Control device and calculation device

Abstract

The invention provides a control device and a calculation device capable of adjusting composite vibration in a machine tool. A control device for controlling a machine tool includes: a vibration command generation unit that generates a vibration command for vibrating a tool or a workpiece of the machine tool; a relative vibration command generation unit that generates a relative vibration command that vibrates the tool and the workpiece relative to each other; and a vibration phase adjustment unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command on the basis of the vibration command and the relative vibration command.

Description

[0001] This application is a divisional application of patent application filed on January 17, 2022, with application number 202280008526.7 and the invention title "Control Device and Computing Device". Technical Field

[0002] This invention relates to control devices and computing devices. Background Technology

[0003] Previously, for machining eccentric workpieces, there are known techniques for eccentric machining using machine tools (for example, see Patent Document 1). In eccentric machining, the machine tool needs to vibrate in order to align the tool with the position of the workpiece being machined.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 5-305501 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] On the other hand, there are also known machining processes, such as oscillating cutting, that cause the tool to vibrate relative to the workpiece. In such eccentric machining, when the tool vibrates relative to the workpiece, the combined vibration of the tool's vibration and the tool's relative vibration to the workpiece (e.g., amplitude, acceleration, mechanical vibration, sound, etc.) caused by the eccentric machining sometimes deviates from permissible values. Furthermore, considering the workload on the machine tool, it is sometimes desirable to minimize vibration. Therefore, it is necessary to adjust the combined vibration within the machine tool.

[0009] Methods for solving problems

[0010] A control device for controlling a machine tool according to one aspect of the present disclosure includes: a vibration command generation unit that generates a vibration command that causes a tool or workpiece of the machine tool to vibrate; a relative vibration command generation unit that generates a relative vibration command that causes the tool and the workpiece to vibrate relative to each other; and a vibration phase adjustment unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0011] A control device for a machine tool according to one aspect of the present disclosure includes: a vibration command generation unit that generates a vibration command that causes a tool or workpiece of the machine tool to vibrate; a relative movement command generation unit that generates a relative movement command that causes the tool and the workpiece to move relative to each other; and a command adjustment unit that adjusts at least one of a plurality of parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command.

[0012] A computing device for a control apparatus for controlling a machine tool, according to one aspect of the present disclosure, comprises: a vibration command generation unit that generates a vibration command that causes a tool or workpiece of the machine tool to vibrate; a relative vibration command generation unit that generates a relative vibration command that causes the tool and the workpiece to vibrate relative to each other; and a vibration phase adjustment unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0013] A computing device for a control apparatus for controlling a machine tool, according to one aspect of the present disclosure, comprises: a vibration command generation unit that generates a vibration command that causes a tool or workpiece of the machine tool to vibrate; a relative movement command generation unit that generates a relative movement command that causes the tool and the workpiece to move relative to each other; and a command adjustment unit that adjusts at least one of a plurality of parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command.

[0014] Invention Effects

[0015] According to one aspect of this disclosure, it is possible to adjust the synthetic vibration in a machine tool. Attached Figure Description

[0016] Figure 1 This is a diagram showing an outline of the control device according to the first embodiment.

[0017] Figure 2 This is a diagram showing an outline of the oscillating cutting and eccentric machining in the first embodiment.

[0018] Figure 3 It is a diagram showing the waveforms of the vibrations caused by oscillating cutting, the vibrations caused by eccentric machining, and the combined vibrations in the first embodiment.

[0019] Figure 4 It is a diagram showing the waveforms of the vibration caused by oscillating cutting, the vibration caused by eccentric machining, and the combined vibration before and after the adjustment of the vibration phase in the first embodiment.

[0020] Figure 5 It is a diagram showing the waveforms of the vibrations caused by oscillating cutting, the vibrations caused by eccentric machining, and the combined vibrations in the first embodiment.

[0021] Figure 6 It is a diagram showing the waveforms of vibrations caused by oscillating cutting, vibrations caused by eccentric machining, and composite vibrations before and after the adjustment of the vibration phase in the first embodiment.

[0022] Figure 7 It is a diagram showing the waveforms of the vibrations caused by oscillating cutting, the vibrations caused by eccentric machining, and the combined vibrations in the first embodiment.

[0023] Figure 8 It is a diagram showing the waveforms of vibrations caused by oscillating cutting, vibrations caused by eccentric machining, and composite vibrations before and after the adjustment of the vibration phase in the first embodiment.

[0024] Figure 9 This is a diagram showing an outline of the oscillating cutting and eccentric machining in the first embodiment.

[0025] Figure 10 This is a diagram showing an outline of the oscillating cutting and eccentric machining in the first embodiment.

[0026] Figure 11 This is a diagram illustrating an example of using two oscillating cutters in the first embodiment.

[0027] Figure 12 This is a diagram illustrating another example of the use of two oscillating cutters in the first embodiment.

[0028] Figure 13 This is a flowchart illustrating the processing flow of the control device in the first embodiment.

[0029] Figure 14 This is a diagram showing an outline of the control device according to the second embodiment.

[0030] Figure 15 This is a diagram illustrating the outline of the relative movement and eccentric processing in the second embodiment.

[0031] Figure 16 This is a graph showing the moving speed of the tool in the second embodiment.

[0032] Figure 17 This is a graph showing the moving speed of the tool in the second embodiment.

[0033] Figure 18 This is a graph showing the moving speed of the tool in the second embodiment.

[0034] Figure 19 This is a flowchart illustrating the processing flow of the control device in the second embodiment.

[0035] Figure 20 This is a diagram showing an outline of a computing device in other embodiments. Detailed Implementation

[0036] [First Implementation Method]

[0037] Hereinafter, an example of an embodiment of the present invention will be described. Figure 1 This is a diagram showing an outline of the control device 1 according to the first embodiment. The control device 1 is a device for controlling the machine tool 2, such as a numerical control device.

