CN113543931A - Industrial machine, eccentricity specifying device, eccentricity specifying method, and program - Google Patents
Industrial machine, eccentricity specifying device, eccentricity specifying method, and program Download PDFInfo
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- CN113543931A CN113543931A CN202080017872.2A CN202080017872A CN113543931A CN 113543931 A CN113543931 A CN 113543931A CN 202080017872 A CN202080017872 A CN 202080017872A CN 113543931 A CN113543931 A CN 113543931A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 59
- 238000005259 measurement Methods 0.000 claims abstract description 44
- 230000005484 gravity Effects 0.000 claims abstract description 22
- 238000005520 cutting process Methods 0.000 claims abstract description 19
- 238000003754 machining Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 description 10
- 244000145845 chattering Species 0.000 description 10
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 5
- 238000001914 filtration Methods 0.000 description 4
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- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 239000006061 abrasive grain Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/12—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring vibration
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
- B23Q17/2233—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/02—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor involving centres or chucks for holding work
-
- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q2017/001—Measurement or correction of run-out or eccentricity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
- B24B19/08—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding non-circular cross-sections, e.g. shafts of elliptical or polygonal cross-section
- B24B19/12—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding non-circular cross-sections, e.g. shafts of elliptical or polygonal cross-section for grinding cams or camshafts
- B24B19/125—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding non-circular cross-sections, e.g. shafts of elliptical or polygonal cross-section for grinding cams or camshafts electrically controlled, e.g. numerically controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
The rotation command unit outputs a rotation command to the rotation motor. The rotation angle acquisition unit acquires a measurement value of the rotation angle of the grinding wheel from the rotation angle sensor. The vibration acquisition unit acquires a value related to vibration of the grinding wheel in the cutting direction based on a measured value of displacement obtained by the displacement sensor. The eccentricity specifying section specifies a value related to a difference between the center of gravity and the center axis of the grinding wheel based on the measured value of the rotation angle and the value related to the vibration.
Description
Technical Field
The invention relates to an industrial machine, an eccentricity specifying device, an eccentricity specifying method, and a program.
The present application claims priority to Japanese application No. 2019-068529, 3/29 in 2019, the contents of which are incorporated herein by reference.
Background
Patent document 1 discloses a technique of a lathe and a broaching machine that can calculate the rotational unbalance amount of a crankshaft blank.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 2015-44249
Disclosure of Invention
Problems to be solved by the invention
However, in a grinding machine for machining a workpiece with a rotating grinding wheel, it is preferable that the center of gravity of the grinding wheel coincides with the rotation center of the grinding wheel. When the center of gravity of the grinding wheel is offset from the rotation center of the grinding wheel, the grinding wheel vibrates with the rotation of the grinding wheel, and the machining accuracy of the workpiece is lowered. Therefore, it is necessary to attach a corrective weight to the grinding wheel so that the center of gravity of the grinding wheel substantially coincides with the center of rotation.
As a method of determining a mounting position of the corrective weight, a method using a balance monitor is known. The balance monitor includes a rotation sensor for measuring the rotation speed of the grinding wheel and an acceleration sensor for measuring the vibration of the grinding wheel base, and calculates the shift of the center of gravity based on the measurement values of the rotation sensor and the acceleration sensor. To specify the center of gravity of the grinding wheel, the amplitude of the vibration of the grinding wheel needs to be calculated. In the case of calculating the amplitude based on the acceleration sensor, it is necessary to perform a re-integration of the measurement value. Therefore, the calculation of the shift of the center of gravity using the acceleration sensor is susceptible to the influence of noise contained in the measurement value of the acceleration sensor.
An object of the present invention is to provide an industrial machine, an eccentricity specifying device, an eccentricity specifying method, and a program that solve the above problems.
