US3875468A - System for working cylinders along a line of intersection - Google Patents

System for working cylinders along a line of intersection Download PDF

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US3875468A
US3875468A US396770A US39677073A US3875468A US 3875468 A US3875468 A US 3875468A US 396770 A US396770 A US 396770A US 39677073 A US39677073 A US 39677073A US 3875468 A US3875468 A US 3875468A
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delta
integrator
produce
receive
comparator
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Takashi Yagi
Sadaaki Nanai
Souji Ouhara
Yukihiro Shirakawa
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Yaskawa Electric Corp
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Yaskawa Electric Manufacturing Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K7/00—Cutting, scarfing, or desurfacing by applying flames
    • B23K7/005—Machines, apparatus, or equipment specially adapted for cutting curved workpieces, e.g. tubes
    • B23K7/006—Machines, apparatus, or equipment specially adapted for cutting curved workpieces, e.g. tubes for tubes
    • B23K7/007—Machines, apparatus, or equipment specially adapted for cutting curved workpieces, e.g. tubes for tubes for obtaining tube intersection profiles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
    • G06F7/60—Methods or arrangements for performing computations using a digital non-denominational number representation, i.e. number representation without radix; Computing devices using combinations of denominational and non-denominational quantity representations, e.g. using difunction pulse trains, STEELE computers, phase computers
    • G06F7/64—Digital differential analysers, i.e. computing devices for differentiation, integration or solving differential or integral equations, using pulses representing increments; Other incremental computing devices for solving difference equations
    • G06F7/66—Digital differential analysers, i.e. computing devices for differentiation, integration or solving differential or integral equations, using pulses representing increments; Other incremental computing devices for solving difference equations wherein pulses represent unitary increments only

