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WO2018135788A1 - Dispositif de commande d'une machine-outil, machine-outil le comprenant, et procédé de commande d'une machine-outil l'utilisant - Google Patents

Dispositif de commande d'une machine-outil, machine-outil le comprenant, et procédé de commande d'une machine-outil l'utilisant Download PDF

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Publication number
WO2018135788A1
WO2018135788A1 PCT/KR2018/000326 KR2018000326W WO2018135788A1 WO 2018135788 A1 WO2018135788 A1 WO 2018135788A1 KR 2018000326 W KR2018000326 W KR 2018000326W WO 2018135788 A1 WO2018135788 A1 WO 2018135788A1
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WIPO (PCT)
Prior art keywords
phase
axis
spindle
workpiece
spindles
Prior art date
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Ceased
Application number
PCT/KR2018/000326
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English (en)
Korean (ko)
Inventor
하종수
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DN Solutions Co Ltd
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Doosan Machine Tools Co Ltd
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Filing date
Publication date
Application filed by Doosan Machine Tools Co Ltd filed Critical Doosan Machine Tools Co Ltd
Publication of WO2018135788A1 publication Critical patent/WO2018135788A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B3/00—General-purpose turning-machines or devices, e.g. centre lathes with feed rod and lead screw; Sets of turning-machines
    • B23B3/30—Turning-machines with two or more working-spindles, e.g. in fixed arrangement
    • 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
    • B23B25/06—Measuring, gauging, or adjusting equipment on turning-machines for setting-on, feeding, controlling, or monitoring the cutting tools or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B23B5/08—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for turning axles, bars, rods, tubes, rolls, i.e. shaft-turning lathes, roll lathes; Centreless turning
    • B23B5/12—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for turning axles, bars, rods, tubes, rolls, i.e. shaft-turning lathes, roll lathes; Centreless turning for peeling bars or tubes by making use of cutting bits arranged around the workpiece
    • 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
    • B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
    • B23Q16/02—Indexing equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2270/00—Details of turning, boring or drilling machines, processes or tools not otherwise provided for
    • B23B2270/48—Measuring or detecting
    • 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
    • B23Q2717/00—Arrangements for indicating or measuring
    • B23Q2717/003—Arrangements for indicating or measuring in lathes

