WO2020235106A1 - Dispositif de commande numérique - Google Patents

Dispositif de commande numérique Download PDF

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Publication number
WO2020235106A1
WO2020235106A1 PCT/JP2019/020548 JP2019020548W WO2020235106A1 WO 2020235106 A1 WO2020235106 A1 WO 2020235106A1 JP 2019020548 W JP2019020548 W JP 2019020548W WO 2020235106 A1 WO2020235106 A1 WO 2020235106A1
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WO
WIPO (PCT)
Prior art keywords
identification
unit
vibration
tool
numerical control
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PCT/JP2019/020548
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English (en)
Japanese (ja)
Inventor
一樹 高幣
鈴木　教和
Original Assignee
三菱電機株式会社
国立大学法人東海国立大学機構
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Application filed by 三菱電機株式会社, 国立大学法人東海国立大学機構 filed Critical 三菱電機株式会社
Priority to CN201980096558.5A priority Critical patent/CN113874798B/zh
Priority to JP2021520028A priority patent/JP7101883B2/ja
Priority to PCT/JP2019/020548 priority patent/WO2020235106A1/fr
Priority to DE112019007355.9T priority patent/DE112019007355T5/de
Publication of WO2020235106A1 publication Critical patent/WO2020235106A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37435—Vibration of machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41115—Compensation periodical disturbance, like chatter, non-circular workpiece

Definitions

  • the present invention relates to a numerical control device that controls a machine tool.
  • a machine tool is a processing device that performs removal processing, which is processing that removes unnecessary parts from a work by applying force or energy to the work using a tool.
  • removal processing is processing that removes unnecessary parts from a work by applying force or energy to the work using a tool.
  • cutting which is one of the removal processes
  • the cutting edge of the tool is brought into contact with the work piece at a high speed to cause shear failure on the work surface and scrape off unnecessary parts of the work piece.
  • Cutting is a physical phenomenon in which the machining process and machine dynamics interact with each other, so it is desirable to manage both at the same time in order to manage the machining state.
  • the machining process represents a series of processes in which the cutting edge of the tool invades the work to generate chips and form a machined surface.
  • Mechanical dynamics refers to the behavior of a mechanical structure when the structure constituting the machine is vibrated by vibration sources inside and outside the machine.
  • cutting is a phenomenon in which various physical phenomena including the above-mentioned machining process and mechanical dynamics influence each other in a complicated manner, so that integrated analysis is difficult. For this reason, at the production site, processing management according to the purpose is achieved by limiting the evaluation target.
  • the state of the machine tool before or after machining differs from the state of the machine tool during machining. That is, it is not possible to accurately estimate the state of the machine tool during machining before or after machining. For this reason, it is desirable to use the information obtained during machining to identify mechanical dynamics and machining processes.
  • workers at the production site can efficiently perform improvement work such as managing tool life, setting highly efficient machining conditions, and changing the design of fixing jigs. Can be done. This can be expected to improve productivity.
  • Patent Document 1 proposes the following method as a method for identifying parameters from information obtained by sequentially changing the processing conditions during actual processing.
  • the compliance spectrum is calculated from the displacement and the force generated when machining at a plurality of spindle speeds, and the peculiarity of the tool is obtained from the peak obtained when the compliance spectra of each spindle speed are combined. Calculate the frequency.
  • the machine tool is made to perform a machining operation so as to change the spindle rotation speed stepwise during the single operation of each feed shaft or the combined operation of the feed shafts, and the displacement and force detection results during machining are used. Calculate the compliance spectrum.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a numerical control device capable of efficiently identifying machining characteristic parameters in a short time.
  • the present invention is a numerical control device having a spindle and a feed shaft and controlling the operation of a machine tool for machining a workpiece with a tool, and the rotation speed of the spindle and It is provided with an identification motion generation unit that generates an identification motion command that continuously and independently changes the feed rate.
  • this numerical control device synchronizes the control signal for controlling the machine tool generated based on the identification operation command with the operation state signal indicating the operation state of the machine tool operated based on the control signal.
  • this numerical control device selects and identifies the identifiable machining characteristic parameter among the machining characteristic parameters representing the characteristics of the machining phenomenon between the tool and the work as the selection parameter based on the discrimination result of the vibration determination unit. It is provided with an identification unit for identifying selection parameters using the data for use.
  • the numerical control device has the effect of being able to efficiently identify machining characteristic parameters in a short time.
  • Block diagram showing a configuration example of the numerical control device The figure which shows the example of the pattern of the identification action command generated by the identification action generation part of Embodiment 1.
  • Block diagram showing a configuration example of the numerical control device according to the second embodiment A flowchart showing an example of the operation of the numerical control device of the second embodiment.
  • Block diagram showing a configuration example of the numerical control device according to the third embodiment Block diagram showing a configuration example of the numerical control device according to the fourth embodiment
  • FIG. 1 is a block diagram showing a configuration example of the numerical control device 1 according to the first embodiment of the present invention.
  • the numerical control device 1 of the first embodiment controls the operation of the machine tool 2 by transmitting a control signal to the machine tool 2, and receives an operation state signal indicating the operation state of the machine tool 2 from a sensor (not shown).
  • the machine tool 2 has a spindle and a feed shaft, and processes the workpiece with a tool. Specifically, the machine tool 2 cuts the work by operating at least one of the tool and the work.
  • the machine tool 2 includes a spindle that gives a rotary motion to the tool or work, and a feed shaft that is a servo shaft that gives a position to the tool or work.
  • the spindle and the feed shaft each include a motor.
  • the machine tool 2 includes a sensor that detects the operating state of the machine tool 2 and outputs the detection result as an operating state signal.
  • the sensor included in the machine tool 2 includes a sensor capable of detecting vibration in at least one of a tool and a workpiece. Sensors capable of detecting vibration in at least one of the tool and the workpiece are, for example, a linear encoder and a current sensor provided in the machine tool 2 in advance for feedback control of each motor of the machine tool 2.
  • the linear encoder detects the position of each axis of the machine tool 2
  • the current sensor detects the motor current of the motor of each axis.
  • Other examples of sensors include accelerometers, position sensors, force sensors or microphones.
  • the sensors included in the machine tool 2 will be described as a linear encoder, a current sensor, and a force sensor.
  • the force sensor is installed, for example, on or inside a structure such as a table that constitutes the feed shaft.
  • the installation position of the force sensor is not limited to this, and it is sufficient that the force sensor is installed at a position where the force between the tool and the work can be detected.
  • the numerical control device 1 includes a correction unit 11, a vibration determination unit 12, an identification unit 13, an identification motion generation unit 14, a drive control unit 15, and a data acquisition unit 16. The operation of each part of the numerical control device 1 of the first embodiment will be described.
