WO2022249317A1 - 工作機械の制御装置 - Google Patents
工作機械の制御装置 Download PDFInfo
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- WO2022249317A1 WO2022249317A1 PCT/JP2021/019957 JP2021019957W WO2022249317A1 WO 2022249317 A1 WO2022249317 A1 WO 2022249317A1 JP 2021019957 W JP2021019957 W JP 2021019957W WO 2022249317 A1 WO2022249317 A1 WO 2022249317A1
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- WIPO (PCT)
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- minimum value
- unit
- oscillation amplitude
- command
- swing
- Prior art date
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- 230000010355 oscillation Effects 0.000 claims abstract description 69
- 238000003754 machining Methods 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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Classifications
-
- 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
- G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/0075—Controlling reciprocating movement, e.g. for planing-machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B25/00—Accessories or auxiliary equipment for turning-machines
- B23B25/02—Arrangements for chip-breaking in turning-machines
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49055—Remove chips from probe, tool by vibration
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Definitions
- the present invention relates to a control device for machine tools.
- oscillating cutting is sometimes applied as a countermeasure against chips during drilling and turning.
- a conventional numerical control device realizes oscillating cutting by superimposing an oscillating command on a position command.
- the swing amplitude is determined by multiplying the command by the swing amplitude multiplier according to the feed speed. Therefore, if the oscillation amplitude magnification is increased in advance in consideration of the delay in following the command, the oscillation amplitude becomes excessive in the steady state, which affects the tool and the machined surface roughness. Therefore, it is desired to appropriately shred chips in a state in which followability is not good, such as immediately after the start of machining or just before the end of machining.
- a control device for a machine tool that performs machining while relatively rocking a tool and a work includes rocking conditions for relatively rocking the work and the tool, and feed of the tool.
- a swing amplitude calculator for calculating a swing amplitude based on a speed, a minimum value setting unit for setting a minimum value of the swing amplitude, and a calculated value of the swing amplitude calculated by the swing amplitude calculator. and a comparison unit for comparing the minimum value of the oscillation amplitude set by the minimum value setting unit;
- a swing command generator for generating a motion command, and a position/speed controller for relatively swinging the workpiece and the tool based on the superimposed command obtained by superimposing the swing command on the position command.
- FIG. 1 is a block diagram showing the configuration of a control device 1 for a machine tool according to this embodiment.
- a control device 1 controls a machine tool 2 that performs machining while relatively swinging a tool and a workpiece.
- the control device 1 oscillates the tool with respect to the work so as to generate finely divided chips in order to prevent chips generated by cutting from entangling with the work or the tool.
- the control device 1 may be connected to a host computer (not shown) such as a CNC (Computer Numerical Controller) or a PLC (Programmable Logic Controller).
- a host computer such as a CNC (Computer Numerical Controller) or a PLC (Programmable Logic Controller).
- the control device 1 includes a position command generator 11, a first adder 12, an integrator 13, a swing command generator 14, a second adder 15, and a learning controller 16. , a position/speed control unit 17, an oscillation condition setting unit 18, an oscillation amplitude calculation unit 19, a minimum value setting unit 20, a comparison unit 21, a machining condition input unit 22, and a lower limit value input unit 23. , a recommended value calculation unit 24 , a storage unit 25 , a display control unit 26 , and a display unit 27 .
- the position command generator 11 generates a position command for the motor 201 of the machine tool 2 based on machining conditions for machining the workpiece with the tool.
- the machining conditions may be output to the position command generator 11 from a host computer such as a CNC or PLC, for example.
- the generated position command is input to the first adder 12 as shown in FIG.
- the first adder 12 calculates the positional deviation. Specifically, the first adder 12 calculates the position deviation, which is the difference between the position feedback and the position command based on the position detection by the encoder of the motor 201 of the feed shaft.
- the integrator 13 calculates the integrated value of the positional deviation. Specifically, the integrator 13 integrates the positional deviations calculated by the first adder 12 to calculate the integrated value of the positional deviations.
