Control and computing devices

Abstract

Provided are a control device and a computing device capable of adjusting synthetic vibration for a machine tool. This control device, which controls a machine tool, comprises: a vibration command generation unit that generates a vibration command for vibrating an implement of the machine tool or a workpiece; a relative vibration command generation unit that generates a relative vibration command for vibrating the implement and the workpiece relatively; and a vibration phase adjustment unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command on the basis of the vibration command and the relative vibration command.

Description

[Technical field]

[0001] The present invention relates to a control device and a computing device. [Background technology]

[0002] Conventionally, a technique for performing eccentric machining using a machine tool to machine an eccentric workpiece has been known (see, for example, Patent Document 1). In eccentric machining, the machine tool needs to vibrate the tool to align the tool with the position of the workpiece to be eccentrically machined. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-305501 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, machining such as swing cutting in which the tool is vibrated relative to the workpiece is also known. When the tool is vibrated relative to the workpiece during eccentric machining as described above, the resultant vibration (e.g., amplitude, acceleration, mechanical vibration, sound, etc. of the resultant vibration) of the tool vibration due to eccentric machining and the relative vibration of the tool to the workpiece may deviate from the allowable value. Also, in consideration of the load on the machine tool, it may be desired to minimize the vibration. Therefore, there is a demand for adjusting the resultant vibration in the machine tool. [Means for solving the problem]

[0005] According to one aspect of the present disclosure, a control device for controlling a machine tool includes a vibration command generating unit that generates a vibration command to vibrate a tool or a workpiece of the machine tool, a relative vibration command generating unit that generates a relative vibration command to vibrate the tool and the workpiece relatively, and a vibration phase adjusting unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0006] According to one aspect of the present disclosure, a control device for controlling a machine tool includes a vibration command generating unit that generates a vibration command to vibrate a tool or a workpiece of the machine tool, a relative movement command generating unit that generates a relative movement command to move the tool and the workpiece relatively, and a command adjusting unit that adjusts at least one parameter of a plurality of parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command.

[0007] According to one aspect of the present disclosure, a computing device for a control device that controls a machine tool includes a vibration command generating unit that generates a vibration command to vibrate a tool or a workpiece of the machine tool, a relative vibration command generating unit that generates a relative vibration command to vibrate the tool and the workpiece relatively, and a vibration phase adjusting unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0008] According to one aspect of the present disclosure, a computing device for a control device that controls a machine tool includes a vibration command generating unit that generates a vibration command to vibrate a tool or a workpiece of the machine tool, a relative movement command generating unit that generates a relative movement command to move the tool and the workpiece relatively, and a command adjusting unit that adjusts at least one parameter among a plurality of parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command. Effect of the Invention

[0009] According to one aspect of the present disclosure, it is possible to adjust resultant vibration in a machine tool. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a diagram showing an overview of a control device according to the first embodiment. [Diagram 2] 1A to 1C are diagrams showing an overview of orbital cutting and eccentric machining according to a first embodiment. [Diagram 3] FIG. 4 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and combined vibration according to the first embodiment. [Figure 4] 5A to 5C are diagrams showing waveforms of vibration caused by oscillating cutting, vibration caused by eccentric machining, and resultant vibration before and after adjustment of the vibration phase according to the first embodiment. [Diagram 5] FIG. 4 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and combined vibration according to the first embodiment. [Figure 6] 5A to 5C are diagrams showing waveforms of vibration caused by oscillating cutting, vibration caused by eccentric machining, and composite vibration before and after adjustment of the vibration phase according to the first embodiment. [Figure 7] FIG. 4 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and combined vibration according to the first embodiment. [Figure 8] 5A to 5C are diagrams showing waveforms of vibration caused by oscillating cutting, vibration caused by eccentric machining, and composite vibration before and after adjustment of the vibration phase according to the first embodiment. [Figure 9] 1A to 1C are diagrams showing an overview of orbital cutting and eccentric machining according to a first embodiment. [Figure 10] FIG. 2 is a diagram showing an overview of orbital cutting and eccentric machining according to the first embodiment. [Figure 11] 1A to 1C are diagrams showing an example in which two swing cutting operations are used according to the first embodiment. [Figure 12] 11A to 11C are diagrams showing another example of using two oscillating cuts according to the first embodiment. [Figure 13] 4 is a flowchart showing a process flow of the control device according to the first embodiment. [Figure 14] FIG. 13 is a diagram showing an overview of a control device according to a second embodiment. [Figure 15] 13A to 13C are diagrams illustrating an overview of relative movement and eccentric processing according to a second embodiment. [Figure 16] FIG. 11 is a diagram showing the moving speed of a tool according to the second embodiment. [Figure 17] FIG. 11 is a diagram showing the moving speed of a tool according to the second embodiment. [Figure 18] FIG. 11 is a diagram showing the moving speed of a tool according to the second embodiment. [Figure 19] 10 is a flowchart showing a process flow of a control device according to a second embodiment. [Figure 20] FIG. 13 is a diagram showing an overview of a computing device according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [First embodiment] An example of an embodiment of the present invention will be described below. Fig. 1 is a diagram showing an overview of a control device 1 according to a first embodiment. The control device 1 is a device for controlling a machine tool 2, and is, for example, a numerical control device.

[0012] The machine tool 2 machines a workpiece using swing cutting under the control of the control device 1. The machine tool 2 also has motors 21 and 22. The motor 21 drives and controls a spindle 24, for example, and the motor 22 drives and controls a tool 23.

[0013] The control device 1 includes a vibration command generating unit 11, a relative vibration command generating unit 12, a vibration phase adjusting unit 13, an amplitude calculating unit 14, a determining unit 15, a related axis vibration command generating unit 16, and a vibration phase setting unit 17.

[0014] The vibration command generating unit 11 generates a vibration command to vibrate the tool 23 of the machine tool 2 or the workpiece 30 based on the oscillation conditions for vibrating at least the tool 23 of the machine tool 2 or the workpiece 30. The vibration command generating unit 11 may generate the vibration command based on the oscillation conditions including the oscillation amplitude magnification and the oscillation frequency magnification and the machining conditions, for example, or may generate the vibration command based on the oscillation conditions including the oscillation amplitude and the oscillation frequency.

