CN1098141C - Method and apparatus for simulation of NC machining - Google Patents
Method and apparatus for simulation of NC machining Download PDFInfo
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- CN1098141C CN1098141C CN96180192A CN96180192A CN1098141C CN 1098141 C CN1098141 C CN 1098141C CN 96180192 A CN96180192 A CN 96180192A CN 96180192 A CN96180192 A CN 96180192A CN 1098141 C CN1098141 C CN 1098141C
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Abstract
The present invention relates to a method for the simulation of NC machining, wherein in order to modify an NC program or insert data by controlling regenerative feedback, the simulation of the NC machining is carried out according to blank shape data, cutter shape data and the NC program, and thus, an optimum cutting condition is obtained. A simulation result can be used for correcting the NC program and the insert data of the next step. In addition, a record of a used cutter can also be generated according to the simulation result.
Description
The field of the invention
The present invention relates to be used for mach machined emulator of NC and method.More particularly, the present invention relates on the basis of carrying out machined emulation with the data of representing material shape, the shape of tool, machined shapes, produce the apparatus and method for of numeric control command and existing cutter operation information.
Background of the present invention
Briefly explain with reference to adjusting control command generation systems used in 1 pair of general numerical control system of block diagram below.
The mach NC program that preparation is used for being about to is stored in NC program storage 11.
NC program decoding unit 12 reads the NC program one by one and these program blocks is deciphered from NC program storage 11.This NC program decoding unit 12 will be in the present procedure piece or the insertion value type, target location and the feed rate that before the present procedure piece, are designated as the mode order send to and insert processing unit 13.
Cut the load signal that monitor unit 15 receives the main shaft load signal of being surveyed by servo control unit 14 and presents axle, and wherein at least one load signal offers adjusting control module 16.
Regulating control module 16 will cut the main shaft load that monitor unit 15 provides and present axle load and the predetermined load value compares.If main shaft load or present axle load and surpass predetermined overload discriminant value is regulated control module 16 and is just produced alarm signal or other similar signal, and transmits the order that stops each to inserting processing unit 13.If main shaft load or present axle load and do not belong to speed control detection range, regulate control module 16 just to inserting that processing unit 13 transfer rates are revised order so that increase or reduce feed rate.If main shaft load or present axle load and cut discriminant value less than predetermined cut-in without ball is regulated control module 16 and just is suitable for the feed rate order that cut-in without ball is cut to inserting processing unit 13 transmission.
According to these orders, insert processing unit 13 and recomputate unit interval (each insertion cycle) traverse Δ x, Δ y and the Δ z of each, and send these traverse values to servo control unit 14.
Above processing procedure will repeat, and finish up to machining process.
Be illustrated with reference to 2 pairs of general NC program generation systems of block diagram below.
The operator is to the generation NC program needed information of machined data input cell 21 inputs such as tool category, tool dimension, material composition and cutter path.Input results is transmitted to NC program generating unit 23.
Utilize the information of tool category, tool dimension and material composition and so on, machining condition tables of data 22 just has to provide determines to be suitable for the feed rate of these information and the data list structure of spindle speed.This machining condition table is for 23 references of NC program generating unit.
Machined data such as tool category, tool dimension, material composition and cutter path that NC program generating unit 23 provides according to machined data input cell 21 and produce the NC program according to machining conditions such as spindle speed of from machining condition tables of data 22, reading that accords with tool category, tool dimension and material composition and feed rates.
List data is revised unit 24 and is instructed the content in the relation table that concerns between the parameters such as parameter such as reflection tool category, tool dimension, material composition and feed rate, spindle speed is made amendment.
The NC program is directly edited for the operator in NC program editing unit 25.
In having the NC program generation systems of this structure,, can adopt a kind of method in following three kinds of methods if the operator wants to revise the parameters such as feed rate in the NC program.
That is to say, can adopt with machined data input cell 21 and directly provide feed rate, revise unit 24 with list data and revises order in the relation table of the relation between the parameters such as parameter such as reflection tool category, tool dimension, material composition and feed rate, spindle revolutions in advance, or order any in these three kinds of methods with NC program editing unit 25 modification F.
Be illustrated with reference to 3 pairs of general existing cutter operation information generation systems of block diagram below.
The mach NC program that preparation is used for being about to is stored in NC program storage 31.
NC program decoding unit 32 reads the NC program one by one and these program blocks is deciphered from NC program storage 31.This NC program decoding unit 32 will be in the present procedure piece or the insertion value type, target location and the feed rate that before the present procedure piece, are prescribed pass to and insert processing unit 33 as the mode order.Simultaneously, according to the NC program, NC program decoding unit 32 will be used to produce the information (as F order, G01/G02/G03 order and simultaneous with it F order, S order and M02 or M03 order etc.) of existing cutter operation information and pass to existing cutter operation information generating unit 36.
Insert processing unit 33 based on insertion value type, target location and feed rate, each unit interval (each insertion cycle) traverse Δ X, Δ Y and Δ Z send servo control unit 34 to.
Servo control unit 34 according to by insert that processing unit 33 provides each unit interval traverse Δ X, Δ Y and the Δ Z axle of controlling each motor and carry out each operation.
Cutting monitor unit 35 receives the main shaft load signal of being surveyed by servo control unit 34 and presents the axle load signal, and wherein at least one load signal offers existing cutter operation information generating unit 36.
Existing cutter operation information generating unit 36 adds up to existing cutter operation information according to the information that NC program decoding unit 32 provides.More precisely, existing cutter operation information generating unit 36 is confirmed cutter number according to T order, whether carrying out machining according to the G01/G02/G03 command recognition, according to M02 or the processed workpiece quantity of M03 command recognition, feed rate and cutting speed when processing according to information calculations such as the tool diameter machinery of F order, S order and T order appointment.In addition, the main shaft load signal that provides according to machining condition monitor unit 35 of existing cutter operation information generating unit 36 or present the axle load signal and judge whether cutter is in cut-in without ball and cuts state.
The existing cutter operation information that is obtained is stored in the existing cutter operation information memory cell 37 then.For example, storage form can be: the actual cut time of each cutter, on-state duration, cutter are presented cut-in without ball in the process and are cut time and each cutter workpiece quantity with processing.
The problem to be solved in the present invention
In the adjusting control command generation systems of general numerical control system, the machined status information that resembles the main shaft load or present axle load and so on feeds back to the speed of system no matter have and how soon all can not avoid regulating time-delay basically, can only be according to " information in past " control " current state ".