- the swing command generator 14 generates a swing command. Specifically, the swing command generator 14 generates a swing command based on the swing amplitude value and the swing condition obtained from the comparison result by the comparator 21 . Note that the swing command generator 14 may obtain the swing command from the swing conditions including the swing amplitude magnification and the swing frequency multiplier and the machining conditions, or from the swing conditions including the swing amplitude and the swing frequency. A swing command may be obtained.
- the learning controller 16 calculates a correction amount for the superimposed command based on the superimposed command, and adds the calculated correction amount to the superimposed command by an adder, thereby correcting the superimposed command.
- This learning controller 16 has a memory, and stores in the memory the oscillation phase and the superimposed command in association with each other within one or a plurality of periods of oscillation.
- the learning controller 16 reads out the superimposition command stored in the memory at a timing that can compensate for the phase delay of the swing motion according to the responsiveness of the motor 201, and outputs it to the adder as a correction amount.
- the position/speed control unit 17 generates a torque command for the motor 201 that drives the feed shaft based on the superimposed command after addition of the correction amount, and controls the motor 201 with the generated torque command.
- the machine tool 2 can perform machining while relatively swinging the tool and the workpiece.
- the swing condition setting unit 18 sets swing conditions for relatively swinging the workpiece and the tool. Specifically, the rocking condition setting unit 18 sets rocking amplitude or rocking amplitude multiplier and rocking frequency or rocking frequency multiplier. The swing conditions including the swing amplitude or swing amplitude multiplier and the swing frequency or swing frequency multiplier are input to the swing amplitude calculator 19 .
- the swing amplitude calculator 19 calculates the swing amplitude based on the swing condition set by the swing condition setting unit 18 and the tool feed speed.
- the minimum value setting unit 20 sets the minimum value of the oscillation amplitude. Specifically, the minimum value setting unit 20 sets the minimum value of the oscillation amplitude based on the CNC parameters, designation in the machining program, and the like.
- the minimum value setting unit 20 may change the minimum value of the oscillation amplitude according to the machining conditions.
- the machining conditions include workpiece rotation speed, tool feed speed, command acceleration, inertia, cutting load, machine rigidity, etc., but the machining conditions are command acceleration, inertia, cutting load, or machine rigidity in particular. is preferred.
- the minimum value setting unit 20 multiplies the minimum value of the oscillation amplitude in the state before the change by a magnification (override value) to reduce the oscillation amplitude. Change the minimum value.
- the minimum value setting unit 20 also multiplies the minimum value of the oscillation amplitude in the state before the change by the magnification (override value).
- the control device 1 can reduce the follow-up delay because the time from the start of the swing to the machining point is lengthened.
- Factors that change the cutting load include, for example, changes in the specifications of the workpiece and the tool.
- the minimum value setting unit 20 may select the minimum value of the oscillation amplitude stored in the storage unit 25 according to the machining conditions. For example, when a plurality of processing conditions are stored in the storage unit 25, each processing condition may be provided with a preset value. Further, for example, if the machining condition is the cutting load and it is difficult to estimate the cutting load, the machining condition may be the result of actual machining or air cutting stored in the storage unit 25 .
- the comparison unit 21 compares the calculated value of the oscillation amplitude calculated by the oscillation amplitude calculation unit 19 and the minimum value of the oscillation amplitude set by the minimum value setting unit 20 . Specifically, the comparison unit 21 determines whether or not the calculated value of the oscillation amplitude calculated by the oscillation amplitude calculation unit 19 is less than the minimum oscillation amplitude set by the minimum value setting unit 20. judge.
- the comparison unit 21 determines the minimum oscillation amplitude value as the oscillation amplitude value.
- the comparison unit 21 determines the calculated value of the oscillation amplitude as the value of the oscillation amplitude.
- the processing condition input unit 22 receives input of processing conditions, for example, by user's input operation.
- the processing condition input unit 22 outputs the input processing conditions to the recommended value calculation unit 24 and the storage unit 25 .
- the lower limit value input unit 23 receives input of the minimum value of the swing amplitude, for example, by the user's input operation.