[0038] Machine tool 2, under the control of control device 1, uses oscillating cutting to process the workpiece. Machine tool 2 also includes electric motors 21 and 22. Electric motor 21, for example, drives and controls the spindle 24, and electric motor 22 drives and controls the tool 23.

[0039] The control device 1 includes a vibration command generation unit 11, a relative vibration command generation unit 12, a vibration phase adjustment unit 13, an amplitude calculation unit 14, a determination unit 15, a related shaft vibration command generation unit 16, and a vibration phase setting unit 17.

[0040] The vibration command generation unit 11 generates a vibration command for vibrating the tool 23 or workpiece 30 of the machine tool 2, based at least on the oscillation conditions for vibrating the tool 23 or workpiece 30 of the machine tool 2. For example, the vibration command generation unit 11 can generate a vibration command based on oscillation conditions and machining conditions that include oscillation amplitude ratio and oscillation frequency ratio, or it can generate a vibration command based on oscillation conditions that include oscillation amplitude and oscillation frequency.

[0041] The relative vibration command generation unit 12 generates a relative vibration command that causes the tool 23 and the workpiece 30 to vibrate relative to each other, based at least on the oscillation conditions for causing the tool 23 and the workpiece 30 to vibrate relative to each other. For example, the relative vibration command generation unit 12 can generate a relative vibration command based on oscillation conditions including oscillation amplitude ratio and oscillation frequency ratio and machining conditions for machining the workpiece 30, or it can generate a relative vibration command based on oscillation conditions including oscillation amplitude and oscillation frequency.

[0042] The vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command according to the vibration command and the relative vibration command. Specifically, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command so that the parameters of the synthesized vibration obtained by synthesizing the vibration generated by the vibration command and the relative vibration command become predetermined values.

[0043] The amplitude calculation unit 14 calculates the amplitude of the vibration of the tool 23 or the workpiece 30 according to the vibration command, and calculates the amplitude of the relative vibration of the tool 23 and the workpiece 30 according to the relative vibration command.

[0044] The determination unit 15 determines whether the parameters based on the synthetic vibration are within a predetermined allowable value. If the parameters are outside the allowable value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0045] Furthermore, the determination unit 15 determines whether the sum of the amplitudes of the vibrations of the tool 23 or the workpiece 30, which is a parameter based on the composite vibration, and the sum of the amplitudes of the relative vibrations of the tool 23 and the workpiece 30, is below the upper limit value of the amplitude, which is an allowable value. If the sum of the composite amplitudes exceeds the upper limit value of the amplitude, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0046] Furthermore, the determination unit 15 determines whether the sum of the amplitudes of the vibrations of the tool 23 or the workpiece 30, which are parameters representing the sum of the amplitudes of the relative vibrations of the tool 23 and the workpiece 30, is above or below the lower limit of the allowable amplitude value. If the sum of the amplitudes is less than the lower limit of the amplitude value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0047] The associated axis vibration command generation unit 16 generates associated axis vibration commands related to the vibration of the tool 23 or the workpiece 30 or the relative vibration of the tool 23 and the workpiece 30, based on the machining conditions for machining the workpiece 30.

[0048] After the vibration phase is adjusted by the vibration phase adjustment unit 13, the vibration phase setting unit 17 sets a vibration phase relative to other axes that is related to the vibration of the tool 23 or the workpiece 30 or the relative vibration of the tool 23 and the workpiece 30, based on the vibration phase adjusted by the vibration phase adjustment unit 13. For example, the vibration phase setting unit 17 sets a vibration phase relative to other axes based on the vibration phase adjusted by the vibration phase adjustment unit 13 and the vibration command of the associated axis.

[0049] In addition, the vibration phase adjustment unit 13 can also adjust the vibration frequency of at least one of the vibration command and the relative vibration command, and adjust the vibration phase, when the vibration frequency of the tool 23 or the workpiece 30 is different from the vibration frequency of the relative vibration of the tool 23 and the workpiece 30.

[0050] Figure 2 This is a diagram illustrating the outline of the oscillating cutting and eccentric machining in the first embodiment. (See diagram below.) Figure 2 As shown, machine tool 2 performs thread cutting and oscillating cutting through tool 23, and performs eccentric machining on workpiece 30.

[0051] exist Figure 2 In the example shown, the vibration caused by the oscillating cutting of the thread cutting is generated in the X-axis direction, and the vibration caused by the eccentric machining of the workpiece 30 is also generated in the X-axis direction.

[0052] Vibration caused by thread cutting oscillation is generated based on a relative vibration command that causes tool 23 and workpiece 30 to vibrate relative to each other. Vibration caused by eccentric machining is generated based on a vibration command that causes tool 23 of machine tool 2 to vibrate.

[0053] Next, in order to determine the phase difference α between the vibration caused by the oscillating cutting of the thread and the vibration caused by the eccentric machining, the following mathematical formula is used.

[0054] Vibration caused by eccentric machining is represented as The vibration caused by the oscillating cutting of the thread is represented as .

[0055] In this case, the combined vibration resulting from the combination of the vibration caused by eccentric machining and the vibration caused by the oscillating cutting of the thread is expressed as: .

[0056] Here, A, B, and D are constants, and ω is the angular velocity.

[0057]

[0058] Furthermore, when the upper limit of the amplitude of the synthesized vibration is C, the phase difference α is expressed by the following formula.

[0059]

[0060] Furthermore, the time T corresponding to the phase difference α is expressed by the following formula.

[0061]

[0062] Furthermore, by calculating the α that minimizes R, the amplitude of the synthesized vibration can be minimized.

[0063] Figure 3 It is a diagram showing the waveforms of the vibrations caused by oscillating cutting, the vibrations caused by eccentric machining, and the combined vibrations in the first embodiment. Figure 4 It is a diagram showing the waveforms of the vibration caused by oscillating cutting, the vibration caused by eccentric machining, and the combined vibration before and after the adjustment of the vibration phase in the first embodiment.

