WO2022097596A1 - ワイヤ放電加工機、及び、ワイヤ放電加工機の制御方法 - Google Patents
ワイヤ放電加工機、及び、ワイヤ放電加工機の制御方法 Download PDFInfo
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- WO2022097596A1 WO2022097596A1 PCT/JP2021/040190 JP2021040190W WO2022097596A1 WO 2022097596 A1 WO2022097596 A1 WO 2022097596A1 JP 2021040190 W JP2021040190 W JP 2021040190W WO 2022097596 A1 WO2022097596 A1 WO 2022097596A1
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- electric discharge
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- 238000000034 method Methods 0.000 title claims description 96
- 238000009763 wire-cut EDM Methods 0.000 title abstract 3
- 238000003754 machining Methods 0.000 claims abstract description 154
- 238000001514 detection method Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 abstract description 48
- 230000006698 induction Effects 0.000 description 21
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/02—Wire-cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/02—Wire-cutting
- B23H7/04—Apparatus for supplying current to working gap; Electric circuits specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/14—Electric circuits specially adapted therefor, e.g. power supply
- B23H7/20—Electric circuits specially adapted therefor, e.g. power supply for programme-control, e.g. adaptive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H1/00—Electrical discharge machining, i.e. removing metal with a series of rapidly recurring electrical discharges between an electrode and a workpiece in the presence of a fluid dielectric
- B23H1/02—Electric circuits specially adapted therefor, e.g. power supply, control, preventing short circuits or other abnormal discharges
- B23H1/022—Electric circuits specially adapted therefor, e.g. power supply, control, preventing short circuits or other abnormal discharges for shaping the discharge pulse train
Definitions
- the present invention relates to a wire electric discharge machine and a control method for the wire electric discharge machine.
- Japanese Unexamined Patent Publication No. 2001-11349 discloses that when a wire electric discharge machine processes a portion where a wire electrode is easily broken, the variation in the time interval in which electric discharge occurs becomes large.
- the portion where the wire electrode is easily broken is a portion such as a bent portion, a step portion, or an end face portion of the workpiece. Therefore, in the wire electric discharge machine of Japanese Patent Application Laid-Open No. 2001-11349, when the dispersion value indicating the variation in the time interval in which electric discharge occurs is larger than the set value, the processing conditions are set so as to suppress the disconnection of the wire electrode. change.
- the processing conditions are changed so as to suppress the disconnection of the wire electrode even when the wire electrode is separated from the processed end face.
- the wire electrode is unlikely to be broken. Therefore, the processing conditions cannot be appropriately set by the technique disclosed in Japanese Patent Application Laid-Open No. 2001-11349.
- the present invention has been made to solve the above problems, and is a wire electric discharge machine and a wire that can more appropriately set the machining conditions when the wire electrode approaches the machining end face of the workpiece. It is an object of the present invention to provide a control method of an electric discharge machine.
- the first aspect of the present invention is to generate an electric discharge by applying a voltage between the poles of the wire electrode and the workpiece while moving the wire electrode relative to the workpiece.
- a wire discharge processing machine that discharges a work piece, the control unit that controls the relative speed of the wire electrode with respect to the work piece and the discharge energy generated between the electrodes, and the said.
- the voltage between the poles detected when the voltage detection unit that detects the voltage between the poles and the wire electrode approaches the machined end face of the work piece in order to process the work piece.
- a discharge determination unit that determines whether or not a discharge has occurred between the electrodes within the unit time, a counting unit that counts the number of times that the discharge has been determined, and the above.
- the machining condition when approaching the machined end face is set as the first condition, and when the counted number of times reaches a predetermined number of times, the machining condition is different from the first condition. It is provided with a machining condition setting unit for setting conditions.
- a second aspect of the present invention is to generate an electric discharge by applying a voltage between the poles of the wire electrode and the workpiece while moving the wire electrode relative to the workpiece.
- a control method for a wire discharge machine that discharges a workpiece the wire discharge processor includes a voltage detection unit that detects a voltage between the electrodes, and the wire for machining the workpiece.
- the first machining condition setting step for setting the machining condition when the electrode is approaching the machined end face of the workpiece as the first condition, and the said for the workpiece according to the first condition.
- a first control step that controls the relative speed of the wire electrodes and the discharge energy generated between the electrodes, and the voltage between the electrodes detected when the wire electrodes are approaching the machined end face.
- a discharge determination step for determining whether or not a discharge has occurred between the electrodes within the unit time, a count step for counting the number of times the discharge has been determined to have occurred, and the above-mentioned
- the second processing condition setting step of setting the processing condition to a second condition different from the first condition, and the subject according to the second condition.
- a second control step for controlling the relative speed of the wire electrode with respect to the workpiece and the discharge energy generated between the electrodes is provided.
- the machining conditions of the wire electric discharge machine can be set more appropriately.
- FIG. 1 is a block diagram of a wire electric discharge machine.
- FIG. 2 is a flowchart showing the flow of approach processing performed in the control device.
- FIG. 3 is a schematic view showing a state in which the wire electrode approaches the machined end face of the work and starts machining the work.
- FIG. 4 is a schematic diagram showing a work in a state where the core is left uncut.
- FIG. 5 is a schematic view showing a state in which the wire electrode approaches the machined end face of the work and starts machining the work.
