Arithmetic system, arithmetic method, and program

Abstract

This arithmetic system comprises a first acquisition unit, a second acquisition unit, and a compliance calculation unit. The first acquisition unit acquires cutting resistance data related to cutting resistance generated during cutting processing of an object by a cutting tool possessed by a processing machine. The second acquisition unit acquires shape measurement data obtained by measuring the machined surface shape of the object after the cutting tool performs the cutting processing on the object. The compliance calculation unit calculates a relative compliance characteristic between the cutting tool and the object on the basis of the cutting resistance data and the shape measurement data.

Description

Calculation system, calculation method, and program

[0001] The present disclosure generally relates to a computing system, a computing method, and a program, and more particularly to a computing system, a computing method, and a program related to cutting processing performed by a processing machine that cuts an object.

[0002] Patent Document 1 discloses a machined surface property calculation device that calculates the properties of a machined surface after cutting a workpiece using a rotary tool.

[0003] The machined surface property calculation device includes a tool center displacement amount calculation unit, a relative cutting edge position calculation unit, an absolute cutting edge position calculation unit, and an after-machining shape calculation unit.

[0004] The tool center displacement amount calculation unit calculates the amount of displacement of the rotation center of the rotary tool based on the cutting resistance of the rotary tool. The relative cutting edge position calculation unit calculates the relative cutting edge position of the cutting part with respect to the rotation center of the rotary tool. The absolute cutting edge position calculation unit calculates the absolute cutting edge position of the cutting part with respect to the workpiece based on the amount of displacement of the rotation center of the rotary tool and the relative cutting edge position. The after-machining shape calculation unit calculates the after-machining shape of the workpiece (target object) by transferring the absolute cutting edge position to the workpiece.

[0005] JP 2013-132733 A

[0006] The tool center displacement amount calculation unit calculates the displacement amount of the rotation center of the rotary tool based on the cutting resistance calculated by the cutting resistance calculation unit and the dynamic characteristic coefficient calculated from the transfer function (compliance and phase lag). Therefore, in order to accurately calculate the post-machining shape (machined surface shape), it is necessary to accurately determine the compliance (relative compliance characteristic) of the rotary tool.

[0007] A computing system according to one aspect of the present disclosure includes a first acquisition unit, a second acquisition unit, and a compliance calculation unit. The first acquisition unit acquires cutting resistance data related to cutting resistance generated when a cutting tool of a processing machine cuts an object. The second acquisition unit acquires shape measurement data measuring a machined surface shape of the object after the cutting tool has cut the object. The compliance calculation unit calculates a relative compliance characteristic between the cutting tool and the object based on the cutting resistance data and the shape measurement data.

[0008] A calculation method according to one aspect of the present disclosure includes a first acquisition process, a second acquisition process, and a calculation process. The first acquisition process acquires cutting resistance data related to cutting resistance generated when an object is cut by a cutting tool of a processing machine. The second acquisition process acquires shape measurement data that measures the machined surface shape of the object after the cutting tool has cut the object. The calculation process calculates a relative compliance characteristic between the cutting tool and the object based on the cutting resistance data and the shape measurement data.

[0009] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the above-described calculation method.

[0010] According to the present disclosure, the relative compliance characteristics between a cutting tool and an object can be determined with high accuracy.

[0011] FIG. 1 is a block diagram of a machining system including a calculation system according to an embodiment. FIG. 2 is a conceptual diagram for explaining a feed direction during single-axis machining. FIG. 3 is a conceptual diagram for explaining a feed direction during two-axis machining. FIG. 4 is a block diagram of a milling model in the calculation system according to the embodiment. FIG. 5 is a conceptual diagram of a tool and an object for explaining the milling model according to the embodiment. FIG. 6 is a diagram showing an example of cutting resistance data relating to cutting resistance generated during test machining. FIG. 7 is a diagram showing an example of shape measurement data obtained by measuring a machined surface after test machining. FIG. 8 is a flowchart showing the operation of the calculation system according to the embodiment. FIG. 9 is a conceptual diagram for explaining machining data and shape data in the calculation system according to the embodiment. FIG. 10 is a block diagram of a machining system including a calculation system according to Modification 1. FIG. 11 is a block diagram of a machining system including a calculation system according to Modification 2. FIG. 12 is a block diagram of a machining system including a calculation system according to Modification 3.

[0012] (Summary) Below, a calculation system, a calculation method, and a program according to embodiments and modifications will be described with reference to the drawings. The following embodiments and modifications are merely one of various embodiments of the present disclosure. The following embodiments and modifications can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. The configuration of each of the following modifications can also be appropriately combined with the following embodiments or other modifications.

[0013] A calculation system 1 (see FIG. 1 ) according to one embodiment is applied to a machining system. The machining system is a system including a processing machine 2 for cutting a target object W1 (see FIGS. 2 , 3 , and 5 ). The calculation system 1 has a function of calculating the shape of the machined surface of the target object W1 cut by the processing machine 2.

[0014] In the following embodiment, it is assumed that the processing machine 2 is a machine tool that cuts the workpiece W1 by rotating a cutting tool T1 such as an end mill (see FIGS. 2, 3, and 5). Note that "rotation" in the following description means rotation on its own axis.

[0015] As shown in FIG. 1 , the calculation system 1 includes a first acquisition unit 111 , a second acquisition unit 112 , and a compliance calculation unit 114 .

[0016] The first acquisition unit 111 acquires cutting resistance data relating to cutting resistance generated when the cutting tool T1 of the processing machine 2 cuts the target object W1.

[0017] The second acquisition unit 112 acquires shape measurement data obtained by measuring the shape of the machined surface of the object W1 after the cutting tool T1 has cut the object W1.

[0018] The compliance calculation unit 114 calculates the relative compliance characteristics between the cutting tool T1 and the workpiece W1 based on the cutting resistance data and the shape measurement data.

[0019] Here, the cutting resistance generated when cutting the workpiece W1 with the cutting tool T1 occurs at the cutting edge action point P1 shown in Fig. 5, and the direction of the force rotates together with the rotation of the cutting tool T1. Note that the symbol R1 in Fig. 5 indicates the rotation direction of the cutting tool T1.

[0020] The shape of the machined surface of the workpiece W1 is the shape of the machined surface of the workpiece W1 (the surface along the imaginary line S1 shown in FIGS. 2 and 3) that is cut by the cutting tool T1.

[0021] Here, if the relative displacement generated during cutting by the cutting tool T1 is Y and the cutting resistance is X, the relative compliance characteristic is a transfer function that expresses Y / X as a function of frequency. Conventionally, when determining the relative compliance characteristic of the cutting tool T1, an acceleration sensor detects the vibrations generated when the cutting tool T1 is struck with a hammer, and the vibration data detected by the acceleration sensor is subjected to FFT analysis to determine the relative compliance characteristic. However, because the vibrations of the cutting tool T1 generated by the strike converge in a short period of time (e.g., 10 ms or less), it is not possible to obtain vibration data of a sufficient length, and the accuracy of detecting the relative compliance characteristic in the low-frequency range (e.g., 100 Hz or less) is poor.