[0064] Figure 3 as well as Figure 4 Indicates about Figure 2 The diagram illustrates the vibrations caused by oscillating cutting during thread cutting, the vibrations caused by eccentric machining, and the waveforms of the combined vibrations. Figure 3 and Figure 4 In the waveform shown, the horizontal axis represents time, and the vertical axis represents the tool position of tool 23 in the X direction.

[0065] Figure 3The example shown illustrates a case where the amplitude is outside the permissible value. Similarly, even considering acceleration, mechanical vibration, and sound, there are cases where the combined vibration is outside the permissible value. In such cases, the phase can be adjusted by the control device 1 to avoid this.

[0066] Therefore, when the sum of the amplitudes of the vibrations caused by the thread cutting oscillating cut and the vibrations caused by the eccentric machining exceeds the upper limit of amplitude, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibrations caused by the thread cutting oscillating cut and the vibrations caused by the eccentric machining so that the sum of the amplitudes becomes below the upper limit of amplitude.

[0067] Specifically, such as Figure 4 As shown, the vibration phase adjustment unit 13 adjusts the vibration phase of the command (relative vibration command) for thread cutting oscillating cutting so that the vibration caused by thread cutting oscillating cutting stops at the time T corresponding to the phase difference α. Additionally, the vibration phase adjustment unit 13 can also adjust the vibration phase of the command (vibration command) for eccentric machining so that the vibration caused by eccentric machining stops at the time T corresponding to the phase difference α.

[0068] In addition, instead of the above processing, in order to make the phase difference between the vibration phase of the command for thread cutting oscillating cutting (relative vibration command) and the vibration phase of the command for eccentric machining (vibration command) become α, the vibration phase adjustment unit 13 can also adjust the phase of either one or both.

[0069] Therefore, after vibration phase adjustment, the sum of the composite amplitudes becomes below the upper limit of the amplitude. Alternatively, the vibration phase adjustment unit 13 can also adjust the phase difference α by calculating the minimum R value α, so that the sum of the composite amplitudes becomes minimum.

[0070] Figure 5 It is a diagram showing the waveforms of the vibrations caused by oscillating cutting, the vibrations caused by eccentric machining, and the combined vibrations in the first embodiment. Figure 6 It is a diagram showing the waveforms of the vibration caused by oscillating cutting, the vibration caused by eccentric machining, and the combined vibration before and after the adjustment of the vibration phase in the first embodiment.

[0071] Figure 5 as well as Figure 6 and Figure 3 as well as Figure 4 Similarly, indicating Figure 2 The diagram illustrates the vibrations caused by oscillating cutting during thread cutting, the vibrations caused by eccentric machining, and the waveforms of the combined vibrations. Figure 3 In the above, the sum of the amplitudes of the vibrations caused by the oscillating cutting of the thread and the vibrations caused by eccentric machining exceeds the upper limit of the amplitude, but... Figure 5In the middle, it represents the combined vibration and the case where the amplitude is less than the lower limit.

[0072] When the combined vibration amplitude is below the lower limit, machine tool 2 may experience micro-vibration wear due to minute vibrations. Therefore, to avoid micro-vibration wear caused by minute vibrations, machine tool 2 needs to increase the combined vibration amplitude.

[0073] Therefore, when the sum of the combined amplitudes is less than the lower limit of the amplitude, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibration caused by the thread cutting oscillation and the vibration caused by the eccentric machining so that the sum of the combined amplitudes is greater than or equal to the lower limit of the amplitude.

[0074] Specifically, such as Figure 6 As shown, the vibration phase adjustment unit 13 adjusts the vibration phase of the command (relative vibration command) for thread cutting oscillating cutting so that the vibration caused by thread cutting oscillating cutting stops at the time T corresponding to the phase difference α.

[0075] In addition, the vibration phase adjustment unit 13 can also adjust the vibration phase of the command (vibration command) used for eccentric machining so that the vibration caused by eccentric machining stops at the time T corresponding to the phase difference α.

[0076] Alternatively, instead of the above processing, in order to make the phase difference between the vibration phase of the command for thread cutting oscillating cutting (relative vibration command) and the vibration phase of the command for eccentric machining (vibration command) reach α, the vibration phase adjustment unit 13 can also adjust the phase of either one or both. Thus, after the vibration phase adjustment, the combined amplitude reaches or exceeds the lower limit of the amplitude.

[0077] exist Figures 3 to 6 In the example shown, the phase difference α is calculated in advance to adjust the phase, but without pre-calculating the sum of the composite amplitudes, the phase difference α becomes unclear without actual operation. For instance, the actual vibration amplitude of the tool tip based on the composite vibration is affected by mechanical characteristics, making it difficult to calculate in advance, and thus difficult to calculate the phase difference α. In such cases, control device 1 can also adjust the phase by gradually shifting the phases of the two vibrations based on feedback from a sensor that can directly observe the sum of the composite amplitudes, and stopping the phase shift at the point when the desired value is met.

[0078] Figure 7 It is a diagram showing the waveforms of the vibrations caused by oscillating cutting, the vibrations caused by eccentric machining, and the combined vibrations in the first embodiment. Figure 8 It is a diagram showing the waveforms of vibrations caused by oscillating cutting, vibrations caused by eccentric machining, and composite vibrations before and after the adjustment of the vibration phase in the first embodiment.

[0079] Figure 7 as well as Figure 8 and Figure 3 as well as Figure 4 Similarly, indicating Figure 2 The waveforms of vibrations caused by thread cutting oscillation, vibrations caused by eccentric machining, and combined vibrations are described in the text. Figure 3 as well as Figure 4 In the example shown, the vibration caused by the oscillating cutting of the thread cutter has the same frequency as the vibration caused by the eccentric machining, but... Figure 7 as well as Figure 8 In the example shown, the vibration frequency caused by the oscillating cutting of the thread is different from the vibration caused by the eccentric machining.

