Grooving system and grooving method

Abstract

This invention provides a groove processing system and groove processing method that can reduce the workload of workers who process rope grooves. [Solution] In the groove machining system, the tool movable device 6 moves the tool 5 relative to the rope groove 108a by receiving an electric current. The current measuring device 3 generates a signal as a measurement signal corresponding to the vibration generated in the tool 5 when machining the rope groove 108a. Based on the measurement signal, the groove machining control unit 2 creates waveform data showing the vibration waveform, and based on the waveform data determines whether chatter vibration is occurring in the tool 5. If it is determined that chatter vibration is occurring, it controls the operation control device 106 to change the rotational speed of the drive sheave 108.

Description

【Technical Field】 【0001】 The present disclosure relates to a groove processing system and a groove processing method. 【Background Art】 【0002】 In Patent Document 1, in order to suppress a sudden increase in the machining force of a groove processing device for machining a rope groove of a pulley, based on the machining force of the groove processing device and the total amount of the rotation angle of the pulley, a groove processing system that controls the machining position of the rope groove by the groove processing device is disclosed. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2021-114067 【Summary of the Invention】 【Problems to be Solved by the Invention】 <​​​​​​​​​​​​The groove processing system according to the present disclosure includes a processing tool that contacts the inner surface of a rope groove formed on the outer peripheral portion of a target wire rope wheel while the target wire rope wheel is rotating under the control of an operation control device, thereby processing the rope groove; a processing tool movable device that moves the processing tool with respect to the rope groove by receiving a supply of current; a groove processing control unit that controls the current supplied to the processing tool movable device; and a measurement unit that generates, as a measurement signal, a signal corresponding to vibrations generated in the processing tool when processing the rope groove. The groove processing control unit creates waveform data indicating the waveform of the vibrations based on the measurement signal, determines whether chatter vibrations are occurring in the processing tool based on the waveform data, and changes the rotational speed of the target wire rope wheel by controlling the operation control device when it is determined that chatter vibrations are occurring. Further, the groove processing method according to the present disclosure includes a measurement step in which a measurement unit generates, as a measurement signal, a signal corresponding to vibrations generated in a processing tool when the processing tool is brought into contact with the inner surface of a rope groove formed on the outer peripheral portion of a target wire rope wheel while the target wire rope wheel is rotating under the control of an operation control device, thereby processing the rope groove; a determination step in which a groove processing control unit creates waveform data indicating the waveform of the vibrations based on the measurement signal and determines whether chatter vibrations are occurring in the processing tool based on the waveform data; and a wire rope wheel rotation control step in which the rotational speed of the target wire rope wheel is controlled based on the determination result in the determination step. In the wire rope wheel rotation control step, when it is determined in the determination step that chatter vibrations are occurring in the processing tool, the rotational speed of the target wire rope wheel is changed. 【Advantages of the Invention】 【0007】 According to the groove processing system and the groove processing method of the present disclosure, it is possible to reduce the work load of an operator who processes the rope groove. 【Brief Description of the Drawings】 【0008】 [Figure 1] It is a configuration diagram showing an elevator to which the groove processing system according to Embodiment 1 is applied. [Figure 2]Figure 1 is a configuration diagram showing the state in which the groove processing system according to Embodiment 1 is installed on the elevator. [Figure 3] Figure 2 is an explanatory diagram showing the configuration of the groove machining system. [Figure 4] Figure 3 is a block diagram showing the configuration of the groove machining system. [Figure 5] Figure 3 is a schematic side view showing the state in which chatter vibration occurs in the workpiece when the rotational speed of the drive sheave is at the reference rotational speed n0. [Figure 6] This is a schematic front view showing the inner surface of the rope groove processed by the tool shown in Figure 5. [Figure 7] Figure 5 is a graph showing the relationship between the acceleration a of the workpiece and time t. [Figure 8] Figure 5 is a schematic side view showing the state of the workpiece when the rotational speed of the drive sheave is at a low rotational speed n1. [Figure 9] This is a schematic front view showing the inner surface of the rope groove processed by the tool shown in Figure 8. [Figure 10] Figure 8 is a graph showing the relationship between the acceleration a of the workpiece and time t. [Figure 11] Figure 4 is a graph showing the relationship between the current value I measured by the current measuring instrument and the frequency f of the current I. [Figure 12] This graph shows the relationship between the current value I measured by a current measuring instrument and the frequency f of the current I when the current, whose value has been corrected by the bandpass filter generated by the control unit in Figure 11, is supplied to the workpiece movable device. [Figure 13] This graph shows an example of the characteristics of the bandpass filter generated by the control unit shown in Figure 11. [Figure 14] Figure 4 is a graph showing the relationship between the current value I, measured by the current measuring instrument, and time t. [Figure 15] Figure 4 is a graph showing the relationship between the current I supplied by the control unit to the workpiece movable device and time t. [Figure 16]Figure 15 is a graph showing the relationship between the current value of the current I, measured by a current measuring instrument, and time t when the current I is supplied to the workpiece movable device by the control unit. [Figure 17] This flowchart shows the groove machining method when machining rope grooves using the groove machining system shown in Figure 3. [Figure 18] This is a configuration diagram showing the groove machining system according to Embodiment 2 in an installed state. [Figure 19] Figure 18 is an explanatory diagram showing the configuration of the groove machining system. [Figure 20] This is an explanatory diagram showing the configuration of the groove machining system according to Embodiment 3. [Figure 21] The configuration of the groove machining system is shown in Figure 20 (football). [Figure 22] Figure 21 is a graph showing the relationship between the value of acceleration a measured by the acceleration sensor and the frequency f of acceleration a. [Figure 23] This graph shows the relationship between the value of acceleration a measured by the acceleration sensor and the frequency f of acceleration a when a current corrected by a bandpass filter generated by the control unit in Figure 21 is supplied to the workpiece movable device. [Figure 24] Figure 21 is a graph showing the relationship between the value of acceleration 'a' measured by the accelerometer and time 't'. [Figure 25] Figure 24 is a graph showing the relationship between the current I supplied by the control unit to the workpiece movable device and time t when the acceleration a is measured by the acceleration sensor. [Figure 26] This flowchart shows the groove machining method when machining rope grooves using the groove machining system shown in Figure 20. [Figure 27] This is an explanatory diagram showing the configuration of the groove machining system according to Embodiment 4. [Figure 28] This is a schematic diagram showing the state when the cutting edge of the tool in the groove machining system according to Embodiment 5 is machining the rope groove of the drive sheave. [Figure 29]This is a configuration diagram showing a first example of a processing circuit that realizes the functions of the groove machining control unit according to each embodiment. [Figure 30] This diagram shows a second example of a processing circuit that realizes the functions of the groove machining control unit according to each embodiment. [Modes for carrying out the invention] 【0009】 The embodiments for carrying out the subject matter of this disclosure will be described with reference to the attached figures. In each figure, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are simplified or omitted as appropriate. The subject matter of this disclosure is not limited to the following embodiments, and any modification of any component of the embodiments or omission of any component of the embodiments is possible without departing from the spirit of this disclosure. 【0010】 Embodiment 1. Embodiment 1 describes an example in which the groove processing system is applied to an elevator. Figure 1 is a configuration diagram showing an elevator to which the groove processing system according to Embodiment 1 is applied. A machine room 102 is provided above the hoistway 101. The machine room 102 is equipped with a support base 103, a hoisting machine 104, a deflection wheel 105, and an operation control device 106. 【0011】 The support base 103 is fixed to the floor of the machine room 102. The hoisting machine 104 and the deflector wheel 105 are supported by the support base 103. 【0012】 The hoisting machine 104 comprises a hoisting machine body 107 and a drive sheave 108. The drive sheave 108 is mounted on the hoisting machine body 107 with its axis horizontal. The drive sheave 108 is rotatable relative to the hoisting machine body 107 about its axis. 【0013】 The hoisting machine body 107 has a motor. The motor of the hoisting machine body 107 is a drive device that generates the driving force to rotate the drive sheave 108. The drive sheave 108 rotates relative to the hoisting machine body 107 when current is supplied to the motor of the hoisting machine body 107. 【0014】 The operation control device 106 is a control device that controls the operation of the elevator. The operation control device 106 controls the rotational speed of the drive sheave 108 by controlling the current supplied to the motor of the hoisting machine body 107. 【0015】 The deflection wheel 105 is positioned away from the drive sheave 108. The deflection wheel 105 is positioned below the drive sheave 108 and horizontally offset from it. The deflection wheel 105 is positioned with its axis parallel to the axis of the drive sheave 108. The deflection wheel 105 is rotatable around its axis relative to the support base 103. 【0016】 Multiple rope grooves 108a are formed on the outer circumference of the drive sheave 108 along the circumferential direction of the drive sheave 108. The multiple rope grooves 108a are arranged in a direction along the axis of the drive sheave 108. In this embodiment, the cross-sectional shape of each rope groove 108a in the plane containing the axis of the drive sheave 108 is arc-shaped. Hereinafter, the cross-sectional shape of the rope groove 108a in the plane containing the axis of the drive sheave 108 will be simply referred to as the "cross-sectional shape of the rope groove 108a". 【0017】 Multiple rope grooves 105a are formed on the outer circumference of the deflection wheel 105 along the circumferential direction of the deflection wheel 105. The multiple rope grooves 105a are arranged in a direction along the axis of the deflection wheel 105. In this embodiment, the cross-sectional shape of each rope groove 105a in the plane containing the axis of the deflection wheel 105 is arc-shaped. Hereinafter, the cross-sectional shape of the rope groove 105a in the plane containing the axis of the deflection wheel 105 will be simply referred to as the "cross-sectional shape of the rope groove 105a". 【0018】 Multiple ropes 109 are continuously wound around the drive sheave 108 and the deflection wheel 105. The multiple ropes 109 are individually inserted into multiple rope grooves 108a in the drive sheave 108 and individually inserted into multiple rope grooves 105a in the deflection wheel 105. In the drive sheave 108, frictional force is generated between the inner surface of each rope groove 108a and each rope 109 as each rope 109 contacts the inner surface of each rope groove 108a. In the deflection wheel 105, frictional force is generated between the inner surface of each rope groove 105a and each rope 109 as each rope 109 contacts the inner surface of each rope groove 105a. 【0019】 A cage 110 is connected to one end of each rope 109, and a counterweight 111 is connected to the other end of each rope 109. The cage 110 and the counterweight 111 are suspended within the elevator shaft 101 by multiple ropes 109. 【0020】 When the drive sheave 108 rotates relative to the hoisting machine body 107 due to the driving force of the motor in the hoisting machine body 107, each rope 109 moves in accordance with the rotation of the drive sheave 108. As a result, the cage 110 and the counterweight 111 move vertically within the hoistway 101. The deflector wheel 105 rotates in conjunction with the rotation of the drive sheave 108, via each rope 109 as the drive sheave 108 rotates. 