[0022] In this embodiment, the compliance calculation unit 114 calculates the relative compliance characteristic based on cutting resistance data related to the cutting resistance generated during cutting and shape measurement data obtained by measuring the machined surface shape after cutting. Therefore, the data lengths of the cutting resistance data and shape measurement data can be increased by adjusting the length of time the cutting is performed to acquire the cutting resistance data and shape measurement data. Therefore, the calculation system 1 can improve the detection accuracy of the relative compliance characteristic in the low-frequency range and accurately determine the relative compliance characteristic between the cutting tool T1 and the workpiece W1. Therefore, when the calculation system 1 calculates the machined surface shape using the relative compliance characteristic calculated by the compliance calculation unit 114, it has the advantage of being able to determine the machined surface shape with higher accuracy. Furthermore, when the calculation system 1 calculates the machined surface shape using the relative compliance characteristic, it is unnecessary to actually measure the surface roughness of the machined surface after cutting to evaluate the machined surface after cutting, which has the advantage of reducing the number of management steps.

[0023] Furthermore, a calculation method according to one aspect is a calculation method executed by the calculation system 1. The calculation method includes a first acquisition process, a second acquisition process, and a calculation process. The first acquisition process acquires cutting resistance data related to cutting resistance generated when the cutting tool T1 of the processing machine 2 cuts the object W1. The second acquisition process acquires shape measurement data measuring the machined surface shape of the object W1 after the cutting tool T1 cuts the object W1. The calculation process calculates the relative compliance characteristic between the cutting tool T1 and the object W1 based on the cutting resistance data and the shape measurement data. According to the above calculation method, the relative compliance characteristic between the cutting tool T1 and the object W1 can be calculated with high accuracy. Therefore, when calculating the machined surface shape using the relative compliance characteristic calculated by the compliance calculation unit 114, there is an advantage in that the machined surface shape can be calculated with higher accuracy.

[0024] The calculation method executed by the calculation system 1 may further include a third acquisition process and a shape calculation process. In the third acquisition process, machining data related to control information of the motor of the processing machine 2 is acquired during cutting of the object W1. In the shape calculation process, shape data related to the machined surface shape of the object W1 is calculated based on the relative compliance characteristic and the machining data. According to this calculation method, the machined surface shape can be determined with higher accuracy.

[0025] This calculation method is executed on a computer system (calculation system 1). That is, this calculation method can also be embodied as a computer program. A program according to one aspect is a program for causing one or more processors to execute the above calculation method. The program may be recorded on a computer-readable non-transitory recording medium.

[0026] (Details) (1) Overall Configuration The calculation system 1 and the processing system according to this embodiment will be described below.

[0027] FIG. 1 is a block diagram showing an example of a machining system according to this embodiment.

[0028] The machining system is a system for machining an object (workpiece) W1, and includes a calculation system 1 and a processing machine 2. The calculation system 1 is applied to such a machining system, and has a function of calculating the shape of the machined surface of the object W1 machined by the processing machine 2. In this embodiment, as an example, all of the functions of the calculation system 1 are provided in a PC (Personal Computer) 100 shown in FIG.

[0029] The PC 100 is assumed to be, for example, a notebook computer, but may also be a desktop computer. Software (represented as "UI software 110" in FIG. 1) that displays a user interface (UI) for operating the servo amplifier 200 is installed on the PC 100, and the UI software 110 includes multiple functions of the computing system 1.

[0030] For example, the processing machine 2 is a machine tool that cuts an object W1 fixed to a stage with a cutting tool T1 such as an end mill (see FIGS. 2, 3, and 5). Fig. 1 shows the processing machine 2 that is capable of two-axis processing, and the processing machine 2 is equipped with two sets of processing devices 3A and 3B.

[0031] The two processing devices 3A and 3B basically have the same functions, with the only difference being the feed direction, so the following will describe the configuration of the processing device 3A, and illustrations and descriptions of the processing device 3B will be omitted.

[0032] The processing device 3A includes a servo amplifier 200, a linear encoder 310, a motor encoder 320, and a servo motor 330.

[0033] The servo amplifier 200 is a device for controlling the servo motor 330. The servo motor 330 is an example of a feed motor for moving the cutting tool T1 or the object W1. The servo motor 330 is, for example, a rotary motor, but may also be a linear motor. The servo motor 330 moves the cutting tool T1 and the object W1 relative to each other, for example, by moving a stage to which the object W1 is fixed.

[0034] As shown in FIG. 1, the servo amplifier 200 includes a communication IF 210, a communication control unit 220, a motor controller 230, AD converters (denoted as "AD" in FIG. 1) 240, 250, and 260, and a PWM controller (denoted as "PWM" in FIG. 1) 270.

[0035] The communication IF 210 is a communication interface such as a communication device for communicating with the PC 100 .

[0036] The communication control unit 220 controls communication with the PC 100 via the communication IF 210. For example, the communication control unit 220 transmits to the PC 100 processing data (e.g., motor control information) necessary for calculating the processing surface shape of the target object W1 processed by the processing machine 2.

[0037] The motor controller 230 controls the rotational speed of the servo motor 330. The motor controller 230 controls the PWM controller 270 to transmit a control signal for rotating the servo motor 330 from the PWM controller 270 to the servo motor 330. The motor controller 230 can also receive information indicating the rotational position and rotational speed of the servo motor 330 as feedback from the linear encoder 310, the motor encoder 320, and the servo motor 330 via the AD converters 240, 250, and 260. The motor controller 230 can further adjust the rotational position and rotational speed of the servo motor 330 using the feedback. For example, the motor controller 230 has a function of feedback control or feedforward control of the rotational position and rotational speed of the servo motor 330.

[0038] The PC 100 includes a UI software 110 , a first communication IF 121 , a second communication IF 122 , and a display unit 130 .

[0039] The first communication IF 121 is a communication interface such as a communication device for communicating with the servo amplifier 200. The first communication IF 121 receives machining data obtained from each of the two machining devices 3A, 3B while the cutting tool T1 is machining the workpiece W1. Furthermore, for each of the two machining devices 3A, 3B, when the UI software 110 receives a user's operation of the servo amplifier 200, it generates operation information corresponding to the operation performed by the user. When the UI software 110 generates operation information for each of the two machining devices 3A, 3B, the first communication IF 121 transmits the operation information created by the UI software 110 to the servo amplifier 200 provided in each of the two machining devices 3A, 3B.

[0040] The second communication IF 122 is a communication interface such as a communication device for communicating with the shape measurement unit 400. The shape measurement unit 400 measures the machined surface shape of the object W1 after the cutting tool T1 of the processing machine 2 has cut the object W1, and outputs shape measurement data that is the measurement result. The shape measurement unit 400 is, for example, a stylus-type surface roughness measuring instrument, but the machined surface shape may also be measured in a non-contact manner using a laser microscope or the like. The second communication IF 122 receives the shape measurement data of the machined surface shape after cutting from the shape measurement unit 400.