- the lower limit value input unit 23 outputs the input recommended oscillation amplitude value calculation unit 24 and storage unit 25 .
- the recommended value calculation unit 24 calculates the minimum oscillation amplitude corresponding to the input machining conditions newly input by the machining condition input unit 22 or the lower limit value input unit 23 based on the plurality of machining conditions stored in the storage unit 25. Estimate a value.
- the storage unit 25 stores a plurality of minimum swing amplitude values in association with machining conditions. Accordingly, the recommended value calculator 24 can calculate a more accurate estimated value based on the plurality of data (that is, the minimum swing amplitude and the processing conditions) stored in the storage unit 25 .
- the display control unit 26 causes the display unit 27 to display setting information including the minimum swing amplitude and processing conditions.
- the display unit 27 is composed of an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube), etc., and displays various images under the control of the display control unit 26 .
- the minimum value setting unit 20 may use the setting information displayed on the display unit 27 to select and set a desired setting value.
- the minimum value setting unit 20 may receive input or selection from the user for setting information displayed on the display unit 27, and set a desired setting value according to the input or selection from the user.
- FIG. 2 is a flowchart showing processing of the control device 1 according to this embodiment.
- the swing amplitude calculator 19 calculates swing amplitude based on swing conditions for relatively swinging the workpiece and the tool.
- the minimum value setting section 20 sets the minimum value of the oscillation amplitude.
- step S ⁇ b>3 the comparison unit 21 compares the calculated value of the oscillation amplitude calculated by the oscillation amplitude calculation unit 19 and the minimum value of the oscillation amplitude set by the minimum value setting unit 20 . Specifically, the comparison unit 21 determines whether or not the calculated value of the oscillation amplitude calculated by the oscillation amplitude calculation unit 19 is less than the minimum oscillation amplitude set by the minimum value setting unit 20. judge. If the calculated swing amplitude is less than the minimum swing amplitude (YES), the process proceeds to step S4. If the calculated swing amplitude is greater than or equal to the minimum swing amplitude (NO), the process proceeds to step S5.
- step S4 the comparison unit 21 determines the minimum swing amplitude value as the swing amplitude value.
- step S5 the comparison unit 21 determines the calculated value of the oscillation amplitude as the value of the oscillation amplitude.
- step S6 the swing command generation unit 14 generates a swing command based on the swing amplitude value and the swing condition obtained from the comparison result by the comparison unit 21. Specifically, the swing command generator 14 generates a swing command based on the swing amplitude value and the swing conditions determined in step S4 or step S5.
- step S7 the learning controller 16 calculates a correction amount for the superimposed command based on the superimposed command, and adds the calculated correction amount to the superimposed command by an adder, thereby correcting the superimposed command.
- the position/speed control unit 17 After that, the position/speed control unit 17 generates a torque command for the motor 201 that drives the feed shaft based on the superimposed command after adding the correction amount, and controls the motor 201 with the generated torque command.
- the control device 1 includes the swing amplitude calculator 19 that calculates the swing amplitude based on the swing conditions for relatively swinging the workpiece and the tool and the feed rate of the tool, A minimum value setting unit 20 for setting the minimum value of the vibration amplitude, a calculated value of the vibration amplitude calculated by the vibration amplitude calculation unit 19, and the minimum value of the vibration amplitude set by the minimum value setting unit 20.
- a swing command generator 14 for generating a swing command based on the swing amplitude value and the swing conditions obtained from the comparison result of the comparator 21; and the swing command as a position command.
- a position/speed control unit 17 for relatively swinging the workpiece and the tool based on the superimposed command.
- control device 1 can set the lower limit value of the swing amplitude, it is possible to appropriately shred chips in a state where followability is not good, such as immediately after the start of machining or just before the end of machining.
- the minimum value setting unit 20 changes the minimum value of the oscillation amplitude according to the machining conditions for machining the workpiece with the tool. Thereby, the control device 1 can use an appropriate minimum value of the dynamic amplitude according to the machining conditions.
