JP5580226B2 - Method and apparatus for creating stability limit diagram - Google Patents

Description

  The present invention creates a stable limit diagram representing the relationship between the rotational speed of the spindle and the limit cutting amount of the tool that does not cause chatter vibration for a machine tool that performs machining while rotating the tool or workpiece mounted on the spindle. And a device for creating the stability limit diagram.

In a machine tool such as a machining center that performs machining while rotating the tool or workpiece mounted on the spindle, chatter vibration occurs depending on the machining conditions such as the rotation speed of the spindle and the depth of cut, and the machining surface deteriorates, It is known that damages may lead to deterioration of tool life.
Therefore, in Non-Patent Document 1, a chatter vibration is generated by creating a stable limit diagram indicating a limit cutting amount that can be stably processed without causing chatter vibration based on a modal parameter of the system. It has been shown that it is possible to select a processing condition that is difficult to cause.
An example of this stability limit diagram is shown in FIG. This represents the limit cutting amount (waveform curve) in the axial direction in which chatter vibration does not occur with respect to the spindle rotation speed, and the upper side of the limit cutting amount is an unstable region and the lower side is a stable region. From this point, even if the cutting amount is the same, depending on the rotational speed, the limit cutting amount may be exceeded and chatter vibration will occur when entering the unstable region, or chatter vibration will be less likely to occur due to the limit cutting amount. I understand that Therefore, when the amount of cut exceeds the limit amount of cut and chatter vibration is generated, if the spindle rotational speed is changed based on this stability limit diagram, the region can be shifted to the stable region.

  As a method for creating such a stability limit diagram, a method of measuring a modal parameter of a system by mounting a tool used for machining on a spindle and performing an impulse excitation test is generally known. Non-Patent Document 2 discloses a method for identifying a modal parameter based on vibration information generated in actual machining.

2001 Japan Society of Mechanical Engineers lecture materials "Basic knowledge of cutting and chatter vibration" Yusuke Kurata, Norikazu Suzuki, Eiji Shamoto “Inverse Identification of Transfer Functions Using Experimental Results in End Mill Processing” Proceedings of the 2008 JSPE Spring Conference Annual Conference

The stability limit diagram should be consistent with the actual machining results. However, even if a stability limit diagram is created based on a modal parameter obtained by impulse excitation, it does not match the actual machining result, and it is difficult to obtain an accurate stability limit diagram.
Further, as described in Non-Patent Document 2, even if a technique for identifying modal parameters from machining data is used, there are other factors such as the shape of the tool and the amount of cutting in the radial direction in the stability limit diagram. This may affect the actual chatter distribution and deviation. Furthermore, in the method of Non-Patent Document 2, it is necessary to perform cutting by sequentially changing the amount of cutting in the axial direction.
On the other hand, when obtaining a stable limit diagram by actual machining, it is necessary to find the boundary of the stable / unstable region by changing the cutting amount sequentially in order to know the limiting cutting amount, and this can be done with multiple spindle rotations. Because it must be done for speed, it takes a lot of time and effort.

  Therefore, the present invention has an object to provide a method and apparatus for creating a stability limit diagram that can easily obtain a stability limit diagram that matches the actual machining result without directly searching for the limit cutting amount. Is.

In order to achieve the above object, the invention according to claim 1 is directed to a machine tool that performs machining by rotating a tool or a workpiece mounted on a spindle, and the rotation speed of the spindle and chatter vibration do not occur. A method for creating a stability limit diagram representing a relationship with a limit cutting amount,
Machining data acquisition step of acquiring machining data including acceleration and chatter frequency related to the vibration of the main shaft by performing machining at a set initial rotation speed, and obtaining a modal parameter of the tool or the workpiece based on the acquired machining data From the modal parameter acquisition step and the acquired machining data and modal parameters, a relation between the phase difference, the limit cutting amount and the acceleration, which is a decimal part of the following equation, is obtained, and a compensation parameter for correcting the phase difference is obtained. A compensation parameter acquisition step and a drawing step of creating the stability limit diagram based on the acquired modal parameter and compensation parameter are executed.
Formula: 60 x chatter frequency / (number of tool blades x spindle speed)

According to a second aspect of the present invention, in the configuration of the first aspect, a display step of displaying the stability limit diagram by a display means is further executed.
In order to achieve the above object, a third aspect of the present invention is directed to a machine tool that performs machining by rotating a tool or a workpiece mounted on a spindle, and the rotation speed of the spindle and chatter vibration do not occur. An apparatus for creating a stable limit diagram representing a relationship with a limit cutting amount,
Machining data acquisition means for performing machining at a set initial rotation speed and obtaining machining data including acceleration and chatter frequency related to vibration of the spindle, and obtaining a modal parameter of the tool or workpiece based on the obtained machining data From the modal parameter acquisition means and the acquired processing data and modal parameters, the relationship between the phase difference, which is a decimal part of the following equation, the limit cutting amount and the acceleration is obtained, and a compensation parameter for correcting the phase difference is obtained. Compensation parameter acquisition means, plotting means for creating the stability limit diagram based on the acquired modal parameter and compensation parameter, and display means for displaying the stability limit diagram, is there.
Formula: 60 x chatter frequency / (number of tool blades x spindle speed)

