WO2022230008A1 - Dispositif de commande numérique, dispositif d'apprentissage et procédé de suppression de vibration de broutement - Google Patents

Dispositif de commande numérique, dispositif d'apprentissage et procédé de suppression de vibration de broutement Download PDF

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Publication number
WO2022230008A1
WO2022230008A1 PCT/JP2021/016599 JP2021016599W WO2022230008A1 WO 2022230008 A1 WO2022230008 A1 WO 2022230008A1 JP 2021016599 W JP2021016599 W JP 2021016599W WO 2022230008 A1 WO2022230008 A1 WO 2022230008A1
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WIPO (PCT)
Prior art keywords
spindle
command
unit
feature amount
information
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PCT/JP2021/016599
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English (en)
Japanese (ja)
Inventor
遼輔 池田
一樹 高幣
智哉 藤田
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to DE112021007584.5T priority Critical patent/DE112021007584T5/de
Priority to CN202180094994.6A priority patent/CN117120946A/zh
Priority to PCT/JP2021/016599 priority patent/WO2022230008A1/fr
Priority to JP2021555531A priority patent/JP7179198B1/ja
Publication of WO2022230008A1 publication Critical patent/WO2022230008A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
    • 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
    • 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
    • G05B2219/41256—Chattering control

Definitions

  • the present disclosure relates to a numerical control device, a learning device, and a chatter vibration suppression method for suppressing chatter vibration in a machine tool.
  • a machine tool is a mechanical device that removes and processes a workpiece into a desired shape by changing the relative position between the workpiece and the tool.
  • Machine tools typified by milling machines and lathes perform machining by mounting a tool or an object to be machined on a spindle and rotating the spindle. During machining, vibrations called “chatter” may occur. When chatter vibration occurs, the finished surface accuracy deteriorates and it causes tool breakage.
  • Patent Document 1 discloses a method of searching for and obtaining the optimum spindle speed for suppressing chatter vibration.
  • the optimum spindle speed is calculated based on the phase difference gradient.
  • the phase difference gradient is the ratio of the amount of change in the phase difference to the amount of change in the spindle speed, that is, the gradient of the phase difference.
  • This phase difference is calculated by a known formula including chatter vibration, the number of tool edges, and the spindle speed as parameters representing the chatter vibration feature quantity.
  • the phase difference is measured while changing the spindle speed, and the phase difference gradient is calculated based on the measured phase difference.
  • Patent Document 1 has the problem that if the characteristics of the vibration system that generates chatter vibration change during the search for the optimum spindle speed, the search must be interrupted and the process must be restarted from the beginning. be. This is because the characteristics of the vibration system that generates chatter vibration easily change due to factors such as a decrease in the mass of the workpiece due to machining or a change in the machining location of the workpiece. Therefore, in the method of Patent Document 1, if the characteristics of the vibration system that causes chatter vibration change before the search for the optimum spindle speed is completed, the optimum spindle speed cannot be calculated, and chatter vibration is suppressed. is difficult.
  • the present disclosure has been made in view of the above, and an object thereof is to obtain a numerical controller capable of suppressing chatter vibration even when the characteristics of the vibration system change during suppression of chatter vibration. .
  • the numerical control device has a drive command unit that gives an operation command to the main shaft and the feed shaft of the machine tool, and further includes a feature amount calculation unit and vibration control.
  • the feature amount calculator calculates chatter vibration feature amount information based on a sensor signal that detects vibration of a tool attached to a machine tool or a workpiece and a spindle operation command that is a spindle operation command.
  • the vibration control section outputs a correction value for correcting the operation command to the drive command section until the feature amount information reaches the target range.
  • the numerical control device it is possible to suppress chatter vibration even when the characteristics of the vibration system change during suppression of chatter vibration.
  • FIG. 1 is a diagram showing a functional configuration of a numerical controller according to Embodiment 1;
  • FIG. A diagram showing the functional configuration of the feature amount calculation unit shown in FIG. A diagram showing the relationship between the timing signal output by the timing signal generator shown in FIG. 2 and the spindle angle command.
  • a diagram showing a dimensionless quantity calculated by the phase difference calculator shown in FIG. Flowchart showing a processing flow by the vibration control unit and the drive command unit shown in FIG.
  • FIG. 2 is a diagram showing another configuration example for realizing the function of the vibration control unit shown in FIG.
  • FIG. 1 Diagram showing an example configuration of an inference model using a general neural network
  • FIG. 4 shows a functional configuration of a numerical controller according to Embodiment 2
  • FIG. 10 is a diagram showing a functional configuration of a numerical control device according to Embodiment 3;
  • FIG. 10 is a diagram showing a functional configuration of a numerical control device according to Embodiment 5; A diagram showing the functional configuration of the feature amount calculation unit shown in FIG. A diagram showing the relationship between the timing signal output by the timing signal generator shown in FIG. 17 and the spindle angle command.
  • Block diagram showing an example of a hardware configuration for realizing the functions of the numerical controller described in the first to fifth embodiments Block diagram showing another example of hardware configuration for realizing the functions of the numerical controller described in the first to fifth embodiments
  • FIG. 1 is a diagram showing the functional configuration of a numerical control device 1 according to Embodiment 1. As shown in FIG. The numerical controller 1 numerically controls the machine tool 16 by giving an operation command 103 to the machine tool 16 .
  • the machine tool 16 has a main shaft 17 and a feed shaft 18 each provided with a motor driven by a run command 103 .
  • a workpiece is installed on the spindle 17 and a tool is installed on the feed shaft 18 .
  • the machine tool 16 also outputs to the numerical controller 1 operation information 105 including at least information on the positions of the spindle 17 and the feed shaft 18 and information on speed and motor current.
  • a sensor 19 is attached to the machine tool 16 .
  • the sensor 19 outputs to the numerical controller 1 a sensor signal 100 that detects the vibration of the tool or workpiece.
  • Sensor 19 is attached to the structure of spindle 17 or feed shaft 18 of machine tool 16 .
