TW202019613A - Machine tool and operating method for same - Google Patents

Abstract

This machine tool is provided with: a clamp capable of a fastening operation for attaching a workpiece or a tool; a control unit for controlling the fastening operation of the clamp; and a detection unit for detecting an abnormality accompanying the fastening operation of the clamp on the basis of predetermined data which starts to be measured at a predetermined timing synchronized with the fastening operation of the clamp and which relates to a vibration or load of the clamp.

Description

Working machine and its actuating method

This disclosure is about a working machine and its actuation method.

Numerical control (NC) milling machines (milling machines), cutting machines (machining centers), and other work machines that process tools (workpieces) using tools are well known. Such a working machine has the following situations: including a clamp, which can perform a tightening action, and is used to install a workpiece or a tool; or includes a spindle, which is installed with a workpiece or a tool by a clamp, etc. It can rotate in the state. When there is an abnormality such as biting of chips in the mounting portion of such a workpiece or tool, there is a possibility of adversely affecting the machining accuracy of the workpiece.

As a conventional technique for dealing with the above-mentioned problems, for example, techniques described in Patent Documents 1 to 3 are known. Patent Document 1 describes a working machine configured such that compressed air flows between a tool and a clamping plate to measure the change in flow rate or pressure to detect bite of chips. Patent Document 2 and Patent Document 3 each describe a work machine configured in such a manner that fast Fourier analysis is performed on time domain data of the vibration of the spindle measured by a vibration sensor when the spindle rotates The transform (Fast Fourier Transform, FFT) process obtains frequency range data, and based on the frequency range data, detects the jitter that accompanies the rotation of the main shaft. Patent Literature 3 also describes that the detection as described above is performed based on the intensity of a predetermined frequency band of frequency range data. [Prior Art Literature] [Patent Literature]

Patent Document 1: Japanese Patent Laid-Open No. 2009-226541 Patent Document 2: Japanese Patent Laid-Open No. 2009-113160 Patent Document 3: Japanese Patent Laid-Open No. 2005-74568

[Problems to be solved by the invention]

However, it is desirable as long as it can detect the abnormality of the attachment portion of the workpiece or tool more effectively than the conventional technology described in Patent Document 1 to Patent Document 3.

An object of the present disclosure is to provide a working machine and a method of actuating the same, which can effectively detect abnormality of a mounting part of a workpiece or tool. [Means to solve the problem]

The working machine of several embodiments includes: a splint, which can perform a tightening action, and is used to install a work piece or a tool; a control part, which controls the tightening action of the splint; and a detection part, which detects the accompanying splint based on specified data For the abnormality caused by the tightening operation, the predetermined data is data related to the vibration or load of the clamping plate, which is measured at a predetermined timing synchronized with the clamping operation of the clamping plate. According to the above-described configuration, by using the data that is measured at a predetermined timing synchronized with the clamping operation of the splint, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the predetermined data may be measured at a predetermined timing synchronized with the clamping action of the splint. According to the above-mentioned configuration, based on the quantified data, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the specified data may also be related to the vibration of the splint. According to the configuration as described above, based on the data related to the vibration of the splint, it is possible to detect abnormalities accompanying the tightening operation of the splint with high accuracy.

In one embodiment, the detection unit may include a vibration sensor that measures the vibration of the splint. According to the configuration described above, based on the data related to the vibration of the splint measured by the vibration sensor, it is possible to detect an abnormality accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the working machine may also include a spindle, the spindle includes a clamping plate, and is capable of rotating when the workpiece or tool is installed, and the vibration sensor may also be an acceleration sensor disposed on the spindle. According to the above-described configuration, it is possible to accurately detect abnormality that accompanies the clamping operation of the splint with a simple configuration.

In one embodiment, the detection unit may also include: a memory unit, memory data; and a determination unit, based on the predetermined data contained in the data stored in the memory unit, to determine the presence or absence of abnormalities accompanying the clamping operation of the splint . According to the configuration as described above, by the data contained in the data stored in the memory section, for example, starting at an appropriate timing before the clamping operation of the splint, it is possible to detect with high accuracy the occurrence of the clamping operation of the clamping plate. abnormal.

In one embodiment, the detection unit may detect an abnormality caused by the clamping operation of the splint based on the intensity in the predetermined data in the time domain. According to the configuration as described above, by using data based on the time domain, it is possible to easily and accurately detect an abnormality accompanying the clamping operation of the splint.

In one embodiment, the detection unit may detect an abnormality caused by the clamping operation of the splint based on the intensity in the specified data in the frequency range obtained by performing the fast Fourier transform process on the specified data in the time domain. According to the configuration as described above, by using data based on the frequency range, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the detection unit may detect an abnormality caused by the clamping operation of the splint based on the intensity of the predetermined frequency band of the predetermined data in the frequency range. According to the above-mentioned configuration, by the strength based on the predetermined frequency band, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the working machine may further include a notification unit that notifies the detection unit of the abnormality that occurs along with the clamping operation of the clamping plate. According to the configuration as described above, it is possible to notify the abnormality caused by the clamping operation of the splint and prompt the processing.

The operating method of the working machine in several embodiments includes a splint abnormality detection step. In the splint abnormality detection step, based on specified data, the abnormality generated by the clamping action of the splint is detected. The specified data is used to The data related to the vibration or load of the clamping plate, which is measured at the specified timing when the clamping action of the clamping plate on which the workpiece or tool is mounted is synchronized. According to the above-described configuration, by using the data that is measured at a predetermined timing synchronized with the clamping operation of the splint, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the predetermined data may be measured at a predetermined timing synchronized with the clamping action of the splint. According to the above-mentioned configuration, based on the quantified data, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the specified data may also be related to the vibration of the splint. According to the configuration as described above, based on the data related to the vibration of the splint, it is possible to detect abnormalities accompanying the tightening operation of the splint with high accuracy.