Means for solving the problems
According to a first aspect of the present invention, a machine tool includes: a disk-shaped tool; a rotary motor that rotates the tool about a central axis of the tool; an actuator that moves the tool in a cutting direction; a rotation angle sensor that measures a rotation angle of the tool; a displacement sensor that measures displacement of the tool in a cutting direction; a control device that controls the rotary motor and the actuator; the control device is provided with: a rotation command unit that outputs a rotation command to the rotation motor; a rotation angle acquisition unit that acquires a measurement value of the rotation angle from the rotation angle sensor; a vibration acquisition unit that acquires a value relating to vibration of the tool in the cutting direction based on the measured value of the displacement acquired by the displacement sensor; and an eccentricity specifying unit that specifies a value related to a difference between the center of gravity of the tool and the center axis, based on the measured value of the rotation angle and the value related to the vibration.
Effects of the invention
According to at least one of the above aspects, the industrial machine specifies the center of gravity of the tool based on the measurement value of the displacement acquired by the displacement sensor. By using the measured value of the displacement, it is not necessary to perform the re-integration of the measured value, and therefore, compared to the case of using an acceleration sensor, it is possible to specify a value relating to the eccentricity of the tool without being affected by noise.
Drawings
Fig. 1 is a plan view showing the structure of a grinding machine of the first embodiment.
Fig. 2 is a schematic block diagram showing the configuration of the control device of the first embodiment.
Fig. 3 is a flowchart showing a balance adjustment step of the grinding wheel of the first embodiment.
Fig. 4 is a flowchart illustrating a method of specifying a vibration vector by the control device of the first embodiment.
Fig. 5A is a diagram showing an example of the oscillation amplitude of the grinding wheel before and after the adjustment of the balance of the grinding wheel by using the control device according to the first embodiment.
Fig. 5B is a diagram showing an example of the chattering force of the grinding wheel before and after the adjustment of the balance of the grinding wheel by using the control device of the first embodiment.
Detailed Description
< first embodiment >
Hereinafter, embodiments will be described in detail with reference to the drawings.
Fig. 1 is a plan view showing the structure of a grinding machine of the first embodiment. Grinding machines are one example of industrial machines.
Structure of grinding machine
The grinding machine 100 includes a base 110, a support device 120, a wheel head 130, a control device 140, and a display device 150. The base 110 is disposed on the floor of a factory. The supporting device 120 and the wheel slide 130 are disposed on the upper surface of the base 110. The supporting device 120 supports both ends of the workpiece W to rotate the workpiece W around the main shaft. The wheel head 130 supports a grinding wheel 131 for machining the workpiece W supported by the supporting device 120. Grinding wheel 131 is an example of a tool.
Hereinafter, a direction perpendicular to the main axis on the upper surface of the base 110 is referred to as an X direction, a direction in which the main axis extends is referred to as a Y direction, and a direction perpendicular to the upper surface of the base 110 is referred to as a Z direction. That is, in the following description, the positional relationship of the grinding machine 100 will be described with reference to a three-dimensional orthogonal coordinate system including an X axis, a Y axis, and a Z axis.
The base 110 includes: a Y-axis guide 111 that slidably supports the wheel head 130 in the Y-axis direction; and a Y-axis actuator 112 for moving the wheel slide 130 along the Y-axis guide 111 in the Y-axis direction. The Y-axis actuator 112 may be constituted by a direct-drive motor, or may be constituted by a combination of a ball screw and a rotary motor.
The support device 120 includes a spindle housing 121 that supports one end of a substantially cylindrical workpiece W, and a tailstock 122 that supports the other end. The spindle base 121 is provided with a rotation motor 123 for rotating the workpiece W around the axis.
The grinding wheel head 130 includes a grinding wheel 131, an X-axis guide 132, an X-axis actuator 133, a displacement sensor 134, a rotation motor 135, and a rotation angle sensor 136.
The grinding wheel 131 is formed in a disk shape and is rotated around a central axis by a rotation motor 135. The grinding wheel 131 is disposed with the central axis parallel to the Y-axis. Abrasive grains for machining the workpiece W are provided on the outer peripheral surface of the grinding wheel 131. A plurality of mounting holes for mounting corrective weights (correction weights) are provided on the side surface of the grinding wheel 131 at equal intervals on the same circumference.
The X-axis guide 132 supports the wheel head 130 slidably in the X-axis direction with respect to the base 110.