Definitions

  • umeracol volue numerical value setting converter SYSTEM FOR WORKING CYLINDERS ALONG A LINE OF INTERSECTION BACKGROUND OF THE INVENTION This invention relates to a system comprising static electrical operation circuits for working cylinders along a line of intersection thereof, in which, when one of the cylinders is rotated in a direction perpendicular to the axis thereof, the line of intersection is obtained as a series of points lying in a direction of the axis by carrying out electrical operations with the aid of digital differential analyzers properly combined.
  • the term working is defined as a process which is carried out by following the line of intersection of two cylinders.
  • the process is for instance cutting, grinding, welding, blazing, forge welding, pressure welding and connecting of the two cylinders.
  • the cylinder may be a cylinder made of wood or plastic material as well as a cylinder made of metal.
  • the cylinder is not limited to a hollow cylinder like a pipe, that is, it may be a solid cylinder.
  • a system for working cylinders along a line of intersection thereof which comprises analog operation circuits with servo motors is known in the art.
  • a conventional system accompanies several difficulties as follows.
  • An arc corresponding to an angle of rotation of one of two intersected cylinders in its axial direction increases with its diameter, the diameter being 1,000 mm or more, for instance.
  • a curve obtained by the analog operation of this conventional system is liable to become inaccurate.
  • the conventional system is based on the analog operation, it suffers from drift due to the disturbance such as variation of supply voltages provided for various elements in the analog operation circuits. Accordingly, the maintenance and control of the conventional system are troublesome.
  • Another object of the invention is to provide a system for working cylinders along a line of intersection thereof in which non-linear elements such as multipliers are unnecessary for the operation of the system.
  • a further object of the invention is to provide a system for working cylinders along a line of intersection thereof in which generated functions such as a sine and cosine of an angle of rotation are not changed with time.
  • a still further object of the invention is to provide a system for working cylinders along a line of intersection thereof in which a number of cylinders having the same shape can be worked by setting numerical values only once.
  • a particular object of the invention is to provide a system for working cylinders along the line of intersection thereof in which a rate ofelectrical operation is on the order of micro-seconds.
  • a system for working cylinders along a line of thereof which comprises: a numerical value setting section for setting a diameter (d) of a cylinder, a diameter (D) of another cylinder, a connecting angle (0) for connecting the two cylinders; a circuit for attaining sin 0 and cos 6; an operation circuit for attaining sin wt and cos on from an angle of rotation t fudt (where j wdt wt,
  • an operation circuit of a for carrying out servo-operation of a and D.A (cos a) so as to meet an equation d.sin w! D.sin a (where the angle of rotation wt of the first cylinder shifted on the second cylinder is represented by a); a multiplication circuit for operating d.cos wt cos 6, d.cos ml, D.cos a and D.cos d.cos 6; and a working tool driving calculating section for calculating a horizontal driving distance from the point of intersection of the axes of the two cylinders, all of the operation being electrically performed by integrators, half-integrators hereinafter referred to, register circuits and comparison circuits.
  • FIGS. 1 and 2 are diagrams illustrating geometrical analysis of a main cylinder and a branch cylinder to be worked
  • FIG. 3 is a block diagram illustrating the arrangement and function of a system for working cylinders along a line of intersection thereof according to this invention
  • FIGS. 4, 5, 6 and 7 are also block diagrams respectively illustrating a digital integrator, a half-integrater hereinafter referred to, a register circuit and a comparator employed in a system for working cylinders along a line of intersection thereof according to the invention;
  • FIG. 7A is a circuit diagram illustrating in detail a comparison circuit shown in FIG. 7;
  • FIG. 8 is a graphical representation indicating a mode of a comparison output in a system for working cylinders along a line of intersection thereof according to the invention.
  • FIGS. 9A, 9B and 9C together constitute a block diagram showing one preferred example of the system for working cylinders along a line of intersection thereof according to the invention.
  • FIGS. 1 and 2 respectively illustrate the cases of working the branch cylinder and the main cylinder hole.
  • the axis (X) of a cylinder A to be worked makes an angle 6 with the axis of a cylinder B and an angle or rotation of the cylinder A is represented by w! (where w is the angular velocity and r is the time period of rotation). Strictly, the angle of rotation should be represented by Under these conditions, a distance or displacement it between a working point (not shown) and the origin can be represented as follows:
  • a main pipe is a cylinder A while a branch pipe connected to the main pipe is a cylinder B.
  • a displacement it between a working point and the origin 0 is represented by the following equation (3).
  • FIG. 3 is a block diagram generally illustrating the functions of a system for working cylinders along a line of intersection thereof according to this invention, which comprises a numerical value setting section I.
  • This section I sets numericals values such as the diameter d of the branch pipe, the diameter D of the main pipe, an angle 6 formed by the axes of the main and branch pipes and, if necessary, an offset 8 (not shown) between the main pipe and the branch pipe and produces outputs converted into serial binary numbers suitable for the operation of digital differential analyzers.
