WO2023047438A1 - 工作機械 - Google Patents
工作機械 Download PDFInfo
- Publication number
- WO2023047438A1 WO2023047438A1 PCT/JP2021/034491 JP2021034491W WO2023047438A1 WO 2023047438 A1 WO2023047438 A1 WO 2023047438A1 JP 2021034491 W JP2021034491 W JP 2021034491W WO 2023047438 A1 WO2023047438 A1 WO 2023047438A1
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- Prior art keywords
- inertia
- rotating body
- rotational speed
- motor
- rotation speed
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- 238000003754 machining Methods 0.000 claims description 31
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 description 22
- 238000012545 processing Methods 0.000 description 17
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 4
- 229910052802 copper Inorganic materials 0.000 description 4
- 239000010949 copper Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000002950 deficient Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003746 surface roughness Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
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Classifications
-
- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
-
- 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
- G05B19/416—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 of velocity, acceleration or deceleration
Definitions
- the present invention relates to a machine tool that includes a motion mechanism section including a rotating body and a control device that controls at least the rotating motion of the rotating body according to a machining program.
- a motor In the field of machine tools, a motor is used to rotate a work or a tool, which is a rotating body. Actuation is controlled.
- Such a machine tool is conventionally provided with a circuit called a dynamic brake circuit for emergency stopping of the motor when it becomes uncontrollable due to power failure or other causes while the motor is rotating.
- a dynamic brake circuit for emergency stopping of the motor when it becomes uncontrollable due to power failure or other causes while the motor is rotating.
- a motor drive device disclosed in Japanese Patent No. 6285477 Patent Document 1 below is conventionally known.
- this motor driving device includes an inverter that drives a motor, a rotation speed acquisition unit that acquires the rotation speed of the motor, an inertia information storage unit that stores information about the inertia of the motor, and a A rotational energy calculation unit that calculates the rotational energy of the motor based on the rotational speed and inertia of the motor, a dynamic brake circuit that generates deceleration torque by dynamic braking of the motor during an emergency stop, and information on the tolerance of resistance in this dynamic brake circuit.
- a power element operation unit that turns on the power element of one of the upper arm and the lower arm and turns off the power element of the other arm in the event of an emergency stop of the motor; and a dynamic brake circuit.
- a dynamic brake circuit operation unit for operating the switch of the motor and a tolerance comparison unit for comparing the rotational energy of the motor and the tolerance of the dynamic brake circuit.
- the dynamic brake circuit operation unit does not operate the dynamic brake circuit when the rotational energy of the motor exceeds the tolerance of the dynamic brake circuit, and when the rotational energy of the motor is equal to or less than the tolerance, the dynamic brake circuit is operated. Activate the brake circuit.
- the dynamic brake circuit operation unit causes the motor to idle for a while, thereby decreasing the rotational speed and causing the rotational energy of the motor to become equal to or less than the tolerance. After that, the dynamic braking circuit is operated.
- the emergency stop circuit when the motor becomes uncontrollable due to a power failure or other causes during operation, if the rotational energy of the motor does not exceed the tolerance of the emergency stop circuit, the emergency stop circuit is operated.
- the motor is stopped by the stop circuit, and if the rotational energy of the motor exceeds the tolerance, the emergency stop circuit is activated after the rotational energy falls below the tolerance by idling the motor for a while. is configured to bring the motor to an emergency stop.
- Machining using an NC machine tool uses an NC program, which is created either by an operator or automatically by an automatic programming device.
- the rotational speed is determined based on various factors related to machining conditions such as tool material, workpiece material and machining accuracy, and conventionally, the inertia of rotating bodies including motors has not been studied.
- the present invention has been made in view of the above circumstances, and even if the rotation speed of the motor commanded by the NC program exceeds the allowable rotation speed according to the inertia of the rotating body, the allowable rotation speed
- the object is to provide a machine tool capable of machining at a rotational speed not exceeding the speed.
