CN108563185A - PCB digital control processings control system and its torque knife-breaking detecting method - Google Patents
PCB digital control processings control system and its torque knife-breaking detecting method Download PDFInfo
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- CN108563185A CN108563185A CN201810206170.3A CN201810206170A CN108563185A CN 108563185 A CN108563185 A CN 108563185A CN 201810206170 A CN201810206170 A CN 201810206170A CN 108563185 A CN108563185 A CN 108563185A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37228—Tool inspection, condition, dull tool
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of PCB digital control processings control system and its torque knife-breaking detecting method, which includes the following steps：Step A, after main shaft starts smooth running, main-shaft torque idling torque is read before each track processes；Step B, it calls in machining locus figure and monitors the variation of each Working position main-shaft torque in real time when the Working position that XYZ axis moves to pcb board starts track processing；Step C, in time processing when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, there is breaking in judgement, and moment remembers the position of processing and stopping alarm, waiting operation personnel processing；Step D, it such as processes at one time and does not break down or handle completion, then jump to step B Continuous machings.The present invention detects control and is carried out under the control of motion controller, realizes and accurately reliably judges；The minimum of breaking cost of implementation is judged by the monitoring calculation of torque；Breaking alarm is detected in process in real time and improves processing efficiency.
Description
Technical field
The present invention relates to fields of numeric control technique, and in particular to a kind of PCB digital control processings control system and its inspection of torque breaking
Survey method.
Background technology
As PCB processing requests are higher and higher, pcb board face is smaller and smaller, and machining accuracy and processing dimension are smaller and smaller, add
The position of work is more and more intensive, and speed is getting faster, and requirements at the higher level are proposed to numerically-controlled machine tool efficiency.Cutter changing frequency when processing
It is numerous, to reduce promotion of the processing cost manufacturer using jigsaw in the hope of production efficiency.However the requirement to cutter is higher and higher,
Possibility existing for cracking of cutter increases.
The knife-breaking detecting method used at present：1, using external dedicated unit；2, it needs to use in processing and adds aluminium foil system
Make special tooling.
Equipment making cost is increased in this way, increases production and processing cost.Aluminium foil is disposably to consume, and loss is big, inspection
It is high to survey the requirement for requiring operating personnel to be done before workpieces processing.PCB will be caused by some minor issues occur when adding aluminium foil outside
Plate processing is scrapped.
In summary description, it is existing on the market whether with which kind of knife-breaking detecting method all in making and processing cost
Height requires height to operating personnel, does not allow operating personnel error occur.
Invention content
In view of this, in order to solve the above problem in the prior art, the present invention proposes a kind of PCB digital control processings control system
System and its torque knife-breaking detecting method.
The present invention is solved the above problems by following technological means：
On the one hand, the present invention provides a kind of PCB digital control processings control system, including motion controller, frequency converter, high speed electricity
Machine, X driver, X-axis motor, Y drivers, y-axis motor, Z drivers, Z axis motor；
The motion controller is electrically connected with X driver, Y drivers, Z drivers respectively, X driver and X-axis motor
It is electrically connected, Y drivers are electrically connected with y-axis motor, and Z drivers are electrically connected with Z axis motor；Motion controller is according to processing
Track transfers data to X driver, Y drivers, Z drivers, and X driver controls the X-axis of X-axis motor driving thereon and carries out X
Axial translation, the Y-axis of Y driver control y-axis motors driving thereon carry out the translation of Y-axis, Z driver control Z axis motors
Driving Z axis thereon carry out Z axis to up and down motion；
The motion controller is electrically connected with frequency converter, and frequency converter is electrically connected with high-speed electric expreess locomotive, motion controller root
Frequency converter is transferred data to according to machining locus, Frequency Converter Control high-speed electric expreess locomotive drives cutter at high speeds operating to carry out work pieces process,
Frequency converter monitors change in torque information when high-speed electric expreess locomotive processing in real time, and motion controller reads frequency converter reality in time processing
When change in torque information when each Working position is processed of the high-speed electric expreess locomotive that monitors, when the theoretical torque in processing is turned round with monitoring
When the alignment parameters of square exceed threshold values, there is breaking and shutdown of alarming in judgement, and memory change in torque position waits at operating personnel
It after reason, and controls and is re-worked in memory area, every one automatically confirms that when processing at one time in machining locus figure.
Further, the theoretical torque uses everywhere according to machining locus tool dimension, allowance, workpieces processing
THICKNESS CALCULATION show that the threshold values is according to processing conditions, parameter setting.
