JP4059614B2 - Control device for 3D laser processing machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for a three-dimensional laser beam machine, and in particular, teaches the tip position and posture of a nozzle in the three-dimensional laser beam machine, creates a machining program based on the teaching, and controls machining according to the machining program. The present invention relates to a control device for a three-dimensional laser processing machine.
[0002]
[Prior art]
The configuration of a conventional general three-dimensional laser beam machine will be described with reference to FIGS. FIG. 8 schematically shows a processing head of a three-dimensional laser processing machine having a rotation axis (α axis) and a posture axis (β axis). In FIG. 8, the machining head is generally indicated by reference numeral 50, and the machining head 50 is rotated at the tip end of the Z-axis member 60 by a rotation shaft 52 that can be rotated around the central axis of the Z-axis by a bearing member 51. A posture shaft 54 is attached to the tip of the shaft 52 by a bearing member 53 and is rotatable about an axis inclined with respect to the Z axis. A laser nozzle 61 is attached to the tip of the posture shaft 54. The processing point is indicated by the symbol N.
[0003]
In three-dimensional laser processing of a free-form surface, the laser nozzle is always perpendicular to the processing surface in order to keep the optical axis of the laser irradiated to the processing surface normal to the processing surface. It is required to be in a direction and orientation, and teaching that satisfies this requirement, that is, teaching is performed prior to actual machining.
[0004]
FIG. 9 shows a block configuration of a three-dimensional laser processing machine. In FIG. 9, 71 is a processing machine main body, 50 is a processing head, 72 is an NC control unit for controlling the processing machine main body, 73 is an operation unit, 74 is a laser oscillator, 75 is a teaching box for teaching, and W is processing. Indicates work. A motor (not shown) that drives each axis of the processing machine main body 71 is driven by a drive signal from the NC control unit 72, and a distance between the laser nozzle 61 and a workpiece on a work table (not shown) is constant according to teaching data. The laser beam spot follows the processing line and the orientation of the laser nozzle 61 is controlled to be substantially perpendicular (normal) to the surface of the workpiece W.
[0005]
An outline of a hole machining command in a conventional three-dimensional laser beam machine will be described with reference to FIG. FIG. 10 is an explanatory diagram for explaining an outline of a hole machining command in the three-dimensional laser beam machine. In FIG. 10, W is a workpiece, P1 is a drilling reference point of the center or reference point of drilling, P2 is a direction indicating point for determining the coordinate axis direction in drilling, and P3 is a piercing for starting drilling. Indicates the position. When a hole machining command is given, the hole machining reference point P1 and the direction indicating point P2 are designated for the plane portion on the workpiece W and the hole machining command is given, so that the three-dimensional laser beam machine has the machining head 50. The hole (round hole, long hole, square hole, etc.) designated from the piercing position P3 is processed in a state where the posture (direction of the machining nozzle 61) is kept constant.
[0006]
Next, FIG. 11 illustrates a procedure for creating a machining program in the conventional teaching work in the hole machining command. FIG. 11 is a flowchart for explaining a procedure for creating a machining program in a conventional teaching operation in response to a hole machining command. In FIG. 11, first, various settings of the teaching box 75 are performed, and a teaching operation for teaching a processing point is started using a three-dimensional laser processing machine (step S30). Next, give the command to open the auxiliary function code, which is the initial setting in the machining program, and press the machining axis feed key arranged on the teaching box 75 or move to the teaching point using the handle and joystick to teach Thus, each teaching point of the machining program is created (step S31).
[0007]
When creating teaching points, in the drilling operation of the hole machining part, press the machining axis feed key arranged on the teaching box 75 or move to the teaching point of the drilling reference point using the handle and joystick. (Step S32). Teaching is performed at the drilling reference point (step S33). A hole processing command is issued by pressing a hole processing button arranged on the teaching box 75, and parameters such as the diameter of the hole processing are input at that time (step S34). Thereafter, similarly at the direction indication point, the machining axis feed key arranged on the teaching box 75 is pressed or moved to the teaching point of the direction indication point using the handle and the joystick (step S35). Teaching is performed at a point (step S36).