Therefore, can ignore actual light machined load and control feed rate very low when machining to light machined load is changed in the machined of mechanical process process counterweight machined load, this can cause machined efficient step-down.On the contrary, can ignore actual heavy-duty machine processing load and control feed rate very fast when the machining of light machined load being changed into the machining of counterweight machined load when the mechanical process process, this can make the instrument overload or make surface of the work too coarse.Under quick feed rate machined situation, this trend is especially obvious.
In addition, in General N c program generation systems, the machining condition that resembles feed rate and so on is that the judgement by the operator obtains, or rigid definite by parameters such as tool category, tool dimension, material compositions.Thereby it doesn't matter for machining condition and actual cut Resistance Value or cutting torque.
The result is difficult to cut continuously with best feed rate or optimum cutting speed, and this causes, and cutter weares and teares too early, machined precision step-down and surface of the work are coarse.In addition, when cutter during, be easy to cause the damage of cutter and machined material with the Resistance Value of quick increase collision machined material.
Also have, general existing cutter operation information generation systems is just presented actual cut time, on-state duration, the cutter of each cutter cut-in without ball in the process and is cut time and each cutter the workpiece quantity of processing is stored as existing cutter operation information.And do not have fully to obtain the information that those can influence life tools and machined precision, as the contact angle of cutter how to have changed or cutter on any part born maximum load.
Therefore, the influence of cutter is improved tool management technology, Machining Technology and cutter development technique is difficult to the machined environment by analyzing continuous variation.
An object of the present invention is to provide mach machined emulator of a kind of NC of being used for and method, it can address the above problem, can on the graph data machine, make machining simulation before the actual machined, the generation that can give actual machined and have a machined program that is suitable for actual mach condition (such as feed rate and torque forward feed quantity) brings simulation result, and the existing cutter operation information useful to cutter administrative skill, machining technique and cutter development technique can be provided.
Of the present invention open
Above purpose can realize by the equipment that carries out machined emulation according to machined information in the NC machining process, this equipment comprises machined simulator and numeric control command generating means, wherein, the machined simulation unit is according to the cutting of machined information simulation to machined material, and the numeric control command generating unit produces numeric control command according to the cutting information that obtains in mechanic's simulation unit.
Above purpose can also realize by the equipment that carries out machined emulation according to machined information in the NC machining process, this equipment comprises machined simulation unit and existing cutter operation information generating means, wherein, the machined simulation unit is according to the cutting of machined information simulation to machined material, and existing cutter operation information generating unit produces existing cutter operation information according to the cutting information that obtains in the machined simulator.
Also have, above purpose can realize by machined information such as combination NC program, material shape data and the shape of tools.
In addition, above purpose can be passed through combined material shape data generating means, the machined simulator of emulated data storage device and cutting output calculation element is realized, wherein, the material shape data generating device is used for before machined emulation the material shape data transaction being become the machined emulation shape data of being separated by three-dimensional lattice point, the emulated data storage device is used for memory machine machining simulation shape data, the cutting output calculation element is used for when cutter passes material area on the lattice point cutting output according to NC program and shape of tool data computation cutter, and is used for revising the information that in the lattice point scope that relevant cutter passes material is arranged or do not have material according to the working angles of carrying out.
The present invention can also be by comprising the material shape data generating device, the machined simulator of emulation shape store device and cutting output calculation element is realized, wherein, the material shape data generating device is used for coming the material bottom surface of separating materials shape data with lattice point and be used for converting material height to emulation shape data that its vertical height data are represented with lattice point before machined emulation, emulation shape store device is used to store machined emulation shape data, the cutting output calculation element is used for when cutter passes material area on the lattice point cutting output according to NC program and shape of tool data computation cutter, and also is used for revising vertical height information in the grid of relevant cutter process according to the working angles of carrying out.
Above purpose can be further has the vertical height data of altitude information in zone of material or the altitude information that combination has material area to realize with the vertical height data that constituted that combine of the altitude information of no material area by combination.
Above purpose can realize by the numeric control command generating means.Wherein, the numeric control command generating means is used to produce the NC program so that make as the cutting cutting output of information or cutting resistance value or cutting torque and falls in the preset range; Perhaps be used to produce by numerical control device and the NC program deciphered and the NC program decoding data that produce; Perhaps be used to produce the insertion data that draw by NC program decoding data.
Above purpose can realize by the numeric control command generating means.Wherein, the numeric control command generating means is according to determining just feedback amount of torque so that feed rate or cutting speed fall in the preset range as the variation of cutting output of cutting information.
Above purpose can further realize by the numeric control command generating means.Wherein, if cutting resistance value vanishing as cutting information, the numeric control command generating means just replaces in the NC program used feed rate in the used or NC program decoding unit with the quick lateral velocity of lathe, and NC program decoding data are by numerical control device the NC program to be deciphered generation.
In addition, above purpose can realize by the numeric control command generating means.Wherein, when the cutting resistance value vanishing of information is cut in conduct, the numeric control command generating means replaces in the NC program used feed rate in the used or NC program decoding data with insertion value faster feed rate, and NC program decoding data are deciphered and produced the NC program by numerical control device.
Above purpose can realize with the numeric control command generating means that comprises Weight detector and insertion abortion means.Wherein, Weight detector be used for the main shaft load or present axle load at least one, end to insert when insertion value abortion means is used for surpassing predetermined relationship in the detected load of Weight detector with as the cutting cutting output of information or cutting resistance value or cutting torque and handle.
Above purpose can realize by existing cutter operation information generating means.Wherein, existing cutter operation information generating means can add up at least one amount in each machine tool cutting output or the length of cut.
Above purpose can realize by existing cutter operation information generating means.Wherein, existing cutter operation information generating means has the function that cutting output or at least one amount in the length of cut to each machine tool blade point place add up.
Above purpose can realize by existing cutter operation information generating means.Wherein, existing cutter operation information generating means has the function that the collision frequency between each machine tool and the material to be cut is added up.
Above purpose can realize by existing cutter operation information generating means.Wherein, existing cutter operation information generating means has the function of at least one amount in contact angle, up cut machined or following cut machined, cutting width and this tittle of cutting depth that stores machine tool.
Above purpose can realize by the material shape data.Wherein, the material shape data are by the material shape data that are transfused to are carried out the shape data that machined emulation obtains, or the data of the actual measurement shape data of shape data through being cut material that obtain of part machined emulation after proofreading and correct.