- FIG. 6 is a flowchart showing the flow of approach processing performed in the control device.
- FIG. 7 is a flowchart showing the flow of approach processing performed in the control device.
- FIG. 1 is a configuration diagram of a wire electric discharge machine 10.
- the wire electric discharge machine 10 performs machining by generating an electric discharge between the poles of the wire electrode 12 and the work 14 while moving the wire electrode 12 relative to the work (workpiece) 14.
- the work 14 is installed on a work table (not shown). As the servomotor 16 moves the work table in the X-axis direction and the Y-axis direction, the wire electrode 12 moves relative to the work 14.
- the wire electric discharge machine 10 includes a voltage detection unit 18, a discharge induction circuit 20, a main discharge circuit 22, a servo amplifier 24, and a control device 26 in addition to the servo motor 16.
- the voltage detection unit 18 detects the voltage between the poles (hereinafter, also referred to as the pole-to-pole voltage).
- the discharge-inducing circuit 20 applies a discharge-induced voltage between the poles to generate a discharge between the poles.
- the main discharge circuit 22 supplies a machining current to the wire electrode 12 as discharge energy for machining the work 14 after a discharge is generated between the electrodes.
- the servo amplifier 24 supplies drive power to the servomotor 16 to drive the servomotor 16.
- the control device 26 includes a discharge determination unit 28, a count unit 30, a processing condition setting unit 32, a discharge induced voltage control unit 34, a processing current control unit 36, and a servo controller 38.
- the discharge determination unit 28 determines whether or not a discharge has occurred between the poles within a unit time. Whether or not a discharge has occurred between the poles is determined based on the voltage between the poles. This determination is repeated every unit time.
- the counting unit 30 counts the number of times the discharge determination unit 28 determines that a discharge has occurred between the poles.
- the machining condition setting unit 32 sets the machining condition according to the number of times counted by the counting unit 30.
- the processing conditions are the processing current supplied from the main discharge circuit 22 to the wire electrode 12, the relative speed of the wire electrode 12 with respect to the work 14, the discharge-induced voltage applied between the electrodes of the discharge-induced circuit 20, and the discharge-induced voltage. It is a condition for each of the cycles.
- the magnitude of the processing current supplied from the main discharge circuit 22 to the wire electrode 12 correlates with the magnitude of the discharge energy generated between the electrodes. Therefore, setting the processing current supplied from the main discharge circuit 22 to the wire electrode 12 can also be said to set the discharge energy generated between the electrodes. Further, in the wire electric discharge machine 10 of the present embodiment, the work 14 installed on the work table moves together with the work table, so that the wire electrode 12 moves relative to the work 14. Therefore, the relative speed of the wire electrode 12 with respect to the work 14 can be said to be the moving speed of the work table.
- the discharge-induced voltage control unit 34 outputs a command value based on the processing conditions set in the processing condition setting unit 32 to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies a discharge induction voltage between the poles based on the command value.
- the discharge-induced voltage set in the machining condition setting unit 32 is applied between the poles at the cycle set in the machining condition setting unit 32.
- the machining current control unit 36 outputs a command value based on the machining conditions set in the machining condition setting unit 32 to the main discharge circuit 22.
- the main discharge circuit 22 supplies the machining current between the poles based on the command value.
- the machining current set in the machining condition setting unit 32 is supplied between the poles.
- the machining current control unit 36 corresponds to the control unit of the present invention.
- the servo controller 38 outputs a command value based on the machining conditions set in the machining condition setting unit 32 to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed set in the machining condition setting unit 32.
- the servo controller 38 corresponds to the control unit of the present invention.
- the control device 26 has a computer including an arithmetic processing device (not shown) and storage.
- the arithmetic processing unit has, for example, a processor such as a central processing unit (CPU) and a microprocessing unit (MPU), and a memory including a ROM, a RAM, and the like.
- the storage is, for example, a hard disk, a solid state drive (SSD), or the like.
- the discharge determination unit 28, the count unit 30, the processing condition setting unit 32, the discharge induced voltage control unit 34, the processing current control unit 36, and the servo controller 38 are such that the arithmetic processing device executes the program stored in the storage. It will be realized.
- FIG. 2 is a flowchart showing the flow of approach processing performed in the control device 26.
- the approach process is executed each time the wire electrode 12 approaches the machined end face 40 (see FIGS. 3 and 5) of the work 14.
- the machined end face 40 indicates the surface of the work 14 approached by the wire electrode 12 at the start of machining of the work 14.
- step S1 the machining condition setting unit 32 sets the machining condition as the first condition. After that, the process proceeds to step S2.
- the first condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- step S2 the discharge-induced voltage control unit 34 outputs a command value based on the first condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the first condition between the poles in the cycle of the first condition.
- the machining current control unit 36 outputs a command value based on the first condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the machining current of the first condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the first condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- step S3 the discharge determination unit 28 determines whether or not a unit time has elapsed. If the unit time has elapsed, the process proceeds to step S4, and if the unit time has not elapsed, the process of step S3 is repeated. The determination as to whether or not the unit time has elapsed is performed based on the elapsed time based on the later of the start time of the approach process and the previously determined time when the unit time has elapsed in step S3.