The X-axis actuator 133 moves the grinding wheel 131 in the X-axis direction along the X-axis guide 132. The X-axis direction is the cutting direction of the grinding wheel 131. The X-axis actuator 133 may be constituted by a direct-drive motor, or may be constituted by a combination of a ball screw and a rotary motor. The cutting direction is orthogonal to the rotation center direction.
The displacement sensor 134 measures the displacement of the wheel slide 130 with respect to the base 110 in the X-axis direction. The displacement sensor 134 is constituted by, for example, a linear encoder.
The grinding wheel 131 is rotated about a central axis by a rotation motor 135.
The rotation angle sensor 136 measures the rotation angle of the grinding wheel 131. The rotation angle sensor 136 is constituted by, for example, a rotary encoder.
That is, in the grinding machine 100 of the first embodiment, the workpiece W is supported between the spindle stock 121 and the tailstock 122 of the support device 120, and the outer peripheral surface of the workpiece W is ground by the grinding wheel 131.
Structure of control device
Fig. 2 is a schematic block diagram showing the configuration of the control device of the first embodiment.
The control device 140 controls the Y-axis actuator 112, the rotary motor 123, the X-axis actuator 133, and the rotary motor 135. The control device 140 includes a processor 141, a main memory 143, a memory 145, and an interface 147. The processor 141 reads out the program from the memory 145, expands the program in the main memory 143, and executes processing in accordance with the program. Further, the processor 141 secures a storage area in the main memory 143 in accordance with the program.
The program may be a program for realizing a part of the functions of the control device 140. For example, the program may be a program that functions by combination with another program already stored in the memory 145 or combination with another program installed in another device. In other embodiments, the control Device 140 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. As examples of PLDs, PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), FPGA (Field Programmable Gate Array) can be cited. In this case, a part or all of the functions implemented by the processor 141 may be implemented by the integrated circuit.
Examples of the Memory 145 include an HDD (Hard Disk Drive), an SSD (Solid State Drive), a magnetic Disk, a magneto-optical Disk, a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), a semiconductor Memory, and the like. The memory 145 may be an internal medium directly connected to the bus of the control device 140, or may be an external medium connected to the control device 140 via the interface 147 or a communication line. When the program is distributed to the control device 140 via the communication line, the control device 140 that has received the distribution may expand the program in the main memory 143 and execute the above-described processing. In at least one implementation, the memory 145 is a non-transitory tangible storage medium.
The processor 141 functions as a rotation angle acquisition unit 410, a vibration acquisition unit 411, a target position calculation unit 412, a target state amount calculation unit 413, a command value calculation unit 414, a command output unit 415, a rotation command unit 416, a feedback unit 417, an eccentricity specifying unit 418, a correction weight determining unit 419, a vibration amount specifying unit 420, and a display control unit 421 by executing a program.
The rotation angle acquisition unit 410 acquires a measurement value from the rotation angle sensor 136. That is, the rotation angle acquisition unit 410 acquires a measurement value of the rotation angle of the grinding wheel 131.
The vibration acquisition unit 411 acquires a measurement value from the displacement sensor 134. That is, the vibration acquisition unit 411 acquires a measurement value of the displacement of the grinding wheel 131 in the X-axis direction. The measured value of the displacement in the X-axis direction is a value related to the vibration of the grinding wheel 131 in the cutting direction.
The target position calculation unit 412 calculates a predetermined constant position as the target position of the grinding wheel 131 when the balance of the grinding wheel 131 is adjusted.
The target state quantity calculation unit 413 calculates a target value of the state quantity related to the displacement of the grinding wheel 131 based on the target position calculated by the target position calculation unit 412. Specifically, the target state quantity calculation unit 413 calculates values of a target speed, a target acceleration, and a target jerk (jerk) of the grinding wheel 131 in the X-axis direction.
The command value calculation unit 414 calculates a current command value for the X-axis actuator 133 based on the target value of the state quantity of the grinding wheel 131 and the feedback signal of the feedback unit 417. Specifically, the command value calculation unit 414 converts the target value of the state quantity of the grinding wheel 131 into a current value for achieving the target value, and adds the value of the feedback signal to the current value to calculate a current command value.