In one embodiment, in the splint abnormality detection step, the vibration of the splint may also be measured by a vibration sensor. According to the configuration described above, based on the data related to the vibration of the splint measured by the vibration sensor, it is possible to detect an abnormality accompanying the clamping operation of the splint with high accuracy.

In one embodiment, in the step of detecting the abnormality of the splint, the vibration of the splint can also be measured by an acceleration sensor arranged on the spindle, which includes the splint and can rotate when the workpiece or tool is installed. According to the above-described configuration, it is possible to accurately detect abnormality that accompanies the clamping operation of the splint with a simple configuration.

In one embodiment, the splint abnormality detection step may also include: a memory step, memorizing data; and a judging step, based on predetermined data contained in the data memorized in the memory step, judging that the splint tightening action is generated Is there any abnormality? According to the configuration as described above, by based on the data contained in the memorized data, for example, starting at an appropriate timing before the clamping operation of the splint, an abnormality accompanying the clamping operation of the splint can be detected with high accuracy.

In one embodiment, in the splint anomaly detection step, an abnormality generated by the tightening operation of the splint may be detected based on the intensity in the predetermined data in the time domain. According to the configuration as described above, by using data based on the time domain, it is possible to easily and accurately detect an abnormality accompanying the clamping operation of the splint.

In one embodiment, in the splint anomaly detection step, the intensity of the specified data in the frequency range obtained by performing the fast Fourier transform process on the specified data in the time domain may also be used to detect the occurrence of the tightening action of the splint. abnormal. According to the configuration as described above, by using data based on the frequency range, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, in the splint abnormality detection step, based on the intensity of the predetermined frequency band of the predetermined data in the frequency range, an abnormality that occurs due to the clamping operation of the splint may also be detected. According to the above-mentioned configuration, by the strength based on the predetermined frequency band, it is possible to detect abnormalities accompanying the clamping operation of the splint with high accuracy.

In one embodiment, the operation method of the working machine may further include a splint abnormality notification step, in which the splint abnormality notification step notifies the abnormality generated during the splint tightening operation detected in the splint abnormality detection step. According to the configuration as described above, it is possible to notify the abnormality caused by the clamping operation of the splint and prompt the processing. [Effect of invention]

According to the present disclosure, it is possible to provide a working machine and an actuating method thereof, which can effectively detect abnormality of a mounting part of a workpiece or tool.

Hereinafter, a working machine and an operating method thereof according to an embodiment of the present invention will be described in detail with reference to the drawings.

First, a working machine according to an embodiment of the present invention will be exemplified and explained. As shown in FIGS. 1 to 2, the working machine 1 of this embodiment includes a spindle 2 and a spindle base 3 that supports the spindle 2 rotatably. The main shaft 2 includes a clamping plate 4 that can perform a tightening action and is used to mount a workpiece W. In the present embodiment, the working machine 1 is configured to perform work (processing) with the tool T while rotating the workpiece W attached to the clamping plate 4. However, the splint 4 may be configured to be capable of performing a tightening operation and used to attach a tool T such as a drill. In this case, the working machine 1 may be configured in such a manner that the tool T attached to the clamping plate 4 is rotated to process the workpiece W.

In the present embodiment, the clamping plate 4 is configured as a substantially cylindrical chuck (chuck) by moving the sleeve 5 including the tapered surface 5a to the axial front end side (hereinafter It is also called forward. Also, the movement in the opposite direction is also called backward), and it is given a pressing force radially inward from the tapered surface 5a to reduce the diameter, thereby holding the object to be mounted (in this example, it is Workpiece W). Therefore, the clamping operation of the clamping plate 4 is generated by the advancement of the sleeve 5, and the opening operation of the clamping plate 4 is generated by the retreat of the sleeve 5. The advancement and retreat of the sleeve 5 can be generated by, for example, an actuator for a cleat (not shown) including a cylinder, a piston, and the like.

The main shaft 2 includes a cover 6 that surrounds the clamping plate 4 and the sleeve 5 in the circumferential direction. The cover 6 is provided with a vibration sensor 7 that constantly measures the vibration of the clamping plate 4 during the operation of the working machine 1, for example. The vibration sensor 7 always measures the vibration of the clamping plate 4 during the operation of the working machine 1. However, the timing of the measurement by the vibration sensor 7 can be changed as appropriate. Since the vibration sensor 7 is disposed on the cover 6, the vibration of the clamping plate 4 can be effectively measured. However, the vibration sensor 7 may be disposed in a portion other than the cover 6 of the main shaft 2. In this embodiment, the vibration sensor 7 is configured as an acceleration sensor. The acceleration sensor can measure the triaxial directions shown in FIG. 2 in the x-axis direction (the circumferential direction of the main shaft 2), the y-axis direction (the radial outer side of the main shaft 2), and the z-axis direction (the front end side of the main shaft 2 in the axial direction). The respective acceleration. However, one-axis, two-axis or four-axis acceleration can also be measured. The vibration sensor 7 is not limited to the acceleration sensor, and may be a distance sensor, for example. Moreover, each sensor can also use multiple.

The working machine 1 includes a control unit 8, a detection unit 9 including a memory unit 10 and a determination unit 11, an input unit 12, and a notification unit 13.