[0041] The display unit 130 includes a display device such as a liquid crystal display included in the PC 100. The display unit 130 displays, for example, a UI screen provided by the UI software 110. The display unit 130 may also display the calculation results of the relative compliance characteristic calculated by the compliance calculation unit 114, the calculation results of the machining surface shape calculated by the shape calculation unit 116 (described later), etc. In this way, in this embodiment, the calculation system 1 further includes the display unit 130 that displays the relative compliance characteristic. The user can visually confirm the relative compliance characteristic, etc. displayed on the display unit 130.

[0042] 1 , the UI software 110 includes a first acquisition unit 111, a second acquisition unit 112, a third acquisition unit 113, a compliance calculation unit 114, a cutting resistance calculation unit 115, a shape calculation unit 116, a display control unit 117, and a data storage unit 118. The calculation system 1 includes a computer system having one or more processors and a memory. At least some of the functions of the calculation system 1 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0043] The display control unit 117 is a functional component that displays a UI for operating the servo amplifier 200 on the display unit 130. The display control unit 117 may cause the display unit 130 to display the calculation result of the relative compliance characteristic calculated by the compliance calculation unit. The display control unit 117 may also cause the display unit 130 to display the machined surface shape of the target object W1 based on the shape data calculated by the shape calculation unit 116.

[0044] The data storage unit 118 stores the processing information (motor control information) received from the servo amplifier 200, the relative compliance characteristic calculated by the compliance calculation unit 114, the shape data calculated by the shape calculation unit 116, and the like in a storage unit included in the PC 100. The PC 100 includes an internal storage device such as a RAM, a ROM, or an EEPROM, and an external storage device such as an HDD or an SSD as a storage unit.

[0045] The third acquisition unit 113 acquires machining data related to control information of the motor of the processing machine 2 during cutting of the workpiece W1. More specifically, the third acquisition unit 113 acquires machining data related to control information of the motor of the processing machine 2 from the processing machine 2 via the first communication IF 121 during cutting of the workpiece W1 with the cutting tool T1. Here, the motor of the processing machine 2 includes a spindle drive motor that rotates the cutting tool T1 and a feed motor that moves at least one of the cutting tool T1 and the workpiece W1 relative to one another. The "machining data" includes at least one of first control information of the spindle drive motor and second control information of the feed motor. In this embodiment, the "machining data" includes second control information related to the rotational speed of the cutting tool T1 or the feed motor (servo motor 330) that moves the workpiece W1. In the following embodiments, the "machining data" further includes first control information related to the rotational speed of the spindle drive motor that rotates the cutting tool T1. The processing machine 2 may have a plurality of cutting tools T1, and may have one or more spindle drive motors and one or more feed motors corresponding to each of the plurality of cutting tools T1.

[0046] The cutting resistance calculation unit 115 calculates the cutting resistance generated when the cutting tool T1 cuts the object W1, based on the cutting data acquired by the third acquisition unit 113. Details of the operation of the cutting resistance calculation unit 115 will be described later.

[0047] The first acquisition unit 111 acquires cutting resistance data relating to cutting resistance generated when the cutting tool T1 cuts the target object W1. In this embodiment, the first acquisition unit 111 acquires, from the cutting resistance calculation unit 115, cutting resistance data relating to the cutting resistance calculated by the cutting resistance calculation unit 115.

[0048] The second acquisition unit 112 acquires shape measurement data obtained by measuring the shape of the machined surface of the object W1 after the cutting tool T1 has cut the object W1. In this embodiment, the second acquisition unit 112 acquires the shape measurement data from a shape measurement unit 400 that measures the shape of the machined surface after the cutting tool T1 has cut the object W1. The second acquisition unit 112 acquires the shape measurement data from the shape measurement unit 400 via a second communication IF 122 that communicates with the shape measurement unit 400.

[0049] The compliance calculation unit 114 calculates the relative compliance characteristic between the cutting tool T1 and the object W1 based on the cutting resistance data calculated by the cutting resistance calculation unit 115 and the shape measurement data acquired from the shape measurement unit 400. The operation of the compliance calculation unit 114 will be described in detail later.

[0050] The shape calculation unit 116 calculates shape data relating to the shape of the machined surface of the object W1 based on the relative compliance characteristic calculated by the compliance calculation unit 114 and the machining data during cutting acquired by the third acquisition unit 113. Details of the operation of the shape calculation unit 116 will be described later.

[0051] The PC 100 is a computer including a processor (microprocessor) and a storage unit. The storage unit includes internal storage devices such as RAM and ROM, or external storage devices such as HDD and SSD, and can store programs executed by the processor. The functions of the first acquisition unit 111, the second acquisition unit 112, the third acquisition unit 113, the compliance calculation unit 114, the cutting resistance calculation unit 115, the shape calculation unit 116, the display control unit 117, and the data storage unit 118 are realized by the processor or the like that executes programs stored in the storage unit.

[0052] Here, the feed direction during single-axis machining and the feed direction during two-axis machining when cutting the workpiece W1 with the cutting tool T1 will be described.

[0053] Fig. 2 is a diagram showing an example of a feed direction D1 during single-axis machining, and Fig. 3 is a diagram showing an example of a feed direction D2 during two-axis machining.

[0054] For example, during single-axis machining, a stage to which the workpiece W1 is fixed is moved in the x direction by one servo motor 330. During two-axis machining, one of the two servo motors 330 moves the stage in the x direction, and the other servo motor 330 moves the stage in the y direction.

[0055] As shown in Figure 2, during single-axis machining, the workpiece W1 can be fed only in a fixed direction (for example, the x direction), so the workpiece W1 can be cut in a fixed direction. As shown in Figure 3, during two-axis machining, the workpiece W1 can be fed in any direction, so the workpiece W1 can be cut in any direction. Note that the virtual line S1 in Figures 2 and 3 is a line along the machining surface of the workpiece W1.

[0056] 1 shows components of a processing machine 2 capable of two-axis machining, but the processing machine 2 may be capable of only single-axis machining. In other words, the processing machine 2 may be equipped with only one set of processing devices 3A. Note that the processing machine 2 may be equipped with three or more sets of processing devices 3A, and may be capable of three-axis or more machining.

[0057] Next, the operation of the shape calculation unit 116 and the like will be described in detail.

[0058] For example, the shape calculation unit 116 calculates shape data based on the relative compliance characteristic calculated by the compliance calculation unit 114, the processing data, and the milling model.

[0059] FIG. 4 is a block diagram showing an example of a milling model 40 .

[0060] FIG. 5 is a diagram for explaining a calculation method for calculating the shape of the machined surface based on the milling model 40. In FIG.

[0061] As shown in FIG. 4, the milling model 40 includes, for example, a cutting thickness calculation unit 410, a process gain 420, a compliance 430 which is the above-mentioned relative compliance characteristic, and a difference calculation unit 440.