The command output unit 415 outputs the current command value calculated by the command value calculation unit 414 to the X-axis actuator 133.
The rotation command unit 416 outputs a rotation command for rotating the grinding wheel 131 at a predetermined rotation speed to the rotation motor 135.
The feedback unit 417 outputs a feedback signal relating to the driving of the X-axis actuator 133 based on the difference between the measurement value of the displacement of the grinding wheel 131 in the X-axis direction acquired by the vibration acquisition unit 411 and the target position of the grinding wheel 131 specified by the target position calculation unit 412.
The eccentricity specifying unit 418 specifies a vibration vector based on the measurement value of the displacement of the grinding wheel 131 in the X-axis direction acquired by the vibration acquiring unit 411 and the measurement value of the rotation angle of the grinding wheel 131 acquired by the rotation angle acquiring unit 410. The vibration vector is a vector representing the direction and magnitude with respect to a phase reference (for example, 0 degree) that appears in the displacement of the grinding wheel 131 due to the rotation of the grinding wheel 131 in which the center axis and the center of gravity do not coincide. That is, the vibration vector is a value related to the difference between the center of gravity position and the center axis of the grinding wheel 131.
The corrective weight determining unit 419 determines the position of the mounting hole to which the corrective weight should be mounted and the weight of the corrective weight so that the center of rotation of the grinding wheel 131 and the center of gravity substantially coincide, based on the position of the center of gravity specified by the eccentricity specifying unit 418 and the position of the mounting hole of the grinding wheel 131.
The vibration amount specifying unit 420 specifies the amplitude of chatter vibration generated by the eccentricity of the grinding wheel 131 based on the measurement value of the displacement of the grinding wheel 131 in the X-axis direction acquired by the vibration acquiring unit 411 and the measurement value of the rotation angle of the grinding wheel 131 acquired by the rotation angle acquiring unit 410. Hereinafter, the amplitude of the chattering vibration is also referred to as a vibration amount. Specifically, the oscillation amount specifying unit 420 specifies the amplitude of a frequency band corresponding to the rotational frequency of the grinding wheel by an appropriate filtering process (for example, a band-pass filtering process) based on the time series of the measurement values of the displacement in the X-axis direction, and specifies the oscillation amount of the chattering. The rotational frequency of the grinding wheel is obtained from the measurement value of the rotational angle sensor 136.
The display control unit 421 outputs, to the display device 150, a display signal indicating a screen indicating the position of the mounting hole and the weight of the corrective weight determined by the corrective weight determining unit 419 and a screen indicating the amount of vibration specified by the vibration amount specifying unit 420 at the time of the balance adjustment of the grinding wheel 131.
Sequence of adjustment of grinding wheel balance
Here, a description will be given of a balance adjustment procedure of the grinding wheel 131 of the grinding machine 100.
Fig. 3 is a flowchart showing a balance adjustment step of the grinding wheel of the first embodiment.
The operator operates the control device 140 to start the balance adjustment mode (step S1). Next, the control device 140 rotates the grinding wheel 131 without applying a trial weight to the grinding wheel 131, and specifies a vibration vector by a method described later (step S2). The trial weight is an additional weight for measuring the unbalance of the grinding wheel 131. Next, the operator adds a trial weight to a predetermined mounting hole related to the reference phase of the grinding wheel 131 (step S3). Next, the control device 140 rotates the grinding wheel 131 with a trial weight applied to the grinding wheel 131, and specifies a vibration vector by a method described later (step S4).
Next, the corrective weight determining unit 419 of the control device 140 calculates the ideal weight W of the corrective weight based on the equation (1)1(step S5). The ideal corrective weight is a virtual corrective weight that can be attached to an arbitrary position of the grinding wheel 131 regardless of the position of the attachment hole of the grinding wheel 131. The actual mounting position of the corrective weight is limited to the position of the mounting hole.