Definitions

  • the present invention relates to a control device for a machine tool, a machine tool including the same, and a method for controlling the machine tool using the same. More particularly, the present invention relates to a control device for controlling a machine tool having two spindles arranged opposite to each other, a machine tool including the same, and a method of controlling the machine tool using the same.
  • phase synchronization can be performed by entering a machine reference position (CNC) as a computer numerical control (CNC) parameter.
  • CNC machine reference position
  • CNC computer numerical control
  • An object of the present invention is to provide a control device for a machine tool which can shorten the phase synchronization adjustment time and improve the workability.
  • Another object of the present invention is to provide a machine tool comprising the above-described control device.
  • Another object of the present invention is to provide a method for controlling a machine tool using the above-described control device.
  • the control device of the machine tool in the exemplary embodiments for achieving the object of the present invention, in the machine tool comprising a first and second spindle arranged opposite to each other and clamping both ends of the workpiece on the same axis
  • First and second sensors for measuring a phase with respect to the C-axis origin of the first spindle and a phase with respect to the C-axis origin of the second spindle when the workpiece is clamped by the first and second spindles.
  • a phase calculating device connected to the first and second sensors and calculating phases of the first and second principal axes from input values from the first and second sensors, and the calculated phases.
  • a system control device for controlling the first and second spindles to synchronize the phase between the first and second spindles based on the same.
  • the first sensor may include a first gear that rotates with the first spindle and a first encoder for detecting a rotation angle of the first tooth, wherein the second sensor The second gear that rotates together with the second main axis and a second encoder for detecting the rotation angle of the second gear.
  • the first and second encoders may include a pulse coder for generating a pulse from the first and second teeth.
  • the phase calculating apparatus may calculate a phase of the C-axis origin of each of the first and second major axes from the number of teeth N of the teeth detected from the pulse.
  • the phase calculating device may further include a receiver configured to receive detection signals from the first and second sensors and a first reference to the C-axis origin of the first main axis from the received detection signals. And a calculation unit configured to calculate a phase and a second phase with respect to the C-axis origin of the second main axis, respectively.
  • the phase calculating device may further include an interface unit for guiding an automatic phase synchronization function between the first and second main axes.
  • the system control apparatus is a numerical control device for synchronizing the phase difference between the first and second main axes according to a drive program in which the phases of the first and second main axes are written as a phase shift parameter. It may include.
  • the workpiece may have a polygonal cross-sectional shape.
  • Machine tools for achieving the another object of the present invention are disposed opposite to each other and equipped with a first spindle and a second spindle for clamping both ends of the workpiece on the same axis, the tool for machining the workpiece
  • phases of the first and second principal axes connected to second sensors and the first and second sensors, respectively, and from the input values from the first and second sensors, to the calculated phases.
  • a control device for controlling the first and second spindles to synchronize the phase between the first and second spindles on the basis.
  • the first sensor may include a first gear that rotates with the first spindle and a first encoder for detecting a rotation angle of the first tooth, wherein the second sensor The second gear that rotates together with the second main axis and a second encoder for detecting the rotation angle of the second gear.
  • the first and second encoders may include a pulse coder for generating a pulse from the first and second gears, wherein the control device is configured to control the first and second spindles, respectively.
  • the phase with respect to the C-axis origin of can be calculated from the number of teeth N of the gear detected from the pulse.
  • control device may further include a first phase relative to a C axis origin of the first main axis and the C axis of the second main axis from received detection signals from the first and second sensors.
  • a phase imager for respectively calculating a second phase with respect to an origin, and a numerical control device for controlling the first and second principal axes to compensate for the phase difference between the first and second principal axes based on the calculated phases It may include.
  • the workpiece may have a polygonal cross-sectional shape.
  • the machine tool may further include a guide bush disposed between the first and second spindles to support the workpiece therethrough.
  • one end of the workpiece is clamped to the first spindle.
  • the phase with respect to the C-axis origin of the first main axis is calculated.
  • the other end of the workpiece is clamped to a second spindle arranged opposite to the first spindle on the same axis.
  • the phase with respect to the C-axis origin of the second main axis is calculated.
  • the first and second main axes are controlled to synchronize the phase between the first and second main axes based on the calculated phases.
  • calculating the phase with respect to the C-axis origin of the first spindle may include rotating angles of the first tooth that rotate with the first spindle when clamping one end of the workpiece to the first spindle. And detecting a phase with respect to the C-axis origin of the second spindle, wherein the second tooth that rotates with the second spindle when the other end of the workpiece is clamped to the second spindle. Detecting the rotation angle.
  • detecting the rotation angles of the first and second teeth counts the generated pulses according to the number of teeth of the rotating first and second gears so that the first and second teeth are counted.
  • control method may further include synchronizing rotation of both ends of the workpiece by synchronizing the speeds of the first and second spindles.
  • the controlling of the first and second main axes may include performing a driving program of the CNC in which the calculated phase difference is input as a phase shift parameter.
  • the method may further comprise supporting the intermediate portion of the workpiece by a guide bush.
  • phase values for the C-axis origin of the first and second spindles clamping both ends of the workpiece on the same axis are respectively calculated, and the calculated phase difference is written as a phase shift parameter in the drive program of the CNC.
  • the phases of the first and second principal axes may be synchronized.
  • FIG. 1 is a perspective view illustrating a machine tool according to exemplary embodiments.
  • FIG. 2 is a perspective view illustrating first and second spindles and a guide bush of the machine tool of FIG. 1.