  • the position where the sensor 19 is attached may be any position that can detect the vibration of the tool or the object to be processed, but it is more preferable if it is near the point where the tool and the object to be processed contact each other.
  • any type of sensor 19 may be used as long as it can detect the vibration of a tool or an object to be processed.
  • sensors 19 are displacement sensors, velocity sensors, acceleration sensors, angular velocity sensors.
  • the sensor 19 may be a force sensor that detects cutting reaction force, or a microphone that detects cutting noise during machining.
  • at least one of the positions, speeds, and motor currents of the spindle 17 and feed shaft 18 included in the motion information 105 is used to detect vibration of the tool or workpiece during machining.
  • Information indicating the detected vibration may be output as the sensor signal 100 .
  • the numerical control device 1 has a feature amount calculator 10 , a vibration controller 11 , and a drive commander 12 .
  • the drive command unit 12 receives motion information 105 from the machine tool 16 and gives a drive command 103 to the spindle 17 and the feed shaft 18 of the machine tool 16 based on the received motion information 105 .
  • the drive command unit 12 further receives the drive correction value 104 from the vibration control unit 11.
  • the drive command unit 12 outputs a drive command 103 generated based on the motion information 105 and the drive correction value 104 to the machine tool 16 and the vibration control unit 11 .
  • the drive command unit 12 outputs the spindle run command 101 included in the generated run command 103 to the feature quantity calculator 10 .
  • the spindle operation command 101 is a signal including at least a spindle angle command, which is an angle command to the spindle 17 .
  • the spindle operation command 101 may include a spindle speed command, a spindle angle, or a spindle speed in addition to the spindle angle command.
  • a spindle speed command is a speed command to the spindle 17 .
  • the spindle angle is the actual angle of the spindle 17 relative to the spindle angle command.
  • Spindle speed is the actual speed of the spindle 17 relative to the spindle speed command.
  • the operation command 103 includes at least one of a spindle angle command and a spindle speed command, and at least one of a feed axis position command and a feed shaft speed command.
  • a feed axis position command is a position command to the feed shaft 18 .
  • a feed axis speed command is a speed command for the feed shaft 18 .
  • the feature quantity calculation unit 10 receives the sensor signal 100 from the machine tool 16 and receives the spindle operation command 101 from the drive command unit 12 .
  • the feature quantity calculator 10 calculates feature quantity information 102 based on the sensor signal 100 and the spindle operation command 101 and outputs the calculated feature quantity information 102 to the vibration controller 11 .
  • the feature quantity information 102 includes at least phase difference information, which is a feature quantity of chatter vibration.
  • FIG. 2 is a diagram showing the functional configuration of the feature quantity calculation unit 10 shown in FIG.
  • the feature amount calculator 10 has a sensor signal processor 13 , a phase difference calculator 15 , and a timing signal generator 14 .
  • the sensor signal processing unit 13 generates a plurality of types of state quantities based on the sensor signal 100 and outputs a state quantity signal 110 indicating the generated plurality of types of state quantities to the phase difference calculation unit 15 .
  • the state quantity signal 110 is a signal containing a first state quantity and a second state quantity.
  • the state quantity signal 110 is a signal including a state quantity represented by the sensor signal 100 and a state quantity obtained by subjecting the sensor signal 100 to time differentiation or time integration.
  • the first state quantity is the sensor signal 100
  • the second state quantity is a state quantity obtained by time-differentiating the sensor signal 100 once.
  • the first state quantity itself may also be a state quantity obtained by time differentiation.
  • the sensor signal processing unit 13 uses the sensor signal 100 and the signal obtained by differentiating the sensor signal 100 once with respect to time as a time-series signal at the same time as the state quantity signal 110 .
  • time differentiation means processing for calculating the amount of change in the state quantity per unit time
  • time integration means processing for calculating the cumulative amount for each unit time.
  • the difference between the number of times of time differentiation of the first state quantity and the number of times of time differentiation of the second state quantity may be any combination as long as it is an odd number.
  • the first state quantity is a state quantity obtained by time-differentiating the sensor signal 100 P times
  • the second state quantity is a state quantity obtained by time-differentiating the sensor signal 100 Q times.
  • P and Q are integers.
  • the difference between P and Q should be an odd number.
  • the dimension of the first state quantity or the second state quantity may be a dimension obtained by time-integrating the sensor signal 100 .
  • the first state quantity may be acceleration and the second state quantity may be velocity.
  • the first state quantity may be jerk, which is the differential value of acceleration
  • the position which is the integral value of velocity, may be the second state quantity.
  • the sensor signal processing unit 13 includes, for example, a sensor signal 100 and at least one of a state quantity obtained by time differentiation of the sensor signal 100 and a state quantity obtained by time integration of the sensor signal 100. More than one type of state quantity can be generated.
  • the timing signal generation unit 14 determines that the spindle angle command has passed a predetermined angle based on the spindle operation command 101 output by the drive command unit 12 , the timing signal generation unit 14 outputs a timing signal 111 to the phase difference calculation unit 15 . . Details of the method for generating the timing signal 111 will now be described.
  • FIG. 3 is a diagram showing the relationship between the timing signal 111 output by the timing signal generator 14 shown in FIG. 2 and the spindle angle command.
  • the spindle angle command is included in the spindle operation command 101 output by the drive command section 12 .
  • the spindle angle command is a signal that takes a value from 0 [rad] to 2 ⁇ [rad] and returns to 0 [rad] when reaching 360 [rad].
  • the timing signal generator 14 outputs the timing signal 111 each time the spindle angle command passes through the set angle ⁇ 1, and does not output the timing signal 111 otherwise. As a result, the timing signal 111 is periodically output at timing synchronized with the rotation of the spindle 17 of the machine tool 16 .
  • the angle ⁇ 1 may be any angle as long as it is determined at one point while the main shaft 17 rotates once.
