CN118143746A - Anti-collision control system of numerical control machine tool - Google Patents
Anti-collision control system of numerical control machine tool Download PDFInfo
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- 238000007514 turning Methods 0.000 claims abstract description 181
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- 230000000694 effects Effects 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 description 33
- 239000002173 cutting fluid Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 5
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Abstract
The invention relates to the technical field of anti-collision control systems, in particular to an anti-collision control system of a numerical control machine tool, which comprises a weight information setting module, an information storage module, a detection module, a control module, a collision risk assessment module and an alarm module; the control module obtains a turning tool collision risk factor according to the data acquired by the weight information setting module, the information storage module and the detection module, and transmits the turning tool collision risk factor to the collision risk assessment module; the collision risk assessment module obtains information of whether the collision risk exists in the turning tool according to the turning tool collision risk factors, and transmits the information to the alarm module; the alarm module carries out alarm according to the information of whether the turning tool has collision risk. The alarm module carries out alarm according to whether the turning tool has collision risk information, the collision risk is estimated in advance, and the staff can make relevant adjustment in time, so that the protection effect on the numerical control machine tool is achieved.
Description
Technical Field
The invention relates to the technical field of anti-collision control systems, in particular to an anti-collision control system of a numerical control machine tool.
Background
The numerical control machine tool is short for numerical control machine tool, and is an automatic machine tool with a program control system. The control system is able to logically process a program defined by control codes or other symbolic instructions, and to decode it, expressed in coded numbers, and input to the numerical control device via the information carrier. The numerical control device sends out various control signals to control the action of the machine tool through operation processing, and parts are automatically machined according to the shape and the size required by the drawing.
Among them, numerical control cutters are important tools for cutting machining in machine manufacturing, and these cutters not only have cutting functions, but also often include accessories such as cutter bars and cutter shanks, so as to meet different machining requirements.
The application document with the publication number of CN113751739A discloses an intelligent anti-collision system of a numerical control machine tool; the device comprises a fixed bottom plate and a control module, wherein a connecting plate is arranged on the fixed bottom plate, a damping mechanism is arranged on the connecting plate, a hard rubber plate is arranged at the top end of the damping mechanism, and a detection mechanism is embedded at the end part of the hard rubber plate; the control module is electrically connected with a detection mechanism through the filtering module and the information module, the detection mechanism is electrically connected with a feedback control module, the feedback control module is electrically connected with the control module, the control module is electrically connected with a control switch, the control switch is electrically connected with a driving module, and the driving module is electrically connected with a lathe power module. The use of tools in numerically controlled machine tool operations is particularly important, however, no related tool anti-collision measures are mentioned in the prior art.
Disclosure of Invention
The invention aims to provide an anti-collision control system of a cutter, and provides an anti-collision control system of a numerical control machine tool aiming at the defects.
The invention adopts the following technical scheme:
the system comprises a weight information setting module, an information storage module, a detection module, a control module, a collision risk assessment module and an alarm module;
the weight information setting module is used for setting a shape weight index, a track weight index and a vibration weight index and transmitting the shape weight index, the track weight index and the vibration weight index to the control module;
The information storage module is used for storing a preset value of the diameter of the raw material, the maximum value of the vibration amplitude of the turning tool, the error index of the vibration frequency of the turning tool and the maximum value of the vibration frequency of the turning tool, and transmitting the values to the control module;
The detection module is used for detecting and obtaining a track reference index, an actual measurement value of the average diameter of the raw material, an actual measurement value of the roundness of the raw material, an actual measurement value of the vibration amplitude of the turning tool and an actual measurement value of the vibration frequency of the turning tool, and transmitting the track reference index, the actual measurement value of the average diameter of the raw material, the actual measurement value of the roundness of the raw material, the actual measurement value of the vibration amplitude of the turning tool and the actual measurement value of the vibration frequency of the turning tool to the control module;
The control module obtains a turning tool collision risk factor according to the data acquired by the weight information setting module, the information storage module and the detection module, and transmits the turning tool collision risk factor to the collision risk assessment module;
the collision risk assessment module obtains information of whether the collision risk exists in the turning tool according to the turning tool collision risk factors and transmits the information to the alarm module;
The alarm module carries out alarm according to the information of whether the turning tool has collision risk or not.