- the present invention for solving the above problems is a machine tool comprising a motion mechanism section including a rotating body to be controlled, and a control device for controlling at least the rotating motion of the rotating body according to a machining program.
- the control device checks data relating to the inertia of the rotating body, and if the data relating to the inertia is set, the data specified in the machining program. It is checked whether the rotation speed of the rotating body is equal to or lower than the limit rotation speed set according to the inertia.
- the present invention relates to a machine tool configured to limit the rotational speed of the rotating body specified in the machining program using a preset rotational speed as an allowable rotational speed.
- the control device when the control device rotates the rotating body according to the machining program, the control device refers to, for example, the storage section provided for storing data related to the inertia of the rotating body. Then, the data related to the inertia of the rotating body is confirmed, and if the data related to the inertia is set, the rotation speed of the rotating body specified in the machining program is set according to the inertia. If it exceeds the limit rotation speed, the rotation speed is equal to or less than the limit rotation speed, and the preset rotation speed is set as the allowable rotation speed, Limiting the rotation speed of the rotating body specified in the machining program.
- the rotation speed of the rotor is Since the allowable rotation speed is limited to the limit rotation speed or less, even if the motor that drives the rotating body becomes uncontrollable due to power failure or other causes, the motor can be safely operated by an appropriately installed emergency stop device. can be stopped. Also, it is possible to avoid applying an excessive load to the motor when the rotating body is driven and stopped.
- the rotating body includes a work rotated by the motor and other jigs.
- control device confirms whether or not the operator accepts the allowable rotational speed, and if the operator accepts the allowable rotational speed, the rotational speed of the rotating body specified in the machining program is changed to It is possible to employ a mode in which machining is continued while limiting to the allowable rotational speed, and machining is stopped when the operator does not allow it.
- the control device It is possible to employ a mode configured to limit the designated rotation speed of the rotating body to a preset safe rotation speed.
- the limit rotation speed of the rotating body cannot be recognized. It is not possible to determine whether or not the rotation speed specified by the machining program is an appropriate rotation speed for emergency stop.
- the motor can be controlled by an appropriately provided emergency stop device.
- the rotational speed By limiting the rotational speed to a safe rotational speed with a sufficient margin for safe stopping, the rotating body can be safely stopped in an emergency, and the motor will not operate when the rotating body is driven or stopped. Excessive loads can be avoided.
- control device confirms whether or not the operator approves the safe rotational speed, and if the operator approves, the rotational speed of the rotating body specified in the machining program is changed to the It is possible to employ a mode configured to continue machining while limiting it to a safe rotation speed, and to stop machining if the operator does not allow it.
- the rotational speed is a factor that affects the machining accuracy, such as surface roughness. Therefore, by confirming with the operator whether or not it is possible to process at the safe rotation speed, it is possible to prevent the processed product from becoming a defective product.
- the control device controls the inertia of the rotating body. It is possible to employ a mode in which data can be newly set, and furthermore, the control device calculates data relating to the inertia of the rotating body by causing the rotating body to perform a rotating operation and a stopping operation. It is possible to adopt a mode of setting the In this way, the inertia of the rotor can be set accurately and automatically.
- the rotation speed specified in the machining program exceeds the limit rotation speed set according to the inertia of the rotor, the rotation speed of the rotor is reduced to the limit. Since the allowable rotation speed is limited to the rotation speed or less, even if the motor that drives the rotating body becomes uncontrollable due to a power failure or other causes, the motor can be safely stopped by an appropriately installed emergency stop device. Also, it is possible to avoid applying an excessive load to the motor when the rotating body is driven or stopped.
- the rotational speed of the rotating body may be changed to Even if the motor that drives the rotating body becomes uncontrollable, the motor can be safely stopped by an appropriately provided emergency stop device. It is possible to safely stop the rotating body in an emergency, and to avoid applying an excessive load to the motor when the rotating body is driven or stopped.