  • the angle ⁇ 1 can be, for example, the angle of the main shaft 17 when the main shaft 17 is oriented.
  • the orientation of the spindle 17 is a reference angle at which the spindle 17 is stopped.
  • the timing signal generator 14 can also generate the timing signal 111 using the spindle speed command included in the spindle operation command 101 .
  • the timing signal generator 14 outputs the timing signal 111 every time T1 calculated from the spindle speed command S [rpm] using the following equation (1) with the initial time t0 as the reference time. do.
  • the timing signal generator 14 may use both the spindle angle command and the spindle speed command.
  • the timing signal generator 14 uses the spindle operation command 101 to generate the timing signal 111, but it is not limited to this.
  • the timing signal generator 14 may generate the timing signal 111 using a feed axis operation command, which is an operation command for the feed shaft 18 , instead of or in addition to the spindle operation command 101 .
  • the phase difference calculator 15 receives the timing signal 111 output by the timing signal generator 14 and the state quantity signal 110 output by the sensor signal processor 13 . Based on the timing signal 111 and the state quantity signal 110 , the phase difference calculator 15 normalizes each of the plurality of types of state quantities included in the state quantity signal 110 to make them dimensionless for each timing signal 111 . The phase difference calculator 15 calculates a phase difference indicating a difference between phases of the dimensionless state quantity signals in the state space composed of the dimensionless state quantity, and stores the calculated phase difference as the feature quantity information 102 . , and is output to the vibration control unit 11 . Details of the state space referred to here will be described later.
  • the phase difference calculator 15 normalizes each of the plurality of types of state quantities included in the state quantity signal 110 by dividing each state quantity by a predetermined maximum value of each state quantity.
  • the maximum value used here may be the maximum value of each state quantity obtained in a previous machining experiment, or the maximum value of each state quantity obtained in a previous simulation.
  • phase difference calculator 15 receives the timing signal 111 at time t1 and time t2 later than time t1. At this time, the phase difference calculator 15 normalizes the state quantity signal 110 at the time t1, and sets the normalized value as the first dimensionless quantity N1. At time t2, the phase difference calculator 15 normalizes the state quantity signal 110 in the same manner as at time t1, and sets the normalized value as the second dimensionless quantity N2.
  • FIG. 4 is a diagram showing dimensionless quantities calculated by the phase difference calculator 15 shown in FIG.
  • the first dimensionless quantity N1 and the second dimensionless quantity N2 are represented in the state space represented by the first state quantity and the second state quantity included in the state quantity signal 110. It is shown.
  • Both the first and second state quantities are vector quantities.
  • the first horizontal axis represents the direction of the first state quantity
  • the second vertical axis represents the direction of the second state quantity. 2 are orthogonal to each other. Therefore, as shown in FIG. 4, a vector space can be defined in which the first axis is the horizontal axis and the second axis is the vertical axis. In this paper, this vector space is called "state space".
  • the phase difference calculator 15 calculates the angle ⁇ is calculated as the phase difference between the first dimensionless quantity N1 and the second dimensionless quantity N2.
  • the phase difference calculator 15 performs the above calculation for each timing signal 111, and calculates the phase difference between the dimensionless quantity of the current process and the dimensionless quantity of the previous process.
  • the phase difference calculator 15 outputs feature amount information 102 including at least the calculated phase difference to the vibration controller 11 .
  • the phase difference takes a value between - ⁇ [rad] and + ⁇ [rad].
  • the vibration control unit 11 receives feature amount information 102 from the feature amount calculation unit 10 and receives an operation command 103 from the drive command unit 12 .
  • the vibration control unit 11 generates a drive correction value 104 based on the feature quantity information 102 and the operation command 103 and outputs the generated drive correction value 104 to the drive command unit 12 .
  • a drive correction value 104 is a correction value for correcting the operation command 103 .
  • FIG. 5 is a flow chart showing the processing flow by the vibration control section 11 and the drive command section 12 shown in FIG.
  • FIG. 5 illustrates a processing flow in which the phase difference among the information included in the feature amount information 102 is used as a determination criterion, and the spindle speed command among various commands included in the operation command 103 is used as a control object.
  • the vibration control unit 11 corrects the operation command 103 in the following steps.
  • phase difference target range is a phase difference target range having values within a preset range.
  • the phase difference target value is set to 0 radian
  • the phase difference target range is set to a range from -0.1 [rad] to +0.1 [rad].
  • the phase difference target range may be set to a value sufficiently larger than the noise of the phase difference.
  • step S101 if the phase difference is within the phase difference target range (step S101, No), the process proceeds to step S102 and the current spindle speed is held. That is, in step S102, the drive command unit 12 outputs the original spindle speed command without changing the current spindle speed command. On the other hand, if the phase difference is outside the phase difference target range (step S101, Yes), the process proceeds to step S103.
  • step S103 it is determined whether or not the phase difference is greater than or equal to the phase difference threshold.
  • the phase difference threshold is an arbitrary preset value. In Embodiment 1, as an example, 0 "rad" is set as the phase difference threshold. If it is less than the threshold (step S103, No), the process proceeds to step S105.
  • step S103 "Yes” is determined when the phase difference and the phase difference threshold are equal, but “No” may be determined. That is, if the phase difference is equal to the phase difference threshold value, it may be determined as “Yes” or "No".
  • the spindle speed command is decreased by a predetermined width. That is, in step S104, when it is determined in step S103 that the phase difference is equal to or greater than the phase difference threshold value, the value of the spindle speed command is decreased by a predetermined width.
  • the spindle speed command is increased by a predetermined width. That is, in step S105, when the phase difference is determined to be less than the phase difference threshold value in step S103, the value of the spindle speed command is increased by a predetermined width.
  • the value to be increased or decreased may be a ratio to the current spindle speed command, or may be a fixed value that does not depend on the spindle speed command.
  • step S106 it is determined whether or not the processing has ended.
  • the vibration control unit 11 finishes the processing of FIG.
  • the process returns to step S101.