[0008]
By teaching work of drilling instructions processing When the creation of the program is completed, as a continuation, press the machining axis feed key arranged on the teaching box 75 or move to the teaching point of the machining point using the handle and joystick, and teach the machining program. Each teaching point is created (step S37). If there is a hole processed portion again, the operations in steps S32 to S36 are repeated. Finally, commands such as shutter closing and program end of the auxiliary function code are given, and the creation of the machining program is terminated.
[0009]
Next, a machining program including a conventional drilling command created by the procedure of FIG. 11 will be described with reference to FIG. FIG. 12 is an explanatory diagram for explaining a machining program including a conventional hole machining command created by the procedure of FIG.
[0010]
A conventional machining program has a main program and subprograms as shown in FIG. First, from the beginning of the main program processing Execute the program and perform the machining operation according to the given command. Maine If there is a drilling command while the program is in progress, when the sub-program is called with the previous block as the drilling reference point and the next block as the direction indication point, the tip coordinates of the drilling reference point and direction indication point and Coordinate transformation is executed based on the posture angle. When the subprogram ends, return to the main program and continue the main program from that point. processing Execute until the program ends.
[0011]
[Problems to be solved by the invention]
However, as described above, in a conventional three-dimensional laser beam machine, a main program is created in a format that calls a preset subprogram in a hole machining command, and a hole machining reference point and Coordinate conversion processing is performed based on the direction indication point, but this requires more time for coordinate conversion, and the number of times coordinate conversion is performed as the number of drilling commands increases for one workpiece. Increases the processing time.
[0012]
Further, in the conventional three-dimensional laser processing machine, the hole processing command is converted to a flat surface and two-dimensional processing is performed, so that it is difficult to perform processing in the curved portion using the hole processing command. There is a problem of becoming. Furthermore, in the conventional three-dimensional laser beam machine, there is a problem that it is not possible to change only a part after assigning a fixed shape on the workpiece.
[0013]
The present invention has been made in view of the above, and is for a three-dimensional laser processing machine capable of omitting a process of performing coordinate conversion in a real-time manner while processing, shortening a processing time, and improving work efficiency. The object is to obtain a control device.
[0014]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, the control device for a three-dimensional laser processing machine according to the present invention teaches the tip position and posture of the nozzle in the three-dimensional laser processing machine. Create a machining program based on the machining program For machining workpiece In the control device for 3D laser processing machine that controls machining, when a drilling command is input during creation of a machining program, the drilling reference point and direction indication point about of Nozzle Storage means for storing the tip position coordinates and posture angle, direction vector calculation means for calculating a nozzle direction vector indicated by the nozzle based on the posture angle of the hole machining reference point, the nozzle direction vector, and the hole machining reference point , And conversion coordinate system calculation means for calculating the conversion destination coordinate system based on the direction indication point, and the coordinate position data created on the reference coordinate system according to the specified hole type, and the read coordinate position A conversion means for converting the data into the destination coordinate system; During teaching A program insertion means for creating an insertion program based on the coordinate position data converted into the conversion destination coordinate system and incorporating it into the machining program; Correction means for correcting the tip position and posture at the converted coordinate point after incorporating the insertion program into the machining program; The insertion program includes a program for performing three-dimensional linear interpolation and circular interpolation on the coordinate position data converted into the conversion destination coordinate system, and an auxiliary function code command for instructing the start and end of processing. Including Therefore, it is possible to change a specific part of the conversion coordinate point in consideration of the shape of the workpiece. And features.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of a control device for a three-dimensional laser beam machine according to the present invention will be described in detail with reference to the drawings.
[0016]
FIG. 1 shows a configuration example of a three-dimensional laser processing machine to which a control device according to the present invention is applied. This three-dimensional laser processing machine includes a work table 2 provided on a bed 1 so as to be movable in the X-axis direction, a cross rail 6 horizontally stretched between left and right columns 4, and a cross rail 6. A Y-axis unit 7 movably provided in the Y-axis direction, a Z-axis unit 8 provided movably in the Z-axis direction on the Y-axis unit 7, and a machining head 9 attached to the Z-axis unit 8; It has a laser nozzle (processing nozzle) 10 attached to the tip of the processing head 9, a computer type numerical control device 11, and a pendant type teaching box 12 for performing teaching. The numerical control device 11 includes a screen display unit 11B such as an operation panel 11A and a CRT as a man-machine interface, and controls the three-dimensional laser processing machine according to a processing program (teaching data) created by teaching work.