- step S4 the discharge determination unit 28 determines whether or not a discharge has occurred between the poles within a unit time. If a discharge has occurred, the process proceeds to step S5, and if no discharge has occurred, the process returns to step S3. Whether or not a discharge has occurred between the poles within a unit time is determined, for example, based on the average value of the pole voltages within the unit time. When the average value of the pole-to-pole voltages within a unit time is equal to or less than a predetermined voltage, it is determined that a discharge has occurred between the poles within a unit time.
- step S5 the counting unit 30 increments the number of times it is determined that a discharge has occurred between the poles within a unit time (hereinafter referred to as the number of times of determination). After that, the process proceeds to step S6. Whether the number of discharges generated between the poles is one or multiple within a unit time, the number of determinations is counted as one.
- step S6 the machining condition setting unit 32 determines whether or not the number of determinations is equal to or greater than a predetermined number. If the number of determinations is the predetermined number or more, the process proceeds to step S7, and if the number of determinations is less than the predetermined number, the process returns to step S3.
- step S7 the machining condition setting unit 32 sets the machining condition as the second condition.
- step S8 the process proceeds to step S8.
- the second condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- the second condition is set to a speed slower than the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- step S8 the discharge-induced voltage control unit 34 outputs a command value based on the second condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the second condition between the poles in the period of the second condition.
- the machining current control unit 36 outputs a command value based on the second condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the processing current of the second condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the second condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the second condition.
- step S9 This step S8 is continuously executed until the step S11 described later is performed.
- step S9 the machining condition setting unit 32 determines whether or not the moving distance of the wire electrode 12 with respect to the work 14 is equal to or greater than a predetermined distance.
- the moving distance of the wire electrode 12 is measured with respect to the position of the wire electrode 12 at the time when the machining condition is switched from the first condition to the second condition in step S7. If the moving distance of the wire electrode 12 is longer than the predetermined distance, the process proceeds to step S10, and if the moving distance of the wire electrode 12 is less than the predetermined distance, the step S9 is repeated.
- step S10 the machining condition setting unit 32 sets the machining condition to the third condition.
- the third condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- the third condition is set to a speed faster than the second condition. Further, regarding the processing current supplied to the wire electrode 12, the third condition is set to a current larger than that of the second condition. Regarding the discharge-induced voltage applied between the poles, the third condition may be the same as the second condition, and the third condition may be different from the second condition. Regarding the period in which the discharge-induced voltage is applied, the third condition may be the same as the second condition, and the third condition may be different from the second condition.
- the third condition is the second condition for the processing current supplied to the wire electrode 12.
- the current may be set to the same magnitude as the condition of.
- the third condition is set to a current larger than the second condition for the machining current supplied to the wire electrode 12
- the third condition is the second condition for the relative speed of the wire electrode 12 with respect to the work 14. It may be set to the same speed as the condition of.
- step S11 the discharge-induced voltage control unit 34 outputs a command value based on the third condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the second condition between the poles in the cycle of the third condition.
- the machining current control unit 36 outputs a command value based on the third condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the processing current of the third condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the third condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the third condition.
- the approach process is terminated.
- electric discharge machining of the work 14 is performed according to the machining program.
- the process of step S11 is continuously executed even after the approach process is completed until the processing conditions are changed.
- FIG. 3 is a schematic view showing how the wire electrode 12 approaches the machined end face 40 of the work 14 and the wire electrode 12 enters the work 14 while performing electric discharge machining from the machined end face 40.
- the machined condition setting unit 32 sets the machined condition as the first condition.
- the machining condition is set to the first condition, the relative speed of the wire electrode 12 becomes high.
- the time required for the wire electrode 12 to reach the machined end face 40 can be shortened.
- the time from the start of the wire electrode 12 approaching the machined end face 40 to the completion of the work of the work 14 (hereinafter, may be referred to as a work time) can be shortened.
- the wire electric discharge machine 10 switches the machined condition from the first condition to the second condition.
- the relative speed of the wire electrode 12 when the machining condition is set to the second condition is slower than the relative speed of the wire electrode 12 when the machining condition is set to the first condition. As a result, it is possible to suppress disconnection of the wire electrode 12 when the wire electrode 12 enters the work 14 from the machined end face 40.
- the machining condition In order to achieve both shortening of the machining time and suppression of disconnection of the wire electrode 12, it is necessary to switch the machining condition from the first condition to the second condition when the wire electrode 12 approaches the machining end face 40. be. If the machining condition is switched from the first condition to the second condition when the wire electrode 12 is separated from the machining end face 40, the machining time cannot be sufficiently shortened. Further, if the machining condition is switched from the first condition to the second condition after the wire electrode 12 enters the work 14, the wire electrode 12 frequently breaks when the wire electrode 12 enters the work 14. ..
- FIG. 4 is a schematic diagram showing a work 14 in a state where the punch (core) 42 is left uncut.
- the uncut portion is processed on the work 14, and the punch 42 and the die 46 are connected to each other at the uncut portion 44 shown by the dotted line in FIG.
- FIG. 5 is a schematic view showing how the wire electrode 12 approaches the machined end face 40 of the work 14 and the wire electrode 12 enters the work 14 while performing electric discharge machining from the machined end face 40.