[0062] The cutting thickness calculation unit 410 calculates the cutting thickness H1 (see FIG. 5 ) of the workpiece W1 cut by the cutting tool T1. Specifically, the cutting thickness calculation unit 410 calculates the cutting thickness H1 by adding the static cutting thickness and the dynamic cutting thickness. The static cutting thickness is the cutting thickness set by the machining conditions of the cutting tool T1. The machining conditions include at least one of the conditions such as the tool diameter, number of blades, and radial cutting depth of the cutting tool T1. The dynamic cutting thickness is the cutting thickness corresponding to the machining surface S11 of the previous cycle and the relative displacement between the cutting tool T1 and the workpiece W1. As shown in FIG. 5 , because the machining surface S11 formed in the previous cycle is cut in the current cycle, the cutting thickness H1 of each cycle is affected by the dynamic cutting thickness of the previous cycle. The dynamic cutting thickness is calculated by the difference calculation unit 440, which will be described later. Reference symbol S12 in FIG. 5 indicates the machining surface of the current cycle.

[0063] The process gain 420 calculates the cutting resistance based on the chip thickness H1 calculated by the chip thickness calculation unit 410. The cutting resistance occurs at the cutting edge action point P1 shown in FIG. 5, and the direction of force action rotates with the rotation of the tool. The symbol R1 in FIG. 5 indicates the rotation direction of the cutting tool T1. The process gain 420 converts the cutting resistance in the tangential direction E1 and normal direction E2 of the rotation of the cutting edge at the cutting edge action point P1 into cutting resistance in the feed direction (e.g., the x direction in FIG. 2) and the vertical direction (e.g., the y direction in FIG. 2). Here, the cutting resistance calculation unit 115 described above is realized by the chip thickness calculation unit 410 and the process gain 420, and calculates the cutting resistance based on the machining data acquired by the third acquisition unit 113.

[0064] The compliance 430 calculates the relative displacement between the cutting tool T1 and the workpiece W1 that occurs due to the cutting resistance in the feed direction and the vertical direction calculated by the process gain 420. Note that it is assumed that the workpiece W1 is a rigid body.

[0065] The difference calculation unit 440 calculates, as the dynamic cutting thickness, the difference between the machining surface S11 in the previous cycle and the relative displacement calculated by the compliance 430. The dynamic cutting thickness is used to calculate the cutting thickness in the next cycle.

[0066] In this way, the cutting resistance causes a relative displacement between the cutting tool T1 and the workpiece W1, and the relative displacement changes the cutting thickness H1.

[0067] Here, the trajectory of the cutting tool T1, i.e., the change in coordinate of the cutting edge position of the cutting tool T1, can be calculated from the relative displacement calculated in the milling model 40, and the coordinate of the machined surface of the workpiece W1 that is cut in accordance with the change in coordinate of the cutting edge position, i.e., the shape of the machined surface, can be calculated. In other words, the change in coordinate of the cutting edge position is transferred to the shape of the machined surface of the workpiece W1.

[0068] Here, the relative compliance characteristic used by the compliance 430 to calculate the relative displacement from the cutting resistance is calculated by the compliance calculation unit 114 .

[0069] As described above, the cutting resistance generates a relative displacement between the cutting tool T1 and the object W1, and the relative displacement between the cutting tool T1 and the object W1 is transferred to the machined surface shape of the object W1. Therefore, by acquiring cutting resistance data related to the cutting resistance generated during cutting (i.e., while cutting is being performed) and shape measurement data measuring the machined surface shape after cutting, the relative compliance characteristic can be calculated based on the cutting resistance data and the shape measurement data.

[0070] In this embodiment, before performing cutting processing of the object W1 (this processing is called actual processing) in the manufacturing process of the object W1, cutting processing (this processing is called test processing) is performed to obtain cutting resistance data and shape measurement data for calculating the relative compliance characteristics.

[0071] When the third acquisition unit 113 acquires machining data during test machining from the processing machine 2 (servo amplifier 200), the cutting resistance calculation unit 115 calculates the cutting resistance generated during test machining from the machining data during test machining. The first acquisition unit 111 acquires cutting resistance data regarding the cutting resistance during test machining calculated by the cutting resistance calculation unit 115 from the cutting resistance calculation unit 115. Figure 6 shows an example of cutting resistance data calculated by the cutting resistance calculation unit 115. The horizontal axis of Figure 6 represents the elapsed time from the start of test machining (i.e., the feed time from the start position of test machining), and the vertical axis of Figure 6 represents the calculated value of cutting resistance. Note that the horizontal axis of Figure 6 corresponds to the distance from the start position of cutting machining.

[0072] The shape of the machined surface after test machining is measured by the shape measurement unit 400, and the second acquisition unit 112 acquires shape measurement data of the machined surface from the shape measurement unit 400. Fig. 7 shows an example of the shape measurement data. The horizontal axis of Fig. 7 represents the distance from the start position of test machining (i.e., the movement distance by the feed motor, which is proportional to the feed time), and the vertical axis represents the relative displacement of the machined surface from the reference position.

[0073] The compliance calculation unit 114 performs data processing such as filtering or unnecessary data deletion on each of the cutting resistance data and the shape measurement data. Then, based on the processed cutting resistance data and the shape measurement data, the compliance calculation unit 114 calculates the relative compliance characteristic G(jω), which is the frequency characteristic between the cutting resistance and the relative displacement. Here, the relative compliance characteristic G(jω) is a transfer function between the cutting resistance and the relative displacement. If the gain characteristic of the relative compliance characteristic G(jω) is g(jω), the phase characteristic is θ(jω), the cutting resistance is X(jω), and the relative displacement is Y(jω), the relative compliance characteristic G(jω) is expressed by the following equation (1):

[0074] G(jω) = g(jω) θ(jω) = Y(jω) / X(jω) (1) The compliance calculation unit 114 performs FFT analysis on the cutting resistance data and shape measurement data after data processing to determine the cutting resistance X(jω) and relative displacement Y(jω), which are the frequency characteristics of the cutting resistance and relative displacement. The compliance calculation unit 114 then determines the gain characteristic g(jω) and the phase characteristic θ(jω) from the cutting resistance X(jω) and the relative displacement Y(jω), respectively, to determine the relative compliance characteristic G(jω).

[0075] In this way, the compliance calculation unit 114 calculates the relative compliance characteristic G(jω) based on the cutting resistance data and shape measurement data during test machining. Therefore, in this embodiment, the data lengths of the cutting resistance data and shape measurement data used to calculate the relative compliance characteristic G(jω) can be adjusted by adjusting the time length of the test machining. Therefore, by setting the time length of the test machining to be sufficiently long, the relative compliance characteristic G(jω) can be calculated with high accuracy even in a low-frequency region of, for example, 10 Hz or less, and the relative compliance characteristic G(jω) can be obtained with high accuracy.

[0076] After the compliance calculation unit 114 calculates the relative compliance characteristic G(jω) based on the cutting force data and shape measurement data during test machining, the processing machine 2 performs actual machining of the target object W1. Then, the shape calculation unit 116 calculates the machined surface shape after actual machining based on the machining data from the actual machining and the relative compliance characteristic G(jω) calculated by the compliance calculation unit 114.