  • the processing shown in FIG. 5 is continuously executed while processing is being performed.
  • the phase difference included in the feature amount information 102 is used as the determination criterion, and the controlled object is the spindle speed command included in the operation command 103.
  • the vibration control unit 11 performs control to output the driving correction value 104 for correcting the driving command 103 output by the driving command unit 12 until the feature amount information 102 reaches the target range.
  • the drive command unit 12 corrects the drive command 103 based on the drive correction value 104 .
  • FIG. 6 is a diagram showing a specific operation example by the vibration control section 11 and the drive command section 12 shown in FIG.
  • FIG. 6 is a diagram showing the relationship between the phase difference and the spindle speed at each time.
  • the upper part of FIG. 6 shows the phase difference, and the lower part shows the spindle speed.
  • the horizontal axis of FIG. 6 represents time.
  • the phase difference takes a value within the phase difference target range, so the spindle speed is a constant value.
  • the phase difference is out of the phase difference target range and has a value less than 0 [rad], which is the phase difference threshold. Therefore, the spindle speed increases by a predetermined set value.
  • the phase difference takes a value within the phase difference target range, so the spindle speed becomes a constant value.
  • the phase difference is out of the phase difference target range and exceeds the phase difference threshold value of 0 [rad]. Therefore, the spindle speed is decreased by a predetermined set value.
  • the phase difference takes a value within the phase difference target range, so the spindle speed takes a constant value.
  • the drive command unit 12 changes the drive command 103 according to the value of the phase difference.
  • the vibration control section 11 outputs a drive correction value 104 based on the value of the phase difference to the drive command section 12 .
  • time-series data of a plurality of types of state quantities are generated based on the sensor signal 100 that detects the vibration of the tool attached to the machine tool 16 or the workpiece.
  • dimensionless quantities indicating a plurality of types of state quantities are generated for each timing signal 111, and a phase difference indicating an angle ⁇ , which is a difference between the phases of the dimensionless quantities, is calculated.
  • the operation command 103 is corrected based on the value of this phase difference.
  • the phase difference is calculated for each timing signal 111, and the operation command 103 is corrected based on the calculated phase difference. That is, in the method of Embodiment 1, the spindle speed can be corrected without measuring the phase difference in advance for spindle speeds under a plurality of conditions. Therefore, even if the characteristics of chatter vibration change during machining of the workpiece, chatter vibration can be suppressed.
  • the feature amount calculation unit 10 may calculate the phase difference based on the following formulas (2) and (3).
  • Phase difference (k - [k]) x 2 ⁇ ... (3)
  • f represents the frequency of chatter vibration
  • n represents the number of teeth of the tool.
  • the chatter vibration frequency f can be obtained by performing frequency analysis represented by Fast Fourier Transform (FFT) on the sensor signal 100 and calculating the frequency at which the gain peaks. can.
  • FFT Fast Fourier Transform
  • the function [k] is a function that converts the value of "k” into an integer, and rounds the value of "k” below the decimal point toward zero.
  • chatter vibration feature quantity information 102 is calculated based on the detected sensor signal 100 and a spindle operation command 101 that is an operation command for the spindle 17 .
  • a drive correction value 104 which is a correction value for correcting the operation command 103, is output to the drive command unit 12 until the feature amount information 102 reaches the target range.
  • chatter vibration can be suppressed even when the characteristics of the vibration system change during the suppression of chatter vibration.
  • optimization of the drive command value which has been conventionally performed, is not performed. As a result, the chatter vibration suppression time can be shortened, and the chatter vibration suppression can be speeded up.
  • the method of Embodiment 1 can calculate the feature amount information 102 without using frequency analysis represented by FFT. Therefore, it is possible to shorten the time from the occurrence of chatter vibration to the suppression of chatter vibration. As a result, it is possible to speed up the suppression of chatter vibration.
  • the machine tool 16 according to Embodiment 1 has a configuration in which the workpiece is installed on the spindle 17, the configuration is not limited to this. As an alternative configuration, a similar effect can be obtained even if a tool is installed on the spindle 17, as typified by a milling machine and a lathe.
  • one sensor 19 is used.
  • the processing described in Embodiment 1 can be performed for all installed sensors 19 to determine the occurrence of chatter vibration.
  • the sensors 19 are installed at a plurality of locations, even if chatter vibration occurs at a plurality of locations during machining, the chatter vibration can be suppressed.
  • the vibration control unit 11 may suppress chatter vibration using an inference model that has undergone machine learning in advance for suppressing chatter vibration.
  • FIG. 7 is a diagram showing another configuration example for realizing the function of the vibration control section 11 shown in FIG.
  • the vibration control section 11 has an information observation section 201 and an inference section 202 .
  • the feature amount information 102 and the operation command 103 are input to the vibration control unit 11 .
  • the information observation unit 201 observes the feature quantity information 102 and the driving command 103 for a predetermined number of samplings as time-series data, and generates an inference data set 203 based on the time-series data.
  • the inference unit 202 inputs the inference data set 203 generated by the information observation unit 201 to the inference model that has undergone machine learning in advance so as to output the drive correction value 104 that suppresses chatter vibration.
  • a correction value 104 is output.
  • the inference unit 202 may use any algorithmic inference model. As an example, an inference model using a neural network will be described.
  • FIG. 8 is a diagram showing a configuration example of an inference model using a general neural network.
  • the neural network has input layers x1, x2, . . . , xn with n neurons, hidden layers y1, y2, . and an output layer z1 having
  • FIG. 8 shows an example in which there is one output layer, two or more output layers may be provided.
  • the input layers x1, x2, . . . , xn are connected to the intermediate layers y1, y2, .
  • the connection between the input layer and the intermediate layer shown in FIG. 8 is an example, and each input layer x1, x2, . . . , xn may be connected to any intermediate layer y1, y2, .
  • FIG. 9 is a diagram showing a configuration example of a learning device 300 that learns an inference model used by the vibration control unit 11 shown in FIG.