【0021】 If the elevator continues to operate, the inner surfaces of the rope grooves 108a of the drive sheave 108 and 105a of the deflector sheave 105 will gradually wear down due to contact with the rope 109. As wear progresses in the rope grooves 108a and 105a, the cross-sectional shape of the rope grooves 108a and 105a will be altered, changing the contact state between the inner surfaces of the rope grooves 108a and 105a and the rope 109. This makes the rope 109 more susceptible to wear, shortening its lifespan. 【0022】 The groove machining system according to this embodiment restores the cross-sectional shape of the rope groove 108a of the drive sheave 108 to the designed shape by machining the rope groove 108a that has been damaged by wear. Therefore, in this embodiment, the sheave that is the target of machining by the groove machining system, i.e., the sheave to be machined, is the drive sheave 108. 【0023】 Figure 2 is a configuration diagram showing the state in which the groove processing system according to Embodiment 1 is installed in the elevator of Figure 1. Figure 3 is an explanatory diagram showing the configuration of the groove processing system of Figure 2. When the rope groove 108a of the drive sheave 108 is processed by the groove processing system, each rope 109 is detached from the drive sheave 108. Therefore, in this embodiment, the groove processing system is installed in the machine room 102 with each rope 109 detached from the drive sheave 108. 【0024】 The grooving system comprises a grooving unit 1, a grooving control unit 2, and a current measuring instrument 3. 【0025】 The groove machining unit 1 is attached to the support base 103 via a mounting member 4. The mounting member 4 is detachable from the support base 103. Thus, the groove machining unit 1 is detachably attached to the support base 103. The groove machining unit 1 is positioned radially outward from the drive sheave 108. 【0026】 The groove machining unit 1 includes a machining tool 5 and a machining tool movable device 6. 【0027】 The machining tool 5 has a cutting edge portion 5a. The machining tool 5 is positioned so that its cutting edge portion 5a faces the rope groove 108a of the drive sheave 108. In this embodiment, a lathe tool is used as the machining tool 5. Also, in this embodiment, as shown in Figure 3, the shape of the cutting edge portion 5a is an arc shape with the same outer diameter as the inner diameter of the rope groove 108a after machining. 【0028】 The machining tool 5 machines the rope groove 108a by contacting the inner surface of the rope groove 108a while the drive sheave 108 is rotating. When the rope groove 108a is machined by the machining tool 5, the rotation of the drive sheave 108 is controlled by the operation control device 106. The cutting edge 5a of the machining tool 5 contacts the inner surface of the rope groove 108a. When the cutting edge 5a of the machining tool 5 contacts the inner surface of the rope groove 108a while the drive sheave 108 is rotating, the cutting edge 5a of the machining tool 5 cuts into the inner surface of the rope groove 108a, and the inner surface of the rope groove 108a is removed. As a result, the rope groove 108a is machined and the cross-sectional shape of the rope groove 108a is restored. 【0029】 The tool movable device 6 is attached to the mounting member 4. The tool 5 is attached to the tool movable device 6. The tool movable device 6 moves the tool 5 relative to the rope groove 108a by receiving an electric current. In this embodiment, the tool movable device 6 moves the tool 5 relative to the rope groove 108a in two mutually orthogonal directions, the X direction and the Z direction. The X direction coincides with the direction along the axis of the drive sheave 108. The Z direction coincides with the direction along the radius of the drive sheave 108, i.e., the radial direction of the drive sheave 108. 【0030】 The workpiece movable device 6 has an X-direction movable part 61, a Z-direction movable part 62, and a power generation part 63. 【0031】 The X-direction movable part 61 is attached to the mounting member 4. The X-direction movable part 61 is movable in the X direction relative to the mounting member 4. The direction of movement of the X-direction movable part 61 relative to the mounting member 4 is restricted to the X direction only. 【0032】 The Z-direction movable part 62 is attached to the X-direction movable part 61. As a result, the Z-direction movable part 62 can move in the X direction relative to the mounting member 4 in conjunction with the X-direction movable part 61. In addition, the Z-direction movable part 62 can move in the Z direction relative to the X-direction movable part 61. The direction of movement of the Z-direction movable part 62 relative to the X-direction movable part 61 is limited to the Z direction only. 【0033】 The workpiece 5 is fixed to the Z-direction movable part 62. As a result, the workpiece 5 moves in the X direction relative to the mounting member 4 by the movement of the X-direction movable part 61 relative to the mounting member 4. Also, the workpiece 5 moves in the Z direction relative to the mounting member 4 by the movement of the Z-direction movable part 62 relative to the X-direction movable part 61. Therefore, the workpiece 5 is movable in both the X and Z directions relative to the rope groove 108a. 【0034】 The power generation unit 63 generates a driving force to move the X-direction movable part 61 relative to the mounting member 4, and a driving force to move the Z-direction movable part 62 relative to the X-direction movable part 61. The power generation unit 63 includes an X-direction drive motor 64 and a Z-direction drive motor 65. 【0035】 The X-direction drive motor 64 is attached to the mounting member 4. The X-direction drive motor 64 is connected to the X-direction movable part 61. The X-direction drive motor 64 generates a driving force that moves the X-direction movable part 61 relative to the mounting member 4 when it receives an electric current. The X-direction drive motor 64 is a servo motor that can adjust the position of the X-direction movable part 61 relative to the mounting member 4. 【0036】 The Z-direction drive motor 65 is attached to the X-direction movable part 61. The Z-direction drive motor 65 is connected to the Z-direction movable part 62. The Z-direction drive motor 65 generates a driving force that moves the Z-direction movable part 62 relative to the X-direction movable part 62 when it receives an electric current. The Z-direction drive motor 65 is a servo motor that can adjust the position of the Z-direction movable part 62 relative to the X-direction movable part 61. 【0037】 As shown in Figure 3, the groove machining control unit 2 is connected to the X-direction drive motor 64 via a connecting cable 66 and to the Z-direction drive motor 65 via a connecting cable 67. The groove machining control unit 2 supplies current to the X-direction drive motor 64 through the connecting cable 66 and to the Z-direction drive motor 65 through the connecting cable 67. In other words, the groove machining control unit 2 supplies current to the tool movable device 6 through the respective connecting cables 66 and 67. As shown in Figure 2, the groove machining control unit 2 is installed on the floor of the machine room 102. 【0038】 The groove machining control unit 2 controls the current supplied to the tool movable device 6. Specifically, the groove machining control unit 2 individually controls the current supplied to the X-direction drive motor 64 and the current supplied to the Z-direction drive motor 65. In this way, the tool movable device 6 is controlled by the groove machining control unit 2. By controlling the tool movable device 6, the groove machining control unit 2 adjusts the position of the tool 5 relative to the rope groove 108a. 【0039】 Furthermore, the groove machining control unit 2 is connected to the operation control device 106 via a connecting cable 68. This allows the groove machining control unit 2 to communicate with the operation control device 106 through the connecting cable 68. 【0040】 The groove machining control unit 2 is capable of transmitting control commands regarding the rotational speed of the drive sheave 108 to the operation control device 106 via a connecting cable 68. Upon receiving the control commands from the groove machining control unit 2, the operation control device 106 controls the motor of the hoisting machine body 107 according to the control commands. This controls the rotational speed of the drive sheave 108. In other words, the groove machining control unit 2 controls the rotational speed of the drive sheave 108 by transmitting control commands to the operation control device 106 and controlling the operation control device 106. 【0041】 The current measuring device 3 is a measuring unit that measures the current value of the current supplied to the workpiece movable device 6. By measuring the current value of the current supplied to the workpiece movable device 6, the current measuring device 3 generates a signal indicating the measured current value as a measurement signal. 【0042】 In this embodiment, the current measuring device 3 measures the current values ​​supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively. Also in this embodiment, as shown in Figure 3, the current measuring device 3 measures the current values ​​supplied to the X-direction drive motor 64 and the Z-direction drive motor 65 at the respective connection cables 66 and 67. 【0043】 Here, when the workpiece 5 is machining the rope groove 108a, the inner surface of the rope groove 108a is cut by the cutting edge 5a of the workpiece 5, causing vibration in the workpiece 5. When vibration occurs in the workpiece 5, the reaction force of the workpiece 5 against the inner surface of the rope groove 108a changes in accordance with the vibration. The current value supplied to the workpiece movable device 6 changes in accordance with the change in the reaction force of the workpiece 5 against the inner surface of the rope groove 108a. As a result, the current value supplied to the workpiece movable device 6 changes in accordance with the vibration that occurs in the workpiece 5 when machining the rope groove 108a. Therefore, the measurement signal generated by the current measuring instrument 3 is a signal corresponding to the vibration that occurs in the workpiece 5 when machining the rope groove 108a. 【0044】 The measurement signal generated by the current measuring device 3 is transmitted to the groove machining control unit 2. Based on the measurement signal from the current measuring device 3, the groove machining control unit 2 controls the operation control device 106 and also controls the current supplied to the workpiece movable device 6. 【0045】 Figure 4 is a block diagram showing the configuration of the groove machining system in Figure 3. The groove machining control unit 2 has a determination unit 21 and a control body unit 22. 【0046】 The determination unit 21 stores the measurement signals from the current measuring instrument 3 as a database. The determination unit 21 also creates current value data that shows the temporal change in the current value based on the measurement signals stored as a database. Since the measurement signals are signals corresponding to the vibrations generated in the workpiece 5, the current value data corresponds to waveform data that shows the waveform of the vibrations generated in the workpiece 5. Accordingly, the determination unit 21 creates the current value data as waveform data based on the measurement signals stored as a database. In this embodiment, the determination unit 21 creates waveform data in the X direction based on the current value of the current supplied to the X direction drive motor 64, and waveform data in the Z direction based on the current value of the current supplied to the Z direction drive motor 65. 【0047】 Here, when the workpiece 5 is machining the rope groove 108a, chatter vibration may occur due to the amplification of the vibration of the workpiece 5 by resonance with the drive sheave 108. When chatter vibration occurs in the workpiece 5, peaks in the intensity of the chatter vibration occur periodically. Therefore, if machining of the rope groove 108a continues while chatter vibration is occurring in the workpiece 5, the machining accuracy of the inner surface of the rope groove 108a after machining will decrease. 【0048】 The determination unit 21 determines whether chatter vibration is occurring in the workpiece 5 based on the generated waveform data. Specifically, the determination unit 21 determines that chatter vibration is occurring in the workpiece 5 when the periodic peak value of the vibration in the generated waveform data exceeds a set threshold, and this determination is called a chatter occurrence determination. Also, the determination unit 21 determines that the occurrence of chatter vibration has been avoided when the periodic peak value of the vibration in the waveform data is below a set threshold, and this determination is called a chatter avoidance determination. In this embodiment, the determination unit 21 determines whether chatter vibration is occurring in the workpiece 5 based on the waveform data for the X and Z directions, respectively, for both the X and Z directions. Therefore, in this embodiment, the chatter occurrence determination may be performed only for the X direction, only for the Z direction, or for both the X and Z directions. Specifically, the determination unit 21 performs a chatter occurrence determination if it determines that chatter vibration is occurring in the workpiece 5 in at least one of the X and Z directions. Furthermore, the determination unit 21 performs a chatter avoidance determination if it determines that the occurrence of chatter vibration has been avoided in both the X and Z directions. 