  • the identification motion generation unit 14 generates an identification motion command that independently and continuously changes the spindle speed and the feed rate of the machine tool 2, and outputs the identification motion command to the drive control unit 15.
  • the number of rotations of the spindle is the rotation speed of the spindle, and indicates how many times the spindle rotates per unit time.
  • the identification operation is a control signal and an operation state signal for the drive control unit 15 and the machine tool 2 in order to acquire identification data which is data used when the identification unit 13 executes the identification process described later. It is an operation to generate each.
  • the identification operation command is a command generated for the identification operation, and includes a command for the spindle speed and a command for the feed rate.
  • 2 to 4 are diagrams showing an example of the pattern of the identification operation command generated by the identification operation generation unit 14 of the first embodiment.
  • the pattern of the identification operation command is also referred to as a command pattern.
  • 2 to 4 show a command pattern in which the spindle rotation speed and the feed rate change continuously between the identification operation start time t1 and the identification operation end time t2.
  • the horizontal axis of FIGS. 2 to 4 shows the time (time), the vertical axis shows the spindle rotation speed in the upper row, and the feed rate shows the feed rate in the lower row.
  • the spindle rotation speed and the feed rate may be described as S and F, respectively.
  • S0 is the reference spindle rotation speed which is the spindle rotation speed before the identification operation
  • S1 is the maximum value of the spindle rotation speed during the identification operation.
  • T1 is a time constant when accelerating from the state where the spindle rotation speed is S0 to the state where the spindle rotation speed is S1.
  • T2 is a time constant when accelerating from the state where the feed rate is F0 to the state where the feed rate is F1.
  • FIG. 2 is a command pattern in which the spindle speed and the feed rate are accelerated and decelerated separately. In the example shown in FIG. 2, the spindle rotation speed is accelerated at the time constant T1 and then decelerated when the spindle rotation speed becomes S1.
  • FIG. 3 shows a command pattern in which the feed speed accelerates after the spindle speed accelerates, then decelerates, and then the spindle speed decelerates.
  • FIG. 4 shows a command pattern in which the spindle speed accelerates and then decelerates, and the feed rate repeats acceleration and deceleration while the spindle speed changes.
  • FIGS. 2 to 4 an example in which the spindle rotation speed is changed between S0 and S1 with S1 as the maximum value of the spindle rotation speed during the identification operation is shown, but the identification operation generation unit 14 has the identification operation.
  • a command pattern that changes within the range of S0 to S2 may be generated by setting the minimum value S2 of the spindle rotation speed inside.
  • the minimum value F2 of the feed rate during the identification operation may be set to generate a command pattern that changes between F0 and F2.
  • the command pattern for accelerating and decelerating in a triangular wave shape is illustrated in FIGS. Patterns can be generated.
  • the identification motion generation unit 14 may generate a command pattern that changes in a sinusoidal shape or an S-shaped curve instead of the triangular wave.
  • the identification motion generation unit 14 can generate an identification motion including various combinations of the spindle rotation speed and the feed rate by independently changing the spindle rotation speed and the feed rate.
  • the magnitude of the cutting force which is the force generated when a tool cuts a workpiece, mainly depends on the feed amount per blade, and the vibration cycle of the cutting force mainly depends on the spindle speed. There is. Therefore, in general, when changing the spindle speed and the feed rate, they are changed at the same ratio. As a result, the load applied to the tool cutting edge becomes constant, so that the magnitude of the cutting force generated by the tool 1 blade does not change. Since the identification motion generation unit 14 independently changes the spindle rotation speed and the feed rate, the magnitude and amplitude of the cutting force can be changed in various ways, and the machine tool 2 during the identification motion will be described later. Various vibration states can be generated.
  • the drive control unit 15 controls the machine tool 2 so that the spindle and the feed shaft of the machine tool 2 operate in the operation specified by the identification operation command based on the identification operation command generated by the identification operation generation unit 14. Generate a control signal to do so.
  • the control signal is a command for the spindle and the feed shaft of the machine tool 2, and includes at least one of a position command, a speed command, and a current command for each motor of the spindle and the feed shaft.
  • the drive control unit 15 is based on the machining path and the reference spindle speed and the reference feed rate in the machining path when the identification motion command is not input from the identification motion generation unit 14, that is, during normal machining operation. Generates a control signal for the machine tool 2. Further, the drive control unit 15 acquires a correction signal from the correction unit 11 described later, corrects the control signal for the machine tool 2 based on the correction signal, and outputs the corrected control signal to the machine tool 2.
  • the drive control unit 15 is set in advance with a machining path, a reference spindle speed and a reference feed rate in this machining path.
  • the machining path and the reference spindle speed and reference feed rate in this machining path may be given by a numerical control program.
  • the drive control unit 15 changes only the spindle speed and the feed rate according to the identification motion command without changing the set machining path.
  • the machine tool 2 includes a motor and a motor control device for each axis, and the motor control device controls the motor based on a control signal received from the drive control unit 15 and feedback signals such as position, speed, and motor current. To do.
  • the position and speed feedback signals are calculated based on the positions detected by the linear encoder, and the motor current feedback signals are calculated from the detection results by the current sensor.
  • the feedback signals of position, speed, and motor current are also hereinafter also referred to as position feedback signal, speed feedback signal, and current feedback signal, respectively.
  • the data acquisition unit 16 synchronizes the control signal output from the drive control unit 15 with the operation state signal representing the operation state of the machine tool 2 that has operated based on the control signal, and outputs the data as identification data. Specifically, the data acquisition unit 16 uses the control signal output from the drive control unit 15 and the operation state signal output from the sensor of the machine tool 2 to temporally obtain the data included in each signal. Synchronize and output as synchronization data to the vibration determination unit 12 and the identification unit 13.
  • the operation state signal is a signal indicating the operation state of the machine tool 2, and includes a signal capable of detecting vibration in at least one of the tool and the work.
  • the data acquisition unit 16 is detected by the feedback signals and the force sensor of the positions, speeds, and currents of the spindle and the feed shaft. It is possible to acquire the force, torque, etc. as an operating status signal.
  • the measured values such as force and torque detected by the force sensor are also referred to as force information below.
  • the operation status signal is a signal generated after the machine tool receives the control signal, the operation status signal is delayed in time from the corresponding control signal due to the influence of the time required for communication and the like.
  • the data acquisition unit 16 compensates for the time lag between the two signals by shifting the data included in the operation state signal or the data included in the control signal by a time corresponding to the difference such as the communication time.
  • the data acquisition unit 16 collects the data compensated for the time lag, that is, the synchronized data as identification data, and outputs the data to the vibration determination unit 12 and the identification unit 13.