[0077] Here, the servo motor 330 provided in the processing machine 2 is controlled by the motor controller 230 so that the stage feed speed becomes the set target value, but in actual processing, the feed speed may fluctuate and deviate from the set target value.

[0078] Fluctuations in the feed rate cause fluctuations in the cutting thickness, which in turn causes fluctuations in the cutting resistance, which in turn causes fluctuations in the relative displacement between the cutting tool T1 and the workpiece W1, resulting in the machined surface shape being affected by fluctuations in the feed rate. Note that the feed rate varies depending on the rotational speed of the servo motor 330, so fluctuations in the rotational speed of the servo motor 330 cause fluctuations in the feed rate. Therefore, the machined surface shape is affected by fluctuations in the feed rate, i.e., fluctuations in the rotational speed of the servo motor 330.

[0079] Although a spindle motor for rotating the cutting tool (also called the spindle) T1 is controlled so that the rotational speed of the cutting tool T1 becomes a set target value, in actual machining, the rotational speed of the spindle motor may fluctuate and deviate from the set target value. Fluctuations in the rotational speed of the spindle motor change the amount of cutting per tooth of the cutting tool T1, and therefore the shape of the machined surface is affected by fluctuations in the rotational speed of the spindle motor.

[0080] For this reason, when the shape of the machined surface is calculated simply using the milling model 40, it is difficult to calculate the shape of the machined surface with high accuracy.

[0081] In this embodiment, the third acquisition unit 113 acquires machining data related to motor control information of the machining machine 2 from the machining machine 2 via the first communication IF 121 during cutting of the workpiece W1 with the cutting tool T1 (during actual machining). The cutting resistance calculation unit 115 then calculates the cutting resistance based on the machining data during actual machining, and the shape calculation unit 116 calculates the machined surface shape based on the milling model, the calculated cutting resistance, and the relative compliance characteristic. In this way, the calculation system 1 acquires machining data when cutting the workpiece W1 with the cutting tool T1 during actual machining, and calculates the machined surface shape based on the acquired machining data and the relative compliance characteristic calculated by the compliance calculation unit 114. Because the shape calculation unit 116 calculates the machined surface shape using the machining data during actual machining, the machined surface shape can be calculated with high accuracy even when the machining data fluctuates.

[0082] (2) Description of Operation The operation of the computing system 1 of this embodiment will be described with reference to Fig. 8 etc. Note that the flowchart shown in Fig. 8 is merely an example of the operation performed by the computing system 1, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0083] First, the calculation system 1 acquires the machining conditions for the workpiece W1 (step ST1). The machining conditions include, for example, the tool diameter, number of blades, and radial cutting depth of the cutting tool T1 used to cut the workpiece W1. For example, the calculation system 1 acquires the machining conditions when the user inputs the machining conditions on an input screen displayed on the display unit 130 by the UI software 110, or when the PC 100 receives the machining conditions from the servo amplifier 200. Once the calculation system 1 acquires the machining conditions, the data storage unit 118 stores the machining conditions in the memory unit. Note that once the calculation system 1 acquires the machining conditions, the display control unit 117 may display the machining conditions on the display unit 130.

[0084] Here, in order to obtain cutting resistance data and shape measurement data to be used in calculating the relative compliance characteristic, the user causes the processing machine 2 to perform test processing of the target object W1.

[0085] The user sets, for example, a test machining target W1 on the processing machine 2 and causes the processing machine 2 to perform test machining. At this time, the third acquisition unit 113 acquires machining data such as the rotation speed of the servo motor 330 from the servo amplifier 200, and the cutting resistance calculation unit 115 calculates (estimates) the cutting resistance based on the machining data (step ST2). The first acquisition unit 111 acquires, from the cutting resistance calculation unit 115, the cutting resistance data calculated by the cutting resistance calculation unit 115.

[0086] When the test machining of the object W1 by the machining machine 2 is completed, the user uses the shape measurement unit 400 to measure the machined surface shape of the object W1 after the test machining (step ST3). The second acquisition unit 112 acquires shape measurement data relating to the machined surface shape after the test machining from the shape measurement unit 400.

[0087] When the shape measurement data after the test machining is acquired, the compliance calculation unit 114 calculates the compliance (relative compliance characteristic) based on the cutting resistance data and the shape measurement data during the test machining (step ST4).

[0088] After the test machining is performed and the calculation of compliance is completed, the user sets the workpiece W1 for actual machining in the processing machine 2 and causes the processing machine 2 to actually process the workpiece W1.

[0089] First, the third acquisition unit 113 acquires the rotational speed (feed axis speed) of the feed motor (servo motor 330) from the servo amplifier 200 (step ST5). The third acquisition unit 113 also acquires the rotational speed (spindle speed) of the spindle (spindle drive motor) from the servo amplifier 200 (step ST6). For example, when cutting an object W1 fixed to a stage while rotating a cutting tool T1 using the spindle drive motor, a fluctuation component with a period corresponding to the rotational speed of the cutting tool T1 (i.e., the spindle speed) is superimposed on the rotational speed information of the servo motor 330 acquired from the motor encoder 320. Therefore, the calculation system 1 can estimate and acquire the rotational speed of the spindle drive motor by extracting the period of the fluctuation component superimposed on the acquired rotational speed information of the servo motor 330.

[0090] Next, the calculation system 1 calculates the relative displacement between the cutting tool T1 and the object W1 (step ST7). For example, the calculation system 1 calculates the relative displacement between the cutting tool T1 and the object W1 using the milling model 40 that reflects the machining data obtained during actual machining in addition to the machining conditions of the object W1, and the compliance calculated in step ST4.

[0091] Next, the calculation system 1 calculates the trajectory of the cutting tool T1, i.e., the coordinates of the cutting edge position of the cutting tool T1, from the relative displacement between the cutting tool T1 and the workpiece W1 (step ST8). For example, the calculation system 1 calculates the coordinates of the cutting edge action point P1 in Figure 5 as the coordinates of the cutting edge position.

[0092] Then, the calculation system 1 detects the change in coordinates of the cutting edge position of the cutting tool T1 based on the machining data during actual machining, thereby calculating shape data relating to the machined surface shape of the workpiece W1 (step ST9).

[0093] Note that the processes from step ST5 to step ST7 may be performed multiple times, and then the processes from step ST8 to step ST9 may be performed. In other words, the calculation system 1 may calculate the relative displacement for a predetermined period, and then calculate shape data regarding the machined surface shape according to the change in the relative displacement for the predetermined period.

[0094] As described above, the shape calculation unit 116 calculates the shape data based on, for example, the compliance calculated by the compliance calculation unit 114, the machining data, and the milling model 40. The shape calculation unit 116 calculates the machined surface shape by reflecting the machining data obtained during the actual machining of the target object W1, including fluctuations that occur during the actual machining, in the milling model 40, and therefore can calculate the machined surface shape with high accuracy.