The control unit 8 is configured to control the rotation of the main shaft 2 and the tightening operation and opening operation of the clamping plate 4. The control unit 8 may include a central control panel including a processor such as a central processing unit (CPU), a memory, and the like. The control unit 8 can control a rotation drive unit (not shown) that rotates and drives the main shaft 2 and includes, for example, an electric motor or a fluid pressure motor. In addition, the control unit 8 can control the actuator for the splint to generate the tightening operation and the opening operation of the splint 4.

The detection unit 9 is configured in such a manner that, based on a predetermined data P (see FIG. 3A and the like), an abnormality such as a bite of chips caused by the tightening operation of the clamping plate 4 is detected. Data related to the vibration of the splint 4 that starts at a predetermined timing in which the tightening action of the splint 4 is synchronized. In the present embodiment, the predetermined data P ends at a predetermined timing synchronized with the clamping operation of the clamping plate 4. However, the predetermined data P may not end at a predetermined timing synchronized with the clamping operation of the clamping plate 4. The memory unit 10 of the detection unit 9 is configured to store data (acceleration) about the vibration of the clamping plate 4 measured by the vibration sensor 7 when the workpiece W is mounted (when the spindle 2 is not rotating). The determination unit 11 of the detection unit 9 is configured in such a manner as to determine the presence or absence of an abnormality accompanying the tightening operation of the splint 4 based on a predetermined data P, which is the data stored in the storage unit 10 The part that starts and ends at a predetermined time sequence that is synchronized with the clamping operation of the clamping plate 4. However, the detection unit 9 may also be configured in such a manner that the predetermined data P is directly obtained from the vibration sensor 7 without going through the memory unit 10 as described above.

The determination unit 11 may also be configured to determine the presence or absence of an abnormality caused by the tightening operation of the splint 4 based on the intensity in the predetermined data P in which the horizontal axis is the time domain of time as shown in FIG. 3A. . In this case, for example, the determination unit 11 may also detect an abnormality accompanying the tightening operation of the splint 4 by comparing a predetermined index value with a threshold value, the predetermined index value is based on the time domain The value of the intensity in the specified data P. The predetermined index value may be, for example, the integrated value or the maximum value of any of the intensity in the x-axis direction, the intensity in the y-axis direction, and the intensity in the z-axis direction, or the intensity in the x-axis direction, The total value of the integrated value or the maximum value of the intensity in the y-axis direction and the intensity in the z-axis direction may also be a feature quantity calculated by statistical processing or the like, or may be other values, or a plurality of predetermined Index value. In addition, the specified index value may also be dimensionless quantity.

The determination unit 11 may also be configured as follows: based on the Fast Fourier Transform (FFT: Fast Fourier Transform) process on the predetermined data P in the time domain, as shown in FIG. The strength in the prescribed data P'is used to determine the presence or absence of abnormality accompanying the tightening operation of the splint 4. In this case, the determination unit 11 may be configured in such a manner that, based on the intensity of the predetermined frequency band B (see FIG. 3B and the like) of the predetermined data P′ in the frequency range, an abnormality caused by the clamping operation of the clamping plate 4 is detected. Furthermore, the determination unit 11 may detect, for example, an abnormality accompanying the tightening operation of the splint 4 by comparing a predetermined index value with a threshold value, the predetermined index value being based on the intensity of the predetermined frequency band B Value. The predetermined index value may be, for example, the integrated value or the maximum value of any of the intensity in the x-axis direction, the intensity in the y-axis direction, and the intensity in the z-axis direction, or the intensity in the x-axis direction, The total value of the integrated value or the maximum value of the intensity in the y-axis direction and the intensity in the z-axis direction may also be a feature quantity calculated by statistical processing or the like, or may be other values, or a plurality of predetermined Index value. In addition, the specified index value may also be a dimensionless quantity. The predetermined frequency band B is preferably set in a range in which the change in strength between the case where there is an abnormality accompanying the clamping operation of the splint and the case where there is no such abnormality becomes as large as possible.

Examples of data stored in the storage unit 10 are shown in FIGS. 3A, 4A, and 5A. FIG. 3A is an example when there is no abnormality accompanying the tightening operation of the splint 4. FIG. 4A is an example when there is an abnormality accompanying the tightening operation of the splint 4 (when biting of small chips occurs). FIG. 5A is an example when there is an abnormality accompanying the tightening operation of the splint 4 (when a bite of a large chip occurs). In FIG. 3A, FIG. 4A, and FIG. 5A, a symbol P indicates predetermined data that starts and ends at a predetermined timing, a symbol S indicates a predetermined start timing, and a symbol E indicates a predetermined end timing.

The predetermined start sequence S may be simultaneously with the start of the clamping operation of the clamping plate 4, may be before the start of the clamping operation of the clamping plate 4 (for example, one second before), or may be after the start of the clamping operation of the clamping plate 4 . The predetermined end sequence E may be simultaneously with the end of the clamping operation of the clamping plate 4, may be before the end of the clamping operation of the clamping plate 4, or may be after the end of the clamping operation of the clamping plate 4 (for example, one second later) . It is preferable to synchronize both the predetermined start timing S and the predetermined end timing E with the tightening operation of the clamping plate 4, but it is also possible to synchronize only the predetermined start timing S with the tightening operation of the clamping plate 4.

Examples of the prescribed data P′ of the frequency range are shown in FIGS. 3B, 4B, and 5B. FIG. 3B is obtained by performing FFT processing on the predetermined data P shown in FIG. 3A. FIG. 4B is obtained by performing FFT processing on the predetermined data P shown in FIG. 4A. FIG. 5B is obtained by performing FFT processing on the predetermined data P shown in FIG. 5A.