According to the first and third aspects of the invention, it is possible to easily obtain a stable limit diagram that matches the actual machining result without directly searching for the limit cutting amount. Therefore, the operator can obtain the stable processing region easily and in a short time.
According to the second aspect of the invention, in addition to the above effect, the stable machining area can be selected more easily by displaying the stability limit diagram.

It is a schematic block diagram of a vertical machining center. It is a side view of a spindle head. It is a front view (seen from the axial direction) of the spindle head. It is a flowchart of the stability limit diagram creation method. It is explanatory drawing which shows the relationship between a phase difference, the amount of limit cutting, and vibration acceleration. It is explanatory drawing of process data. It is explanatory drawing which shows the comparison with process data and an identification result. It is explanatory drawing which shows the relationship between a phase difference, the limit cutting amount, and a vibration amplitude. It is explanatory drawing of the corrected stability limit diagram. It is explanatory drawing of a stability limit diagram.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a vertical machining center that is an example of a machine tool. The vertical machining center 1 is provided with a main spindle 3 that is rotatable around a C axis on a main spindle head 2 that is provided above, and is attached to the main spindle 3. The NC device 10 controls the rotation of the spindle 3 and the tool 4 is automatically changed by an automatic tool changer (not shown) with a well-known configuration for machining the workpiece 6 set on the lower machining table 5 by the tool 4. It is possible.

  The NC device 10 is provided with an FFT calculation device 11, a spindle control unit 12, and a stable region calculation unit 13. Vibration sensors 7 a to 7 c that are provided on the spindle head 2 and measure vibrations are connected to the FFT operation device 11. The vibration sensors 7a to 7c detect time domain vibrations (vibrations on the time axis) caused by the rotation of the main shaft 3, and as shown in FIGS. , Attached to the spindle head 2 in a state where vibration information in the time domain in the Z-axis direction can be detected. The FFT arithmetic unit 11 performs a Fourier analysis of vibrations detected by the vibration sensors 7a to 7c, and constantly calculates the maximum acceleration frequency (chatter frequency).

  Further, the FFT computing device 11 computes the phase difference ε by the following equation (1) using the rotational speed of the spindle 3 and the tool information inputted in advance. fc is the chatter frequency calculated by the FFT arithmetic unit, Z is the number of blades of the tool 4, S is the spindle rotational speed, and k 'is the integer part of k.

The spindle control unit 12 is provided with machining condition determining means 14 and a spindle control device 15. The machining condition determination means 14 determines a machining condition (spindle rotation speed) to be acquired next based on the chatter frequency and the phase difference obtained by the FFT arithmetic unit 11. The spindle control device 15 controls the spindle 3 with the spindle rotational speed determined by the machining condition determining means 14 as a target.
These vibration sensors 7a to 7b, the FFT calculation device 11, and the spindle control unit 12 serve as machining data acquisition means.

On the other hand, the stable region calculation unit 13 includes a modal parameter identification unit 16 as a modal parameter acquisition unit for obtaining a modal parameter of a mechanical system based on the chatter frequency and phase difference obtained by the FFT arithmetic unit 11 and vibration acceleration. A compensation parameter identifying unit 17 as a compensation parameter obtaining unit for obtaining a compensation parameter of the stability limit diagram, a plotting unit 18 for creating a stability limit diagram corrected in accordance with an actual measurement result using each parameter, and a plot A display device 19 is provided as display means for displaying the stability limit diagram created by the means 18. Here, the natural frequency and damping ratio of the tool 4 are obtained as modal parameters, and the compliance ratio of the tool 4 and a phase offset amount to be described later are obtained as compensation parameters.
In addition, although not shown, the NC device 10 is provided with an input device for inputting the number of blades of the tool 4 and the like, and a storage device for storing machining data and parameters including these.

Next, FIG. 4 shows a flowchart of a method for creating a stability limit diagram.
First, an arbitrary rotation speed is set as an initial rotation speed in S1, processing is started in S2, and processing data is acquired (processing data acquisition step).
In S3, the obtained machining data is analyzed to determine whether or not machining data sufficient for identification has been collected. If the machining data is insufficient in this determination, another machining condition is reset by the machining condition determining means 14 in S4, and the machining is continued in S2.