Further, described process at one time machines for a hole machined completion or one section of line segment.
Further, each Working position is process finishing in defined time processing, tool changing, is worked into sky
The small position of position, half vacancy, allowance.
Further, the motion controller includes operation module, computing module, control module；
The control module is connect with operation module, computing module respectively；
The operation module includes man-machine interaction unit, display unit；
The man-machine interaction unit is for the interaction between motion controller and user；
The display unit is for showing machining locus and various parameters；
The thickness of tool dimension, allowance, workpieces processing that the computing module is used to that machining locus to be combined to use everywhere
Degree calculates torque ratio existing for theory everywhere, and, to the processing torque of actual monitoring to generate an alignment parameters, alignment parameters exist
It floats in threshold range, every one automatically confirms that when processing at one time in machining locus figure；
The control module is used to transfer data to X driver, Y drivers, Z drivers, X drivings according to machining locus
Device controls the translation that the X-axis of X-axis motor driving thereon carries out X axis, and the Y-axis of Y driver control y-axis motors driving thereon carries out
The translation of Y-axis, Z driver control Z axis motors driving Z axis thereon carry out Z axis to up and down motion；
The control module is additionally operable to transfer data to frequency converter, Frequency Converter Control high-speed electric expreess locomotive band according to machining locus
Cutter, which runs at high speed, carries out work pieces process；
The control module is additionally operable to, when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, sentence
It is disconnected breaking occur and shutdown of alarming.
Further, the motion controller is built-in with dsp board and ARM plates.
On the other hand, the present invention also provides a kind of torque knife-breaking detecting methods of PCB digital control processings control system, including such as
Lower step：
Step A, after main shaft starts smooth running, main-shaft torque idling torque is read before each track processes；
Step B, machining locus figure is called in supervise in real time when the Working position that XYZ axis moves to pcb board starts track processing
Survey the variation of each Working position main-shaft torque；
Step C, in time processing when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, sentence
Disconnected breaking occur, simultaneously stopping alarm, waiting operation personnel are handled for the position of moment memory processing；
Step D, it such as processes at one time and does not break down or handle completion, then jump to step B Continuous machings.
Further, the theoretical torque uses everywhere according to machining locus tool dimension, allowance, workpieces processing
THICKNESS CALCULATION show that the threshold values is according to processing conditions, parameter setting.
Further, described process at one time machines for a hole machined completion or one section of line segment.
Further, each Working position be defined time processing in process finishing, tool changing, be worked into vacancy,
The small position of half vacancy, allowance.
Compared with prior art, beneficial effects of the present invention include at least：
1) present invention is carrier by motion controller, system of processing is met in structure to high real-time requires, processing is dynamic
Make to run under the control in motion controller, realizes accurate reliable detection；
2) motion controller is connect with frequency converter using communication mode, and system has offline operation energy in process
Power improves system operation reliability；
3) in processing, breaking and stopping alarm memory breaking position, waiting operation people can be had found using the present invention at any time
Member's processing, waste product caused by being effectively prevented when breaking causes work pieces process；
4) do not increase additionally numerical control device peripheral hardware accessory and processing tool with matching to newly-increased work pieces process at
This, reduces the labor intensity of operating personnel；
5) present invention is directed to existing motion controller energy real-time control, be PCB numerically-controlled machine tools process and developments it is a kind of efficiently, can
The real time monitoring knife-breaking detecting method leaned on meets requirements of the PCB to Efficient numerical control machine tool, PCB numerically-controlled machine tool efficiency is promoted, into one
Step reduces PCB manufacturing costs.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the fundamental diagram of PCB digital control processings control system of the present invention；
Fig. 2 is motion controller of the present invention and driver wiring diagram；
Fig. 3 is motion controller of the present invention and frequency converter wiring diagram；
Fig. 4 is the work flow diagram of the torque knife-breaking detecting method of PCB digital control processings control system of the present invention.