The time lag between the start of the clamping operation of the splint 4 and the specified start timing S, and the time lag of the start of the clamping operation of the splint 4 and the specified end timing E, within the time-domain specified data P The calculation method of the predetermined index value by strength, the predetermined frequency band B, the calculation method of the predetermined index value based on the strength of the predetermined frequency band B, and the threshold value may be previously set at the time of shipment of the working machine 1, It can also be set by the user or the like through the input unit 12, or can be automatically set by statistical processing, deep learning, machine learning, artificial intelligence (Artificial Intelligence, AI), and the like.

The memory section 10 may also be configured in such a manner as to replace the data about the vibration of the clamping plate 4 or to store the data about the load of the clamping plate 4 in addition to the data about the vibration of the clamping plate 4. The data on the load of the splint 4 can be, for example, the drive current value or the drive voltage value when the splint actuator is electric, and the drive fluid flow value or drive when the splint actuator is a fluid pressure driven type The fluid pressure value can also be other values. In this case, the determination unit 11 may also be configured in such a manner as to determine the presence or absence of an abnormality that accompanies the tightening operation of the splint 4 based on predetermined data that is stored in the memory unit 10 regarding the splint. The data of the load of 4 includes data starting at a predetermined timing synchronized with the clamping operation of the clamping plate 4. The prescribed data may also end at a prescribed time sequence synchronized with the clamping action of the clamping plate 4. The determination unit 11 may be configured to determine the presence or absence of an abnormality accompanying the tightening operation of the splint 4 based on the strength in the time-domain prescribed data, or may be configured to be obtained based on FFT processing of the time-domain prescribed data The strength within the specified data in the frequency range is used to determine the presence or absence of abnormality that accompanies the tightening operation of the splint 4. The determination of the presence or absence of an abnormality accompanying the tightening operation of the clamping plate 4 can be performed by comparing the predetermined index value and the threshold value as described above.

FIG. 6 shows an example of the index value distribution of the predetermined document when it is not synchronized with the clamping operation of the splint. When the clamping action of the splint is not synchronized at the specified timing, the specified index value is lost, and when the index value is near the threshold value 14, erroneous detection is likely to occur.

FIG. 7 shows an example of the index value distribution of the predetermined document when synchronized with the clamping operation of the splint. When the clamping action of the splint is synchronized at a predetermined timing, as shown in FIG. 7, the specified index value is distributed in a dichotomy between normal conditions and abnormal conditions, so the erroneous detection caused by the set threshold value 14 cut back. Therefore, when the tightening operation is synchronized, the detection accuracy of the abnormality accompanying the tightening operation of the splint is higher.

In addition, the memory unit 10 is configured to store data (acceleration) about the vibration of the clamping plate 4 measured by the vibration sensor 7 when the spindle 2 in the state where the workpiece W is mounted rotates. The judging section 11 is configured in such a manner that the data (time domain data) is acquired from the memory section 10, FFT processing is performed to transform into frequency range data (frequency range data), and the workpiece W is installed based on the frequency range data The intensity of the predetermined natural frequency F (see FIG. 8A and the like) of the spindle 2 in the state or the intensity of the predetermined frequency band Bf including the predetermined natural frequency F is detected by the eccentricity of the spindle 2 and/or the workpiece W, for example. Jitter caused by the rotation of the spindle 2. The predetermined natural frequency F is preferably set to a natural frequency in which the change in intensity between the case where there is vibration caused by the rotation of the main shaft 2 and the case where there is no such vibration is increased as much as possible frequency. Time domain data is measured when working by the rotation of the main shaft 2. However, the time-domain data can also be measured during the pre-test operation before working by the rotation of the spindle 2.

The measurement during the preliminary test operation may make the harmonic frequency of the rotation frequency of the main shaft 2 (a frequency that is an integer multiple of the rotation frequency) coincide with the predetermined natural frequency F, and emphasize the acquired waveform for judgment.

Examples of frequency range data are shown in FIGS. 8A and 8B. FIG. 8A shows an example of frequency range data when there is substantially no jitter caused by the rotation of the main shaft 2. FIG. 8B shows an example of frequency range data when there is jitter caused by the rotation of the main shaft 2.

For example, the determination unit 11 may determine the presence or absence of jitter caused by the rotation of the main shaft 2 by comparing the intensity of the predetermined natural frequency F with the threshold value.

For example, the determination unit 11 may determine the presence or absence of jitter caused by the rotation of the main shaft 2 by comparing the intensity of the predetermined frequency band Bf with the threshold value. In this case, for example, the determination unit 11 may also determine the presence or absence of jitter associated with the rotation of the main shaft 2 by comparing a predetermined index value with a threshold value, the predetermined index value being based on a predetermined The intensity of the frequency band Bf is formed. The predetermined index value may be, for example, the integrated value or the maximum value of any of the intensity in the x-axis direction, the intensity in the y-axis direction, and the intensity in the z-axis direction, or the intensity in the x-axis direction, The total value of the integrated value or the maximum value of the intensity in the y-axis direction and the intensity in the z-axis direction may also be a feature quantity calculated by statistical processing or the like, or may be other values, or a plurality of predetermined Index value. In addition, the specified index value may also be a dimensionless quantity.

The predetermined natural frequency F of the spindle 2 in the state where the workpiece W or the tool T is mounted can be measured or calculated in advance by, for example, oscillation or simulation using an oscillating member. In addition, the upper limit value and the lower limit value of the predetermined frequency band Bf can be measured or calculated in advance by oscillation or simulation, for example, and the natural frequency of the spindle 2 itself can be set based on the natural frequency of the spindle 2 itself measured or calculated as described above.