- the control device 1 further includes a storage unit 25 that stores a plurality of minimum swing amplitude values in association with machining conditions. Select the minimum oscillation amplitude. Thereby, the control device 1 can select an appropriate minimum value of the swing amplitude according to a plurality of machining conditions.
- the control device 1 further includes a recommended value calculator 24 for estimating the minimum swing amplitude corresponding to the newly input machining conditions based on the machining conditions stored in the storage unit 25 . Thereby, the control device 1 can calculate a more accurate estimated value based on a plurality of data (that is, minimum swing amplitude and processing conditions) stored in the storage unit 25 .
- control device 1 further includes a display control unit 26 that causes the display unit 27 to display setting information including the minimum swing amplitude and processing conditions. Thereby, for example, an operator who operates the control device 1 can view and check the setting information.
- the minimum value setting unit 20 uses the setting information displayed on the display unit 27 to select and set a desired setting value. As a result, for example, an operator who operates the control device 1 can set an appropriate minimum swing amplitude by browsing and checking the setting information.
- the control device 1 further includes a learning controller 16 that calculates a correction amount for the superimposed command based on the superimposed command and adds the calculated correction amount to the superimposed command to correct the superimposed command.
- a learning controller 16 that calculates a correction amount for the superimposed command based on the superimposed command and adds the calculated correction amount to the superimposed command to correct the superimposed command.
- the higher the oscillation frequency the greater the deviation (superimposed command) from the oscillation command. Therefore, the correction by the learning controller 16 can improve the ability to follow the periodic oscillation command. Therefore, as a result, the control device 1 can improve the ability to follow the superimposed command, and can easily achieve a desired chip length while suppressing the deterioration of machining accuracy.
- control device 1 can be realized by hardware, software, or a combination thereof. Also, the control method performed by the control device 1 can be implemented by hardware, software, or a combination thereof.
- control method performed by the control device 1 can be implemented by hardware, software, or a combination thereof.
- “implemented by software” means implemented by a computer reading and executing a program.
- Non-transitory computer-readable media include various types of tangible storage media.
- Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R/ W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).
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Abstract
Description
図1は、本実施形態に係る工作機械の制御装置1の構成を示すブロック図である。
制御装置1は、工具とワークを相対的に揺動させながら加工する工作機械2を制御する。制御装置1は、切削加工によって生じる切り屑がワーク又は工具に絡まることを抑制するために、細分された切り屑が生じるように、ワークに対して工具を揺動させる。
ステップS1において、揺動振幅算出部19は、ワーク及び工具を相対的に揺動するための揺動条件に基づいて揺動振幅を算出する。