  • this invention provides a system for working cylinders along a line of intersection formed by them in which the work is controlled by the operation of a digital differential analyzer. This operation is performed with the aid of clock pulses whose frequency is 1 MHz in a preferred example of the device according to the invention.
  • the system further comprises: a section 8 for calculating the driving of a working tool, or performing the operations of addition in equations (2), (3) and (4) (hereinafter referred to as a working tool driving calculating section 8", when applicable); and an output section 9 having x pulses for (horizontally) driving the working tool and Y pulses for driving the pipes.
  • FIGS. 4 through 7 are block diagrams illustrating digital differential analyzer elements employed in this example.
  • FIG. 4 shows a digital integrator which comprises: adders 4!, 43 and 47; an R-register 42; a Y-register 44; a multiplication gate 45', and an output circuit, 46.
  • reference symbols dY,, dY dY represent input components at the Y-register side and reference symbol Pi represents a signal for designating the scales of the input components.
  • the multiplication gate 45 multiplies an output Y of the Y-register 44 by dx.
  • the output circuit 46 produces as an output an overflow pulse d2 of the R-register 42.
  • FIG. 5 Shown in FIG. 5 is a circuit 50, or a multiplication element (hereinafter referred to as a half-integrator circuit) which can be obtained by reducing the circuits relating to the Y-register from the circuits of FIG. 4.
  • FIG. 6 As is apparent in comparison of FIG. 6 with FIGS. 4 and S, a register circuit shown in FIG. 6 can be obtained by reducing the circuit of FIG. 5 from that of FIG. 4.
  • FIG. 7 Shown in FIG. 7 is a comparator comprising a comparison circuit 73.
  • the circuit 73 operates to compare an input 71 (that is, a value in the R-register, which is positive at all times) with an input 72 (that is, a value in the Y-register) thus producing an output 74 to be applied to the output circuit 46.
  • FIG. 7a which comprises: AND (logical product) circuits 731, 732, and 734 through 739', an OR (logical sum) circuit 733; flip-flops FF, through FF and a delay circuit 7D.
  • FIG. 7a circular symbols O provided on the input side of the AND circuits indicate that the logic of an input signal applied thereto is inverted.
  • reference symbol Pn in FIG. 7a designates a synchronous pulse (or clock pulse) corresponding to 2", or the n-th digit, when the number of operational digits is n, and no synchronous pulse is applied for the operation of the digits other than the above-mentioned digit.
  • FIG. 8 Shown in FIG. 8 are modes of the comparison output dZ in this embodiment.
  • the input 71 is, for instance, +7
  • the following three modes of comparison output dZ appear depending on the values of the input 72.
  • FIGv 9 there is shown one example of the system according to the invention, which comprises: a power source 900 of, for instance, DC +5 volts representing a logical signal I with a ground potential representing a logical signal a numerical value setting circuit 901 for setting a diameter D of a main pipe, a diameter d of a branch pipe and an angle 6 formed by the axes of the main and branch pipes (hereinafter referred to as "a connecting angle 0") and a numerical value setting circuit 902 for setting operational constants K, through K, these two circuits 901 and 902 forming a numerical value setting section 1 in FIG. 3;
  • a power source 900 of, for instance, DC +5 volts representing a logical signal I with a ground potential representing a logical signal
  • a numerical value setting circuit 901 for setting a diameter D of a main pipe, a diameter d of a branch pipe and an angle 6 formed by the axes of the main and branch pipes (hereinafter referred to as "a connecting angle
  • symbols( 0 marked on logical elements indicate that the logic of signals applied thereto is inverted as an inverter 921a inverts its input signal.
  • the system shown in FIG. 9 further comprises: AND (logical product) circuits 907, 921, 922 and 930 through 933; OR (logical sum) circuits 908 and 923 934 and 935', and comparators 909, 914, 924 and 936 such as shown in FIG. 7. Some of the inputs of these comparators are marked by symbol 9 which indicates that signs of the numerical values of inputs applied thereto are inverted.
  • the system further comprises: integrators 911, 912, 9l6, 917, 918.925, 926 and 927 as shown in FIG. 4; half-integrators 910, 915, 919, 920, 928, 929, 937 and 938 as shown in FIG. 5', register circuits 941 and 942 as shown in FIG. 6; a variable frequency oscillator 913 to which a frequency control signal is applied by a command signal (not shown) to control a rate of generating an angle of rotation wt, that is, a pipe driving speed; and digital-analog converters 943 and 944 for producing outputs (analog data) to drive a working tool and a pipe to be worked.
  • the driving data of the tool and pipe are negatively fed back through a synchronization circuit 940 to the respective registers by pulse tachometer generators provided on the driving means of the tool and pipe.
  • a switch 904 is operated as follows. In the case of the main pipe hole work (equation 3 the switch 904 is operated so that output terminals 9041 and 9045 are respectively connected to input terminals 9042 and 9046. In the case of the branch pipe work (equation 2), the output terminals 904] and 9045 are respectively connected to input terminals 9043 and 9047. In the case of the plane work (equation 4), the output terminals 9041 and 9045 are respectively connected to input terminals 9044 and 9048.
  • FIG. 9A The steps of working pipes, or cylinders, by the use of the system according to this invention will be described with reference again to FIG. 9.
  • the various components 1-8 of FIG. 3 are shown in greater detail in the diagram of FIGS. 9A, 9B, and 9C.
  • the numerical value setting circuit 1 of FIG. 3 comprises the components 901 and 902 of FIG. 9C.
  • the operation circuit of FIG. 3 comprises the comparator 909 and integrators 910, 911 and 912 of FIG. 9A.