  • the vibration determination unit 12 uses the identification data to determine whether or not the machine tool 2 is vibrating, and if it is determined that the vibration is occurring, the vibration determination unit 12 determines the type of the vibration. The determination result is output to the identification unit 13. The details of the vibration determination unit 12 will be described below.
  • the vibration when the vibration determination unit 12 determines whether or not the vibration is generated indicates a vibration having a larger amplitude than the vibration component caused by the cutting force of the tool and the work.
  • the vibration generation determination performed by the vibration determination unit 12 is executed by a known means. For example, it is determined that vibration has occurred when the force or torque indicated by the force information output from the force sensor exceeds a predetermined amplitude in the time domain.
  • the type of signal used for vibration determination is not limited to force information.
  • the vibration determination unit 12 may determine whether or not vibration is generated by using a current feedback signal included in an operating state signal. Further, the vibration determination unit 12 converts a signal used for determining whether or not vibration is generated into a signal in the frequency domain, and when the vibration component having the maximum amplitude in the frequency domain exceeds a predetermined amplitude. It may be determined that vibration has occurred in the frequency.
  • chatter vibration is a kind of self-excited vibration.
  • Forced vibration is a vibration phenomenon in which a cutting force acts as a vibration source and a structure existing in the vicinity of a tool or a workpiece is excited. Due to this property, it is known that the vibration frequency of forced vibration is an integral multiple of the basic cutting frequency.
  • chatter vibration which is self-excited vibration, is a vibration phenomenon that occurs when the system consisting of cutting force and displacement of the structure becomes unstable. Due to this property, it is known that the vibration frequency of chatter vibration is a non-integer multiple of the basic cutting frequency.
  • the basic cutting frequency is a frequency obtained by multiplying the spindle rotation speed by the number of tool blades.
  • the vibration determination unit 12 determines the type of vibration when it is determined that vibration is occurring. Specifically, the vibration determination unit 12 determines whether the generated vibration is a forced vibration or a chatter vibration as a determination of the type of vibration. The determination of the type of vibration is performed based on whether or not the determined vibration frequency is an integral multiple of the basic cutting frequency. That is, if the vibration frequency is an integral multiple of the basic cutting frequency, the vibration determination unit 12 determines that it is a forced vibration, and if the frequency is a non-integer multiple of the basic cutting frequency, it determines that it is a chatter vibration.
  • the vibration determination unit 12 determines that no vibration has occurred, it determines that the machining is stable.
  • Stable machining is a machining state in which only vibration components caused by the cutting force of the tool and the workpiece are generated, and is a machining state in which vibration near the natural frequency of the structure is not excited.
  • the vibration determination unit 12 constantly executes the above processing to determine whether the identification data at each time is stable processing, forced vibration, or chatter vibration, and uses the determination result as the vibration determination result in the identification unit 13. Output to. That is, the vibration determination unit 12 determines which of the plurality of states of stable machining, forced vibration, and chatter vibration is the vibration state of the machine tool 2 based on the identification data.
  • the identification unit 13 selects an identifiable processing characteristic parameter among the processing characteristic parameters as a selection parameter based on the discrimination result of the vibration determination unit 12, and uses the identification data input from the data acquisition unit 16 to use the identification unit 13. Identify the selection parameters. Further, the identification unit 13 further selects an identifiable dynamic characteristic parameter from the dynamic characteristic parameters as a selection parameter based on the determination result of the vibration determination unit 12. Hereinafter, the selection parameter is also referred to as an identifiable parameter.
  • the identification unit 13 outputs the result of the identification process to the correction unit 11.
  • the identification process is executed using the identification data and the processing condition information.
  • the processing condition information is information representing the processing conditions in the identification operation, and is information preset in the identification unit 13.
  • the machining condition information includes, for example, a tool diameter, a number of tool blades, a tool twist angle, a tool axial depth of cut, a tool radial depth of cut, and a machining mode representing upcut or downcut.
  • the identification unit 13 identifies both the dynamic characteristic parameter and the processing characteristic parameter. May be good. For example, the identification unit 13 selects an identifiable processing characteristic parameter among the processing characteristic parameters as a selection parameter based on the discrimination result of the vibration determination unit 12, and identifies the selection parameter using the identification data. ..
  • the identification unit 13 can only acquire identification data when the machine is processed with a set of spindle speeds and feed rates.
  • the identification data includes the operation state signal detected by the sensor of the machine tool 2, so that the identification unit 13 has the operation state signal when processed with a set of spindle speeds and feed rates. You can only get it.
  • the identification motion generation unit 14 since the identification motion generation unit 14 generates a command for continuously changing the spindle speed and the feed rate, the identification unit 13 generates a different combination of spindle speeds and feeds at each time. It is possible to obtain an operating state signal when processing at a high speed.
  • the dynamic characteristic parameter is a parameter representing the characteristics of the dynamics model described later, and is a parameter representing the vibration characteristics of the machine tool 2.
  • the dynamic characteristic parameters are, for example, the equivalent mass, the damping coefficient, and the natural frequency.
  • the machining characteristic parameter is a parameter representing the characteristics of the machining process model described later, and is a parameter representing the characteristics of the machining phenomenon between the tool and the work. Machining characteristic parameters are, for example, specific cutting resistance, edge force, tool eccentricity, and tool wear width.
  • the dynamics model is a mathematical model that describes the dynamics of the machine structure, tools, and workpieces inside the machine tool 2.
  • An example of the dynamics model will be described below.
  • FIG. 5 is a schematic view showing how the disturbance force is transmitted to the table when the work fixed to the table vibrates due to the cutting force in the first embodiment.
  • FIG. 5 shows an example in which the machine tool 2 performs milling by rotating the tool 33.
  • the work 32 is placed on the table 31 constituting the drive shaft, and the tooling system 34 constituting the spindle holds the tool 33. Further, in FIG.
  • the relative displacement 35 indicates the relative displacement of the work tip with respect to the table 31 in the vibration direction
  • the cutting force 36 indicates the cutting force in the work 32
  • the disturbance force 37 indicates the disturbance force transmitted to the table 31.
  • the relationship between the cutting force 36, the disturbance force 37, and the relative displacement 35 at this time can be expressed by the following equation (1).
  • the dynamics model shown in the equation (1) calculates the disturbance force 37 transmitted to the feed shaft through the mechanical structure including the tool 33 or the work 32 when the cutting force 36 is generated, and when the cutting force 36 is generated. This is a mathematical model for calculating the position deviation that occurs at each feed axis through the mechanical structure.
