WO2022239721A1 - 工作機械 - Google Patents
工作機械 Download PDFInfo
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- WO2022239721A1 WO2022239721A1 PCT/JP2022/019623 JP2022019623W WO2022239721A1 WO 2022239721 A1 WO2022239721 A1 WO 2022239721A1 JP 2022019623 W JP2022019623 W JP 2022019623W WO 2022239721 A1 WO2022239721 A1 WO 2022239721A1
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- Prior art keywords
- movement
- feed
- vibration
- cutting
- main shaft
- Prior art date
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- 230000008859 change Effects 0.000 claims description 73
- 238000010801 machine learning Methods 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 description 18
- 238000003754 machining Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
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- 238000005516 engineering process Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 8
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- 239000004065 semiconductor Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 241001676635 Lepidorhombus whiffiagonis Species 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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Classifications
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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
- G05B19/416—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
- G05B19/4163—Adaptive control of feed or cutting velocity
-
- 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
- B23Q15/013—Control or regulation of feed movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B1/00—Methods for turning or working essentially requiring the use of turning-machines; Use of auxiliary equipment in connection with such methods
-
- 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
- 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
- G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- 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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B25/00—Accessories or auxiliary equipment for turning-machines
- B23B25/02—Arrangements for chip-breaking in turning-machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B9/00—Automatic or semi-automatic turning-machines with a plurality of working-spindles, e.g. automatic multiple-spindle machines with spindles arranged in a drum carrier able to be moved into predetermined positions; Equipment therefor
- B23B9/08—Automatic or semi-automatic machines for turning of workpieces
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43132—Rotation speed as function of minimum wave energy, toolwear, first learn for different speeds
Definitions
- the present invention relates to a machine tool that cuts a workpiece held by a spindle.
- an NC (numerical control) lathe that has a spindle that grips a workpiece. Longer chips from a workpiece that rotates with the spindle can affect machining of the workpiece. Therefore, vibration cutting is performed in which chips are separated by feeding the tool while alternately repeating a cutting movement for cutting the tool into the work along the feed axis and a return movement for moving the tool away from the work. Chips are also called chips. The state of chip breakage changes depending on the phase of the spindle, the amplitude of vibration, the feed speed during cutting movement, and the feed speed during return movement. The operator causes the NC lathe to perform vibration cutting while adjusting these parameters on the machining program.
- the machine tool disclosed in Patent Document 1 calculates the position on the real feed line where the tool is positioned at the time of completion of one vibration as the return position based on the number of tool vibrations and the tool feed amount determined for one rotation of the spindle. Then, a direction change point at which forward movement (incision movement) is switched to return movement (return movement) is set on an amplitude line offset from the actual feed line by an amplitude obtained by multiplying the feed amount by a predetermined amplitude feed ratio, and the direction change point is set. The tool is made to reach the point, and when one vibration is completed, the tool is returned from the direction change point to the return position on the actual feed line. Since the amplitude feed ratio is predetermined, the amplitude cannot be adjusted.
- the operator must adjust at least a portion of the phase of the spindle, the amplitude of vibration, the feed rate during the infeed movement, and the feed rate during the return movement by trial and error in order to effectively break up the chips.
- the machine tool disclosed in Patent Document 1 cannot adjust the amplitude of vibration. Therefore, it is desired to simplify the setting of vibration cutting conditions while also considering the amplitude.
- the above-described problems are not limited to lathes, but exist in various machine tools such as machining centers.
- the present invention discloses a machine tool capable of facilitating vibration cutting settings.
- the machine tool of the present invention is a rotary drive unit that rotates a spindle that grips a workpiece; a feed drive unit for moving at least one of the tool for cutting the workpiece and the main shaft to be driven along the feed shaft;
- the feed movement of the driven object is controlled so as to accompany vibration including a cutting movement along the feed shaft in a direction in which the tool cuts into the work and a return movement in a direction opposite to the cutting movement during cutting of the work.
- a control unit The feed rate (Fa) of the driven object when not vibrating, the rotation speed (K) of the main shaft required for one cycle of the vibration, and the return amount (R), which is the distance of the return movement in one cycle of the vibration.
- the position of the driven object changes per cycle of the vibration based on the feed rate (Fa) of the driven object when not vibrating, the rotation speed (K) of the main shaft, and the return amount (R). Determining at least one parameter from a depth of cut (D) which is a distance, a speed (F) of the driven object during the cutting movement, and a speed (B) of the driven object during the return movement, A mode is provided in which the position of the driven object during the feed movement is controlled using at least the determined parameter.
- the machine tool of the present invention is a rotary drive unit that rotates a spindle that grips a workpiece; a feed drive unit for moving at least one of the tool for cutting the workpiece and the main shaft to be driven along the feed shaft;
- the feed movement of the driven object is controlled so as to accompany vibration including a cutting movement along the feed shaft in a direction in which the tool cuts into the work and a return movement in a direction opposite to the cutting movement during cutting of the work.
- a control unit The number of rotations per unit time (S) of the main shaft, the feed speed (Fa) of the driven object when not vibrating, the number of rotations (K) of the main shaft required for one cycle of the vibration, the above in one cycle of the vibration, The return amount (R), which is the distance of the return movement, and the position of the driven object at the first change point from the cutting movement to the return movement and the drive at the second change point from the return movement to the cutting movement.
- FIG. 3 is a block diagram schematically showing a configuration example of an electrical circuit of a machine body
- FIG. 4 is a diagram schematically showing an example of a tool position with respect to a spindle rotation angle when the number of spindle rotations K required for one oscillation cycle is 2
- FIG. 10 is a diagram schematically showing an example of a tool position with respect to a spindle phase when the number of spindle revolutions K required for one vibration cycle is 2
- FIG. 10 is a diagram schematically showing an example of a tool position with respect to a spindle rotation angle when the number of spindle rotations K required for one vibration cycle is 3
- FIG. 3 is a block diagram schematically showing a configuration example of an electrical circuit of a machine body
- FIG. 4 is a diagram schematically showing an example of a tool position with respect to a spindle rotation angle when the number of spindle rotations K required for one oscillation cycle is 2
- FIG. 10 is a diagram schematically showing an example of a tool position
- FIG. 10 is a diagram schematically showing an example of a tool position with respect to a spindle rotation angle when the spindle rotation number K required for one vibration cycle is 2 ⁇ 3.
- FIG. 7 is a diagram schematically showing an example of tool positions with respect to the spindle phase when the number of spindle revolutions K required for one vibration period is 2 ⁇ 3.
- FIG. 10 is a diagram schematically showing an example of a tool position with respect to the spindle phase when the spindle rotation speed K required for one vibration period is 2/5;
- FIG. 7 is a diagram schematically showing an example of controlling the position of a tool during feed movement based on a vibration feed command; It is a figure which shows typically the example of a machine tool provided with a machine-learning part.
- FIG. 4 is a flowchart schematically showing an example of learning processing; 4 is a flowchart schematically showing an example of vibration control processing; It is a figure which shows typically the example of a machine main body provided with a machine-learning part.
- FIG. 4 is a diagram schematically showing an example of the structure of an information table;
- FIG. 10 is a diagram schematically showing an example of controlling the position of a tool during feed movement based on a vibration feed command with no return amount R;
- a machine tool 1 As illustrated in FIGS. 1, 2, etc., a machine tool 1 according to one aspect of the present technology includes a rotation drive section U1, a feed drive section U2, and a control section U3.
- the rotary drive unit U1 rotates the main shaft 11 that grips the work W1.
- the feed drive unit U2 moves the tool TO1 for cutting the workpiece W1 and at least one of the main shaft 11 to be driven (for example, the tool TO1) along the feed axis F1.
- the control unit U3 controls vibration including a cutting movement M1 in the direction in which the tool TO1 cuts into the work W1 along the feed axis F1 and a return movement M2 in the direction opposite to the cutting movement M1 during cutting of the work W1. to control the feed movement of the driven object.
- the control unit U3 controls the feed speed (Fa) of the driven object when not vibrating, the rotation speed (K) of the main shaft 11 required for one cycle of the vibration, and the return movement M2 in one cycle of the vibration.
- a return amount (R), which is a distance, is acquired.
- the control unit U3 controls the feed rate (Fa) of the driven object when not vibrating, the rotation speed (K) of the main shaft 11, and the return amount (R) based on at least a depth of cut (D) that is a distance by which the position of the driven object changes, a speed (F) of the driven object during the inward movement, and a speed (B) of the driven object during the return movement Determine one parameter. Further, the control unit U3 controls the position of the driven object during the feed movement using at least the determined parameters.
- the operator can set the return amount (R) in addition to the feed rate (Fa) of the driven object when not vibrating and the rotation speed (K) of the main shaft 11, so the amplitude of the vibration is taken into consideration. Parameters can be set.
- the operator In order to control the position of the driven object during feed movement, the operator must set at least some of the cutting depth (D), cutting speed (F), and return speed (B). may Therefore, Aspect 1 above can provide a machine tool that facilitates the setting of vibration cutting.
- machine tools include lathes, machining centers, and the like.
- the feed drive may move the tool along the feed axis without moving the work, may move the work along the feed axis without moving the tool, or may move both the tool and the work. may be moved along the feed axis.
- the control unit may receive an input for a parameter that has not been determined among the depth of cut (D), the speed (F) during the cutting movement, and the speed (B) during the return movement.
- the control unit determines at least one of a speed (F) during the cutting movement and a speed (B) during the return movement based on parameters Fa, K, and R, and determines at least the cutting amount ( The input of D) may be accepted.
- the control unit controls the depth of cut (D) based on the feed rate (Fa) of the driven object in a non-vibrating state, the rotation speed (K) of the main shaft, and the return amount (R). , the speed (F) during the inward movement and the speed (B) during the return movement.
- the control unit controls the position of the driven object during the feed movement based on the depth of cut (D), the speed (F) during the cut movement, and the speed (B) during the return movement.