- the wire electrode 12 In order to separate the punch 42 from the die 46, as shown in FIG. 5, the wire electrode 12 needs to approach the machined end face 40 through the machined groove 48 that has already been machined. In this case, since the works 14 on both sides of the machined groove 48 are close to the wire electrode 12, a discharge may occur between the electrodes. In such a case, it is easy to erroneously determine that the wire electrode 12 has approached the machined end face 40 even though the wire electrode 12 is separated from the machined end face 40. If an erroneous determination is made, the machining condition is switched from the first condition to the second condition at a position where the wire electrode 12 is separated from the machining end face 40.
- the relative speed of the wire electrode 12 with respect to the work 14 is slower than when the machining condition is the first condition. Therefore, the time required for the wire electrode 12 to reach the machined end face 40 becomes longer, and the machined time may become longer.
- the wire electric discharge machine 10 of the present embodiment determines whether or not an electric discharge has occurred between the poles within a unit time for each unit time. Regardless of whether the number of times of discharge between poles is one or multiple times within a unit time, the number of times (judgment number) that it is determined that a discharge has occurred between poles within a unit time is counted as one. do. When the discharge is sporadic, the number of determinations is small. On the other hand, when discharges occur continuously, the number of determinations increases.
- the machining condition setting unit 32 determines that an electric discharge has occurred between the poles within a unit time as a criterion for switching the machining condition from the first condition to the second condition.
- the number of times is used.
- the timing for switching the machining condition from the first condition to the second condition can be set when the wire electrode 12 approaches the machining end face 40.
- the time at the start of electric discharge machining refers to the time when the surface of the machined end face 40 is removed by the electric discharge generated between the wire electrode 12 and the machined end face 40.
- the load on the wire electrode 12 becomes larger than that before the start of electric discharge machining, and the wire electrode 12 is likely to be disconnected.
- the wire electric discharge machine 10 of the present embodiment sets the relative speed of the wire electrode 12 with respect to the work 14 as the second condition.
- the relative speed of the wire electrode 12 with respect to the work 14 becomes slower than in the case where the relative speed is set in the first condition.
- the moving distance of the wire electrode 12 with respect to the work 14 reaches a predetermined distance after the machining condition is switched from the first condition to the second condition in the machining condition setting unit 32, the machining condition is met. Is switched from the second condition to the third condition.
- the wire electric discharge machine 10 of the present embodiment sets the processing current supplied to the wire electrode 12 as the third condition.
- the machining current By setting the machining current to the third condition, the discharge energy between the poles becomes higher than when the machining current is set to the second condition.
- the wire electric discharge machine 10 of the present embodiment sets the relative speed of the wire electrode 12 with respect to the work 14 as the third condition.
- the relative speed in the third condition By setting the relative speed in the third condition, the relative speed of the wire electrode 12 with respect to the work 14 becomes faster than in the case where the relative speed is set in the second condition. As a result, the machining speed of the work 14 can be increased and the machining time of the work 14 can be shortened.
- the configuration of the wire electric discharge machine 10 of the second embodiment is the same as that of the wire electric discharge machine 10 of the first embodiment.
- the content of the approach process performed by the control device 26 of the second embodiment is partially different from the content of the approach process of the first embodiment.
- FIG. 6 is a flowchart showing the flow of approach processing performed in the control device 26. The approach process is executed every time the wire electrode 12 approaches the machined end face 40 of the work 14.
- step S21 the machining condition setting unit 32 sets the machining condition as the first condition. After that, the process proceeds to step S22.
- the first condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- step S22 the discharge-induced voltage control unit 34 outputs a command value based on the first condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the first condition between the poles in the cycle of the first condition.
- the machining current control unit 36 outputs a command value based on the first condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the machining current of the first condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the first condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the first condition.
- step S23 This step S22 is continuously executed until the step S29 described later is performed.
- step S23 the discharge determination unit 28 determines whether or not a unit time has elapsed. If the unit time has elapsed, the process proceeds to step S24, and if the unit time has not elapsed, the process of step S23 is repeated. The determination as to whether or not the unit time has elapsed is performed based on the elapsed time based on the later of the start time of the approach process and the previously determined time when the unit time has elapsed in step S23.
- step S24 the discharge determination unit 28 determines whether or not a discharge has occurred between the poles within a unit time. If a discharge has occurred, the process proceeds to step S25, and if no discharge has occurred, the process proceeds to step S26. Whether or not a discharge has occurred between the poles within a unit time can be determined, for example, based on the average value of the pole voltages within the unit time. When the average value of the pole-to-pole voltages within a unit time is equal to or less than a predetermined voltage, it is determined that a discharge has occurred between the poles within a unit time.
- step S25 the counting unit 30 increments the number of times it is determined that a discharge has occurred between the poles within a unit time (hereinafter referred to as the number of times of determination). After that, the process proceeds to step S27. Whether the number of discharges generated between the poles is one or multiple within a unit time, the number of determinations is counted as one.
- step S26 the counting unit 30 resets the number of determinations. After that, the process returns to step S23.
- step S27 the machining condition setting unit 32 determines whether or not the number of determinations is equal to or greater than a predetermined number. If the number of determinations is the predetermined number or more, the process proceeds to step S28, and if the number of determinations is less than the predetermined number, the process returns to step S23.
- step S28 the machining condition setting unit 32 sets the machining condition as the second condition.