  • the operation circuit 3 of FIG. 3 comprises the oscillator 913, the comparator 914, and the inegrators 915, 916 and 917 of FIG. 9A.
  • the operation circuit of FIG. 3 comprises the integrator 918, the comparator 924 and the integrators 925, 926 and 927 of FIG. 9B.
  • the introduction circuit 5 of FIG. 3 comprises the AND circuits 921, 922, 930 and 931 and the OR circuits 923 and 934 of FIG. 9B.
  • the operation circuit 6 of FIG. 3 comprises the integrators 919, 920, 928 and 929 of FIG. 9B.
  • the switching means 7 of FIG. 3 comprises the switch 904, including its subcomponents 9042-9048 of FIG. 913.
  • the working tool driving calculating section 8 of FIG. 3 comprises the comparator 936 of FIG. 9B and the integrators 937 and 938 of FIG. 9C.
  • Step I A switch 903 (SW-1) is thrown to the position RUN.
  • Step 2 Numerical data sin 0 and cos 6 are calculated from a connecting angle 0 in initial approximately one second. For this purpose, pulses corresponding to A0 and as many as necessary for the operation in the integrators 911 and 912 are generated by the comparator 909 and the half-integrator 910.
  • the connecting an le 0 indicated by a decimal degree in the form of CIELDEI" (30.00150.00) is set in the R-register 42 in the comparator (FIG. 7) operating in a servo-mode as indicated in FIG. 8.
  • the half-integrator 910 is provided in the feed-back loop of the comparator 909, while a serial biriary number which is a coefficient (constant) k, for the conversion of a numerical value is applied through the numerical value setting section 902 to the R-register 42 of the half-integrator 910 so as to satisfy the following equation (5).
  • the value of the constant k can be determined so that values of sin 6 and cos 9 turn from those when 0 0 to those when 6
  • the value of the constant k can be determined so that a content in the register of the integrator 91] turns from Olllllllllllll to 0000000000000000 while that in the register of the integrator 912 turns from 000000000000 to Olllllllllllllll.
  • Step 3 The values of cos 6 and sin 9 are calculated by the use of the pulses A6 in the integrators 911 and 912, respectively. Calculation of these values is made in advance for the purpose of using them as constant in the operation which will be described later. Accordingly, in the calculation, an output l from the delay circuit 906 is not applied to the comparators 924 and 936, the read gates (not shown) of which are therefore not opened so that an erroneous comparison operation is not carried out.
  • Step 4 Angles of rotation sin wt and cos m! are calculated in correspondence to a rotation of the branch pipe.
  • the rotation of the branch pipe represents an angle of rotation on required for the work and is not limited only to an 2n 360.
  • the angle of rotation necessary for this operation is read in the register of the comparator 914 in advance by actually rotating the branch pipe.
  • pulses corresponding to A (wt) hereinafter referred to as pulses Amt
  • pulses Amt pulses corresponding to as pulses Amt
  • Determination of a constant k is carried out in the same manner as in the calculation of cos 6 and sin 6 by the use of pulses A9.
  • variable frequency oscillator 913 By regulating an output frequency of the variable frequency oscillator 913, a rate of driving a working tool and that of driving a pipe can be externally controlled to change with a rate of the operation.
  • the output of the variable frequency oscillator 913 controls a rate of generation of Atwt) pulses.
  • Step 5 The following servo-operation, or feed-back comparison operation, is carried out to obtain an angle of rotation a which satisfies equation (1).
  • a high frequency output is produced by the comparator 924 until the difference between two inputs in a digital servo circuit which is provided with the comparator 924 operating in a servo mode has become zero, that is, the difference between an output d.A(sin wt) of the integrator 918 and an output D.A(sinwt) of the integrator 927 has become zero,
  • This high frequency output is pulses corresponding to Act (hereinafter referred as to pulses Aa, when applicable)
  • the diameter d of the branch pipe is written through the adders 47 and 43 into the Y register 44 in the integrator 918 and the diameter d thus written is introduced to the half-integrator 919. This is to use the half-integrator 919 as an element for storing the diameter d.
  • the diameter D of the main pipe is introduced through the integrator 927 to the half-integrator 928.
  • Step 6 With the aid of the pulses A0: thus produced, sin a and cos a are calculated by the integrators 925 and 926, respectively.
  • the generation of the pulses Au: and the calculation of sin a and cos a are carried out whenever the output pulse d.A(sinw!) from the comparator 918 is applied to the integrator 924.
  • the pulses A0: thus generated at high speeds carry out a servo operation so as to change a value in the Y-register 44 of the comparator 924 into zero.
  • Step 8 The switch 904 for changing the modes of work is actuated to set a mode of work as was described previously, whereby the inputs of the Y-registers in the halfintegrators 920 and 929 are switched through the respective logical elements (gates) and the multiplica tions necessary for the respective modes of work are carried out.
  • Step 9 An operation for driving the working tool in a designated mode of work is carried out.
  • a high frequency output is generated by the comparator 936 until the sum of three inputs of a digital servo circuit with the comparator 936 operating in a servo mode, that is, the sum of the values in a column in the following Table 2 has become zero in a mode of work designated.
  • Step l0 The output pulse AX from the comparator 936 is mul tiplied by sin 0 in the half-integrator 937 the value of this sin 9 has been calculated in step 3 and stored in the Y-resister 44 of the integrator 912 as was described previously. This operation is carried out whenever the output from the halfintegrator 920 or 929 is applied to the comparator 936, and the output pulse Ax therefrom carries out a servo-operation so as to change the value stored in the Y-register 44 of the comparator 936 into zero.