- FIG. 4 is a flow chart showing processing in the control device of the embodiment; 4 is a flow chart showing processing in the control device of the embodiment; 3 is a circuit diagram showing a circuit of a motor including an emergency stop circuit provided in the rotation control section of the embodiment; FIG. FIG. 4 is a diagram showing the relationship between inertia and rotation speed when the rotating body is brought to an emergency stop within a predetermined time;
- the machine tool 1 of this example is a so-called horizontal machining center, and includes a bed 2, a column 3 erected on the bed 2, a table 4 provided on the bed 2, It comprises a spindle head 5 held by a column 3, a spindle 6 rotatably supported on the spindle head 5, a control device 20, an input/output device 30, and the like.
- machine tools to which the present invention can be applied are not limited to those having such a configuration, and include vertical machining centers, lathes, and complex machines equipped with turning and milling functions. Various machine tools such as machining type machine tools can be applied.
- the table 4, on which a workpiece W is placed, is driven by the Y-axis feeder 11 to move horizontally in the Y-axis direction, and is driven by the X-axis feeder 10 to cross the Y-axis at right angles. Move in the horizontal X-axis direction. Also, the table 4 is driven by a table motor 16 to rotate about a vertical rotation axis.
- the spindle head 5 is driven by the Z-axis feeder 12 to move in the vertical Z-axis direction orthogonal to the X-axis and Y-axis.
- a tool T is attached to the tip of the main shaft 6, which is driven by a main shaft motor 15 to rotate around a horizontal rotary shaft.
- the operations of the X-axis feeder 10, the Y-axis feeder 11, the Z-axis feeder 12, the main shaft motor 15 and the table motor 16 are controlled by the controller 20, respectively.
- the main shaft 6 and the tool T are rotated by the main shaft motor 15 under the control of the control device 20, and the X-axis feed device 10 is operated while the rotation of the table 4 is stopped. and the Y-axis feeder 11 moves the table 4 and the work W in the X-axis and Y-axis directions, and the Z-axis feeder 12 moves the main shaft 6 and the tool T in the Z-axis direction. is processed. Further, while the rotation of the main shaft 6 is stopped and the table 4 is rotated, the table 4 and the workpiece W are similarly moved in the X-axis and Y-axis directions by the X-axis feed device 10 and the Y-axis feed device 11. At the same time, the workpiece W is turned by the tool T by moving the spindle 6 and the tool T in the Z-axis direction by the Z-axis feeder 12 .
- the table 4, the X-axis feeder 10, the Y-axis feeder 11, the table motor 16, the spindle head 5, the spindle 6, and the Z-axis feeder 12 constitute a motion mechanism.
- the tool T, the rotating portion of the spindle 6, and the rotating portion of the spindle motor 15 constitute a rotating body on the spindle side. body is composed.
- the input/output device 30 includes, for example, a display configured by a touch panel, an input/output interface for inputting/outputting data, and the like. Needless to say, the display displays images, character information, etc., and enables input via the display unit.
- the control device 20 includes an NC program storage unit 21, a program execution unit 22, a feed control unit 23, a rotation control unit 24, a rotation speed storage unit 25, an inertia storage unit 26, a rotation monitoring unit 27, and the like.
- the control device 20 is composed of a computer including a CPU, a RAM, a ROM, etc., and appropriately configured electric and electronic circuits.
- the functions of 27 are realized by the computer program, the electric circuit, the electronic circuit, etc., and the processing described later is executed.
- the NC program storage unit 21, the rotation speed storage unit 25, and the inertia storage unit 26 are configured by appropriate storage media such as RAM.
- the NC program storage unit 21 is a functional unit that stores an NC program (machining program) for NC control, and stores the NC program input from the input/output device 30, for example.