The predetermined natural frequency F of the spindle 2 in the state where the workpiece W or the tool T is mounted may slightly vary depending on the type of the workpiece W or the tool T mounted. For example, when the protrusion amount or weight of the workpiece W or the tool T increases, there is a tendency that the prescribed natural frequency F is less than the formula of the natural vibration frequency (F=1/2π√k/m, F: frequency, k: Spring constant, m: weight). Conversely, when the protrusion amount or weight of the workpiece W or the tool T decreases, there is a tendency that the prescribed natural frequency F is greater than the formula of the natural vibration frequency (F=1/2π√k/m). Therefore, considering the above-mentioned tendency, the upper limit value and the lower limit value of the predetermined natural frequency F or the predetermined frequency band Bf may be set based on the natural frequency of the spindle 2 itself measured or calculated in advance.

The predetermined natural frequency F, the upper limit value and the lower limit value of the predetermined frequency band Bf, the calculation method of the predetermined index value obtained based on the intensity of the predetermined frequency band Bf, and the threshold value may be preset at the time of shipment of the working machine 1 It can also be set by the user or the like through the input unit 12, or can be automatically set by statistical processing or deep learning, machine learning, artificial intelligence (Artificial Intelligence, AI), etc.

The detection unit 9 may include, for example, a converter that processes the sensor signal from the vibration sensor 7 to convert it into a measured value of vibration; an analyzer that performs FFT processing on the measured value; and a controller that includes processing The processor performs unified control of these components based on instructions from the control unit 8.

The input unit 12 is configured to accept input such as a predetermined natural frequency F and threshold value. The input unit 12 may include buttons, a keyboard, a touch panel, and the like, for example.

The notification unit 13 is configured to notify the presence or absence of abnormality caused by the tightening operation of the clamping plate 4 determined by the determination unit 11 and jitter caused by the rotation of the main shaft 2 by, for example, display or sound. Is there. The notification unit 13 may include, for example, a display, a warning light, a speaker, or the like.

The determination unit 11 may also be configured in such a manner as to determine not only the presence or absence of an abnormality accompanying the tightening operation of the clamping plate 4 but also an abnormal condition (slicing position of chips) caused by the tightening operation of the clamping plate 4 Determination, whether it is an abnormality caused by bite of chips, whether it is an abnormality caused by other reasons, etc.). Furthermore, the determination unit 11 may be configured in such a manner as to determine not only the presence or absence of jitter caused by the rotation of the spindle 2 but also the form of jitter caused by the rotation of the spindle 2 (in the workpiece W or the spindle 2). Which part has jitter, etc.).

Next, an operation method of the working machine according to an embodiment of the present invention will be exemplified and explained. In the present embodiment, the operation method of the work machine 1 described above is taken as an example for description, but the operation method may also be applied to the operation method of other work machines.

The operation method of the present embodiment includes a step for responding to an abnormality accompanying the tightening operation of the clamping plate 4 as shown in FIGS. 9 to 10, and a response for accompanying as shown in FIGS. 11 to 12. The step of shaking caused by the rotation of the main shaft 2. The step for coping with the abnormality caused by the clamping operation of the clamping plate 4 and the step for coping with the vibration caused by the rotation of the main shaft 2 are performed independently of each other.

First, the procedure for coping with the abnormality caused by the clamping operation of the splint 4 will be described. The steps to cope with the abnormality caused by the clamping operation of the splint 4 are shown in FIGS. 9 to 10 and include a splint abnormality detection step S1 or a splint abnormality detection step S1' and a splint abnormality notification step S2. In the splint abnormality detection step S1 and the splint abnormality detection step S1', the detection unit 9 starts and ends the vibration measurement at a predetermined timing which is the same as that of the clamping plate 4 for mounting the workpiece W output from the control unit 8 Timing sequence of tightening motion commands. The detection unit 9 detects an abnormality (hereinafter also referred to as a “clamp abnormality”) that is caused by the tightening operation of the clamping plate 4 based on predetermined data P related to the vibration of the clamping plate 4. As shown in FIG. 9, in the splint abnormality detection step S1, the detection unit 9 detects the splint abnormality based on the intensity in the predetermined data P in the time domain. In addition, as shown in FIG. 10, in the splint abnormality detection step S1 ′, the detection unit 9 detects the splint abnormality based on the intensity in the specified data P′ in the frequency range obtained by performing FFT processing on the specified data P in the time domain. In this case, in the splint abnormality detection step S1', the detection unit 9 may detect the splint abnormality based on the intensity of the predetermined frequency band B in the predetermined data P'in the frequency range.

As shown in FIG. 9, when the splint abnormality is detected based on the strength in the time-domain specified data P, the splint abnormality detection step S1 includes a splint tightening operation step S11, a memory step S12, and a determination step S13. In step S11 of the clamping plate tightening operation, the control unit 8 outputs a tightening operation command of the clamping plate 4 for mounting the work W. In the memory step S12, the memory unit 10 memorizes the data including the predetermined data P at a predetermined timing which is a timing synchronized with the clamping plate tightening operation command output in the clamping plate tightening operation step S11. In the determination step S13, the determination unit 11 determines whether or not the splint is abnormal based on the predetermined data P included in the data stored in the storage step S12.

More specifically, the determination step S13 includes a splint abnormality determination step S132 in which the determination unit 11 calculates a predetermined index value and compares the predetermined index value with a threshold value to determine Whether the splint is abnormal or not, the specified index value is obtained based on the intensity in the specified data P in the time domain.

When it is determined that there is an abnormality in the splint abnormality determination step S122, the process proceeds to the splint abnormality notification step S2. In the splint abnormality notification step S2, the notification unit 13 notifies the occurrence of the splint abnormality.