Above purpose can realize that this method comprises these steps by carry out the mach machined method of emulation of NC according to NC machined information: the machined simulation process, and it is used for the cutting output according to machined information simulation material; Numeric control command produces step, and it is used for producing numeric control command according to the cutting information that obtains in machining steps.
Above purpose can realize that this method comprises these steps by carry out the mach machined method of emulation of NC according to NC machined information: the machined simulation process, and it is used for the cutting output according to machined information simulation material; Existing cutter operation information produces step, and it is used for producing existing cutter operation information according to the cutting information that obtains at the machined simulation process.
Above purpose can produce NC program or NC program decoding data by producing at numeric control command in the step, perhaps produce and insert data and realize, make as the cutting output of cutting information or cutting resistance value or cutting torque and all fall into preset range with the NC program decoding data that produced.Wherein, NC program decoding data are deciphered and are produced the NC program by numerical control device.
To achieve these goals, the present invention includes and be used to store the medium that make computer carry out the program of machined simulation process and numeric control command production process, wherein, the machined simulation process is used for the cutting output according to machined information simulation material, and the numeric control command production process is used for producing according to cutting information the control command of numeral.
The program that makes computer carry out simulation process is characterised in that to have produced NC program or NC program decoding data or inserted Value Data thereby make as the cutting output of cutting information or cutting resistance value or cutting torque and falls into preset range, wherein, NC program decoding data are deciphered the NC program by numerical control device and are obtained, and insert Value Data and are produced by NC program decoding data.
To achieve these goals, the present invention includes and be used to store the medium that make computer carry out the program of machined simulation process and existing cutter operation information production process, wherein, the machined simulation process is used for the cutting output according to machined information simulation material, and existing cutter operation information production process is used for producing existing cutter operation information according to cutting information.
Brief description of drawings
Fig. 1 is the block diagram that the adjusting control command in the general numerical control system of expression produces system.
Fig. 2 is the block diagram of the general NC program generating system of expression.
Fig. 3 is the block diagram that the general existing cutter operation information of expression produces system.
Fig. 4 is the block diagram that is used for first embodiment of the mach machined emulator related to the present invention of NC.
Fig. 5 is the block diagram that is used for second embodiment of the mach machined emulator related to the present invention of NC.
Fig. 6 is the block diagram that is used for the 3rd embodiment of the mach machined emulator related to the present invention of NC.
Fig. 7 (a) and 7 (b) show emulation shape data example of structure related to the present invention.
Fig. 8 shows the schematic diagram of machined emulation principle related to the present invention.
Fig. 9 shows the example of the cutting output variation that is included in the existing cutter operation information related to the present invention.
Figure 10 shows the example of the contact angle variation that is included in the existing cutter operation information related to the present invention.
Figure 11 shows how maintained example of existing cutter operation information related to the present invention.
Figure 12 shows the schematic diagram that is included in the contact angle in the existing cutter operation information related to the present invention.
Figure 13 shows the schematic diagram of how with the real work measurement result material shape data related to the present invention being proofreaied and correct.
Figure 14 (a) and 14 (b) show the example of the emulation shape and structure of being cut apart by three-dimensional lattice point in material shape related to the present invention.
Implement optimal mode of the present invention
First embodiment relevant with method with being used for the mach machined emulator of the present invention of NC is a kind of like this machined emulator, and it carries out the machined real-time simulation according to the shape data of relevant material and cutter, and combine digital control command in advance.Wherein, numeric control command is used for according to the cutting output of discerning at simulation process or according to the cutting resistance value that is obtained by cutting output the torque value of insertion speed or motor being controlled at suitable value.
To control embodiment to feed rate below is illustrated with another embodiment.Wherein, feed rate control is carried out after insertion value processing procedure by being used for the mach machined emulator of NC; In another embodiment, by transmitting corrected value to being used for servo-controlled current control unit, introduced the motor torque correction, this correction is carried out by being used for the mach machined emulator of NC.
Illustrate with reference to block diagram 4 below.
In the block diagram 4 with block diagram 1 in identical square represent with identical reference number, omitted square 16 among Fig. 4.
The mach NC program that preparation is used for being about to is stored in NC program storage 11.
NC program decoding unit 12 reads the NC program one by one and these program blocks is deciphered from NC program storage 11.This NC program decoding unit 12 will be in the present procedure piece or the insertion value type, target location and the feed rate that before the present procedure piece, are designated as the mode order be sent to and insert in the processing unit 13.This NC program decoding unit 12 also provides cutter numbering and main shaft velocity of rotation to machined simulation unit 17, provides cutter numbering and feed rate to simulation and prediction control module 18 in addition.
Before machined, pre-machined shapes generating unit 110 is read the material shape data from set in advance the material memories 19 native system, and this data transaction being become to be suitable for the data structure of the machined emulation that is about to, the data after will changing then are stored in the emulation shape data memory 111 as machined emulation shape data.
Pre-machined shapes generating unit 110 with the corresponding X-Y plane in material bottom surface on predetermined space definition lattice point, shown in Fig. 7 (a).According to the material shape data, whether pre-machined shapes generating unit 110 is judged there being material to extend along Z-direction on each lattice point, if there is material to extend, just will stores as Z coordinate figure, otherwise just store null value from the height of material bottom surface corresponding to this lattice point along Z-direction.By this step, the material shape data in the material memories 91 just are converted into the data with the shape data structure that is used for machined emulation, and the data after the conversion are stored in the emulation shape data memory 111.
Shown in Fig. 7 (b), concerning single lattice point,, not single value just corresponding to the Z coordinate figure data that this lattice point stores so if at the free space that has no material between the material space that has along Z-direction.Therefore, must store the height such as the material part, the height of free space, a plurality of Z coordinate figure data other material height partly.
Cutter numbering that machined simulation unit 17 provides according to NC program decoding unit 12 and native system are stored in the shape that cutter in the cutter memory is numbered identification work cutter in advance, as tool diameter.Then, the machined emulation shape data that machined simulation unit 17 reads from emulation shape data memory 110 according to tool diameter, when inserting Δ X, Δ Y that processing unit 13 provides and Δ Z value and needs in proper order comes the cutting output of unit of account in the time.The main shaft velocity of rotation that machined simulation unit 17 provides according to the cutting output in the unit interval and NC program decoding unit 12 is calculated cutter revolution cutting output, and cutter revolution cutting output is offered simulation and prediction control module 18.
