An intelligent seeding and fertilizing machine for intercropping comprises: a fixed frame, a plurality of seeding devices arranged in parallel in the fixed frame and a plurality of guide columns fixedly connected in the fixed frame, where one end of fixed frame close to a cutting mechanism is provided with a lifting plate, a side of the fixed frame is in sliding contact with an inner wall of a lifting groove, the lifting groove is provided with a lifting screw, a lifting motor is fixedly connected to a top surface of the lifting plate; each seeding device includes a frame, and a bottom surface of the frame is respectively provided with a cutting mechanism, a cleaning mechanism, a furrowing mechanism, a fertilizing mechanism, a seeding mechanism and a soil covering mechanism, and the above mechanisms and the lifting motor are all electrically connected with a control system.

Disclosed is an intelligent seeding and fertilizing machine for intercropping, comprising: a fixed frame, a plurality of seeding devices arranged in parallel in the fixed frame and a plurality of guide columns fixedly connected in the fixed frame, where one end of fixed frame close to a cutting mechanism is provided with a lifting plate, a side of the fixed frame is in sliding contact with an inner wall of a lifting groove, the lifting groove is provided with a lifting screw, a lifting motor is fixedly connected to a top surface of the lifting plate; each seeding device includes a frame, and a bottom surface of the frame is respectively provided with a cutting mechanism, a cleaning mechanism, a furrowing mechanism, a fertilizing mechanism, a seeding mechanism and a soil covering mechanism, and the above mechanisms and the lifting motor are all electrically connected with a control system.

To provide a controller for a machining device capable of making the machining device make oscillating motion along a command route. A controller controls a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target. The controller comprises: a position command acquiring unit that acquires a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work; a rotation speed acquiring unit that acquires a rotation speed such as that of the cutting tool; an oscillation amplitude calculating unit that calculates oscillation amplitude based on the position command and the rotation speed; an oscillation frequency calculating unit that calculates an oscillation frequency based on the rotation speed; an oscillation command calculating unit that calculates an oscillation command based on the oscillation amplitude and the oscillation frequency; a position command storage unit that stores a command route determined based on the oscillation amplitude; an oscillation command correcting unit that corrects the oscillation command based on the command route; and a driving unit that determines a drive signal to be used for driving the servo motor based on the position command and the corrected oscillation command, and outputs the drive signal.

A control device includes a control part which generates a torque command based on a resultant command, which is obtained by adding a position deviation, which is the difference between a position command and the actual position of a feed shaft, to an oscillation command to control the feed shaft, and an elastic deformation amount calculation part which calculates the elastic deformation amount of a structure composed of a tool or workpiece and the feeding mechanism therefor based on the torque command. An oscillation command generation part generates the above oscillation command based on the rotation speed of the workpiece, the position command of the feed shaft, and the above elastic deformation amount.

A controller that controls a machine tool, a method of controlling a machine tool, and a computer program that causes a computer to operate as a controller that controls a machine tool, the machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes. The method includes acquiring a position command for driving a cutting tool or the work, acquiring a rotation speed of the rotated cutting tool or the rotated work, calculating oscillation amplitude, calculating an oscillation frequency, calculating an oscillation command for causing the cutting tool and the work to oscillate relative to each other, storing a command route, correcting the oscillation command based on the stored command route, determining a drive signal to be used for driving the servo motor, and outputting the drive signal.

A control device includes a control part which generates a torque command based on a resultant command, which is obtained by adding a position deviation, which is the difference between a position command and the actual position of a feed shaft, to an oscillation command to control the feed shaft, and an elastic deformation amount calculation part which calculates the elastic deformation amount of a structure composed of a tool or workpiece and the feeding mechanism therefor based on the torque command. An oscillation command generation part generates the above oscillation command based on the rotation speed of the workpiece, the position command of the feed shaft, and the above elastic deformation amount.

A computer-implemented method for generating a tool path cycle for removing stock from a blank by a turning tool includes the steps of receiving an input of a blank shape, receiving an input of the target shape, setting an offset distance, receiving an input of the turning tool, setting a first cut direction and a second cut direction, dividing the first layer into segments separated by border lines, such that one longitudinal set of segments is adjacent to the longitudinal portions and one radial set of segments is adjacent to the radial portions, if the first cut direction is along the Z-axis, removing the longitudinal set of segments, removing the radial set of segments, and if the first cut direction is along the X-axis, removing the radial set of segments, and removing the longitudinal set of segments.