Optionally, the detection module comprises a visual detection sub-module, a diameter detection sub-module, a roundness detection sub-module and a vibration detection sub-module;
the visual detection submodule is used for detecting an actual turning tool track, obtaining a track reference index and transmitting the track reference index to the control module;
The diameter detection submodule is used for detecting the diameter of the raw material, obtaining an actual measurement value of the average diameter of the raw material and transmitting the actual measurement value to the control module;
the roundness detection submodule is used for detecting the roundness of the raw materials, obtaining an actual measurement value of the roundness of the raw materials and transmitting the actual measurement value to the control module;
the vibration detection submodule is used for detecting the vibration information of the turning tool, obtaining an actual measurement value of the vibration amplitude of the turning tool and an actual measurement value of the vibration frequency of the turning tool, and transmitting the actual measurement value and the actual measurement value to the control module.
Optionally, the visual detection submodule comprises a video acquisition unit, a processing unit, a target detection unit, a track reconstruction unit, a comparison unit and a result feedback unit;
the video acquisition unit is used for shooting and obtaining a motion video during turning tool processing;
the processing unit denoises the motion video when the turning tool is processed;
The target detection unit extracts the characteristic information of the turning tool from the motion video of the turning tool after denoising during machining by an image processing technology, and based on the extracted characteristic information of the turning tool, the position of the turning tool is identified by a target detection algorithm;
the track reconstruction unit reconstructs an actual lathe tool track according to the identified lathe tool position and transmits the actual lathe tool track to the comparison unit;
The comparison unit is used for storing a preset turning tool track and comparing whether the preset turning tool track and the actual turning tool track are coincident or not;
and the result feedback unit obtains a track reference index according to the preset lathe tool track and the information of whether the actual lathe tool track is coincident or not, and transmits the track reference index to the control module.
Optionally, when the control module calculates the collision risk factor of the turning tool, the following formula is satisfied:
；
Wherein PR is a turning tool collision risk factor, qz shape is a shape weight index, shape is a shape reference index, qz track is a track weight index, track is a track reference index, track=0 or track=1 respectively has the following values, when track=0 t, the actual turning tool track is shown to coincide with a preset turning tool track, the rest conditions are track=1, qz vibrate is a vibration weight index, and vibrate is a vibration reference index.
The beneficial effects obtained by the invention are as follows:
the collision risk assessment module obtains information of whether the turning tool has collision risk according to the collision risk factor of the turning tool, and the alarm module carries out alarm according to the information of whether the turning tool has collision risk, so that the collision risk is assessed in advance, a worker can make relevant adjustment in time, and the protection effect on the numerical control machine tool is achieved;
The control module acquires data from three different directions of shape, track and vibration when calculating the collision risk factor of the turning tool, which is beneficial to improving the calculation precision and further improving the accuracy of estimating the collision risk.
For a further understanding of the nature and the technical aspects of the present invention, reference should be made to the following detailed description of the invention and the accompanying drawings, which are provided for purposes of reference only and are not intended to limit the invention.
Drawings
FIG. 1 is a schematic diagram of a numerical control machine in the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic diagram of a detection module according to the present invention;
FIG. 4 is a schematic diagram of a visual inspection sub-module according to the present invention;
FIG. 5 is a schematic diagram of the overall structure of a second embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a detection module in a second embodiment of the present invention.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not drawn to actual dimensions, and are stated in advance. The following embodiments will further illustrate the related art of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one: the embodiment provides an anti-collision control system of a numerical control machine tool, and the anti-collision control system is shown in combination with fig. 1 to 4.