ステップS2において、最小値設定部20は、揺動振幅の最小値を設定する。
揺動振幅の算出値が、揺動振幅の最小値よりも未満である場合(YES)、処理は、ステップS4へ移る。揺動振幅の算出値が、揺動振幅の最小値以上である場合(NO)、処理は、ステップS5へ移る。
ステップS5において、比較部21は、揺動振幅の算出値を揺動振幅の値として決定する。
2 工作機械
11 位置指令生成部
12 第1加算器
13 積算器
14 揺動指令生成部
15 第2加算器
16 学習制御器
17 位置速度制御部
18 揺動条件設定部
19 揺動振幅算出部
20 最小値設定部
21 比較部
22 加工条件入力部
23 下限値入力部
24 推奨値算出部
25 記憶部
26 表示制御部
27 表示部
Claims (7)
- 工具とワークを相対的に揺動させながら加工する工作機械の制御装置であって、
前記ワーク及び前記工具を相対的に揺動するための揺動条件及び前記工具の送り速度に基づいて揺動振幅を算出する揺動振幅算出部と、
前記揺動振幅の最小値を設定する最小値設定部と、
前記揺動振幅算出部によって算出された前記揺動振幅の算出値と、前記最小値設定部によって設定される前記揺動振幅の最小値とを比較する比較部と、
前記比較部による比較結果から得られる前記揺動振幅の値及び前記揺動条件に基づいて揺動指令を生成する揺動指令生成部と、
前記揺動指令を位置指令に重畳した重畳指令に基づいて、前記ワークと前記工具を相対的に揺動させる位置速度制御部と、
を備える制御装置。 - 前記最小値設定部は、前記揺動振幅の最小値を、前記ワークを前記工具によって加工するための加工条件に応じて変更する、請求項1に記載制御装置。
- 前記揺動振幅の最小値を前記加工条件と対応付けて複数記憶する記憶部を更に備え、
前記最小値設定部は、前記加工条件に応じて、前記記憶部に記憶された前記揺動振幅の最小値を選択する、請求項2に記載の制御装置。 - 前記記憶部に記憶された前記加工条件に基づいて、新たに入力された入力加工条件に対応する前記揺動振幅の最小値を推定する推奨値算出部を更に備える、請求項3に記載の制御装置。
- 前記揺動振幅の最小値及び前記加工条件を含む設定情報を表示部に表示させる表示制御部を更に備える、請求項2から4のいずれか一項に記載の制御装置。
- 前記最小値設定部は、前記設定情報を用いて所望の設定値を選択及び設定する、請求項5に記載の制御装置。
- 前記重畳指令に基づいて前記重畳指令の補正量を算出し、算出された前記補正量を前記重畳指令に加算することにより前記重畳指令を補正する学習制御部を更に備える請求項1から6のいずれか一項に記載の制御装置。
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CN202180098273.2A CN117321519A (zh) | 2021-05-26 | 2021-05-26 | 机床的控制装置 |
DE112021007094.0T DE112021007094T5 (de) | 2021-05-26 | 2021-05-26 | Steuereinheit für eine Werkzeugmaschine |
PCT/JP2021/019957 WO2022249317A1 (ja) | 2021-05-26 | 2021-05-26 | 工作機械の制御装置 |
JP2023523791A JPWO2022249317A1 (ja) | 2021-05-26 | 2021-05-26 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090107308A1 (en) * | 2007-10-16 | 2009-04-30 | Woody Bethany A | Methods and systems for chip breaking in turning applications using cnc toolpaths |
JP2014054688A (ja) * | 2012-09-12 | 2014-03-27 | Hariki Seiko Co Ltd | 工作機械 |
JP5606658B1 (ja) * | 2014-03-17 | 2014-10-15 | 三菱電機株式会社 | 数値制御装置 |
CN108788182A (zh) * | 2018-06-04 | 2018-11-13 | 津上精密机床(浙江)有限公司 | 一种摇动切削方法及应用该摇动切削方法的走心车床 |
JP2018180633A (ja) * | 2017-04-04 | 2018-11-15 | ファナック株式会社 | 揺動切削を行う工作機械の制御装置 |
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JP6636998B2 (ja) | 2017-08-22 | 2020-01-29 | ファナック株式会社 | 数値制御装置 |
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2021
- 2021-05-26 WO PCT/JP2021/019957 patent/WO2022249317A1/ja active Application Filing
- 2021-05-26 JP JP2023523791A patent/JPWO2022249317A1/ja active Pending
- 2021-05-26 DE DE112021007094.0T patent/DE112021007094T5/de active Pending
- 2021-05-26 CN CN202180098273.2A patent/CN117321519A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090107308A1 (en) * | 2007-10-16 | 2009-04-30 | Woody Bethany A | Methods and systems for chip breaking in turning applications using cnc toolpaths |
JP2014054688A (ja) * | 2012-09-12 | 2014-03-27 | Hariki Seiko Co Ltd | 工作機械 |
JP5606658B1 (ja) * | 2014-03-17 | 2014-10-15 | 三菱電機株式会社 | 数値制御装置 |
JP2018180633A (ja) * | 2017-04-04 | 2018-11-15 | ファナック株式会社 | 揺動切削を行う工作機械の制御装置 |
CN108788182A (zh) * | 2018-06-04 | 2018-11-13 | 津上精密机床(浙江)有限公司 | 一种摇动切削方法及应用该摇动切削方法的走心车床 |
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CN117321519A (zh) | 2023-12-29 |
JPWO2022249317A1 (ja) | 2022-12-01 |
DE112021007094T5 (de) | 2023-12-07 |
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