[0015] The relative vibration command generating unit 12 generates a relative vibration command for relatively vibrating the tool 23 and the workpiece 30 based on a swing condition for relatively vibrating at least the tool 23 and the workpiece 30. The relative vibration command generating unit 12 may generate the relative vibration command based on the swing conditions including a swing amplitude magnification and a swing frequency magnification and machining conditions for machining the workpiece 30, for example, or may generate the relative vibration command based on the swing conditions including a swing amplitude and a swing frequency.

[0016] The vibration phase adjusting unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command. Specifically, the vibration phase adjusting unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command so that a parameter of a composite vibration obtained by combining vibrations generated by the vibration command and the relative vibration command becomes a predetermined value.

[0017] The amplitude calculation unit 14 calculates the amplitude of vibration of the tool 23 or the workpiece 30 based on the vibration command, and calculates the amplitude of relative vibration between the tool 23 and the workpiece 30 based on the relative vibration command.

[0018] The determination unit 15 determines whether the parameter due to the composite vibration is within a predetermined allowable value. If the parameter is outside the allowable value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0019] Furthermore, the determination unit 15 determines whether or not a composite amplitude sum indicating the sum of the vibration amplitude of the tool 23 or the workpiece 30 and the relative vibration amplitude of the tool 23 and the workpiece 30, as a parameter due to the composite vibration, is equal to or less than an upper amplitude limit value as a permissible value. When the composite amplitude sum exceeds the upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0020] Furthermore, the determination unit 15 determines whether or not a composite amplitude sum indicating the sum of the vibration amplitude of the tool 23 or the workpiece 30 and the relative vibration amplitude of the tool 23 and the workpiece 30, which is a parameter, is equal to or greater than a lower limit amplitude value as a permissible value. When the composite amplitude sum is less than the lower limit amplitude value, the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command.

[0021] The related axis vibration command generation unit 16 generates a related axis vibration command to vibrate the tool 23 or the workpiece 30 or in another axis direction related to the relative vibration of the tool 23 and the workpiece 30 based on the machining conditions for machining the workpiece 30.

[0022] After adjusting the vibration phase by the vibration phase adjustment unit 13, the vibration phase setting unit 17 sets the vibration phase of the vibration in the other axial direction related to the vibration of the tool 23 or the workpiece 30 or the relative vibration of the tool 23 and the workpiece 30, in accordance with the vibration phase adjusted by the vibration phase adjustment unit 13. For example, the vibration phase setting unit 17 sets the vibration phase of the vibration in the other axial direction based on the vibration phase adjusted by the vibration phase adjustment unit 13 and the related axis vibration command.

[0023] In addition, when the vibration frequency of the vibration of the tool 23 or the workpiece 30 differs from the relative vibration of the tool 23 and the workpiece 30, the vibration phase adjustment unit 13 may adjust the vibration frequency of at least one of the vibration command and the relative vibration command, and also adjust the vibration phase.

[0024] 2 is a diagram showing an overview of swing cutting and eccentric machining according to the first embodiment. As shown in FIG. 2, the machine tool 2 performs thread swing cutting with a tool 23, and also performs eccentric machining on a workpiece 30.

[0025] In the example shown in FIG. 2, vibration caused by the threading swing cutting occurs in the X-axis direction, and vibration caused by eccentric machining of the workpiece 30 also occurs in the X-axis direction.

[0026] The vibration caused by the thread swing cutting is generated based on a relative vibration command for relatively vibrating the tool 23 and the workpiece 30. The vibration caused by the eccentric machining is generated based on a vibration command for vibrating the tool 23 of the machine tool 2.

[0027] Next, in order to obtain the phase difference α between the vibration caused by the thread cutting oscillation and the vibration caused by the eccentric machining, the following formula is used. The vibration caused by eccentric machining is expressed as Asin(Dω), and the vibration caused by thread cutting is expressed as Bsin(Dω+α).

[0028] In this case, the composite vibration of the eccentric machining vibration and the thread cutting vibration is Rsin(Dω+sin -1 It is expressed as ((B / R)sinα). where A, B and D are constants and ω is the angular velocity. Also, R=√(A 2 +B 2 +2ABcosα).

[0029] When the upper limit of the amplitude of the composite vibration is C, the phase difference α is expressed by the following formula. α=cos -1 ((C 2 -A 2 -B 2 ) / 2AB) Moreover, the time T corresponding to the phase difference α is expressed by the following formula. T=α / Dω

[0030] Moreover, by calculating α that minimizes R, the amplitude of the composite vibration can be minimized.

[0031] Fig. 3 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and composite vibration according to the first embodiment. Fig. 4 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and composite vibration before and after adjustment of vibration phase according to the first embodiment.

[0032] Figures 3 and 4 show waveforms of the vibration caused by the thread cutting oscillation cutting, the vibration caused by eccentric machining, and the combined vibration as described in Figure 2. The waveforms shown in Figures 3 and 4 show time on the horizontal axis and the tool position of the tool 23 in the X direction on the vertical axis.

[0033] The example shown in Fig. 3 is a case where the amplitude is outside the allowable range. Similarly, when focusing on acceleration, mechanical vibration, sound, etc., the resultant vibration may be outside the allowable range. In this case, the control device 1 can avoid it by adjusting the phase.

[0034] Therefore, when the composite amplitude sum, which indicates the sum of the amplitude of the vibration due to thread cutting oscillating cutting and the amplitude of the vibration due to eccentric machining, exceeds the upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibration due to thread cutting oscillating cutting and the vibration due to eccentric machining so that the composite amplitude sum is equal to or less than the upper amplitude limit value.

[0035] 4, the vibration phase adjustment unit 13 adjusts the vibration phase of a command (relative vibration command) for thread cutting oscillation cutting so that the vibration caused by the thread cutting oscillation cutting is stopped for a time T corresponding to the phase difference α. The vibration phase adjustment unit 13 may also adjust the vibration phase of a command (vibration command) for eccentric machining so that the vibration caused by the eccentric machining is stopped for a time T corresponding to the phase difference α.