- Aspect 2 above can provide a machine tool that further facilitates the setting of vibration cutting.
- the control unit U3 sets the denominator of the rotation speed (K) of the main shaft 11 to an odd number OD of 3 or more and the numerator of the rotation speed (K) of the main shaft 11 to 2.
- the difference in rotation angle of the main shaft 11 may be controlled to be ⁇ (K/2) ⁇ 360 ⁇ °.
- this aspect can provide a suitable example of breaking chips when the number of rotations K of the main shaft required for one period of vibration is smaller than 1.
- the machine tool 1 includes a rotation drive section U1, a feed drive section U2, a control section U3, and a machine learning section U4.
- the rotary drive unit U1 rotates the main shaft 11 that grips the work W1.
- the feed drive unit U2 moves at least one of the tool TO1 for cutting the work W1 and the main shaft 11 along the feed axis F1.
- the control unit U3 controls vibration including a cutting movement M1 in the direction in which the tool TO1 cuts into the work W1 along the feed axis F1 and a return movement M2 in the direction opposite to the cutting movement M1 during cutting of the work W1. to control the feed movement of the driven object.
- the machine learning unit U4 determines the number of revolutions per unit time (S) of the main shaft 11, the feed rate (Fa) of the driven object when not vibrating, the number of revolutions of the main shaft 11 required for one cycle of the vibration (K ), the return amount (R), which is the distance of the return movement M2 in one cycle of the vibration, and the position of the driven object and the return movement at the first change point C1 from the cutting movement M1 to the return movement M2.
- Machine learning based on the determination result (E) of whether or not there is overlap with the position of the driven object at the second change point C2 from M2 to the cutting movement M1, the number of revolutions per unit time of the main shaft 11 Rotation of the main shaft 11 that causes the positions of the driven object to overlap at the first change point C1 and the second change point C2 based on (S) and the feed speed (Fa) of the driven object when not vibrating.
- Generate a trained model LM that causes a computer to determine the number (K) and the return quantity (R).
- this aspect can provide a machine tool that generates a learned model that facilitates setting up vibration cutting.
- the machine tool may be a combination of a machine body and a computer connected to the machine body.
- S spindle rotation per unit time
- Fa feed rate
- R return amount
- the control unit U3 inputs the number of revolutions (S) of the spindle 11 per unit time and the feed speed (Fa) of the driven object in a non-vibrating state to generate the learned model LM.
- the number of revolutions (K) and the return amount (R) of the main shaft 11 determined by the execution may be obtained.
- the control unit U3 adjusts the vibration by 1 based on the feed speed (Fa) of the driven object in the non-vibrating state, the obtained rotational speed (K) of the main shaft 11, and the obtained return amount (R).
- the control unit U3 may use at least the determined parameter to control the position of the driven object during the feed movement.
- FIG. 1 schematically illustrates the configuration of a lathe as an example of a machine tool 1 including a machine body 2 and a computer 100.
- the machine tool 1 shown in FIG. 1 is an NC lathe equipped with an NC (numerical control) device 70 for numerically controlling machining of a workpiece W1. Since the computer 100 is not an essential element in the machine tool 1, the machine body 2 itself to which the computer 100 is not connected can also be the machine tool of the present technology.
- the machine tool 1 includes a headstock 10 incorporating a spindle 11 having a gripping portion 12, a headstock drive unit 14, a tool post 20, a feed drive unit U2 of the tool post 20, and an NC device that is an example of a control unit U3. 70, etc. in the machine body 2.
- the headstock 10 collectively refers to a front headstock 10A and a back headstock 10B, which is also called an opposing headstock.
- a front spindle 11A having a gripping portion 12A such as a collet is incorporated in the front headstock 10A.
- the back headstock 10B incorporates a back spindle 11B having a gripping portion 12B such as a collet.
- the main shaft 11 collectively refers to a front main shaft 11A and a back main shaft 11B, which is also called an opposing main shaft.
- the gripping portion 12 is a general term for gripping portion 12A and gripping portion 12B.
- the headstock driving section 14 collectively refers to a front headstock driving section 14A that moves the front headstock 10A and a back headstock driving section 14B that moves the back headstock 10B.
- the rotary drive unit U1 of the main shaft 11 includes a motor 13A that rotates the front main shaft 11A about the main shaft centerline AX1, and a motor 13B that rotates the back main shaft 11B about the main shaft centerline AX1.
- the motors 13A and 13B can be built-in motors built into the main shaft. Of course, the motors 13A, 13B may be arranged outside the main shaft 11.
- the control axes of the machine body 2 shown in FIG. 1 include the X-axis indicated by "X”, the Y-axis indicated by “Y”, and the Z-axis indicated by "Z".
- the Z-axis direction is a horizontal direction along the spindle center line AX1, which is the center of rotation of the workpiece W1.
- the X-axis direction is a horizontal direction orthogonal to the Z-axis.
- the Y-axis direction is a vertical direction perpendicular to the Z-axis.
- the Z-axis and the X-axis may not be orthogonal as long as they intersect, the Z-axis and the Y-axis may not be orthogonal as long as they intersect, and the X-axis and the Y-axis may intersect. It does not have to be orthogonal if it is.
- the drawings referred to in this specification merely show examples for explaining the present technology, and do not limit the present technology. Also, the description of the positional relationship of each part is merely an example. Therefore, reversing left and right, reversing the direction of rotation, etc. are also included in the present technology. Also, the sameness in terms of direction, position, etc. is not limited to strict matching, and includes deviation from strict matching due to an error.
- the machine tool 1 shown in FIG. 1 is a movable spindle lathe.
- the front headstock drive section 14A moves the front headstock 10A in the Z-axis direction
- the back headstock drive section 14B moves the back headstock 10B in the Z-axis direction. move.
- the machine tool 1 may be a fixed spindle type lathe in which the front headstock 10A does not move, or the front headstock 10A may move in the Z-axis direction without moving the back headstock 10B.
- the front spindle 11A releasably grips the workpiece W1 with the gripping portion 12A, and is rotatable together with the workpiece W1 around the spindle center line AX1.
- the workpiece W1 before processing is, for example, a cylindrical (rod-shaped) elongated material
- the workpiece W1 may be supplied from the rear end (the left end in FIG. 1) of the front main shaft 11A to the gripping portion 12A.
- a guide bush may be arranged on the front side (right side in FIG. 1) of the front main spindle 11A to support the workpiece W1 so as to be slidable in the Z-axis direction.
- the workpiece W1 may be supplied from the front end of the front spindle 11A to the gripper 12A.
- the motor 13A rotates the front spindle 11A together with the workpiece W1 about the spindle centerline AX1.
- the work W1 after front machining is transferred from the front main spindle 11A to the back main spindle 11B.
- the back spindle 11B releasably grips the workpiece W1 after front machining by the gripping portion 12B, and is rotatable together with the workpiece W1 about the spindle centerline AX1.
- the motor 13B rotates the back spindle 11B together with the work W1 about the spindle centerline AX1.
- the work W1 after the front surface processing becomes a product by rear surface processing.
- a plurality of tools TO1 for machining the workpiece W1 are attached to the tool post 20, and it is movable in the X-axis direction and the Y-axis direction.
- the X-axis direction and the Y-axis direction are examples of the feed axis F1.
- the tool rest 20 may move in the Z-axis direction.
- the tool post 20 may be a turret tool post, a comb-shaped tool post, or the like.
- the plurality of tools TO1 include cutting tools including cut-off cutting tools, rotary tools such as rotary drills and end mills, and the like.
- the feed driving unit U2 moves the tool post 20 to which the plurality of tools TO1 are attached along the feed axis F1.
- the object to be driven by the feed drive unit U2 is the tool TO1, and the feed drive unit U2 moves the tool TO1 along the feed axis F1.
- the computer 100 connected to the NC device 70 includes a CPU (Central Processing Unit) 101 that is a processor, a ROM (Read Only Memory) 102 that is a semiconductor memory, a RAM (Random Access Memory) 103 that is a semiconductor memory, a storage device 104, It has an input device 105, a display device 106, an audio output device 107, an I/F (interface) 108, a clock circuit 109, and the like.
- a control program for the computer 100 is stored in the storage device 104 , read out to the RAM 103 by the CPU 101 , and executed by the CPU 101 .
- a semiconductor memory such as a flash memory, a magnetic recording medium such as a hard disk, or the like can be used for the storage device 104 .
- a pointing device, a keyboard, a touch panel attached to the surface of the display device 106, or the like can be used as the input device 105.
- FIG. The I/F 108 is wired or wirelessly connected to the NC device 70 and receives data from the NC device 70 and transmits data to the NC device 70 .
- the connection between the computer 100 and the machine body 2 may be network connection such as the Internet or an intranet.
- the computer 100 includes a personal computer including a tablet terminal, a mobile phone such as a smart phone, and the like.
- FIG. 2 schematically illustrates the configuration of the electric circuit of the machine body 2.
- the NC device 70 which is an example of the control unit U3, includes an operation unit 80, a rotation drive unit U1 for the spindle 11, a headstock drive unit 14, a feed drive unit U2 for the tool post 20, and the like. is connected.
- the rotary drive unit U1 includes a motor 13A and a servo amplifier (not shown) for rotating the front main shaft 11A, and a motor 13B and a servo amplifier (not shown) for rotating the back main shaft 11B.
- the headstock drive 14 includes a front headstock drive 14A and a back headstock drive 14B.
- the feed drive unit U2 includes servo amplifiers 31 and 32 and servo motors 33 and .
- the NC device 70 includes a CPU 71 as a processor, a ROM 72 as a semiconductor memory, a RAM 73 as a semiconductor memory, a clock circuit 74, an I/F 75, and the like. Therefore, the NC device 70 is a kind of computer.
- the I/Fs of the operation section 80, the rotation drive section U1, the headstock drive section 14, the feed drive section U2, the computer 100, etc. are collectively indicated as I/F 75.