  • the dynamics model shown in equation (1) is a model in which the work 32 on the table 31 is described as a one-degree-of-freedom vibration system, but the dynamics model is not limited to the above example. For example, it may be described as a multi-degree-of-freedom vibration system including a fixing portion for fixing the work 32 and a table 31. Further, a dynamics model for a tool-side structure including a tool 33, a tooling system 34 and a spindle motor may be set. Further, a dynamics model may be set as a vibration system in which the work-side structure including the fixing portion for fixing the work 32 and the table 31 and the tool-side structure are combined.
  • the machining process model is a mathematical model that describes the cutting process between the tool and the workpiece.
  • An example of the machining process model is shown in the following equation (2).
  • the above formula (2) is a formula for calculating the cutting force given to the work 32 by the tool 33 from the cutting thickness corresponding to the rotation angle of the tool 33 at each time.
  • the cutting thickness refers to the thickness at which the work 32 is cut when the tool cutting edge, which is the cutting edge of the tool 33, passes through the work 32.
  • the cutting force is calculated as a value of zero or more when the tool cutting edge is at an angle in contact with the work 32, but when the tool cutting edge is at an angle not in contact with the work 32. Is calculated as zero.
  • FIG. 6 is a diagram showing an example of the rotation angle of the tool 33 in which the tool cutting edge contacts the work 32 in the first embodiment, and FIG.
  • FIG. 7 is an example of the rotation angle of the tool 33 in which the tool cutting edge does not contact the work 32. It is a figure which shows. That is, for each rotation angle or time of the tool 33, it is determined whether or not to contact the work based on the position deviation, and when the tool cutting edge comes into contact with the work 32, the cutting thickness is calculated and the tool cutting edge is the work. If it does not come into contact with 32, the cutting thickness is calculated as zero.
  • the cutting force in the three directions can be calculated by performing the calculation shown in the equation (2) in the three directions of the tangential direction, the radial direction and the axial direction of the tool.
  • the cutting force in the tool reference coordinate system is obtained by multiplying the cutting force having the components in the above three directions by the rotation matrix corresponding to the rotation angle of the tool 33, which is the rotation angle of the tool 33. Is calculated. Equation (3) shows an example of coordinate transformation.
  • the machining process model represented by the formula (2) calculates the cutting thickness based on the relative position between the tool cutting edge and the work 32 to be machined by the tool 33 and the tool rotation angle, and is based on the cutting thickness. This is a mathematical model for calculating the cutting force generated between the tool and the workpiece.
  • the cutting thickness in the formula (2) can be calculated by the formula (4) using the feed amount per blade and the tool rotation angle.
  • the cut thickness can also be calculated using equation (5).
  • Equation (5) adds the amount of variation calculated from the difference between the current tool displacement and the premachined surface, which is the machined surface generated by the tool edge one blade before, to the formula (4). Furthermore, it is a calculation formula of the cutting thickness by adding the correction amount according to each tool cutting edge.
  • the displacement amount generated at the current tool cutting edge and the displacement amount generated at the tool cutting edge one or more blades before the displacement amount affecting the machined surface shape and the current tool cutting edge
  • the cutting thickness is corrected by the difference from the displacement amount generated in. That is, the cutting thickness affects the shape of the machined surface among the loci generated by the current tool cutting edge involved in cutting and the tool cutting edge one or more blades before the current tool cutting edge. It is calculated based on the difference from the trajectory of the cutting edge.
  • the tool center displacement amount v is the displacement amount corresponding to the component in the direction from the tool center to the tool cutting edge in the relative displacement x of the equation (1).
  • the pre-machined surface displacement amount w is the amount of displacement generated on the machined surface due to the relative displacement x during cutting by the tool cutting edge one or more blades before.
  • the tool cutting edge one or more blades before is a tool cutting edge involved in cutting at a time earlier than the time based on the tool cutting edge involved in cutting. For example, in a tool having two blades, when the tool cutting edge currently being cut is the second blade, the tool cutting edge one blade before is the first blade before rotating 180 degrees, and the tool cutting edge two blades before is 360.
  • the second blade before the degree rotation, and the tool cutting edge three blades before is the first blade before the 540 degree rotation.
  • the current tool cutting edge is not only the pre-machined surface generated by the tool cutting edge one cutting edge before, but also the tool cutting edge two or more cutting edges before. The generated pre-machined surface is also cut.
  • the cutting thickness is corrected by the correction amount according to the tool cutting edge number, which is the number indicating the tool cutting edge, and the tool rotation angle.
  • the correction amount is introduced to correct the change in the cutting thickness due to cutting with a different turning radius for each tool cutting edge.
  • the following are examples where it is necessary to introduce a correction amount.
  • the turning radius of the tool cutting edge is shorter than that of other tool cutting edges, so a correction amount corresponding to the wear width, chipping width, or the like is added.
  • a correction amount corresponding to the mounting error is added in a tool with a replaceable cutting edge.
  • a correction amount corresponding to the mounting error is added.
  • the spindle rotation center does not coincide with the tool center, that is, when the tool eccentricity exists, a correction amount corresponding to the tool eccentricity amount is added.
  • the tool center is the center of the circumscribed circle of the tool.
  • the tool eccentricity is the cutting thickness corresponding to the increase or decrease in the turning radius of the tool cutting edge for each tool cutting edge when there is a deviation amount between the tool center and the spindle rotation center as shown in FIGS. 8 and 9. It is the amount to correct the radius.
  • FIG. 8 is a diagram showing a state of cutting at the first cutting edge when a deviation amount occurs between the tool center and the spindle rotation center in the first embodiment
  • FIG. 9 is a diagram showing a state of cutting at the tool center and the spindle rotation. It is a figure which shows the state of cutting at the 2nd cutting edge when the deviation amount is generated between it and the center.
  • the first cutting edge 43 and the second cutting edge 44 are cutting edges of a tool. In the examples shown in FIGS.
  • the tool eccentricity amount indicates the correction amount at this time. That is, the amount of tool eccentricity according to the rotation angle of the tool 33 is added or subtracted from the cutting thickness.
  • the case where the cutting thickness is corrected by the correction amount is not limited to the above case, and the correction amount may be appropriately changed according to the phenomenon generated at the tool cutting edge.
  • the machining process model is not limited to equation (2).
  • the value of the specific cutting resistance may be changed depending on whether the cutting speed is higher than the threshold value or lower than the threshold value.
  • a model in which a process damping force is added to the right side of the equation (2) may be used.
  • the process damping force is a force generated when the flank of the tool cutting edge comes into contact with the work.
  • the process damping can be expressed as, for example, a value obtained by multiplying the flank contact area by the process damping coefficient.
  • the process damping coefficient is one of the machining characteristic parameters.