The system comprises a weight information setting module, an information storage module, a detection module, a control module, a collision risk assessment module and an alarm module;
the weight information setting module is used for setting a shape weight index, a track weight index and a vibration weight index and transmitting the shape weight index, the track weight index and the vibration weight index to the control module;
The information storage module is used for storing a preset value of the diameter of the raw material, the maximum value of the vibration amplitude of the turning tool, the error index of the vibration frequency of the turning tool and the maximum value of the vibration frequency of the turning tool, and transmitting the values to the control module;
The detection module is used for detecting and obtaining a track reference index, an actual measurement value of the average diameter of the raw material, an actual measurement value of the roundness of the raw material, an actual measurement value of the vibration amplitude of the turning tool and an actual measurement value of the vibration frequency of the turning tool, and transmitting the track reference index, the actual measurement value of the average diameter of the raw material, the actual measurement value of the roundness of the raw material, the actual measurement value of the vibration amplitude of the turning tool and the actual measurement value of the vibration frequency of the turning tool to the control module;
The control module obtains a turning tool collision risk factor according to the data acquired by the weight information setting module, the information storage module and the detection module, and transmits the turning tool collision risk factor to the collision risk assessment module;
the collision risk assessment module obtains information of whether the collision risk exists in the turning tool according to the turning tool collision risk factors and transmits the information to the alarm module;
The alarm module carries out alarm according to the information of whether the turning tool has collision risk or not.
Optionally, the collision risk assessment module refers to the following principle when working, when the collision risk factor of the turning tool is greater than or equal to the selection threshold value of the collision risk factor of the turning tool, the collision risk is indicated as the existence of the collision risk of the turning tool, and when the collision risk factor of the turning tool is smaller than the selection threshold value of the collision risk factor of the turning tool, the collision risk is indicated as the absence of the collision risk of the turning tool; the selection threshold of the collision risk factor of the turning tool is set by a person skilled in the art according to experiments, and when the collision risk exists in the turning tool, the person can timely acquire a message and make corresponding adjustment measures or observe the processing process in real time.
Optionally, the detection module comprises a visual detection sub-module, a diameter detection sub-module, a roundness detection sub-module and a vibration detection sub-module;
the visual detection submodule is used for detecting an actual turning tool track, obtaining a track reference index and transmitting the track reference index to the control module;
The diameter detection submodule is used for detecting the diameter of the raw material, obtaining an actual measurement value of the average diameter of the raw material and transmitting the actual measurement value to the control module;
the roundness detection submodule is used for detecting the roundness of the raw materials, obtaining an actual measurement value of the roundness of the raw materials and transmitting the actual measurement value to the control module;
the vibration detection submodule is used for detecting the vibration information of the turning tool, obtaining an actual measurement value of the vibration amplitude of the turning tool and an actual measurement value of the vibration frequency of the turning tool, and transmitting the actual measurement value and the actual measurement value to the control module.
Optionally, the visual detection submodule comprises a video acquisition unit, a processing unit, a target detection unit, a track reconstruction unit, a comparison unit and a result feedback unit;
the video acquisition unit is used for shooting and obtaining a motion video during turning tool processing;
the processing unit denoises the motion video when the turning tool is processed;
The target detection unit extracts the characteristic information of the turning tool from the motion video of the turning tool after denoising during machining by an image processing technology, and based on the extracted characteristic information of the turning tool, the position of the turning tool is identified by a target detection algorithm;
the track reconstruction unit reconstructs an actual lathe tool track according to the identified lathe tool position and transmits the actual lathe tool track to the comparison unit;
The comparison unit is used for storing a preset turning tool track and comparing whether the preset turning tool track and the actual turning tool track are coincident or not;
and the result feedback unit obtains a track reference index according to the preset lathe tool track and the information of whether the actual lathe tool track is coincident or not, and transmits the track reference index to the control module.
Optionally, when the control module calculates the collision risk factor of the turning tool, the following formula is satisfied:
；
Wherein PR is a turning tool collision risk factor, qz shape is a shape weight index, shape is a shape reference index, qz track is a track weight index, track is a track reference index, track=0 or track=1 respectively has the following values, when track=0 t, the actual turning tool track is shown to coincide with a preset turning tool track, the rest conditions are track=1, qz vibrate is a vibration weight index, and vibrate is a vibration reference index.
Optionally, the control module also satisfies the following equation when calculating:
；
；
；
Wherein Δzj is an actual measurement value of the average diameter of the raw material, zj y is a preset value of the diameter of the raw material, yd is an actual measurement value of the roundness of the raw material, and zxd is an actual measurement value of the straightness of the raw material; the straightness of the raw material is an average value of distances between N points on the surface of the raw material and a reference straight line of the raw material, wherein N is the total number of test points on the surface of the raw material;
fd c is an actual measurement value of the turning tool vibration amplitude, fd max is a maximum value of the turning tool vibration amplitude, pl c is an actual measurement value of the turning tool vibration frequency, wc is an error index of the turning tool vibration frequency, and pl max is a maximum value of the turning tool vibration frequency. And the maximum value of the turning tool vibration amplitude and the maximum value of the turning tool vibration frequency are values generated in the testing process.