- the ROM 72 is written with a control program PR1 for interpreting and executing the machining program PR2.
- the ROM 72 may be a rewritable semiconductor memory.
- the RAM 73 rewritably stores a machining program PR2 created by the operator.
- a machining program is also called an NC program.
- the CPU 71 implements the functions of the NC device 70 by executing the control program PR1 recorded in the ROM 72 using the RAM 73 as a work area.
- part or all of the functions realized by the control program PR1 may be realized by other means such as ASIC (Application Specific Integrated Circuit).
- the operation unit 80 includes an input unit 81 and a display unit 82 and functions as a user interface for the NC device 70.
- the input unit 81 is composed of, for example, buttons and a touch panel for receiving operation input from an operator.
- the display unit 82 is composed of, for example, a display that displays the contents of various settings received by the operator and various information regarding the machine body 2 .
- the operator can use the operation unit 80 or the computer 100 to store the machining program PR2 in the RAM73.
- the feed drive unit U2 drives a servo amplifier 31 connected to the NC device 70 and a servo motor 33 connected to the servo amplifier 31 in order to move the tool post 20 along the X-axis, which is an example of the feed axis F1. I have. Further, the feed drive unit U2 includes a servo amplifier 32 connected to the NC device 70 and a servo motor connected to the servo amplifier 32 in order to move the tool post 20 along Y, which is an example of the feed axis F1. 34.
- the servo amplifier 31 controls the position and movement speed of the tool post 2 in the X-axis direction according to commands from the NC device 70 .
- the servo amplifier 32 controls the position and movement speed of the tool post 20 in the Y-axis direction according to commands from the NC device 70 .
- the servo motor 33 has an encoder 35, rotates according to a command from the servo amplifier 31, and moves the tool post 20 in the X-axis direction via a feed mechanism and guides (not shown). Equipped with a servo motor 34 and an encoder 36, it rotates according to a command from the servo amplifier 32, and moves the tool post 20 in the Y-axis direction via a feed mechanism and guides (not shown).
- a mechanism using a bolt screw or the like can be used as the feed mechanism.
- a sliding guide such as a combination of a dovetail and a dovetail groove can be used as the guide.
- the NC device 70 issues a position command to the turbo amplifiers 31 and 32 when the tool post 20 to which the tool TO1 is attached is moved.
- the servo amplifier 31 receives an X-axis position command input from the NC device 70, inputs position feedback based on the output from the encoder 35 of the servo motor 33, corrects the position command based on the position feedback, and operates the servo motor 33. output a luc command to Thereby, the NC device 70 controls the position of the table 20 during feed movement along the X-axis as the feed axis F1. It can also be said that the NC device 70 controls the position of the tool TO1 during glue movement along the X-axis.
- the servo amplifier 32 receives an axis position command from the NC device 70, inputs a position feedback based on the output from the encoder 36 of the servo motor 34, corrects the position command based on the position feedback, and Output torque command to .
- the NC device 70 controls the position of the tool post 20 during the feed movement along the Y-axis as the feed axis F1. It can also be said that the NC device 70 controls the position of the tool TO1 during feed movement along the Y-axis.
- the headstock drive unit 14 also includes a servo amplifier and a servo motor.
- the front headstock drive section 14A moves the front headstock 10A in the Z-axis direction via a feed mechanism and guides (not shown), and the back headstock drive section 14B moves in the Z-axis direction via a feed mechanism and guides (not shown).
- the back headstock 10B is moved.
- chips also called chips
- the feed drive unit U2 causes the tool TO1 to cut into the work W1 rotating about the spindle center line AX1 along the feed axis F1 without vibrating, continuous long chips are generated.
- a continuous long chip may affect the machining of the work W1. Therefore, as exemplified in FIG. 3, when cutting the workpiece W1, the chips are divided by vibration cutting, in which the tool TO1 is repeatedly moved forward and backward along the feed axis F1 (X-axis or Y-axis). .
- the state of cutting chips changes depending on the phase of the spindle 11, the amplitude of vibration, the feed speed during cutting movement, and the feed speed during return movement.
- FIG. 3 schematically illustrates the tool position with respect to the spindle rotation angle when the spindle rotation number K required for one tool miss, that is, the spindle rotation number K required for one oscillation period is 2.
- Tool miss means that the workpiece W1 is not cut due to vibration of the tool TO1.
- tool miss is simply referred to as miss.
- the spindle rotation angle is the rotation angle of the spindle 11 (front spindle 11A or back spindle 11B) with the rotation angle of 0° when the tool TO1 is at the current position P1.
- the tool position is the control position of the tool TO1 with the position being 0 when it is at the current position P1 on the feed axis F1 (X-axis or Y-axis).
- a straight two-dot chain line extending from the current position P1 to the end point P2 indicates the tool position 201 during normal cutting that is not vibration cutting.
- a solid polygonal line extending from the current position P1 to the end point P2 indicates the tool position 202 during vibration cutting.
- the lower part of FIG. 3 shows an enlarged view of one period of vibration of the tool position with respect to the spindle rotation angle. Since the tool position shown in FIG. 3 is the position controlled by the NC unit 70, the actual tool position deviates from the illustrated position due to delay in response of the servo system or the like. The tool positions shown in FIGS. 4-8 are similar. It should be noted that specific numerical values shown in FIG. 3 and the like are merely examples.
- the vibration shown in FIG. 3 means that the cutting movement M1 in which the tool TO1 cuts into the workpiece W1 along the feed axis F1 and the return movement M2 in the direction opposite to the cutting movement M1 are alternately repeated.
- the NC unit 70 controls the feed movement of the tool TO1 so as to accompany vibration including the cutting movement M1 and the return movement M2 when cutting the workpiece W1.
- the polygonal line of the tool position with respect to the spindle rotation angle includes a first change point C1 at which the cutting movement M1 changes to the return movement M2, and a second change point C2 at which the return movement M2 changes to the cutting movement M1.
- the normal cutting feedrate Fa is the feedrate of the tool TO1 when performing normal cutting, not vibration cutting, and is the feedrate of the tool TO1 when not vibrating.
- the unit of the normal cutting feed rate Fa is, for example, mm/rev indicating millimeters per revolution of the spindle.
- the number of spindle revolutions K required for one missed swing is the number of revolutions of the spindle 11 required for one period of vibration of the tool TO1.
- the unit of the number of rotations K of the spindle required for one whiff is, for example, rev/time.
- the number of revolutions K of the main shaft required for one whiff is a positive numerical value excluding at least 1 rev/time.
- the depth of cut D is the distance by which the position of the tool TO1 changes per cycle of vibration, and indicates the relative end point position (the position of the first change point C1) of each cutting movement M1.
- the unit of the depth of cut D is, for example, mm.
- the return amount R is the distance of the return movement M2 in one period of vibration of the tool TO1, and indicates the relative end point position (the position of the second change point C2) of each return movement M2.
- the unit of the return amount R is, for example, mm.
- the distance that the tool TO1 moves during the cutting movement in one cycle of vibration of the tool TO1 is D+R.
- the tool TO1 when K>1, in one cycle of vibration, the tool TO1 is first controlled by the cutting movement M1 of the distance (D+R)/2, and then by the return movement M2 of the return amount R. and finally the cutting movement M1 of distance (D+R)/2 is controlled.
- the speeds F and B, the depth of cut D, and the amount of return R it is preferable to reduce the speeds F and B, the depth of cut D, and the amount of return R as much as possible. Missing is most efficiently performed when the crest (first change point C1) and the trough (second change point C2) of the movement path of the tool TO1 coincide with the phase of the spindle 11.
- the even-numbered trough (second The point of change C2) is at a slightly retreated position. Thereby, chips are divided. In addition, since the change in the tool position during the cutting movement is constant, chips are efficiently divided.
- the valley (second change point C2) is set at , the principal axis phases of the peak and the valley match. Thereby, chips are efficiently divided.
- the "spindle rotation speed K required for one missed swing" is greater than 1, it is not limited to an integer.
- K>3, 2 ⁇ K ⁇ 3, or 1 ⁇ K ⁇ 2 peaks and valleys can be similarly set. However, if 1 ⁇ K ⁇ 2, the speed F during the cutting movement may become excessive, so K is preferably 2 or more.
- the trough (second change point C2) is set at a main shaft rotation angle of ⁇ 180° from the middle (K/2) main shaft rotation angle in one cycle of vibration, and the main shaft rotation angle is +180°. It is also possible to set a peak (first change point C1). From the above, when K>1, the NC unit 70 has the first change point C1 at which the cutting movement M1 changes to the return movement M2 in one vibration period, and the return movement M2 to the cutting movement M1 in one vibration period. The difference in the rotation angle of the main shaft from the changing second change point C2 is controlled to 360°.
- the trough or peak is set at -360° from the middle (K/2) main shaft rotation angle in one cycle of vibration, and the peak or peak is set at +360° main shaft rotation angle. It is also possible to set valleys. If K>3, from the middle (K/2) main shaft rotation angle in one cycle of vibration, set the trough or peak at the main shaft rotation angle of -540°, and set the peak or trough at the main shaft rotation angle of +540°. It is also possible to set In order to reduce the number of rotations of the spindle required for breaking up the chips and to break up the chips more finely, it is necessary to change the spindle rotation angle from the middle (K/2) spindle rotation angle in one cycle of vibration to -180°. It is most efficient to set the troughs and set the troughs or peaks at a +180° spindle rotation angle.
- the total movement amount of the tool TO1 per one rotation of the main spindle is equal to the movement amount during normal cutting. is controlled to be the same as the normal cutting feed rate Fa. Since the number of revolutions K of the spindle required for one missed swing is the number of revolutions of the spindle 11 required for one cycle of vibration of the tool TO1, the amount of movement of the tool TO1 along the feed axis F1 per cycle of vibration is given by K ⁇ Fa. As shown in FIGS.
- the tool TO1 in one cycle of vibration, has a cutting movement M1 with a distance (D+R)/2, a return movement M2 with a return amount R, and a distance (D+R)/2.