[0080] exist Figure 7 as well as Figure 8 In the example shown, it is also related to Figure 3 as well as Figure 4 Similarly, in the example shown, when the sum of the amplitudes of the vibrations caused by the thread cutting oscillating cut and the vibrations caused by the eccentric machining exceeds the upper limit of amplitude, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibrations caused by the thread cutting oscillating cut and the vibrations caused by the eccentric machining so that the sum of the amplitudes becomes below the upper limit of amplitude.

[0081] Figure 9 This is a diagram illustrating the outline of the oscillating cutting and eccentric machining in the first embodiment. Figure 3 In the example shown, the vibrations caused by eccentric machining and the vibrations caused by the oscillating cutting of the thread are both generated in the X-axis direction, but... Figure 9 In the example shown, the vibration caused by eccentric machining is generated in the X-axis direction, and the vibration caused by oscillating cutting is generated in the Z-axis direction. That is, the composite vibration is the vibration obtained by combining the vibration generated in the X-axis direction by eccentric machining and the vibration generated in the Z-axis direction by oscillating cutting.

[0082] And, as Figure 9 As shown in the example, even if vibrations caused by eccentric machining and vibrations caused by oscillating cutting are not generated on the same axis, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibrations caused by oscillating cutting and vibrations caused by eccentric machining when the sum of the amplitudes of the vibrations caused by oscillating cutting and vibrations caused by eccentric machining exceeds the upper limit of amplitude, so that the sum of the amplitudes becomes below the upper limit of amplitude.

[0083] Therefore, after the vibration phase is adjusted, the combined amplitude becomes below the upper limit of the amplitude, and the control device 1 can suppress the maximum acceleration of the combined vibration, etc.

[0084] Figure 10This is a diagram illustrating the outline of the oscillating cutting and eccentric machining in the first embodiment. Figure 10 In the example shown, the oscillating cutting proceeds along the tapered direction of the eccentric workpiece 30. Therefore, in Figure 10 In the example shown, the vibration caused by eccentric machining is generated in the X-axis direction, while the vibration caused by oscillating cutting is generated in both the X-axis and Z-axis directions.

[0085] In such a case, if the sum of the amplitudes of the vibrations generated in the X-axis direction due to oscillating cutting and the vibrations generated in the X-axis direction due to eccentric machining exceeds the upper limit of amplitude, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibrations generated in the oscillating cutting and the vibrations generated in the eccentric machining to make the sum of the amplitudes below the upper limit of amplitude.

[0086] Furthermore, the vibration phase setting unit 17 sets the vibration phase of the vibration caused by the oscillating cutting relative to the Z-axis direction (i.e., other axis directions) based on the phase difference α (vibration phase) adjusted by the vibration phase adjustment unit 13, in a manner that maintains the vibration phase of the vibration caused by the oscillating cutting generated in the X-axis direction and the vibration phase of the vibration caused by the oscillating cutting generated in the Z-axis direction.

[0087] By setting the vibration phase in this way, the machine tool 2 can make the tool 23 vibrate along the conical direction of the workpiece 30 during thread cutting oscillating cutting.

[0088] In addition, the vibration phase adjustment unit 13 can also adjust the vibration frequency of at least one of the command for oscillating cutting (relative vibration command) and the command for eccentric machining (vibration command) when the vibration frequencies of the vibration caused by eccentric machining and the vibration caused by oscillating cutting are different, and adjust the vibration phase.

[0089] Specifically, when the vibration frequency caused by eccentric machining is 10 Hz, the amplitude of the vibration caused by eccentric machining is 1.00 mm, the vibration frequency caused by oscillating cutting is 6 Hz, and the amplitude of the vibration caused by oscillating cutting is 0.50 mm, the minimum amplitude of the vibration based on the composite vibration (the minimum amplitude achieved by adjusting the vibration phase) is 1.35 mm.

[0090] However, in this case, the upper limit of the amplitude of the vibration based on the composite vibration is 1.30 mm, so the minimum amplitude of the vibration based on the composite vibration (1.35 mm) exceeds the upper limit. Therefore, when the vibration frequencies of the vibration caused by eccentric machining and the vibration caused by oscillating cutting are different, the vibration phase adjustment unit 13 adjusts the vibration frequency and the vibration phase in the command for oscillating cutting.

[0091] Specifically, the vibration phase adjustment unit 13 changes the vibration frequency of the vibration caused by the oscillating cutting from 6Hz to 5Hz and adjusts the vibration phase. As a result, the minimum amplitude of the vibration based on the composite vibration (the minimum amplitude achieved by adjusting the vibration phase) is 1.27 mm. Therefore, since the upper limit of the amplitude of the vibration based on the composite vibration is 1.30 mm, the minimum amplitude of the vibration based on the composite vibration (1.27 mm) is below the upper limit of the amplitude.

[0092] In the above, the control device 1 adjusts the phase in order to adjust the combined amplitude, but in addition to the amplitude, it can also adjust the phase of two vibrations to control any one of the following: the acceleration of the combined vibration, the magnitude (amplitude, acceleration) of the vibration in a specific component of the drive mechanism, the vibration of the whole machine, and the parameters affected by the combined vibration.

[0093] Figure 11 This diagram illustrates two examples of oscillating cutting using the first embodiment. Figure 11 In the example shown, machine tool 2 processes workpiece 70 by two oscillating cuts instead of the aforementioned oscillating cuts and eccentric machining. That is, in machine tool 2, oscillating cuts are performed between the fixed tool table 65A and the movable spindle table 75, and relative oscillating cuts are performed between the movable spindle table 75 and the movable tool table 65B.

[0094] Furthermore, the workpiece 70 is machined by tool 66A through the oscillating cutting of the fixed tool table 65A and the movable spindle table 75, and the workpiece 70 is machined by tool 66B through the relative oscillating cutting of the movable spindle table 75 and the movable tool table 65B.