  • Step ll On the other hand, the operation for driving the tool is carried out in a designated mode of work.
  • the following outputs are applied, as an input d. ⁇ ', to the halfintegrator 939 through the switching gate separately according to the modes of work, as indicated in Table 3.
  • Step 12 The output pulse Ax for driving the working tool and the output pulse AY for driving the pipe, thus produced, are respectively applied, as command signals, to the registers 941 and 942.
  • feed-back pulses from pulse tachometer generators connected to a working tool driving motor (not shown) and a pipe driving motor (not shown) are fed back to the registers 941 and 942 through the synchronization circuit 940.
  • the registers 941 and 942 are difference-storing registers each of which stores a difference between a command value and a present available value. This difference in value is introduced through an output circuit for analog conversion (not shown) to the digital-analog converters 943 and 944, which produce analog difference signals. By these analog difference signals the working tool and pipe are respectively driven, thereby drawing a curve of intersection of solids so as to work the pipe as specified.
  • the rate of working a pipe can be arbitrarily regulated, according to this invention, in the following manner.
  • the positive and negative output lines of the registers 943 and 944 are connected to the logical sum circuit 945 where the logical sum of the square roots of the squares of the pulses AX and AY are obtained.
  • This logical sum output from the circuit 945 and an output pulse from the variable frequency generator 946 arbitrarily determining the rate of working the pipe are applied to the comparator 947, to the register (R) of which 1 has been applied in advance.
  • the comparator 947 produces an output to stop the electrical operations in the comparators 914, 924 and 936.
  • the next output pulse from the generator 946 causes the comparator 947 to stop producing its output whereby the electrical operation of the comparators 914, 924 and 936 is carried out again.
  • the outputs of the registers 94] and 942 are regulated by the period of the output pulse of the generator 946.
  • said second comparator means comprises fourth integrator means comprising a third comparator connected to receive the electrical signals (6) and a comparator feedback signal, said third comparator being operative to produce delta modulated pulses (A6), a half integrator and first and second integrators, said half integrator being connected to receive said delta modulated pulses (A6) and to produce said comparator feedback signals, a feedback loop connecting the output of said half integrator to an input of said third comparator, means connecting the output of said third comparator to said first and second integrators, said second integrator being operative to produce signals corresponding to the value (sin in response to the application thereto of delta modulated pulses corresponding to (A sin 6) and (A6) and operative further to produce a feedback output comprising delta modulated pulses corresponding to the alue (-A cos 6), a feedback loop connecting the feedback output of the second integrator to the first integrator, said first integrator being operative to produce signals corresponding to the value (cos 6) in response to the
  • said second comparator means comprises fourth integrator means connected to receive the electrical signals (6) and to produce signals representative of the values (sin 6) and (cos 6), fifth integrator means connected to said third integrator means to receive therefrom delta modulation pulses (D.A sin a) and to produce signals representative of the value (D.
  • a cos a) sixth integrator means connected to said second integrator means to receive therefrom delta modulation pulses (d.A sin wt) and to produce signals representative of the value (d.A cos wt), a comparator connected to receive the outputs of said fifth and sixth integrator means and a further feedback signal and to produce a comparator output signal corresponding to the comparison of said outputs of said fifth and sixth integrator means and said further feedback signal, seventh integrator means connected to receive said comparator output signal and the signal (sin 6) from said fourth integrator means and to produce said further feedback signal, eighth integrator means also connected to receive said comparator output signal and to produce a delta modulated driving command signal, a register connected to receive said delta modulated command signal and working tool driving means connected to receive outputs from said register.
  • said sixth integrator means is also connected to the output of said fourth integrator means to receive signals representative of the value (cos 6) and is operable to produce output signals representative of the value (d.A cos mt cos 6) wherein said fifth integrator means is also connected to receive a signal representative of the value (l wherein there is provided a ninth integrator means con nected to receive said electrical signal (wt), said ninth integrator means being operative to produce a delta modulated driving command signal corresponding to rotation of the first cylinder.
  • said sixth integrator means is also connected to receive a signal representative of the value l
  • said fifth integrator means is also connected to the output of said fourth integrator means to receive signals representative of the value (cos 6) and is operable to produce signals representative of the value (D.A cos 0:. cos 6) and wherein there is provided a ninth integrator means connected to receive delta modulated outputs corresponding to the value (Act) from said first comparator and to produce a delta modulated driving command signal corresponding to rotation of the second cylinder.
  • control comparator is connected to receive additional outputs from a further register connected to process signals corresponding to the rotation of the first cylinder about its axis.