When it is determined that there is no abnormality in the splint abnormality determination step S132, the splint abnormality detection step S1 ends.

As shown in FIG. 10, when a splint abnormality is detected based on the intensity in the prescribed data P'in the frequency range, the splint abnormality detection step S1' includes a splint tightening action step S11, a memory step S12, and a determination step S13'. In step S11 of the clamping plate tightening operation, the control unit 8 outputs a tightening operation command of the clamping plate 4 for mounting the work W. In the memory step S12, the memory unit 10 memorizes the data including the predetermined data P at a predetermined timing which is a timing synchronized with the clamping plate tightening operation output in the clamping plate tightening step S11. In the determination step S13, the determination unit 11 determines whether or not the splint is abnormal based on the predetermined data P included in the data stored in the storage step S12.

More specifically, the determination step S13 includes: an analysis step S131, the determination section 11 performs FFT processing on the specified data P to obtain the specified data P'in the frequency range; and a splint abnormality determination step S132', the determination section 11 calculates the specified index Value, the presence or absence of a splint abnormality is determined by comparing the prescribed index value with the threshold value, the prescribed index value is a prescribed frequency band based on prescribed data P'of the frequency range obtained in the analysis step S131 B strength.

When it is determined that there is an abnormality in the splint abnormality determination step S132', the process proceeds to the splint abnormality notification step S2. In the splint abnormality notification step S2, the notification unit 13 notifies the occurrence of the splint abnormality.

When it is determined that there is no abnormality in the splint abnormality determination step S132, the splint abnormality detection step S1 ends.

The splint anomaly can be detected based on the intensity in the specified data P in the time domain, and the splint anomaly can be detected based on the intensity in the specified data P'in the frequency range. Two methods can also be used and can be implemented multiple times separately.

Furthermore, the splint abnormality detection step S1 and the splint abnormality detection step S1' of the present embodiment are not limited to the case where the workpiece W is mounted on the plywood 4, but may also be applied to the case where the tool T is mounted on the plywood 4. In addition, the splint abnormality detection step S1 and the splint abnormality detection step S1' of the present embodiment are not limited to the case where both the start sequence S and the end sequence E of the predetermined data P are synchronized with the clamping operation of the splint 4, and can also be applied In the case where the start timing S of only the predetermined document P is synchronized with the clamping operation of the clamping plate 4. In addition, the splint abnormality detection step S1 and the splint abnormality detection step S1 ′ of the present embodiment are not limited to the case of using data on the vibration of the splint 4, but can also be applied to the case of using data on the load of the splint 4.

Next, the procedure for coping with the vibration caused by the rotation of the main shaft 2 will be described. As shown in FIG. 11, the steps to cope with the jitter caused by the rotation of the main shaft 2 include an input step S4, and a jitter detection step S3 and a jitter notification step S5 performed in the working step S6. In addition, as shown in FIG. 12, the steps for coping with the vibration caused by the rotation of the main shaft 2 include the vibration detection step S3' and the vibration notification performed in the pre-test operation step S7 performed before the operation step S6. Step S5'. When the jitter detection step S3' and the jitter notification step S5' are performed in the preliminary test operation step S7, the jitter detection step S3 and the jitter notification step S5 may be performed in the working step S6, or these steps may not be performed.

In the jitter detection step S3 and the jitter detection step S3', the detection unit 9 performs FFT processing on the following time-domain data to obtain frequency range data, and based on the frequency range data, the specified inherent characteristics of the spindle 2 in the state where the workpiece W is mounted The intensity of the frequency F, or the intensity of the predetermined frequency band Bf including the predetermined natural frequency F, detects the jitter that accompanies the rotation of the spindle 2. The time domain data is obtained when the spindle 2 in the state where the workpiece W is mounted rotates. Time-domain data about the vibration of the spindle 2 measured by the vibration sensor 7. In the jitter detection step S3, the time-domain data is measured when working by the rotation of the main shaft 2. In addition, in the jitter detection step S3', the time-domain data is measured during the pre-test operation before the operation by the rotation of the main shaft 2.

When the preliminary test operation is not performed, as shown in FIG. 11, first, before starting the operation step S6, an input step S4 is performed. In the input step S4, a user or the like inputs and sets a predetermined natural frequency F (or an upper limit value and a lower limit value of a predetermined frequency band Bf, and a calculation method of a predetermined index value) and a threshold value via the input unit 12. The setting can also be done automatically by statistical processing or deep learning, mechanical learning, artificial intelligence (AI), etc. In addition, the setting may be completed in advance when the working machine 1 is shipped. In this case, it is not necessary to input step S4. When the input step S4 ends, work starts in step S61 (start work step S6).

The jitter detection step S3 includes a measurement and analysis step S32 performed after step S61, and a jitter determination step S33 performed after the measurement and analysis step S32. In the measurement and analysis step S32, FFT processing is performed on the following time-domain data to obtain frequency range data, which is measured by the vibration sensor 7 during operation (when the spindle 2 rotates) Time domain data of the vibration of the spindle 2. In the jitter determination step S33, based on the frequency range data, it is determined whether or not jitter occurs due to the rotation of the main shaft 2.

In the measurement and analysis step S32, the memory unit 10 stores time-domain data about the vibration of the spindle 2 measured by the vibration sensor 7. In the measurement and analysis step S32, the determination unit 11 obtains the time domain data from the memory unit 10, and performs FFT processing to obtain frequency range data.

In the jitter determination step S33, the determination unit 11 determines the presence by comparing the intensity of the predetermined natural frequency F of the frequency range data or the intensity of the predetermined frequency band Bf including the predetermined natural frequency F with the threshold value Is there any vibration caused by the rotation of the main shaft 2?