- the second condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- the second condition is set to a speed slower than the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- step S29 the discharge-induced voltage control unit 34 outputs a command value based on the second condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the second condition between the poles in the period of the second condition.
- the machining current control unit 36 outputs a command value based on the second condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the processing current of the second condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the second condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the second condition.
- step S30 This step S29 is continuously executed until the step S32 described later is performed.
- step S30 the machining condition setting unit 32 determines whether or not the moving distance of the wire electrode 12 with respect to the work 14 is equal to or greater than a predetermined distance.
- the moving distance of the wire electrode 12 is measured with respect to the position of the wire electrode 12 at the time when the machining condition is switched from the first condition to the second condition in step S28. If the moving distance of the wire electrode 12 is longer than the predetermined distance, the process proceeds to step S31, and if the moving distance of the wire electrode 12 is less than the predetermined distance, the process of step S30 is repeated.
- step S31 the machining condition setting unit 32 sets the machining condition to the third condition. After that, the process proceeds to step S32.
- the third condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- the third condition is set to a speed faster than the second condition. Further, regarding the processing current supplied to the wire electrode 12, the third condition is set to a current larger than that of the second condition. Regarding the discharge-induced voltage applied between the poles, the third condition may be the same as the second condition, and the third condition may be different from the second condition. Regarding the period in which the discharge-induced voltage is applied, the third condition may be the same as the second condition, and the third condition may be different from the second condition.
- the third condition is the second condition regarding the processing current supplied to the wire electrode 12.
- the current may be set to the same magnitude as the condition of.
- the third condition is set to a current larger than the second condition for the machining current supplied to the wire electrode 12
- the third condition is the second condition for the relative speed of the wire electrode 12 with respect to the work 14. It may be set to the same speed as the condition of.
- step S32 the discharge-induced voltage control unit 34 outputs a command value based on the third condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the second condition between the poles in the cycle of the third condition.
- the machining current control unit 36 outputs a command value based on the third condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the processing current of the third condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the third condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the third condition.
- the approach process is terminated.
- electric discharge machining of the work 14 is performed according to the machining program.
- the process of step S32 is continuously executed even after the approach process is completed until the processing conditions are changed.
- the counting unit 30 when it is determined that no electric discharge has occurred between the poles within a unit time, the counting unit 30 resets the number of determinations.
- the machining condition setting unit 32 continuously determines that a discharge has occurred between the poles within a unit time, and when the number of determinations reaches a predetermined number, the machining condition is switched from the first condition to the second condition. ..
- the timing of switching from the first condition to the second condition of the machining condition can be set at the time when the wire electrode 12 approaches the machining end face 40. Therefore, the time required for the wire electrode 12 to reach the machined end face 40 can be shortened, and the machined time can also be shortened.
- the configuration of the wire electric discharge machine 10 of the third embodiment is the same as that of the wire electric discharge machine 10 of the first embodiment.
- the content of the approach process performed by the control device 26 of the third embodiment is partially different from the content of the approach process of the first embodiment.
- FIG. 7 is a flowchart showing the flow of approach processing performed in the control device 26. The approach process is executed every time the wire electrode 12 approaches the machined end face 40 of the work 14.
- step S41 the machining condition setting unit 32 sets the machining condition as the first condition.
- step S42 the machining condition setting unit 32 sets the machining condition as the first condition.
- the first condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- step S42 the discharge-induced voltage control unit 34 outputs a command value based on the first condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the first condition between the poles in the cycle of the first condition.
- the machining current control unit 36 outputs a command value based on the first condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the machining current of the first condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the first condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the first condition.
- step S43 The process of step S42 is continuously executed until the process of step S50 described later is performed.
- step S43 the discharge determination unit 28 determines whether or not a unit time has elapsed. If the unit time has elapsed, the process proceeds to step S44, and if the unit time has not elapsed, the process of step S43 is repeated. The determination as to whether or not the unit time has elapsed is performed based on the elapsed time based on the later of the start time of the approach process and the previously determined time when the unit time has elapsed in step S43.
- step S44 the discharge determination unit 28 determines whether or not a discharge has occurred between the poles within a unit time. If a discharge has occurred, the process proceeds to step S45, and if no discharge has occurred, the process returns to step S43. Whether or not a discharge has occurred between the poles within a unit time can be determined, for example, based on the average value of the pole voltages within the unit time. When the average value of the pole-to-pole voltages within a unit time is equal to or less than a predetermined voltage, it is determined that a discharge has occurred between the poles within a unit time.
- step S45 the counting unit 30 increments the number of times it is determined that a discharge has occurred between the poles within a unit time (hereinafter referred to as the number of times of determination). After that, the process proceeds to step S46. Whether the number of discharges generated between the poles is one or multiple within a unit time, the number of determinations is counted as one.
- step S46 the machining condition setting unit 32 determines whether or not the number of determinations is equal to or greater than a predetermined number. If the number of determinations is the predetermined number or more, the process proceeds to step S49, and if the number of determinations is less than the predetermined number, the process proceeds to step S47.
- step S47 the counting unit 30 determines whether or not a predetermined time has elapsed. If the predetermined time has elapsed, the process proceeds to step S48, and if the predetermined time has not elapsed, the process returns to step S43.