As shown in Figure 8, in order to obtain the unit interval cutting output, with the lattice point that the current location X of cutter and Y, tool diameter and Δ X and Δ Y specify cutter to pass, these lattice points are for being defined in the part in the lattice point on the X-Y plane with predetermined space.Then, judge that according to the Z coordinate figure that lattice point had in the machined emulation shape, current tool position Z and Δ Z whether cutter is just at cutting material.Concerning above-mentioned estimative each lattice point, can calculate cutting output, the cutting output on each lattice point is added up mutually just can obtain the unit interval cutting output.
At this moment, because whether do not know also that cutter based on Δ X, Δ Y and Δ Z moves really is performed, therefore, neither can move the cutting output that obtains according to cutter and refresh machined emulation shape data, also can not store the data in the emulation shape data memory based on Δ X, Δ Y and Δ Z.
Simulation and prediction control module 18 calculates cutting resistance value R and cutting torque T according to the machined material composition that cutter revolution cutting output that unit 17 provides and native system store in advance that adds up.
To utilize the emulation cutting resistance value R of face cutter and the example of torque value T to be illustrated.Herein
R=aVp (Kgf) ... formula 1
T=B (nv) q (Kgfcm) ... formula 2
V represents the ablation volume of cutter revolution, and n represents the knife number of face cutter, and a, b, p and q are the characteristic parameters of material composition.
The cutting resistance value that is suitable for the work cutter is to obtain by the cutter data storage that cutter is numbered and native system sets in advance that NC program decoding unit 12 provides.
The operator can be suitable for the cutting resistance value of this cutter for each cutter setting before machined.
Will be relatively by formula 1 emulation cutting resistance value that obtains and the cutting resistance value that is suitable for cutter, if the cutting resistance value that is obtained by emulation can obtain suitable cutting resistance value by calculating feed rate above the cutting resistance value that is suitable for cutter, this feed rate is sent in the insertion processing unit 13 with inserting request signal again as suitable feed rate.
The formula of asking for suitable feed rate is as follows: Sg=SRg/Rs ... formula 3
Sg represents suitable feed rate, the feed rate of S presentation directives, and Rg is suitable cutting resistance value, Rs represents the cutting resistance value that obtained by emulation.
On the other hand, if the cutting resistance value that is obtained by emulation does not have to surpass the cutting resistance value that is suitable for cutter, machined shapes refresh signal shape is transmitted to machined simulation unit 17 so, and the appropriate speed signal just is transmitted to and inserts processing unit 13.
Receive after the machined shapes refresh signal from simulation and prediction control module 18, machined simulation unit 17 just refreshes machined emulation shape data and also this machined emulation shape data is stored in the emulation shape data memory 111 according to moved the cutting output that obtains by the cutter that accords with Δ X, Δ Y and Δ Z value.
The refreshing of machined emulation shape data is that cutting output realizes by deducting from the Z coordinate figure that stores for each lattice point.
Receive after the signal from the suitable feed rate of expression of simulation and prediction control module 18, insert Δ X, Δ Y and the Δ Z value that processing unit 13 just will calculate specifically and send servo control unit 14 to.Therefore, working angles carries out to produce suitable cutting resistance value with the feed rate of judging.
On the other hand, if inserting request signal again is received, insert processing unit 13 and just make all data free time of inserting in the past, and recomputate each axial traverse Δ X ', Δ Y ' and Δ Z ' in the unit interval according to the suitable feed rate that from simulation and prediction control module 18, receives, then Δ X ', Δ Y ' and Δ Z ' are offered machined simulation unit 17.
According to Δ X ', Δ Y ' and Δ Z ', machined simulation unit 17 is calculated cutter revolution cutting output with above-mentioned same method, and latest computed is offered simulation and prediction control module 18.
According to cutter revolution cutting output, simulation and prediction control module 18 calculates emulation cutting resistance value with above-mentioned same method.
Emulation cutting resistance value is the machined simulation result that obtains based on the suitable feed rate of insert handling and adopt simulation and prediction control module 18 to calculate.Because emulation cutting resistance value, is therefore represented the signal of suitable feed rate not always greater than suitable cutting resistance value and is transmitted to insertion processing unit 31 that the machined shapes refresh signal then is transmitted to machined simulation unit 17.
Therefore, insert processing unit 13 the Δ X ' that insertion calculated, Δ Y ' and Δ Z ' according to the suitable feed rate that obtains before the simulation and prediction control module 18 are sent to servo control unit 14.Thereby working angles is to carry out with the feed rate that produces suitable cutting resistance value.
According to the cutting torque of calculating, cutting torque of calculating and the cutting torque of inserting last time are compared, and calculate torque feedforward amount according to comparative result from formula 2.Can send the torque feedforward amount that obtains in a manner described to servo control unit 14.
In this case, servo control unit 14 is used for torque control to torque feedforward amount thereby makes feed rate or cutting speed keeps constant.
Cutting monitor unit 15 receives the main shaft load signal of actual measurement and presents the axle load signal from servo control unit 14, and to these loads and by suitable feed rate calculate emulation cutting resistance value between relation monitor.If this relation is not a proportional relation, cuts monitor unit 15 so and just present abort signal so that end insertion to inserting processing unit 13 transmission at once.
Second embodiment relevant with method with being used for the mach machined emulator of the present invention of NC is a kind of like this machined emulator: it produces the NC program with the machined data of operator's input temporarily, carry out machined emulation according to this NC program and material shape data, determine speed command in the NC program according to the cutting output of emulation identification or according to the cutting resistance value that obtains by cutting output.
To be illustrated being used for the mach machined emulator that is independent of numerical control device of NC below.
After this be illustrated with reference to block diagram 5.
In the block diagram 5 with block diagram 2 in identical square represent with identical reference number, omitted square 25 among Fig. 5.Owing to will make an explanation again, therefore, represent with identical among Fig. 4 or similar square identical reference number of no use for ease of understanding to square.
The operator produces required tool category, tool dimension, material composition, machine tool track and the out of Memory of NC program to 21 inputs of machined data input cell.The information input results is transmitted to NC program generating unit 23.
In order to be suitable for tool category, tool dimension, material composition, machine tool track and out of Memory, machining condition tables of data 22 has such data list structure: feed rate, spindle revolutions and other parameter are determined by above-mentioned information.This machining condition tables of data is for 23 references of NC program generating unit.