- the program execution unit 20 sequentially reads out the NC programs to be executed from among the NC programs stored in the NC program storage unit 21, for each block constituting the program, and processes the NC code contained in the blocks. Among them, when processing an NC code related to feed control, a control signal related to the NC code is generated and transmitted to the feed control unit 23, and when processing an NC code related to rotation control, the NC code is generated. A control signal associated with the code is generated and transmitted to the rotation control section 24 .
- the feed control unit 23 is a functional unit that controls the operations of the X-axis feed device 10, the Y-axis feed device 11, and the Z-axis feed device 12, and receives control signals related to feed control from the program execution unit 20. Then, the X-axis feeder 10, Y-axis feeder 11 and Z-axis feeder 12 are controlled so as to operate at a speed corresponding to the received control signal.
- the rotation control unit 24 is a functional unit that controls the rotation operation of the spindle motor 15 and the table motor 16, receives a control signal related to rotation control from the program execution unit 20, and responds to the received control signal.
- the spindle motor 15 and the table motor 16 are rotated in the rotating direction and the rotating speed, respectively.
- the rotation control unit 24 has a function for emergency stop of the main shaft motor 15 and the table motor 16 when the power supplied to the main shaft motor 15 and the table motor 16 is interrupted due to power failure or other causes. Equipped with an emergency stop circuit.
- the emergency stop circuits are provided corresponding to the spindle motor 15 and the table motor 16, respectively, and each emergency stop circuit is connected to the spindle motor 15 and the table motor 16, respectively, when the power supply is interrupted. , form a short circuit as shown in FIG.
- an induced current generated in the main shaft motor 15 due to the idle rotation of the main shaft side rotating body including the main shaft motor 15 is caused to flow through the coil.
- the rotational energy of the rotating body including the spindle motor 15 is converted into heat and consumed (copper loss is generated), thereby stopping the spindle motor 15 .
- the table motor 16 When the power supply is cut off and the table-side rotating body including the table motor 16 idles, the induced current generated in the table motor 16 is caused to flow through the coil, thereby causing the table motor 16 to rotate. is converted into heat and consumed (copper loss is caused), thereby stopping the table motor 16 .
- the emergency stop circuit is not limited to such a circuit.
- a short circuit configured to short-circuit the lines so that power is consumed only by the internal resistance of the spindle motor 15 and the table motor 16 may be used.
- the rotation speed storage unit 25 stores the rotation of the tool T, the rotation portion of the spindle 6, and the rotation portion of the spindle motor 15, as well as the rotation of the workpiece W, the rotation portion of the table 4, and the table motor 16. , which are input from the input/output device 30 and stored in the rotation speed storage unit 25. be.
- the permissible rotation speed is the upper limit rotation speed at which the motors 15 and 16 can be stopped (safely) before seizure by the corresponding emergency stop circuit when the motors 15 and 16 are idling.
- the rotation speed is a rotation speed set in advance so that the rotation speed is equal to or lower than the limit rotation speed, and is set according to the inertia of each rotor (spindle-side rotor and table-side rotor).
- the time t s [s] during which the emergency stop circuit can safely stop the spindle-side rotating body is the rotational energy of the spindle-side rotating body.
- r e [J] and the copper loss of the emergency stop circuit is P loss [J/s].
- Equation 2 the copper loss P loss [J/s] can be calculated by Equation 2 below.
- R is the resistance value for one phase [ ⁇ ]
- L is the inductance for one phase [H]
- K is the line-to-line induced voltage constant [Vrms/(rad/s)]
- ⁇ is the rotational angular velocity [rad/s ] (Since the rotation angular velocity is equivalent to the rotation speed [m/s], hereinafter, it is collectively referred to as "rotation speed”.)
- p is the number of pole pairs (the number of poles/2).
- Equation 3 the rotational energy r e can be expressed by Equation 3 below.
- I is the inertia [kgm 2 ] of the rotating body on the spindle side.
- r e (I ⁇ 2 )/2
- the relationship between the inertia I of the spindle rotor and the limit rotational speed ⁇ is represented by the limit curve shown in FIG.