  • FIG. 3 is a block diagram illustrating first and second sensors and a phase calculating device installed on first and second main axes of the machine tool of FIG. 1.
  • FIG. 4 is a perspective view illustrating a workpiece clamped to the first and second spindles of FIG. 3.
  • FIG. 5 is a block diagram illustrating a control device of the machine tool of FIG. 1.
  • Fig. 6 is a flow chart illustrating a method of controlling a machine tool according to exemplary embodiments.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • FIG. 1 is a perspective view illustrating a machine tool according to exemplary embodiments.
  • FIG. 2 is a perspective view illustrating first and second spindles and a guide bush of the machine tool of FIG. 1.
  • 3 is a block diagram illustrating first and second sensors and a phase calculating device installed on first and second main axes of the machine tool of FIG. 1.
  • 4 is a perspective view illustrating a workpiece clamped to the first and second spindles of FIG. 3.
  • 5 is a block diagram illustrating a control device of the machine tool of FIG. 1.
  • the machine tool 10 is disposed opposite each other on the bed 100 and clamps both ends of the workpiece W and rotates on the same axis a and the second main shaft 112.
  • a first spindle head 110 and a second spindle head 120 each having a spindle 122, a tool post 140 and 142 on which a plurality of tools for processing the work W are mounted, and first and It may include an automatic phase control device for compensating the phase difference between the second main axis (112, 122).
  • the machine tool 10 may be a two spindle opposite composite lathe.
  • the combined lathe may include a main spindle 112 and a sub spindle 122 and tool posts 140 and 142 facing each other.
  • the complex lathe may be set with a main axis feed coordinate system (A), a sub axis feed coordinate system (B), and a tool bar feed coordinate system, and may be provided with a C-axis control in which the angle of the main axis (and sub axis) is divided and controlled. have.
  • a plurality of spindles are synchronously controlled to perform various complex machining.
  • the compound lathe can process a large workpiece while synchronously rotating by clamping both ends of the workpiece in synchronism with the speed and phase of the main shaft and the sub-axis (synchronous processing).
  • the bed 100 may be a frame having a cuboid shape.
  • the bed 100 may have a top surface in the horizontal direction and a front surface in the vertical direction.
  • the vertical direction is referred to as the X-axis direction on the upper surface of the bed 100
  • the vertical direction is referred to as the Y-axis direction on the front surface of the bed 100
  • the direction orthogonal to the X-axis direction and the Y-axis direction This is referred to as the Z-axis direction.
  • the Z axis direction may be left and right directions when viewed from the operator.
  • the first headstock 110 and the second headstock 120 may be disposed opposite to each other on the upper surface of the bed (100).
  • the first headstock 110 may be disposed on the right side from the operator on the upper surface of the bed 100, and the second headstock 120 may be disposed on the left side on the bed 100.
  • the first spindle base 110 may be installed to be movable in at least one axial direction in the spindle feed coordinate system (X1, Y1, Z1).
  • the first headstock 110 may be movable in the Z1 axis direction on the bed 100 by the first feed motor.
  • the first headstock 110 may be movable in the X1 axis direction on the bed 100 by the second feed motor.
  • the first headstock 110 may include a first spindle 112 for rotating the workpiece W in the C1 axis direction.
  • the first collet 114 may be provided at one end of the first spindle 112 to clamp the work W. Therefore, the first headstock 110 may clamp one end of the work W and move the work W in the Z1-axis direction and rotate in the C1-axis direction.
  • the second headstock 120 may be installed to be movable in at least one axial direction in the sub-axis feed coordinate systems X2, Y2, and Z2.
  • the second headstock 110 may be movable in the Z2 axis direction on the bed 100 by the third feed motor.
  • the second headstock 120 may be movable in the Y2 axis direction on the bed 100 by the fourth feed motor.
  • the second headstock 120 may include a second spindle 122 for rotating the workpiece W in the C2 axis direction.
  • the second collet 124 may be provided at one end of the second spindle 122 to clamp the work W. Therefore, the second headstock 120 may clamp one end of the work W and move the work W in the Z2 axis direction and rotate in the C2 axis direction.
  • the machine tool 10 includes a guide bush 130 that supports an intermediate portion of the workpiece W that is rotated by the first spindle 112 or the first and second spindles 112, 122. ) May be further included.
  • the guide bush 130 may be disposed between the first and second spindles 110 and 120 on the bed 100 to support the work W therethrough.
  • the tool post may be a complex tool post composed of a combination of a plurality of tool posts 140 and 142 installed above and to the side of the guide bush 130 on the bed 100.
  • the composite tool post may include a turning tool post and a milling tool post.
  • the tool posts 140 and 142 may be equipped with a turning tool, a milling tool, a milling rotary tool, and the like.
  • At least one tool post of the tool posts may be installed to be movable in at least one axial direction in the tool post feed coordinate system.
  • the tool post may be movable on the bed 100 in the X3 axis direction and the Y3 axis direction by the fifth and sixth transfer motors (not shown).
  • the first and second major axes 112, 122 can clamp the workpiece W and rotate the C axis on the same axis a. have.
  • the first and second main axes 112 and 122 may be arranged to coincide with the Z1 axis direction and the Z2 axis direction.
  • the workpiece W may have a cross-sectional shape of a polygon (for example, hexagon, square, octagon, etc.).
  • first and second spindles 112 and 122 may machine the sides of the polygonal columnar workpiece W while clamping both ends of the workpiece W and synchronously rotating the workpiece W to the C axis. .
  • the automatic phase control device is adapted to perform the first and second spindles 112, 122 when the first and second spindles 112, 122 clamp both ends of the polygonal workpiece W to perform the synchronous machining.
  • the phase between the second major axes 112 and 122 may be automatically synchronized.
  • the automatic phase control apparatus includes a phase and a second spindle 122 with respect to the C-axis origin of the first spindle 112 when the workpiece W is clamped by the first and second spindles 112 and 122.
  • a phase computing device 300 that calculates phases of the first and second major axes 112, 122 from input values from 210, and first and second major axes 112 based on the calculated phases.
  • a system control device 400 for controlling the first and second main axes 112 and 122 to compensate for the phase difference between the two sides.
  • the first sensor 200 may include a first gear 202 that rotates together with the first spindle 112, and a first encoder 204 for detecting a rotation angle of the first gear 202.
  • the second sensor 210 may include a second gear 212 rotating together with the second main shaft 122 and a second encoder 214 for detecting a rotation angle of the second gear 212.
