under corresponding cutting parameter is drawn
Before curve, main shaft, the power data of Z axis under under each cutting depth are handled, are with all specifically
When cutting depth, multiple power data values are extracted, and relation is drawn to multiple value averageds of extraction, and with the average value
Curve.
In step 4, be calculated according to the following equation to obtain the Cutting Force Coefficient of main shaft, i.e., tangential cutting force coefficient and
Tangential cutting edge force coefficient：
K in formulatcRepresent tangential cutting force coefficient, KteRepresent tangential cutting edge force coefficient, k is slope, and a is intercept, P0Based on
The no-load power of axle, d1For the outside diameter of workpiece blank, d2For the interior circular diameter of workpiece machined surface, nsFor the speed of mainshaft,
frFor feed of every rotation.
In step 5, it is calculated according to the following equation to obtain the Cutting Force Coefficient of Z axis, i.e. axial cutting force coefficient and axle
To cutting edge force coefficient：
K in formulaacRepresent axial cutting force coefficient, KaeRepresent axial cutting edge force coefficient, ηzFor the positive effect of Z axis feed screw
Rate, izFor the gearratio of Z axis motor to leading screw, kzFor slope, azFor intercept, Pz0For the no-load power of Z axis, D is workpiece central diameter,
That is D=(d1+d2)/2, nsFor the speed of mainshaft, μ is the SimMan universal patient simulator of guide, and M is the weight of leading screw driving part, and g is
Acceleration of gravity, l are guide screw lead, nzFor Z axis rotating speed, frFor feed of every rotation.
In step 6, it is calculated according to the following equation to obtain the Cutting Force Coefficient of X-axis, i.e. normal direction Cutting Force Coefficient and method
To cutting edge force coefficient：
K in formulancRepresent normal direction Cutting Force Coefficient, KneRepresent normal direction cutting edge force coefficient, ηxFor the positive effect of X-axis feed screw
Rate, ixFor the gearratio of X-axis motor to leading screw, C is constant of the machine, and Φ is motor magnetic flux amount, and d is to rotate diameter, IxFor X-axis electricity
Electromechanics stream, apFor cutting depth, l is guide screw lead, frFor feed of every rotation, Tx0For the unloaded moment of torsion of X-axis.
The beneficial effect of Cutting Force Coefficient discrimination method of the invention based on main shaft of numerical control machine tool and servo shaft power：It is applicable
In numerically controlled lathe machining application field, substitute cutting force meansurement using power test, without the high specification high price such as dynamometer
It is worth measuring system, used measurement apparatus mainly forms comprising current sensor, voltage sensor and monolithic data capture card,
Complete unit can flexibly be built, and cheap, read corresponding data by the sensor of setting, and obtain by linear fit
To expression formula function, and then the Cutting Force Coefficient of each axle is obtained, method is more convenient.
Brief description of the drawings：
Fig. 1 is the relation curve between the power data value of spindle motor and the material removing rate under corresponding cutting parameter；
Fig. 2 is the relation curve between the power data value of Z axis motor and the material removing rate under corresponding cutting parameter；
Fig. 3 is relation curve of the electric current with corresponding cutting depth of X-axis motor.
Embodiment：
With reference to embodiment, the present invention is described in further detail.
Cutting Force Coefficient discrimination method of the invention based on main shaft of numerical control machine tool and servo shaft power, comprises the following steps：
Step 1：The arrangement test sensor on Digit Control Machine Tool, the test sensor are that current sensor and voltage pass
Sensor, it is the three-phase input end that current sensor is connected to tested motor respectively, by cable by current sensor specifically
Between through hole pass through, voltage sensor is connected by electric wire and binding post with input end of motor, and output signal line is picked out,
The output of current sensor and voltage sensor is terminated on data collecting card or transferred by binding post, then to electric current
It is acquired with voltage signal, mainly there is spindle drive motor, X and Z two in the present embodiment, on used numerically controlled lathe
Axis servomotor motor, therefore, the current sensor quantity is 9, voltage sensor 9, and corresponding data collecting card
Need to provide at 18 binding post interfaces, in other embodiments, then can be carried out according to the actual quantity of tested motor
Extension, and in the present embodiment, for the current sensor used for Hall current sensor, voltage sensor is alternating voltage pick-up
Device；
In corresponding cut using the Z axis dry run under Z axis feed speed when the dry run of the speed of mainshaft, corresponding cutting, X
Under the uncharged static test of axle, the three-phase current of main shaft, Z axis, X-axis motor is obtained by current sensor and voltage sensor
And voltage signal, and record, then, by P=UI, the no-load power P of main shaft and Z axis is calculated0、Pz0, and pass through electricity
Flow sensor obtains X-axis no-load current Ix0。
Step 2：Ensure that numerically controlled lathe runs well, under conditions of cutting workpiece, do not change other cutting ginsengs
Number, adjusts different cutting depth, carries out becoming cutting-in cutting test, obtains difference by current sensor and voltage sensor and cut
The three-phase current and voltage signal of depth lower main axis, Z axis, X-axis motor are cut, and is recorded, byAnd then obtain
Obtain the active power data P of main shaft and Z axiss、PzWith X-axis electric current Ix。
Step 3：Main shaft, the power data of Z axis under the different cutting depth obtained in step 2 is handled, had
For body, it is in same cutting depth, extracts multiple power data values, and multiple power data values of extraction are asked for averagely
Value, drawn with the average value between main shaft and the power data value of Z axis motor and the material removing rate under corresponding cutting parameter
Relation curve, as depicted in figs. 1 and 2, and expression formula function is obtained by linear fit, and then extract and obtain spindle motor pair
The slope k and intercept a answered, and slope k corresponding to Z axis motorzWith intercept az, that is, obtain following formula (1) and formula (2)：
Ps=kMRR+a (1)
Pz=kzMRR+az (2)
In formula,
Ps--- spindle power,
Pz--- it is spindle power,
MRR --- material removing rate.