[0017]
The work table 2, the Y-axis unit 7, and the Z-axis unit 8 are driven by an X-axis servo motor, a Y-axis servo motor, and a Z-axis servo motor (not shown), respectively, and are position-controlled by each axis command of the numerical controller 11. The
[0018]
The machining head 9 is configured in the same manner as the conventional one, and as shown in FIG. 2, a rotary shaft 14 that can be rotated around the central axis of the Z axis by a bearing member 13 at the tip of the Z axis unit 8. And a posture shaft 16 attached to the tip of the rotary shaft 14 by a bearing member 15 and rotatable around an axis inclined with respect to the Z axis. The laser nozzle 10 is attached to the tip of the posture shaft 16. Yes. The rotary shaft 14 is rotationally driven by an α-axis servomotor 17, and the attitude shaft 16 is rotationally driven by a β-axis servomotor 18.
[0019]
The X-axis servo motor, the Y-axis servo motor, the Z-axis servo motor (not shown), the α-axis servo motor 17 and the β-axis servo motor 18 are driven by a drive signal from the numerical controller 11 and work according to teaching data. While the distance of the laser nozzle 10 from the workpiece on the table 2 is kept constant, the laser beam spot follows the processing line and the orientation of the laser nozzle 10 is substantially perpendicular to the surface of the workpiece W ( (Normal).
[0020]
FIG. 3 shows a control system including the optical system of the above-described three-dimensional laser beam machine and the control device for the three-dimensional laser beam machine according to the present invention. In FIG. 3, the work table 2, the Y-axis unit 7, the Z-axis unit 8, and the like are collectively used as the processing machine body 20. The three-dimensional laser processing machine has a laser oscillator 21 as an optical system, and the laser beam B output from the laser oscillator 21 reaches the laser nozzle 10 via the processing head 9 and is processed from the laser nozzle 10. Irradiation is applied to the work surface of W.
[0021]
The control device for a three-dimensional laser beam machine includes a numerical controller (NC) 11, a teaching box 12, a parameter setting unit 30, a coordinate calculation unit 31, a program insertion unit 32, and the like. The format of the machining program according to the present embodiment follows the codes of the preparation function (G code) and auxiliary function (M code) of the numerically controlled machine tool defined in JIS B6314.
[0022]
The parameter setting unit 30 registers parameters (for example, the moving direction and the moving amount) of the machining speed setting condition input from the teaching box 12 or the numerical control device 11 at several levels, and selects the level. Set parameters for machining speed setting conditions.
[0023]
The coordinate calculation unit 31 reads the coordinate position data created on the reference coordinate system according to the type of the designated hole, calculates the coordinate value obtained by projecting the read coordinate position data on the conversion destination coordinate system, and stores it. To do.
[0024]
The program insertion unit 32 associates the coordinate value of the conversion destination coordinate system converted by the coordinate calculation unit 31 with the shape of the designated hole, and associates it with three-dimensional linear interpolation and circular interpolation. Insert Create a program (G code) and incorporate it into the machining program. Further, the program insertion unit 32 reads the parameters of the machining speed setting conditions set by the parameter setting unit 30 and calculates the machining speed according to the machining speed setting conditions by the parameters, the specified type of hole machining, and the hole diameter. Processing conditions such as speed (F code) and auxiliary function code command (M code) are inserted into the processing program. Moreover, the program insertion part 32 is added to a machining program. Insert Delete drilling reference points and direction indication points that are no longer required after the program is installed.
[0025]
Next, a procedure for creating a machining program in teaching work in response to a hole machining command will be described with reference to FIG. FIG. 4 is a flowchart for explaining a procedure for creating a machining program in teaching work in response to a hole machining command.
[0026]
In FIG. 4, first, various settings of the teaching box 12 are performed, and a teaching work for teaching a processing point is started using a three-dimensional laser processing machine (step S1). Next, automatic generation of a drilling command (creation of an insertion program) is effectively switched by the numerical controller 11 or teaching box 12 (step S2). Validity / invalidity of automatic program generation of the drilling command is set in the parameter setting unit 30.