【0049】 The control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a to a preset feed position by controlling the current supplied to the workpiece movable device 6 while pressing the workpiece 5 against the inner surface of the rope groove 108a. The position of the workpiece 5 relative to the rope groove 108a is adjusted by adjusting the position of the X-direction movable part 61 relative to the mounting member 4 and the position of the Z-direction movable part 62 relative to the X-direction movable part 61. When the position of the workpiece 5 relative to the rope groove 108a reaches a preset target position as the workpiece 5 cuts the inner surface of the rope groove 108a, the control unit 22 stops adjusting the position of the workpiece 5 relative to the rope groove 108a. 【0050】 The control unit 22 controls the operation control device 106 based on the determination result from the determination unit 21. If the determination unit 21 determines that chatter avoidance has occurred, the control unit 22 controls the operation control device 106 to set the rotational speed of the drive sheave 108 to a preset reference rotational speed n0 [rpm]. On the other hand, if the determination unit 21 determines that chatter has occurred, the control unit 22 controls the operation control device 106 to reduce the rotational speed of the drive sheave 108 to a low rotational speed n1 [rpm], which is lower than the reference rotational speed n0 [rpm]. 【0051】 Furthermore, the control unit 22 controls the current supplied to the tool movable device 6 based on the determination result from the determination unit 21. When the determination unit 21 determines that chatter must be avoided, the control unit 22 controls the current supplied to the tool movable device 6 so that the position of the tool 5 relative to the rope groove 108a becomes the set feed position. This ensures that the cutting depth of the tool 5 relative to the inner surface of the rope groove 108a remains constant. On the other hand, when the determination unit 21 determines that chatter has occurred, the control unit 22 controls the current supplied to the tool movable device 6 to change the position of the tool 5 relative to the rope groove 108a from the set feed position in both the X and Z directions, thereby changing the cutting depth of the tool 5 relative to the inner surface of the rope groove 108a. In this case, the cutting depth of the tool 5 relative to the inner surface of the rope groove 108a may change in either the direction of decreasing or increasing. 【0052】 Next, we will explain the chatter vibration that occurs in the workpiece 5 when the rotational speed of the drive sheave 108 is the reference rotational speed n0 [rpm]. Figure 5 is a schematic side view showing the state in which chatter vibration occurs in the workpiece 5 when the rotational speed of the drive sheave 108 in Figure 3 is the reference rotational speed n0 [rpm]. Figure 6 is a schematic front view showing the inner surface of the rope groove 108a processed by the workpiece 5 in Figure 5. Figure 7 shows the acceleration a [m / s²] of the workpiece 5 in Figure 5. 2 This is a graph showing the relationship between [ ] and time t[s]. 【0053】 When the rotational speed of the drive sheave 108 is at the reference rotational speed n0 [rpm], resonance occurs in the workpiece 5, increasing the depth of cut of the workpiece 5 into the inner surface of the rope groove 108a, and chatter vibration occurs in the workpiece 5. When chatter vibration occurs in the workpiece 5, as shown in Figure 7, the acceleration a [m / s] of the workpiece 5 2 A periodic acceleration peak occurs where the value of the tool increases rapidly. In the chatter vibration caused by the resonance of the workpiece 5 when the rotational speed of the drive sheave 108 is the reference rotational speed n0 [rpm], the period T of the acceleration peak of the workpiece 5 is T0 [s]. 【0054】 As a result, as shown in Figure 6, irregularities 108b are formed at equal intervals in the circumferential direction of the drive sheave 108 on the inner surface of the rope groove 108a processed by the processing tool 5, appearing as a striped pattern. Consequently, when chatter vibration occurs in the processing tool 5 due to resonance, the condition of the inner surface of the rope groove 108a processed by the processing tool 5 deteriorates. The pitch p of the irregularities 108b that occur when the rotational speed of the drive sheave 108 is the reference rotational speed n0 [rpm] is p0 [m]. 【0055】 Acceleration a of the workpiece 5 [m / s²] 2 The change in [ ] is reflected in the change in the current value measured by the current measuring instrument 3. As a result, if chatter vibration occurs in the workpiece 5 when the rotational speed of the drive sheave 108 is at the reference rotational speed n0 [rpm], the determination unit 21 makes a chatter occurrence determination. When the determination unit 21 makes a chatter occurrence determination, the rotational speed of the drive sheave 108 is reduced from the reference rotational speed n0 [rpm] to a low rotational speed n1 [rpm] by the control control device 106 by the control body 22. Also, when the determination unit 21 makes a chatter occurrence determination, the cutting depth of the workpiece 5 into the inner surface of the rope groove 108a is changed by the control of the workpiece movable device 6 by the control body 22. 【0056】 Next, we will explain the vibrations that occur in the workpiece 5 when the rotational speed of the drive sheave 108 is a low rotational speed n1 [rpm]. Figure 8 is a schematic side view showing the state of the workpiece 5 when the rotational speed of the drive sheave 108 in Figure 5 is a low rotational speed n1 [rpm]. Figure 9 is a schematic front view showing the inner surface of the rope groove 108a processed by the workpiece 5 in Figure 8. Figure 10 shows the acceleration a [m / s²] of the workpiece 5 in Figure 8. 2 This is a graph showing the relationship between [ ] and time t[s]. 【0057】 When the rotational speed of the drive sheave 108 is a low rotational speed n1 [rpm], the period T of the acceleration peak of the workpiece 5 becomes T1 [s], which is longer than T0 [s], as shown in Figure 10. Also, the magnitude of the acceleration peak of the workpiece 5 when the rotational speed of the drive sheave 108 is a low rotational speed n1 [rpm] is smaller than the magnitude of the acceleration peak of the workpiece 5 when the rotational speed of the drive sheave 108 is a reference rotational speed n0 [rpm]. 【0058】 As a result, the pitch p of the irregularities 108b on the inner surface of the rope groove 108a becomes longer than p0 [m], p1 [m], as shown in Figure 9, when the rotational speed of the drive sheave 108 changes from the standard rotational speed n0 [rpm] to the low rotational speed n1 [rpm]. In addition, the size of the irregularities 108b on the inner surface of the rope groove 108a decreases as the rotational speed of the drive sheave 108 changes from the standard rotational speed n0 [rpm] to the low rotational speed n1 [rpm]. 【0059】 Therefore, when chatter vibration occurs in the workpiece 5 due to resonance, the rotational speed of the drive sheave 108 decreases, thereby suppressing the vibrations generated in the workpiece 5. This allows the workpiece 5 to continue machining the rope groove 108a. Furthermore, when chatter vibration occurs in the workpiece 5 due to resonance, the rotational speed of the drive sheave 108 decreases, making the period T of the acceleration peak of the workpiece 5 longer than when the chatter vibration occurs. As a result, if the workpiece 5 continues machining the rope groove 108a, the irregularities 108b that have formed on the inner surface of the rope groove 108a due to chatter vibration can be removed and repaired by the workpiece 5. 【0060】 Furthermore, if chatter vibration occurs in the workpiece 5 due to resonance, the control body 22 controls the workpiece movable device 6, which changes the cutting depth of the workpiece 5 into the inner surface of the rope groove 108a. This further suppresses the vibrations generated in the workpiece 5. 【0061】 Next, the control of the current supplied to the workpiece movable device 6 by the groove machining control unit 2 will be explained. When the determination unit 21 determines that chatter has occurred, the control body 22 of the groove machining control unit 2 performs frequency analysis of the waveform data created by the determination unit 21. As a result, the control body 22 calculates the relationship between the current value I[A] measured by the current measuring instrument 3 and the frequency f[Hz] of the current I[A]. 【0062】 The current value I[A] measured by the current measuring instrument 3 changes in accordance with the chatter vibration occurring in the workpiece 5. Therefore, the distribution of frequency components in the chatter vibration occurring in the workpiece 5 is reflected in the relationship between the current value I[A] measured by the current measuring instrument 3 and the frequency f[Hz] of current I[A]. Accordingly, the control unit 22 calculates the relationship between the current value I[A] measured by the current measuring instrument 3 and the frequency f[Hz] of current I[A] as the frequency component in the chatter vibration occurring in the workpiece 5, based on the waveform data created by the determination unit 21. 【0063】 Figure 11 is a graph showing the relationship between the current value I[A] measured by the current measuring instrument 3 in Figure 4 and the frequency f[Hz] of the current I[A]. Figure 11 also shows the relationship between the current value and time for the current supplied to the Z-direction drive motor 65. The relationship between the current value and frequency for the current supplied to the X-direction drive motor 64 is similar to that in Figure 11. The current I[A] measured by the current measuring instrument 3 exhibits peaks in current value across multiple frequency bands. The control unit 22 controls the current supplied to the workpiece movable device 6 to suppress these peaks in the current value I[A]. 【0064】 The control unit 22 generates a bandpass filter based on the relationship between the current value I[A] calculated from the waveform data and the frequency f[Hz] of the current I[A]. The bandpass filter generated by the control unit 22 is a filter that suppresses the current in the frequency band where the peak of the current value I[A] occurs, and allows the current to pass through in frequency bands other than the frequency band where the peak occurs. In this way, the control unit 22 generates a bandpass filter that suppresses the peak component among the frequency components of chatter vibration. 【0065】 The control unit 22 supplies the workpiece movable device 6 with a current whose value has been corrected by passing it through a bandpass filter generated from the waveform data. Specifically, the control unit 22 corrects the current values ​​of the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65 by passing them individually through a bandpass filter. 【0066】 The control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a so that it reaches a preset target position by controlling the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively, whose current values ​​have been corrected by a bandpass filter. 【0067】 Figure 12 is a graph showing the relationship between the current value I[A] and the frequency f[Hz] of the current I[A] measured by the current measuring instrument 3 when the current value corrected by the bandpass filter generated by the control unit 22 in Figure 11 is supplied to the workpiece movable device 6. Figure 12 also shows the relationship between the current value and the frequency of the current measured by the current measuring instrument 3 when the current value corrected by the bandpass filter is supplied to the Z-direction drive motor 65. The relationship between the current value and the frequency of the current measured by the current measuring instrument 3 when the current value corrected by the bandpass filter is supplied to the X-direction drive motor 64 is the same as in Figure 12. It can be seen that when the current value corrected by the bandpass filter is supplied to the workpiece movable device 6, the magnitude of the peak component of the current value among the frequency components of the current I[A] measured by the current measuring instrument 3 is suppressed. This suppresses chatter vibrations that occur in the workpiece 5 when machining the rope groove 108a, allowing the workpiece 5 to machine the rope groove 108a stably. 【0068】 Figure 13 is a graph showing an example of the characteristics of the bandpass filter generated by the control unit 22 in Figure 11. Figure 13 shows the relationship between the filter amplitude B of the bandpass filter and the frequency f [Hz] of the current I [A]. A characteristic of the bandpass filter generated by the control unit 22 is that the amplitude of the current passed through as the filter amplitude B is attenuated in a specific center frequency band and maintained in frequency bands other than the center frequency band. Therefore, the control unit 22 suppresses the frequency components of chatter vibration by using a bandpass filter whose center frequency band is the frequency band in which the peak component of the chatter vibration occurs. 