[0095] Furthermore, the shape calculation unit 116 calculates the shape data based on the relative displacement between the cutting tool T1 and the workpiece W1 obtained from the machining data. Relative displacement between the cutting tool T1 and the workpiece W1 occurs due to fluctuations that occur during actual machining, and the relative displacement causes fluctuations in the cutting edge position of the cutting tool T1. In the calculation system 1 of this embodiment, when calculating the machined surface shape, the relative displacement obtained from the machining data obtained during machining of the workpiece W1 is used, so the machined surface shape can be calculated with high accuracy.

[0096] Furthermore, the shape calculation unit 116 calculates shape data based on the machining conditions of the object W1 and machining data during cutting. More specifically, the shape calculation unit 116 calculates the shape data based on the relative displacement obtained from the machining conditions of the object W1 and the machining data during cutting, and the relative compliance characteristic calculated by the compliance calculation unit 114. Here, since the machined surface shape is also affected by machining conditions such as the tool diameter, the number of blades, or the cutting depth in the radial direction, by also using the machining conditions when calculating the machined surface shape, the machined surface shape can be calculated with high accuracy.

[0097] The machining data and the shape data include data covering the same time range when the cutting tool T1 cuts the workpiece W1. More specifically, the machining data used by the shape calculation unit 116 to calculate the shape data and the shape data calculated by the shape calculation unit 116 include data covering the same time range when the cutting tool T1 cuts the workpiece W1. This allows the calculation system 1 to output machining data and shape data covering the same time range, with time associated with each other. In the calculation system 1, for example, the display control unit 117 displays the machining data and shape data with time associated with each other on the display unit 130. In addition, in the calculation system 1, for example, the data storage unit 118 stores the machining data and shape data with time associated with each other in the memory unit.

[0098] A specific example of processing data and shape data associated with time will now be described with reference to Fig. 9. Fig. 9 is a diagram showing an example of output data.

[0099] FIG. 9 shows the rotational speed of the spindle (spindle drive motor), the rotational speed and torque of the x-axis feed motor (servo motor 330), and the rotational speed and torque of the y-axis feed motor (servo motor 330) as machining data, and the x-axis machining surface coordinates and the y-axis machining surface coordinates as shape data. In FIG. 9, data with the same index is data at the same time. Note that although FIG. 9 shows indexes, they may not be necessary, and timestamps may be displayed instead of serial numbers. Servo control information may also be added to the output data. For example, such data may be stored in a memory unit by the data storage unit 118 or displayed on the display unit 130.

[0100] In this way, it is possible to link the machining surface shape with the motor control information, and it is possible to understand the behavior of the motor (spindle drive motor, feed motor, etc.) when forming the machining surface.

[0101] In FIG. 1, an example has been described in which the PC 100, on which software for displaying a UI for operating the servo amplifier 200 is installed, is the calculation system 1 that calculates the machining surface shape, but this is not limited to this.

[0102] (3) Modifications Modifications of the above embodiment are listed below. The configuration of each of the following modifications can be appropriately combined with the above embodiment or other modifications. Hereinafter, the above embodiment may also be referred to as the basic configuration.

[0103] The same functions as those of the computing system 1 according to the above embodiment may be realized as a computing method, a computer program, or a non-transitory recording medium on which a computer program is recorded.

[0104] The computing system 1 in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the computing system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium such as a memory card, optical disk, or hard disk drive that is readable by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs or LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0105] Furthermore, it is not essential that the multiple functions of the computing system 1 are concentrated in one housing. For example, the components of the computing system 1 may be distributed across multiple housings.

[0106] Conversely, multiple functions of the computing system 1 may be integrated into one housing. Furthermore, at least some of the functions of the computing system 1, for example, some of the functions of the computing system 1 may be realized by the cloud (cloud computing) or the like.

[0107] In the basic configuration, the object W1 when the processing machine 2 performs test processing may be different from the object W1 when the processing machine 2 performs actual processing, or may be the same.

[0108] When the object W1 used in the test machining is the same as the object W1 used in the actual machining, one of the multiple cutting operations performed on the same object W1 is the test machining, and the cutting operation performed after the test machining is the actual machining. For example, when the object W1 is subjected to three cutting operations (rough machining, semi-finishing machining, and finishing machining) the rough machining is the test machining, and the semi-finishing machining and finishing machining are the actual machining. That is, the calculation system 1 calculates the relative compliance characteristic based on the cutting force data and shape measurement data from the rough machining, which is the test machining. Then, the calculation system 1 calculates the machined surface shape using the machining data from the semi-finishing machining and finishing machining, which are the actual machining, and the calculation results of the relative compliance characteristic.

[0109] (3.1) Modification 1 Hereinafter, the calculation system 1 according to Modification 1 and the processing system including the calculation system 1 will be described with reference to Fig. 10. Note that, for the calculation system 1 and the processing system according to Modification 1, components similar to those in the basic configuration may be assigned the same reference numerals, and detailed descriptions thereof may be omitted.

[0110] In the basic configuration, the first acquisition unit 111 acquires cutting resistance data during test machining from the cutting resistance calculation unit 115, but in Modification 1, the cutting resistance data during test machining is acquired from a cutting resistance measurement unit 401 that measures the cutting resistance generated during test machining. That is, the first acquisition unit 111 acquires cutting resistance data from the cutting resistance measurement unit 401 that measures the cutting resistance generated when the cutting tool T1 cuts the target object W1.

[0111] The cutting resistance measuring unit 401 has, for example, a dynamometer arranged between the target object W1 and the stage, and measures the contact resistance generated during test machining with the dynamometer.

[0112] The PC 100 further includes a third communication IF 123 that communicates with the cutting resistance measurement unit 401. The third communication IF 123 is a communication interface such as a communication device for communicating with the cutting resistance measurement unit 401. The third communication IF 123 receives, from the cutting resistance measurement unit 401, cutting resistance data measured by the cutting resistance measurement unit 401 during test machining (during cutting).

[0113] The first acquisition unit 111 acquires cutting resistance data during the test machining from the cutting resistance measurement unit 401 via the third communication IF 123. Then, the compliance calculation unit 114 calculates the relative compliance characteristic based on the cutting resistance data during the test machining and the shape measurement data of the machined surface shape after the test machining.

[0114] In this way, in the first modified example, the compliance calculation unit 114 calculates the relative compliance characteristic based on the cutting resistance data, which is the actual measurement value of the cutting resistance, and the shape measurement data, so that the compliance (relative compliance characteristic) can be calculated more accurately.

[0115] (3.2) Modification 2 Hereinafter, the calculation system 1 according to Modification 2 and the processing system including the calculation system 1 will be described with reference to Fig. 11. Note that, in the calculation system 1 and the processing system according to Modification 2, components similar to those in the basic configuration may be assigned the same reference numerals, and detailed descriptions thereof may be omitted.

[0116] The calculation system 1 according to the second modification further includes an estimation unit 119 that estimates the machining state of the object W1 based on the machining data and the shape data. The machining state of the object W1 is, for example, the surface texture of the machined surface of the object W1, such as the surface roughness of the machined surface.