[ formula 1 ]
In formula (1), W0Is the weight of the test weight. A. the0Is the amplitude component of the vibration vector in the state where the trial weight specified in step S2 is not added. A. the1Is the amplitude component of the vibration vector in the state where the trial weight specified in step S4 is added. A. the2Is the amplitude component of the vibration vector that cancels the eccentricity. Theta0Is the phase component of the vibration vector in the state where the trial weight specified in step S2 is not added. Theta1Is the phase component of the vibration vector in the state where the trial weight specified in step S4 is added.
Next, the corrective weight determining unit 419 determines the ideal installation angle Φ of the corrective weight based on the equation (2)1(step S6).
[ formula 2 ]
Subsequently, the corrective weight determining unit 419 determines the ideal weight W of the corrective weight1And an installation angle phi1And closest to the mounting angle phi1Of two mounting holes phi2And phi3The weight W of the corrective weight mounted in each mounting hole is determined based on the formula (3)2And W3(step S7).
[ formula 3 ]
Next, the display control unit 421 indicates the position Φ of the mounting hole determined in step S72And phi3And correcting the weight W of the counterweight2And W3The display signal of the screen (S) is output to the display device 150 (step S8).
Next, the operator removes the trial weight from the grinding wheel 131 (step S9), and adds the indicated weight correction weight to the attachment hole at the indicated position (step S10). Next, the operator rotates the grinding wheel 131 with a trial weight applied to the grinding wheel 131, and specifies a vibration vector by a method described later (step S11). Next, the oscillation amount specifying unit 420 of the control device 140 specifies the oscillation amount by specifying the amplitude of the frequency band corresponding to the rotation frequency of the grinding wheel 131 through an appropriate filtering process (for example, a band-pass filtering process) based on the time series of the measurement values of the displacement in the X-axis direction (step S12). The display control unit 421 outputs a display signal of a screen indicating the specified vibration amount of the grinding wheel 131 to the display device 150 (step S13).
The operator determines whether or not the displayed vibration amount is equal to or greater than a reference value (step S14). When the vibration amount is equal to or larger than the reference value (yes in step S14), the process returns to step S3 to continue the balance adjustment. On the other hand, when the vibration amount is smaller than the reference value (no in step S14), the operator ends the balance adjustment.
Method for specifying vibration vector
Fig. 4 is a flowchart illustrating a method of specifying a vibration vector by the control device of the first embodiment.
When the control device 140 starts the specific processing of the vibration vector in step S2, S4, or S11, the target position calculation section 412 calculates a predetermined position determined in advance as the target position of the grinding wheel 131 (step S31). The target state quantity calculation unit 413 calculates a target value of the state quantity (velocity, acceleration, jerk) relating to the displacement of the grinding wheel 131 based on the target position calculated in step S31 (step S32).
The command value calculation unit 414 converts the target value of the state quantity of the grinding wheel 131 into a current value (torque value) for achieving the target value (step S33). The command value calculation unit 414 calculates a current command value by adding the current value converted in step S33 to the value of the feedback signal output from the feedback unit 417 (step S34). The command output unit 415 outputs the current command value calculated in step S34 to the X-axis actuator 133 (step S35). The rotation command unit 416 outputs a rotation command for rotating the grinding wheel 131 at a predetermined rotation speed to the rotation motor 135 (step S36).
The rotation angle acquisition unit 410 acquires a measurement value of the rotation angle of the grinding wheel 131 from the rotation angle sensor 136, and the vibration acquisition unit 411 acquires a measurement value of the displacement of the grinding wheel 131 in the X-axis direction from the displacement sensor 134 (step S37). The acquired measurement value is stored in the main memory 143 or the like in association with time. The feedback unit 417 outputs a feedback signal relating to the driving of the X-axis actuator 133 based on the displacement measurement value acquired in step S37 and the target position calculated in step S31 (step S38). The feedback signal can be obtained by proportional control, sliding mode (sliding mode) control, and other methods.