When it is determined that there is an abnormality in the jitter determination step S33, the process proceeds to the jitter notification step S5. In the jitter notification step S5, the notification unit 13 notifies the occurrence of the jitter that accompanies the rotation of the main shaft 2.

When it is determined in the jitter determination step S33 that there is no abnormality, the processing is continued until the processing path being executed among the plurality of processing paths constituting the job is completed. When the machining path being executed ends in step S62, in step S63, it is determined whether all the machining paths have ended. In step S63, if it is determined that all the machining paths have not been completed, the process returns to the measurement and analysis step S32. In step S63, when it is determined that all the machining paths have ended, the operation step S6 ends.

When the preliminary test operation is performed, as shown in FIG. 12, first, the input step S4 is performed, and then, the preliminary test operation step S7 is performed. The preliminary test operation step S7 includes a jitter detection step S3' and a jitter notification step S5'. The jitter detection step S3' includes a rotation step S31, a measurement and analysis step S32', and a jitter determination step S33'.

In the rotation step S31, the control unit 8 rotates the spindle 2 at a predetermined rotation speed with the workpiece W attached. At this time, in this embodiment, the control unit 8 adjusts the predetermined rotation speed so that the predetermined rotation speed or its harmonic frequency input in the input step S4 matches the predetermined natural frequency F. By adjusting the rotation speed as described above, the waveform of the frequency range data acquired in the measurement and analysis step S32' can be emphasized, and the accuracy of the determination in the jitter determination step S33' can be improved. However, instead of adjusting the rotational speed corresponding to the predetermined natural frequency F as described above, the main shaft 2 may be rotated at a rotational speed not corresponding to the predetermined natural frequency F to obtain frequency range data.

In the measurement and analysis step S32', FFT processing is performed on the time-domain data obtained by the vibration sensor 7 in a state where the spindle 2 has been rotated in the rotation step S31 And the measured time-domain data about the vibration of the main shaft 2. In the measurement and analysis step S32', the memory section 10 stores time-domain data about the vibration of the spindle 2 measured by the vibration sensor 7. In the measurement and analysis step S32', the determination unit 11 acquires the time domain data from the memory unit 10, and performs FFT processing to obtain frequency range data.

In the jitter determination step S33', based on the frequency range data, it is determined whether or not jitter occurs due to the rotation of the main shaft 2. In the jitter determination step S33', the determination unit 11 determines by comparing the intensity of the predetermined natural frequency F of the frequency range data or the intensity of the predetermined frequency band Bf including the predetermined natural frequency F with the threshold value The presence or absence of vibration caused by the rotation of the main shaft 2.

When it is determined that there is an abnormality in the jitter determination step S33', the process proceeds to the jitter notification step S5'. In the jitter notification step S5', the notification unit 13 notifies the occurrence of the jitter that accompanies the rotation of the main shaft 2.

When it is determined in the jitter determination step S33' that there is no abnormality, the preliminary test operation step S7 ends, and the operation starts in step S61 (start operation step S6).

As described above, the detection of jitter can be performed either during the pre-trial operation or during the operation, or both during the pre-trial operation and the operation. In addition, it is also possible to implement multiple detections of jitter during the pre-test operation and during operation.

In addition, the shake detection step S3 and the shake detection step S3S3' of this embodiment are not limited to the case where the workpiece W is attached to the clamping plate 4, but may also be applied to the case where the tool T is attached to the clamping plate 4.

Needless to say, the present embodiment described above is only an example of the embodiment of the present invention, and various changes can be made within the scope not departing from the gist of the invention.

In the working machine according to the above-described embodiment, the detection unit is configured to detect the vibration caused by the rotation of the main shaft, but the detection unit may not have the above-mentioned configuration. In addition, the operating method of the working machine according to the above-mentioned embodiment includes the step of coping with the vibration caused by the rotation of the main shaft, but it may not include the above-mentioned step.

1: working machinery 2: spindle 3: Spindle table 4: splint 5: sleeve 5a: tapered surface 6: Cover 7: Vibration sensor 8: Control Department 9: Detection Department 10: Memory Department 11: Judgment Department 12: Input section 13: Notification Department 14: threshold B, Bf: specified frequency band E: The specified end timing F: specified natural frequency P, P': required information S: specified start timing S1-S7, S1', S3', S5', S11-S13, S13', S31-S33, S32', S33', S61-S63, S131, S132, S132': Steps T: Tool W: Workpiece x, y, z: axis