Specifically, the shape weight index, the trajectory weight index, and the vibration weight index are set by those skilled in the art according to the nature of the numerical control machine; the purpose of the shape reference index is to compare the actual raw material shape with the preset raw material shape, and when the actual raw material shape is not matched with the preset raw material shape, the turning tool may collide with the surface of the raw material during processing; the purpose of the track reference index is to compare the actual turning tool track with the preset turning tool track, and when the actual turning tool track is not overlapped with the preset turning tool track, the turning tool may collide with the surface of the raw material during machining; the purpose of the vibration reference index is to monitor dynamic change in the turning tool processing, and the surface possibly colliding with the raw material during the turning tool processing can be estimated through vibration; the unit of the measured value of the average diameter of the raw materials and the unit of the preset value of the diameter of the raw materials are millimeter, the preset value of the diameter of the raw materials is set by a person skilled in the art, the measured value of the average diameter of the raw materials is manually or automatically detected for multiple times by the person skilled in the art to obtain a plurality of data, then the average value is obtained, and the positions of the multiple times of detection are set to be inconsistent so as to improve the representativeness of the data; the unit of the measured value of the roundness of the raw material is millimeter, "roundness" refers to the degree of deviation between the surface of the raw material and the ideal circular shape, and for example, when the roundness is 0.05, the maximum deviation between the surface of the raw material and the ideal circular shape is 0.05 millimeter; the unit of the measured value of the straightness of the raw material is millimeter, when in detection, a reference straight line of the raw material is set (the raw material is a cylinder, the reference straight line of the raw material can be the theoretical axis of the raw material), the straightness of the raw material is the average value of the distances between N points on the surface of the raw material and the reference straight line of the raw material, wherein N is the total number of the test points on the surface of the raw material, which are set according to specific requirements, and is preferably more than or equal to 3; the unit of the measured value of the vibration amplitude of the turning tool and the unit of the maximum value of the vibration amplitude of the turning tool are millimeter, and the maximum value of the vibration amplitude of the turning tool is set by a person skilled in the art; the unit of the actual measurement value of the turning tool vibration frequency and the maximum value of the turning tool vibration frequency is Hertz, and the maximum value of the turning tool vibration frequency is set by a person skilled in the art; when the actual measurement value of the vibration amplitude and the actual measurement value of the vibration frequency of the turning tool are detected, the corresponding sensor is arranged on a cutter holder of the turning tool, so that the detection accuracy is improved; the purpose of adding the error index of the turning tool vibration frequency is to improve the accuracy of calculation, and since the numerical control machine tool also generates certain vibration during operation, the actual measurement value of the turning tool vibration frequency is larger, and in this embodiment, the value of the error index of the turning tool vibration frequency is set to be 0.975.
The above units are merely examples, and one skilled in the art may set different diameter units, roundness units, and straightness units according to actual requirements when implementing the present embodiment.
The problem that traditional control system can not evaluate in advance is solved through collision risk evaluation module to this implementation power, and collision risk evaluation module obtains the information of whether the lathe tool exists collision risk according to lathe tool collision risk factor, and alarm module carries out the warning according to the information of whether the lathe tool exists collision risk, and above-mentioned belongs to the collision risk of evaluating in advance, and the staff can in time make relevant adjustment, plays the effect of protection to the digit control machine tool
In addition, the control module acquires data from three different directions of shape, track and vibration when calculating the collision risk factor of the turning tool, so that the calculation accuracy is improved, and the accuracy of estimating the collision risk is improved.
Embodiment two: the embodiment includes the whole content of the first embodiment, and provides an anti-collision control system of a numerical control machine tool, which is shown in fig. 5 and 6.