【0069】 Furthermore, when the determination unit 21 determines that chatter has occurred, the control unit 22 calculates the frequency and phase of the current I[A] based on the waveform data and supplies a current to the workpiece movable device 6 with the same frequency as the current I[A] but in the opposite phase to the current I[A]. In other words, when the determination unit 21 determines that chatter has occurred, the control unit 22 calculates the frequency and phase of the chatter vibration based on the waveform data and supplies a current to the workpiece movable device 6 with the same frequency as the chatter vibration but in the opposite phase to the chatter vibration. 【0070】 Specifically, the control unit 22 sets the frequency of the current supplied to the X-direction drive motor 64 to be the same as the frequency of the chatter vibration, and sets the phase of the current supplied to the X-direction drive motor 64 to be out of phase with respect to the phase of the chatter vibration. In addition, the control unit 22 sets the frequency of the current supplied to the Z-direction drive motor 65 to be the same as the frequency of the chatter vibration, and sets the phase of the current supplied to the Z-direction drive motor 65 to be out of phase with respect to the phase of the chatter vibration. 【0071】 The control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a so that it reaches a preset target position by controlling the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively, which is in the opposite phase to the phase of the chatter vibration. 【0072】 Figure 14 is a graph showing the relationship between the current value I[A] measured by the current measuring instrument 3 in Figure 4 and time t[s]. Figure 14 also shows the relationship between the current value and time for the current supplied to the Z-direction drive motor 65, as measured by the current measuring instrument 3. The relationship between the current value and time for the current supplied to the X-direction drive motor 64, as measured by the current measuring instrument 3, is the same as in Figure 14. Figure 15 is a graph showing the relationship between the current I[A] supplied by the control unit 22 in Figure 4 to the workpiece movable device 6 and time t[s]. Figure 15 shows the relationship between the current I[A] supplied by the control unit 22 to the Z-direction drive motor 65 and time t[s]. The relationship between the current I[A] supplied by the control unit 22 to the X-direction drive motor 64 and time t[s] is the same as in Figure 15. 【0073】 When chatter vibration occurs in the workpiece 5 while machining the rope groove 108a, as shown in Figure 14, the peak of the current value I[A] measured by the current measuring instrument 3 occurs at a constant period. Therefore, as shown in Figure 15, the control unit 22 supplies the workpiece movable device 6 with a current value peak that is in the opposite phase to the peak of the current value I[A] measured by the current measuring instrument 3. Consequently, the current supplied by the control unit 22 to the X-direction drive motor 64 and the Z-direction drive motor 65 is a current that includes a current value peak that is in the opposite phase to the peak of the current value I[A] measured by the current measuring instrument 3. 【0074】 Figure 16 is a graph showing the relationship between the current value of the current I[A] measured by the current measuring instrument 3 and time t[s] when the current I[A] shown in Figure 15 is supplied to the workpiece movable device 6 by the control unit 22. Figure 16 also shows the relationship between the current value of the current measured by the current measuring instrument 3 and time when the current shown in Figure 15 is supplied to the Z-direction drive motor 65 by the control unit 22. The relationship between the current value of the current measured by the current measuring instrument 3 and time when the current is supplied to the X-direction drive motor 64 by the control unit 22 is the same as in Figure 16. As shown in Figure 15, the phase of the current I[A] supplied to the workpiece movable device 6 by the control unit 22 is in opposite phase to the phase of the chatter vibration generated in the workpiece 5. Therefore, the control unit 22 performs control on the workpiece movable device 6 to cancel out the chatter vibration generated in the workpiece 5. As a result, the current value of the current I[A] measured by the current measuring instrument 3 becomes constant, as shown in Figure 16. Therefore, chatter vibrations generated in the workpiece 5 when machining the rope groove 108a are suppressed, and the machining of the rope groove 108a by the workpiece 5 can be performed stably. 【0075】 Next, the groove machining method when machining the rope groove 108a using the groove machining system will be described. Figure 17 is a flowchart showing the groove machining method when machining the rope groove 108a using the groove machining system shown in Figure 3. When machining the rope groove 108a using the groove machining system, the groove machining control unit 2 controls the operation control device 106 to rotate the drive sheave 108 at a reference rotational speed n0 [rpm]. In addition, the groove machining control unit 2 controls the current supplied to the tool movable device 6 to adjust the position of the tool 5 relative to the rope groove 108a to the set feed position, thereby pressing the cutting edge 5a of the tool 5 against the rope groove 108a. As a result, the inner surface of the rope groove 108a is cut by the cutting edge 5a of the tool 5, and the rope groove 108a is machined. 【0076】 When the workpiece 5 cuts the inner surface of the rope groove 108a, in step S1, the current measuring instrument 3 measures the current value I[A] supplied to the workpiece movable device 6. Therefore, in step S1, the current values ​​supplied to the X-direction drive motor 64 and the Z-direction drive motor 65 are measured by the current measuring instrument 3. Also in step S1, a signal indicating the current value I[A] measured by the current measuring instrument 3 is transmitted as a measurement signal from the current measuring instrument 3 to the groove machining control unit 2. In the groove machining method, the process in step S1 is the measurement step. 【0077】 Subsequently, in step S2, the groove machining control unit 2's determination unit 21 determines whether chatter vibration is occurring in the workpiece 5 based on the measurement signal received from the current measuring instrument 3. In step S2, the measurement signal from the current measuring instrument 3 is continuously stored in the determination unit 21 as a database. In step S2, the determination unit 21 creates waveform data showing the waveform of vibration occurring in the workpiece 5, based on the measurement signal stored in the database, using current value data that shows the temporal change in the current value measured by the current measuring instrument 3. Also in step S2, the determination unit 21 determines whether chatter vibration is occurring in the workpiece 5 based on the created waveform data. In the groove machining method, the process in step S2 is the determination step. 【0078】 In step S2, if the determination unit 21 determines that chatter vibration has been avoided, the groove machining control unit 2 proceeds to step S3. In step S3, the groove machining control unit 2 controls the operation control device 106 to maintain the rotational speed of the drive sheave 108 at the reference rotational speed n0 [rpm]. At this time, the groove machining control unit 2 controls the tool movable device 6 to adjust the position of the tool 5 relative to the rope groove 108a to the set feed position. As a result, the cutting depth of the tool 5 relative to the inner surface of the rope groove 108a becomes constant. 【0079】 In step S2, if the determination unit 21 determines that chatter vibration is occurring in the workpiece 5, the groove machining control unit 2 proceeds to step S4. In step S4, the groove machining control unit 2 controls the operation control device 106, causing the rotational speed of the drive sheave 108 to decrease from the reference rotational speed n0 [rpm] to a low rotational speed n1 [rpm]. Also, in step S3, the groove machining control unit 2 controls the workpiece movable device 6, causing the position of the workpiece 5 relative to the rope groove 108a to change from the set feed position, and the cutting depth of the workpiece 5 relative to the inner surface of the rope groove 108a to change. 【0080】 Specifically, based on the determination result in step S2, the groove machining control unit 2 controls the operation control device 106 in either step S3 or step S4 to control the rotational speed of the drive sheave 108. Also, based on the determination result in step S2, the groove machining control unit 2 controls the current supplied to the tool movable device 6 in either step S3 or step S4 to control the position of the tool 5 relative to the rope groove 108a. In the groove machining method, the processing in steps S3 and S4 constitutes the sheave rotation control step. 【0081】 Furthermore, in step S4, the control body 22 of the groove machining control unit 2 generates a bandpass filter, and the control body 22 supplies a current whose value has been corrected by the bandpass filter to the workpiece movable device 6. As a result, the current values ​​of the current supplied individually by the control body 22 to the X-direction drive motor 64 and the Z-direction drive motor 65 are both corrected by the bandpass filter. 【0082】 Furthermore, in step S4, the control body 22 of the groove machining control unit 2 calculates the frequency and phase of the current I[A] measured by the current measuring instrument 3, and supplies a current to the workpiece movable device 6 with the same frequency as the current I[A] but in the opposite phase to the current I[A]. As a result, the phase of the current supplied individually by the control body 22 to the X-direction drive motor 64 and the Z-direction drive motor 65 is in the opposite phase to the current measured by the current measuring instrument 3. In this way, the rope groove 108a is machined. 【0083】 In this type of groove machining system, current is supplied to the tool movable device 6, which moves the tool 5 relative to the rope groove 108a. The current measuring device 3 measures the current value supplied to the tool movable device 6 and generates a measurement signal indicating the current value corresponding to the vibrations generated in the tool 5 when machining the rope groove 108a. The groove machining control unit 2 creates waveform data showing the waveform of the vibrations generated in the tool 5 based on the measurement signal, and determines whether chatter vibrations are occurring in the tool 5 based on the waveform data. Furthermore, if the groove machining control unit 2 determines that chatter vibrations are occurring, it controls the operation control device 106 to reduce the rotational speed of the drive sheave 108. 【0084】 Therefore, even if chatter vibration occurs in the workpiece 5, the vibration generated in the workpiece 5 can be suppressed by reducing the rotational speed of the drive sheave 108. This allows the workpiece 5 to continue machining the rope groove 108a. Furthermore, since the workpiece 5 can continue machining the rope groove 108a while suppressing the vibration generated in the workpiece 5, the workpiece 5 can repair the irregularities 108b that have formed on the inner surface of the rope groove 108a due to chatter vibration. Consequently, the work efficiency of the worker when machining the rope groove 108a can be improved, and the workload of the worker machining the rope groove 108a can be reduced. 【0085】 Furthermore, if the groove machining control unit 2 determines that chatter vibration is occurring, it changes the rotational speed of the drive sheave 108 and controls the current supplied to the tool movable device 6, thereby changing the cutting depth of the tool 5 into the inner surface of the rope groove 108a. As a result, if chatter vibration occurs in the tool 5, the vibrations generated in the tool 5 can be further suppressed. This makes it easier to continue machining the rope groove 108a with the tool 5. 【0086】 Furthermore, the current measuring device 3 measures the current value supplied to the workpiece movable device 6. Therefore, the current measuring device 3 can easily generate a signal corresponding to the vibrations generated in the workpiece 5 when machining the rope groove 108a. 【0087】 Furthermore, when the groove machining control unit 2's control body 22 detects chatter, it calculates the frequency components of the chatter vibration of the workpiece 5 based on the waveform data. The control body 22 then supplies a current to the workpiece movable device 6 that has been passed through a bandpass filter to suppress the peak components of the calculated chatter vibration frequency components. As a result, the frequency components of the chatter vibration can be suppressed, and the machining of the rope groove 108a by the workpiece 5 can be performed stably. 