[0095] In this case, the tool 66A vibrates relative to the vibrating workpiece 70 through the oscillating cutting of the fixed tool table 65A and the movable spindle table 75. In addition, the tool 66B vibrates relative to the workpiece 70 through the relative oscillating cutting of the movable spindle table 75 and the movable tool table 65B.

[0096] Furthermore, the vibration caused by the relative oscillating cutting of the movable spindle table 75 and the movable tool table 65B is generated based on a relative vibration command that causes the workpiece 70 and the tool 66B to vibrate relative to each other. The vibration caused by the oscillating cutting of the fixed tool table 65A and the movable spindle table 75 is generated based on a vibration command that causes the tool 23 of the machine tool 2 to vibrate.

[0097] Moreover, in Figure 11In the example shown, when the sum of the amplitudes of the vibrations caused by the relative oscillating cutting of the movable spindle stage 75 and the movable tool stage 65B and the amplitudes of the vibrations caused by the oscillating cutting of the fixed tool stage 65A and the movable spindle stage 75 exceeds the upper limit of amplitude, the vibration phase adjustment unit 13 adjusts the phase difference between the vibrations caused by the relative oscillating cutting and the vibrations caused by the oscillating cutting, so that the sum of the amplitudes becomes below the upper limit of amplitude.

[0098] In addition, when the sum of the combined amplitudes is less than the lower limit of the amplitude, the vibration phase adjustment unit 13 adjusts the phase difference between the vibration caused by the relative oscillating cutting and the vibration caused by the oscillating cutting, so that the sum of the combined amplitudes becomes greater than or equal to the lower limit of the amplitude.

[0099] Therefore, in machining processes that use overlapping control that combines the vibrations caused by the relative oscillating cutting of the movable spindle table 75 and the movable tool table 65B with the vibrations caused by the oscillating cutting of the fixed tool table 65A and the movable spindle table 75, the control device 1 can suppress the maximum acceleration of the combined vibrations.

[0100] Figure 12 This diagram illustrates two examples of oscillating cutting using the first embodiment. Figure 12 In the example shown, machine tool 2 and Figure 11 Similarly, workpieces 83A and 83B are machined by two oscillating cuts. That is, in machine tool 2, oscillating cuts are performed between the fixed spindle table 82A and the movable tool table 80, and relative oscillating cuts are performed between the movable tool table 80 and the movable spindle table 82B.

[0101] Furthermore, workpiece 83A is machined by tool 81A through the oscillating cutting of fixed spindle table 82A and movable tool table 80, and workpiece 83B is machined by tool 81B through the relative oscillating cutting of movable tool table 80 and movable spindle table 82B.

[0102] In this case, the tool 81A vibrates due to the oscillating cutting of the fixed spindle table 82A and the movable tool table 80. In addition, the tool 81B vibrates relative to the workpiece 83B due to the relative oscillating cutting of the movable tool table 80 and the movable spindle table 82B.

[0103] Furthermore, the vibration caused by the relative oscillating cutting of the movable tool holder 80 and the movable spindle head 82B is generated based on a relative vibration command that causes the tool 81B and the workpiece 83B to vibrate relative to each other. The vibration caused by the oscillating cutting of the fixed spindle head 82A and the movable tool holder 80 is generated based on a vibration command that causes the tool 81A to vibrate.

[0104] Moreover, in Figure 12In the example shown, when the sum of the amplitudes of the vibrations caused by the relative oscillating cutting of the movable tool stage 80 and the movable spindle stage 82B and the amplitudes of the vibrations caused by the oscillating cutting of the fixed spindle stage 82A and the movable tool stage 80 exceeds the upper limit of amplitude, the vibration phase adjustment unit 13 adjusts the phase difference between the vibrations caused by the relative oscillating cutting and the vibrations caused by the oscillating cutting, so that the sum of the amplitudes becomes below the upper limit of amplitude.

[0105] Furthermore, the vibration phase adjustment unit 13 can also adjust the phase difference to minimize parameters based on the composite vibration, such as the composite amplitude. Therefore, in machining processes using overlapping control that combines vibrations caused by the relative oscillating cutting of the movable tool table 80 and the movable spindle table 82B with vibrations caused by the oscillating cutting of the fixed spindle table 82A and the movable tool table 80, the control device 1 can reduce the burden on the machinery.

[0106] In addition, when the sum of the combined amplitudes is less than the lower limit of the amplitude, the vibration phase adjustment unit 13 adjusts the phase difference between the vibration caused by the relative oscillating cutting and the vibration caused by the oscillating cutting, so that the sum of the combined amplitudes becomes greater than or equal to the lower limit of the amplitude.

[0107] Therefore, in machining processes that use overlapping control that combines the vibrations caused by the relative oscillating cutting of the movable tool table 80 and the movable spindle table 82B with the vibrations caused by the oscillating cutting of the fixed spindle table 82A and the movable tool table 80, the control device 1 can suppress micro-vibration wear.

[0108] Figure 13 This is a flowchart illustrating the processing flow of the control device 1 in the first embodiment.

[0109] In step S1, the vibration command generation unit 11 generates a vibration command for vibrating the tool 23 or workpiece 30 of the machine tool 2.

[0110] In step S2, the relative vibration command generation unit 12 generates a relative vibration command that causes the tool 23 and the workpiece 30 to vibrate relative to each other.

[0111] In step S3, the amplitude calculation unit 14 calculates the amplitude of the vibration of the tool 23 or the workpiece 30 according to the vibration command, and calculates the amplitude of the relative vibration of the tool 23 and the workpiece 30 according to the relative vibration command.

[0112] In step S4, the determination unit 15 determines whether the sum of the amplitudes of the vibrations of the tool 23 or the workpiece 30 and the relative vibrations of the tool 23 and the workpiece 30 is below the upper limit of amplitude or above the lower limit of amplitude. If the sum of the sums ...

[0113] In step S5, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command according to the vibration command and the relative vibration command.