[0036] In addition, instead of the above-mentioned processing, the vibration phase adjustment unit 13 may adjust either one or both of the phases so that the phase difference between the vibration phase of the command (relative vibration command) for thread cutting oscillating cutting and the vibration phase of the command (vibration command) for eccentric machining becomes α.

[0037] As a result, after the vibration phase adjustment, the composite amplitude sum is equal to or less than the upper amplitude limit value. In addition, the vibration phase adjustment unit 13 may adjust the phase difference α so that the composite amplitude sum is minimized by calculating α at which R is minimized.

[0038] Fig. 5 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and composite vibration according to the first embodiment. Fig. 6 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and composite vibration before and after adjustment of the vibration phase according to the first embodiment.

[0039] Figures 5 and 6, like Figures 3 and 4, show waveforms of the vibration caused by the thread cutting orbital cutting, the vibration caused by eccentric machining, and the composite vibration as described in Figure 2. In Figure 3, the composite vibration sum showing the sum of the amplitude of the vibration caused by the thread cutting orbital cutting and the amplitude of the vibration caused by eccentric machining exceeded the upper amplitude limit, but Figure 5 shows a case where the composite vibration sum is less than the lower amplitude limit.

[0040] When the composite vibration sum is less than the amplitude lower limit value, fretting may occur due to micro-vibrations in the machine tool 2. Therefore, the machine tool 2 needs to increase the composite vibration sum in order to avoid fretting caused by micro-vibrations.

[0041] Therefore, when the composite amplitude sum is less than the amplitude lower limit, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibration caused by the thread cutting swing cutting and the vibration caused by the eccentric machining so that the composite amplitude sum is equal to or greater than the amplitude lower limit.

[0042] Specifically, as shown in FIG. 6, the vibration phase adjustment unit 13 adjusts the vibration phase of the command (relative vibration command) for thread cutting oscillation cutting so that the vibration caused by the thread cutting oscillation cutting is stopped for a time T corresponding to the phase difference α. Furthermore, the vibration phase adjustment unit 13 may adjust the vibration phase of a command (vibration command) for eccentric machining so that the vibration caused by eccentric machining is stopped for a time T corresponding to the phase difference α.

[0043] Also, instead of the above-mentioned processing, the vibration phase adjustment unit 13 may adjust one or both of the phases so that the phase difference between the vibration phase of the command for thread cutting (relative vibration command) and the vibration phase of the command for eccentric machining (vibration command) becomes α. As a result, after the vibration phase adjustment, the composite amplitude sum becomes equal to or greater than the amplitude lower limit value.

[0044] In the examples shown in Figures 3 to 6, the phase difference α is calculated in advance to adjust the phase, but there are cases where the composite amplitude sum cannot be obtained in advance and cannot be known until the tool is actually operated. For example, the actual vibration amplitude of the tool cutting edge due to the composite vibration is difficult to calculate in advance due to the influence of machine characteristics, and it is difficult to calculate the phase difference α. In such cases, the control device 1 may adjust the phase by gradually shifting the phases of the two vibrations based on feedback from a sensor that can directly observe the composite amplitude sum, and stopping the gradual shifting of the phases of the two vibrations when the desired value is reached.

[0045] Fig. 7 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and composite vibration according to the first embodiment. Fig. 8 is a diagram showing waveforms of vibration caused by swing cutting, vibration caused by eccentric machining, and composite vibration before and after adjustment of the vibration phase according to the first embodiment.

[0046] Figures 7 and 8, like Figures 3 and 4, show waveforms for the vibration caused by the thread cutting orbital cutting, the vibration caused by the eccentric machining, and the composite vibration as described in Figure 2. In the examples shown in Figures 3 and 4, the vibration frequencies of the vibration caused by the thread cutting orbital cutting and the vibration caused by the eccentric machining were the same, but in the examples shown in Figures 7 and 8, the vibration frequencies of the vibration caused by the thread cutting orbital cutting and the vibration caused by the eccentric machining are not the same.

[0047] In the examples shown in Figures 7 and 8, as in the examples shown in Figures 3 and 4, when the composite amplitude sum indicating the sum of the amplitude of the vibration due to thread cutting oscillating cutting and the amplitude of the vibration due to eccentric machining exceeds an upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibration due to thread cutting oscillating cutting and the vibration due to eccentric machining so that the composite amplitude sum is equal to or less than the upper amplitude limit value.

[0048] Fig. 9 is a diagram showing an overview of the orbital cutting and eccentric machining according to the first embodiment. In the example shown in Fig. 3, the vibration caused by the eccentric machining and the vibration caused by the thread cutting orbital cutting both occur in the X-axis direction, but in the example shown in Fig. 9, the vibration caused by the eccentric machining occurs in the X-axis direction, and the vibration caused by the orbital cutting occurs in the Z-axis direction. In other words, the composite vibration is a composite vibration of the vibration caused by the eccentric machining occurring in the X-axis direction and the vibration caused by the orbital cutting occurring in the Z-axis direction.

[0049] Even when the vibration due to eccentric machining and the vibration due to oscillating cutting do not occur on the same axis as in the example shown in Figure 9, when the composite amplitude sum indicating the sum of the amplitude of the vibration due to oscillating cutting and the amplitude of the vibration due to eccentric machining exceeds the upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibration due to oscillating cutting and the vibration due to eccentric machining so that the composite amplitude sum is equal to or less than the upper amplitude limit value.

[0050] As a result, after the vibration phase is adjusted, the composite amplitude sum becomes equal to or less than the upper amplitude limit value, and the control device 1 can suppress the maximum acceleration and the like of the composite vibration.

[0051] Fig. 10 is a diagram showing an overview of the swing cutting and eccentric machining according to the first embodiment. In the example shown in Fig. 10, swing cutting is performed along the taper direction of the eccentric workpiece 30. Therefore, in the example shown in Fig. 10, vibrations caused by eccentric machining occur in the X-axis direction, and vibrations caused by swing cutting occur in the X-axis and Z-axis directions.