[0027]
A command for opening the shutter of the auxiliary function code, which is an initial setting in the machining program, is given, and the teaching point is pressed by pressing the machining axis feed key arranged on the teaching box 12 or using the handle and joystick provided on the operation panel 11A. Each teaching point of the machining program is created by moving to and teaching (step S3). In creating the teaching point, in the teaching work for the hole machining portion, a machining axis feed key arranged on the teaching box 12 is pushed to the hole machining reference point, or a handle provided on the operation panel 11A and With joystick Drilling reference point (Step S4). Teaching is performed at the drilling reference point (step S5).
[0028]
Further, at the direction indication point, similarly, the machining axis feed key arranged on the teaching box 12 is pressed or moved to the teaching point of the direction indication point using the handle and joystick provided on the operation panel 11A ( In step S6), teaching is performed at the direction indicating point (step S7). Subsequently, a hole processing button arranged on the teaching box 12 is pressed to issue a hole processing command, and parameters such as the diameter of the hole processing are input at that time (step S8).
[0029]
In this way, when the drilling reference point and the direction indication point are taught and the drilling command is input, if the automatic program generation of the drilling command is set to be effective, as described later, the parameter The setting unit 30, the coordinate calculation unit 31, and the program insertion unit 32 perform a program automatic generation process (program insertion process) of a drilling command.
[0030]
By teaching work of drilling instructions processing When the program creation is finished, as a continuation, the machining axis feed key arranged on the teaching box 12 is pressed, or the teaching point is moved using the handle and joystick provided on the operation panel 11A. Thus, each teaching point of the machining program is created (step S9). If there is a hole processed portion again, the operations from step S4 to step S8 are repeated. Finally, commands such as shutter closing and program end of the auxiliary function code are given, and the creation of the machining program is finished.
[0031]
Next, a program automatic generation process (program insertion process) of a hole machining command performed by the parameter setting unit 30, the coordinate calculation unit 31, and the program insertion unit 32 will be described. First, the processing of the coordinate calculation unit 31 will be described with reference to FIG. FIG. 5 is a flowchart for explaining the processing of the coordinate calculation unit 31.
[0032]
In FIG. 5, first, it is determined whether the automatic program generation of the drilling command set by the parameter setting unit 30 is valid / invalid (step S10). If it is determined that the hole drilling command automatic program generation is “valid”, the direction vector indicated by the nozzle is calculated from the attitude angle of the hole drilling reference point (step S11). A conversion destination coordinate system (= conversion matrix) is calculated based on the calculated nozzle direction vector, hole drilling reference point, and direction indication point (step S12). In parallel with the processing of step S11 and step S12, the coordinate position data including the variable created on the reference coordinate system is read according to the type of the specified hole (step S13), and the specified hole Coordinate position data is determined by parameters such as diameter (step S14). Then, the coordinate position data in step S14 is converted with the conversion matrix calculated in step S12, and the coordinate value of the conversion destination is calculated (step S15) and stored (step S16). On the other hand, when the automatic program generation of the drilling command is set to “invalid” in step S10, a subprogram for drilling instruction is created in the program as in the prior art (step S17). The processing after step S11 is not executed.
[0033]
Here, a specific method of the above coordinate conversion will be described. First, a vector U from the hole machining reference point to the direction indication point is created, and the nozzle direction vector at the hole machining reference point is set to W, and another axis V is created from the outer product of U and W. Then, the conversion destination coordinate system (= conversion matrix T) is calculated by the following equation (1).
T = [U V W] (1)
[0034]
Subsequently, each point of the reference coordinate system is converted using the conversion destination coordinate system T and the drilling reference point P1. More specifically, when the point on the reference coordinate system is X0, the coordinate value X after conversion is calculated by the following equation (2).
X = T · X0 + d (2)
However, d shows the coordinate value of the drilling reference point P1.
[0035]
Next, the processing of the program insertion unit 32 will be specifically described. Here, the creation processing of the insertion program of “round hole” and “long hole” will be described. Fig. 6 shows the coordinate data and insertion on the reference coordinate system for "Round hole". Entrance It is an arrangement diagram of each command of a program. In the figure, points from point O to point D are points including variables on the reference coordinate system, and the reference coordinate value is determined by parameters such as the diameter I of the hole input at the time of drilling command.