[0114] As described above, the control device 1 according to the first embodiment includes: a vibration command generation unit 11 that generates a vibration command that causes the tool or workpiece of the machine tool 2 to vibrate; a relative vibration command generation unit 12 that generates a relative vibration command that causes the tool and the workpiece to vibrate relative to each other; and a vibration phase adjustment unit 13 that adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0115] Therefore, the control device 1 adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command, thus enabling appropriate adjustment of the combined vibration of the tool or workpiece vibration and the relative vibration of the tool and workpiece. Therefore, the control device 1 can minimize or maximize the factors caused by the combined vibration (e.g., the amplitude and acceleration of the combined vibration, the overall vibration and sound of the machine tool 2, etc.).

[0116] The vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command so that the parameters of the synthesized vibration obtained by combining the vibrations generated by the vibration command and the relative vibration command become predetermined values. Thus, the control device 1 can set the parameters based on the synthesized vibration to appropriate values.

[0117] Furthermore, the control device 1 also includes a determination unit 15 that determines whether the parameters are within a predetermined allowable value, and a vibration phase adjustment unit 13 that adjusts the vibration phase of at least one of the vibration command and the relative vibration command when the parameters are outside the allowable value. Thus, the control device 1 can appropriately adjust the vibration phase when the parameters are outside the allowable value.

[0118] Furthermore, the control device 1 also includes an amplitude calculation unit 14, which calculates the amplitude of the vibration of the tool or workpiece based on the vibration command, and calculates the amplitude of the relative vibration of the tool and workpiece based on the relative vibration command. The determination unit 15 determines whether the sum of the amplitudes of the tool or workpiece vibration and the relative vibration of the tool and workpiece, which are parameters, is below the upper limit value of the amplitude, which is an allowable value. If the sum of the sums exceeds the upper limit value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command. Thus, the control device 1 can appropriately adjust the vibration phase when the sum of the sums exceeds the upper limit value.

[0119] In addition, the control device 1 also includes an amplitude calculation unit 14, which calculates the amplitude of the vibration of the tool or workpiece based on the vibration command, and calculates the amplitude of the relative vibration of the tool and workpiece based on the relative vibration command. The determination unit 15 determines whether the sum of the amplitude of the tool or workpiece vibration and the amplitude of the relative vibration of the tool and workpiece, which is a parameter, is above or below the lower limit value of the amplitude, which is an allowable value. If the sum of the amplitudes is below the lower limit value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0120] Therefore, control device 1 can appropriately adjust the vibration phase when the synthesized amplitude is below the lower limit of the amplitude.

[0121] In addition, the control device 1 also includes a vibration phase setting unit 17, which sets the vibration phase relative to other axes based on the vibration phase adjusted by the vibration phase adjustment unit 13. This allows the control device 1 to set the vibration phase relative to other axes to an appropriate value after adjusting the composite vibration.

[0122] Furthermore, when the vibration frequencies of the vibration based on the vibration command and the vibration based on the relative vibration command are different, the vibration phase adjustment unit 13 adjusts the vibration frequency of at least one of the vibration command and the relative vibration command, and also adjusts the vibration phase. Therefore, the control device 1 can adjust not only the vibration phase but also the vibration frequency, thus further reducing the vibration of the composite vibration.

[0123] [Second Implementation]

[0124] Next, the control device 10 of the second embodiment will be described. Furthermore, in describing the second embodiment, the same symbols will be used to denote the same components as in the first embodiment, and their descriptions will be omitted or simplified.

[0125] The main difference between the control device 10 of the second embodiment and the first embodiment is that, instead of the relative vibration command generation unit and the vibration phase adjustment unit, it has a relative movement command generation unit that generates a relative movement command that causes the tool and the workpiece to move relative to each other, and a command adjustment unit that adjusts the parameters of the vibration command and the relative movement command. Other structures are the same as those of the first embodiment.

[0126] Figure 14 This is a diagram showing an outline of the control device 10 according to the second embodiment. The control device 10 is a device for controlling the machine tool 20, such as a numerical control device.

[0127] Figure 15 This is a diagram illustrating the outline of the relative movement and eccentric processing in the second embodiment.

[0128] The machine tool 20 positions the tool 26 relative to the workpiece 35 and performs eccentric machining on the workpiece 35. Figure 15 In the example shown, the relative movement command of tool 26 with respect to workpiece 35 is generated in the X-axis direction, and the vibration caused by the eccentric machining of workpiece 35 is also generated in the X-axis direction. Additionally, machine tool 20 has motors 21 and 25. Motor 21, for example, drives and controls spindle 24, and motor 25 drives and controls tool 26.

[0129] The control device 10 includes a vibration command generation unit 91, a relative movement command generation unit 92, a tool speed acquisition unit 93, a judgment unit 94, and a command adjustment unit 95.

[0130] The vibration command generation unit 91 generates a vibration command that causes at least the tool 26 or workpiece 35 of the machine tool 2 to vibrate. Specifically, the vibration command generation unit 91 generates a vibration command that causes the workpiece 35 to vibrate in order to perform eccentric machining.

[0131] The relative movement command generation unit 92 generates relative movement commands that at least cause the tool 26 to move relative to the workpiece 35.

[0132] The tool speed acquisition unit 93 acquires, at least according to the relative movement command and the vibration command, a first moving speed of the tool 26 based on the relative movement command of the tool 26 relative to the workpiece 35, and a second moving speed of the tool 26 based on the vibration caused by eccentric machining.

[0133] The determination unit 94 determines whether the sum of the first moving speed and the second moving speed obtained by the tool speed acquisition unit 93 exceeds the speed limit value.

[0134] The command adjustment unit 95 adjusts at least one parameter among multiple parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command. Specifically, when the combined speed exceeds the speed limit value, the command adjustment unit 95 adjusts the timing of the execution of the relative movement command of the tool 26 relative to the workpiece 35 so that the combined speed is below the speed limit value. Alternatively, the command adjustment unit 95 can also adjust the movement speed of the tool based on the relative movement command of the tool 26 relative to the workpiece 35 when the combined speed exceeds the speed limit value.