  • the learning device 300 has a learning data acquisition unit 301 and a learning processing unit 302 .
  • the learning device 300 can be applied to a numerical control device 1 having a drive command section 12 that gives an operation command 103 to a spindle 17 and a feed shaft 18 of a machine tool 16 as shown in FIG.
  • the learning data acquisition unit 301 acquires a learning data set 304 in which the feature amount information 102 and the operation command 103 acquired during actual machining are associated with chatter vibration presence/absence information 303 indicating the presence or absence of chatter vibration.
  • the chatter vibration presence/absence information 303 included in the learning data set 304 can be expressed using different numerical values depending on whether or not chatter vibration has occurred. For example, it can be represented by a numerical value such as "1" when chatter vibration occurs, and "0" when it does not occur. Further, the chatter vibration presence/absence information 303 can use, for example, the result determined by evaluating the machined surface after machining.
  • the learning processing unit 302 has a learning data set 304 and an inference model 305 .
  • the learning processing unit 302 performs learning using the feature amount information 102 and the driving command 103 included in the learning data set 304 as input data. Specifically, the learning processing unit 302 performs so-called supervised learning so that the output of the inference model 305 matches the numerical value of the chatter vibration presence/absence information 303 .
  • the inference model 305 outputs an output value corresponding to the presence or absence of chatter vibration when the feature quantity information 102 and the operation command 103 are input.
  • the learning processing unit 302 inputs the feature amount information 102 and the operation command 103 to the input layer, and weights A1 to Aa and B1 to Bb so that the values output from the output layer approach numerical values indicating the presence or absence of chatter vibration. to adjust. Learning of the inference model 305 is performed by adjusting the weights A1 to Aa and B1 to Bb.
  • the learning processing unit 302 can use the error backpropagation method as a supervised learning method used when the inference model 305 is learned. In addition, in order to improve the generalization performance of the inference model 305, the learning processing unit 302 employs methods such as "dropout” that randomly excludes neurons during learning, and “early stopping” that monitors errors and terminates learning early. may be used.
  • the learning processing unit 302 outputs the learned inference model 305 as a learned inference model.
  • the learned inference model output by the learning processing unit 302 can be used in the inference unit 202 shown in FIG.
  • the learning device 300 has the inference model 305 and the learning dataset 304 .
  • chatter vibration presence/absence information 303 indicating the presence or absence of chatter vibration
  • feature amount information 102 and operation command 103 are associated and held.
  • the feature amount information 102 , the operation command 103 and the chatter vibration presence/absence information 303 are input to the inference model 305 .
  • the inference model 305 performs machine learning so that when the feature amount information 102 and the operation command 103 are input, an output value corresponding to the presence or absence of chatter vibration is output. If such a learning device 300 is applied to the numerical control device 1, it is possible to output the drive correction value 104 using the inference model 305 that has undergone machine learning in advance, so that chatter vibration can be suppressed at high speed.
  • the inference model 305 may be configured using other known methods such as RNN (Recurrent Neural Network), LSTM (Long Short-Term Memory), SVM (Support Vector Machine), and the like.
  • FIG. 10 is a diagram showing the functional configuration of a numerical control device 2 according to Embodiment 2.
  • the numerical controller 2 has a feature quantity calculator 10 , a vibration controller 11 - 1 , a drive commander 12 and an input device 20 .
  • parts different from the numerical control device 1 will be mainly described.
  • the numerical controller 2 has an input device 20 in addition to the configuration described for the numerical controller 1 according to the first embodiment.
  • the operator inputs information on the upper limit value and the lower limit value of the operation command 103 to be corrected in the vibration control section 11-1 to the input device 20 before processing.
  • the input device 20 outputs restriction information 106 including at least the upper limit value and the lower limit value of the input operation command 103 to the vibration control section 11-1.
  • the vibration control unit 11-1 may refer to a machining program in which the upper limit value and the lower limit value of the operation command 103 are described and acquire them.
  • the vibration control unit 11 - 1 receives the feature amount information 102 from the feature amount calculation unit 10 , the operation command 103 from the drive command unit 12 , and the restriction information 106 from the input device 20 . Vibration control section 11 - 1 generates drive correction value 104 based on feature amount information 102 , operation command 103 and limit information 106 , and outputs generated drive correction value 104 to drive command section 12 .
  • FIG. 11 is a flow chart showing the processing flow by the vibration control section 11-1 shown in FIG.
  • the vibration control section 11-1 corrects the operation command in the following steps.
  • FIG. 11 the same reference numerals are given to the same or equivalent processes as those shown in FIG. 11, similarly to FIG. 5, illustrates a processing flow in which the phase difference is used as a determination criterion and the spindle speed command is controlled.
  • the parts different from FIG. 5 will be mainly described.
  • steps S101 to S105 are the same as or equivalent to that of FIG. 5, and the description is omitted here.
  • step S201 the spindle speed command processed in step S104 is limited within a predetermined lower limit of the spindle speed command. Specifically, when the spindle speed command processed in step S104 is less than the lower limit of the spindle speed command (step S201, No), the process proceeds to step S202 to change the spindle speed command to the lower limit of the spindle speed command. After that, the process proceeds to step S106. If the spindle speed command is equal to or higher than the lower limit value of the spindle speed command (step S201, Yes), the process advances to step S106 without changing the spindle speed command.
  • step S203 the spindle speed command processed in step S105 is limited within the range of the predetermined upper limit of the spindle speed command. Specifically, when the spindle speed command processed in step S105 exceeds the upper limit of the spindle speed command (step S203, No), the process advances to step S204 to set the spindle speed command to the upper limit of the spindle speed command. After changing, the process proceeds to step S106. If the spindle speed command is equal to or lower than the upper limit of the spindle speed command (step S203, Yes), the process proceeds to step S106 without changing the spindle speed command.