[0117] The estimation unit 119 estimates surface properties such as Ra (arithmetic mean roughness) and Wa (arithmetic mean waviness) required for quality evaluation after machining, for example, based on the shape data and machining data calculated by the shape calculation unit 116. For example, the estimation unit 119 estimates surface properties such as Ra (arithmetic mean roughness) and Wa (arithmetic mean waviness) by calculating the variation in cutting depth by the cutting tool T1 based on information on the coordinates of the machined surface included in the shape data.

[0118] As a result, in Modification 2, it is possible to omit measurement steps such as roughness measurement, which are necessary for evaluating the quality of the processed state after cutting the object W1. In other words, it is possible to determine the quality of the processed surface shape without using roughness measurement or the like.

[0119] (3.3) Modification 3 The following describes a calculation system 1 according to Modification 3 and a processing system including the calculation system 1, with reference to Fig. 12. Note that, for the calculation system 1 and processing system according to Modification 3, components similar to those in the basic configuration may be assigned the same reference numerals, and detailed descriptions thereof may be omitted.

[0120] In the basic configuration, as shown in FIG. 1, an example has been described in which all of the functions of the computing system 1 are implemented in a PC 100 on which software for displaying a UI for operating the servo amplifier 200 is installed, but this is not limited to this.

[0121] 12, in the third modification, all of the functions of the calculation system 1 are implemented in the servo amplifier 200. The functions of the calculation system 1 implemented in the servo amplifier 200 shown in FIG. 12 (for example, the functions of the compliance calculation unit 114 and the shape calculation unit 116) have the same functions as those in the basic configuration.

[0122] In addition, if the processing machine 2 is equipped with a plurality of servo amplifiers 200, each servo amplifier 200 may have a plurality of functions (such as the compliance calculation unit 114 and the shape calculation unit 116) of the calculation system 1. The communication IF 210 of the servo amplifier 200 is capable of communicating with the shape measurement unit 400 and receives shape measurement data from the shape measurement unit 400.

[0123] The servo amplifier 200 has the function of the display control unit 117 described in the basic configuration, and the display control unit 117 may, for example, display various information on a display connected to the servo amplifier 200. The servo amplifier 200 also has the function of the data storage unit 118 described in the basic configuration, and the data storage unit 118 may, for example, store data in a storage unit such as a USB memory connected to the servo amplifier 200. The calculation results of the relative compliance characteristic, shape data, etc. may be transmitted from the communication IF 210 of the servo amplifier 200 to the PC 100, and may be displayed on the display unit 130 of the PC 100 or stored in a storage device of the PC 100, as in the above embodiment.

[0124] (3.4) Other Modifications In the basic configuration, an example was described in which the machining data included both the rotation speed of the feed motor (servo motor 330) and the rotation speed of the spindle drive motor, but this is not limiting. For example, the machining data may include only one of the rotation speed of the feed motor and the rotation speed of the spindle drive motor. Furthermore, the machining data may include control information other than the rotation speeds of the feed motor (servo motor 330) and the spindle drive motor.

[0125] In the basic configuration, an example has been described in which the shape calculation unit 116 calculates shape data based on the processing data and the milling model 40, but it is possible to calculate shape data using processing data obtained during processing of the object, and it is not necessary to use the milling model 40.

[0126] In the basic configuration, an example has been described in which a stage to which an object is fixed is moved by a feed motor (servo motor 330), but the cutting tool T1 and the object W1 may also be moved relative to each other by moving the cutting tool T1.

[0127] In the above embodiment, an example has been described in which the processing machine is equipped with the linear encoder 310 , but the processing machine 2 does not necessarily have to be equipped with the linear encoder 310 .

[0128] (Summary) The above-described embodiments and the like disclose the following aspects.

[0129] A computing system (1) of a first aspect includes a first acquisition unit (111), a second acquisition unit (112), and a compliance calculation unit (114). The first acquisition unit (111) acquires cutting resistance data related to cutting resistance generated when a cutting tool (T1) of a processing machine (2) cuts an object (W1). The second acquisition unit (112) acquires shape measurement data obtained by measuring the shape of the machined surface of the object (W1) after the cutting tool (T1) has cut the object (W1). The compliance calculation unit (114) calculates the relative compliance characteristic between the cutting tool (T1) and the object (W1) based on the cutting resistance data and the shape measurement data.

[0130] According to this aspect, the compliance calculation unit (114) calculates the relative compliance characteristic based on cutting resistance data relating to the cutting resistance generated during cutting and shape measurement data obtained by measuring the machined surface shape of the object (W1) after cutting. Therefore, according to this aspect, the relative compliance characteristic between the cutting tool (T1) and the object (W1) can be calculated with high accuracy.

[0131] The computing system (1) of the second aspect is the same as that of the first aspect, but further includes a third acquisition unit (113) and a shape calculation unit (116). The third acquisition unit (113) acquires machining data relating to control information of a motor of the processing machine (2) during cutting of the object (W1). The shape calculation unit (116) calculates shape data relating to the machined surface shape of the object (W1) based on the relative compliance characteristic and the machining data.

[0132] According to this aspect, the shape of the machined surface is calculated using the relative compliance characteristic calculated by the compliance calculation unit (114), so that the shape of the machined surface can be calculated with higher accuracy.

[0133] In the calculation system (1) of the third aspect, in the second aspect, the motor includes a spindle drive motor that rotates the cutting tool (T1) and a feed motor that moves at least one of the cutting tool (T1) and the workpiece (W1) relatively. The machining data includes at least one of first control information for the spindle drive motor and second control information for the feed motor.

[0134] According to this aspect, by using the machining data obtained during cutting, the shape of the machined surface can be calculated with high accuracy.

[0135] In the computing system (1) of the fourth aspect, in the second or third aspect, the shape calculation unit (116) calculates shape data based on the relative compliance characteristic, the processing data, and the milling model (40).

[0136] According to this aspect, the shape data can be calculated using the milling model (40) that reflects the machining data obtained during the cutting process.

[0137] The calculation system (1) of the fifth aspect is any one of the second to fourth aspects, and further includes an estimation unit (119) that estimates the processing state of the object (W1) based on the processing data and the shape data.

[0138] According to this aspect, the processing state can be evaluated based on the result of estimation of the processing state by the estimation unit (119).

[0139] In the calculation system (1) of the sixth aspect, in any of the second to fifth aspects, the shape calculation unit (116) calculates shape data based on the relative displacement obtained from the processing conditions and processing data of the object (W1) and the relative compliance characteristics.

[0140] According to this aspect, similar to the second aspect, it is possible to calculate the shape data with high accuracy.

[0141] In the seventh aspect of the calculation system (1), in any of the second to sixth aspects, the processing data and the shape data include data for the same time range when the cutting tool (T1) cuts the object (W1).

[0142] According to this aspect, the calculation system (1) can output processing data and shape data for the same time range.

[0143] The computing system (1) of the eighth aspect is the computing system of any one of the first to seventh aspects, further comprising a display unit (130) that displays the relative compliance characteristic.

[0144] According to this aspect, the relative compliance characteristic displayed on the display unit (130) can be visually confirmed.