NC program generating unit 23 produces the NC program according to machined data such as tool category, tool dimension, material composition and cutter path and the machining conditions such as feed rate that accords with tool category, tool dimension and material composition of reading and spindle revolutions that machined data input cell 21 provides from machining condition tables of data 22.
The NC program is read one by one in NC program decoding unit 26 from NC program generating unit 23, and these program blocks are deciphered.NC program decoding unit 26 will be in the present procedure piece or the insertion value type, target location and the feed rate that before the present procedure piece, are defined as the mode order send to and insert processing unit 27.NC program decoding unit 26 also sends cutter numbering and main shaft velocity of rotation to machined simulation unit 28.
Insert processing unit 27 according to insertion value type, target location and feed rate to virtual insertion traverse Δ X, Δ Y and the Δ Z in (for example, each insertion cycle of target NC equipment) in the time of machined simulation unit 28 units of transfer.
Pre-machined shapes generating unit 210 was read the material shape data from set in advance the material memories 29 native system before the NC program produces.The data transaction that pre-machined shapes generating unit 210 will be read from material memories 29 become to have to be suitable for the machined emulation that is about to data structure data and will change after data be stored in the emulation shape data memory 211 as machined emulation shape data.Perhaps, before each machined emulation, but operator's input material shape data, the data that are transfused to can be used as machined emulation shape data and are stored in the emulation shape data memory 211.
Pre-machined shapes generating unit 210 with the corresponding X-Y plane in material bottom surface on predetermined space definition lattice point, shown in Fig. 7 (a).According to the material shape data, whether pre-machined shapes generating unit 210 is judged there being material to extend along Z-direction on each lattice point, if there is material to extend, just will stores as Z coordinate figure, otherwise just store null value from the height of material bottom surface corresponding to this lattice point along Z-direction.By this step, the material shape data in the material memories 29 just are converted into the data with the shape data structure that is used for machined emulation, and the data after the conversion are stored in the emulation shape data memory 211.
Shown in Fig. 7 (b), concerning single lattice point,, not single value just corresponding to the Z coordinate figure data that this lattice point stores so if at the free space that has no material between the material space that has along Z-direction.Therefore, must store the height such as the material part, the height of free space, a plurality of Z coordinate figure data other material height partly.
The cutter data storage that cutter is numbered and native system prestores that machined simulation unit 28 provides according to NC program generating unit 23 is discerned the shape of work cutter, as tool diameter.Then, the machined emulation shape data that machined simulation unit 28 calls over from emulation shape data memory 211 according to tool diameter, when inserting Δ X, Δ Y that processing unit 27 provides and Δ Z value and needs comes the cutting output of unit of account in the time.The main shaft velocity of rotation that machined simulation unit 28 provides according to the cutting output in the unit interval and NC program decoding unit 26 is calculated cutter revolution cutting output, and cutter revolution cutting output is offered NC program generating unit 23.
As shown in Figure 8, in order to obtain the unit interval cutting output, with the lattice point that the current location X of cutter and Y tool diameter and Δ X and Δ Y specify cutter to pass, these lattice points are to be defined in lattice point on the X-Y plane in a part with predetermined space.Then, judge that according to the Z coordinate figure that lattice point had in the machined emulation shape, current tool position Z and Δ Z whether cutter is at cutting material.Concerning above-mentioned estimative each lattice point, can calculate cutting output, the cutting output of each lattice point is added up mutually just can obtain the unit interval cutting output.
At this moment, owing to do not know also that cutter based on Δ X, Δ Y and Δ Z moves and whether really carry out, therefore, neither can move the cutting output that obtains according to cutter and refresh machined emulation shape data, also can not store the data in the emulation shape data memory 211 based on Δ X, Δ Y and Δ Z.
NC program generating unit 23 calculates cutting resistance value R (formula 1) and cutting torque T (formula 2) according to the add up cutter revolution cutting output that unit 28 provides and the material composition that is stored in advance in the native system of machined.
The cutting resistance value that is suitable for the work cutter is to obtain by the cutter data storage that cutter numbering and native system set in advance.
The operator can be suitable for the cutting resistance value of this cutter for each cutter setting before machined.
The cutting resistance value that is obtained by emulation will compare by formula 1 emulation cutting resistance value that obtains and the cutting resistance value that is suitable for cutter, if can obtain suitable cutting resistance value by calculating feed rate above the cutting resistance value that is suitable for cutter.
For example, can calculate suitable feed rate with formula 3.
On the other hand, if the cutting resistance value that is obtained by emulation does not have to surpass the cutting resistance value that is suitable for cutter, the machined shapes refresh signal just is transmitted to machined simulation unit 28 so.
Receive after the machined shapes refresh signal from NC program generating unit 23, machined simulation unit 28 just refreshes machined emulation shape data and also this machined emulation shape data is stored in the emulation shape data memory 211 according to moved the cutting output that obtains by the cutter that accords with Δ X, Δ Y and Δ Z value.
Refreshing machined emulation shape data is to realize by deduct cutting output from the Z coordinate figure that stores for each lattice point.
If obtained to be used to produce the feed rate of suitable cutting resistance value, before just making, NC program generating unit 23 handles all data free time that obtain by the insertion value, and each axial traverse Δ X ', Δ Y ' and Δ Z ' in the unit of account time again, then Δ X ', Δ Y ' and Δ Z ' are offered machined simulation unit 28.
According to Δ X ', Δ Y ' and Δ Z ', machined simulation unit 28 is calculated cutter revolution cutting output with above-mentioned same method.
According to cutter revolution cutting output, NC program generating unit 23 calculates emulation cutting resistance value with above-mentioned same method.
Emulation cutting resistance value is based on the machined simulation result that the insertion value is handled and the suitable feed rate that adopts NC program generating unit 23 to calculate obtains.Because emulation cutting resistance value is not always greater than suitable cutting resistance value, so the machined shapes refresh signal is transmitted to machined simulation unit 28.
NC program generating unit 23 calculates the suitable feed rate of respectively inserting the unit.If it is continuous to contain the insertion unit of the suitable feed rate that falls into preset range, so just these unit are linked up and on these unit, add suitable F order.If it is adjacent to contain the insertion unit of the suitable feed rate that does not fall into preset range, so just these unit are divided into autonomous block, on each piece, all add suitable F order.Program block in the initial NC program is exactly to come in this way to divide.