[0052] In such a case, when the composite amplitude sum indicating the sum of the amplitude of the vibration due to oscillating cutting generated in the X-axis direction and the amplitude of the vibration due to eccentric machining generated in the X-axis direction exceeds the upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the phase difference α between the vibration due to oscillating cutting and the vibration due to eccentric machining so that the composite amplitude sum is equal to or less than the upper amplitude limit value.

[0053] Then, the vibration phase setting unit 17 sets the vibration phase of the vibration in the Z-axis direction (i.e., the other axis direction) related to the vibration due to oscillating cutting so as to maintain the vibration phase of the vibration due to oscillating cutting generated in the X-axis direction and the vibration phase of the vibration due to oscillating cutting generated in the Z-axis direction, according to the phase difference α (vibration phase) adjusted by the vibration phase adjustment unit 13.

[0054] By setting the vibration phase in this manner, the machine tool 2 can vibrate the tool 23 along the taper direction of the workpiece 30 during thread swing cutting.

[0055] In addition, when the vibration frequencies of the vibration caused by eccentric machining and the vibration caused by oscillatory cutting are different, the vibration phase adjustment unit 13 may adjust the vibration frequency of at least one of the commands for oscillatory cutting (relative vibration command) or the commands for eccentric machining (vibration command), and may also adjust the vibration phase.

[0056] Specifically, if the vibration frequency of the vibration due to eccentric machining is 10 Hz, the amplitude of the vibration due to eccentric machining is 1.00 mm, the vibration frequency of the vibration due to oscillating cutting is 6 Hz, and the amplitude of the vibration due to oscillating cutting is 0.50 mm, the minimum value of the amplitude of the vibration due to the composite vibration (the minimum amplitude achieved by adjusting the vibration phase) is 1.35 mm.

[0057] In this case, however, since the upper limit of the amplitude of the vibration due to the composite vibration is 1.30 mm, the minimum value of the amplitude of the vibration due to the composite vibration (1.35 mm) exceeds the upper limit of the amplitude. Therefore, when the vibration frequencies of the vibration due to eccentric machining and the vibration due to swing cutting are different, the vibration phase adjustment unit 13 adjusts the vibration frequency and the vibration phase in the command for swing cutting.

[0058] Specifically, the vibration phase adjustment unit 13 changes the vibration frequency of the vibration due to the oscillating cutting from 6 Hz to 5 Hz, and adjusts the vibration phase. As a result, the minimum value of the amplitude of the vibration due to the composite vibration (the minimum amplitude achieved by adjusting the vibration phase) becomes 1.27 mm. Therefore, since the upper amplitude limit value of the amplitude of the vibration due to the composite vibration is 1.30 mm, the minimum value of the amplitude of the vibration due to the composite vibration (1.27 mm) is equal to or less than the upper amplitude limit value.

[0059] In the above, the control device 1 adjusted the phase to adjust the sum of the composite amplitudes, but it is also possible to adjust the phase of the two vibrations to control any one of the parameters affected by the composite vibration, such as the acceleration of the composite vibration, the magnitude of vibration (amplitude, acceleration) in a specific part of the drive mechanism, or the vibration of the entire machine, other than the amplitude.

[0060] Fig. 11 is a diagram showing an example using two swing cuttings according to the first embodiment. In the example shown in Fig. 11, the machine tool 2 machines the workpiece 70 by two swing cuttings, instead of the swing cutting and eccentric machining described above. That is, in the machine tool 2, swing cutting is performed between the fixed tool rest 65A and the movable headstock 75, and relative swing cutting is performed between the movable headstock 75 and the movable tool rest 65B.

[0061] The workpiece 70 is machined by the tool 66A through the relative swing cutting between the fixed tool rest 65A and the movable headstock 75, and the workpiece 70 is machined by the tool 66B through the relative swing cutting between the movable headstock 75 and the movable tool rest 65B.

[0062] In this case, the tool 66A vibrates relative to the vibrating workpiece 70 due to the swing cutting between the fixed tool rest 65A and the movable headstock 75. Furthermore, the tool 66B vibrates relative to the workpiece 70 due to the relative swing cutting between the movable headstock 75 and the movable tool rest 65B.

[0063] Furthermore, vibration caused by the relative swing cutting between the movable headstock 75 and the movable tool rest 65B is generated based on a relative vibration command that relatively vibrates the workpiece 70 and the tool 66B. Vibration caused by the swing cutting between the fixed tool rest 65A and the movable headstock 75 is generated based on a vibration command for vibrating the tool 23 of the machine tool 2.

[0064] In the example shown in Figure 11, when a composite amplitude sum indicating the sum of the amplitude of vibration due to relative oscillating cutting between the movable headstock 75 and the movable tool rest 65B and the amplitude of vibration due to oscillating cutting between the fixed tool rest 65A and the movable headstock 75 exceeds an upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the phase difference between the vibration due to relative oscillating cutting and the vibration due to oscillating cutting so that the composite amplitude sum is equal to or less than the upper amplitude limit value.

[0065] Furthermore, when the composite amplitude sum is less than the amplitude lower limit, the vibration phase adjustment unit 13 adjusts the phase difference between the vibrations caused by relative oscillatory cutting and the vibrations caused by oscillatory cutting so that the composite amplitude sum is equal to or greater than the amplitude lower limit.

[0066] As a result, the control device 1 can suppress the maximum acceleration, etc. of the composite vibration when machining using superposition control that combines the vibration caused by relative oscillating cutting between the movable headstock 75 and the movable tool rest 65B and the vibration caused by oscillating cutting between the fixed tool rest 65A and the movable headstock 75.

[0067] Fig. 12 is a diagram showing an example using two swing cuts according to the first embodiment. In the example shown in Fig. 12, the machine tool 2 machines a workpiece 83A and a workpiece 83B by two swing cuts, similar to Fig. 11. That is, in the machine tool 2, swing cutting is performed between the fixed headstock 82A and the movable tool rest 80, and relative swing cutting is performed between the movable tool rest 80 and the movable headstock 82B.

[0068] Then, the workpiece 83A is machined by the tool 81A through the swing cutting between the fixed headstock 82A and the movable tool rest 80, and the workpiece 83B is machined by the tool 81B through the relative swing cutting between the movable tool rest 80 and the movable headstock 82B.