- the predetermined time is set to a time longer than the unit time. The determination as to whether or not the predetermined time has elapsed is performed based on the elapsed time from the start time of the approach process and the later of the previously determined time when the predetermined time has elapsed in step S47.
- step S48 the counting unit 30 resets the number of determinations. Then, the process returns to step S43.
- step S49 the machining condition setting unit 32 sets the machining condition as the second condition.
- the second condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- the second condition is set to a speed slower than the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- the second condition may be the same as the first condition, and the second condition may be different from the first condition.
- step S50 the discharge-induced voltage control unit 34 outputs a command value based on the second condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the second condition between the poles in the period of the second condition.
- the machining current control unit 36 outputs a command value based on the second condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the processing current of the second condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the second condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the second condition.
- step S51 the machining condition setting unit 32 determines whether or not the moving distance of the wire electrode 12 with respect to the work 14 is equal to or greater than a predetermined distance.
- the moving distance of the wire electrode 12 is measured with respect to the position of the wire electrode 12 at the time when the machining condition is switched from the first condition to the second condition in step S50. If the moving distance of the wire electrode 12 is longer than the predetermined distance, the process proceeds to step S52, and if the moving distance of the wire electrode 12 is less than the predetermined distance, the process of step S51 is repeated.
- step S52 the machining condition setting unit 32 sets the machining condition to the third condition.
- step S53 The third condition is the processing for each of the discharge-induced voltage applied between the electrodes, the period in which the discharge-induced voltage is applied, the processing current supplied to the wire electrode 12, and the relative speed of the wire electrode 12 with respect to the work 14. It is a condition.
- the third condition is set to a speed faster than the second condition. Further, regarding the processing current supplied to the wire electrode 12, the third condition is set to a current larger than that of the second condition. Regarding the discharge-induced voltage applied between the poles, the third condition may be the same as the second condition, and the third condition may be different from the second condition. Regarding the period in which the discharge-induced voltage is applied, the third condition may be the same as the second condition, and the third condition may be different from the second condition.
- the third condition is the second condition regarding the processing current supplied to the wire electrode 12.
- the current may be set to the same magnitude as the condition of.
- the third condition is set to a current larger than the second condition for the machining current supplied to the wire electrode 12
- the third condition is the second condition for the relative speed of the wire electrode 12 with respect to the work 14. It may be set to the same speed as the condition of.
- step S53 the discharge-induced voltage control unit 34 outputs a command value based on the third condition to the discharge-induced circuit 20.
- the discharge induction circuit 20 applies the discharge induction voltage of the second condition between the poles in the cycle of the third condition.
- the machining current control unit 36 outputs a command value based on the third condition to the main discharge circuit 22.
- the main discharge circuit 22 supplies the processing current of the third condition to the wire electrode 12.
- the servo controller 38 outputs a command value based on the third condition to the servo amplifier 24.
- the servo amplifier 24 supplies drive power to the servomotor 16 based on the command value.
- the wire electrode 12 moves with respect to the work 14 at the relative speed of the third condition.
- the approach process is terminated.
- electric discharge machining of the work 14 is performed according to the machining program.
- the process of step S53 is continuously executed even after the approach process is completed until the processing conditions are changed.
- the counting unit 30 if the number of determinations does not reach the predetermined number of times even after the lapse of a predetermined time, the counting unit 30 resets the number of determinations.
- the machining condition setting unit 32 continuously determines that a discharge has occurred between the poles within a unit time, and when the number of determinations reaches a predetermined number, the machining condition is switched from the first condition to the second condition. .. Thereby, the timing of switching from the first condition to the second condition of the machining condition can be set at the time when the wire electrode 12 approaches the machining end face 40. Therefore, the time required for the wire electrode 12 to reach the machined end face 40 can be shortened, and the machined time can also be shortened.
- wire electrode (12) While the wire electrode (12) is relatively moved with respect to the workpiece (14), a voltage is applied between the poles of the wire electrode and the workpiece to generate an electric discharge, thereby generating the workpiece.
- a wire discharge processing machine (10) that performs discharge processing, and a control unit (36,) that controls the relative speed of the wire electrode with respect to the workpiece and the discharge energy generated between the electrodes according to the processing conditions. 38), a voltage detection unit (18) that detects the voltage between the electrodes, and the wire electrode approaching the machined end face (40) of the work piece in order to process the work piece.
- a discharge determination unit (28) for determining whether or not a discharge has occurred between the electrodes within the unit time and a discharge have occurred every unit time based on the detected voltage between the electrodes.
- the counting unit (30) for counting the number of times determined to have been performed and the processing condition when approaching the machined end face are set as the first condition, and the counted number of times reaches a predetermined number of times.
- a machining condition setting unit (32) that sets the machining condition to a second condition different from the first condition.
- the counting unit may reset the number of times of counting when it is determined that no discharge has occurred between the poles within the unit time.
- the counting unit starts counting the number of times it is determined that a discharge has occurred, and when a predetermined time longer than the unit time elapses, the number of times counted. May be reset.
- the second condition may be a condition in which the relative speed of the wire electrode with respect to the workpiece is slower than the first condition.
- the machining condition setting unit sets the machining condition to the second condition, and then the moving distance of the wire electrode to the workpiece reaches a predetermined distance.
- the machining condition may be set to a third condition different from the second condition.