[0135] Figures 16 to 18 This is a graph showing the moving speed of tool 26 in the second embodiment.

[0136] Specifically, Figure 16 This is a diagram showing the first moving speed of the tool 26 based on the relative moving command of the tool 26 relative to the workpiece 35, the second moving speed of the tool 26 based on the vibration caused by eccentric machining, and the third moving speed of the tool 26 based on the combined command of the two embodiments.

[0137] Figure 17 This is a diagram showing the first moving speed of the tool 26 based on the relative moving command of the tool 26 to the workpiece 35 before and after the command adjustment, the second moving speed of the tool 26 based on the vibration caused by eccentric machining, and the third moving speed of the tool based on the combined command of them, according to the second embodiment.

[0138] exist Figure 16 and Figure 17 In the waveform shown, the horizontal axis represents time, and the vertical axis represents the movement speed of tool 26 in the X direction.

[0139] exist Figure 16 In the example shown, the moving speed of tool 26 is outside the permissible value. In this case, control device 1 can avoid this by adjusting the timing of the execution of the relative movement command of tool 26 relative to workpiece 35.

[0140] Therefore, the determination unit 94 determines whether the combined speed of the first moving speed and the second moving speed obtained by the tool speed acquisition unit 93 exceeds the speed limit value.

[0141] Furthermore, when the synthesis speed exceeds the speed limit, the instruction adjustment unit 95 adjusts the execution timing of the relative movement instruction between the tool 26 and the workpiece 35 so that the synthesis speed is below the speed limit.

[0142] Specifically, such as Figure 17As shown, the command adjustment unit 95 adjusts the execution timing of the relative movement command of the tool 26 relative to the workpiece 35 so that the execution timing of the relative movement command of the tool 26 relative to the workpiece 35 stops for a time T. Additionally, the command adjustment unit 95 can also adjust the vibration phase of the vibration caused by eccentric machining so that the vibration command of the eccentric machining is advanced by a time T.

[0143] Alternatively, instead of the above processing, the instruction adjustment unit 95 can adjust the timing of the execution of the relative movement instruction between the tool 26 and the workpiece 35, as well as the vibration phase of the vibration caused by eccentric machining. Thus, after adjustment, the combined speed becomes below the upper speed limit.

[0144] Furthermore, the command adjustment unit 95 can also adjust the absolute value of the tool's movement speed to be as small as possible. As a result, the control device 10 can reduce the burden on the machine tool 20.

[0145] Figure 18 This is a diagram showing the first moving speed of the tool 26 based on the relative moving command of the tool 26 to the workpiece 35 before and after the command adjustment, the second moving speed of the tool 26 due to vibration caused by eccentric machining, and the third moving speed of the tool 26 based on the combined command of them, according to the second embodiment.

[0146] Figure 18 The example shown is not as Figure 17 Instead of adjusting the timing of the relative movement command of tool 26 relative to workpiece 35, the timing of the relative movement command of tool 26 relative to workpiece 35 is adjusted, the first movement speed of the tool is adjusted based on the relative movement command of tool 26 relative to workpiece 35. Figure 18 In the example shown, if the combined speed exceeds the speed limit, the instruction adjustment unit 95 adjusts the first movement speed based on the relative movement instruction of the tool 26 relative to the workpiece 35 to make the combined speed match the speed limit. Therefore, the combined speed will not exceed the speed limit.

[0147] In addition to the above, the command adjustment unit 95 can also adjust the first moving speed when the combined speed exceeds the speed limit, for example, by making the combined speed zero. Furthermore, besides adjusting the first moving speed of the tool 26 based on the relative moving command of the tool 26 relative to the workpiece 35, the command adjustment unit 95 can also adjust the timing of the relative moving command of the tool 26 relative to the workpiece 35. Therefore, the control device 10 can reduce the burden on the machine tool 20.

[0148] In addition, as mentioned above, the instruction adjustment unit 95 can adjust other parameters such as acceleration based on the synthesis instruction, in addition to adjusting the synthesis speed.

[0149] In addition, as described above, the instruction adjustment unit 95 can also adjust the instruction based on feedback from sensors that can directly observe them without having to calculate the parameters of the synthesized instruction in advance, and end the adjustment at the time point when the desired value is met, thereby adjusting the parameters of the synthesized instruction.

[0150] Figure 19 This is a flowchart illustrating the processing flow of the control device 10 in the second embodiment.

[0151] In step S11, the vibration command generation unit 91 generates a vibration command that causes the tool 26 or workpiece 35 of the machine tool 2 to vibrate.

[0152] In step S12, the relative movement command generation unit 92 generates a relative movement command that causes the tool 26 to move relative to the workpiece 35.

[0153] In step S13, the tool speed acquisition unit 93 acquires, at least based on the relative movement command and the vibration command, a first moving speed of the tool 26 based on the relative movement command of the tool 26 relative to the workpiece 35, and a second moving speed of the tool 26 based on the vibration caused by eccentric machining.

[0154] In step S14, the determination unit 94 determines whether the sum of the first moving speed and the second moving speed obtained by the tool speed acquisition unit 93 exceeds a speed limit value. If the sum of the sum of the sum of the sums exceeds the speed limit value (yes), the process proceeds to step S15. On the other hand, if the sum of the sums of the sums does not exceed the speed limit value (no), the process ends.

[0155] In step S15, if the combined speed exceeds the speed limit, the command adjustment unit 95 adjusts the execution timing of the relative movement command of the tool 26 relative to the workpiece 35 so that the combined speed is below the speed limit. Alternatively, the command adjustment unit 95 can also adjust the movement speed of the tool based on the relative movement command of the tool 26 relative to the workpiece 35 if the combined speed exceeds the speed limit.