Wherein,
In formula,
D --- workpiece central diameter, and
d1--- the outside diameter of workpiece blank,
d2--- the interior circular diameter of workpiece machined surface,
ns--- the speed of mainshaft,
ap--- cutting depth,
fr--- feed of every rotation.
Step 4：No-load power P during the main shaft dry run obtained by step 10And the spindle motor that step 3 obtains
Corresponding slope k and intercept a, and then the Cutting Force Coefficient of main shaft is obtained, specific calculating process such as following formula (3)：
By
In formula,
Pm--- spindle motor power,
P0--- the no-load power of main shaft,
Ktc--- tangential cutting force coefficient,
Kte--- tangential cutting edge force coefficient.
Formula (1) is brought into formula (4) and calculated, obtains the Cutting Force Coefficient of main shaft, i.e., tangential cutting force coefficient and is cut
To cutting edge force coefficient, such as following formula (5)：
Step 5：No-load power P during the Z axis dry run obtained by step 1z0And the Z axis motor pair that step 3 obtains
The k answeredzAnd az, and then the Cutting Force Coefficient of Z axis is obtained, specific calculating process is as follows：
When carrying out machining to foreign round, Z axis travels at the uniform speed, the axial moment of torsion such as following formula (6) of Z axis
Ta=(Fz+μMg)l/(2πηziz) (6)
In formula,
Ta--- the axial moment of torsion of Z axis,
Fz--- the axial cutting force of leading screw,
The SimMan universal patient simulator of μ --- guide,
M --- the weight of leading screw driving part,
G --- acceleration of gravity,
L --- guide screw lead,
ηz--- the forward efficiency of Z axis feed screw,
iz--- the gearratio of Z axis motor to leading screw.
Meanwhile also there is following relational expression (7) in the axial moment of torsion of Z axis with Z axis motor power
Ta=9549 (Pz-Pz0)/nz=60000 (Pz-Pz0)/2πnz (7)
Formula (2), formula (3) and formula (6) are brought into formula (7) and calculated, exports FzExpression formula：
Further obtain the Cutting Force Coefficient of Z axis, i.e. axial cutting force coefficient and axial cutting edge force coefficient：
In formula,
Kac--- axial cutting force coefficient,
Kae--- axial cutting edge force coefficient,
Pz0--- the no-load power of Z axis,
nz--- Z axis rotating speed.
Step 6：The X-axis no-load current I obtained by step 1x0, unloaded moment of torsion when obtaining X-axis without chip-load
Tx0, and the electric current I of the X-axis motor recorded by step 2x, draw the electric current of X-axis motor and the relation song of corresponding cutting depth
Line, and expression formula function is obtained by linear fit, as shown in figure 3, and then extracting and obtaining slope k corresponding to spindle motorIxWith
Intercept aIx, that is, obtain following formula：
Ix=kIx*ap+aIx (10)
Then：Ix/aP=kIx+aIx/ap
And understood in specific experiment, apMuch larger than aIx, therefore, aIx/apLevel off to zero, then Ix/apIt is approximately equal to kIx。
During turning is carried out to foreign round, the general holding position of cutter is constant, i.e. X-axis motor does not rotate, then
Motor torque M is represented by magnetic flux and armature supply, moment coefficient, the product of root diameter, directly proportional to electric current, such as following formula：
M=C × Φ × Ix× d=Fxl/(2πηxix)+Tx0 (11)
In formula,
M --- motor torque,
C --- constant of the machine,
Φ --- motor magnetic flux amount, it is constant during normal work,
D --- the radius of gyration,
Fx--- X-axis cutting force,
ηx--- the forward efficiency of X-axis feed screw, general=0.94,
ix--- the gearratio of X-axis motor to leading screw,
And from above formula, when diameter d is constant, X-axis cutting force FxWith electric current IxIt is directly proportional, so：
In formula,
Knc--- normal direction Cutting Force Coefficient,
Kne--- normal direction cutting edge force coefficient,
The Cutting Force Coefficient of X-axis, i.e. normal direction Cutting Force Coefficient and normal direction cutting edge force coefficient are further obtained, it is specific to calculate public affairs
Formula is as follows：
And when X-axis is without chip-load, Fx=0, then unloaded moment of torsion can be calculated by following formula
Tx0=C φ Ix0d (14)
I.e. by the above-mentioned various Cutting Force Coefficient that X-axis is calculated.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, to the greatest extent
The present invention is described in detail with reference to above-described embodiment for pipe, those of ordinary skills in the art should understand that：Still may be used
Modified or equivalent substitution with the embodiment to the present invention, and repaiied without departing from any of spirit and scope of the invention
Change or equivalent substitution, it all should cover among present claims scope.