- D K ⁇ Fa (1)
- the NC unit 70 inputs the "normal cutting feed rate Fa", the “spindle rotation speed K required for one missed swing", and the “return amount R” for the feed axis F1.
- the depth of cut D and velocities F and R can be determined according to equations (1), (2) and (3) above.
- the NC device 70 controls the position of the tool TO1 during feed movement based on the depth of cut D and the speeds F and R of the feed axis F1. The operator designates only the "normal cutting feed rate Fa", “spindle rotation speed K required for one missed swing", and “return amount R" in the processing program PR2, so that vibration can be achieved in the same processing time as normal cutting.
- a plurality of combinations of K and R are associated with each combination of S and Fa.
- FIG. 14 indicates that the identification number for identifying the combination of K and R is j, FIG. It indicates that The information table TA1 shown in FIG. 14 recommends the "spindle rotation number K required for one missed swing" and the "return amount R" for the input of the "spindle rotation number S per unit time" and the "normal cutting feed rate Fa". It can also be said to be an information table for outputting a plurality of combinations to be made. Of course, the number of combinations of K and R is finite.
- the "return amount R" is calculated from the information table TA1. It is possible to decide. Although details will be described later with reference to FIG. 15, by pre-storing the information table TA1 in the RAM 73 of the NC unit 70, the NC unit 70 can obtain "spindle rotation speed per unit time S", "normal cutting feed A standard 'return amount R' can be determined from the 'speed Fa' and the 'spindle rotation speed K required for one missed swing.' In this case, the operator can omit specifying the "return amount R".
- FIG. 6 schematically illustrates the tool position with respect to the spindle rotation angle when the spindle rotation number K required for one whiff, that is, the spindle rotation number K required for one vibration period is 2/3.
- the tool TO1 is controlled by the cutting movement M1 of the distance (D+R) in the first half, and the return movement M2 of the return amount R in the second half. is controlled.
- the crest is set at an intermediate (K/2) main shaft rotation angle in one cycle of vibration.
- the trough is set at the last (K) spindle rotation angle in one cycle of vibration.
- K 2/3
- the principal axis phases of peaks and valleys match.
- the principal axis phases at which peaks and valleys coincide are 120°, 240°, and 360°.
- K 2/5
- the principal axis phases of peaks and valleys match as shown in FIG.
- the principal axis phases at which peaks and valleys coincide are 72°, 144°, 216°, 288°, and 360°.
- the "spindle rotation speed K required for one whiff" may be 2/7 or less.
- K ⁇ 2/3 the feed rate of the tool TO1 and the number of rotations of the spindle 11 per unit time may have to be considerably reduced from the point of view of the followability of the servo system to the control. 2/3 is preferred.
- the total movement amount of the tool TO1 per one rotation of the main spindle is equal to the movement amount during normal cutting. is controlled to be the same as the normal cutting feed rate Fa.
- the amount of movement of the tool TO1 along the feed axis F1 per cycle of vibration is K ⁇ Fa.
- the speed F when the tool TO1 moves for cutting is expressed by the following equation.
- the speed B during the return movement of the tool TO1 is represented by the following equation.
- the NC unit 70 inputs the "normal cutting feed rate Fa", the "spindle rotation speed K required for one missed swing", and the "return amount R" for the feed axis F1 when K ⁇ 1.
- the depth of cut D and speeds F and R can be determined according to equations (4), (5) and (6) above.
- the NC device 70 controls the position of the tool TO1 during feed movement based on the depth of cut D and the speeds F and R of the feed shaft F1.
- FIG. 9 shows an example of a vibration feed command for receiving inputs of "normal cutting feed rate Fa", "spindle rotation speed K required for one missed swing", and "return amount R".
- the vibration feed command CM1 shown in FIG. 9 has the format "G**X**_F**_K**_R**”.
- F here means the normal cutting feed rate Fa, not the speed during the cutting movement.
- "**” after G indicates the vibration feed command number
- "**” after X indicates the position of the end point P2 on the feed axis X
- "**” after F indicates “normal cutting feed”.
- "**” after K indicates the numerical value of "spindle rotation number K required for one missed swing”
- "**” after R indicates the numerical value of the return amount R.
- the feed axis F1 is the Y axis
- the aforementioned format changes X to Y.
- FIG. 9 schematically illustrates vibration control processing for controlling the position of the tool TO1 during feed movement based on the vibration feed command CM1.
- Vibration control processing is performed by the NC device 70 .
- the NC unit 70 receives an input of the vibration feed command CM1 from the operation unit 80 or the computer 100, and stores the machining program PR2 including the vibration feed command CM1 in the RAM73 (first step ST1).
- the NC unit 70 accepts the input of the vibration feed command CM1 so as to satisfy the above restrictions.
- An information table TA1 (Fig. 14) is prepared, the operator can input the K and R parameters to the vibration feed command CM1 according to the information table TA1. If the "spindle rotation number K required for one idling" is increased, the chips become longer. Both of the feed speeds Fa' may be reduced.
- the NC device 70 When the machining program PR2 is executed, the NC device 70 reads the vibration feed command CM1 from the machining program PR2, and executes the processing of the second step ST2. Since the parameters Fa, K, and R are included in the vibration feed command CM1, in the first step ST1, the NC unit 70 sets the "normal cutting feed rate Fa" and the "spindle rotation speed K required for one miss". , and the input of the "return amount R".
- the NC unit 70 After reading the vibration feed command CM1, the NC unit 70 sets the feed axis F1 to the depth of cut based on the "normal cutting feed rate Fa", the "spindle rotation speed K required for one missed swing", and the "return amount R".
- the amount D, the speed F during the cutting movement of the tool TO1, and the speed B during the return movement of the tool TO1 are determined (second step ST2).
- the speed B during the return movement is determined as the return amount R according to the above equation (3).
- the NC device 70 controls the position of the tool TO1 during feed movement based on the depth of cut D and the speeds F and R of the feed axis F1 (third step ST3).
- the NC unit 70 repeats the cutting movement M1 and the returning movement M2 from the current position P1 on the feed axis F1 to set a plurality of positions P3 until reaching the end point P2 based on the cutting amount D and the speeds F and R, and sequentially , to the servo amplifier 31 or the servo amplifier 32 to move the tool TO1 to the position P3.
- each position P3 is indicated by a white circle.
- the set position P3 is not limited to the change points (the first change point C1 and the second change point C2) or the end point P2, and may include positions in the middle of the cutting movement M1 and the return movement M2.
- the position of the tool TO1 during feed movement is controlled to a position based on the depth of cut D and the speeds F and R.
- the operator can perform the same machining as normal cutting by inputting only the "normal cutting feed rate Fa", "spindle rotation speed K required for one missed swing", and "return amount R" to the machine tool 1. Oscillation cutting can be performed in time. Because of the position control during the feed movement of the tool TO1, the operator does not need to input parameters such as the speed F during the cutting movement and the speed B during the return movement to the machine tool 1. Since the setting of vibration cutting conditions is simplified in this manner, this specific example can facilitate the setting of vibration cutting.
- the NC unit 70 can control the position of the tool during feed movement based on the vibration feed command CM2 without the return amount R.
- the vibrating feed command CM2 is obtained by omitting "R**", which means the return amount R, from the vibrating feed command CM1 shown in FIG.
- the first step ST1 shown in FIG. 15 is divided into two steps ST11 and ST12. It is assumed that the information table TA1 shown in FIG. 14 is stored in the RAM 73 as a premise for performing the vibration control process shown in FIG.
- the NC device 70 receives an input of the vibration feed command CM2 from the operation unit 80 or the computer 100, and stores the machining program PR2 including the vibration feed command CM2 in the RAM 73 (step ST11).
- the machining program PR2 it is assumed that there is a command specifying "spindle rotation speed S per unit time" before the vibration feed command CM2.
- the NC unit 70 When the machining program PR2 is executed, the NC unit 70 reads the vibration feed command CM2 from the machining program PR2, and executes the process of step ST12. Since the parameters of Fa and K are included in the vibration feed command CM2, in step ST11, the NC unit 70 inputs the "normal cutting feed rate Fa" and the "spindle rotation speed K required for one missed swing". will be accepted. After reading the vibration feed command CM2, the NC unit 70 sets the "spindle rotation speed per unit time S", the "normal cutting feed rate Fa" and the "spindle rotation number K required for one missed swing" for the feed axis F1. is acquired from the information table TA1 (step ST12). In this way, the "return amount R" can be automatically determined from the S, Fa, and K parameters.
- the NC unit 70 calculates the depth of cut D, the speed F when the tool TO1 is moved to cut, Then, the speed B for the return movement of the tool TO1 is determined (second step ST2). Further, the NC device 70 controls the position of the tool TO1 during feed movement based on the depth of cut D and the speeds F and R for the feed axis F1 (third step ST3). As described above, even if the operator does not input the "return amount R" to the machine tool 1, the vibration cutting can be performed in the same machining time as the normal cutting. As the "spindle rotation speed K required for one idling" increases, the chips become longer.
- the operator fixes the "spindle rotation speed per unit time S" and the "normal cutting feed rate Fa” and confirms the length of the chips in actual machining, and then determines the "spindle rotation number K required for one missed swing". is determined, an appropriate "return amount R" is automatically determined. Therefore, the example shown in FIG. 15 can further facilitate the setting of vibration cutting.
- the NC device 70 of the above-described specific example cuts depth D and speeds F, R based on "normal cutting feed rate Fa", "spindle rotation speed K required for one missed swing", and "return amount R". are all calculated, but some of the D, F, and R parameters may be input.
- the NC unit 70 may calculate the speeds F and R and receive an input of the cutting depth D, or calculate the speed F during the cutting movement and calculate the speed B and the cutting depth D during the return movement. An input may be received, or an input of the speed F and the amount of cut D during the cutting movement may be received while calculating the speed B during the return movement.