In the calculating of above-mentioned NC program generating unit 23, by judging that whether emulation cutting resistance value changes to zero or remain zero or become non-zero from zero from non-zero, can measure respectively that being changed to cut-in without ball from cutting state cuts state, keeps cut-in without ball to cut state continuously and cut the state variation that state becomes cutting state from cut-in without ball.Can improve the cutting feed rate with this detection, make it reach quick lateral velocity or reach machined the maximum insertion speed that stores in the memory 212 is described, perhaps keep the speed improved, perhaps reduce the speed that improved, make it reach suitable cutting feed rate.
In the present embodiment, do not adopt and insert processing unit 27, can adopt a kind of like this method: the piece track that provides with NC program decoding unit 26 calculates every cutting output and every machining time, judges according to result of calculation whether feed rate is suitable, changes the F order.
On the other hand, if the operator revises at list data in advance and revises in the unit 24 with reference to feed rate, index word just is put in the relation table of the relation between parameter such as expression tool category, tool dimension, material composition and feed rate, the spindle revolutions equivalent so.
Three embodiment relevant with method with being used for the mach machined emulator of the present invention of NC is a kind of like this machined emulator: it carries out real-time machined emulation according to material and shape of tool data, partly produces existing cutter operation information according to data such as the cutting output that identifies by emulation and the cutter that is used to cut.
Illustrate with reference to block diagram 6 below.
Block diagram is represented with identical reference number with the identical square of block diagram 3.Owing to will make an explanation again, therefore, represent with identical among Fig. 4 or similar square identical reference number of no use for ease of understanding to square.
The mach NC program that preparation is used for being about to is stored in NC program storage 31.
NC program decoding unit 32 is read the NC program one by one from NC program storage 31, and these program blocks are deciphered.NC program decoding unit 26 will be designated as the mode order in the present procedure piece or before present procedure insertion value type, target location and feed rate send insertion processing unit 33 to.NC program decoding unit 32 also provides cutter numbering and main shaft velocity of rotation to machined simulation unit 38, and is provided for producing the needed information of existing cutter operation information (as the T order, S order, the M that are used for the cutter rotation direction order) according to current appointed NC program block to existing cutter operation information generating unit 36 simultaneously.
Insert processing unit 33 and calculate each unit interval (each insertion cycle) traverse Δ X, Δ Y and Δ Z, and send them to machined simulation unit 38 according to insertion value type, target location and feed rate.
Pre-machined shapes generating unit 310 was read the material shape data from set in advance the material memories 39 native system before the NC program produces.The data transaction that pre-machined shapes generating unit 310 will be read from material memories 39 become to have to be suitable for the machined emulation that is about to data structure data and will change after data be stored in the emulation shape data memory 311 as machined emulation shape data.Perhaps, before each machined emulation, the operator can the input material shape data, and the data that are transfused to can be used as machined emulation shape data and are stored in the emulation shape data memory 311.
Pre-machined shapes generating unit 310 with the corresponding X-Y plane in material bottom surface on predetermined space definition lattice point, shown in Fig. 7 (a).According to the material shape data, whether pre-machining materials shape generating unit 310 is judged there being material to extend along Z-direction on each lattice point, if there is material to extend, just will stores as Z coordinate figure, otherwise just store null value from the height of material bottom surface corresponding to this lattice point along Z-direction.By this step, the material shape data in the material memories 39 just are converted into the data with the shape data structure that is used for machined emulation, and the data after the conversion are stored in the emulation shape data memory 311.
Shown in Fig. 7 (b), concerning single lattice point,, not single value just corresponding to the Z coordinate figure data that this lattice point stores so if at the free space that has no material between the material space that has along Z-direction.Therefore, must store the height such as the material part, the height of free space, each Z coordinate figure data other material height partly.
The cutter data storage that cutter is numbered and native system prestores that machined simulation unit 38 provides according to NC program decoding unit 32 is discerned the shape of work cutter, as tool diameter.Then, the machined emulation shape data that machined simulation unit 38 calls over from emulation shape data memory 311 according to tool diameter, when inserting Δ X, Δ Y that processing unit 33 provides and Δ Z value and needs will send existing cutter operation information generating unit 36 to such as the data the cutting tip (the cutter part that is used to cut) of cutting output, length of cut and the cutter of each insertion value.
Carry out in the process in machined, machined simulation unit 38 is also carried out refresh process simultaneously, removes cutting output in the material shape data from emulation shape data memory 311, though this processing procedure is not elaborated herein.
Existing cutter operation information generating unit 36 produces following existing cutter operation information:
1) the T order transmitted of NC program decoding unit 32; Adding up of each Tool in Cutting amount and adding up of each Tool in Cutting length, they are that the cutting output and the length of cut of each insertion of transmitting according to machined emulator 38 obtains.
2) the S order transmitted of NC program decoding unit 32; The Tool in Cutting part that machined simulation unit 38 transmits; Adding up of the cutting output of each cutter blade and adding up of length of cut, they be according to above each Tool in Cutting amount add up and adding up of each Tool in Cutting length obtains.
3) the T order and the S that transmit of NC program decoding unit 32 orders; Adding up of machined material that machined simulation unit 38 transmits and the collision frequency between the cutter blade, wherein, the blade of cutter belongs to the cutting tip of cutter.
4) NC program decoding unit 32 transmits T order that is used for the cutter rotation direction and M order; Cutter contact angle, cutting width and length of cut that machined simulation unit 38 transmits.Wherein, regardless of being up cut milling or cut milling down, the cutter contact angle all depends on the Tool in Cutting part.
For example, in machined shown in Figure 9, only judge whether just at cutting material by convention.Yet, in the present embodiment, can be in the cutting output between the independent identification of A point blade point 1-2,2-3,3-4, the 4-5.At the B point, can discern between blade point 1-2, the 2-3 separately and cutting output, can also identify not cutting between blade point 3-4, the 4-5.It is exactly the cutting output of each blade point that above cutting output adds up.
In machining shown in Figure 10, only judge whether just at cutting material by convention.Yet, in the present embodiment, identifies the big thereby cutter of contact angle that A orders and just be loaded, and the contact angle that B is ordered is little thereby cutter is not loaded in a large number.As shown in figure 12, contact angle is an indication information that is used to judge the suitable mechanical machining angle.Even under situation shown in Figure 10, also can discern cutting output.