- the third condition is that the relative speed of the wire electrode with respect to the workpiece is faster than the second condition, and the electric discharge energy generated between the electrodes is. It may be at least one of the conditions higher than the second condition.
- the first machining condition setting step of setting the machining condition when the wire electrode is approaching the machined end face (40) of the workpiece as the first condition, and the first condition. It is detected when the first control step for controlling the relative speed of the wire electrode with respect to the workpiece and the discharge energy generated between the electrodes and the wire electrode approaching the machined end face.
- the discharge determination step for determining whether or not a discharge has occurred between the electrodes within the unit time and the number of times it has been determined that a discharge has occurred are counted for each unit time.
- a second machining condition setting step for setting the machining condition to a second condition different from the first condition when the counted number of times reaches a predetermined number of times, and the second machining condition setting step.
- a second control step for controlling the relative speed of the wire electrode with respect to the workpiece and the discharge energy generated between the electrodes is provided according to the conditions.
- the count step may reset the counted number of times when it is determined that no discharge has occurred between the poles within the unit time.
- the second condition may be a condition in which the relative speed of the wire electrode with respect to the workpiece is slower than the first condition.
- the machining condition when the moving distance of the wire electrode with respect to the workpiece reaches a predetermined distance after the machining condition is set to the second condition, the machining condition May be provided with a third machining condition setting step for setting a third condition different from the second condition.
- the third condition is a condition in which the relative speed of the wire electrode with respect to the workpiece is faster than the second condition, and the third condition is generated between the electrodes.
- the discharge energy may be at least one of the conditions higher than the second condition.
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Abstract
Description
[ワイヤ放電加工機の構成]
図1はワイヤ放電加工機10の構成図である。ワイヤ放電加工機10は、ワイヤ電極12をワーク(被加工物)14に対して相対移動させながら、ワイヤ電極12とワーク14との極間に放電を生じさせて加工を行う。ワーク14は、図示しないワークテーブルに設置される。サーボモータ16がワークテーブルをX軸方向及びY軸方向に移動することにより、ワイヤ電極12はワーク14に対して相対移動する。
図2は、制御装置26において行われるアプローチ処理の流れを示すフローチャートである。アプローチ処理は、ワイヤ電極12がワーク14の加工端面40(図3及び図5参照)にアプローチする度に実行される。加工端面40とは、ワーク14の加工開始時にワイヤ電極12がアプローチするワーク14の表面を示す。
図3は、ワイヤ電極12がワーク14の加工端面40にアプローチし、ワイヤ電極12が加工端面40から放電加工しながらワーク14内に進入する様子を示す模式図である。
第2実施形態のワイヤ放電加工機10の構成は、第1実施形態のワイヤ放電加工機10と同じである。しかし、第2実施形態の制御装置26において行われるアプローチ処理の内容が、第1実施形態のアプローチ処理の内容と一部異なる。
ワイヤ電極12が加工溝48を通過中である場合には、極間に放電が発生したとしても、放電の発生は単発的であり、連続して放電が発生することはない。一方、ワイヤ電極12が加工端面40に接近した場合には、連続して放電が発生する。
第3実施形態のワイヤ放電加工機10の構成は、第1実施形態のワイヤ放電加工機10と同じである。しかし、第3実施形態の制御装置26において行われるアプローチ処理の内容が、第1実施形態のアプローチ処理の内容と一部異なる。
ワイヤ電極12が加工溝48を通過中である場合には、極間に放電が発生したとしても、放電の発生は単発的であり、連続して放電が発生することはない。一方、ワイヤ電極12が加工端面40に接近した場合には、連続して放電が発生する。
上記実施形態から把握し得る発明について、以下に記載する。