The eccentricity specifying unit 418 determines whether or not the measurement value of the amount necessary for calculation of the vibration vector is collected (step S39). For example, the eccentricity specifying unit 418 may determine whether or not the measurement values are collected for a predetermined time period, or whether or not the measurement values are collected for a predetermined number of rotations. If the measured values of the amount necessary for calculation of the vibration vector are not collected (no in step S39), the process returns to step S31 to continue the collection of the measured values. On the other hand, when the measured values of the amount necessary for calculation of the vibration vector are collected (yes in step S39), the eccentricity specifying unit 418 specifies the vibration vector based on the time series of the collected measured values of the displacement (step S40). Specifically, the eccentricity specifying unit 418 specifies the rotation angle of the grinding wheel 131 at the timing of the peak of the waveform of the time series of the collected measured values of displacement as the phase component of the vibration vector. In addition, the eccentricity specifying unit 418 specifies the amplitude of the waveform of the time series of the collected displacement measurement values as the amplitude component of the vibration vector.
Action of control device in workpiece processing
When the workpiece W is machined after the balance adjustment of the grinding wheel 131 is completed, the operator mounts the workpiece W on the support device 120, operates the control device 140, and starts the machining mode. Thus, the controller 140 specifies the position of the contour of the workpiece W facing the grinding wheel 131 as the target position of the grinding wheel 131 based on the rotation angle of the rotation motor 123 and the target shape of the workpiece W, and processes the workpiece W. The rotation angle acquisition unit 410 and the vibration acquisition unit 411 collect measurement values from the displacement sensor 134 and the rotation angle sensor 136 of the grinding wheel 131 during the processing of the workpiece W. The control device 140 performs the processing from step S12 to step S13 based on the collected measurement values, and displays the vibration amount of the grinding wheel 131 on the display device 150. Thus, the operator can check the unbalance of the grinding wheel 131 every time the workpiece W is machined. In step S12, the vibration amount specifying unit 420 specifies the vibration amount corresponding to the rotational frequency of the grinding wheel 131, and can extract the vibration amount of the chatter vibration of the grinding wheel 131 from the time series including the measurement value of the displacement of the vibration caused by the machining of the workpiece W. That is, the vibration amount specifying unit 420 can appropriately specify the vibration amount of the chattering vibration of the grinding wheel 131 even during the machining of the workpiece W.
Action and Effect
In this way, the control device 140 of the first embodiment specifies the vibration vector of the grinding wheel 131 based on the measurement values obtained from the rotation angle sensor 136 and the displacement sensor 134 of the grinding wheel 131. By using the measured value of the displacement, the control device 140 does not need to perform the re-integration of the measured value, and thus can specify the center of gravity without being affected by noise as compared with the case of using an acceleration sensor.
Fig. 5A and 5B are diagrams showing an example of chattering of the grinding wheel before and after the adjustment of the balance of the grinding wheel by using the control device according to the first embodiment. As shown in fig. 5A and 5B, by performing the balance adjustment of the first embodiment, the chatter vibration of the grinding wheel 131 generated before the adjustment can be reduced to the same level as other noises by the balance adjustment shown in fig. 3. Specifically, in the example shown in fig. 5A, the amplitude of the chattering vibration can be reduced to about one twentieth. In the example shown in fig. 5B, the force of the chattering vibration can be reduced to about one-tenth.
The control device 140 of the first embodiment specifies the vibration vector as a value related to the difference between the center of gravity and the center axis, but is not limited to this in other embodiments. For example, the control device 140 according to another embodiment may specify the position of the center of gravity with respect to the center axis as a value related to the difference between the center of gravity and the center axis.
The control device 140 according to the first embodiment performs feedback control such that the grinding wheel 131 is positioned at a certain position by the feedback unit 417 at the time of adjusting the balance of the grinding wheel, but is not limited thereto. For example, the control device 140 according to another embodiment may not output a current command to the X-axis actuator 133 when the balance of the grinding wheel is adjusted.
< second embodiment >
The control device 140 of the first embodiment specifies the vibration vector using the measurement value of the displacement sensor 134. In contrast, the control device 140 of the second embodiment specifies the vibration vector based on the thrust of the X-axis actuator 133.