Above information is stored in form shown in Figure 11 in the existing cutter operation information memory 37 as the blade information of each tool-information or each cutter.
Existing cutter operation information generating unit 36 can and be presented the axle load signal and judge whether cutter is in cut-in without ball and cuts state according to the cutting main shaft load that provides of monitor unit 35, and the data that judged result and machined simulation unit 38 can be provided (appearance or the Tool in Cutting part do not occur) compare.
Above reference first embodiment is described the 3rd embodiment.Yet, also can describe the 3rd embodiment with reference to second embodiment.
In addition, these embodiment can also be combined.
In above any embodiment, the measurement data of existing machined material or existing work cutter can be used as material shape data and shape of tool data.As shown in figure 13, can also proofread and correct the material shape data, or proofread and correct shape of tool data with work cutter actual measured results with the actual measured results of machined material.
In above any embodiment, when pre-machined shapes generating unit 110 (or 210 or 310) will be read can the material shape data be stored in the emulation shape data storage element 111 (or 211 or 311) by material shape being divided into the three-dimensional lattice point shown in Figure 14 (b) when the material shape data transaction of material memories 19 (or 29 or 39) becomes to have the data of the data structure that is suitable for machined emulation soon.For example, under the situation that the blacking in Figure 14 partly is eliminated, if X-Y plane cut apart and represented material height with the Z coordinate figure with lattice point, shown in Figure 14 (a), just so the Z coordinate figure from Z (X) (Y)=h (1) changes into (h1-1).On the other hand, shown in Figure 14 (b), if come separating materials with three-dimensional lattice point, P (X, Y, h1) will become 0 from 1 so.
In first embodiment, be used for mach machined emulator of NC the control of feed rate is carried out after insertion value processing procedure, the motor torque corrected value that this machined emulator draws is provided for the current control unit in the servo control unit.
In a second embodiment, be used for mach machined emulator of NC and be independent of numerical control device, the determining of NC program medium velocity order finished before machined.
In the 3rd embodiment, be used for mach machined emulator of NC and carry out real-time machined emulation according to material shape data and shape of tool data, existing cutter operation information is according to producing such as the cutting output of emulation generation and the data the Tool in Cutting part.
Yet embodiments of the invention are not limited to above these embodiment, comprise that each device of above equipment can replace with the step that realizes each functions of the equipments.
In addition, in first and second embodiment, if the corresponding contents of material shape, the shape of tool and insertion Value Data is ready to, and be input in present device and the method at least, apparatus and method for so of the present invention just can be before machined.Correctly produce cutting output, cutting resistance value and shape data at machining process and after machined, can in the described whole process of above explanation, correctly produce suitable feed rate embodiment.
If the control of presenting of this apparatus and method for is inserted between NC program decoding unit and the insertion processing unit, utilize this function that produces suitable feed rate just can before existing insertion is handled, determine suitable feed rate so.
In addition, if the control of the feed rate of this apparatus and method for is inserted in NC program decoding unit and pre-the insertion between acceleration/negative acceleration processing unit, utilize the numerical control system that comprises pre-insertion acceleration/negative acceleration processing unit just can carry out machined so with suitable feed rate, can eliminate the form error that causes by acceleration or negative acceleration, avoid machine vibration.Wherein, insert acceleration/negative acceleration processing unit in advance and be used in before the insertion value handles, the form error that acceleration/negative acceleration caused it is used to avoid changed by machine vibration, tool damage and feed rate that the sudden change such as feed rate causes.
Material shape before the machined, in the machining process, after the machined produces in order, though this is not laid down a definition herein.Therefore, by the material shape data are input in the pattern displaying unit, these data can be used for graphical display function.Equally, if finish figure and show that the variation of machined state can show with graphics mode so by taking out parameter such as cutting output, cutting resistance value and they being tinted.
Although the preferred embodiments of the present invention are described, should be appreciated that and to draw various remodeling from preferred embodiment, so appended claims are intended to cover the remodeling that all belong to the inventive concept scope.
Useful result of the present invention
According to the present invention, because it is imitative to carry out the machined of relevant graph data before machined Very, therefore can realize easily the machining of best feed rate, when condition is suitable for existing During machined, on the basis of simulation result, can obtain existing machined and produce machined The needed feed rate of program, just feedback amount of torque equivalent.
The optimization of feed rate can be finished in the NC program produces step or in the NC program Finish after the decoding, or in insertion value processing procedure, finish.
In addition, owing to can produce accurately existing cutter operation information, so machine tool uses The person can pass through the machined condition to the long-term automation mechanized operation of Analysis deterrmination of information, improves Machining technique improves workpiece form accuracy and machined surface precision, and the cutter producer is all right Be devoted to develop the long-life that is suitable for user environment, the cutter of high abrasion.
Claims (20)
1, a kind of mach machined emulator of NC that is used for, it comprises:
The machined simulation unit, it is used for according to the machined information simulation being cut the cutting of material; With
The numeric control command generating unit, the cutting output that it is used for the cutter revolution that obtains according to slave machining simulation unit produces numeric control command from least one of cutting resistance value and cutting torque value.
2, a kind of mach machined emulator of NC that is used for, it comprises:
The machined simulation unit, it is used for adding the cutting of information simulation to material according to machine; With
Existing cutter operation information generating unit, the cutting output that it is used for the cutter revolution that obtains according to slave machining simulation unit produces existing cutter operation information from least one of cutting resistance value and cutting torque value.
3, the mach machined emulator of NC that is used for according to claim 1 and 2, wherein, machined information comprises NC program, material shape data and shape of tool data.
4, the mach machined emulator of NC that is used for according to claim 1 and 2, wherein, the machined simulation unit comprises:
Material shape data generating unit, it is used for before emulation the material shape data transaction being become the machined emulation shape data of cutting apart with three-dimensional lattice point;
The emulation shape memory, it is used to store machined emulation shape data; With
The cutting output computing unit, it is used for the cutting output according to NC program and shape of tool data computation cutter when cutter passes material area on the lattice point, be used to refresh relevant cutter material is arranged on the lattice point of process or does not have the information of material.
5, the mach machined emulator of NC that is used for according to claim 1 and 2, wherein machined simulation unit comprises:
Material shape data generating unit, it be used for before emulation with the material bottom surface of lattice point separating materials shape data with the material shape data transaction is become machined emulation shape data, wherein, the height of the material vertical height data representation of lattice point: the emulation shape memory, it is used to store machined emulation shape data; With
The cutting output computing unit, it is used for the cutting output according to NC program and shape of tool data computation cutter when cutter passes material area on the lattice point, be used to refresh relevant cutter material is arranged on the lattice point of process or does not have the information of material.