  • a machining process model for a tool with a twist angle may be used. Specifically, the tool is divided into tools having a minute thickness in the axial direction, the cutting force of each divided small thickness tool is calculated, and the cutting force is integrated in the tool axial direction to obtain the final cutting force. May be used as a model for calculating. As yet another example, it may be a model for calculating the cutting thickness and the cutting force by finite element analysis.
  • the dynamics model is the equation (1) and the machining process model is the equation (2)
  • the parameters that can be identified from the vibration determination result are determined, and the process of identifying the parameters will be described.
  • the identifiable parameter candidates described below are the dynamic characteristic parameters such as equivalent mass, damping coefficient and natural frequency, and the machining characteristic parameters such as specific cutting resistance, edge force and tool eccentricity.
  • the identification unit 13 performs the following processing according to the vibration determination result. .. In rare cases, forced vibration and chatter vibration occur at the same time. In such a case, it is determined that the vibration is chatter vibration and identification is performed.
  • the identification unit 13 selects the specific cutting resistance and the edge force, which are machining characteristic parameters, as the identifiable parameters. Further, the identification unit 13 identifies the specific cutting resistance and the edge force by the following processing.
  • the identification unit 13 calculates the specific cutting resistance and the edge force according to the equations (2) to (4) using the force information output from the force sensor and the machining conditions recorded in advance in the identification unit 13. .. That is, the calculated value of the force in each axial direction calculated when the equations (2) and (4) are substituted into the equation (3) substantially matches the measured value of the force detected by the force sensor. , Calculate the specific cutting resistance and edge force in equation (2).
  • a known optimization method or numerical simulation may be used. For example, the least squares method or the gradient method can be used.
  • the identification unit 13 selects the damping coefficient and the natural frequency, which are the dynamic characteristic parameters, and the specific cutting resistance and the edge force, which are the machining characteristic parameters, as the identifiable parameters. Further, the identification unit 13 identifies the damping coefficient, the natural frequency, the specific cutting resistance, and the edge force by the following processing.
  • the identification unit 13 uses the force information output from the force sensor and the processing conditions recorded in advance in the identification unit 13 to obtain the damping coefficient, the natural frequency, and the ratio according to the equations (1) to (4). Identify cutting resistance and edge force. Specifically, the measured value of the force detected by the force sensor is substituted into f d in the following equation (6) obtained by modifying the equation (1).
  • the identification unit 13 has the damping coefficient, the natural frequency, and the ratio satisfying the equation (6). Calculate the combination of cutting resistance and edge force. Specifically, the identification unit 13 searches for the damping coefficient and the natural frequency, and the specific cutting resistance and the edge force by using the gradient method so that the error on both sides of the equation (6) is minimized. Alternatively, the damping coefficient and natural frequency, and the specific cutting resistance and edge force can be calculated by the least squares method.
  • the identification unit 13 selects the dynamic characteristic parameters such as equivalent mass, damping coefficient, and natural frequency, and the machining characteristic parameters such as specific cutting resistance, edge force, and tool eccentricity as the identifiable parameters. Further, the identification unit 13 identifies the equivalent mass, the damping coefficient, the natural frequency, the specific cutting resistance, the edge force, and the tool eccentricity by the following processing.
  • the identification unit 13 uses the force information output from the force sensor and the processing conditions recorded in advance in the identification unit 13 according to the equations (1), (2), (3) and (5). , Equivalent mass, damping coefficient and natural frequency, and specific cutting resistance, edge force and tool eccentricity. Specifically, the equivalent mass, the damping coefficient, the natural frequency, the specific cutting resistance, the edge force, and the tool eccentricity can be identified according to the procedure shown in FIG.
  • FIG. 10 is a flowchart showing an example of the identification processing procedure in the identification unit 13 of the first embodiment when the vibration determination unit 12 determines that the vibration is chattering.
  • the identification unit 13 sets initial values for the set of parameters.
  • the set of parameters at this time is a combination of the equivalent mass, the damping coefficient, and the natural frequency, which are the dynamic characteristic parameters, and the specific cutting resistance, the edge force, and the tool eccentricity, which are the machining characteristic parameters.
  • step S2 the identification unit 13 calculates the displacement amount that simultaneously satisfies the dynamics model and the machining process model. For example, the displacement amount that simultaneously satisfies the equation (1), which is a dynamics model, and the equations (2) and (5), which are machining process models, is calculated.
  • the displacement amount is the relative displacement x in the equation (1) and v, w in the equation (5).
  • step S3 the identification unit 13 calculates the disturbance force when the displacement amount is given to the dynamics model.
  • the identification unit 13 calculates the disturbance force f d by giving the displacement amount calculated in step S2 to the equation (1) which is a dynamics model.
  • step S4 the identification unit 13 determines whether or not the error between the measured value of the force detected by the force sensor and the calculated value of the force calculated in step S3 is equal to or less than the allowable value. If the error is equal to or less than the permissible value (step S4 Yes), the identification unit 13 sets the value of the set of parameters at that time as the identification result and ends the identification process. When the error exceeds the permissible value (step S4 No), the identification unit 13 updates the value of the parameter set in step S5 and returns to the process of step S2.
  • a method of updating the parameters in step S5 for example, a method of increasing or decreasing each parameter by a predetermined amount can be used.
  • the identification process in the identification unit 13 when the vibration determination unit 12 determines that the vibration is chattering is not limited to the processes in steps S1 to S5 described above.
  • equations (1), (2), (3) and (5) may be combined and each parameter may be calculated using the method of least squares.
  • the correction unit 11 receives the dynamic characteristic parameter and the machining characteristic parameter, which are the identification results, from the identification unit 13, and based on the identification result, receives a correction signal for correcting the operation of the machine tool 2.
  • Output to the drive control unit 15. Specifically, a simulation related to the machine dynamics and the machining process is executed in the correction unit 11, and a combination of the spindle rotation speed and the feed rate at which the vibration amplitude of the tool cutting edge becomes equal to or less than a specified value is calculated.
  • the correction unit 11 generates a correction signal for correcting the spindle rotation speed and the feed speed based on the calculated spindle rotation speed and feed speed, and outputs the correction signal to the drive control unit 15.
  • the specified value is a value predetermined in the correction unit 11 and is set so that the machining result satisfies the predetermined dimensional intersection.
  • the target to be corrected may include the depth of cut in the tool axis direction or the tool radial direction in addition to the spindle speed and the feed rate.
  • FIG. 11 is a flowchart showing an example of the operation of the numerical control device 1 of the first embodiment.
  • the numerical control device 1 starts the identification operation. Specifically, the identification motion generation unit 14 generates an identification motion command, and the drive control unit 15 creates a control signal for the machine tool 2 so that the machine tool 2 executes the motion specified in the identification motion. Output to machine 2.