[0156] As described above, the control device 10 of the second embodiment includes: a vibration command generation unit 91 that generates a vibration command that causes the tool or workpiece of the machine tool 20 to vibrate; a relative movement command generation unit 92 that generates a relative movement command that causes the tool and the workpiece to move relative to each other; and a command adjustment unit 95 that adjusts at least one of a plurality of parameters of the vibration command and the relative movement command according to the vibration command and the relative movement command.

[0157] Therefore, the control device 10 adjusts at least one parameter among the multiple parameters of the vibration command and the relative movement command according to the vibration command and the relative movement command, thus enabling appropriate adjustment of the combined vibration of the tool or workpiece and the relative movement of the tool and the workpiece. Therefore, the control device 1 can minimize or maximize the elements caused by the combined vibration (e.g., the amplitude and acceleration of the combined vibration, the overall vibration and sound of the machine tool 20, etc.).

[0158] Alternatively, the parameters of the relative movement command may include the execution timing of the relative movement command, and the command adjustment unit 95 may adjust at least one parameter according to the vibration command. Thus, the control device 1 can set the parameters based on the synthetic vibration to appropriate values.

[0159] Alternatively, the parameters of the relative movement command may include the tool's movement speed based on the relative movement command, and the command adjustment unit 95 may adjust at least one parameter according to the vibration command. Thus, the control device 1 can set the parameters based on the synthesized vibration to appropriate values.

[0160] The above-described embodiments describe the control device 1 for controlling the machine tool 2, but the present invention is not limited to the above-described embodiments. For example, in other embodiments of the present invention, a computing device 100 may be used instead of the control device 1.

[0161] Figure 20 This is a schematic diagram illustrating another embodiment of the computing device 100. The computing device 100 is a computer device connected to the control device 1. Figure 20 In the embodiment shown, the control device 1 controls the machine tool 2 according to the control commands output from the computing device 100.

[0162] like Figure 20 As shown, the computing device 100 includes a vibration command generation unit 101, a relative vibration command generation unit 102, a vibration phase adjustment unit 103, an amplitude calculation unit 104, a determination unit 105, a related axis vibration command generation unit 106, and a vibration phase setting unit 107.

[0163] Furthermore, the vibration command generation unit 101, the relative vibration command generation unit 102, the vibration phase adjustment unit 103, the amplitude calculation unit 104, the determination unit 105, the associated shaft vibration command generation unit 106, and the vibration phase setting unit 107 are respectively equivalent to the vibration command generation unit 11, the relative vibration command generation unit 12, the vibration phase adjustment unit 13, the amplitude calculation unit 14, the determination unit 15, the associated shaft vibration command generation unit 16, and the vibration phase setting unit 17 in the above embodiment, and perform the same control as in the first embodiment described above.

[0164] Therefore, the computing device 100, like the control device 1 in the first embodiment described above, can appropriately adjust the combined vibration of the tool or workpiece vibration and the relative vibration of the tool and workpiece. Alternatively, instead of the above structure, the computing device 100 may also have the structure of the second embodiment described above. In this case, the computing device 100 performs the same control as in the second embodiment described above. Therefore, the computing device 100, like the control device 10 in the second embodiment described above, can appropriately adjust the combined vibration of the tool or workpiece vibration and the relative movement of the tool and workpiece.

[0165] The embodiments of the present invention have been described above, but the control device 1 and the computing device 100 described above can be implemented by hardware, software, or a combination thereof. Furthermore, the control method performed by the control device 1 and the computing device 100 can also be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementation by loading and executing a program into a computer.

[0166] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (read-only memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (programmable ROMs), EPROMs (erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0167] Furthermore, this specification provides an example of a control device that further synthesizes vibration commands and movement commands into other vibration commands and movement commands when a vibration command for a tool or workpiece moves back and forth along a single axis. However, the control device can also be applied to cases like Japanese Patent No. 3093933, where continuous circular motion is achieved by synchronously vibrating two or more axes.

[0168] Furthermore, the above-described embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited to the above-described embodiments. Various modifications can be made without departing from the spirit of the present invention.

[0169] Symbol Explanation

[0170] 1 Control device

[0171] 2 machine tools

[0172] 11 Vibration Command Generation Unit

[0173] 12 Relative Vibration Command Generation Unit

[0174] 13 Vibration Phase Adjustment Section

[0175] 14 Amplitude Calculation Section

[0176] 15 Judgment Department

[0177] 16-axis vibration command generation unit

[0178] 17 Vibration Phase Setting Unit

[0179] 21 electric motors

[0180] 22 electric motors

[0181] 23 tools

[0182] 24 spindles

[0183] 30 workpieces

[0184] 100 computing devices.

Claims

1. A control device that controls a machine tool, characterized by, The control device includes: a vibration command generation section that generates a vibration command that causes a tool or a workpiece of the machine tool to vibrate; a relative movement command generation section that generates a relative movement command that causes the tool and the workpiece to relatively move; and a command adjustment section that adjusts at least one parameter of a plurality of parameters of the vibration command and the relative movement command in accordance with the vibration command and the relative movement command.

2. The control device according to claim 1, wherein the parameter of the relative movement command includes timing at which the relative movement command is executed, and the command adjustment section adjusts the at least one parameter in accordance with the vibration command.

3. The control device according to claim 1 or 2, wherein the parameter of the relative movement command includes a movement speed of the tool based on the relative movement command, and the command adjustment section adjusts the at least one parameter based on the vibration command.

4. A computing device for a control device for controlling a machine tool, characterized in that, The control device includes: a vibration command generation section that generates a vibration command that causes a tool or a workpiece of the machine tool to vibrate; a relative movement command generation section that generates a relative movement command that causes the tool and the workpiece to relatively move; and a command adjustment section that adjusts at least one parameter of a plurality of parameters of the vibration command and the relative movement command in accordance with the vibration command and the relative movement command.

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