【0088】 Furthermore, when the groove machining control unit 2's control body 22 detects chatter, it calculates the frequency and phase of the chatter vibration of the workpiece 5 based on the waveform data. The control body 22 supplies a current to the workpiece movable device 6 with the same frequency as the chatter vibration but in the opposite phase to the chatter vibration. As a result, the control body 22 can perform control to cancel out the chatter vibration generated in the workpiece 5. This suppresses the chatter vibration generated in the workpiece 5 when machining the rope groove 108a, allowing for stable machining of the rope groove 108a by the workpiece 5. 【0089】 Embodiment 2. Figure 18 is a configuration diagram showing the state in which the groove processing system according to Embodiment 2 is installed. Figure 19 is an explanatory diagram showing the configuration of the groove processing system in Figure 18. In this embodiment, the rope groove 105a of the deflection wheel 105 is processed by the groove processing system. That is, in this embodiment, the sheave that is the target of processing by the groove processing system, i.e., the sheave to be processed, is the deflection wheel 105. 【0090】 When the rope groove 105a of the deflection wheel 105 is processed by the groove processing system, some of the ropes 109 are removed from the deflection wheel 105, while the remaining ropes 109 remain wound around the deflection wheel 105. Therefore, when the rope groove 105a of the deflection wheel 105 is processed by the groove processing system, only the remaining ropes 109 are continuously wound around the drive sheave 108 and the deflection wheel 105. The deflection wheel 105 rotates in conjunction with the rotation of the drive sheave 108 via the remaining ropes 109. In this embodiment, the groove processing system is installed in the machine room 102 with some of the ropes 109 removed from the deflection wheel 105. 【0091】 The configuration of the groove machining system in this embodiment is the same as in Embodiment 1. In this embodiment, the groove machining unit 1 is attached to the floor of the machine room 102 via a mounting member 4. This makes the groove machining unit 1 detachable from the floor of the machine room 102. 【0092】 The groove machining unit 1 is positioned radially outward of the deflection wheel 105. Furthermore, as shown in Figure 19, the groove machining unit 1 is positioned opposite the portion of the outer circumference of the deflection wheel 105 from which the rope 109 has been removed. 【0093】 The cutting tool 5 of the groove machining unit 1 is positioned with its cutting edge 5a facing the rope groove 105a of the deflector wheel 105. In this embodiment, as shown in Figure 19, the shape of the cutting edge 5a is an arc shape having the same outer diameter as the inner diameter of the rope groove 105a after machining. 【0094】 The processing tool 5 processes the rope groove 105a by contacting the inner surface of the rope groove 105a of the deflection wheel 105 while the deflection wheel 105 is rotating in conjunction with the drive sheave 108. Processing of the rope groove 105a into which the rope 109 is inserted by the processing tool 5 is performed by changing the position of the rope 109 to a different rope groove 105a. 【0095】 When the deflector wheel 105 rotates in conjunction with the drive sheave 108, the rotational speed of the deflector wheel 105 corresponds to the rotational speed of the drive sheave 108. Therefore, when the rope groove 105a is machined by the processing tool 5, the rotations of the drive sheave 108 and the deflector wheel 105 are controlled by the operation control device 106. The groove machining control unit 2 controls the rotational speeds of the drive sheave 108 and the deflector wheel 105 by transmitting control commands to the operation control device 106 and controlling the operation control device 106. Other configurations and groove machining methods are the same as in Embodiment 1. 【0096】 In this type of groove machining system, the sheave to be machined by the groove machining system is the deflection wheel 105. The deflection wheel 105 rotates in conjunction with the rotation of the drive sheave 108 via a rope 109 wrapped around the drive sheave 108. Therefore, the rope groove 105a of the deflection wheel 105 can be machined by the machining tool 5. Furthermore, even if chatter vibration occurs in the machining tool 5 while machining the rope groove 105a of the deflection wheel 105, the vibration generated in the machining tool 5 can be suppressed by reducing the rotation speed of the deflection wheel 105 in conjunction with the drive sheave 108. This allows the machining of the rope groove 105a by the machining tool 5 to continue, and the unevenness caused on the inner surface of the rope groove 105a by chatter vibration can be repaired by the machining tool 5. Thus, the work efficiency of the worker when machining the rope groove 105a of the deflection wheel 105 can be improved, and the workload of the worker machining the rope groove 105a of the deflection wheel 105 can be reduced. 【0097】 Furthermore, the control of the current supplied to the tool movable device 6 when the control body 22 of the groove machining control unit 2 determines that chatter has occurred can also be controlled in the same manner as in Embodiment 1. This further suppresses chatter vibrations that occur in the tool 5 when machining the rope groove 105a, and enables stable machining of the rope groove 108a by the tool 5. 【0098】 Embodiment 3. Figure 20 is an explanatory diagram showing the configuration of the groove machining system according to Embodiment 3. Figure 21 is a block diagram showing the configuration of the groove machining system in Figure 20. The groove machining system includes a groove machining unit 1, a groove machining control unit 2, and an acceleration sensor 7. The configuration of the groove machining unit 1 is the same as in Embodiment 1. 【0099】 The acceleration sensor 7 is attached to the workpiece 5 via the Z-axis movable part 62 of the workpiece movable device 6. The acceleration sensor 7 measures the acceleration a [m / s²] of the workpiece 5. 2 This is a measuring unit that measures the acceleration a [m / s²] of the workpiece 5. The acceleration sensor 7 measures the acceleration a [m / s²] of the workpiece 5. 2 By measuring [the speed], a signal indicating the measured acceleration is generated as a measurement signal. In this embodiment, two-axis sensors in the X and Z directions are used as acceleration sensors 7. Therefore, in this embodiment, the acceleration of the workpiece 5 in the X and Z directions is measured by the acceleration sensors 7. 【0100】 Here, the acceleration a [m / s²] of the workpiece 5. 2 This value changes in response to vibrations generated in the workpiece 5 when machining the rope groove 108a. Therefore, the measurement signal generated by the acceleration sensor 7 is a signal corresponding to the vibrations generated in the workpiece 5 when machining the rope groove 108a. 【0101】 The measurement signal generated by the acceleration sensor 7 is transmitted to the groove machining control unit 2. The groove machining control unit 2 controls the operation control device 106 based on the measurement signal from the acceleration sensor 7. 【0102】 The determination unit 21 of the groove machining control unit 2 stores the measurement signals from the acceleration sensor 7 as a database. Based on the measurement signals stored in the database, the determination unit 21 creates acceleration data that shows the temporal change in the acceleration of the workpiece 5, and waveform data that shows the waveform of vibrations generated in the workpiece 5. 【0103】 Based on the generated waveform data, the determination unit 21 determines whether or not chatter vibration is occurring in the workpiece 5, in the same manner as in Embodiment 1. 【0104】 The control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a to the set feed position by controlling the current supplied to the workpiece movable device 6 while pressing the workpiece 5 against the inner surface of the rope groove 108a. Accordingly, the control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a by individually controlling the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively. The control of the workpiece movable device 6 by the control unit 22 is the same as in Embodiment 1. 【0105】 The control unit 22 controls the operation control device 106 and the workpiece movable device 6 based on the determination result from the determination unit 21. The control of the operation control device 106 and the workpiece movable device 6 by the control unit 22 is the same as in Embodiment 1. That is, if the determination unit 21 determines that chatter avoidance has occurred, the control unit 22 controls the operation control device 106 to set the rotational speed of the drive sheave 108 to a preset reference rotational speed n0 [rpm]. On the other hand, if the determination unit 21 determines that chatter has occurred, the control unit 22 controls the operation control device 106 to reduce the rotational speed of the drive sheave 108 to a low rotational speed n1 [rpm] which is lower than the reference rotational speed n0 [rpm]. 【0106】 Further, when the determination unit 21 performs chatter avoidance determination, the control main body unit 22 controls the current supplied to the tool moving device 6 so that the position of the tool 5 with respect to the rope groove 108a becomes the set feed position. On the other hand, when the determination unit 21 performs chatter occurrence determination, the control main body unit 22 controls the current supplied to the tool moving device 6 to change the position of the tool 5 with respect to the rope groove 108a in each of the X and Z directions from the set feed position, and change the cutting depth of the tool 5 with respect to the inner surface of the rope groove 108a. 【0107】 When the determination unit 21 performs chatter occurrence determination, the control main body unit 22 performs frequency analysis on the waveform data created by the determination unit 21. Thereby, the control main body unit 22 calculates the relationship between the value of the acceleration a [m / s 2 measured by the acceleration sensor 7 and the frequency f [Hz] of the acceleration a [m / s 2 . 【0108】 The distribution of the frequency components in the chatter vibration occurring in the tool 5 is reflected in the relationship between the value of the acceleration a [m / s 2 measured by the acceleration sensor 7 and the frequency f [Hz] of the acceleration a [m / s 2 . Therefore, the control main body unit 22 calculates, as the frequency components in the chatter vibration occurring in the tool 5, the relationship between the value of the acceleration a [m / s 2 measured by the acceleration sensor 7 and the frequency f [Hz] of the acceleration a [m / s 2 based on the waveform data created by the determination unit 21. 【0109】 FIG. 22 is a graph showing the relationship between the value of the acceleration a [m / s 2 measured by the acceleration sensor 7 in FIG. 21 and the frequency f [Hz] of the acceleration a [m / s 2 . In FIG. 22, the relationship between the value of the acceleration of the tool  5 in the Z direction and the frequency of the acceleration is shown. The relationship between the value of the acceleration of the tool 5 in the X direction and the frequency of the acceleration is the same as that in FIG. 22. In the acceleration a [m / s 2 measured by the acceleration sensor 7, there is the acceleration a [m / s 2Peaks in acceleration values ​​occur in multiple frequency bands of ]. The control unit 22 controls the acceleration a [m / s 2 The current supplied to the workpiece movable device 6 is controlled to suppress the peak value of [ ]. 【0110】 The control unit 22 calculates the acceleration a [m / s²] from the waveform data. 2 The value of ] and acceleration a [m / s²] 2 A bandpass filter is generated based on the relationship with the frequency of [ ]. The characteristics of the bandpass filter generated by the control unit 22 are the same as those of the bandpass filter in Embodiment 1 shown in Figure 13. 【0111】 The control unit 22 supplies the workpiece movable device 6 with a current whose value has been corrected by passing it through a bandpass filter generated from the waveform data. Specifically, the control unit 22 corrects the current values ​​of the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65 by passing them individually through a bandpass filter. 【0112】 The control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a so that it reaches a preset target position by controlling the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively, whose current values ​​have been corrected by a bandpass filter. 【0113】 Figure 23 shows the acceleration a [m / s²] measured by the acceleration sensor 7 when a current corrected by the bandpass filter generated by the control body 22 in Figure 21 is supplied to the workpiece movable device 6. 2 The value of ] and acceleration a [m / s²] 2This graph shows the relationship between the frequency f[Hz] of the current. Figure 23 shows the relationship between the acceleration value of the workpiece 5 in the Z direction and the acceleration frequency when a current corrected by a bandpass filter is supplied to the Z-direction drive motor 65. The relationship between the acceleration value of the workpiece 5 in the X direction and the acceleration frequency when a current corrected by a bandpass filter is supplied to the X-direction drive motor 64 is the same as in Figure 23. When a current corrected by a bandpass filter is supplied to the workpiece movable device 6, the acceleration a[m / s] measured by the acceleration sensor 7 2 Among the frequency components in ], acceleration a [m / s 2 It can be seen that the magnitude of the peak component in the value of [ ] is suppressed. As a result, chatter vibrations generated in the workpiece 5 when machining the rope groove 108a are suppressed, and the machining of the rope groove 108a by the workpiece 5 can be performed stably. 