[0069] In this case, vibration of the tool 81A is generated by the swing cutting between the fixed headstock 82A and the movable tool rest 80. Furthermore, relative swing cutting between the movable tool rest 80 and the movable headstock 82B generates relative vibration of the tool 81B with respect to the workpiece 83B.

[0070] Furthermore, vibration caused by the relative swing cutting between the movable tool rest 80 and the movable headstock 82B is generated based on a relative vibration command that relatively vibrates the tool 81B and the workpiece 83B. Vibration caused by the swing cutting between the fixed headstock 82A and the movable tool rest 80 is generated based on a vibration command for vibrating the tool 81A.

[0071] In the example shown in Figure 12, when a composite amplitude sum indicating the sum of the amplitude of vibration due to relative oscillating cutting between the movable tool post 80 and the movable headstock 82B and the amplitude of vibration due to oscillating cutting between the fixed headstock 82A and the movable tool post 80 exceeds an upper amplitude limit value, the vibration phase adjustment unit 13 adjusts the phase difference between the vibration due to relative oscillating cutting and the vibration due to oscillating cutting so that the composite amplitude sum is equal to or less than the upper amplitude limit value.

[0072] Furthermore, the vibration phase adjustment unit 13 may adjust the phase difference so that a parameter due to the composite vibration, such as the sum of composite amplitudes, is minimized. This allows the control device 1 to reduce the burden on the machine in machining using superposition control that combines the vibration caused by the relative oscillating cutting between the movable tool rest 80 and the movable headstock 82B and the vibration caused by the oscillating cutting between the fixed headstock 82A and the movable tool rest 80.

[0073] Furthermore, when the composite amplitude sum is less than the amplitude lower limit, the vibration phase adjustment unit 13 adjusts the phase difference between the vibrations caused by relative oscillatory cutting and the vibrations caused by oscillatory cutting so that the composite amplitude sum is equal to or greater than the amplitude lower limit.

[0074] As a result, the control device 1 can suppress fretting wear in machining using superposition control that combines vibrations caused by relative oscillating cutting between the movable tool rest 80 and the movable headstock 82B and vibrations caused by oscillating cutting between the fixed headstock 82A and the movable tool rest 80.

[0075] FIG. 13 is a flowchart showing a flow of processing by the control device 1 according to the first embodiment. In step S1, the vibration command generating unit 11 generates a vibration command for vibrating the tool 23 or the workpiece 30 of the machine tool 2. In step S2, the relative vibration command generating unit 12 generates a relative vibration command for vibrating the tool 23 and the workpiece 30 relatively.

[0076] In step S3, the amplitude calculation unit 14 calculates the vibration amplitude of the tool 23 or the workpiece 30 based on the vibration command, and calculates the relative vibration amplitude of the tool 23 and the workpiece 30 based on the relative vibration command.

[0077] In step S4, the determination unit 15 determines whether the composite amplitude sum, which indicates the sum of the amplitude of vibration of the tool 23 or the workpiece 30 and the amplitude of the relative vibration of the tool 23 and the workpiece 30, is equal to or less than the upper amplitude limit or equal to or more than the lower amplitude limit. If the composite amplitude sum is equal to or less than the upper amplitude limit or equal to or more than the lower amplitude limit (YES), the process then ends. On the other hand, if the composite amplitude sum exceeds the upper amplitude limit or is less than the lower amplitude limit (NO), the process proceeds to step S5.

[0078] In step S5, the vibration phase adjusting unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0079] As described above, the control device 1 according to the first embodiment includes a vibration command generating unit 11 that generates a vibration command to vibrate a tool or workpiece of the machine tool 2, a relative vibration command generating unit 12 that generates a relative vibration command to vibrate the tool and workpiece relatively, and a vibration phase adjusting unit 13 that adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command.

[0080] As a result, the control device 1 adjusts the vibration phase of at least one of the vibration command and the relative vibration command based on the vibration command and the relative vibration command, and therefore can appropriately adjust the composite vibration of the vibration of the tool or workpiece and the relative vibration of the tool and workpiece. Therefore, the control device 1 can minimize or maximize elements caused by the composite vibration (for example, the amplitude and acceleration of the composite vibration, the vibration and sound of the entire machine tool 2, etc.).

[0081] The vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command so that a parameter due to a composite vibration obtained by combining vibrations generated by the vibration command and the relative vibration command becomes a predetermined value. This allows the control device 1 to set the parameter due to the composite vibration to an appropriate value.

[0082] The control device 1 further includes a determination unit 15 that determines whether the parameter is within a predetermined allowable value, and the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command when the parameter is outside the allowable value. This allows the control device 1 to appropriately adjust the vibration phase when the parameter is outside the allowable value.

[0083] The control device 1 further includes an amplitude calculation unit 14 that calculates the vibration amplitude of the tool or workpiece based on the vibration command and calculates the relative vibration amplitude of the tool and workpiece based on the relative vibration command. The determination unit 15 determines whether a composite amplitude sum indicating the sum of the vibration amplitude of the tool or workpiece and the relative vibration amplitude of the tool and workpiece as a parameter is equal to or less than an amplitude upper limit as a permissible value, and the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command when the composite amplitude sum exceeds the amplitude upper limit. This allows the control device 1 to appropriately adjust the vibration phase when the composite amplitude sum exceeds the amplitude upper limit.

[0084] The control device 1 further includes an amplitude calculation unit 14 that calculates the vibration amplitude of the tool or workpiece based on the vibration command and calculates the relative vibration amplitude of the tool and workpiece based on the relative vibration command. The determination unit 15 determines whether a composite amplitude sum indicating the sum of the vibration amplitude of the tool or workpiece and the relative vibration amplitude of the tool and workpiece, as a parameter, is equal to or greater than a lower amplitude limit value as a permissible value, and the vibration phase adjustment unit 13 adjusts the vibration phase of at least one of the vibration command and the relative vibration command when the composite amplitude sum is less than the lower amplitude limit value. This allows the control device 1 to appropriately adjust the vibration phase when the composite amplitude sum is less than the amplitude lower limit value.