- FIG. 10 schematically shows an example of a machine tool 1 having a computer 100 with a machine learning unit U4.
- FIG. 10 descriptions and explanations of elements that partially overlap with those in FIGS. 1 and 2 are omitted.
- the lower part of FIG. 10 shows an example of the structure of the database DB.
- the storage device 104 of the computer 100 shown in FIG. 10 stores a machine learning program PR3 corresponding to the machine learning unit U4.
- Machine learning program PR3 is executed by being read into RAM 103 by CPU 101 .
- the RAM 103 of the computer 100 stores a database DB and a trained model LM generated based on the database DB.
- the learned model LM overlaps the position of the tool TO1 at the first change point C1 from the cutting movement M1 to the return movement M2 and the position of the tool TO1 at the second change point C2 from the return movement M2 to the cutting movement M1.
- This is a program for causing the computer 100 to function so as to determine "main shaft rotation speed K required for one missed swing" and "return amount R".
- the generated learned model LM may be transmitted from the computer 100 to the NC device 70 and stored in the RAM 73 of the NC device 70.
- the NC unit 70 can determine the "main shaft rotation speed K required for one miss swing” and the "return amount R" according to the learned model LM.
- the database DB stores the spindle rotation speed S per unit time, the normal cutting feed rate Fa, the spindle rotation speed K required for one missed swing, the return amount R, and the position of the tool TO1 at the first change point C1 and the second change point C1.
- the determination result E of whether or not there is overlap with the position of the tool TO1 at the change point C2 is stored.
- the spindle rotation speed S per unit time means the rotation speed of the spindle 11 per unit time.
- Judgment result E is the result of actual measurement when the tool TO1 is moved along the feed axis F1 in accordance with the test program PR4 corresponding to the machining program PR2 shown in FIG. Based on TO1 position.
- the judgment result E is the result of judging whether or not there is overlap between peaks and troughs in the measured vibration with reference to the phase of the main shaft 11, and is information indicating "overlap" or "no overlap".
- the identification number i which is the identification information for identifying the record
- the spindle rotation speed Si per unit time the normal cutting feed rate Fai
- the spindle rotation speed Ki required for one missed swing the return amount Ri
- the determination result Ei is stored in a linked state.
- FIG. 11 shows an example of learning processing for generating a trained model LM.
- This processing is performed by the computer 100 executing the machine learning program PR3.
- the computer 100 sets parameters for vibration feed of the tool TO1 (step S102).
- the vibration feed parameters include "spindle rotation speed per unit time S", "normal cutting feed rate Fa", "spindle rotation number K required for one missed swing", and "return amount R".
- the computer 100 may set the vibration feed parameters by accepting input of S, Fa, K, and R parameters from the operator. Further, the computer 100 may sequentially set the parameters S, Fa, K, and R according to a predetermined rule on the premise that the processes of steps S102 to S108 are repeated.
- the computer 100 NC executes a test program PR4 including a command for instructing the "spindle rotation speed S per unit time" and a vibration feed command CM1 for instructing the Fa, K, and R parameters. It is loaded into the device 70 (step S104).
- the computer 100 After loading the test program PR4, the computer 100 causes the NC unit 70 to execute the test program PR4, and acquires from the NC unit 70 the actual measurement result of the tool position relative to the spindle rotation angle on the feed axis F1 (step S106).
- the NC unit 70 which has received the execution instruction of the test program PR4 from the computer 100, controls the movement of the tool TO1 along the feed axis F1 according to the test program PR4, and measures the position of the tool TO1 with respect to the spindle rotation angle on the feed axis F1. is output to the computer 100 .
- the computer 100 determines whether there is an overlap between the position of the tool TO1 at the first change point C1 and the position of the tool TO1 at the second change point C2 based on the actual measurement result of the position of the tool TO1 with respect to the rotation angle of the spindle. is determined, and a determination result E indicating "with overlap” or "without overlap” is acquired (step S108).
- the computer 100 sets information indicating "overlapping" to the determination result E when there is an overlap between peaks and valleys with the phase of the spindle 11 as a reference in the actual measurement result of the tool position, and with the phase of the spindle 11 as a reference. When there is no overlap between peaks and valleys, information indicating "no overlap” is set as the judgment result E.
- the computer 100 may display the actual measurement result of the tool position with respect to the spindle phase on the display device 106, for example, and may acquire the determination result E by receiving input of the determination result E from the operator.
- the computer 100 stores the S, Fa, K, and R parameters set in S102 and the determination result E obtained in S108 in the database DB (step S110). Since the number of records in the database DB is better, the processes of S102 to S108 are repeated.
- the computer 100 After the information is accumulated in the database DB, the computer 100 generates a trained model LM in the RAM 103 by supervised machine learning based on the information stored in the database DB (step S112).
- a trained model LM For the trained model LM, a neural network, a Bayesian network, a trained model combining at least one of these as a main part with a conversion formula, or the like can be used. If a neural network is included in the trained model LM, learning may proceed by a deep learning technique. The details of the neural network, Bayesian network, deep learning, etc. are well known and will not be described.
- the obtained learned model LM determines the "spindle rotation speed K required for one missed swing" and the "return amount R" that cause overlap between the positions of the tool TO1 at the first change point C1 and the second change point C2.
- the computer 100 functions as follows.
- the computer 100 After generating the trained model LM, the computer 100 stores the trained model LM (step S114) and terminates the learning process.
- the computer 100 may send the learned model LM to the NC device 70 .
- the NC unit 70 Upon receiving the learned model LM, the NC unit 70 stores the learned model LM in the RAM 73, thereby calculating " It is possible to determine the spindle rotation speed K and the return amount R required for one missed swing, and control the position of the tool TO1 during feed movement.
- FIG. 12 shows an example of vibration control processing for controlling the position of the tool TO1 during feed movement by determining the "spindle rotation speed K required for one missed swing" and the "return amount R" for the feed axis F1. .
- This processing is performed, for example, by the NC device 70 as the control unit U3.
- the NC unit 70 acquires the "spindle rotation speed per unit time S" and the "normal cutting feed rate Fa" during vibration feed of the tool TO1 along the feed axis F1 (step S202).
- the NC device 70 may acquire the parameters of S and Fa during vibration feed from the machining program PR2. Further, the NC device 70 may acquire the parameters of S and Fa by receiving the parameters of S and Fa at the time of vibration feeding from the operator.
- the NC unit 70 inputs the acquired "spindle rotation speed S per unit time” and "normal cutting feed rate Fa" to the learned model LM, thereby giving the learned model LM "1 miss Spindle rotation speed K” and "return amount R” required for the operation are output (step S204).
- the NC unit 70 can determine the K and R parameters by executing the learned model LM by itself.
- the NC unit 70 outputs the parameters S and Fa to the computer 100 and requests the output of the parameters K and R from the computer 100 to obtain K, The parameters of R can be obtained.
- the computer 100 having received the K and R parameter output request, inputs the K and R parameters to the learned model LM to output the K and R parameters to the learned model LM. It is only necessary to output the parameters of R to the NC device 70 .
- the NC unit 70 executes the learned model LM with the "spindle rotation speed S per unit time” and the "normal cutting feed rate Fa" as inputs, and determines the "spindle rotation required for one missed swing. number K" and "return amount R".
- the NC unit 70 After acquiring the K and R parameters, the NC unit 70 adjusts the feed axis F1 based on the "normal cutting feed rate Fa", the "spindle rotation speed K required for one missed swing", and the "return amount R". , depth of cut D, speed F during cutting movement of the tool TO1, and speed B during return movement of the tool TO1 are determined (step S206). The depth of cut D and speeds F and B can be determined according to equations (1) to (6) above. After determining the depth of cut D and the speeds F and B, the NC unit 70 controls the position of the tool TO1 during feed movement based on the depth of cut D and the speeds F and B for the feed axis F1 (step S208). Terminate the control process. Note that the computer 100 may cooperate with the NC device 70 to perform vibration control processing.
- the machine body 2 may generate the learned model LM by executing the machine learning program PR3.
- FIG. 13 schematically shows an example of the machine body 2 including the machine learning unit U4.
- the lower part of FIG. 13 shows an example of the structure of the database DB. Since the database DB shown in FIG. 13 is the same as the database DB shown in FIG. 10, the description thereof is omitted.
- a control program PR1 corresponding to the control unit U3 and a machine learning program PR3 corresponding to the machine learning unit U4 are written in the ROM 72 of the NC unit 70 shown in FIG.
- a RAM 73 of the NC unit 70 stores a machining program PR2, a test program PR4, a database DB, and a learned model LM.
- the learned model LM determines the "spindle rotation speed K required for one missed swing” and the "return amount R" that overlap the positions of the tool TO1 at the first change point C1 and the second change point C2. Activate the computer 100 .
- the NC device 70 can perform learning processing according to steps S102 and S106 to S114 shown in FIG.
- the NC unit 70 sets parameters S, Fa, K, and R in the test program PR4 (step S102).
- the NC unit 70 executes the test program PR4 and obtains from the NC unit 70 the actual measurement result of the tool position with respect to the spindle rotation angle on the feed axis F1 (step S106).
- the NC unit 70 determines whether or not there is an overlap between the position of the tool TO1 at the first change point C1 and the position of the tool TO1 at the second change point C2 based on the actual measurement result of the tool position with respect to the spindle rotation angle.
- a determination result E indicating "with overlap” or "without overlap” is acquired (step S108).
- the NC unit 70 stores the parameters S, Fa, K, and R set in S102 and the determination result E obtained in S108 in the database DB (step S110).
- the processing of S102 to S108 is repeated.
- the NC unit 70 After the information is stored in the database DB, the NC unit 70 generates a learned model LM in the RAM 103 by supervised machine learning based on the information stored in the database DB (step S112). After generating the learned model LM, the NC unit 70 stores the learned model LM as necessary (step S114), and terminates the learning process.
- the learned model LM may be stored in any of the ROM 72, a storage device (not shown) within the machine body 2, the storage device 104 of the computer 100, and the like.