[0145] In a ninth aspect of the computing system (1) according to any one of the first to eighth aspects, the second acquisition unit (112) acquires shape measurement data from the shape measurement unit (400). The shape measurement unit (400) measures the shape of the machined surface of the object (W1) after the cutting tool (T1) has machined the object (W1).

[0146] According to this aspect, the shape measurement unit (400) calculates the relative compliance characteristic using the shape measurement data actually measured, so that the relative compliance characteristic can be calculated with high accuracy.

[0147] The computing system (1) of a tenth aspect is the same as any one of the first to ninth aspects, further comprising a third acquisition unit (113) and a cutting resistance calculation unit (115). The third acquisition unit (113) acquires machining data relating to control information of a motor of the processing machine (2) during cutting of the object (W1). The cutting resistance calculation unit (115) calculates cutting resistance generated when the object (W1) is cut by the cutting tool (T1) based on the machining data. The first acquisition unit (111) acquires cutting resistance data from the cutting resistance calculation unit (115).

[0148] According to this aspect, the cutting resistance calculation unit (115) calculates the cutting resistance data used to calculate the relative compliance characteristic, so there is no need for a cutting resistance measurement unit that actually measures the cutting resistance.

[0149] In the computing system (1) of an eleventh aspect, in any one of the first to ninth aspects, the first acquisition unit (111) acquires cutting resistance data from a cutting resistance measurement unit (401). The cutting resistance measurement unit (401) measures cutting resistance generated when a cutting tool (T1) cuts an object (W1).

[0150] According to this aspect, the relative compliance characteristic is calculated using cutting resistance data actually measured by the cutting resistance measurement unit (401), so that the relative compliance characteristic can be calculated with high accuracy.

[0151] The calculation method of the twelfth aspect includes a first acquisition process, a second acquisition process, and a calculation process. The first acquisition process acquires cutting resistance data related to cutting resistance generated when a cutting tool (T1) of a processing machine (2) cuts an object (W1). The second acquisition process acquires shape measurement data that measures the machined surface shape of the object (W1) after the cutting tool (T1) cuts the object (W1). The calculation process calculates the relative compliance characteristic between the cutting tool (T1) and the object (W1) based on the cutting resistance data and the shape measurement data.

[0152] According to this aspect, the relative compliance characteristic is calculated based on cutting resistance data relating to the cutting resistance generated during cutting and shape measurement data obtained by measuring the machined surface shape of the object (W1) after cutting. Therefore, according to this aspect, the relative compliance characteristic between the cutting tool (T1) and the object (W1) can be calculated with high accuracy.

[0153] The calculation method of the thirteenth aspect is the same as that of the twelfth aspect, and further includes a third acquisition process and a shape calculation process. In the third acquisition process, machining data relating to control information of a motor of the processing machine (2) is acquired during cutting of the object (W1). In the shape calculation process, shape data relating to the machined surface shape of the object (W1) is calculated based on the relative compliance characteristic and the machining data.

[0154] According to this aspect, the shape of the machined surface is calculated using the relative compliance characteristic calculated by the calculation process, so that the shape of the machined surface can be calculated with higher accuracy.

[0155] A program according to a fourteenth aspect is a program for causing one or more processors to execute the calculation method according to the twelfth or thirteenth aspect.

[0156] According to this aspect, the relative compliance characteristics between the cutting tool (T1) and the object (W1) can be determined with high accuracy.

[0157] Not limited to the above aspects, various configurations (including modified examples) of the computing system (1) according to the above embodiment can be embodied as a computing method, a (computer) program, or a non-transitory recording medium on which a program is recorded, executed by the computing system (1).

[0158] The configurations according to the second to eleventh aspects are not essential for the computing system (1) and can be omitted as appropriate.

[0159] The configuration according to the thirteenth aspect is not an essential configuration for the calculation method executed by the calculation system (1), and can be omitted as appropriate.

[0160] REFERENCE SIGNS LIST 1 Calculation system 2 Processing machine 40 Milling model 111 First acquisition unit 112 Second acquisition unit 113 Third acquisition unit 114 Compliance calculation unit 115 Cutting resistance calculation unit 116 Shape calculation unit 119 Estimation unit 130 Display unit 400 Shape measurement unit 401 Cutting resistance measurement unit T1 Cutting tool W1 Object

Claims

1. A computing system comprising: a first acquisition unit that acquires cutting resistance data relating to cutting resistance generated when an object is cut by a cutting tool of a processing machine; a second acquisition unit that acquires shape measurement data that measures the machined surface shape of the object after the cutting tool has cut the object; and a compliance calculation unit that calculates the relative compliance characteristics between the cutting tool and the object based on the cutting resistance data and the shape measurement data.

2. The computing system according to claim 1, further comprising: a third acquisition unit that acquires processing data relating to control information of the motor of the processing machine during cutting processing of the object; and a shape calculation unit that calculates shape data relating to the processed surface shape of the object based on the relative compliance characteristic and the processing data.

3. The computing system according to claim 2, wherein the motor includes a spindle drive motor that rotates the cutting tool and a feed motor that moves at least one of the cutting tool and the object relatively, and the machining data includes at least one of first control information for the spindle drive motor and second control information for the feed motor.

4. The computing system according to claim 2, wherein the shape calculation unit calculates the shape data based on the relative compliance characteristics, the processing data, and a milling model.

5. The computing system according to claim 2, further comprising an estimation unit that estimates the machining state of the object based on the machining data and the shape data.

6. The computing system according to claim 2, wherein the shape calculation unit calculates the shape data based on the relative displacement obtained from the machining conditions and the machining data of the object, and the relative compliance characteristics.

7. The computing system according to claim 2, wherein the machining data and the shape data include data for the same time range when the cutting tool cuts the object.

8. The computing system of claim 1, further comprising a display unit that displays the relative compliance characteristic.

9. The computing system according to claim 1, wherein the second acquisition unit acquires the shape measurement data from a shape measurement unit that measures the shape of the machined surface of the object after the cutting tool has machined the object.

10. The computing system according to claim 1, further comprising: a third acquisition unit that acquires processing data relating to control information of a motor of the processing machine during cutting processing of the object; and a cutting resistance calculation unit that calculates the cutting resistance generated when the object is cut by the cutting tool based on the processing data, wherein the first acquisition unit acquires the cutting resistance data from the cutting resistance calculation unit.

11. The computing system according to claim 1, wherein the first acquisition unit acquires the cutting resistance data from a cutting resistance measurement unit that measures cutting resistance generated when the object is cut by the cutting tool.

12. A calculation method comprising: a step of acquiring cutting resistance data relating to cutting resistance generated when an object is cut by a cutting tool of a processing machine; a step of acquiring shape measurement data that measures the machined surface shape of the object after the cutting tool has cut the object; and a step of calculating a relative compliance characteristic between the cutting tool and the object based on the cutting resistance data and the shape measurement data.

13. The calculation method according to claim 12, further comprising the steps of: acquiring processing data relating to control information of a motor of the processing machine during cutting of the object; and calculating shape data relating to the shape of the processed surface of the object based on the relative compliance characteristic and the processing data.

14. A program for causing one or more processors to execute the calculation method according to claim 12 or 13.

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