[0036]
In FIG. Insert The program incorporates the coordinate value converted with respect to the reference coordinate value determined by the coordinate calculation unit 31 in association with a G code command which is an interpolation function such as a straight line and an arc (G2 to G8), and further the parameter setting unit 30 Machining speed setting conditions based on the parameters set in (5), machining conditions such as machining speed calculated based on the instructed type of hole machining and the diameter of the hole (F1), and auxiliary function code commands (M1 for machining start and machining end) , M2).
[0037]
Fig. 7 shows the coordinate data and insertion on the reference coordinate system for the "slot hole". Entrance It is an arrangement diagram of each command of a program. In the figure, points from point O to point G are points including variables on the reference coordinate system, and the reference coordinate values are determined by parameters such as the diameters I and J of the holes input at the time of drilling commands. .
[0038]
In FIG. Insert The program incorporates the coordinate value converted with respect to the reference coordinate value determined by the coordinate calculation unit 31 in association with a G code command which is an interpolation function such as a straight line and an arc (G2 to G11), and further, the parameter setting unit 30 Machining speed setting conditions based on the parameters set in (5), machining conditions such as machining speed calculated according to the instructed hole machining type and hole diameter (F1), and auxiliary function code commands (M1 for machining start and machining end) , M2). Of the “elongate hole” shown in FIG. Insert The program is the “round hole” shown in FIG. Insert In contrast to the program, the part from G3 to G10 is converted into a long hole correspondence. In addition, after incorporating the above insertion program into the machining program, the tip position and orientation at each conversion coordinate point can be corrected by the numerical control device 11 and the like in consideration of the shape of the workpiece W and the like.
[0039]
As described above, in the present embodiment, the program insertion unit 32 converts the coordinate position data converted in accordance with the instructed hole shape when a hole machining command is input during creation of the machining program. Is combined with linear interpolation and circular interpolation and incorporated into the program, and auxiliary function code commands are processing Since it is automatically inserted into the program, it is possible to omit the process of performing coordinate conversion in real time while machining, and it is possible to achieve an improvement in work efficiency by shortening the machining time.
[0040]
Further, the program insertion unit 32 associates the coordinate position data converted in accordance with the designated hole shape with the linear interpolation and the circular interpolation and incorporates them into the machining program, and then becomes the hole machining reference point and the direction indicating point which are no longer necessary. Therefore, it is possible to reduce the movement to useless points, and to improve the work efficiency by shortening the machining time.
[0041]
Also, coordinate position data converted according to the shape of the indicated hole is linked to linear interpolation and circular interpolation. processing After being incorporated into the program, the numerical control device 11 and the like can be configured to change only a specific part in consideration of the shape of the workpiece, etc., so that the degree of freedom of the shape is increased and the work efficiency is reduced by reducing the teaching time. Improvements can be made.
[0042]
In addition, since the program insertion unit 32 sets the machining speed in accordance with the shape of the commanded hole machining, the work for performing the automatic speed setting can be omitted, and the work efficiency can be improved by shortening the time. effective.
[0043]
In addition, since the processing speed setting condition can be input from the teaching box 12 and the numerical control device 11, the work of switching between the teaching box 12 and the numerical control device 11 can be omitted, and the work efficiency by shortening the time can be reduced. In addition to being able to improve, parameters can be registered at several levels, and the range of selection of condition designation can be expanded.
[0044]
Further, since the automatic generation of the hole drilling command program (insertion program) is switched between valid / invalid from the teaching box 12 and the numerical control device 11, the hole can be obtained even during teaching work or during operation of the numerical control device 11. It is possible to switch between valid / invalid of automatic generation of a machining command program (insertion program), and it is possible to improve work efficiency by shortening the time.
[0045]
Note that the present invention is not limited to the above-described embodiment, and can be appropriately modified and executed without changing the gist of the invention.
[0046]
【The invention's effect】
As described above, according to the present invention, since the tip position and posture at each conversion coordinate point are corrected after the insertion program is incorporated into the machining program, the degree of freedom of the machining shape can be improved. There is an effect that an improvement in work efficiency can be achieved by shortening the teaching time.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration example of a three-dimensional laser processing machine to which a control device according to the present invention is applied.
FIG. 2 is an illustrative view showing a configuration of a processing head of a three-dimensional laser processing machine to which the control device according to the present invention is applied.