- the NC unit 70 performs the vibration control process shown in FIG. 12, the vibration control process is performed while the learned model LM is stored in the RAM73.
- the machine learning unit U4 described above may be realized by cooperation between the NC device 70 and the computer 100, and the control unit U3 described above may also be realized by cooperation between the NC device 70 and the computer 100.
- the feed axis along which the driven object moves is not limited to the X-axis or Y-axis, and may be the Z-axis or the like.
- the driven object that moves along the feed axis F1 is not limited to the tool TO1, and may be the spindle 11 that grips the workpiece W1, or both the tool TO1 and the spindle 11.
- the NC device 70 may control the feed movement of the main shaft 11 so as to cause vibration along the feed shaft F1 when cutting the work W1.
- the NC unit 70 may control the feed movements of both the tool TO1 and the spindle 11 so that the workpiece W1 is cut along the feed axis F1. .
- the processing described above can be changed as appropriate, such as by changing the order.
- SYMBOLS 1 Machine tool, 2... Machine main body, 10... Headstock, 11... Spindle, 12... Gripper, 13A, 13B... Motor, 14... Headstock drive part, 20... Tool post, 31, 32... Servo amplifier, 33, 34... Servo motors, 35, 36... Encoders, 70... NC device, 100... computer, 201... Tool position during normal cutting, 202... Tool position during vibration cutting, AX1... spindle center line, C1... first change point, C2...
- CM1 vibration feed command
- DB database
- F1 feed shaft
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Abstract
Description
尚、上述のような課題は、旋盤に限らず、マシニングセンター等、種々の工作機械に存在する。
ワークを把持する主軸を回転させる回転駆動部と、
前記ワークを切削する工具と前記主軸の少なくとも一方の駆動対象を送り軸に沿って移動させる送り駆動部と、
前記ワークの切削時に前記送り軸に沿って前記工具が前記ワークに切り込む向きの切込み移動と該切込み移動とは反対方向の戻り移動とを含む振動を伴うように前記駆動対象の送り移動を制御する制御部と、を備え、
前記制御部は、
前記駆動対象の非振動時の送り速度(Fa)、前記振動の1周期に要する前記主軸の回転数(K)、及び、前記振動の1周期における前記戻り移動の距離である戻り量(R)を取得し、
前記駆動対象の非振動時の送り速度(Fa)、前記主軸の回転数(K)、及び、前記戻り量(R)に基づいて、前記振動の1周期当たりに前記駆動対象の位置が変化する距離である切込み量(D)、前記駆動対象の前記切込み移動時の速度(F)、及び、前記駆動対象の前記戻り移動時の速度(B)のうち少なくとも一つのパラメーターを決定し、
決定した前記パラメーターを少なくとも用いて前記駆動対象の前記送り移動時の位置を制御する、態様を有する。
ワークを把持する主軸を回転させる回転駆動部と、
前記ワークを切削する工具と前記主軸の少なくとも一方の駆動対象を送り軸に沿って移動させる送り駆動部と、
前記ワークの切削時に前記送り軸に沿って前記工具が前記ワークに切り込む向きの切込み移動と該切込み移動とは反対方向の戻り移動とを含む振動を伴うように前記駆動対象の送り移動を制御する制御部と、
前記主軸の単位時間当たりの回転数(S)、前記駆動対象の非振動時の送り速度(Fa)、前記振動の1周期に要する前記主軸の回転数(K)、前記振動の1周期における前記戻り移動の距離である戻り量(R)、及び、前記切込み移動から前記戻り移動への第一変化点における前記駆動対象の位置と前記戻り移動から前記切込み移動への第二変化点における前記駆動対象の位置とに重なりが有るか否かの判断結果(E)に基づいた機械学習により、前記主軸の単位時間当たりの回転数(S)及び前記駆動対象の非振動時の送り速度(Fa)に基づいて、前記第一変化点及び前記第二変化点における前記駆動対象の位置に重なりを生じさせる前記主軸の回転数(K)及び前記戻り量(R)を決定するようにコンピューターを機能させる学習済モデルを生成する機械学習部と、態様を有する。
まず、図1~15に示される例を参照して本発明に含まれる技術の概要を説明する。尚、本願の図は模式的に例を示す図であり、これらの図に示される各方向の拡大率は異なることがあり、各図は整合していないことがある。むろん、本技術の各要素は、符号で示される具体例に限定されない。
図1,2等に例示するように、本技術の一態様に係る工作機械1は、回転駆動部U1、送り駆動部U2、及び、制御部U3を備える。前記回転駆動部U1は、ワークW1を把持する主軸11を回転させる。前記送り駆動部U2は、前記ワークW1を切削する工具TO1と前記主軸11の少なくとも一方の駆動対象(例えば工具TO1)を送り軸F1に沿って移動させる。前記制御部U3は、前記ワークW1の切削時に前記送り軸F1に沿って前記工具TO1が前記ワークW1に切り込む向きの切込み移動M1と該切込み移動M1とは反対方向の戻り移動M2とを含む振動を伴うように前記駆動対象の送り移動を制御する。当該制御部U3は、前記駆動対象の非振動時の送り速度(Fa)、前記振動の1周期に要する前記主軸11の回転数(K)、及び、前記振動の1周期における前記戻り移動M2の距離である戻り量(R)を取得する。また、当該制御部U3は、前記駆動対象の非振動時の送り速度(Fa)、前記主軸11の回転数(K)、及び、前記戻り量(R)に基づいて、前記振動の1周期当たりに前記駆動対象の位置が変化する距離である切込み量(D)、前記駆動対象の前記切込み移動時の速度(F)、及び、前記駆動対象の前記戻り移動時の速度(B)のうち少なくとも一つのパラメーターを決定する。さらに、当該制御部U3は、決定した前記パラメーターを少なくとも用いて前記駆動対象の前記送り移動時の位置を制御する。
送り駆動部は、ワークを移動させずに工具を送り軸に沿って移動させてもよいし、工具を移動させずにワークを送り軸に沿って移動させてもよいし、工具とワークの両方を送り軸に沿って移動させてもよい。
前記制御部は、前記切込み量(D)、前記切込み移動時の速度(F)、及び、前記戻り移動時の速度(B)のうち決定しなかったパラメーターについては、入力を受け付けてもよい。好ましい態様として、前記制御部は、Fa,K,Rのパラメーターに基づいて前記切込み移動時の速度(F)と前記戻り移動時の速度(B)の少なくとも一方を決定し、少なくとも前記切込み量(D)の入力を受け付けてもよい。
上述した付言は、以下の態様においても適用される。
好ましい態様として、前記制御部は、前記駆動対象の非振動時の送り速度(Fa)、前記主軸の回転数(K)、及び、前記戻り量(R)に基づいて、前記切込み量(D)、前記切込み移動時の速度(F)、及び、前記戻り移動時の速度(B)を決定してもよい。当該制御部は、前記切込み量(D)、前記切込み移動時の速度(F)、及び、前記戻り移動時の速度(B)に基づいて、前記駆動対象の前記送り移動時の位置を制御してもよい。
以上より、駆動対象の送り移動時の位置制御のため、オペレーターは、駆動対象の非振動時の送り速度(Fa)、主軸11の回転数(K)、及び、戻り量(R)を設定すれば、他にパラメーターを設定しなくてもよい。従って、上記態様2は、振動切削の設定をさらに容易にさせる工作機械を提供することができる。
図3,5等に例示するように、前記制御部U3は、前記主軸11の回転数(K)が1回転よりも大きい場合、前記振動の1周期において前記切込み移動M1から前記戻り移動M2に変化する第一変化点C1と、前記振動の1周期において前記戻り移動M2から前記切込み移動M1に変化する第二変化点C2と、の前記主軸11の回転角度の差を360°に制御してもよい。これにより、第一変化点C1と第二変化点C2とにおける主軸11の位相が一致し、切り屑が効率的に分断される。従って、本態様は、振動の1周期に要する主軸の回転数Kが1よりも大きい場合に切り屑を分断させる好適な例を提供することができる。
図6等に例示するように、前記制御部U3は、前記主軸11の回転数(K)の分母が3以上の奇数ODであって前記主軸11の回転数(K)の分子が2である場合、前記振動の1周期において前記切込み移動M1から前記戻り移動M2に変化する第一変化点C1と、前記振動の1周期において前記戻り移動M2から前記切込み移動M1に変化する第二変化点C2と、の前記主軸11の回転角度の差を{(K/2)×360}°に制御してもよい。これにより、第一変化点C1と第二変化点C2とにおける主軸11の位相が一致し、切り屑が効率的に分断される。従って、本態様は、振動の1周期に要する主軸の回転数Kが1よりも小さい場合に切り屑を分断させる好適な例を提供することができる。