The vibration acquisition unit 411 of the control device 140 according to the second embodiment acquires the value of the current from the X-axis actuator 133 in addition to the measurement value of the first embodiment. The value of the current of the X-axis actuator 133 is proportional to the magnitude of the thrust of the X-axis actuator 133. The eccentricity specifying unit 418 calculates the displacement of the X-axis actuator 133 from the value of the current of the X-axis actuator 133, and specifies the vibration vector.
Here, the reason why the vibration vector can be calculated based on the thrust force of the X-axis actuator 133 will be described. When the balance of the grinding wheel 131 is adjusted, the command output unit 415 of the control device 140 outputs a current command so that the grinding wheel 131 is positioned at a predetermined position. On the other hand, the grinding wheel 131 is displaced in the X-axis direction due to chattering. When displacement in the X axis direction occurs, the feedback unit 417 of the control device 140 generates a feedback signal for canceling the displacement, and outputs the feedback signal to the command value calculation unit 414. Thus, the X-axis actuator 133 generates thrust along with displacement in the X-axis direction due to chattering by feedback control.
Action and Effect
In this way, the control device 140 of the second embodiment specifies the vibration vector of the grinding wheel 131 based on the thrust of the X-axis actuator 133. As described above, the thrust of the X-axis actuator 133 is synchronized with the displacement in the X-axis direction caused by the chattering vibration by the feedback control. Therefore, according to the control device 140 of the second embodiment, the vibration vector of the grinding wheel 131 can be specified as in the first embodiment.
The control device 140 according to the second embodiment does not specify the vibration vector of the grinding wheel 131 using the measurement value of the displacement sensor 134, but is not limited to this. The control device 140 of other embodiments may use the measurement of the displacement sensor 134 and the thrust of the X-axis actuator 133 to specify the vibration vector. For example, the control device 140 of another embodiment may specify the vibration vector using the average value of the measurement value of the displacement sensor 134 and the displacement specified according to the thrust of the X-axis actuator 133.
While one embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to the above configuration, and various design changes and the like may be made.
For example, the control device 140 of the above-described embodiment is a control device that controls the grinding machine 100, but is not limited thereto. For example, the control device 140 of other embodiments may control an industrial machine that uses tools other than the grinding wheel 131. The shape of the grindstone 131 is not limited to a disk shape, and may be a circular saw blade or a cylindrical grindstone. In other embodiments, an external measuring device may be used instead of the control device 140 to specify the tool eccentricity.
Industrial applicability of the invention
According to the above disclosure of the present invention, the industrial machine specifies the center of gravity of the tool based on the measurement value of the displacement by the displacement sensor. By using the measured value of the displacement, it is not necessary to perform the re-integration of the measured value, and therefore, compared to the case of using an acceleration sensor, it is possible to specify a value relating to the eccentricity of the tool without being affected by noise.
Description of the reference numerals
100 grinding machine
110 base
111Y-axis guide part
112Y-axis actuator
121 spindle seat
122 tailstock
123 rotary motor
120 support device
130 grinding wheel base
131 grinding wheel
132X-axis guide
133X-axis actuator
134 displacement sensor
135 rotary motor
136 angle of rotation sensor
140 control device
141 processor
143 main memory
145 memory
147 interface
150 display device
410 rotation angle acquisition unit
411 vibration acquiring unit
412 target position calculating section
413 target state quantity calculating section
414 instruction value calculating part
415 instruction output part
416 rotation command unit
417 feedback part
418 eccentric specific part
419 correcting weight determining part
420 vibration quantity specifying part
421 display control part
W workpiece
Claims (7)
1. An industrial machine is characterized by comprising:
a tool;
a rotary motor that rotates the tool about a central axis of the tool;
an actuator that moves the tool in a cutting direction;
a rotation angle sensor that measures a rotation angle of the tool;
a displacement sensor that measures displacement of the tool in a cutting direction;
a control device that controls the rotary motor and the actuator;
the control device is provided with:
a rotation command unit that outputs a rotation command to the rotation motor;
a rotation angle acquisition unit that acquires a measurement value of the rotation angle from the rotation angle sensor;
a vibration acquisition unit that acquires a value relating to vibration of the tool in the cutting direction based on the measured value of the displacement obtained by the displacement sensor;
and an eccentricity specifying unit that specifies a value related to a difference between the center of gravity of the tool and the center axis, based on the measured value of the rotation angle and the value related to the vibration.