The system also comprises a collision judging module and a communication module;
the detection module further comprises a cutting force detection sub-module, a turning tool feeding speed detection sub-module, an artificial detection sub-module and a liquid level detection sub-module;
the cutting force detection sub-module is used for detecting the cutting force of the turning tool, obtaining an actual measurement value of the cutting force of the turning tool and transmitting the actual measurement value to the control module;
the lathe tool feed speed detection submodule is used for detecting the lathe tool feed speed, obtaining an actual value of the lathe tool feed speed and transmitting the actual value to the control module;
the manual detection submodule detects the cutting edge of the turning tool manually, obtains a turning tool abrasion reference index and transmits the turning tool abrasion reference index to the control module;
the liquid level detection sub-module is used for detecting the condition of cutting fluid in the numerical control machine tool, obtaining a cutting fluid reference index and transmitting the cutting fluid reference index to the control module;
The information storage module is also used for storing the information storage module and transmitting the information to the control module;
The control module obtains a calculated value of the cutting force of the turning tool according to the measured value of the cutting force of the turning tool, the actual value of the feeding speed of the turning tool, the ideal value of the feeding speed of the turning tool, the reference index of the abrasion of the turning tool and the reference index of the cutting fluid, and transmits the calculated value of the cutting force of the turning tool to the collision judging module;
the collision judging module judges whether the turning tool collides according to the calculated value of the cutting force of the turning tool and transmits the information to the communication module;
and the communication module transmits information of whether the turning tool collides to the user side.
Specifically, the collision judging module refers to the following principle when judging, wherein when the calculated value of the turning tool cutting force is within the range of the selected threshold value of the calculated value of the turning tool cutting force, the fact that the turning tool does not collide is indicated, and when the calculated value of the turning tool cutting force is not within the range of the selected threshold value of the calculated value of the turning tool cutting force, the fact that the turning tool collides is indicated; the range of the selection threshold of the calculated value of the turning tool cutting force is set by a person skilled in the art; and after the user side obtains that the turning tool collides, stopping operation is immediately carried out.
Optionally, when the control module calculates the calculated value of the turning tool cutting force, the following formula is satisfied:
；
Wherein CF is the calculated value of the cutting force of the turning tool, CF is the measured value of the cutting force of the turning tool, Is the actual value of the feed speed of the turning tool,/>For an ideal value of the feed speed of the turning tool, dr is a turning tool wear reference index, dr is respectively the following value, dr=1 or dr=1.05, when dr=1, the rest is dr=1.05, qxy is a cutting fluid reference index, qxy is respectively the following value, qxy =1 or qxy =0.98, when qxy =1, the turning tool is represented as using cutting fluid in the cutting process, and the rest is qxy =0.98.
Specifically, the unit of the measured value of the cutting force of the turning tool is newton; the factors of adding the actual value of the turning tool feeding speed and the ideal value of the turning tool feeding speed are aimed at that when the turning tool feeding speed is too large, the sensor cannot reasonably capture the actual value of the turning tool cutting force, the actual value of the turning tool cutting force is smaller, the units of the actual value of the turning tool feeding speed and the ideal value of the turning tool feeding speed are millimeter per minute, and the ideal value of the turning tool feeding speed is set by a person skilled in the art; the purpose of the abrasion reference index of the turning tool is that the abrasion turning tool causes the cutting efficiency to be reduced, the actual measurement value of the cutting force of the turning tool is smaller in the cutting process, whether the cutting edge of the turning tool is abraded or not is defined by naked eyes of a worker, and only if one cutting edge of the turning tool is notched, deformed, abraded and the like, the cutting edge of the turning tool is abraded; the purpose of adding the cutting fluid reference index is that when the cutting fluid is not used in the cutting process of the turning tool, friction and heat can be increased, and then the actual measurement value of the cutting force of the turning tool is larger.
The above units are only examples, and a person skilled in the art can set different feed speed units and cutting force units according to actual requirements when implementing the present embodiment.
According to the embodiment, the problem that the detection efficiency of a traditional control system is low is solved through the collision judging module, the collision judging module judges whether the turning tool collides according to the calculated value of the cutting force of the turning tool, and the user side can quickly obtain the information whether the turning tool collides.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by the application of the present invention and the accompanying drawings are included in the scope of the invention, and in addition, the elements in the invention can be updated with the technical development.