  • the first gear 202 may be directly connected to the first spindle 112 or indirectly through a coupling mechanism such as a belt pulley to rotate together as the first spindle 112 rotates.
  • the second tooth 212 may be directly connected to the second spindle 122 or indirectly through a coupling mechanism such as a belt pulley to rotate together as the second spindle 122 rotates.
  • the first and second teeth 202 and 212 may have a plurality of teeth around the periphery. For example, the number N of teeth may be 4096.
  • the first encoder 204 may be a proximity sensor disposed on one side of the first gear 202
  • the second encoder 214 may be a proximity sensor disposed on one side of the second gear 212.
  • the first and second encoders 204, 214 may include a pulse coder that generates a pulse when the first and second teeth 202, 212 rotate.
  • the pulse coder may generate pulses according to the number of teeth counted when the gear rotates.
  • the phase calculating device 300 detects from the interface unit 310 and the first and second sensors 200 and 210 for guiding an automatic phase synchronization function between the first and second spindles 112 and 122.
  • the receiver 320 receiving the signals and the first phase with respect to the C-axis origin of the first main axis 112 and the second phase 122 with respect to the C-axis origin of the second main axis 122 from the received detection signals. It may include a calculation unit 330 for calculating and outputting each.
  • the interface unit 310 may provide the operator with the phase automatic synchronization HMI screen, and the operator may input an execution command and a condition of the automatic phase synchronization function through the HMI screen.
  • the receiver 320 receives a pulse signal from the first and second encoders 204 and 214 of the first and second sensors 200 and 210. The number of received pulses can be counted.
  • the phase calculating device 300 may further include a memory unit for storing a condition input from an operator, the number of first and second gears, a C-axis origin position, and the like.
  • the receiver 320 counts the number of teeth of the first and second gears 202 and 212 according to one rotation of the first and second spindles 112 and 122.
  • the calculator 320 may set the respective C-axis origin positions. For example, when the first spindle 112 is rotated by CNC control, the pulses of the number of teeth of the first gear 202 are counted and an arbitrary position at that time is referred to the reference origin C of the first spindle 112.
  • Axis origin) position and when the second spindle 122 is rotated by CNC control, the pulses of the number of teeth of the second gear 212 are counted and any position at that time is set to the second spindle 122.
  • the memory unit may store the counted number of teeth as a reference value and store the C-axis origin position.
  • the receiver 320 may detect the number of pulses generated from the second gear 212 , and the calculator 330 may calculate a second phase ⁇ 2 of the C-axis origin of the second main axis 122 by Equation 1 above.
  • the system controller 400 compensates for the difference between the calculated first phase ⁇ 1 and the second phase ⁇ 2 input from the calculator 330, and thus phases of the first and second main axes 112 and 122. Can be synchronized.
  • the system control apparatus 400 controls the first and second main axes 112 and 122 according to a control code created by the phase shift parameter of the phase difference between the first phase ⁇ 1 and the second phase ⁇ 2. It may include.
  • the phase association device 300 may be provided in the numerical control device. The phase difference is created as a phase shift parameter of the driving program, and the numerical controller may synchronize the phase difference between the first and second main axes 112 and 122 according to the written program.
  • control device of the machine tool provides an interface for guiding the automatic phase synchronization function of the C axis of the main axis and the C axis of the sub axis, and calculates and calculates the phase difference between the C axis of the main axis and the C axis of the sub axis.
  • the phase difference may be written to the CNC as a phase shift parameter to synchronize the phase of the main axis and the sub axis.
  • Fig. 6 is a flow chart illustrating a method of controlling a machine tool according to exemplary embodiments.
  • first, one end of the workpiece W may be clamped to the first spindle 112 (S100), and the phase of the first axis 112 of the C axis origin may be calculated (S100). S110).
  • the C-axis origin of the first spindle 112 is set, and then one end portion of the workpiece W is synchronized with the first spindle 112 to synchronously process the polygonal column-shaped workpiece W. After clamping to the first collet 114 of), it is possible to calculate the phase with respect to the C-axis origin of the first main axis (112). At this time, the intermediate portion of the workpiece (W) may be supported by the guide bush 130.
  • the first encoder 204 of the first sensor 200 is the number of teeth of the first gear 202 according to one rotation of the first spindle 112.
  • the phase calculator 300 may count the generated pulses and set an arbitrary position at that time as the C-axis origin of the first main axis 112.
  • the first phase value of the first spindle 112 of the C axis origin may be calculated.
  • one end of the polygonal columnar workpiece W is clamped by the first main shaft 112
  • one side of the workpiece W is rotated by a predetermined angle with respect to the reference surface, and the receiver 320 rotates the first gear (
  • the number of pulses generated from 202 may be detected, and the calculator 330 may calculate a first phase value with respect to the C-axis origin of the first main axis 112.
  • the other end of the workpiece W may be clamped to the second main shaft 122 (S120), and the phase of the C-axis origin of the second main shaft 122 may be calculated (S130).
  • the second spindle 122 may be disposed on the same axis a as the first spindle 112. First, after setting the C-axis origin of the second spindle 122, the other end of the workpiece (W) is clamped to the second collet 124 of the second spindle 122, then the second spindle 122 The phase with respect to the C-axis origin can be calculated.
  • the second encoder 214 of the second sensor 210 has the number of teeth of the second tooth 212 according to one rotation of the second spindle 122.
  • the phase calculating device 300 may set the C-axis origin of the second main axis 122 by counting the generated pulses. Subsequently, after clamping the other end of the work W to the second collet 124 of the second main shaft 122, the second phase value of the second main shaft 122 with respect to the C-axis origin can be calculated. .
  • the side surface of the work W Machining may be carried out on at least one side of these.
  • the phase difference may be written as a phase shift parameter of a drive program of the CNC, and may synchronize the phase difference between the first and second main axes 112 and 122 according to the drive program.
  • the speeds of the first and second spindles 112 and 122 may be synchronized to rotate both ends of the work W to perform machining on another side surface.
  • first headstock 112 first headstock
  • first collet 120 second headstock
  • first sensor 202 first gear
  • First encoder 210 Second sensor
  • phase calculator 310 interface unit