Reference sign：
1, motion controller 2, frequency converter
3, high-speed electric expreess locomotive 4, X driver
5, X-axis motor 6, Y drivers
7, y-axis motor 8, Z drivers
9, Z axis motor
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with attached drawing and specifically
Embodiment technical scheme of the present invention is described in detail.It should be pointed out that described embodiment is only this hair
Bright a part of the embodiment, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not having
There is the every other embodiment obtained under the premise of making creative work, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figs. 1-3, the present invention provides a kind of PCB digital control processings control system, including motion controller 1, frequency converter
2, high-speed electric expreess locomotive 3, X driver 4, X-axis motor 5, Y drivers 6, y-axis motor 7, Z drivers 8, Z axis motor 9；
The motion controller 1 is electrically connected with X driver 4, Y drivers 6, Z drivers 8 respectively, X driver 4 and X-axis
Motor 5 is electrically connected, and Y drivers 6 are electrically connected with y-axis motor 7, and Z drivers 8 are electrically connected with Z axis motor 9；Motion control
Device 1 transfers data to X driver 4, Y drivers 6, Z drivers 8 according to machining locus, and X driver 4 controls X-axis motor 5 and drives
Dynamic X-axis thereon carries out the translation of X axis, and Y drivers 6 control the translation that the Y-axis of the driving of y-axis motor 7 thereon carries out Y-axis, Z
Driver 8 control the Z axis that Z axis motor 9 drives thereon carry out Z axis to up and down motion；
The motion controller 1 is electrically connected with frequency converter 2, and frequency converter 2 is electrically connected with high-speed electric expreess locomotive 3, motion control
Device 1 transfers data to frequency converter 2 according to machining locus, and frequency converter 2 controls high-speed electric expreess locomotive 3 and cutter at high speeds operating is driven to carry out work
Part is processed, and frequency converter 2 monitors change in torque information when high-speed electric expreess locomotive 3 is processed in real time, and motion controller 1 is read in time processing
Change in torque information of the high-speed electric expreess locomotive 3 that frequency converter 2 monitors in real time when each Working position is processed is taken, when the theory in processing
When the alignment parameters of torque and monitoring torque exceed threshold values, there is breaking and shutdown of alarming in judgement, memory change in torque position, etc.
It after personnel to be operated processing, and controls and is re-worked in memory area, every one when processing at one time in machining locus figure
It automatically confirms that.
Specifically, the theoretical torque uses everywhere according to machining locus tool dimension, allowance, workpieces processing
THICKNESS CALCULATION show that the threshold values is according to processing conditions, parameter setting.
Specifically, described process at one time machines for a hole machined completion or one section of line segment.
Specifically, each Working position be defined time processing in process finishing, tool changing, be worked into vacancy,
The small position of half vacancy, allowance.
Specifically, the motion controller 1 includes operation module, computing module, control module；
The control module is connect with operation module, computing module respectively；
The operation module includes man-machine interaction unit, display unit；
The man-machine interaction unit is for the interaction between motion controller 1 and user；
The display unit is for showing machining locus and various parameters；
The thickness of tool dimension, allowance, workpieces processing that the computing module is used to that machining locus to be combined to use everywhere
Degree calculates torque ratio existing for theory everywhere, and, to the processing torque of actual monitoring to generate an alignment parameters, alignment parameters exist
It floats in threshold range, every one automatically confirms that when processing at one time in machining locus figure；
The control module is used to transfer data to X driver 4, Y drivers 6, Z drivers 8, X according to machining locus
Driver 4 controls the translation for the X-axis progress X axis that X-axis motor 5 drives thereon, and Y drivers 6 control the driving of y-axis motor 7 thereon
Y-axis carry out the translation of Y-axis, Z drivers 8 control the Z axis that Z axis motor 9 drives thereon carry out Z axis to up and down motion；
The control module is additionally operable to transfer data to frequency converter 2 according to machining locus, and frequency converter 2 controls high-speed electric expreess locomotive
3 drive cutter at high speeds operating to carry out work pieces process；
The control module is additionally operable to, when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, sentence
It is disconnected breaking occur and shutdown of alarming.
Specifically, the motion controller 1 is built-in with dsp board and ARM plates.
Embodiment 2
As shown in figure 4, the present invention also provides a kind of torque knife-breaking detecting methods of PCB digital control processings control system, including
Following steps：
Step A, after main shaft starts smooth running, main-shaft torque idling torque is read before each track processes；
Step B, machining locus figure is called in supervise in real time when the Working position that XYZ axis moves to pcb board starts track processing
Survey the variation of each Working position main-shaft torque；
Step C, in time processing when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, sentence
Disconnected breaking occur, simultaneously stopping alarm, waiting operation personnel are handled for the position of moment memory processing；
Step D, it such as processes at one time and does not break down or handle completion, then jump to step B Continuous machings.
Specifically, the theoretical torque uses everywhere according to machining locus tool dimension, allowance, workpieces processing
THICKNESS CALCULATION show that the threshold values is according to processing conditions, parameter setting.
Specifically, described process at one time machines for a hole machined completion or one section of line segment.