FIG. 3 is a block diagram showing one embodiment of a control device for a three-dimensional laser beam machine according to the present invention.
FIG. 4 is a flowchart for explaining processing program creation processing in teaching work in response to a hole processing command by the control device for a three-dimensional laser processing machine according to the present invention;
FIG. 5 is a flowchart for explaining processing of a coordinate value calculation unit of the control device for a three-dimensional laser beam machine according to the present invention.
FIG. 6 is a layout diagram of coordinate position data on a reference coordinate system in a “round hole” of the control device for a three-dimensional laser beam machine according to the present invention and each command of a program to be inserted.
FIG. 7 is a layout diagram of coordinate position data on a reference coordinate system in a “long hole” of the control device for a three-dimensional laser beam machine according to the present invention and each command of a program to be inserted.
FIG. 8 is an illustrative view showing a configuration of a processing head used in a conventional three-dimensional laser processing machine.
FIG. 9 is a block diagram showing a configuration of a conventional three-dimensional laser processing machine.
FIG. 10 is an explanatory diagram for explaining an outline of a hole drilling command in a conventional three-dimensional laser beam machine.
FIG. 11 is a flowchart for explaining processing for creating a machining program in a conventional teaching operation in response to a hole machining command.
FIG. 12 is an explanatory diagram for explaining a machining program including a conventional hole machining command created by the procedure of FIG. 11;
[Explanation of symbols]
9 Processing head, 10 Laser nozzle, 11 Numerical control device, 12 Teaching box, 30 Parameter setting section, 31 Coordinate calculation section 32 Program insertion section

Claims (7)

Teach the tip position and posture of the nozzle in the 3D laser processing machine,
In a control device for a three-dimensional laser beam machine that creates a machining program based on the teaching and controls machining of a workpiece according to the machining program.
When the drilling command is input while creating a machining program, a storage means for storing tip position coordinates and orientation angle of the nozzle for drilling reference point and the direction designated point,
Direction vector calculation means for calculating a nozzle direction vector pointed to by the nozzle based on an attitude angle of the hole drilling reference point;
Conversion coordinate system calculation means for calculating a conversion destination coordinate system based on the nozzle direction vector, the hole processing reference point, and the direction indication point;
According to the type of the designated hole, the coordinate position data created on the reference coordinate system is read, the conversion means for converting the read coordinate position data to the conversion destination coordinate system,
At the time of teaching, a program insertion unit that creates an insertion program based on the coordinate position data converted into the conversion destination coordinate system and incorporates into the machining program;
Correction means for correcting the tip position and posture at the converted coordinate point after incorporating the insertion program into the machining program;
With
The insertion program viewed contains a program for performing linear interpolation and circular interpolation of 3-D on the converted coordinate position data to the destination coordinate system, and an auxiliary function code command for instructing the processing start and processing end,
Taking into account the shape of the workpiece can change the particular portion of the converted coordinate points and the this and the three-dimensional laser processing machine control device according to claim.   2. The control device for a three-dimensional laser beam machine according to claim 1, wherein the hole machining command is a machining command for a hole, an oblong hole, and a square hole in a three-dimensional plane.   The three-dimensional laser according to claim 1, further comprising a deleting unit that deletes a hole processing reference point and a direction indicating point that are no longer required after the insertion program is incorporated into the processing program. Control device for processing machines.   The insertion program includes a code command for a machining condition of a machining speed calculated based on a designated type of drilling, a hole diameter, and a preset machining speed setting condition. The control apparatus for three-dimensional laser processing machines as described in any one of these. Furthermore, an input means for inputting the machining speed setting condition;
Parameter setting means for setting parameters of the machining speed setting conditions;
With
5. The three-dimensional laser according to claim 4, wherein the program insertion unit calculates the processing speed based on a processing speed condition based on a set parameter, an instructed type of hole processing, and a diameter of the hole. Control device for processing machines.   The control apparatus for a three-dimensional laser beam machine according to any one of claims 1 to 5, further comprising switching instruction means for switching the validity / invalidity of creation of the insertion program.   The control device for a three-dimensional laser beam machine according to claim 5 or 6, wherein the input means or the switching instruction means is a teaching box and a numerical control device.

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