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Abstract

L'invention concerne un dispositif de commande d'une machine-outil comprenant des premier et second axes principaux, qui sont agencés de façon à se faire face et à serrer les deux parties terminales d'une structure sur la même ligne axiale, et qui comprend: des premier et second capteurs pour mesurer une phase pour une origine d'axe C du premier axe principal et une phase pour une origine d'axe C du second axe principal lorsque la structure est serrée par les premier et second axes principaux; un dispositif de calcul de phase connecté aux premier et second capteurs et calculant les phases des premier et second axes à partir de valeurs d'entrée provenant des premier et second capteurs; et un dispositif de commande de système pour commander les premier et second axes principaux de façon à synchroniser des phases entre les premier et second axes principaux sur la base des phases calculées.
PCT/KR2018/000326 2017-01-17 2018-01-08 Dispositif de commande d'une machine-outil, machine-outil le comprenant, et procédé de commande d'une machine-outil l'utilisant Ceased WO2018135788A1 (fr)

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KR10-2017-0007876 2017-01-17
KR1020170007876A KR102661109B1 (ko) 2017-01-17 2017-01-17 공작기계의 제어 장치, 이를 포함하는 공작기계, 및 이를 이용한 공작기계의 제어 방법

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WO2018135788A1 true WO2018135788A1 (fr) 2018-07-26

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
US11378933B2 (en) * 2019-03-14 2022-07-05 Fanuc Corporation Numerical control device and machine tool for controlling at least two oscillating drive axes
KR102860359B1 (ko) 2020-02-11 2025-09-16 주식회사 디엔솔루션즈 공작기계 및 공작기계의 제어방법

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KR102395546B1 (ko) * 2021-01-14 2022-05-06 산제트 인터내셔널 컴퍼니, 리미티드 원반식 공구 매거진의 제어 시스템 및 제어 방법

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JPH11212613A (ja) * 1998-01-21 1999-08-06 Okuma Corp 鏡切削機能を備えた数値制御装置
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KR20130074159A (ko) * 2011-12-26 2013-07-04 두산인프라코어 주식회사 터렛 구조를 갖는 공작 기계에서의 가이드 부시 제어 장치 및 그 방법
KR20150136485A (ko) * 2013-03-28 2015-12-07 시티즌 홀딩스 가부시키가이샤 다각형 가공 장치 및 다각형 가공 방법

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US11378933B2 (en) * 2019-03-14 2022-07-05 Fanuc Corporation Numerical control device and machine tool for controlling at least two oscillating drive axes
KR102860359B1 (ko) 2020-02-11 2025-09-16 주식회사 디엔솔루션즈 공작기계 및 공작기계의 제어방법

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