[0085] The control device 1 further includes a vibration phase setting unit 17 that sets the vibration phase of the vibration in the other axial direction related to the vibration command or the relative vibration command, in accordance with the vibration phase adjusted by the vibration phase adjustment unit 13. This allows the control device 1 to set the vibration phase of the vibration in the other axial direction to an appropriate value after adjusting the composite vibration.

[0086] Furthermore, when the vibration frequency of the vibration command and the vibration frequency of the relative vibration command are different, the vibration phase adjustment unit 13 adjusts the vibration frequency of at least one of the vibration command and the relative vibration command, and also adjusts the vibration phase. This allows the control device 1 to adjust not only the vibration phase but also the vibration frequency, thereby making it possible to further reduce the vibration of the composite vibration, etc.

[0087] [Second embodiment] Next, a control device 10 according to a second embodiment will be described. In the description of the second embodiment, the same components as those in the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted or simplified.

[0088] The control device 10 according to the second embodiment differs from the first embodiment mainly in that, instead of a relative vibration command generating unit and a vibration phase adjusting unit, it has a relative movement command generating unit that generates a relative movement command for moving the tool and the workpiece relatively, and a command adjusting unit that adjusts parameters of the vibration command and the relative movement command. Other configurations are similar to those of the first embodiment.

[0089] 14 is a diagram showing an overview of a control device 10 according to the second embodiment. The control device 10 is a device for controlling a machine tool 20, and is, for example, a numerical control device. FIG. 15 is a diagram showing an overview of the relative movement and eccentric processing according to the second embodiment.

[0090] Machine tool 20 positions tool 26 relative to workpiece 35, and performs eccentric machining on workpiece 35. In the example shown in Fig. 15, a command for moving tool 26 relative to workpiece 35 is generated in the X-axis direction, and vibrations due to eccentric machining of workpiece 35 are also generated in the X-axis direction. Machine tool 20 also has motors 21 and 25. Motor 21 drives and controls spindle 24, for example, and motor 25 drives and controls tool 26.

[0091] The control device 10 includes a vibration command generating unit 91 , a relative movement command generating unit 92 , a tool speed obtaining unit 93 , a determining unit 94 , and a command adjusting unit 95 .

[0092] The vibration command generating unit 91 generates a vibration command for vibrating at least the tool 26 or the workpiece 35 of the machine tool 2. Specifically, the vibration command generating unit 91 generates a vibration command for vibrating the workpiece 35 in order to perform eccentric machining.

[0093] The relative movement command generating unit 92 generates a relative movement command for moving at least the tool 26 and the workpiece 35 relatively.

[0094] The tool speed acquisition unit 93 acquires, based on at least the relative movement command and the vibration command, a first movement speed of the tool 26 based on a relative movement command of the tool 26 with respect to the workpiece 35, and a second movement speed of the tool 26 due to vibration caused by eccentric machining.

[0095] The determination unit 94 determines whether or not the composite speed sum indicating the sum of the first moving speed and the second moving speed acquired by the tool speed acquisition unit 93 exceeds the speed upper limit value.

[0096] The command adjustment unit 95 adjusts at least one parameter out of a plurality of parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command. Specifically, when the composite speed sum exceeds a speed upper limit, the command adjustment unit 95 adjusts the timing of execution of a relative movement command of the tool 26 with respect to the workpiece 35 so that the composite speed sum is equal to or less than the speed upper limit. Furthermore, when the composite speed sum exceeds a speed upper limit, the command adjustment unit 95 may adjust the movement speed of the tool according to the relative movement command of the tool 26 with respect to the workpiece 35.

[0097] 16 to 18 are diagrams showing the moving speed of the tool 26 according to the second embodiment. Specifically, Figure 16 is a diagram showing a first movement speed of the tool 26 due to a relative movement command of the tool 26 relative to the workpiece 35, a second movement speed of the tool 26 due to vibration caused by eccentric machining, and a third movement speed of the tool 26 due to a combined command thereof in the second embodiment.

[0098] FIG. 17 is a diagram showing the first movement speed of the tool 26 due to a relative movement command of the tool 26 with respect to the workpiece 35 before and after adjustment of the commands, the second movement speed of the tool 26 due to vibration caused by eccentric machining, and the third movement speed of the tool due to a combined command thereof, in the second embodiment.

[0099] In the waveforms shown in FIGS. 16 and 17, the horizontal axis indicates time, and the vertical axis indicates the moving speed of the tool 26 in the X direction. 16, the moving speed of the tool 26 falls outside the allowable range. In this case, the control device 1 can avoid this by adjusting the timing of execution of a relative movement command for the tool 26 with respect to the workpiece 35.

[0100] Therefore, the determination unit 94 determines whether or not the composite speed sum indicating the sum of the first moving speed and the second moving speed acquired by the tool speed acquisition unit 93 exceeds the speed upper limit value. When the combined speed sum exceeds the speed upper limit, the command adjustment unit 95 adjusts the timing of execution of the command for moving the tool 26 relative to the workpiece 35 so that the combined speed sum is equal to or less than the speed upper limit.

[0101] 17, the command adjustment unit 95 adjusts the timing of execution of a relative movement command of the tool 26 with respect to the workpiece 35 so as to stop the execution of the relative movement command of the tool 26 with respect to the workpiece 35 for a time T. In addition, the command adjustment unit 95 may adjust the vibration phase of the vibration caused by the eccentric machining so as to advance the vibration command caused by the eccentric machining by the time T.

[0102] Also, instead of the above-mentioned processing, the command adjustment unit 95 may adjust both the timing of execution of the relative movement command of the tool 26 with respect to the workpiece 35 and the vibration phase of the vibration caused by eccentric machining. As a result, after the adjustment, the composite speed sum becomes equal to or less than the speed upper limit value.

[0103] Furthermore, the command adjustment unit 95 may adjust the absolute value of the tool movement speed to be as small as possible. This enables the control device 10 to reduce the burden on the machine tool 20.

[0104] FIG. 18 is a diagram showing the first movement speed of the tool 26 due to a relative movement command of the tool 26 with respect to the workpiece 35 before and after adjustment of the commands in the second embodiment, the second movement speed of the tool 26 due to vibration caused by eccentric machining, and the third movement speed of the tool 26 due to a combined command of these.