Claims (7)
1. the Cutting Force Coefficient discrimination method based on main shaft of numerical control machine tool and servo shaft power, it is characterised in that including following step
Suddenly：
Step 1：The arrangement test sensor on Digit Control Machine Tool, and in corresponding cut using the dry run of the speed of mainshaft, correspondingly
Under Z axis dry run, the uncharged static test of X-axis during cutting under Z axis feed speed, record main shaft, Z axis, the three of X-axis motor
Phase current and voltage signal, and obtain the no-load power P of main shaft and Z axis0、Pz0With X-axis no-load current Ix0；
Step 2：Ensure that numerically controlled lathe runs well, under conditions of cutting workpiece, do not change other cutting parameters,
Different cutting depth is adjusted, carries out becoming cutting-in cutting test, record main shaft, Z axis, the three-phase current of X-axis motor and voltage letter
Number, and then obtain the power data P of main shaft and Z axiss、PzWith X-axis electric current Ix；
Step 3：The power data obtained according to step 2, draw out the power of main shaft and Z axis motor with corresponding cutting parameter
Material removing rate between relation curve, and expression formula function is obtained by linear fit, extracted corresponding to spindle motor tiltedly
Rate k and intercept a, and slope k corresponding to Z axis motorzWith intercept az；
Step 4：No-load power P during the main shaft dry run obtained by step 10And the spindle motor that step 3 obtains is corresponding
Slope k and intercept a, and then obtain the Cutting Force Coefficient of main shaft；
Step 5：No-load power P during the Z axis dry run obtained by step 1z0And corresponding to the obtained Z axis motor of step 3
Slope kzWith intercept az, and then obtain the Cutting Force Coefficient of Z axis；
Step 6：The X-axis no-load current I obtained by step 1x0, unloaded torque T when obtaining X-axis without chip-loadx0, and lead to
Cross the electric current I of the X-axis motor of step 2 recordx, the electric current of X-axis motor and the relation curve of corresponding cutting depth are drawn, and lead to
Cross linear fit and obtain expression formula function, and then obtain X-axis Cutting Force Coefficient.
2. according to the method for claim 1, it is characterised in that：In step 1, the test sensor is current sense
Device and voltage sensor, current sensor is connected to the three-phase input end of tested motor respectively, by cable by current sensor
Between through hole pass through, voltage sensor is connected by electric wire and binding post with input end of motor, and output signal line is picked out,
The output of current sensor and voltage sensor is terminated on data collecting card or transferred by binding post, then to electric current
It is acquired with voltage signal.
3. according to the method for claim 2, it is characterised in that：The current sensor is Hall current sensor；It is described
Voltage sensor is Alternative Voltage Converter.
4. according to the method for claim 1, it is characterised in that：In step 3, draw the power of main shaft and Z axis with it is corresponding
Before the relation curve between material removing rate under cutting parameter, by main shaft, the power of Z axis under under each cutting depth
Data are handled, and specifically, are in same cutting depth, are extracted multiple power data values, and to multiple values of extraction
Averaged, and draw relation curve with the average value.
5. according to the method for claim 1, it is characterised in that：In step 4, it is calculated according to the following equation and is led
The Cutting Force Coefficient of axle, i.e. tangential cutting force coefficient and tangential cutting edge force coefficient：
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K in formulatcRepresent tangential cutting force coefficient, KteRepresent tangential cutting edge force coefficient, k is slope, and a is intercept, P0For main shaft
No-load power, d1For the outside diameter of workpiece blank, d2For the interior circular diameter of workpiece machined surface, nsFor the speed of mainshaft, frFor
Feed of every rotation.