  • step S12 the vibration determination unit 12 acquires identification data. Specifically, the data acquisition unit 16 acquires a control signal from the drive control unit 15, acquires an operation state signal from the sensor of the machine tool 2, and generates identification data in which the time lag between the two is compensated. Then, it is output to the vibration determination unit 12 and the identification unit 13.
  • the vibration determination unit 12 determines the vibration state based on the identification data. Specifically, the vibration determination unit 12 determines whether or not vibration is generated based on the operation state signal of the identification data, and if it is determined that vibration is not generated, the vibration state is stabilized. It is determined that. Further, when the vibration determination unit 12 determines that vibration is occurring, it determines whether it is forced vibration or chatter vibration based on the frequency of vibration. The vibration determination unit 12 outputs the determination result of the vibration state to the identification unit 13 as the vibration determination result.
  • step S14 the identification unit 13 selects an identifiable parameter based on the identification data and the vibration determination result. Specifically, the identification unit 13 selects a parameter that can be identified from the dynamic characteristic parameter and the processing characteristic parameter according to the vibration determination result.
  • step S15 the identification unit 13 identifies the identifiable parameters selected in step S14 using the identification data.
  • step S16 the numerical control device 1 corrects the operation of the machine tool 2 after the end of the identification operation up to step S15, that is, in the normal machining operation, based on the identification result.
  • the correction unit 11 generates a correction signal for correcting the operation of the machine tool 2 based on the identification result calculated by the identification unit 13, and outputs the correction signal to the drive control unit 15.
  • the drive control unit 15 generates a control signal based on the machining path, the reference spindle speed and the reference feed rate in the machining path, and the correction signal, and outputs the control signal to the machine tool 2.
  • the numerical control device 1 can identify parameters by executing a series of processes from step S11 to step S15 every moment during machining. Further, after the identification operation, the processing in step S16 can improve the processing state by using the identification result.
  • the processing circuit may be a circuit including a processor or dedicated hardware.
  • the processing circuit 200 includes a processor 201 and a memory 202.
  • the processing circuit 200 includes a processor 201 and a memory 202.
  • the processor 201 reading and executing the program stored in the memory 202. That is, when each part of the numerical control device 1 is realized by the processing circuit 200 shown in FIG. 12, these functions are realized by using a program which is software.
  • the memory 202 is also used as a work area for the processor 201.
  • the processor 201 is a CPU (Central Processing Unit) or the like.
  • the memory 202 corresponds to, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, a magnetic disk, or the like.
  • the processing circuit that realizes each part of the numerical control device 1 is dedicated hardware
  • the processing circuit is, for example, FPGA (Field Programmable Gate Array) or ASIC (Application Special Integrated Circuit).
  • Each part of the numerical control device 1 may be realized by combining a processing circuit including a processor and dedicated hardware.
  • Each part of the numerical control device 1 may be realized by a plurality of processing circuits.
  • the numerical control device 1 of the first embodiment generates a command for continuously changing the speed with respect to the spindle and the feed shaft, and gives the command independently to the spindle and the feed shaft. Have the machine tool perform the identification operation. Then, the numerical control device 1 of the first embodiment discriminates the vibration state of the machine tool 2 from the identification data collected in the identification operation, and identifies the process characteristic parameters that can be identified according to the discrimination result. As described above, the numerical control device 1 of the first embodiment can efficiently identify the machining characteristic parameters in a short time. Further, the numerical control device 1 of the first embodiment can also identify a dynamic characteristic parameter that can identify the vibration state according to the discrimination result.
  • the numerical control device 1 of the first embodiment can reproduce a plurality of types of vibration states during one identification operation for the machine tool 2, it is short even if the operator does not change the machining conditions each time. Identification can be performed efficiently in time. Furthermore, by reproducing the chatter vibration state, the dynamic characteristic parameter and the machining characteristic parameter can be estimated at the same time. As a result, the numerical control device 1 of the first embodiment can correct the control signal for the machine tool based on the identification result, so that the machining can be continued without causing a machining defect. Further, if the spindle rotation speed is changed stepwise in a stepwise manner for identification, the peak value that is a candidate for the natural frequency can be searched only discretely.
  • the dynamics model and the machining process model are not limited to the above equations (1) and (2), and can be appropriately changed depending on the machine structure and the machining method. Therefore, the dynamic characteristic parameters are not limited to the equivalent mass, the damping coefficient, and the natural frequency, and similarly, the machining characteristic parameters are not limited to the specific cutting resistance, the edge force, and the tool eccentricity. Even if the dynamic characteristic parameter and the processing characteristic parameter are appropriately changed according to the dynamics model and the processing process model, the same effect as that of the first embodiment can be obtained.
  • one machine tool 2 is controlled by one numerical control device 1
  • two or more machine tools may be connected to the numerical control device 1.
  • a command to change the spindle rotation speed is generated for the first machine tool
  • a command to change the feed speed is generated for the second machine tool
  • an operation command is issued to each machine tool at the same time.
  • the effect is that the identification is completed in a shorter time than when the operation is performed by one machine tool.
  • the machine tool 2 that performs milling by rotating a tool has been described, but the present invention can also be applied to a machine tool that performs turning by rotating a work.
  • the force is directly detected by the force sensor, but even if the force is indirectly estimated by using another sensor, the same effect as that of the first embodiment can be obtained. it can.
  • the data acquisition unit 16 or the identification unit 13 can calculate the force by the following equation (7) using the reference motor current which is a motor current command and the position detected by the linear encoder.
  • the force can be calculated in the same way by using an accelerometer.
  • the data acquisition unit 16 or the identification unit 13 can calculate the force by the following equation (8) using the acceleration detected by the acceleration sensor.
  • Equations (7) and (8) are formulas for calculating the force when the feed shaft is regarded as a single inertial body. You may. Further, a term for compensating for the frictional force may be added.
  • FIG. 13 is a block diagram showing a configuration example of the numerical control device according to the second embodiment of the present invention.
  • the identification process is performed from the control signal and the operating state signal during the execution of the identification operation once has been described.
  • chatter vibration does not occur during one identification operation
  • some of the dynamic characteristic parameters and the processing characteristic parameters cannot be identified.
  • the second embodiment an example of modifying the identification operation when chatter vibration does not occur when the identification operation is executed will be described.
  • the same reference numerals are used and duplicate description will be omitted.
  • the points different from those of the first embodiment will be mainly described.
  • the numerical control device 1a is different from the first embodiment except that the identification unit 13a and the identification motion generation unit 14a are provided instead of the identification unit 13 and the identification motion generation unit 14 of the first embodiment.