  When the collection of the machining data is completed, the modal parameter identifying unit 16 identifies the modal parameters (the natural frequency and the damping ratio of the mechanical system) using the chatter frequency and the phase difference obtained from the FFT arithmetic unit 11 in S5. (Modal parameter acquisition step). Since the relational expression between the phase difference and the limit cutting amount is obtained using the identified modal parameter, the plotting means 18 is temporarily determined in S6 from this relational expression and the vibration amplitude distribution obtained by integrating the machining data obtained in S2. Then, in S7, the compensation parameter identification means 17 identifies the compliance ratio (compensation parameter acquisition step).

This compliance ratio has no meaning when chatter occurs in a single mode, but when it occurs in a plurality of modes, it corresponds to the compliance ratio of each mode. Here, in this identification calculation, a simple transfer function is assumed for the sake of simplicity, and there is an approximation error in the model describing chatter. Therefore, as shown in FIG. Deviation occurs in the unstable region from the obtained stability limit diagram.
Therefore, in S7, the compensation parameter identification means 17 identifies the phase offset amount for compensating for this deviation (compensation parameter acquisition step). In S8, the plotting means 18 creates the temporary stability limit diagram created in S6. Is corrected (plotting step). Thereby, a stability limit diagram corresponding to the actual machining result is obtained. Then, in S9, the finally obtained stability limit diagram is displayed on the display device 19 such as a monitor and presented to the operator (display step), and the operator selects an arbitrary stable region and performs processing. It becomes possible.

Hereinafter, the processing of each step will be specifically described using actual data.
In this embodiment, since the compliance ratio and the phase offset amount are identified from the shape of the acceleration distribution and the phase difference-limit cutting amount as shown in FIG. 5, data is required for at least three points for each mode chatter. Therefore, in S1 and S2, the following formula (2) is used to set machining data by setting two or more initial rotational speeds having a phase difference different from the initial condition. Also, since the chatter frequency is distributed around the natural frequency of each mode, if the chatter frequency changes greatly during machining data collection, it can be determined that the chatter frequency has shifted to another mode (NO in S3). Recalculates the machining conditions in S4 so as to obtain three or more machining data for this new mode.

By this processing data collection, a data group as shown in FIG. 6 is obtained. In this example, it can be seen that chattering occurs in two modes, around 4500 Hz and around 4200 Hz. Therefore, for each mode, in S5, the natural frequency and the damping ratio are identified according to the following procedure.
According to the previously presented Non-Patent Document 1, when the coefficient matrix determined by the processing conditions is A ₀ and the transfer function of the system is G, the critical condition for causing chatter is expressed by the following equation (3). Here, F ₀ is a cutting force vector, a _lim is a limit cutting amount, Kt is a specific cutting resistance, ω _C is a chatter frequency, T is a cutting edge passing period, and i is an imaginary unit.

  In this embodiment, for simplification, it is assumed that the modal parameters in the direction orthogonal to the rotation axis of the system are equal, and the transfer function matrix is defined by the following equation (4).

When the natural frequency of the system is f _n , the damping ratio is ζ, and the compliance is R _max , the equivalent parameters M, K, and C are expressed by the following formula (5).

Here, when the inverse of the eigenvalue of the matrix A ₀ · G (iω _C ) is set to Λ, the relationship of the following equation (6) is established.

At this time, the spindle speed S corresponding to the limit cutting amount a _{lim, the} phase difference ε, and the chatter frequency ω _C can be expressed by the following equations (7) to (9). Here, k is an arbitrary integer.

Here, from the equations (3) to (8), since the compliance R _max does not affect the phase difference ε, the natural frequency and the damping ratio can be determined by performing parameter identification using the phase difference with R _max as an arbitrary value. Can be obtained. Therefore, a temporary stability limit diagram can be created in S6.
When parameter identification is performed so that the phase difference of the equation (8) matches the actual measurement value, the result of Table 1 below is obtained.

FIG. 7 shows the comparison between the spindle speed, chatter frequency and phase difference obtained from the equations (3) to (9) using the identification result and the actual measurement result.
Here, since it is considered that the vibration amplitude of the chatter and the cutting amount are in a linear relationship, the limit cutting amount and the reciprocal number of the chatter vibration amplitude (1 / vibration amplitude) have a similar shape distribution. On the other hand, the distribution of the critical cutting amount is determined by the compliance and the damping ratio, and since the damping ratio has already been obtained, the distribution shape of the critical cutting amount is the reciprocal of the actual vibration amplitude in S7. The compliance value should be selected so as to match the distribution. Here, since the shapes are merely matched, the obtained values themselves are meaningless, but when chatter occurs in a plurality of modes, the ratio of the values obtained here corresponds to the compliance ratio of each mode. By using this compliance ratio, a stable machining region can be accurately obtained even when chatter is mixed in a plurality of modes.