【0114】 Furthermore, if the determination unit 21 determines that chatter has occurred, the control unit 22 will calculate the acceleration a[m / s²] based on the waveform data. 2 The frequency and phase of ] are calculated, and the acceleration a [m / s²] is calculated. 2 Acceleration a [m / s²] at the same frequency as ] 2 The control unit 22 supplies a current to the workpiece movable device 6 that is in the opposite phase to the phase of the chatter vibration. As a result, when the determination unit 21 determines that chatter has occurred, the control unit 22 calculates the frequency and phase of the chatter vibration based on the waveform data and supplies a current to the workpiece movable device 6 that has the same frequency as the chatter vibration but is in the opposite phase to the phase of the chatter vibration. In other words, when the determination unit 21 determines that chatter has occurred, the control unit 22 supplies a current to the workpiece movable device 6 that is shifted in phase by 180° with respect to the phase of the chatter vibration occurring in the workpiece 5. 【0115】 Specifically, the control unit 22 sets the frequency of the current supplied to the X-direction drive motor 64 to be the same as the frequency of the chatter vibration, and sets the phase of the current supplied to the X-direction drive motor 64 to be out of phase with respect to the phase of the chatter vibration. In addition, the control unit 22 sets the frequency of the current supplied to the Z-direction drive motor 65 to be the same as the frequency of the chatter vibration, and sets the phase of the current supplied to the Z-direction drive motor 65 to be out of phase with respect to the phase of the chatter vibration. 【0116】 The control unit 22 adjusts the position of the workpiece 5 relative to the rope groove 108a so that it reaches a preset target position by controlling the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively, which is in the opposite phase to the phase of the chatter vibration. 【0117】 Figure 24 shows the acceleration a [m / s²] measured by the acceleration sensor 7 in Figure 21. 2 This graph shows the relationship between the value of [a] and time t[s]. Figure 24 shows the relationship between the acceleration value of the workpiece 5 in the Z direction and time. The relationship between the acceleration value of the workpiece 5 in the X direction and time is the same as in Figure 24. Figure 25 shows the acceleration a[m / s] from Figure 24. 2 This graph shows the relationship between the current I[A] supplied by the control unit 22 to the workpiece movable device 6 and time t[s] when the acceleration sensor 7 measures [a certain value]. Figure 25 shows the relationship between the current I[A] supplied by the control unit 22 to the Z-direction drive motor 65 and time t[s]. The relationship between the current I[A] supplied by the control unit 22 to the X-direction drive motor 64 and time t[s] is the same as in Figure 25. 【0118】 When chatter vibration occurs in the workpiece 5 while machining the rope groove 108a, the acceleration a [m / s²] measured by the acceleration sensor 7 is as shown in Figure 24. 2 The peak of the value of [ ] occurs at a constant period. Therefore, as shown in Figure 25, the control unit 22 controls the acceleration a [m / s] measured by the acceleration sensor 7. 2The control unit 22 supplies the workpiece movable device 6 with a current that includes a peak current value that is in the opposite phase to the peak value of the current I[A] measured by the current measuring instrument 3. As a result, the current supplied by the control unit 22 to the X-direction drive motor 64 and the Z-direction drive motor 65 is a current that includes a peak current value that is in the opposite phase to the peak current value of the current I[A] measured by the current measuring instrument 3. 【0119】 As shown in Figure 25, the phase of the current I [A] supplied to the tool movable device 6 by the control unit 22 is in opposite phase to the phase of the chatter vibration generated in the tool 5. Therefore, the control unit 22 controls the tool movable device 6 to cancel out the chatter vibration generated in the tool 5. As a result, the acceleration a [m / s²] measured by the acceleration sensor 7 2 The value of ] remains constant. Therefore, chatter vibrations generated in the workpiece 5 when machining the rope groove 108a are suppressed, and the machining of the rope groove 108a by the workpiece 5 can be performed stably. The other configurations are the same as in Embodiment 1. 【0120】 Next, the groove machining method when machining the rope groove 108a using the groove machining system will be described. Figure 26 is a flowchart showing the groove machining method when machining the rope groove 108a using the groove machining system shown in Figure 20. When machining the rope groove 108a using the groove machining system, the inner surface of the rope groove 108a is machined by the cutting edge 5a of the machining tool 5, in the same manner as in Embodiment 1. 【0121】 When the workpiece 5 cuts the inner surface of the rope groove 108a, in step S11, the acceleration a [m / s²] of the workpiece 5 in the X direction and the Z direction respectively 2 The acceleration sensor 7 measures the value of ]. In step S11, the acceleration a [m / s] measured by the acceleration sensor 7 is measured. 2 A signal indicating the value of [ ] is transmitted as a measurement signal from the acceleration sensor 7 to the groove machining control unit 2. In the groove machining method, the process in step S11 is the measurement step. 【0122】 Subsequently, in step S2, the groove machining control unit 2's determination unit 21 determines whether or not chatter vibration is occurring in the workpiece 5 based on the measurement signal received from the acceleration sensor 7. In step S2, the measurement signal from the acceleration sensor 7 is continuously stored in the determination unit 21 as a database. In step S2, the determination unit 21 determines the acceleration a [m / s²] measured by the acceleration sensor 7 based on the measurement signal stored in the database. 2 Acceleration data showing the temporal change in the value of ] is created as waveform data showing the waveform of vibrations occurring in the workpiece 5. In step S2, the determination unit 21 determines whether or not chatter vibrations are occurring in the workpiece 5 based on the created waveform data. 【0123】 In step S2, if the determination unit 21 determines that chatter vibration has been avoided, the groove machining control unit 2 proceeds to step S3. In step S3, the groove machining control unit 2 controls the operation control device 106 to maintain the rotational speed of the drive sheave 108 at the reference rotational speed n0 [rpm]. At this time, the groove machining control unit 2 controls the tool movable device 6 to adjust the position of the tool 5 relative to the rope groove 108a to the set feed position. As a result, the cutting depth of the tool 5 relative to the inner surface of the rope groove 108a becomes constant. 【0124】 In step S2, if the determination unit 21 determines that chatter vibration is occurring in the workpiece 5, the groove machining control unit 2 proceeds to step S4. In step S4, the groove machining control unit 2 controls the operation control device 106, causing the rotational speed of the drive sheave 108 to decrease from the reference rotational speed n0 [rpm] to a low rotational speed n1 [rpm]. Also, in step S3, the groove machining control unit 2 controls the workpiece movable device 6, causing the position of the workpiece 5 relative to the rope groove 108a to change from the set feed position, and the cutting depth of the workpiece 5 relative to the inner surface of the rope groove 108a to change. 【0125】 Specifically, based on the determination result in step S2, the groove machining control unit 2 controls the operation control device 106 in either step S3 or step S4 to control the rotational speed of the drive sheave 108. Also, based on the determination result in step S2, the groove machining control unit 2 controls the current supplied to the tool movable device 6 in either step S3 or step S4 to control the position of the tool 5 relative to the rope groove 108a. 【0126】 Furthermore, in step S4, the control body 22 of the groove machining control unit 2 generates a bandpass filter, and the control body 22 supplies a current whose value has been corrected by the bandpass filter to the workpiece movable device 6. As a result, the current values ​​of the current supplied individually by the control body 22 to the X-direction drive motor 64 and the Z-direction drive motor 65 are both corrected by the bandpass filter. 【0127】 Furthermore, in step S4, the control body 22 of the groove machining control unit 2 receives the acceleration a [m / s²] measured by the acceleration sensor 7. 2 The frequency and phase of ] are calculated, and the acceleration a [m / s²] is calculated. 2 Acceleration a [m / s²] at the same frequency as ] 2 A current with the opposite phase to the current is supplied to the workpiece movable device 6. As a result, the phase of the current supplied individually by the control body 22 to the X-direction drive motor 64 and the Z-direction drive motor 65 is the opposite phase to the current measured by the current measuring instrument 3. In this way, the rope groove 108a is machined. 【0128】 In this type of groove machining system, the acceleration sensor 7 measures the acceleration a[m / s] of the workpiece 5. 2By measuring the value of [ ], a signal indicating acceleration corresponding to the vibration occurring in the workpiece 5 when machining the rope groove 108a is generated as a measurement signal. Based on the measurement signal from the acceleration sensor 7, the groove machining control unit 2 creates waveform data showing the waveform of the vibration occurring in the workpiece 5, and determines whether or not chatter vibration is occurring in the workpiece 5 based on the waveform data. Furthermore, if the groove machining control unit 2 determines that chatter vibration is occurring, it controls the operation control device 106 to reduce the rotational speed of the drive sheave 108. 【0129】 Therefore, the acceleration sensor 7 detects the acceleration a [m / s²] of the workpiece 5. 2 By measuring the value of [ ], it is also possible to determine whether or not chatter vibration is occurring in the workpiece 5. This allows the rotational speed of the drive sheave 108 to be reduced when chatter vibration occurs in the workpiece 5, thereby suppressing the vibration occurring in the workpiece 5, and allowing the workpiece 5 to repair the irregularities that have occurred on the inner surface of the rope groove 108a. Therefore, it is possible to improve the work efficiency of the worker when processing the rope groove 108a and reduce the workload of the worker processing the rope groove 108a. 【0130】 Embodiment 4. Figure 27 is an explanatory diagram showing the configuration of the groove processing system according to Embodiment 4. In this embodiment, the rope groove 105a of the deflection wheel 105 is processed by the groove processing system. That is, in this embodiment, the sheave to be processed by the groove processing system is the deflection wheel 105. 【0131】 When the rope groove 105a of the deflection wheel 105 is processed by the groove processing system, similar to Embodiment 2, some of the ropes 109 are removed from the deflection wheel 105, while the remaining ropes 109 remain wound around the deflection wheel 105. Therefore, when the rope groove 105a of the deflection wheel 105 is processed by the groove processing system, only the remaining ropes 109 are continuously wound around the drive sheave 108 and the deflection wheel 105. The deflection wheel 105 rotates in conjunction with the rotation of the drive sheave 108 via the remaining ropes 109. In this embodiment, the groove processing system is installed in the machine room 102 with some of the ropes 109 removed from the deflection wheel 105. 【0132】 The configuration of the groove machining system in this embodiment is the same as in Embodiment 3. In this embodiment, the groove machining unit 1 is attached to the floor of the machine room 102 via a mounting member 4. This makes the groove machining unit 1 detachable from the floor of the machine room 102. 【0133】 The groove machining unit 1 is positioned radially outward of the deflection wheel 105. Furthermore, the groove machining unit 1 is positioned opposite the portion of the outer circumference of the deflection wheel 105 from which the rope 109 has been removed. 【0134】 The cutting tool 5 of the groove machining unit 1 is positioned with its cutting edge 5a facing the rope groove 105a of the deflector wheel 105. In this embodiment, as shown in Figure 27, the shape of the cutting edge 5a is an arc shape having the same outer diameter as the inner diameter of the rope groove 105a after machining. 