また、図10,13に例示するように、本技術の別の態様に係る工作機械1は、回転駆動部U1、送り駆動部U2、制御部U3、及び、機械学習部U4を備える。前記回転駆動部U1は、ワークW1を把持する主軸11を回転させる。前記送り駆動部U2は、前記ワークW1を切削する工具TO1と前記主軸11の少なくとも一方の駆動対象を送り軸F1に沿って移動させる。前記制御部U3は、前記ワークW1の切削時に前記送り軸F1に沿って前記工具TO1が前記ワークW1に切り込む向きの切込み移動M1と該切込み移動M1とは反対方向の戻り移動M2とを含む振動を伴うように前記駆動対象の送り移動を制御する。前記機械学習部U4は、前記主軸11の単位時間当たりの回転数(S)、前記駆動対象の非振動時の送り速度(Fa)、前記振動の1周期に要する前記主軸11の回転数(K)、前記振動の1周期における前記戻り移動M2の距離である戻り量(R)、及び、前
記切込み移動M1から前記戻り移動M2への第一変化点C1における前記駆動対象の位置と前記戻り移動M2から前記切込み移動M1への第二変化点C2における前記駆動対象の位置とに重なりが有るか否かの判断結果(E)に基づいた機械学習により、前記主軸11の単位時間当たりの回転数(S)及び前記駆動対象の非振動時の送り速度(Fa)に基づいて、前記第一変化点C1及び前記第二変化点C2における前記駆動対象の位置に重なりを生じさせる前記主軸11の回転数(K)及び前記戻り量(R)を決定するようにコンピューターを機能させる学習済モデルLMを生成する。
「主軸の単位時間当たりの回転数(S)」から求められる値を機械学習に用いることや、「駆動対象の非振動時の送り速度(Fa)」から求められる値を機械学習に用いることや、「振動の1周期に要する主軸の回転数(K)」から求められる値を機械学習に用いることや、「戻り量(R)」から求められる値を機械学習に用いることも、上記態様の機械学習に含まれる。
上述した付言は、以下の態様においても適用される。
図12に例示するように、前記制御部U3は、前記主軸11の単位時間当たりの回転数(S)及び前記駆動対象の非振動時の送り速度(Fa)を入力として前記学習済モデルLMを実行させることにより決定された前記主軸11の回転数(K)及び前記戻り量(R)を取得してもよい。当該制御部U3は、前記駆動対象の非振動時の送り速度(Fa)、前記取得した主軸11の回転数(K)、及び、前記取得した戻り量(R)に基づいて、前記振動の1周期当たりに前記駆動対象の位置が変化する距離である切込み量(D)、前記駆動対象の前記切込み移動時の速度(F)、及び、前記駆動対象の前記戻り移動時の速度(B)のうち少なくとも一つのパラメーターを決定してもよい。当該制御部U3は、決定した前記パラメーターを少なくとも用いて前記駆動対象の前記送り移動時の位置を制御してもよい。本態様は、振動切削の設定を容易にさせる工作機械を提供することができる。
図1は、機械本体2とコンピューター100を含む工作機械1の例として旋盤の構成を模式的に例示している。図1に示す工作機械1は、ワークW1の加工の数値制御を行うNC(数値制御)装置70を備えるNC旋盤である。工作機械1においてコンピューター100は必須の要素ではないため、コンピューター100が接続されていない機械本体2自体も本技術の工作機械となり得る。
いて不図示の送り機構及びガイドを介して刃物台20を移動させる。送り機構には、ボルねじによる機構等を用いることができる。ガイドには、アリとアリ溝との組合せといた滑り案内等を用いることができる。
図3に示す工具位置はNC装置70による制御位置であるため、実際の工具位置はサーボ系の応答の遅れ等により図示の位置からずれが生じる。図4~8に示す工具位置も、同様である。尚、図3等に示す具体的な数値は、あくまでも例である。
以上の振動送りコマンドでは、少なくとも、切込み量D、切込み移動時の速度F、戻り量R、及び、戻り移動時の速度Bという多数のパラメーターを試行錯誤的に調整することにより振動条件を設定する必要がある。
送り機構やガイド等の機構に加わる負荷を小さくするためには、速度F,Bや切込み量Dや戻り量Rをできるだけ小さくすることが好ましい。空振りが最も効率的に行われるのは、主軸11の位相において工具TO1の移動経路の山(第一変化点C1)と谷(第二変化点C2)が一致する場合である。山と谷を一致させるためには、例えば、振動の1周期における中間(K/2)の主軸回転角度から、-180°の主軸回転角度に山を設定し、+180°の主軸回転角度に谷を設定すればよい。K=2である場合、(2/2)×360-180=180°の主軸回転角度に山を設定し、(2/2)×360+180=540°の主軸回転角度に谷を設定すれば、図4に示すように山と谷の主軸位相が一致する。山と谷の主軸回転角度の差が360°であり、戻り量Rが0よりも大きいので、奇数周期目の山(第一変化点C1)よりもその次の偶数周期目の谷(第二変化点C2)の方が若干後退した位置となる。これにより、切り屑が分断される。また、切込み移動時の工具位置の変化が一定であるので、効率的に切り屑が分断される。
「1回の空振りに要する主軸回転数K」は、1よりも大きい場合、整数に限定されない。K>3である場合や、2<K<3である場合や、1<K<2である場合も、同様に山と谷を設定することができる。ただし、1<K<2である場合は切込み移動時の速度Fが過大となることがあるので、Kは2以上であることが好ましい。
以上より、NC装置70は、K>1である場合、振動の1周期において切込み移動M1から戻り移動M2に変化する第一変化点C1と、振動の1周期において戻り移動M2から切込み移動M1に変化する第二変化点C2と、の主軸回転角度の差を360°に制御する。
K×Fa={(D+R)/2}×2-R
が成り立つ。上記式から、切込み量Dは、以下の式で表される。
D=K×Fa …(1)
F={(D+R)/2}/{(K-1)/2}
=(D+R)/(K-1)
=(K×Fa+R)/(K-1) …(2)
工具TO1の戻り移動時の速度Bは、以下の式で表される。
B=R/1
=R …(3)
オペレーターは、加工プログラムPR2において「通常切削送り速度Fa」、「1回の空振りに要する主軸回転数K」、及び、「戻り量R」だけを指定することにより、通常切削と同じ加工時間で振動切削を実施させることができる。ここで、「1回の空振りに要する主軸回転数K」が大きくなると、切り屑が長くなる一方で振幅が小さくなる。「1回の空振りに要する主軸回転数K」と「戻り量R」の好適な値は、工具TO1を移動させるサーボ系の追従性に依存し、単位時間当たりの主軸回転数と工具TO1の送り速度によって決まる。そこで、図14に例示するように、「1回の空振りに要する主軸回転数K」と「戻り量R」の組合せについて「単位時間当たりの主軸回転数S」と「通常切削送り速度Fa」に応じた目安の値を情報テーブルTA1として用意しておくことにより、オペレーターは容易に「1回の空振りに要する主軸回転数K」と「戻り量R」を指定することができる。図14に示すように、情報テーブルTA1には、S,Faの各組合せに対してK,Rの複数の組合せが対応付けられている。K,Rの組合せを識別する識別番号をjとすると、図14は、例えば、S=S1とFa=Fa1の組合せに対してK=K1jとR=R1jで表される複数の組合せが対応付けられていることを示している。図14に示す情報テーブルTA1は、「単位時間当たりの主軸回転数S」と「通常切削送り速度Fa」の入力に対する「1回の空振りに要する主軸回転数K」と「戻り量R」の推奨される複数の組合せを出力するための情報テーブルともいえる。むろん、K,Rの組合せの数は、有限である。
0<K<1である場合、空振りを効率的に実現させるため、K=2/3、2/5、2/7、…と、分母が3以上の奇数であって分子が2となるように「1回の空振りに要する主軸回転数K」を制限することにしている。主軸11の位相において山(第一変化点C1)と谷(第二変化点C2)を一致させるためには、例えば、振動の1周期における中間(K/2)の主軸回転角度に山を設定し、振動の1周期における最後(K)の主軸回転角度に谷を設定すればよい。K=2/3である場合、(2/3)/2×360=120°の主軸回転角度に山を設定し、(2/3)×360=240°の主軸回転角度に谷を設定すれば、図7に示すように山と谷の主軸位相が一致する。山と谷が一致する主軸位相は、120°、240°、及び、360°となる。
「1回の空振りに要する主軸回転数K」は、2/7以下でもよい。ただし、K<2/3である場合は制御に対するサーボ系の追従性の点から工具TO1の送り速度や単位時間当たりの主軸11の回転数をかなり低くしなければならないことがあるので、Kは2/3が好ましい。
以上より、NC装置70は、「1回の空振りに要する主軸回転数K」の分母が3以上の奇数であって「1回の空振りに要する主軸回転数K」の分子が2である場合、振動の1周期において切込み移動M1から戻り移動M2に変化する第一変化点C1と、振動の1周期において戻り移動M2から切込み移動M1に変化する第二変化点C2と、の主軸回転角度の差を{(K/2)×360}°に制御する。
K×Fa=(D+R)-R
が成り立つ。上記式から、切込み量Dは、以下の式で表される。
D=K×Fa …(4)
F=(D+R)/(K/2)
=2(D+R)/K
=2(K×Fa+R)/K …(5)
工具TO1の戻り移動時の速度Bは、以下の式で表される。
B=R/(K/2)
=2R/K …(6)
まず、NC装置70は、操作部80又はコンピューター100から振動送りコマンドCM2の入力を受け付け、該振動送りコマンドCM2を含む加工プログラムPR2をRAM73に記憶する(工程ST11)。加工プログラムPR2において、振動送りコマンドCM2の前には、「単位時間当たりの主軸回転数S」を指定するコマンドがあるものとする。
振動送りコマンドCM2の読み出し後、NC装置70は、「単位時間当たりの主軸回転数S」、並びに、送り軸F1について「通常切削送り速度Fa」及び「1回の空振りに要する主軸回転数K」に対応付けられている「戻り量R」を情報テーブルTA1から取得する(工程ST12)。このようにして、S,Fa,Kのパラメーターから「戻り量R」を自動的に決定することができる。