Claims (4)
1. The anti-collision control system of the numerical control machine tool is characterized by comprising a weight information setting module, an information storage module, a detection module, a control module, a collision risk assessment module and an alarm module;
the weight information setting module is used for setting a shape weight index, a track weight index and a vibration weight index and transmitting the shape weight index, the track weight index and the vibration weight index to the control module;
The information storage module is used for storing a preset value of the diameter of the raw material, the maximum value of the vibration amplitude of the turning tool, the error index of the vibration frequency of the turning tool and the maximum value of the vibration frequency of the turning tool, and transmitting the values to the control module;
The detection module is used for detecting and obtaining a track reference index, an actual measurement value of the average diameter of the raw material, an actual measurement value of the roundness of the raw material, an actual measurement value of the vibration amplitude of the turning tool and an actual measurement value of the vibration frequency of the turning tool, and transmitting the track reference index, the actual measurement value of the average diameter of the raw material, the actual measurement value of the roundness of the raw material, the actual measurement value of the vibration amplitude of the turning tool and the actual measurement value of the vibration frequency of the turning tool to the control module;
The control module obtains a turning tool collision risk factor according to the data acquired by the weight information setting module, the information storage module and the detection module, and transmits the turning tool collision risk factor to the collision risk assessment module;
the collision risk assessment module obtains information of whether the collision risk exists in the turning tool according to the turning tool collision risk factors and transmits the information to the alarm module;
The alarm module carries out alarm according to the information of whether the turning tool has collision risk or not.
2. The anti-collision control system of a numerical control machine tool according to claim 1, wherein the detection module comprises a visual detection sub-module, a diameter detection sub-module, a roundness detection sub-module and a vibration detection sub-module;
the visual detection submodule is used for detecting an actual turning tool track, obtaining a track reference index and transmitting the track reference index to the control module;
The diameter detection submodule is used for detecting the diameter of the raw material, obtaining an actual measurement value of the average diameter of the raw material and transmitting the actual measurement value to the control module;
the roundness detection submodule is used for detecting the roundness of the raw materials, obtaining an actual measurement value of the roundness of the raw materials and transmitting the actual measurement value to the control module;
the vibration detection submodule is used for detecting the vibration information of the turning tool, obtaining an actual measurement value of the vibration amplitude of the turning tool and an actual measurement value of the vibration frequency of the turning tool, and transmitting the actual measurement value and the actual measurement value to the control module.
3. The anti-collision control system of the numerical control machine tool according to claim 2, wherein the visual detection submodule comprises a video acquisition unit, a processing unit, a target detection unit, a track reconstruction unit, a comparison unit and a result feedback unit;
the video acquisition unit is used for shooting and obtaining a motion video during turning tool processing;
the processing unit denoises the motion video when the turning tool is processed;
the target detection unit extracts the characteristic information of the turning tool from the motion video of the turning tool after denoising during machining through an image processing technology, and identifies the position of the turning tool through a target detection algorithm based on the extracted characteristic information of the turning tool;
the track reconstruction unit reconstructs an actual lathe tool track according to the identified lathe tool position and transmits the actual lathe tool track to the comparison unit;
The comparison unit is used for storing a preset turning tool track and comparing whether the preset turning tool track and the actual turning tool track are coincident or not;
and the result feedback unit obtains a track reference index according to the preset lathe tool track and the information of whether the actual lathe tool track is coincident or not, and transmits the track reference index to the control module.
4. A numerically controlled machine tool collision avoidance control system as claimed in claim 3, in which the control module, when calculating the tool collision risk factor, satisfies the following equation:
；
Wherein PR is a turning tool collision risk factor, qz shape is a shape weight index, shape is a shape reference index, qz track is a track weight index, track is a track reference index, track=0 or track=1 is respectively given by the following values, when track=0, the actual turning tool track is shown to coincide with a preset turning tool track, the rest conditions are track=1, qz vibrate is a vibration weight index, and vibrate is a vibration reference index.
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| JP2006163665A (en) * | 2004-12-06 | 2006-06-22 | Toshiba Corp | Numerical control information verification system for numerically controlled working machine and method |
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| CN116690303A (en) * | 2023-06-30 | 2023-09-05 | 南通国盛智能科技集团股份有限公司 | Machine tool anti-collision cutter control method, machine tool and computer readable storage medium |
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