- the rotational speed ⁇ of the inertia I of the spindle-side rotating body is in a region below the limit curve
- the rotational speed ⁇ is a rotational speed at which the spindle-side rotating body can be brought to an emergency stop safely.
- the rotation angular velocity ⁇ is a rotation speed at which the spindle-side rotor cannot be stopped safely.
- the allowable rotational speed is determined according to the inertia I so that the rotational speed is equal to or lower than the limit rotational speed based on the rotational speed limit corresponding to the inertia I of the spindle-side rotating body obtained in this way. is pre-configured. Then, the inertia of the spindle-side rotating body and the permissible rotational speed set in this manner are associated with each other and stored in the rotational speed storage unit 25 in the form of a data table.
- the table-side rotating body including the table motor 16 is similarly set, and the inertia of the table-side rotating body and the allowable rotation speed are associated with each other and stored in the rotation speed storage unit 25 in the form of a data table. .
- the safe rotational speed is sufficiently large enough to allow the motors 15 and 16 to be safely stopped in an emergency by the emergency stop circuit even when the inertia of the spindle-side rotating body and the table-side rotating body is unknown. is set empirically for the spindle-side rotor and the table-side rotor, and stored in the rotational speed storage unit 25 .
- the inertia storage unit 26 is a functional unit that stores the inertia of the spindle-side rotor and the table-side rotor. It is stored in the inertia storage unit 26 .
- the rotation monitoring unit 27 starts processing in response to this, and executes the processing shown in FIGS. Specifically, when the processing of the program execution unit 20 is started, the rotation monitoring unit 27 first receives the NC code to be processed from the program execution unit 20, and the received NC code is related to the rotation command. It is recognized (monitored) whether or not (step S1).
- the rotation command includes commands for the main shaft motor 15 and the table motor 16. Although the main shaft motor 15 will be described below as a typical example, the table motor 16 is similarly processed. Note that the table motor 16 is added in parentheses.
- step S1 when a rotation command for the spindle motor 15 (table motor 16) is confirmed, the rotation monitoring unit 27 refers to the inertia storage unit 26 and stores the spindle side rotating body ( It is checked whether data related to the inertia of the table-side rotor) is stored (step S2). The permissible rotational speed set for is confirmed, and it is determined whether or not the instructed rotational speed is equal to or less than the permissible rotational speed (step S3).
- step S2 when it is confirmed in step S2 that data related to inertia is not stored, the rotation monitoring unit 27 reads out the safe rotation speed stored in the rotation speed storage unit 25, and adjusts the rotation speed to this safe rotation speed. A corresponding control signal is sent to the rotation control unit 24 to shift the rotation speed of the spindle motor 15 (table motor 16) to a safe rotation speed, and to temporarily stop the processing of the NC program, that is, the machining. After instructing the program execution unit 22 (step S6), the process proceeds to the next step S7.
- step S3 when it is determined in step S3 that the command rotation speed is not equal to or lower than the allowable rotation speed, the rotation monitoring unit 27 transmits a control signal corresponding to the allowable rotation speed to the rotation control unit 24, After shifting the rotation speed of the spindle motor 15 (table motor 16) to the allowable rotation speed and instructing the program execution unit 22 to temporarily stop the processing of the NC program (step S10), the following The process proceeds to step S7.
- step S3 determines whether the command rotation speed is equal to or lower than the allowable rotation speed.
- the rotation monitoring unit 27 controls the actual drive power of the spindle motor 15 (table motor 16) to The inertia of the side rotor is estimated, and based on the estimated inertia, it is determined whether the inertia of the spindle side rotor (table side rotor) stored in the inertia storage unit 26 is correct (step S4).
- the process from step S1 onward is repeatedly executed until a signal to end the process is received from the program execution unit 22 (step S5). That is, every time the rotation monitoring unit 27 receives a rotation command from the program execution unit 22, it executes the processing after step S1.