[0105] 18, instead of adjusting the timing of the relative movement command of the tool 26 with respect to the workpiece 35 as in Fig. 17, the command adjustment unit 95 adjusts the first movement speed of the tool based on the relative movement command of the tool 26 with respect to the workpiece 35. In the example shown in Fig. 18, when the sum of the composite speeds exceeds the speed upper limit value, the command adjustment unit 95 adjusts the first movement speed based on the relative movement command of the tool 26 with respect to the workpiece 35 so that the sum of the composite speeds matches the speed upper limit value. This prevents the sum of the composite speeds from exceeding the speed upper limit value.

[0106] In addition to the above, when the sum of the composite speeds exceeds the upper speed limit, the command adjustment unit 95 may adjust the first movement speed so that the sum of the composite speeds becomes zero, for example. Furthermore, the command adjustment unit 95 may adjust the timing of the relative movement command of the tool 26 with respect to the workpiece 35, in addition to adjusting the first movement speed of the tool 26 based on the relative movement command of the tool 26 with respect to the workpiece 35. This enables the control device 10 to reduce the burden on the machine tool 20.

[0107] As described above, the command adjustment unit 95 may adjust other parameters, such as the acceleration according to the composite command, in addition to the composite speed.

[0108] Also, as described above, when the parameters of the composite command cannot be determined in advance, the command adjustment unit 95 may adjust the parameters of the composite command by adjusting the commands based on feedback from a sensor that can directly observe them, and terminating the adjustment when the desired value is met.

[0109] FIG. 19 is a flowchart showing a flow of processing by the control device 10 according to the second embodiment. In step S11, the vibration command generating unit 91 generates a vibration command for vibrating the tool 26 or the workpiece 35 of the machine tool 2.

[0110] In step S12, the relative movement command generating unit 92 generates a relative movement command for moving the tool 26 and the workpiece 35 relatively to each other.

[0111] In step S13, the tool speed acquisition unit 93 acquires, based on at least the relative movement command and the vibration command, a first movement speed of the tool 26 based on a relative movement command of the tool 26 relative to the workpiece 35, and a second movement speed of the tool 26 due to vibration caused by eccentric machining.

[0112] In step S14, the determination unit 94 determines whether or not the composite speed sum indicating the sum of the first moving speed and the second moving speed acquired by the tool speed acquisition unit 93 exceeds the speed upper limit value. If the composite speed sum exceeds the speed upper limit value (YES), the process proceeds to step S15. On the other hand, if the composite speed sum does not exceed the speed upper limit value (NO), the process then ends.

[0113] In step S15, when the sum of the composite speeds exceeds the upper speed limit, the command adjustment unit 95 adjusts the timing of execution of the relative movement command of the tool 26 with respect to the workpiece 35 so that the sum of the composite speeds is equal to or less than the upper speed limit. Furthermore, when the sum of the composite speeds exceeds the upper speed limit, the command adjustment unit 95 may adjust the movement speed of the tool 26 based on the relative movement command of the tool 26 with respect to the workpiece 35.

[0114] As described above, the control device 10 according to the second embodiment includes a vibration command generating unit 91 that generates a vibration command to vibrate a tool or workpiece of the machine tool 20, a relative movement command generating unit 92 that generates a relative movement command to move the tool and the workpiece relatively, and a command adjusting unit 95 that adjusts at least one parameter out of multiple parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command.

[0115] As a result, the control device 10 adjusts at least one of the multiple parameters of the vibration command and the relative movement command based on the vibration command and the relative movement command, and therefore can appropriately adjust the composite vibration of the vibration of the tool or workpiece and the relative movement of the tool and workpiece. Therefore, the control device 1 can minimize or maximize elements caused by the composite vibration (for example, the amplitude and acceleration of the composite vibration, the vibration and sound of the entire machine tool 20, etc.).

[0116] Furthermore, the parameters of the relative movement command may include the timing of execution of the relative movement command, and the command adjustment unit 95 may adjust at least one parameter based on the vibration command. This allows the control device 1 to set the parameters due to the composite vibration to appropriate values.

[0117] The parameters of the relative movement command may include a moving speed of the tool according to the relative movement command, and the command adjustment unit 95 may adjust at least one parameter based on the vibration command. This allows the control device 1 to set the parameters according to the composite vibration to appropriate values.

[0118] In the above-described embodiment, the control device 1 for controlling the machine tool 2 has been described, but the present invention is not limited to the above-described embodiment. For example, in another embodiment according to the present invention, a calculation device 100 may be used instead of the control device 1.

[0119] Fig. 20 is a diagram showing an overview of a computing device 100 according to another embodiment. The computing device 100 is a computer device connected to a control device 1. In the embodiment shown in Fig. 20, the control device 1 controls a machine tool 2 in accordance with a control command output from the computing device 100.

[0120] As shown in FIG. 20 , the calculation device 100 includes a vibration command generation unit 101, a relative vibration command generation unit 102, a vibration phase adjustment unit 103, an amplitude calculation unit 104, a determination unit 105, a related axis vibration command generation unit 106, and a vibration phase setting unit 107.

[0121] The vibration command generation unit 101, the relative vibration command generation unit 102, the vibration phase adjustment unit 103, the amplitude calculation unit 104, the judgment unit 105, the related axis vibration command generation unit 106 and the vibration phase setting unit 107 correspond to the vibration command generation unit 11, the relative vibration command generation unit 12, the vibration phase adjustment unit 13, the amplitude calculation unit 14, the judgment unit 15, the related axis vibration command generation unit 16 and the vibration phase setting unit 17 of the above-mentioned embodiment, respectively, and execute the same control as in the first embodiment described above.

[0122] Thereby, the calculation device 100 can appropriately adjust the composite vibration of the vibration of the tool or workpiece and the relative vibration of the tool and the workpiece, similar to the control device 1 in the first embodiment described above. Moreover, the calculation device 100 may have the configuration of the second embodiment described above, instead of the above configuration. In this case, the calculation device 100 executes the same control as the second embodiment described above. Thereby, the calculation device 100 can appropriately adjust the composite vibration of the vibration of the tool or workpiece and the relative movement of the tool and the workpiece, similar to the control device 10 in the second embodiment described above.