  • step S106 it is determined whether or not the processing has ended. If the machining is completed (step S106, Yes), the vibration control section 11-1 terminates the processing of FIG. On the other hand, if the processing has not ended (step S106, No), the process returns to step S101. The processing shown in FIG. 11 is continuously executed while processing is being performed.
  • FIG. 11 illustrates the case where the phase difference included in the feature amount information 102 is used as the determination criterion, and the controlled object is the spindle speed command included in the operation command 103. However, if the feature amount information 102 is other than the phase difference, , the same flow can be used when the controlled object is other than the spindle speed command.
  • the vibration control unit 11-1 receives the limit information 106 including the upper limit value and the lower limit value of the operation command 103, and the vibration control unit 11-1 controls the input upper limit value and lower limit value. Increase or decrease the run command 103 within the range between This prevents the vibration control unit 11-1 from outputting to the drive command unit 12 the drive correction value 104 outside the cutting conditions determined by the tool and machine tool. As a result, it is possible to prevent the corrected operation command 103 from becoming a value unexpected by the operator. As a result, it is possible to obtain the further effect of preventing the occurrence of unintended processing defects.
  • FIG. 12 is a diagram showing the functional configuration of a numerical control device 3 according to Embodiment 3. As shown in FIG. 12, the numerical controller 1 is replaced with the numerical controller 3, and the vibration controller 11 is replaced with the vibration controller 11-2. In addition to the operation command 103, operation information 105 is input to the vibration control unit 11-2. Other configurations are the same as or equivalent to those in FIG. 1, and the same or equivalent components are denoted by the same reference numerals. In the following, portions different from the numerical control device 1 will be mainly described.
  • the vibration control unit 11-2 receives the feature amount information 102 from the feature amount calculation unit 10, the operation command 103 from the drive command unit 12, and the motion information 105 from the machine tool 16. Vibration control section 11 - 2 generates drive correction value 104 based on feature quantity information 102 , operation command 103 and motion information 105 , and outputs generated drive correction value 104 to drive command section 12 .
  • the vibration control unit 11-2 performs control so that the feature amount information 102 reaches the feature amount target value set in advance.
  • a control system is configured as shown in FIG.
  • FIG. 13 is a diagram showing a configuration example of a control system that implements the functions of the vibration control section 11-2 according to the third embodiment.
  • FIG. 13 shows, as an example, the configuration of a control system that performs PID (Proportional Integral Differential) control.
  • PID Proportional Integral Differential
  • a feature amount deviation 125 is generated by subtracting the feature amount information 102 from the feature amount target value.
  • "0" is set as an example of the feature quantity target value.
  • the feature quantity information 102 is the phase difference calculated by the phase difference calculator 15 in FIG. It is generally known that the phase difference is 0 when chatter vibration does not occur. Therefore, chatter vibration can be suppressed by setting the feature amount target value to "0".
  • the feature quantity deviation 125 is branched into three, one of which is multiplied by the proportional gain 122 .
  • One of the remaining two is multiplied by integral gain 123 after passing through integrator 120 . That is, the time integral value of the feature quantity deviation 125 is multiplied by the integral gain 123 .
  • the other of the remaining two is multiplied by a differential gain 124 after passing through a differentiator 121 . That is, the time differential value of the feature amount deviation 125 is multiplied by the differential gain 124 .
  • These three types of gain values are added to obtain the feature amount correction amount 126 .
  • the feature amount correction amount 126 is further added to the spindle speed and output to the drive command unit 12 as the drive correction value 104 .
  • the proportional gain 122, the integral gain 123, and the differential gain 124 are values set in advance and given before processing. Also, these three types of gain values can be adjusted by performing trial machining. By appropriately setting these three types of gain values, chatter vibration can be suppressed at a higher speed than in the first embodiment.
  • the vibration control unit 11-2 includes a control system for matching the feature amount information 102 with the feature amount target value. It can be performed faster.
  • the feature amount deviation 125 is multiplied by the proportional gain 122, the time integral value of the feature amount deviation 125 is multiplied by the integral gain 123, and the time differential value of the feature amount deviation 125 is multiplied by the differential gain 124.
  • multiplying it is not limited to this configuration. At least one of the feature amount deviation 125, the time integral value of the feature amount deviation 125, and the time differential value of the feature amount deviation 125 may be multiplied by the gain, and the desired characteristics of the control system or the desired characteristics may be obtained. It is possible to construct a similar control system.
  • FIG. 14 is a diagram showing the functional configuration of a numerical controller 4 according to Embodiment 4.
  • the numerical controller 1 is replaced with the numerical controller 4
  • the vibration controller 11 is replaced with the vibration controller 11-3.
  • the drive correction value 104 input to the drive command unit 12 is replaced with a drive correction value 104-1.
  • Other configurations are the same as or equivalent to those in FIG. 1, and the same or equivalent components are denoted by the same reference numerals. In the following, portions different from the numerical control device 1 will be mainly described.
  • the vibration control unit 11-3 receives the feature amount information 102 from the feature amount calculation unit 10 and receives the operation command 103 from the drive command unit 12.
  • the vibration control unit 11-3 generates a drive correction value 104-1 based on the feature amount information 102 and the operation command 103, and outputs the generated drive correction value 104-1 to the drive command unit 12.
  • FIG. 15 is a flow chart showing the processing flow by the vibration control section 11-3 shown in FIG.
  • the vibration control section 11-3 corrects the operation command in the following steps.
  • the same reference numerals are given to the same or equivalent processes as those shown in FIG.
  • FIG. 15 illustrates a processing flow in which the phase difference is used as a determination criterion, and the main shaft speed command and the feed axis speed command, which is the speed command of the feed shaft 18, are controlled.
  • the parts different from FIG. 5 will be mainly described.
  • steps S101 to S105 are the same as or equivalent to that of FIG. 5, and the description is omitted here.
  • step S301 after changing the spindle speed command in step S104 or step S105, the feed axis speed command is changed. Specifically, in step S301, the feed shaft speed command is changed so that the feed amount per rotation of the main shaft 17 does not change.