- the rotation monitoring section 27 proceeds to the process of step S6 described above.
- the inertia of the spindle-side rotating body (table-side rotating body) can be calculated (estimated) by Equation 6 described above.
- t ac [s] and the output P motor [w] during acceleration are acquired from the rotation control unit 24 to estimate the inertia.
- step S7 the rotation monitoring unit 27 displays the restricted rotational speed on the display of the input/output device 30, and performs processing for confirming with the operator whether or not to accept the limited rotational speed and restart machining.
- step S8 When the operator selects through the display to accept the limited rotation speed and resume machining (step S8), a machining restart signal is sent to the program execution unit 22 while the rotation speed is limited. After transmitting and restarting the machining (step S9), the process proceeds to step S5.
- step S8 if the operator selects not to accept the rotational speed limit via the display, whether or not to newly set the inertia of the spindle-side rotating body (table-side rotating body) is determined. is confirmed by the operator via the display (step S11), and when the operator selects to newly set the inertia via the display, whether or not to automatically measure is further confirmed by the operator. Confirm with the operator through the display (step S12).
- step S12 when the operator newly selects automatic measurement of inertia via the display, the rotation monitoring unit 27 executes automatic measurement of inertia (step S13).
- a stop signal is sent to the rotation control unit 24 to temporarily stop the rotation of the spindle motor 15 (table motor 16), and then, for example, the spindle motor 15 (table motor 16) is rotated at the safe rotation speed.
- the inertia is the actual acceleration of the spindle motor 15 (table motor 16) obtained from the rotation control unit 24 at this time. It can be calculated by Equation 6 based on the time, the output during acceleration, and the safe rotational speed.
- the rotation monitoring unit 27 stores the calculated data related to the inertia in the inertia storage unit 26 (step S13).
- the rotation monitoring unit 27 refers to the inertia storage unit 26, recognizes the allowable rotation speed corresponding to the calculated inertia, displays the recognized allowable rotation speed on the display, and displays the allowable rotation speed.
- a process of confirming with the operator whether or not to accept and resume machining is performed (step S14).
- a control signal related to the allowable rotation speed is transmitted to the rotation control unit 24 to operate the spindle motor 15.
- step S16 After rotating at the permissible rotational speed (step S16), the process proceeds to step S9 to resume machining.
- step S11 when the operator selects not to set the inertia via the display in step S11, and when the operator selects not to accept the allowable rotation speed via the display in step S15. , a signal for stopping the machining is transmitted to the program execution unit 22 (step S18), and the process is terminated.
- step S12 when the operator selects not to automatically measure new inertia, in other words, to manually input via the display, input of inertia is accepted via the display. Then, after the input data relating to the inertia is stored in the inertia storage unit 26 (step S17), the processes from step S3 onward are executed.
- the program execution unit 22 executes the NC program
- the feed control unit 23 controls the X-axis feed device 10 based on the control signal from the program execution unit 22 .
- the Y-axis feeder 11 and the Z-axis feeder 12 are controlled
- the spindle motor 15 and the table motor 16 are controlled by the rotation controller 24, and these X-axis feeder 10, the Y-axis feeder 11 and the Z-axis feeder are controlled.
- the workpiece W is machined by the tool T by the operation of the device 12 and the spindle motor 15 and table motor 16 .
- the rotation monitoring unit 27 monitors the rotation control of the spindle motor 15 and the table motor 16 by the rotation control unit 24 based on the control signal from the program execution unit 22 .
- the rotation monitoring unit 27 checks whether the inertia of the rotating body (spindle-side rotating body or table-side rotating body) corresponding to the rotation command is known. is confirmed (step S2), and if the inertia is known, it is determined whether or not the rotation command is equal to or less than the allowable rotation speed set for the inertia (step S3). If so, continue processing. Therefore, even if the motor (spindle motor 15 or table motor 16) that drives the rotating body becomes uncontrollable due to power failure or other causes, the emergency stop circuit provided in the rotation control unit 24 prevents seizure. The motors 15 and 16 can be safely stopped. Further, by performing processing at such a rotational speed, it is possible to avoid excessive loads acting on the motors 15 and 16 when the rotating bodies are driven and stopped.