  • the identification unit 13a and the identification motion generation unit 14a are realized by a processing circuit in the same manner as the identification unit 13 and the identification motion generation unit 14 of the first embodiment.
  • the identification unit 13a selects an identifiable parameter from the dynamic characteristic parameter and the processing characteristic parameter by using the vibration determination result input from the vibration determination unit 12. Further, the identification unit 13a executes an identification process for identifying the selected identifiable parameter based on the identification data input from the data acquisition unit 16 as in the identification unit 13 of the first embodiment. Then, the result of the identification process is output to the correction unit 11. The identification process is executed in the same manner as the identification unit 13 of the first embodiment by using the identification data and the processing condition information.
  • the identification unit 13a outputs an identification operation correction signal to the identification operation generation unit 14a, which will be described later, when an unidentified parameter exists among the parameters to be identified after the identification process is performed one or more times.
  • the identification operation correction signal is a signal indicating the existence of an unidentified dynamic characteristic parameter or processing characteristic parameter.
  • the identification motion generation unit 14a Similar to the identification motion generation unit 14 of the first embodiment, the identification motion generation unit 14a generates an identification motion command for changing the spindle speed and the feed rate of the machine tool, and outputs the identification motion command to the drive control unit 15. To do.
  • the identification motion generation unit 14a modifies the identification motion command pattern based on the identification motion correction signal output from the identification unit 13a. Similar to the identification unit 13, the identification unit 13a can identify the most types of parameters when chatter vibration occurs in the machine tool. Therefore, the identification motion generation unit 14a modifies the identification motion so that chatter vibration occurs in the process of the identification motion by changing the range in which the spindle rotation speed or the feed rate is changed. Specifically, the identification motion generation unit 14a changes at least one of the above-mentioned maximum value S1 and minimum value S2 of the spindle rotation speed, maximum value F1 and minimum value F2 of the feed rate at a predetermined ratio. Generate an identification action command pattern.
  • the maximum value S1 and the minimum value of the spindle rotation speed so that at least one of the spindle rotation speed and the feed rate is in a range different from the range of change set in the previous identification operation. At least one of S2, the maximum value F1 and the minimum value F2 of the feed rate is changed.
  • FIG. 14 is a flowchart showing an example of the operation of the numerical control device 1a of the second embodiment.
  • the numerical control device 1a starts the identification operation.
  • the identification motion generation unit 14a generates the first identification motion command, and the drive control unit 15 sends a control signal to the machine tool so that the machine tool executes the motion specified in the identification motion. Output to the machine tool.
  • step S26 the identification unit 13a determines whether or not a predetermined parameter to be identified has been identified, and if the identification is completed (step S26 Yes), the process proceeds to step S28. If any of the predetermined identification target parameters have not been identified (step S26 No), the numerical control device 1a modifies the identification operation command in step S27 and repeats the process from step S21. Specifically, in step S27, the identification unit 13a outputs the identification operation correction signal to the identification operation generation unit 14a, and the identification unit 13a changes the range of change of at least one of the shaft rotation speed and the feed rate.
  • the identification operation command is modified, and the modified identification operation command is output to the drive control unit 15.
  • the drive control unit 15 In the second and subsequent steps S21, the drive control unit 15 generates a control signal for the machine tool 2 based on the modified identification operation command and outputs the control signal to the machine tool 2.
  • step S28 the numerical control device 1a corrects the operation of the machine tool 2 based on the identification result. Specifically, similarly to the correction unit 11 of the first embodiment, the correction unit 11 generates a correction signal based on the identification result calculated by the identification unit 13a and outputs the drive control unit 15 after the identification operation is completed. .. The drive control unit 15 generates a control signal based on the machining path, the reference spindle speed and the reference feed rate in the machining path, and the correction signal, and outputs the control signal to the machine tool 2.
  • the numerical control device 1a repeatedly executes a series of processes from step S21 to step S27 during machining. That is, in the identification unit 13a, after the identification is performed using the identification data for the period corresponding to the identification operation command, among the identification target parameters that are set as the identification targets, the unidentified parameters are If present, an identification motion correction signal instructing a change in the identification motion is generated and output to the identification motion generation unit 14a. Then, when the identification motion generation unit 14a receives the identification motion correction signal, the identification motion command is changed, and the data acquisition unit 16 is based on the control signal generated based on the changed identification motion command and the control signal.
  • the operating state signal representing the operating state of the machine tool 2 that has been operated is synchronized and output as identification data to the vibration determination unit 12 and the identification unit 13a. Then, these operations are repeated until the identification of all the parameters set as the identification targets is completed. This makes it possible to identify all the dynamic characteristic parameters and processing characteristic parameters set as identification targets. Further, by the processing of step S28, the processing state can be improved by using the identification result.
  • the processing flow for modifying the identification operation command after the completion of one identification operation has been described here, the processing flow for modifying the identification operation during the identification operation may be used.
  • the numerical control device 1a of the second embodiment corrects the identification operation and performs the identification operation again when there is an uncompleted parameter among the predetermined parameters to be identified. carry out. Therefore, the numerical control device 1a of the second embodiment modifies the identification operation and generates chatter vibration even if there is a parameter that cannot be identified by the command pattern of the initial identification operation, so that the identification is specified in advance. It has the effect of being able to identify all of the target parameters.
  • FIG. 15 is a block diagram showing a configuration example of the numerical control device according to the third embodiment of the present invention.
  • the identification operation was repeated until all the parameters to be identified internally determined were identified.
  • the parameter to be identified can be set from the outside will be described.
  • the same reference numerals are used and duplicate description will be omitted.
  • the points different from those of the second embodiment will be mainly described.
  • the numerical control device 1b of the third embodiment has an input unit 17 added to the numerical control device 1a of the second embodiment.
  • the input unit 17 can accept the input of the parameter to be identified from the outside.
  • the input unit 17 can receive at least one input of a dynamic characteristic parameter and a processing characteristic parameter as parameters to be identified from, for example, an external device or an operator.
  • the input unit 17 may be a communication circuit that communicates with an external device, an interface circuit of an external medium that reads data from an external medium, or an input means such as a keyboard or a mouse. .. Further, when the input unit 17 receives an input from an operator, a display means such as a display or a monitor is also used as the input unit 17.
  • the parameter to be identified may be input to the input unit 17 as a numerical control program, or may be input to the input unit 17 interactively by the operator. Further, the input unit 17 may accept the input of the parameter to be identified in the form of interactive programming. The input unit 17 outputs the received parameters to be identified to the identification unit 13a. Examples of cases in which the parameters to be identified are specified by the operator or from the outside include, for example, "when you want to remove a parameter already identified by another means from the identification target" (first case), and "high priority". A case such as "when you want to reduce the time required for identification by identifying only the identification target" (second case) is assumed.