2. The industrial machine of claim 1,
the value related to the vibration is a measured value of the displacement obtained by the displacement sensor.
3. The industrial machine of claim 1,
the control device includes a command output unit that outputs a current command for positioning the tool at a predetermined position to the actuator based on the displacement measurement value obtained by the displacement sensor;
the value related to the vibration is a value related to a thrust force of the actuator.
4. The industrial machine of any of claims 1 to 3,
the control device includes a corrective weight determining unit that determines a position and a weight of a corrective weight attached to the tool.
5. An eccentricity specifying device that specifies a value related to eccentricity of a tool for machining a workpiece by moving a tool in a cutting direction while rotating the tool around a center axis by a rotation motor, the eccentricity specifying device comprising:
a rotation command unit that outputs a rotation command to the rotation motor;
a rotation angle acquisition unit that acquires a measurement value of a rotation angle of the rotation motor;
a vibration acquisition unit that acquires a value related to vibration of the tool in a cutting direction based on a measurement value of displacement of the tool in the cutting direction;
and an eccentricity specifying unit that specifies a value related to a difference between the center of gravity of the tool and the center axis, based on the measured value of the rotation angle and the value related to the vibration.
6. An eccentricity specifying method for specifying a value related to eccentricity of a tool for machining a workpiece by moving the tool in a cutting direction while rotating the tool around a center axis by a rotation motor, the eccentricity specifying method comprising:
a step of outputting a rotation command to the rotation motor;
a step of acquiring a measurement value of a rotation angle of the rotation motor;
a step of acquiring a value related to vibration of the tool in a cutting direction based on a measurement value of displacement of the tool in the cutting direction;
a step of specifying a value related to a difference between the center of gravity of the tool and the center axis based on the measured value of the rotation angle and the value related to the vibration.
7. A program for causing a computer to execute the steps of:
a step of outputting a rotation command to a rotation motor of an industrial machine, the industrial machine including a tool, the rotation motor rotating the tool about a central axis of the tool, and an actuator moving the tool in a cutting direction:
a step of acquiring a measurement value of a rotation angle of the rotation motor;
a step of acquiring a value related to vibration of the tool in a cutting direction based on a measurement value of displacement of the tool in the cutting direction;
a step of specifying a value related to a difference between the center of gravity of the tool and the center axis based on the measured value of the rotation angle and the value related to the vibration.
Applications Claiming Priority (3)
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|---|---|---|---|
| JP2019-068529 | 2019-03-29 | ||
| JP2019068529A JP7241587B2 (en) | 2019-03-29 | 2019-03-29 | Industrial machine, eccentricity identification device, eccentricity identification method, and program |
| PCT/JP2020/014207 WO2020203844A1 (en) | 2019-03-29 | 2020-03-27 | Industrial machine, eccentricity specifying device, eccentricity specifying method, and program |
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| CN113543931A true CN113543931A (en) | 2021-10-22 |
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| CN202080017872.2A Pending CN113543931A (en) | 2019-03-29 | 2020-03-27 | Industrial machine, eccentricity specifying device, eccentricity specifying method, and program |
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| JP (1) | JP7241587B2 (en) |
| KR (1) | KR102630661B1 (en) |
| CN (1) | CN113543931A (en) |
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| WO (1) | WO2020203844A1 (en) |
Cited By (1)
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|---|---|---|---|---|
| TWI838680B (en) | 2022-01-11 | 2024-04-11 | 衆程科技股份有限公司 | Grinding wheel calibration device for grinding machines |
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| DE112020000649B4 (en) | 2024-05-02 |
| JP2020163546A (en) | 2020-10-08 |
| JP7241587B2 (en) | 2023-03-17 |
| DE112020000649T5 (en) | 2021-12-09 |
| KR20210116650A (en) | 2021-09-27 |
| WO2020203844A1 (en) | 2020-10-08 |
| KR102630661B1 (en) | 2024-01-29 |
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