  • the feed amount per rotation of the main shaft 17 is a value obtained by dividing the feed shaft speed, which is the speed of the feed shaft 18, by the main shaft speed. For example, if the spindle speed command is decreased by 10% in step S104, the feed shaft speed command is also decreased by 10% at the same rate.
  • step S105 when the spindle speed command is increased by 10%, the feed shaft speed command is also increased by 10% at the same rate.
  • step S106 it is determined whether or not the processing has ended. If the machining is finished (step S106, Yes), the vibration control section 11-3 finishes the processing of FIG. On the other hand, if the processing has not ended (step S106, No), the process returns to step S101.
  • the processing shown in FIG. 15 is continuously executed while processing is being performed.
  • FIG. 15 illustrates the case where the phase difference included in the feature amount information 102 is used as the determination criterion, but processing in a similar flow is possible even when the feature amount information 102 is other than the phase difference.
  • the vibration control section 11-3 outputs a correction value for correcting the feed axis speed command to the drive command section 12 in synchronization with the increase or decrease of the spindle speed command.
  • the vibration control unit 11-3 changes the spindle speed command and the feed axis speed command according to the phase difference value so that the feed amount per rotation of the spindle 17 does not change. do.
  • This control makes the feed amount per rotation of the main shaft 17 constant, so that the intervals between cutter marks generated on the machined surface are made uniform. As a result, in addition to the effect of the first embodiment, the effect of improving the machined surface quality can be obtained.
  • FIG. 16 is a diagram showing the functional configuration of a numerical control device 5 according to Embodiment 5.
  • the numerical controller 1 is replaced with the numerical controller 5
  • the feature amount calculator 10 is replaced with the feature amount calculator 10-1.
  • a tool information recording unit 21 for generating tool information 113 is added.
  • the tool information 113 is input to the feature amount calculation unit 10-1.
  • Other configurations are the same as or equivalent to those in FIG. 1, and the same or equivalent components are denoted by the same reference numerals. In the following, parts different from the numerical control device 1 will be mainly described.
  • the tool information recording unit 21 records tool information 113, which is information about the tools installed in the machine tool 16, and outputs the recorded tool information 113 to the feature amount calculation unit 10-1.
  • the tool information 113 includes at least information on the number of blades of the tool.
  • the tool information 113 may further include information on the types of tools such as end mills and cutting tools, and information on tool shapes such as tool lengths and tool diameters.
  • the tool information recording unit 21 outputs the tool information 113 assuming that the tool has one blade.
  • the number of cutting edges is the same as the number of tools when a plurality of tools are used for cutting at the same time. For example, when the machine tool 16 has a lower tool post and an upper tool post, and machining is performed using a turning tool installed on each tool post, the tool information recording unit 21 assumes that the number of blades is two, and the tool information 113 is output.
  • the feature quantity calculation unit 10-1 receives the sensor signal 100 from the machine tool 16, receives the spindle operation command 101 from the drive command unit 12, and receives the tool information 113 from the tool information recording unit 21. Based on the sensor signal 100, the spindle operation command 101, and the tool information 113, the feature amount calculation unit 10-1 generates feature amount information 102 including at least a phase difference, which is a feature amount of chatter vibration, and calculates the generated feature amount information. 102 is output to the vibration control unit 11 .
  • FIG. 17 is a diagram showing the functional configuration of the feature amount calculation unit 10-1 shown in FIG.
  • the feature quantity calculator 10-1 has a sensor signal processor 13, a phase difference calculator 15, and a timing signal generator 14-1.
  • the timing signal generation unit 14-1 Based on the spindle operation command 101 output by the drive command unit 12 and the tool information 113 output by the tool information recording unit 21, the timing signal generation unit 14-1 detects when the spindle angle, which is the angle of the spindle 17, has passed the set value. Then, the timing signal 111 is output to the phase difference calculator 15 at the determined timing. A method of generating the timing signal 111 by the timing signal generator 14-1 will be described in detail below. In the following description, it is assumed that a tool having ⁇ blades is installed on the spindle 17 . However, ⁇ is a natural number of 2 or more.
  • FIG. 18 is a diagram showing the relationship between the timing signal 111 output by the timing signal generator 14-1 shown in FIG. 17 and the spindle angle command.
  • the spindle angle command is a signal that takes a value from 0 [rad] to 2 ⁇ [rad] and returns to 0 [rad] when reaching 360 [rad].
  • the timing signal 111 is a signal that is output each time the spindle angle command passes through the set angle ⁇ .
  • ⁇ is a natural number equal to or greater than 2 and equal to or smaller than ⁇ . That is, the timing signal 111 is output ⁇ times during one rotation of the spindle 17 .
  • the timing signal 111 is output every time the spindle angle command passes through the set angles ⁇ 1 and ⁇ 2, and otherwise the timing signal 111 is not output. It is sufficient that the angle ⁇ 1 is set at only one point during one rotation of the main shaft 17, and any angle may be set. However, there is a constraint between ⁇ ⁇ and ⁇ ⁇ 1 as shown in the following equation (4).
  • the timing signal generator 14-1 may generate the timing signal 111 using the spindle speed command included in the spindle operation command 101. In this case, the timing signal generator 14-1 outputs the timing signal 111 every time T2 calculated from the spindle speed command S [rpm] using the following equation (5).
  • the numerical control device 5 has the tool information recording unit 21 for recording information about the number of blades of the tool, and the feature amount calculation unit 10-1 considers the number of blades of the tool. Then, the feature amount information 102 is calculated. Based on the tool information 113 acquired from the tool information recording unit 21, the timing signal generation unit 14-1 generates a timing signal 111 and outputs it to the phase difference calculation unit 15 each time the main shaft 17 rotates. As a result, even if the tool has two or more blades, it is possible to suppress chatter vibration.
  • FIG. 19 is a block diagram showing an example of a hardware configuration that implements the functions of the numerical controllers 1-5 described in the first to fifth embodiments.