Specifically, each Working position is process finishing, tool changing in defined time processing, is worked into vacancy, partly
The small position of vacancy, allowance.
The present invention is carrier by motion controller, and system of processing is met in structure to high real-time requires, processing action
It is run under control in motion controller, realizes accurate reliable detection.
Motion controller is connect with frequency converter using communication mode, and system has offline operation ability in process,
Improve system operation reliability.
In processing, breaking and stopping alarm memory breaking position, waiting operation personnel can be had found using the present invention at any time
Processing, waste product caused by being effectively prevented when breaking causes work pieces process.
Do not increase numerical control device peripheral hardware accessory and processing tool with matching additionally to newly-increased work pieces process cost,
Reduce the labor intensity of operating personnel.
The present invention is directed to existing motion controller energy real-time control, is that PCB numerically-controlled machine tools process and development is a kind of efficiently, reliable
Real time monitoring knife-breaking detecting method, meet requirements of the PCB to Efficient numerical control machine tool, promote PCB numerically-controlled machine tool efficiency, further
Reduce PCB manufacturing costs.
PCB digital control processings control system provided by the invention and its torque knife-breaking detecting method, have the advantage that：
1) detection control carries out under the control of motion controller, realizes and accurately reliably judges；
2) minimum of breaking cost of implementation is judged by the monitoring calculation of torque；
3) breaking alarm is detected in process in real time and improves processing efficiency.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of PCB digital control processings control system, which is characterized in that including motion controller, frequency converter, high-speed electric expreess locomotive, X drivings
Device, X-axis motor, Y drivers, y-axis motor, Z drivers, Z axis motor；
The motion controller is electrically connected with X driver, Y drivers, Z drivers respectively, and X driver and X-axis motor are electrical
Connection, Y drivers are electrically connected with y-axis motor, and Z drivers are electrically connected with Z axis motor；Motion controller is according to machining locus
X driver, Y drivers, Z drivers are transferred data to, X driver controls the X-axis of X-axis motor driving thereon and carries out X axis
Translation, Y driver control y-axis motors driving Y-axis thereon carries out the translation of Y-axis, the driving of Z driver control Z axis motors
Z axis thereon carry out Z axis to up and down motion；
The motion controller and frequency converter are electrically connected, and frequency converter is electrically connected with high-speed electric expreess locomotive, and motion controller is according to adding
Work track transfers data to frequency converter, and Frequency Converter Control high-speed electric expreess locomotive drives cutter at high speeds operating to carry out work pieces process, frequency conversion
Device monitors change in torque information when high-speed electric expreess locomotive processing in real time, and motion controller reads frequency converter in time processing and supervises in real time
Change in torque information of the high-speed electric expreess locomotive of survey when each Working position is processed, when the theoretical torque and monitoring torque in processing
When alignment parameters exceed threshold values, there is breaking and shutdown of alarming in judgement, and memory change in torque position waits for operating personnel's processing
Afterwards, and control is re-worked in memory area, and every one automatically confirms that when processing at one time in machining locus figure.
2. PCB digital control processings control system according to claim 1, which is characterized in that the theoretical torque is according to processing
Tool dimension that track uses everywhere, allowance, workpieces processing THICKNESS CALCULATION obtain, the threshold values according to processing conditions,
Parameter setting.
3. PCB digital control processings control system according to claim 1, which is characterized in that described process at one time is one
A hole machined is completed or one section of line segment machines.
4. PCB digital control processings control system according to claim 1, which is characterized in that each Working position is
Process finishing in the time processing of definition, tool changing are worked into the small position of vacancy, half vacancy, allowance.
5. PCB digital control processings control system according to claim 1, which is characterized in that the motion controller includes behaviour
Make module, computing module, control module；
The control module is connect with operation module, computing module respectively；
The operation module includes man-machine interaction unit, display unit；
The man-machine interaction unit is for the interaction between motion controller and user；
The display unit is for showing machining locus and various parameters；
The thickness gauge of tool dimension, allowance, workpieces processing that the computing module is used to that machining locus to be combined to use everywhere
Torque ratio existing for theory everywhere is calculated to the processing torque of actual monitoring to one alignment parameters of generation, alignment parameters are in threshold values
It floats in range, every one automatically confirms that when processing at one time in machining locus figure；
The control module is used to transfer data to X driver, Y drivers, Z drivers, X driver control according to machining locus
The X-axis of X-axis motor driving processed thereon carries out the translation of X axis, and the Y-axis of Y driver control y-axis motors driving thereon carries out Y-axis
To translation, Z driver control Z axis motors driving Z axis thereon carry out Z axis to up and down motion；
The control module is additionally operable to transfer data to frequency converter, Frequency Converter Control high-speed electric expreess locomotive band moving knife according to machining locus
Tool, which runs at high speed, carries out work pieces process；
The control module is additionally operable to, when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, judge
Existing breaking and shutdown of alarming.