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US396770A 1972-09-13 1973-09-13 System for working cylinders along a line of intersection Expired - Lifetime US3875468A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4051422A (en) * 1975-10-16 1977-09-27 Konstantin Nikitich Lavrentiev Programming apparatus for electroerosion cutting machine
US4546299A (en) * 1983-12-20 1985-10-08 Manhattan Engineering Co., Inc. Low cost servo operated digital positioning system
CN102962501A (zh) * 2012-10-31 2013-03-13 四川蓝星机械有限公司 厚壁接管相贯线加工工艺

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57150986U (enrdf_load_stackoverflow) * 1981-03-16 1982-09-22

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3441817A (en) * 1965-01-18 1969-04-29 Sfm Corp Machine control system for generating rectilinear and curvilinear geometrical forms
US3786331A (en) * 1972-12-11 1974-01-15 Hyper Loop Digital tracer

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3441817A (en) * 1965-01-18 1969-04-29 Sfm Corp Machine control system for generating rectilinear and curvilinear geometrical forms
US3786331A (en) * 1972-12-11 1974-01-15 Hyper Loop Digital tracer

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4051422A (en) * 1975-10-16 1977-09-27 Konstantin Nikitich Lavrentiev Programming apparatus for electroerosion cutting machine
US4546299A (en) * 1983-12-20 1985-10-08 Manhattan Engineering Co., Inc. Low cost servo operated digital positioning system
CN102962501A (zh) * 2012-10-31 2013-03-13 四川蓝星机械有限公司 厚壁接管相贯线加工工艺
CN102962501B (zh) * 2012-10-31 2015-06-03 四川蓝星机械有限公司 厚壁接管相贯线加工工艺

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JPS4947985A (enrdf_load_stackoverflow) 1974-05-09

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