【0135】 The processing tool 5 processes the rope groove 105a by contacting the inner surface of the rope groove 105a of the deflection wheel 105 while the deflection wheel 105 is rotating in conjunction with the drive sheave 108. Processing of the rope groove 105a into which the rope 109 is inserted by the processing tool 5 is performed by changing the position of the rope 109 to another rope groove 105a. 【0136】 When the deflector wheel 105 rotates in conjunction with the drive sheave 108, the rotational speed of the deflector wheel 105 corresponds to the rotational speed of the drive sheave 108. Therefore, when the rope groove 105a is machined by the processing tool 5, the rotations of the drive sheave 108 and the deflector wheel 105 are controlled by the operation control device 106. The groove machining control unit 2 controls the rotational speeds of the drive sheave 108 and the deflector wheel 105 by transmitting control commands to the operation control device 106 and controlling the operation control device 106. Other configurations and groove machining methods are the same as in Embodiment 3. 【0137】 Thus, even when the groove machining system in Embodiment 3 is applied to the machining of the deflection wheel 105, if chatter vibration occurs in the machining tool 5 while machining the rope groove 105a of the deflection wheel 105, the vibration generated in the machining tool 5 can be suppressed. Furthermore, by continuing to machine the rope groove 105a with the machining tool 5, any irregularities that have formed on the inner surface of the rope groove 105a can be repaired by the machining tool 5. Therefore, the work efficiency of the worker when machining the rope groove 105a of the deflection wheel 105 can be improved, and the workload of the worker machining the rope groove 105a of the deflection wheel 105 can be reduced. 【0138】 In embodiments 2 and 4, when the rope groove 105a of the deflection wheel 105 is processed by the groove processing system, some of the rope 109 is removed from the deflection wheel 105. However, if the processing tool 5 of the groove processing unit 1 can be positioned opposite the outer circumference of the deflection wheel 105 to a portion other than the portion around which each rope 109 is wound, the rope groove 105a may be processed without removing the rope 109 from the deflection wheel 105. 【0139】 Embodiment 5. Figure 28 is a schematic diagram showing the state when the cutting edge portion 5a of the machining tool 5 in the groove machining system according to Embodiment 5 is machining the rope groove 108a of the drive sheave 108. The machining tool 5 is a turning tool having a cutting edge portion 5a. The cross-sectional shape of the cutting edge portion 5a in the plane containing the axis of the drive sheave 108 is an arc shape with a diameter smaller than the inner diameter of the rope groove 108a of the drive sheave 108. In this embodiment, the shape of the cutting edge portion 5a is spherical. 【0140】 The tool movable device 6 allows the cutting edge 5a to move in the inner circumferential direction relative to the rope groove 108a. The inner circumferential direction is the direction along the inner surface of the rope groove 108a in a plane containing the axis of the drive sheave 108. The groove machining control unit 2 changes the position of the cutting edge 5a relative to the rope groove 108a in the inner circumferential direction by controlling the current supplied to the tool movable device 6. The groove machining control unit 2 adjusts the position of the cutting edge 5a relative to the rope groove 108a in the inner circumferential direction by individually controlling the current supplied to the X-direction drive motor 64 and the Z-direction drive motor 65, respectively. 【0141】 In the plane containing the axis of the drive sheave 108, an XZ coordinate plane is defined where the X-axis along the X direction and the Z-axis along the Z direction are orthogonal at a predetermined origin O. The groove machining control unit 2 regenerates the cross-sectional shape of the rope groove 108a by adjusting the position of the cutting edge 5a relative to the rope groove 108a in the XZ coordinate plane. The cross-sectional shape of the rope groove 108 after machining by the cutting edge 5a is arc-shaped in the plane containing the axis of the drive sheave 108. 【0142】 If the outer surface of the drive sheave 108 is defined as the groove reference surface 108c, then in the XZ coordinate plane, the Z coordinate of the groove reference surface 108c is Z h It is defined as follows. Also, in the XZ coordinate plane, the coordinates of the lowest point of the rope groove 108a are (X0, Z t ) is defined as follows. If the depth of the rope groove 108a after processing is Δt, then the coordinates of the lowest point of the rope groove 108a are (X0, Z t ) is (X0,Z h It is expressed as +Δt). 【0143】 Furthermore, in the XZ coordinate plane, the coordinates of the center point Q in the cross-sectional shape of the processed rope groove 108a are defined as (X0, Z0). If the inner diameter of the processed rope groove 108a is R, then the coordinates of the center point Q (X0, Z0) are (X0, Z t It is represented as -R). 【0144】 The inner surface of the rope groove 108a is machined by the cutting edge portion 5a, dividing the area of ​​the rope groove 108a into multiple sector-shaped regions centered on the central point Q. The central angle θ of each sector is the value obtained by dividing 180° by the number of sectors. 【0145】 If the position where the cutting edge portion 5a contacts the inner surface of the rope groove 108a is defined as the machining position of the cutting edge portion 5a, then the machining position P of the cutting edge portion 5a is... i Target coordinates (X i ,Z i ) is set for each central angle θ of the sector. However, the machining position P of the cutting edge portion 5a i In this diagram, i is a sequential number assigned to the machining position of the cutting edge portion 5a in the circumferential direction of the groove. Therefore, i is an integer between 1 and k+1, i.e., 1 ≤ i ≤ k+1. k is the number of sector regions, and is expressed as k = 180 / θ. 【0146】 The groove machining control unit 2, each time the regeneration of the cross-sectional shape of the rope groove 108a at the machining position of the cutting edge portion 5a is completed, sets the target coordinates (X) of the machining position of the cutting edge portion 5a. i ,Z i By sequentially changing the X coordinates, the overall cross-sectional shape of the rope groove 108a is restored. Therefore, the machining position of the cutting edge portion 5a is maintained at the target coordinates (X) until the restoration of the cross-sectional shape of the rope groove 108a is complete. i ,Z i ) is maintained, target coordinates (X i ,Z i Once the reconstruction of the cross-sectional shape of the rope groove 108a at ) is complete, the next target coordinate (X i+1 ,Z i+1 ) moves to the i-th machining position P of the cutting edge portion 5a. For example, the lowest point of the rope groove 108a is the i-th machining position P of the cutting edge portion 5a. i If this matches, the machining position P of the cutting edge portion 5a iTarget coordinates (X i ,Z i ) is represented as (X0, Z0 + R). 【0147】 The control of the operation control device 106 by the groove machining control unit 2 is the same as in Embodiment 1. Furthermore, the control of the current supplied to the workpiece movable device 6 by the groove machining control unit 2 is also the same as in Embodiment 1. Therefore, the target coordinate (X) of the machining position of the cutting edge portion 5a relative to the rope groove 108a is... i ,Z i Each time the ) changes, the groove machining control unit 2 controls the operation control device 106 and the groove machining control unit 2 controls the current supplied to the workpiece movable device 6, in the same manner as in Embodiment 1. Other configurations and groove machining methods are the same as in Embodiment 1. 【0148】 In this groove machining system, the cross-sectional shape of the cutting edge portion 5a in the plane containing the axis of the drive sheave 108 is an arc shape with a diameter smaller than the inner diameter of the rope groove 108a. The groove machining control unit 2 changes the position of the cutting edge portion 5a relative to the rope groove 108a in the inner circumferential direction of the groove by controlling the current to the tool movable device 6. As a result, the contact area of ​​the cutting edge portion 5a of the tool 5 with respect to the inner surface of the rope groove 108a can be reduced, and the magnitude of the reaction force of the tool 5 with respect to the inner surface of the rope groove 108a can be reduced. This further suppresses the occurrence of chatter vibration in the tool 5. Therefore, the work efficiency of the worker when machining the rope groove 108a can be further improved, and the workload of the worker machining the rope groove 108a can be further reduced. 【0149】 In Embodiment 5, the configuration applied to Embodiment 1 involves changing the position of the cutting edge 5a of the turning tool 5 in the circumferential direction of the groove. However, the configuration of changing the position of the cutting edge 5a of the turning tool 5 in the circumferential direction of the groove may also be applied to Embodiment 3. 【0150】 Furthermore, the configuration of Embodiment 5, in which the position of the cutting edge portion 5a of the workpiece 5, which is a turning tool, is changed in the circumferential direction of the groove, may also be applied to Embodiments 2 and 4. In this case, the cross-sectional shape of the cutting edge portion 5a in the plane containing the axis of the deflection wheel 105 is an arc shape with a diameter smaller than the inner diameter of the rope groove 105a of the deflection wheel 105. 【0151】 Furthermore, in each of the above embodiments, the drive sheave 108 or the deflection sheave 105 is designated as the sheave to be processed. However, a sheave other than the drive sheave 108 and the deflection sheave 105 may also be designated as the sheave to be processed. In this case, the rope 109 that is wound around the drive sheave 108 is wound around the sheave to be processed. In this case, the sheave to be processed rotates in conjunction with the rotation of the drive sheave 108 via the rope 109. 【0152】 Furthermore, in each of the above embodiments, when the determination unit 21 determines that chatter has occurred, the control body 22 controls the operation control device 106 to reduce the rotational speed of the drive sheave 108 or deflection wheel 105, which are the sheaves to be processed. However, when the determination unit 21 determines that chatter has occurred, the control body 22 may also control the operation control device 106 to increase the rotational speed of the drive sheave 108 or deflection wheel 105, which are the sheaves to be processed, from the reference rotational speed n0 [rpm]. Even in this way, resonance of the processing tool 5 can be avoided, the period T of the acceleration peak of the processing tool 5 can be changed, and the magnitude of the acceleration peak of the processing tool 5 can be reduced. Therefore, the workload of the worker processing the rope groove 108a or rope groove 105a can be reduced. In other words, when the determination unit 21 determines that chatter has occurred, the control body 22 should control the operation control device 106 to change the rotational speed of the drive sheave 108 or deflection wheel 105, which are the sheaves to be processed. 【0153】 Furthermore, in each of the above embodiments, if the groove machining control unit 2 determines that chatter vibration is occurring, the groove machining control unit 2 supplies a current to the tool movable device 6 that has been passed through a bandpass filter to suppress the peak component among the frequency components of the chatter vibration. However, the groove machining control unit 2 may also choose not to generate a bandpass filter and instead supply the tool movable device 6 with a current that has not been corrected by a bandpass filter. Even in this case, if the groove machining control unit 2 determines that chatter vibration is occurring, the rotational speed of the drive sheave 108 or deflection sheave 105, which is the sheave to be machined, can be changed. This makes it possible to suppress chatter vibration occurring in the tool 5 and reduce the workload of the worker machining the rope groove 108a or rope groove 105a. 【0154】 Furthermore, in each of the above embodiments, if the groove machining control unit 2 determines that chatter vibration is occurring, the groove machining control unit 2 supplies a current to the tool movable device 6 with the same frequency as the chatter vibration but in the opposite phase to the chatter vibration. However, the groove machining control unit 2 may also supply a current to the tool movable device 6 that is not adjusted based on the phase of the chatter vibration. Even in this case, if the groove machining control unit 2 determines that chatter vibration is occurring, the rotational speed of the drive sheave 108 or deflection wheel 105, which is the sheave to be machined, can be changed. This makes it possible to suppress chatter vibration generated in the tool 5 and to reduce the workload of the worker machining the rope groove 108a or rope groove 105a. 