- the rotation monitoring unit 27 uses the known inertia stored in the inertia storage unit 26 and the estimated inertia by actually rotating the motor. It is determined whether or not the known inertia is correct by comparing it with the inertia that is applied (step S4), and only if the known inertia is correct, machining is continued at the same rotational speed. Therefore, it is possible to prevent continuation of machining with the rotation speed of the motors 15 and 16 at a dangerous speed due to an erroneous input of inertia.
- the rotation monitoring unit 27 limits the rotation speed of the motors 15 and 16 to a safe rotation speed (step S6), and the rotation command limits the allowable rotation speed set according to the inertia. If it exceeds, the rotation speed of the motor is limited to the allowable rotation speed (step S10). Therefore, when the motor is to be stopped in an emergency, the emergency stop circuit can safely stop the motor without seizure.
- the rotation monitoring unit 27 suspends the machining (steps S6 and S10), and the operator When the rotational speed limit is accepted, machining at the rotational speed limit is restarted (steps S7-S9). If the rotation speed is limited, it may not be possible to achieve the target machining accuracy, such as surface roughness. It is possible to prevent the product from becoming defective.
- the rotation monitoring unit 27 is configured so that the inertia of the rotating body can be automatically measured or manually input (steps S11-S13, S17). By doing so, the inertia can be set flexibly.
- the effects as described above are achieved, and the monitoring by the machining monitoring unit 27 of this example is particularly beneficial when the NC program is executed for the first time.
- the NC program is executed for the first time, it may be unclear whether the inertia of the rotating body is properly set. Therefore, there is a possibility that the limit rotational speed corresponding to the inertia is exceeded.
- the machine tool 1 of the above example includes both a spindle-side rotating body including the spindle motor 15 and a table-side rotating body including the table motor 16 as the rotating bodies, the configuration is limited to this. Instead, it may be provided with either one of the rotating bodies, or may be provided with completely different rotating bodies.
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Abstract
Description
前記制御装置は、前記加工プログラムに従って前記回転体を回転させる際に、前記回転体のイナーシャに係るデータを確認し、前記イナーシャに係るデータが設定されている場合には、前記加工プログラムに指定された前記回転体の回転速度が、前記イナーシャに応じて設定される限界回転速度以下であるかどうかを確認し、該限界回転速度を超えている場合には、該限界回転速度以下の回転速度であって、予め設定された回転速度を許容回転速度として、前記加工プログラムに指定された前記回転体の回転速度を制限するように構成された工作機械に係る。