6. PCB digital control processings control system according to claim 1, which is characterized in that the motion controller is built-in with
Dsp board and ARM plates.
7. a kind of torque knife-breaking detecting method of PCB digital control processings control system, which is characterized in that include the following steps：
Step A, after main shaft starts smooth running, main-shaft torque idling torque is read before each track processes；
Step B, machining locus figure is called in, when the Working position that XYZ axis moves to pcb board starts track processing, monitoring is each in real time
The variation of a Working position main-shaft torque；
Step C, in time processing when the alignment parameters of theoretical torque and monitoring torque in processing exceed threshold values, judge
Existing breaking, simultaneously stopping alarm, waiting operation personnel are handled for the position of moment memory processing；
Step D, it such as processes at one time and does not break down or handle completion, then jump to step B Continuous machings.
8. the torque knife-breaking detecting method of PCB digital control processings control system according to claim 7, which is characterized in that institute
The THICKNESS CALCULATION for stating tool dimension, allowance, workpieces processing that theoretical torque uses everywhere according to machining locus obtains, described
Threshold values is according to processing conditions, parameter setting.
9. the torque knife-breaking detecting method of PCB digital control processings control system according to claim 7, which is characterized in that institute
It states to process at one time and be machined for a hole machined completion or one section of line segment.
10. the torque knife-breaking detecting method of PCB digital control processings control system according to claim 7, which is characterized in that institute
State each Working position be process finishing, tool changing in defined time processing, be worked into vacancy, half vacancy, allowance it is small
Position.
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| CN201810206170.3A CN108563185A (en) | 2018-03-13 | 2018-03-13 | PCB digital control processings control system and its torque knife-breaking detecting method |
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| CN201810206170.3A CN108563185A (en) | 2018-03-13 | 2018-03-13 | PCB digital control processings control system and its torque knife-breaking detecting method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112238254A (en) * | 2020-12-18 | 2021-01-19 | 杭州智行远机器人技术有限公司 | Control method for cutting radioactive solid waste for nuclear industry |
| CN114102261A (en) * | 2021-12-27 | 2022-03-01 | 爱派尔(常州)数控科技有限公司 | Machine tool cutter safety detection method and system and machine tool |
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| CN203091790U (en) * | 2013-01-23 | 2013-07-31 | 佛山市迈雷特数控技术有限公司 | Numerical control ring-die drilling machine system |
| JP2013214231A (en) * | 2012-04-03 | 2013-10-17 | Yaskawa Electric Corp | Motor controller, motor control system, and cutting device |
| CN104675380A (en) * | 2015-01-28 | 2015-06-03 | 扬州大学 | Online oil-drilling drill string monitoring system and fault diagnosis method |
| CN104924064A (en) * | 2015-07-08 | 2015-09-23 | 上海第二工业大学 | Automatic screw disassembling method and device based on visual positioning and torque control |
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|---|---|---|---|---|
| CN102350421A (en) * | 2011-07-15 | 2012-02-15 | 北方工业大学 | Force position servo control system for automatically cleaning carbon bowl of anode carbon block for aluminum electrolysis |
| JP2013214231A (en) * | 2012-04-03 | 2013-10-17 | Yaskawa Electric Corp | Motor controller, motor control system, and cutting device |
| CN203091790U (en) * | 2013-01-23 | 2013-07-31 | 佛山市迈雷特数控技术有限公司 | Numerical control ring-die drilling machine system |
| CN104675380A (en) * | 2015-01-28 | 2015-06-03 | 扬州大学 | Online oil-drilling drill string monitoring system and fault diagnosis method |
| CN104924064A (en) * | 2015-07-08 | 2015-09-23 | 上海第二工业大学 | Automatic screw disassembling method and device based on visual positioning and torque control |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112238254A (en) * | 2020-12-18 | 2021-01-19 | 杭州智行远机器人技术有限公司 | Control method for cutting radioactive solid waste for nuclear industry |
| CN114102261A (en) * | 2021-12-27 | 2022-03-01 | 爱派尔(常州)数控科技有限公司 | Machine tool cutter safety detection method and system and machine tool |
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Application publication date: 20180921 |