以上より、オペレーターは、「戻り量R」を工作機械1に入力しなくても、通常切削と同じ加工時間で振動切削を実施させることができる。「1回の空振りに要する主軸回転数K」が大きくなると、切り屑が長くなる。そこで、オペレーターが「単位時間当たりの主軸回転数S」と「通常切削送り速度Fa」を固定して切り屑の長さを実加工で確認しながら「1回の空振りに要する主軸回転数K」を決めることにより、適切な「戻り量R」が自動的に決定される。従って、図15に示す例は、振動切削の設定をさらに容易にさせることができる。
さらに、図10~13に例示するように、機械学習を利用することにより振動切削の設定をさらに容易にさせることが可能な工作機械1を構成することも可能である。
図10は、機械学習部U4をコンピューター100に備える工作機械1の例を模式的に示している。図10において、図1,2と一部重複する要素については記載及び説明を省略している。図10の下部には、データベースDBの構造例が示されている。
学習処理が開始すると、コンピューター100は、工具TO1の振動送りのパラメーターを設定する(ステップS102)。振動送りのパラメーターには、「単位時間当たりの主軸回転数S」、「通常切削送り速度Fa」、「1回の空振りに要する主軸回転数K」、及び、「戻り量R」が含まれる。コンピューター100は、S,Fa,K,Rのパラメーターの入力をオペレーターから受け付けることにより振動送りのパラメーターを設定してもよい。また、コンピューター100は、ステップS102~S108の処理が繰り返されることを前提として、所定の規則に従って順次、S,Fa,K,Rのパラメーターを設定してもよい。
まず、NC装置70は、工具TO1の送り軸F1に沿った振動送り時における「単位時間当たりの主軸回転数S」及び「通常切削送り速度Fa」を取得する(ステップS202)。NC装置70は、加工プログラムPR2から振動送り時におけるS,Faのパラメーターを取得してもよい。また、NC装置70は、振動送り時におけるS,Faのパラメーターの入力をオペレーターから受け付けることによりS,Faのパラメーターを取得してもよい。
以上により、NC装置70は、「単位時間当たりの主軸回転数S」及び「通常切削送り速度Fa」を入力として学習済モデルLMを実行させることにより決定された「1回の空振りに要する主軸回転数K」及び「戻り量R」を取得する。
切込み量D及び速度F,Bの決定後、NC装置70は、送り軸F1について、切込み量D及び速度F,Bに基づいて工具TO1の送り移動時の位置を制御し(ステップS208)、振動制御処理を終了させる。
尚、コンピューター100がNC装置70と協働して振動制御処理を行ってもよい。
学習処理が開始すると、NC装置70は、S,Fa,K,RのパラメーターをテストプログラムPR4に設定する(ステップS102)。次に、NC装置70は、テストプログラムPR4を実行し、送り軸F1において主軸回転角度に対する工具位置の実測結果をNC装置70から取得する(ステップS106)。さらに、NC装置70は、主軸回転角度に対する工具位置の実測結果に基づいて第一変化点C1における工具TO1の位置と第二変化点C2における工具TO1の位置とに重なりが有るか否かを判断し、「重なり有り」又は「重なり無し」を示す判断結果Eを取得する(ステップS108)。その後、NC装置70は、S102で設定されたS,Fa,K,Rのパラメーター、及び、S108で取得された判断結果EをデータベースDBに格納する(ステップS110)。S102~S108の処理は繰り返し行われる。データベースDBに情報が蓄積された後、NC装置70は、データベースDBに格納されている情報に基づいた教師有り機械学習により、学習済モデルLMをRAM103に生成する(ステップS112)。学習済モデルLMの生成後、NC装置70は、必要に応じて学習済モデルLMを記憶し(ステップS114)、学習処理を終了させる。学習済モデルLMの記憶場所は、ROM72、機械本体2内の記憶装置(不図示)、コンピューター100の記憶装置104、等のいずれでもよい。尚、図12に示す振動制御処理をNC装置70が行う場合、学習済モデルLMがRAM73に格納されている状態で振動制御処理が行われる。
上述した機械学習部U4はNC装置70とコンピューター100との協働により実現されてもよく、上述した制御部U3もNC装置70とコンピューター100との協働により実現されてもよい。
本発明は、種々の変形例が考えられる。
例えば、駆動対象が移動する送り軸は、X軸やY軸に限定されず、Z軸等でもよい。
送り軸F1に沿って移動する駆動対象は、工具TO1に限定されず、ワークW1を把持する主軸11でもよいし、工具TO1と主軸11の両方でもよい。駆動対象が主軸11である場合、NC装置70は、ワークW1の切削時に送り軸F1に沿って振動を伴うように主軸11の送り移動を制御すればよい。駆動対象が工具TO1と主軸11の両方である場合、NC装置70は、ワークW1の切削時に送り軸F1に沿って振動を伴うように工具TO1と主軸11の両方の送り移動を制御すればよい。
上述した処理は、順番を入れ替える等、適宜、変更可能である。
以上説明したように、本発明によると、種々の態様により、振動切削の設定を容易にさせることが可能な工作機械等の技術を提供することができる。むろん、独立請求項に係る構成要件のみからなる技術でも、上述した基本的な作用、効果が得られる。
また、上述した例の中で開示した各構成を相互に置換したり組み合わせを変更したりした構成、公知技術及び上述した例の中で開示した各構成を相互に置換したり組み合わせを変更したりした構成、等も実施可能である。本発明は、これらの構成等も含まれる。
12…把持部、13A,13B…モーター、14…主軸台駆動部、
20…刃物台、31,32…サーボアンプ、
33,34…サーボモーター、35,36…エンコーダー、
70…NC装置、100…コンピューター、
201…通常切削時の工具位置、202…振動切削時の工具位置、
AX1…主軸中心線、C1…第一変化点、C2…第二変化点、
CM1…振動送りコマンド、DB…データベース、F1…送り軸、
LM…学習済モデル、M1…切込み移動、M2…戻り移動、
P1…現在位置、P2…終点、P3…位置、PR1…制御プログラム、
PR2…加工プログラム、PR3…機械学習プログラム、
PR4…テストプログラム、TO1…工具、
U1…回転駆動部、U2…送り駆動部、U3…制御部、
U4…機械学習部、W1…ワーク。
Claims (6)
- ワークを把持する主軸を回転させる回転駆動部と、
前記ワークを切削する工具と前記主軸の少なくとも一方の駆動対象を送り軸に沿って移動させる送り駆動部と、
前記ワークの切削時に前記送り軸に沿って前記工具が前記ワークに切り込む向きの切込み移動と該切込み移動とは反対方向の戻り移動とを含む振動を伴うように前記駆動対象の送り移動を制御する制御部と、を備え、
前記制御部は、
前記駆動対象の非振動時の送り速度(Fa)、前記振動の1周期に要する前記主軸の回転数(K)、及び、前記振動の1周期における前記戻り移動の距離である戻り量(R)を取得し、
前記駆動対象の非振動時の送り速度(Fa)、前記主軸の回転数(K)、及び、前記戻り量(R)に基づいて、前記振動の1周期当たりに前記駆動対象の位置が変化する距離である切込み量(D)、前記駆動対象の前記切込み移動時の速度(F)、及び、前記駆動対象の前記戻り移動時の速度(B)のうち少なくとも一つのパラメーターを決定し、
決定した前記パラメーターを少なくとも用いて前記駆動対象の前記送り移動時の位置を制御する、工作機械。 - 前記制御部は、
前記駆動対象の非振動時の送り速度(Fa)、前記主軸の回転数(K)、及び、前記戻り量(R)に基づいて、前記切込み量(D)、前記切込み移動時の速度(F)、及び、前記戻り移動時の速度(B)を決定し、
前記切込み量(D)、前記切込み移動時の速度(F)、及び、前記戻り移動時の速度(B)に基づいて、前記駆動対象の前記送り移動時の位置を制御する、請求項1に記載の工作機械。 - 前記制御部は、前記主軸の回転数(K)が1回転よりも大きい場合、前記振動の1周期において前記切込み移動から前記戻り移動に変化する第一変化点と、前記振動の1周期において前記戻り移動から前記切込み移動に変化する第二変化点と、の前記主軸の回転角度の差を360°に制御する、請求項1又は請求項2に記載の工作機械。
- 前記制御部は、前記主軸の回転数(K)の分母が3以上の奇数であって前記主軸の回転数(K)の分子が2である場合、前記振動の1周期において前記切込み移動から前記戻り移動に変化する第一変化点と、前記振動の1周期において前記戻り移動から前記切込み移動に変化する第二変化点と、の前記主軸の回転角度の差を{(K/2)×360}°に制御する、請求項1又は請求項2に記載の工作機械。
- ワークを把持する主軸を回転させる回転駆動部と、
前記ワークを切削する工具と前記主軸の少なくとも一方の駆動対象を送り軸に沿って移動させる送り駆動部と、
前記ワークの切削時に前記送り軸に沿って前記工具が前記ワークに切り込む向きの切込み移動と該切込み移動とは反対方向の戻り移動とを含む振動を伴うように前記駆動対象の送り移動を制御する制御部と、
前記主軸の単位時間当たりの回転数(S)、前記駆動対象の非振動時の送り速度(Fa)、前記振動の1周期に要する前記主軸の回転数(K)、前記振動の1周期における前記戻り移動の距離である戻り量(R)、及び、前記切込み移動から前記戻り移動への第一変化点における前記駆動対象の位置と前記戻り移動から前記切込み移動への第二変化点における前記駆動対象の位置とに重なりが有るか否かの判断結果(E)に基づいた機械学習により、前記主軸の単位時間当たりの回転数(S)及び前記駆動対象の非振動時の送り速度(Fa)に基づいて、前記第一変化点及び前記第二変化点における前記駆動対象の位置に重なりを生じさせる前記主軸の回転数(K)及び前記戻り量(R)を決定するようにコンピューターを機能させる学習済モデルを生成する機械学習部と、を備える工作機械。 - 前記制御部は、
前記主軸の単位時間当たりの回転数(S)及び前記駆動対象の非振動時の送り速度(Fa)を入力として前記学習済モデルを実行させることにより決定された前記主軸の回転数(K)及び前記戻り量(R)を取得し、
前記駆動対象の非振動時の送り速度(Fa)、前記取得した主軸の回転数(K)、及び、前記取得した戻り量(R)に基づいて、前記振動の1周期当たりに前記駆動対象の位置が変化する距離である切込み量(D)、前記駆動対象の前記切込み移動時の速度(F)、及び、前記駆動対象の前記戻り移動時の速度(B)のうち少なくとも一つのパラメーターを決定し、
決定した前記パラメーターを少なくとも用いて前記駆動対象の前記送り移動時の位置を制御する、請求項5に記載の工作機械。
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