[0123] Although the embodiments of the present invention have been described above, the above control device 1 and computing device 100 can be realized by hardware, software, or a combination of these. In addition, the control method performed by the above control device 1 and computing device 100 can also be realized by hardware, software, or a combination of these. Here, being realized by software means being realized by a computer reading and executing a program.

[0124] The program can be stored and provided to a computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)).

[0125] Furthermore, in this specification, an example has been given of the operation of the control device when a vibration command in which a tool or workpiece moves back and forth along a single axis is further combined with other vibration commands and movement commands; however, for example, the control device can also be applied to cases in which continuous arcuate movement is performed by synchronously vibrating two or more axes, as in Patent No. 3093933.

[0126] Although the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not limited to the above-described embodiments. The present invention can be embodied in various modified forms without departing from the spirit of the present invention. [Explanation of symbols]

[0127] 1 Control device 2 Machine tools 11 Vibration command generation section 12 Relative vibration command generator 13 Vibration phase adjustment section 14 Amplitude calculation section 15 Judgment section 16 Related axis vibration command generator 17 Vibration phase setting section 21 Motor 22 Motor 23 Tools 24 Spindle 30 Work 100 Computing equipment

Claims

1. A control device for controlling a machine tool, a vibration command generating unit that generates a first vibration command to vibrate at least one of a tool or a workpiece of the machine tool and to keep a relative positional relationship between the workpiece and the tool constant; a relative vibration command generating unit that generates a relative vibration command, which is a second vibration command, for vibrating the tool and the workpiece relatively and varying a relative positional relationship between the workpiece and the tool; a vibration phase adjustment unit that adjusts a vibration phase of at least one of the first vibration command and the relative vibration command based on the first vibration command and the relative vibration command; A control device comprising:

2. 2. The control device according to claim 1, wherein the vibration phase adjustment unit adjusts the vibration phase of at least one of the first vibration command and the relative vibration command so that a parameter of a composite vibration obtained by combining vibrations generated by the first vibration command and the relative vibration command becomes a predetermined value.

3. A determination unit that determines whether the parameter is within a predetermined allowable value, The control device according to claim 2 , wherein the vibration phase adjusting unit adjusts the vibration phase of at least one of the first vibration command and the relative vibration command when the parameter is outside a permissible value.

4. An amplitude calculation unit is further provided that calculates an amplitude of vibration of the tool or the workpiece based on the first vibration command, and calculates an amplitude of relative vibration of the tool and the workpiece based on the relative vibration command, the determination unit determines whether or not a composite amplitude sum indicating a sum of an amplitude of vibration of the tool or the workpiece and an amplitude of relative vibration of the tool and the workpiece is equal to or less than an amplitude upper limit value as the allowable value, The control device according to claim 3 , wherein the vibration phase adjusting unit adjusts the vibration phase of at least one of the first vibration command and the relative vibration command when the composite amplitude sum exceeds the amplitude upper limit value.

5. An amplitude calculation unit is further provided that calculates an amplitude of vibration of the tool or the workpiece based on the first vibration command, and calculates an amplitude of relative vibration of the tool and the workpiece based on the relative vibration command, the determination unit determines whether or not a composite amplitude sum indicating a sum of an amplitude of vibration of the tool or the workpiece and an amplitude of relative vibration of the tool and the workpiece is equal to or greater than a lower limit amplitude value as the allowable value, The control device according to claim 3 , wherein the vibration phase adjusting unit adjusts the vibration phase of at least one of the first vibration command and the relative vibration command when the composite amplitude sum is less than an amplitude lower limit value.

6. 6. The control device according to claim 1, further comprising a vibration phase setting unit that sets a vibration phase of vibration in another axial direction related to the first vibration command or the relative vibration command in accordance with the vibration phase adjusted by the vibration phase adjustment unit.

7. 7. The control device according to claim 1, wherein when a vibration frequency of the vibration due to the first vibration command and a vibration due to the relative vibration command are different, the vibration phase adjustment unit adjusts a vibration frequency of at least one of the first vibration command and the relative vibration command, and adjusts the vibration phase.

8. A control device for controlling a machine tool, a vibration command generating unit that generates a first vibration command to vibrate at least one of a tool or a workpiece of the machine tool and to keep a relative positional relationship between the workpiece and the tool constant; a relative movement command generating unit that generates a relative movement command which is a second movement command for relatively moving the tool and the workpiece and varying a relative positional relationship between the workpiece and the tool; a command adjustment unit that adjusts at least one parameter among a plurality of parameters of the first vibration command and the relative movement command based on the first vibration command and the relative movement command; A control device comprising:

9. The control device according to claim 8 , wherein the parameter of the relative movement command includes a timing of execution of the relative movement command, and the command adjuster adjusts the at least one parameter based on the first vibration command.

10. The control device according to claim 8 or 9, wherein the parameter of the relative movement command includes a moving speed of the tool according to the relative movement command, and the command adjusting unit adjusts the at least one parameter based on the first vibration command.

11. A computing device for a control device that controls a machine tool, comprising: a vibration command generating unit that generates a first vibration command to vibrate at least one of a tool or a workpiece of the machine tool and to keep a relative positional relationship between the workpiece and the tool constant; a relative vibration command generating unit that generates a relative vibration command, which is a second vibration command, for vibrating the tool and the workpiece relatively and varying a relative positional relationship between the workpiece and the tool; a vibration phase adjustment unit that adjusts a vibration phase of at least one of the first vibration command and the relative vibration command based on the first vibration command and the relative vibration command; A computing device comprising:

12. A computing device for a control device that controls a machine tool, comprising: a vibration command generating unit that generates a first vibration command to vibrate at least one of a tool or a workpiece of the machine tool and to keep a relative positional relationship between the workpiece and the tool constant; a relative movement command generating unit that generates a relative movement command which is a second movement command for relatively moving the tool and the workpiece and varying a relative positional relationship between the workpiece and the tool; a command adjustment unit that adjusts at least one parameter among a plurality of parameters of the first vibration command and the relative movement command based on the first vibration command and the relative movement command; A computing device comprising:

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