  • the identified parameters are displayed so that the identified parameters can be distinguished by inputting the values obtained in the past identification in advance. This makes it easier to identify unidentified parameters.
  • the second case by making it possible to select the parameter to be identified with a check box or the like, a display window is provided so that the estimated identification time changes each time a check is entered in the check box. , The operator can select the most parameters within the identification time within the allowable identification time.
  • the form of interactive programming is not limited to these examples, and may be any method, but the operator can easily display the information to be considered for selection as described above.
  • the parameters to be identified can be selected.
  • the identification unit 13a uses the parameters of the identification target input from the input unit 17 instead of the preset parameters of the identification target, and is the same as that of the second embodiment. Do the action.
  • the identification unit 13a may be capable of performing both an operation using the preset parameters of the identification target and an operation using the parameters of the identification target input from the input unit 17.
  • the identification unit 13a outputs the result of the identification process to the correction unit 11.
  • the operation of the correction unit 11 is the same as that of the first embodiment.
  • the operation of the correction unit 11 when the parameter to be identified is specified by the numerical control program is as follows. Numerical control programs generally describe information such as machining paths, spindle speeds, feed rates, and tool numbers.
  • the machining path for performing the identification operation and the parameter to be identified are specified in the numerical control program.
  • the correction unit 11 has a specified value of the vibration amplitude of the tool cutting edge until the timing when the tool number is changed or the timing when the machining path for which another identification operation is set is machined.
  • the numerical control device 1b of the third embodiment modifies the identification operation when there is an unidentified parameter among the parameters of the identification target set by the input from the outside.
  • the identification operation is performed again. Therefore, the same effect as that of the second embodiment can be obtained, and the parameter to be identified can be changed according to the request of the operator or the like.
  • FIG. 16 is a block diagram showing a configuration example of the numerical control device according to the fourth embodiment of the present invention.
  • the third embodiment a configuration in which the parameter to be identified can be set from the outside has been described.
  • the fourth embodiment a configuration in which a command pattern for the identification operation can be set by input from the outside will be described.
  • the same reference numerals are used and duplicate description will be omitted.
  • the points different from the third embodiment will be mainly described.
  • the numerical control device 1c is the same as the numerical control device 1b of the third embodiment except that the identification motion generation unit 14b and the input unit 17a are provided instead of the identification motion generation unit 14a and the input unit 17. Is.
  • the input unit 17a can receive the parameters to be identified from the outside, and outputs the received parameters of the identification target to the identification unit 13a. Further, the input unit 17a can accept the input of the command pattern information for determining the command pattern of the identification operation from the outside. The input unit 17a outputs the received command pattern information to the identification operation generation unit 14b.
  • the command pattern information is, for example, information representing the spindle rotation speeds S0, S1, feed speeds F0, F1, and time constants T1 and T2 in FIGS. 2 to 4. That is, the command pattern information is information indicating a waveform with respect to the time of the spindle rotation speed and the feed speed when the spindle rotation speed and the feed speed are changed by the identification operation command.
  • the command pattern information is input to the input unit 17a as a numerical control program or interactively, for example. Further, the command pattern information may be input in the form of interactive programming.
  • the waveform or the information indicating the waveform shown in FIGS. 2 to 4 may be added to the command pattern information so that the waveform can be set from the outside.
  • the input unit 17a may be a communication circuit that communicates with an external device, an interface circuit of an external medium that reads data from an external medium, a keyboard, a mouse, or the like. It may be an input means. Further, when the input unit 17a receives an input from an operator, display means such as a display and a monitor are also used as the input unit 17a.
  • the parameter and command pattern information to be identified may be input to the input unit 17a from an external device in the form of a numerical control program, or may be input to the input unit 17a interactively by the operator. Further, the input unit 17a may create a program in the form of interactive programming, and the parameter and the command pattern information to be identified may be specified by this program.
  • the input unit 17a outputs the received parameters to be identified to the identification unit 13a, and outputs the received command pattern information to the identification operation generation unit 14b.
  • the operations of the identification unit 13a and the correction unit 11 are the same as those in the third embodiment.
  • the identification operation generation unit 14b generates an identification operation command pattern based on the identification operation command pattern information received by the input unit 17a, and outputs the identification operation command to the drive control unit 15. Further, the identification motion generation unit 14b modifies the identification motion command pattern based on the identification motion correction signal output from the identification unit 13a, similarly to the identification motion generation unit 14a of the second embodiment.
  • the operation of the numerical control device 1c of the present embodiment other than the above is the same as that of the numerical control device 1b of the third embodiment.
  • the numerical control device 1c of the fourth embodiment can set the command pattern of the identification operation by input from the outside in addition to the parameters of the identification target described in the third embodiment. Therefore, the numerical control device 1c of the fourth embodiment has an effect that the identification result can be preferentially calculated for the combination of the parameters specified by the input from the outside.
  • the configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • 1,1a, 1b, 1c Numerical control device, 2 Machine tool, 11 Correction unit, 12 Vibration determination unit, 13 Identification unit, 14 Identification motion generation unit, 15 Drive control unit, 16 Data acquisition unit, 17, 17a Input unit.

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Abstract

Selon la présente invention, un dispositif de commande numérique (1) qui commande le fonctionnement d'une machine-outil (2) servant à usiner une pièce avec un outil, comprend : une unité de génération d'opération d'identification (14) qui génère une instruction d'opération d'identification qui change une vitesse de rotation et une vitesse d'alimentation de broche indépendamment et en continu; une unité d'acquisition de données (16) qui synchronise un signal de commande servant à commander la machine-outil généré à partir de l'instruction d'opération d'identification avec un signal d'état de fonctionnement représentant l'état de fonctionnement de la machine-outil correspondante (2) et délivre en sortie un résultat synchronisé en tant que données d'identification; une unité de détermination de vibration (12) qui détermine si l'état de vibration de la machine-outil (2) est un usinage stable, une vibration de broutage ou une vibration forcée à partir des données d'identification; et une unité d'identification (13) qui sélectionne, à partir du résultat de détermination de l'unité de détermination de vibration (12), un paramètre de caractéristiques d'usinage identifiable en tant que paramètre de sélection, parmi les paramètres de caractéristiques d'usinage représentant les caractéristiques d'usinage d'une pièce à usiner avec un outil, et identifie le paramètre de sélection à l'aide des données d'identification.
PCT/JP2019/020548 2019-05-23 2019-05-23 Dispositif de commande numérique WO2020235106A1 (fr)

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