6, the mach machined emulator of NC that is used for according to claim 5, wherein, the vertical height data include the height of material area or the material area height are arranged and the combination of no material area height.
7, the mach machined emulator of NC that is used for according to claim 1, wherein, the numeric control command generating unit produces NC program or NC program decoding data or inserts data and falls into preset range so that make as cutting output of cutting information acquisition or cutting resistance resistance or cut torque, wherein, NC program decoding data are deciphered the NC program by numerical control device and are produced, and insert data and are produced by the NC decoding data.
8, the mach machined emulator of NC that is used for according to claim 1, wherein, the utilization of numeric control command generating unit is determined just feedback amount of torque as the variation of cutting output of cutting information acquisition so that make feed rate or cutting speed falls into preset range.
9, the mach machined emulator of NC that is used for according to claim 1, wherein, when the cutting resistance value vanishing of information is cut in conduct, numeric control command the generating unit quick lateral velocity replacement NC program feed rate of lathe or the feed rate in the NC program decoding data, wherein NC program decoding data are to produce by the NC program in the numerical control device is deciphered.
10, the mach machined emulator of NC that is used for according to claim 1, wherein, when the cutting resistance value vanishing of information is cut in conduct, numeric control command the generating unit very fast insertion speed replacement NC program feed rate of lathe or the feed rate in the NC program decoding data, wherein NC program decoding data are deciphered the NC program by numerical control device and are produced.
11, the mach machined emulator of NC that is used for according to claim 1, wherein the numeric control command generating unit comprises:
The load detection unit, it is used for actual detected is carried out in main shaft load or at least one amount of presenting axle load; With
Insert abort unit, it be used for the load of measuring in the load detection unit and as cutting output, the cutting resistance value of cutting information, end to insert when the cutting torque surpasses predetermined relationship and handle.
12, the mach machined emulator of NC that is used for according to claim 2, wherein, existing cutter operation information generating unit has each by the function that adds up with the cutting output of cutter or at least one amount in the length of cut.
13, the mach machined emulator of NC that is used for according to claim 2, wherein, existing cutter operation information generating unit has each by with the cutting output of the point of a knife of cutter or the function that at least one amount in the length of cut adds up.
14, the mach machined emulator of NC that is used for according to claim 2, wherein, existing cutter operation information generating unit has material and each is by the function that adds up with the collision frequency between the blade.
15, the mach machined emulator of NC that is used for according to claim 2, wherein, existing cutter operation information generating unit has each by the function that stores with at least one amount in contact angle, cutting width and the cutting depth of the up cut milling of cutter or cut milling down.
16, the mach machined emulator of NC that is used for according to claim 3, wherein, the material shape data are shape data that obtains by machined emulation on the basis of the material shape data that are transfused to or the data that produce by the correction to the partial shape data.Wherein, described partial shape data are to carry out machined emulation with the material shape data of actual measurement to obtain.
17, the mach machined emulator of NC that is used for according to claim 3, wherein, shape of tool data are by with the shape of tool data of actual measurement the shape of tool data that are transfused to being proofreaied and correct the data that produce.
18, a kind of mach machined emulation mode of NC that is used for, it may further comprise the steps:
The machined simulation process, it is used for according to the cutting of machined information simulation to material; With
Numeric control command produces step, and the cutting output that it is used for the cutter revolution that obtains according to slave machining simulation step produces numeric control command from least one of cutting resistance value and cutting torque value.
19, a kind of mach machined emulation mode of NC that is used for, it may further comprise the steps:
The machined simulation process, it is used for according to the cutting of machined information simulation to material; With
Existing cutter operation information produces step, and the cutting output that it is used for the cutter revolution that obtains according to slave machining simulation step produces existing cutter operation information from least one of cutting resistance value and cutting torque value.
20, the mach machined emulation mode of NC that is used for according to claim 18, wherein, produce in the step at numeric control command, NC program or NC program decoding data or insertion data are generated, so that make as the cutting cutting output of information or cutting resistance value or cutting torque and fall into preset range, wherein, NC program decoding data are inserted data and are produced by NC program decoding data by in numerical control device the NC program decoding being produced.
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| CN96180192A CN1098141C (en) | 1996-11-07 | 1996-11-07 | Method and apparatus for simulation of NC machining |
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| CN96180192A CN1098141C (en) | 1996-11-07 | 1996-11-07 | Method and apparatus for simulation of NC machining |
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| CN1098141C true CN1098141C (en) | 2003-01-08 |
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| JP4450566B2 (en) * | 2003-04-11 | 2010-04-14 | 日立ビアメカニクス株式会社 | Processing method and processing apparatus |
| CN101059689B (en) * | 2006-04-19 | 2010-09-29 | 未来产业株式会社 | Virtual assembly machine system |
| KR20120085420A (en) * | 2011-01-24 | 2012-08-01 | 두산인프라코어 주식회사 | Cutting shape input apparatus and method using interactive program in computer numarical control machine tools |
| JP6140115B2 (en) * | 2014-08-12 | 2017-05-31 | ファナック株式会社 | Processing simulation equipment |
| US10401823B2 (en) * | 2016-02-04 | 2019-09-03 | Makino Inc. | Real time machining process monitoring utilizing preprocess simulation |
| JP6705768B2 (en) * | 2017-04-06 | 2020-06-03 | ファナック株式会社 | Information processing equipment |
| CN108415366B (en) * | 2018-03-05 | 2021-01-29 | 高邑县云发专用机床厂 | Cutting depth feedback method based on servo technology and intelligent cutting method and system |
| JP6836552B2 (en) * | 2018-06-22 | 2021-03-03 | ファナック株式会社 | Numerical control device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4791342A (en) * | 1986-06-19 | 1988-12-13 | Mitsubishi Denki Kabushiki Kaisha | Numerical control device |
| JPH033757A (en) * | 1989-05-30 | 1991-01-09 | Fanuc Ltd | Management of cutting load |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4791342A (en) * | 1986-06-19 | 1988-12-13 | Mitsubishi Denki Kabushiki Kaisha | Numerical control device |
| JPH033757A (en) * | 1989-05-30 | 1991-01-09 | Fanuc Ltd | Management of cutting load |
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