  • FIG. 20 is a block diagram showing another example of the hardware configuration that implements the functions of the numerical controllers 1-5 described in the first to fifth embodiments.
  • the configuration may include an interface 704 .
  • the processor 701 may be a computing means called microprocessor, microcomputer, CPU (Central Processing Unit), or DSP (Digital Signal Processor).
  • the memory 702 includes non-volatile or volatile semiconductor memories such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), Magnetic discs, flexible discs, optical discs, compact discs, mini discs, and DVDs (Digital Versatile Discs) can be exemplified.
  • the memory 702 stores programs for executing the functions of the numerical controllers 1-5.
  • the processor 701 transmits and receives necessary information via the interface 704, the processor 701 executes the program stored in the memory 702, and the processor 701 refers to the table stored in the memory 702, thereby performing the above-described processing. It can be carried out.
  • the computation results by processor 701 can be stored in memory 702 .
  • the processing circuit 703 shown in FIG. 20 can also be used.
  • the processing circuit 703 corresponds to a single circuit, a composite circuit, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.
  • Information to be input to the processing circuit 703 and information to be output from the processing circuit 703 can be obtained via the interface 704 .
  • part of the processing in the numerical controllers 1 to 5 may be performed by the processing circuit 703, and the processing not performed by the processing circuit 703 may be performed by the processor 701 and the memory 702.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)

Abstract

Dispositif de commande numérique (1) comprenant une unité d'instruction d'entraînement (12) qui émet une instruction d'actionnement (103) à un arbre principal (17) et à une barre de chariotage (18) d'une machine-outil (16), et comprenant en outre une unité de calcul de quantité de caractéristiques (10) et une unité de commande de vibration (11). L'unité de calcul de quantité de caractéristiques (10) calcule des informations de caractéristiques (102) concernant une vibration de broutement sur la base d'un signal de capteur (100) qui détecte la vibration d'un outil ou d'un objet à usiner monté sur la machine-outil (16) et une instruction d'actionnement d'arbre principal (101) qui est une instruction d'actionnement destinée à l'arbre principal (17). L'unité de commande de vibration (11) peut fournir, à l'unité d'instruction d'entraînement (12), une valeur de correction d'entraînement (104) servant à corriger l'instruction d'actionnement (103) jusqu'à ce que les informations de quantité de caractéristiques (102) atteignent une plage cible.
PCT/JP2021/016599 2021-04-26 2021-04-26 Dispositif de commande numérique, dispositif d'apprentissage et procédé de suppression de vibration de broutement WO2022230008A1 (fr)

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DE112021007584.5T DE112021007584T5 (de) 2021-04-26 2021-04-26 Numerische steuerung, lernvorrichtung und verfahren zur unterdrückung von ratterschwingungen
CN202180094994.6A CN117120946A (zh) 2021-04-26 2021-04-26 数控装置、学习装置及颤振的抑制方法
PCT/JP2021/016599 WO2022230008A1 (fr) 2021-04-26 2021-04-26 Dispositif de commande numérique, dispositif d'apprentissage et procédé de suppression de vibration de broutement
JP2021555531A JP7179198B1 (ja) 2021-04-26 2021-04-26 数値制御装置、学習装置及び、びびり振動の抑制方法

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JP2010247316A (ja) * 2009-04-10 2010-11-04 Nt Engineering Kk 作業機械のびびり抑制方法及び装置
US20130211574A1 (en) * 2012-02-10 2013-08-15 Chung Yuan Christian University Cutter chatter monitoring method
JP2015217500A (ja) * 2014-05-21 2015-12-07 Dmg森精機株式会社 びびり振動を抑制可能な主軸安定回転数の算出方法、その報知方法、主軸回転数制御方法及びｎｃプログラム編集方法、並びにその装置。
JP2016052692A (ja) * 2014-09-02 2016-04-14 三菱電機株式会社 数値制御装置
JP2016191981A (ja) * 2015-03-30 2016-11-10 アズビル株式会社 フィードバック制御装置、フィードバック制御方法、およびフィードバック制御プログラム
JP2018094686A (ja) * 2016-12-14 2018-06-21 ファナック株式会社 工作機械における工具のビビり発生の予兆を検知する機械学習装置、ｃｎｃ装置および機械学習方法
JP2020138265A (ja) * 2019-02-27 2020-09-03 ファナック株式会社 びびり振動判定装置、機械学習装置及びシステム

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JP2014140918A (ja) * 2013-01-23 2014-08-07 Hitachi Ltd 切削振動抑止方法、演算制御装置、および工作機械
JP6803248B2 (ja) 2017-01-27 2020-12-23 オークマ株式会社 工作機械の振動抑制方法及び装置
JP6605185B1 (ja) * 2019-04-08 2019-11-13 三菱電機株式会社 数値制御装置およびびびり振動の発生判定方法

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US5170358A (en) * 1990-12-06 1992-12-08 Manufacturing Laboratories, Inc. Method of controlling chatter in a machine tool
JP2010247316A (ja) * 2009-04-10 2010-11-04 Nt Engineering Kk 作業機械のびびり抑制方法及び装置
US20130211574A1 (en) * 2012-02-10 2013-08-15 Chung Yuan Christian University Cutter chatter monitoring method
JP2015217500A (ja) * 2014-05-21 2015-12-07 Dmg森精機株式会社 びびり振動を抑制可能な主軸安定回転数の算出方法、その報知方法、主軸回転数制御方法及びｎｃプログラム編集方法、並びにその装置。
JP2016052692A (ja) * 2014-09-02 2016-04-14 三菱電機株式会社 数値制御装置
JP2016191981A (ja) * 2015-03-30 2016-11-10 アズビル株式会社 フィードバック制御装置、フィードバック制御方法、およびフィードバック制御プログラム
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JP2020138265A (ja) * 2019-02-27 2020-09-03 ファナック株式会社 びびり振動判定装置、機械学習装置及びシステム

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JP7179198B1 (ja) 2022-11-28

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