  As described above, the phase difference that is most unstable due to the simplification of the transfer function and the relationship between the model errors actually shifts in the actual measurement / theory (FIG. 5). Therefore, in S7, the phase offset amount that compensates for this phase difference deviation is simultaneously identified so that the final stability limit diagram matches the actual measurement. The results are shown in Table 2.

  FIG. 8 shows a comparison between the relationship between the phase difference and the limit cutting amount obtained from the theoretical formula and the identification result in this way and the relationship between the phase difference and vibration amplitude obtained from the actual measurement. The left side of the figure is mode 1 and the right side is mode 2.

FIG. 9 shows a comparison between the final stability limit diagram created in S8 by the above procedure and the actual vibration acceleration processed / measured by changing the spindle rotational speed little by little. From this figure, it can be seen that the stability range derived from the stability limit diagram and the actual stability range substantially coincide. Therefore, a stability limit diagram that matches the actual machining result can be created by the method proposed in this embodiment.
Further, it can be seen from the stability limit diagram of FIG. 9 that there are many stable regions within the illustrated range alone. Accordingly, the operator can perform machining without causing chatter by selecting an arbitrary stable machining area from the stability limit diagram.

  As described above, according to the method and apparatus for creating the stable limit diagram of the above embodiment, it is possible to easily obtain a stable limit diagram that matches the actual machining result without directly searching the limit cutting amount by actual machining. Therefore, the operator can obtain the stable processing region easily and in a short time.

In the above embodiment, a temporary stability limit diagram is once created and the stability limit diagram is corrected by the compensation parameter. However, after the compensation parameter is obtained without provisional creation, the final including the correction is performed. A stability limit diagram may be created.
Further, in the above embodiment, the stability limit diagram creation device is configured by using the NC device of the machine tool. However, the machining data is provided outside the machine tool via the network connected to the NC device. It may be transmitted to a computer equipped with means and a monitor, and a stability limit diagram may be generated by an external computer.
In addition, the machine tool is not limited to a vertical machining center, and the present invention can be applied to other machine tools such as an NC lathe that performs machining by rotating a workpiece mounted on a spindle.

  1 ·· Vertical machining center 2 ·· Spindle head 3 ·· Spindle 4 ·· Tool 6 ·· Workpiece 7a to 7b · Vibration sensor 10 ·· NC device 11 ·· FFT arithmetic unit 12 ..Spindle control unit, 13 ..Stable region calculation unit, 14 ..Machining condition determination means, 15 ..Spindle control device, 16 ..Modal parameter identification means, 17 ..Compensation parameter identification means, 18. 19, display device.

Claims (3)

A method for creating a stable limit diagram that represents the relationship between the rotation speed of the spindle and the limit cutting amount of the tool that does not cause chatter vibration for a machine tool that rotates a tool or workpiece mounted on the spindle Because
Machining data acquisition step of performing processing at a set initial rotation speed and acquiring processing data including acceleration and chatter frequency related to vibration of the spindle,
A modal parameter obtaining step for obtaining a modal parameter of a tool or a workpiece based on the obtained machining data;
A compensation parameter acquisition step for obtaining a compensation parameter for correcting the phase difference by obtaining a relationship between the phase difference and the limit cutting amount and acceleration, which is a decimal part of the following formula, from the obtained processing data and modal parameter;
A drawing step of creating the stability limit diagram based on the acquired modal parameter and compensation parameter;
A method for creating a stability limit diagram, characterized in that
Formula: 60 x chatter frequency / (number of tool blades x spindle speed)   2. The method of creating a stability limit diagram according to claim 1, further comprising a display step of displaying the stability limit diagram by display means. An apparatus for creating a stable limit diagram representing the relationship between the rotation speed of the spindle and the limit cutting amount of the tool at which chatter vibration does not occur for a machine tool that performs machining by rotating a tool or workpiece mounted on the spindle Because
Machining data acquisition means for performing machining at a set initial rotation speed and obtaining machining data including acceleration and chatter frequency related to vibration of the spindle;
Modal parameter acquisition means for obtaining a modal parameter of a tool or a workpiece based on the acquired processing data;
A compensation parameter acquisition unit for obtaining a compensation parameter for correcting the phase difference by obtaining a relationship between the phase difference and the limit cutting amount and acceleration, which is a decimal part of the following formula, from the obtained processing data and modal parameter;
A plotting means for creating the stability limit diagram based on the acquired modal parameter and compensation parameter;
Display means for displaying the stability limit diagram;
A stability limit diagram creating apparatus comprising:
Formula: 60 x chatter frequency / (number of tool blades x spindle speed)

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