Claims (12)
- 被加工物(14)に対してワイヤ電極(12)を相対移動させながら、前記ワイヤ電極と前記被加工物との極間に電圧を印加させて放電を発生させることにより、前記被加工物の放電加工を行うワイヤ放電加工機(10)であって、
加工条件にしたがって、前記被加工物に対する前記ワイヤ電極の相対速度、及び、前記極間に発生させる放電エネルギを制御する制御部(36、38)と、
前記極間の電圧を検出する電圧検出部(18)と、
前記被加工物を加工するために前記ワイヤ電極が前記被加工物の加工端面(40)に向けてアプローチしている場合に、検出された前記極間の電圧に基づいて、単位時間毎に、前記単位時間内において前記極間に放電が発生したか否かを判定する放電判定部(28)と、
放電が発生したと判定された回数をカウントするカウント部(30)と、
前記加工端面にアプローチしている場合の前記加工条件を第1の条件に設定し、前記カウントされた回数が所定回数に達した場合には前記加工条件を前記第1の条件とは異なる第2の条件に設定する加工条件設定部(32)と、
を備える、ワイヤ放電加工機。 - 請求項1に記載のワイヤ放電加工機であって、
前記カウント部は、前記単位時間内において前記極間に放電が発生しなかったと判定された場合には、カウントした回数をリセットする、ワイヤ放電加工機。 - 請求項1又は2に記載のワイヤ放電加工機であって、
前記カウント部は、放電が発生したと判定された回数のカウントを開始してから、前記単位時間よりも長い所定時間が経過した場合には、カウントした回数をリセットする、ワイヤ放電加工機。 - 請求項1~3のいずれか1項に記載のワイヤ放電加工機であって、
前記第2の条件は、前記被加工物に対する前記ワイヤ電極の相対速度が前記第1の条件よりも遅い条件である、ワイヤ放電加工機。 - 請求項1~4のいずれか1項に記載のワイヤ放電加工機であって、
前記加工条件設定部は、前記加工条件を前記第2の条件に設定した後に、前記被加工物に対する前記ワイヤ電極の移動距離が所定距離に達した場合は前記加工条件を前記第2の条件とは異なる第3の条件に設定する、ワイヤ放電加工機。 - 請求項5に記載のワイヤ放電加工機であって、
前記第3の条件は、前記被加工物に対する前記ワイヤ電極の相対速度が前記第2の条件よりも速い条件、及び、前記極間に発生させる放電エネルギが前記第2の条件よりも高い条件の少なくとも一方である、ワイヤ放電加工機。 - 被加工物(14)に対してワイヤ電極(12)を相対移動させながら、前記ワイヤ電極と前記被加工物との極間に電圧を印加させて放電を発生させることにより、前記被加工物の放電加工を行うワイヤ放電加工機(10)の制御方法であって、
前記ワイヤ放電加工機は、前記極間の電圧を検出する電圧検出部(18)を備え、
前記被加工物を加工するために前記ワイヤ電極が前記被加工物の加工端面(40)に向けてアプローチしている場合の加工条件を第1の条件に設定する第1加工条件設定ステップと、
前記第1の条件にしたがって、前記被加工物に対する前記ワイヤ電極の相対速度、及び、前記極間に発生させる放電エネルギを制御する第1制御ステップと、
前記ワイヤ電極が前記加工端面に向けてアプローチしている場合に、検出された前記極間の電圧に基づいて、単位時間毎に、前記単位時間内において前記極間に放電が発生したか否かを判定する放電判定ステップと、
放電が発生したと判定された回数をカウントするカウントステップと、
前記カウントされた回数が所定回数に達した場合には前記加工条件を前記第1の条件とは異なる第2の条件に設定する第2加工条件設定ステップと、
前記第2の条件にしたがって、前記被加工物に対する前記ワイヤ電極の相対速度、及び、前記極間に発生させる放電エネルギを制御する第2制御ステップと、
を備える、ワイヤ放電加工機の制御方法。 - 請求項7に記載のワイヤ放電加工機の制御方法であって、
前記カウントステップは、前記単位時間内において前記極間に放電が発生しなかったと判定された場合には、カウントした回数をリセットする、ワイヤ放電加工機の制御方法。 - 請求項7又は8に記載のワイヤ放電加工機の制御方法であって、
前記カウントステップは、放電が発生したと判定された回数のカウントを開始してから、前記単位時間よりも長い所定時間が経過した場合には、カウントした回数をリセットする、ワイヤ放電加工機の制御方法。 - 請求項7~9のいずれか1項に記載のワイヤ放電加工機の制御方法であって、
前記第2の条件は、前記被加工物に対する前記ワイヤ電極の相対速度が前記第1の条件よりも遅い条件である、ワイヤ放電加工機の制御方法。 - 請求項7~10のいずれか1項に記載のワイヤ放電加工機の制御方法であって、
前記加工条件が前記第2の条件に設定された後に、前記被加工物に対する前記ワイヤ電極の移動距離が所定距離に達した場合は前記加工条件を前記第2の条件とは異なる第3の条件に設定する第3加工条件設定ステップを備える、ワイヤ放電加工機の制御方法。 - 請求項11に記載のワイヤ放電加工機の制御方法であって、
前記第3の条件は、前記被加工物に対する前記ワイヤ電極の相対速度が前記第2の条件よりも速い条件、及び、前記極間に発生させる放電エネルギが前記第2の条件よりも高い条件の少なくとも一方である、ワイヤ放電加工機の制御方法。
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- 2021-11-01 US US18/250,805 patent/US20230390844A1/en active Pending
- 2021-11-04 TW TW110141060A patent/TW202218782A/zh unknown
Patent Citations (5)
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JPH02256425A (ja) * | 1988-08-19 | 1990-10-17 | Mitsubishi Electric Corp | ワイヤ放電加工装置のワイヤ断線復帰方法 |
JPH05104330A (ja) * | 1991-10-11 | 1993-04-27 | Makino Milling Mach Co Ltd | ワイヤ放電加工機の加工条件制御方法 |
JPH08197335A (ja) * | 1995-01-27 | 1996-08-06 | Fanuc Ltd | ワイヤ放電加工機における断線検出方法 |
JP2001113419A (ja) | 1999-10-18 | 2001-04-24 | Mitsubishi Electric Corp | ワイヤ放電加工装置 |
JP2006015478A (ja) * | 2004-06-02 | 2006-01-19 | Fanuc Ltd | ワイヤ放電加工機の制御装置 |
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WO2022097596A9 (ja) | 2022-08-04 |
JP7068564B1 (ja) | 2022-05-16 |
US20230390844A1 (en) | 2023-12-07 |
EP4219053A1 (en) | 2023-08-02 |
JPWO2022097596A1 (ja) | 2022-05-12 |
CN116547097A (zh) | 2023-08-04 |
TW202218782A (zh) | 2022-05-16 |
KR20230073332A (ko) | 2023-05-25 |
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