【0155】 Furthermore, in each of the above embodiments, when the determination unit 21 determines that chatter has occurred, the control body unit 22 changes the cutting depth of the workpiece 5 into the inner surface of the rope groove 108a or rope groove 105a. However, when the determination unit 21 determines that chatter has occurred, the control body unit 22 may change the rotational speed of the drive sheave 108 or deflection wheel 105 without changing the cutting depth of the workpiece 5 into the inner surface of the rope groove 108a or rope groove 105a. Even in this way, if chatter vibration occurs in the workpiece 5, the vibration generated in the workpiece 5 can be suppressed. 【0156】 Furthermore, the functions of the groove machining control unit 2 according to each of the above embodiments are realized by a processing circuit. Figure 29 is a configuration diagram showing a first example of a processing circuit that realizes the functions of the groove machining control unit 2 according to each embodiment. The processing circuit 100 in the first example is dedicated hardware. 【0157】 Furthermore, the processing circuit 100 may include, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. 【0158】 Figure 30 is a configuration diagram showing a second example of a processing circuit that realizes the functions of the groove machining control unit 2 according to each embodiment. The processing circuit 200 of the second example includes a processor 201 and a memory 202. 【0159】 In the processing circuit 200, the functions of the groove machining control unit 2 are realized by software, firmware, or a combination of software and firmware. The software and firmware are written as programs and stored in memory 202. The processor 201 realizes the functions of the groove machining control unit 2 by reading and executing the programs stored in memory 202. 【0160】 A program stored in memory 202 can be said to cause the computer to execute the procedures or methods described above. Here, memory 202 refers to non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable and Programmable Read Only Memory). Magnetic disks, flexible disks, optical disks, compact disks, minidiscs, DVDs, etc., also fall under the category of memory 202. 【0161】 Furthermore, some of the functions of the groove machining control unit 2 described above may be implemented using dedicated hardware, while others may be implemented using software or firmware. 【0162】 Thus, the processing circuit can realize the above-described functions of the groove machining control unit 2 through hardware, software, firmware, or a combination thereof. 【0163】 The configurations shown in the embodiments described above are merely examples of the content of this disclosure. The embodiments can be combined with other known technologies. Some parts of the configurations of the embodiments can be omitted or modified without departing from the gist of this disclosure. 【0164】 Examples of aspects that may be included in this disclosure are listed below as an addendum. (Note 1) A processing tool is used to process a rope groove formed on the outer circumference of a sheave being processed, while the sheave is rotating under the control of a driving control device, by contacting the inner surface of the rope groove formed on the outer circumference of the sheave being processed, A tool moving device that moves the tool relative to the rope groove by receiving an electric current, A groove machining control unit that controls the current supplied to the movable workpiece device, A measuring unit that generates a signal corresponding to the vibrations generated in the processing tool when the rope groove is being processed, and Equipped with, The groove machining control unit creates waveform data showing the vibration waveform based on the measurement signal, determines whether chatter vibration is occurring in the workpiece based on the waveform data, and if it determines that chatter vibration is occurring, controls the operation control device to change the rotation speed of the sheave being machined. (Note 2) The groove machining system according to Appendix 1, wherein, when the groove machining control unit determines that chatter vibration is occurring, it changes the rotational speed of the sheave to be machined and controls the current supplied to the tool movable device to adjust the position of the tool relative to the rope groove and change the cutting depth of the tool into the inner surface of the rope groove. (Note 3) The groove machining system according to Appendix 1 or Appendix 2, wherein the measuring unit is a current measuring instrument that generates a signal indicating the current value as the measurement signal by measuring the current value of the current supplied to the movable device of the workpiece. (Note 4) The groove machining system according to Appendix 1 or Appendix 2, wherein the measuring unit is an acceleration sensor that generates a signal indicating the acceleration as the measurement signal by measuring the acceleration of the workpiece. (Note 5) The groove machining system according to any one of the appendices 1 to 4, wherein, when the groove machining control unit determines that chatter vibration is occurring, it calculates the frequency components of the chatter vibration based on the waveform data, and supplies a current that has been passed through a bandpass filter to suppress the peak components of the frequency components of the chatter vibration to the workpiece movable device. (Note 6) The groove machining system according to any one of the items from Appendix 1 to Appendix 5, wherein the groove machining control unit determines that chatter vibration is occurring, calculates the frequency and phase of the chatter vibration based on the waveform data, and supplies a current to the workpiece movable device with the same frequency as the chatter vibration but in the opposite phase to the chatter vibration. (Note 7) The aforementioned machining tool is a turning tool having a cutting edge portion, The cross-sectional shape of the cutting edge portion in the plane including the axis of the sheave to be processed is an arc shape with a diameter smaller than the inner diameter of the rope groove. The movable workpiece device is configured to allow the cutting edge to move relative to the rope groove in the circumferential direction of the groove, which is a direction along the inner surface of the rope groove in a plane including the axis of the sheave to be processed. The groove machining system according to any one of the appendices 1 to 6, wherein the groove machining control unit controls the current to the movable tool to change the position of the cutting edge portion relative to the rope groove in the circumferential direction of the groove. (Note 8) The sheave to be processed is a deflection sheave located at a distance from the drive sheave in the elevator hoisting machine. The groove machining system according to any one of the appendices 1 to 7, wherein the deflecting wheel rotates in conjunction with the rotation of the drive sheave via a rope wrapped around the drive sheave. (Note 9) A measurement step in which, while the sheave to be processed is rotating under the control of the operation control device, the measuring unit generates a measurement signal corresponding to the vibrations generated in the measuring tool when the cutting tool is in contact with the inner surface of the rope groove formed on the outer circumference of the sheave to be processed and the rope groove is being processed, and A determination step in which, based on the measurement signal, waveform data showing the waveform of the vibration is created, and based on the waveform data, the groove machining control unit determines whether or not chatter vibration is occurring in the workpiece, A sheave rotation control step that controls the rotation speed of the sheave to be processed based on the determination result in the determination step, Equipped with, In the sheave rotation control step, if it is determined in the determination step that chatter vibration is occurring in the workpiece, the groove machining method changes the rotation speed of the sheave to be machined. [Explanation of symbols] 【0165】 2 Groove machining control unit, 3 Current measuring instrument (measuring unit), 5 Machining tool, 5a Cutting edge part, 6 Machining tool movable device, 104 Hoisting machine, 105 Curved sheave (Sheave to be machined), 105a Rope groove, 106 Operation control device, 108 Drive sheave (Sheave to be machined), 108a Rope groove.

Claims

[Claim 1] A processing tool is used to process a rope groove formed on the outer circumference of a sheave being processed, while the sheave is rotating under the control of a driving control device, by contacting the inner surface of the rope groove formed on the outer circumference of the sheave being processed, A tool moving device that moves the tool relative to the rope groove by receiving an electric current, A groove machining control unit that controls the current supplied to the movable workpiece device, A measuring unit that generates a signal corresponding to the vibrations generated in the processing tool when the rope groove is being processed, and Equipped with, The groove machining control unit creates waveform data showing the vibration waveform based on the measurement signal, determines whether chatter vibration is occurring in the workpiece based on the waveform data, and if it determines that chatter vibration is occurring, controls the operation control device to change the rotation speed of the sheave being machined. [Claim 2] The groove machining system according to claim 1, wherein, when the groove machining control unit determines that chatter vibration is occurring, it changes the rotational speed of the sheave to be machined and controls the current supplied to the tool movable device to adjust the position of the tool with respect to the rope groove and change the cutting depth of the tool into the inner surface of the rope groove. [Claim 3] The groove machining system according to claim 1 or 2, wherein the measuring unit is a current measuring instrument that generates a signal indicating the current value as the measurement signal by measuring the current value of the current supplied to the movable device of the workpiece. [Claim 4] The groove machining system according to claim 1 or claim 2, wherein the measuring unit is an acceleration sensor that generates a signal indicating the acceleration as the measurement signal by measuring the acceleration of the workpiece. [Claim 5] The groove machining system according to claim 1 or 2, wherein, when the groove machining control unit determines that chatter vibration is occurring, it calculates the frequency components of the chatter vibration based on the waveform data, and supplies a current that has been passed through a bandpass filter to suppress the peak components of the frequency components of the chatter vibration to the workpiece movable device. [Claim 6] The groove machining system according to claim 1 or claim 2, wherein, when the groove machining control unit determines that chatter vibration is occurring, it calculates the frequency and phase of the chatter vibration based on the waveform data, and supplies a current to the workpiece movable device with the same frequency as the chatter vibration but in the opposite phase to the chatter vibration. [Claim 7] The aforementioned machining tool is a turning tool having a cutting edge portion, The cross-sectional shape of the cutting edge portion in the plane including the axis of the sheave to be processed is an arc shape with a diameter smaller than the inner diameter of the rope groove. The movable workpiece device is configured to allow the cutting edge to move relative to the rope groove in the circumferential direction of the groove, which is a direction along the inner surface of the rope groove in a plane including the axis of the sheave to be processed. The groove machining system according to claim 1 or claim 2, wherein the groove machining control unit changes the position of the cutting edge portion relative to the rope groove in the circumferential direction of the groove by controlling the current to the movable tool device. [Claim 8] The sheave to be processed is a deflection sheave located at a distance from the drive sheave in the elevator hoisting machine. The groove machining system according to claim 1 or claim 2, wherein the deflector wheel rotates in conjunction with the rotation of the drive sheave via a rope wrapped around the drive sheave. [Claim 9] A measurement step in which, while the sheave to be processed is rotating under the control of the operation control device, the measuring unit generates a measurement signal corresponding to the vibrations generated in the measuring tool when the cutting tool is in contact with the inner surface of the rope groove formed on the outer circumference of the sheave to be processed and the rope groove is being processed, and A determination step in which, based on the measurement signal, waveform data showing the waveform of the vibration is created, and based on the waveform data, the groove machining control unit determines whether or not chatter vibration is occurring in the workpiece, A sheave rotation control step that controls the rotation speed of the sheave to be processed based on the determination result in the determination step, Equipped with, In the sheave rotation control step, if it is determined in the determination step that chatter vibration is occurring in the workpiece, the groove machining method changes the rotation speed of the sheave to be machined.

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