(数式1)
ts=re/Ploss
(数式2)
Ploss=3RI2=R・(K・ω)2/(R2+(ω・p・L)2)
但し、Rは1相分の抵抗値[Ω]、Lは1相分のインダクタンス[H]、Kは線間誘起電圧定数[Vrms/(rad/s)]、ωは回転角速度[rad/s](回転角速度は回転速度[m/s]と等価であるため、以下では、「回転速度」と総称する。)、pは極対数(極数/2)である。
(数式3)
re=(I・ω2)/2
(数式4)
ts=(I・ω2)/(2・Ploss)
(数式5)
I=2・ts・Ploss/ω2
(数式6)
I=(2Pmotor・tac)/ω2
2 ベッド
3 コラム
4 テーブル
5 主軸頭
6 主軸
10 X軸送り装置
11 Y軸送り装置
12 Z軸送り装置
15 主軸モータ
16 テーブルモータ
20 制御装置
21 NCプログラム記憶部
22 プログラム実行部
23 送り制御部
24 回転制御部
25 回転速度記憶部
26 イナーシャ記憶部
27 回転監視部
30 入出力装置
Claims (6)
- 制御対象となる回転体を含む運動機構部と、加工プログラムに従って少なくとも前記回転体の回転動作を制御する制御装置とを備えて構成される工作機械であって、
前記制御装置は、前記加工プログラムに従って前記回転体を回転させる際に、前記回転体のイナーシャに係るデータを確認し、前記イナーシャに係るデータが設定されている場合には、前記加工プログラムに指定された前記回転体の回転速度が、前記イナーシャに応じて設定される限界回転速度以下であるかどうかを確認し、該限界回転速度を超えている場合には、該限界回転速度以下の回転速度であって、予め設定された回転速度を許容回転速度として、前記加工プログラムに指定された前記回転体の回転速度を制限するように構成されていることを特徴とする工作機械。 - 前記制御装置は、前記許容回転速度をオペレータが容認するか否かを確認し、オペレータが容認する場合には、前記加工プログラムに指定された前記回転体の回転速度を前記許容回転速度に制限して加工を継続し、オペレータが容認しない場合には、加工を停止するように構成されていることを特徴とする請求項1記載の工作機械。
- 前記制御装置は、前記イナーシャに係るデータが設定されていない場合、又は設定されたイナーシャに係るデータが異常値であると判断される場合には、前記加工プログラムに指定された前記回転体の回転速度を、予め設定した安全回転速度に制限するように構成されていることを特徴とする請求項1又は2記載の工作機械。
- 前記制御装置は、前記安全回転速度をオペレータが容認するか否かを確認し、オペレータが容認する場合には、前記加工プログラムに指定された前記回転体の回転速度を前記安全回転速度に制限して加工を継続し、オペレータが容認しない場合には、加工を停止するように構成されていることを特徴とする請求項3記載の工作機械。
- 前記制御装置は、前記回転体のイナーシャに係るデータが設定されていない場合、又は設定されたイナーシャに係るデータが異常値であると判断される場合に、該回転体についてのイナーシャに係るデータを新たに設定可能に構成されていることを特徴とする請求項3又は4記載の工作機械。
- 前記制御装置は、前記回転体に回転動作と停止動作とを実行させることにより、該回転体のイナーシャに係るデータを算出して、設定するように構成されていることを特徴とする請求項5記載の工作機械。
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Citations (5)
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JPH05138502A (ja) * | 1991-11-21 | 1993-06-01 | Hitachi Seiko Ltd | 数値制御工作機械 |
JP2014007816A (ja) * | 2012-06-22 | 2014-01-16 | Fanuc Ltd | アンプ保護機能を備えた同期電動機の制御装置及び制御方法 |
JP6285477B2 (ja) | 2016-02-26 | 2018-02-28 | ファナック株式会社 | ダイナミックブレーキ回路保護機能を有するモータ駆動装置 |
JP2019000929A (ja) * | 2017-06-13 | 2019-01-10 | 株式会社スギノマシン | 工作機械 |
JP6839783B1 (ja) * | 2020-09-29 | 2021-03-10 | Dmg森精機株式会社 | 回転速度判定装置 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JPH05138502A (ja) * | 1991-11-21 | 1993-06-01 | Hitachi Seiko Ltd | 数値制御工作機械 |
JP2014007816A (ja) * | 2012-06-22 | 2014-01-16 | Fanuc Ltd | アンプ保護機能を備えた同期電動機の制御装置及び制御方法 |
JP6285477B2 (ja) | 2016-02-26 | 2018-02-28 | ファナック株式会社 | ダイナミックブレーキ回路保護機能を有するモータ駆動装置 |
JP2019000929A (ja) * | 2017-06-13 | 2019-01-10 | 株式会社スギノマシン | 工作機械 |
JP6839783B1 (ja) * | 2020-09-29 | 2021-03-10 | Dmg森精機株式会社 | 回転速度判定装置 |
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