FIG. 1 is a schematic diagram showing a working machine according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the peripheral portion of the main shaft of the working machine shown in FIG. 1 in more detail. FIG. 3A is a diagram showing an example of predetermined data on the time domain of vibration of the splint when there is no abnormality that occurs due to the clamping operation of the splint. 3B is a diagram showing an example of predetermined data of a frequency range obtained by performing FFT processing on the time-domain data shown in FIG. 3A. FIG. 4A is a diagram showing an example of predetermined data regarding the time domain of the vibration of the splint when there is an abnormality caused by the tightening operation of the splint (when a bite of a small chip occurs). 4B is a diagram showing an example of predetermined data of a frequency range obtained by performing FFT processing on the time-domain data shown in FIG. 4A. FIG. 5A is a diagram showing an example of predetermined data regarding the time domain of the vibration of the splint when there is an abnormality accompanying the clamping operation of the splint (when a bite of a large chip occurs). 5B is a diagram showing an example of predetermined data of a frequency range obtained by performing FFT processing on the time-domain data shown in FIG. 4A. 6 is a diagram showing an example of the index value distribution of predetermined data when the clamping operation of the splint is not synchronized. FIG. 7 is a diagram showing an example of index value distribution of predetermined data when synchronized with the clamping operation of the clamping plate. FIG. 8A is a diagram showing an example of frequency range data on vibration of the main shaft when there is substantially no vibration caused by the rotation of the main shaft. FIG. 8B is a diagram showing an example of frequency range data on vibration of the main shaft when there is vibration caused by rotation of the main shaft. 9 is a diagram showing steps of a method for actuating a working machine according to an embodiment of the present invention to cope with an abnormality that occurs due to a clamping operation of a splint (detection of splint anomaly based on strength in specified data in a time domain) Flow chart. FIG. 10 is a step showing a method for actuating a working machine according to an embodiment of the present invention to cope with abnormalities caused by clamping operation of a splint (detection of splint abnormality based on strength within a predetermined data in a frequency range) Flow chart. FIG. 11 is a flowchart showing a procedure (preliminary run) for coping with the vibration caused by the rotation of the main shaft in the operating method of the working machine according to an embodiment of the present invention. FIG. 12 is a flowchart showing a procedure (with a pre-test operation) for responding to the jitter caused by the rotation of the main shaft in the pre-test operation method of the working machine according to an embodiment of the present invention.

1: working machinery

2: spindle

3: Spindle table

7: Vibration sensor

8: Control Department

9: Detection Department

10: Memory Department

11: Judgment Department

12: Input section

13: Notification Department

T: Tool

W: Workpiece

Claims (20)

A working machine, including: The splint can be used for tightening and is used to install workpieces or tools; A control unit to control the tightening operation of the splint; and The detecting unit detects an abnormality accompanying the tightening operation of the splint based on predetermined data that is measured at a predetermined timing synchronized with the tightening operation of the splint. Information related to vibration or load. The working machine according to item 1 of the patent application scope, wherein the measurement of the prescribed data ends at a prescribed time sequence synchronized with the clamping action of the splint. The work machine as described in item 1 or 2 of the patent application scope, wherein the prescribed data is related to the vibration of the splint. The working machine according to item 3 of the patent application scope, wherein the detection part includes a vibration sensor that measures vibration of the splint. The working machinery as described in item 4 of the patent application scope includes: The main shaft, including the clamping plate, and capable of rotating when the workpiece or tool is installed; and The vibration sensor is an acceleration sensor disposed on the main shaft. The work machine as described in any one of items 1 to 5 of the patent application scope, in which The detection section includes: Memory Department, memory data; and The judging unit judges whether there is an abnormality accompanying the tightening operation of the splint based on the predetermined data contained in the data stored in the memory unit. The working machine according to any one of the first to sixth patent application ranges, wherein the detection unit detects the tightening operation of the splint based on the intensity in the predetermined data in the time domain The exception. The working machine according to any one of the first to sixth patent application scopes, wherein the detection unit is based on the regulation of the frequency range obtained by performing high-speed Fourier transform processing on the regulation data in the time domain The intensity within the data is used to detect abnormalities that accompany the clamping action of the splint. The working machine according to item 8 of the patent application range, wherein the detection unit detects an abnormality that is caused by the tightening operation of the splint based on the intensity of the predetermined frequency band of the predetermined data in the frequency range. The work machine according to any one of the first to ninth items of the patent application scope includes a notification unit that notifies the detection unit of an abnormality that is generated along with the clamping operation of the splint. A method for actuating a working machine, comprising: a splint anomaly detection step, based on specified data, detecting anomalies that are accompanied by the tightening action of the splint used to install a work piece or tool, the specified data is based on The data related to the vibration or load of the splint started to be measured at the specified timing of the synchronization of the tightening actions. The method for actuating a working machine as described in item 11 of the scope of the patent application, wherein the measurement of the predetermined data ends at a predetermined time sequence synchronized with the clamping action of the clamping plate. The method for actuating a working machine as described in item 11 or item 12 of the patent application scope, wherein the prescribed data is related to the vibration of the splint. The method for actuating a working machine according to item 13 of the patent application scope, wherein in the step of detecting the abnormality of the splint, the vibration of the splint is measured by a vibration sensor. The method for actuating a working machine according to item 14 of the patent application scope, wherein in the step of detecting the abnormality of the splint, the vibration of the splint is measured by an acceleration sensor arranged on a spindle, the spindle including the Splint, and can rotate in the installed state of the workpiece or tool. The method for actuating a working machine as described in any one of items 11 to 15 of the patent application scope, wherein The step of detecting the abnormality of the splint includes: Memorizing steps, memorizing data; and In the determination step, based on the predetermined data contained in the data memorized in the storage step, the presence or absence of abnormality caused by the tightening operation of the splint is determined. The method for actuating a working machine according to any one of claims 11 to 16, wherein in the step of detecting the abnormality of the splint, the detection is accompanied by the intensity within the specified data in the time domain An abnormality caused by the tightening operation of the splint. The method for operating a working machine according to any one of claims 11 to 16, wherein in the step of detecting a splint abnormality, a high-speed Fourier transform process is performed based on the specified data in the time domain The intensity within the specified data in the obtained frequency range detects abnormalities that accompany the tightening operation of the splint. The method for actuating a work machine as described in Item 18 of the patent application range, wherein in the step of detecting the abnormality of the splint, based on the intensity of the specified frequency band of the specified data in the frequency range, detection is accompanied by the tightening of the splint Exceptions caused by actions. The actuation method for a working machine according to any one of items 11 to 19 of the patent application scope includes: a splint abnormality notification step, notifying that the splint accompanying the splint is detected in the splint abnormality detecting step Abnormality caused by tightening action.

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