6. according to the method for claim 1, it is characterised in that：In step 5, it is calculated according to the following equation to obtain Z axis
Cutting Force Coefficient, i.e. axial cutting force coefficient and axial cutting edge force coefficient：
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K in formulaacRepresent axial cutting force coefficient, KaeRepresent axial cutting edge force coefficient, ηzFor the forward efficiency of Z axis feed screw, iz
For the gearratio of Z axis motor to leading screw, kzFor slope, azFor intercept, Pz0For the no-load power of Z axis, D is workpiece central diameter, i.e. D=
(d1+d2)/2, nsFor the speed of mainshaft, μ is the SimMan universal patient simulator of guide, and M is the weight of leading screw driving part, and g adds for gravity
Speed, l are guide screw lead, nzFor Z axis rotating speed, frFor feed of every rotation.
7. according to the method for claim 1, it is characterised in that：In step 6, it is calculated according to the following equation to obtain X-axis
Cutting Force Coefficient, i.e. normal direction Cutting Force Coefficient and normal direction cutting edge force coefficient：
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<mi>C</mi>
<mi>&phi;</mi>
<mi>d</mi>
</mrow>
<mrow>
<msub>
<mi>lf</mi>
<mi>r</mi>
</msub>
</mrow>
</mfrac>
<mfrac>
<msub>
<mi>I</mi>
<mi>x</mi>
</msub>
<msub>
<mi>a</mi>
<mi>p</mi>
</msub>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>K</mi>
<mrow>
<mi>n</mi>
<mi>e</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mrow>
<mn>2</mn>
<msub>
<mi>&pi;&eta;</mi>
<mi>x</mi>
</msub>
<msub>
<mi>i</mi>
<mi>x</mi>
</msub>
<msub>
<mi>T</mi>
<mrow>
<mi>x</mi>
<mn>0</mn>
</mrow>
</msub>
</mrow>
<mrow>
<msub>
<mi>lf</mi>
<mi>r</mi>
</msub>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>;</mo>
</mrow>
K in formulancRepresent normal direction Cutting Force Coefficient, KneRepresent normal direction cutting edge force coefficient, ηxFor the forward efficiency of X-axis feed screw, ix
For the gearratio of X-axis motor to leading screw, C is constant of the machine, and Φ is motor magnetic flux amount, and d is to rotate diameter, IxFor X-axis motor electricity
Stream, apFor cutting depth, l is guide screw lead, frFor feed of every rotation, Tx0For the unloaded moment of torsion of X-axis.
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| CN107085412B (en) * | 2017-03-30 | 2019-04-30 | 北京精密机电控制设备研究所 | A kind of method of controlling curve turnery processing cutting force mutation |
| CN107944149A (en) * | 2017-11-28 | 2018-04-20 | 清华大学 | A kind of common slotting cutter arc section Cutting Force Coefficient discrimination method |
| CN109032077B (en) * | 2018-09-05 | 2022-03-18 | 沈阳建筑大学 | Five-axis numerical control machining instruction point interpolation method based on tool attitude control |
| CN110146211B (en) * | 2019-05-20 | 2020-09-11 | 北京理工大学 | Motor drive current-based electric cylinder output force detection method |
| CN110135120A (en) * | 2019-06-13 | 2019-08-16 | 浙江工业大学 | A kind of evaluation method of wafer material grinding energy ratio |
| CN112180833B (en) * | 2020-09-07 | 2021-09-07 | 清华大学 | Numerical control machine tool and control method and device for self-adaptive machining of numerical control machine tool |
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| JP2000222014A (en) * | 1999-01-29 | 2000-08-11 | Amada Co Ltd | Numerically controlled machine tool |
| EP0834377B1 (en) * | 1996-10-03 | 2003-03-05 | Murata Kikai Kabushiki Kaisha | Composite processing device |
| CN102609591A (en) * | 2012-02-16 | 2012-07-25 | 华中科技大学 | Optimization method of cutting parameters of heavy machine tool |
| CN104517033A (en) * | 2014-12-17 | 2015-04-15 | 重庆大学 | Multi-target optimization method for numerical control machining technological parameters facing energy efficiency |
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| JPS5973263A (en) * | 1982-10-19 | 1984-04-25 | Toyoda Mach Works Ltd | Work table positioning controller in machine tool |
| EP0834377B1 (en) * | 1996-10-03 | 2003-03-05 | Murata Kikai Kabushiki Kaisha | Composite processing device |
| JP2000222014A (en) * | 1999-01-29 | 2000-08-11 | Amada Co Ltd | Numerically controlled machine tool |
| CN102609591A (en) * | 2012-02-16 | 2012-07-25 | 华中科技大学 | Optimization method of cutting parameters of heavy machine tool |
| CN104517033A (en) * | 2014-12-17 | 2015-04-15 | 重庆大学 | Multi-target optimization method for numerical control machining technological parameters facing energy efficiency |
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