JP2011045996A - Machine tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machine tool accurately detecting a vibration of a rotary table, which occurs when the rotary table causes a rotational imbalance, without the need of adding a vibration sensor for detecting the vibration of the rotary table. <P>SOLUTION: When causing the rotational imbalance, the rotary table 30 vibrates according to its rotational speed and the amount of imbalance. This vibration appears as a vibration in position droop in the X-axis direction via a ball screw 16. A centrifugal force of the rotary table 30 and an amplitude thereof at vibration time are correlated with each other, and the centrifugal force and the position droop in the X-axis direction are correlated with each other as well. As the amplitude and the position droop are correlated with each other, in other words, a main controller 110 monitors the variation in the position droop in the X-axis direction to detect the vibration of the rotary table 30. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a machine tool.

  In a machine tool including a rotary table, for example, the rotary table is driven to move forward and backward in a linear direction and is driven to rotate by a motor. And in the said machine tool, the cutting etc. of the workpiece | work attached to the rotary table are enabled by the tool provided in the tool post (conventional example).

  Patent Document 1 discloses a machine tool in which a tool table provided with a rotary tool is moved back and forth with respect to a workpiece, but does not specifically disclose vibration detection.

JP 2002-28858 A

  In the conventional example, depending on the work or jig attached to the turntable, rotation unbalance may occur, causing vibration in the turntable. If turning in this state, the work will be defective. There is. In addition, the vibration may cause damage to the rotary table (mechanical damage) or may cause the workpiece to pop out.

  Here, in order to solve the problem in the conventional example, when a vibration sensor is provided on the rotary table as a means for detecting the vibration of the rotary table and the rotation unbalance of the rotary table occurs and the vibration occurs, that fact It is conceivable to notify

However, in the conventional example, it is necessary to newly provide a vibration sensor.
An object of the present invention is to eliminate the need to newly provide a vibration sensor for detecting the vibration of the rotary table, and to accurately detect the vibration of the rotary table that occurs when rotation unbalance occurs in the rotary table. It is to provide a machine tool that can be used.

  In order to solve the above-mentioned problems, the invention according to claim 1 is a rotary drive unit that rotationally drives the rotary table, a movement drive unit that drives the rotary table so as to advance and retreat in the movement direction, and the movement drive unit. In a machine tool having a servo system having a position feedback loop, the vibration amount of the rotary table being rotated by the rotation driving means is input to the position feedback loop of the servo system and used. The gist of the present invention is a machine tool including vibration detecting means for detecting based on an input value.

  According to a second aspect of the present invention, in the first aspect, the vibration detecting means performs vibration detection of the rotary table based on a position droop variation calculated by the servo system based on the input value. .

  According to a third aspect of the present invention, in the second aspect, the input value is given to the servo system, a position command for holding the rotary table at a fixed position, and a position detecting means for detecting the position of the rotary table. The vibration detection means detects vibration based on the position command and fluctuation of the position droop calculated by the servo system based on the position command and the output signal.

  According to the first aspect of the present invention, it is not necessary to newly provide a vibration sensor for detecting the vibration of the rotary table, and the vibration of the rotary table generated when the rotation unbalance occurs in the rotary table is accurately detected. can do.

According to the second aspect of the present invention, vibration during rotation of the rotary table can be easily detected without providing a new sensor for vibration detection due to fluctuations in position droop.
According to the third aspect of the invention, when the rotary table is held at a fixed position, the vibration detecting means detects vibration based on the fluctuation amount of the position droop calculated by the servo system. It can be carried out.

1 is a schematic perspective view of a multi-tasking machine 10 according to a first embodiment. The electric block diagram of the process control apparatus 100 similarly. The control block diagram of the X-axis control part 200 similarly. Schematic of X-axis drive motor Mx, workpiece | work spindle drive motor _MWS , and the electric structure which controls them. The flowchart when performing the vibration detection program of the turntable 30. FIG. Explanatory drawing of centrifugal force Fx when a workpiece | work deviates with respect to a rotary table. (A) is explanatory drawing of the pulse counter of a rotary encoder, (b) is explanatory drawing of the position droop of the X-axis drive motor Mx. Explanatory drawing of danger detection threshold value (gamma) 1 and defect detection threshold value (gamma) 2. (A) is a characteristic diagram showing the correlation between the amplitude and the rotational speed, (b) is a characteristic diagram showing the correlation between the X-axis position droop and the rotational speed. (A) is a characteristic diagram showing the correlation between amplitude and centrifugal force, (b) is a characteristic diagram showing the correlation between X-axis position droop and centrifugal force. The characteristic view which shows the correlation with an amplitude and the position droop of an X-axis. The characteristic view which shows the correlation with centrifugal force and the position droop of an X-axis. The top view of the rotary table 30. FIG. (A), (b) is sectional drawing which shows the attachment state of the balancer 40. FIG. (A) is explanatory drawing which shows a normal orientation position, (b) is explanatory drawing which shows the state which the attachment position was located in front of an operator (operator). Explanatory drawing of the attachment position of a balancer. (A) is an explanatory view when the workpiece W and the balancer are balanced, (b) is the difference between the ideal mounting angle (θ + π) and the arrangement angle αm at the mounting position Pm closest to the mounting angle (θ + π). Explanatory drawing of (beta). Explanatory drawing of the display screen 172. FIG. Explanatory drawing when the workpiece | work W of 2nd Embodiment and a balancer balance. Explanatory drawing of the display screen 172 of 2nd Embodiment.

(First embodiment)
Hereinafter, first, a first embodiment will be described with reference to FIGS.
As shown in FIG. 1, the multi-task machine 10 has a bed 12, and a plurality of linear guide rails 14 are provided on the upper surface of the bed 12 in parallel with the X-axis direction. On these linear guide rails 14, a work support device 20 is provided. The work support device 20 includes a base 22 and the like. The base 22 is guided by the linear guide rail 14 and provided so as to be movable and driven in the X-axis direction. The X-axis direction corresponds to the moving direction of the present invention.

  Further, a nut 23 (see FIG. 4) is provided on the lower surface of the base 22, and the nut is screwed to a ball screw 16 provided on the bed 12. The base 22 is configured to be capable of moving back and forth in the X-axis direction, that is, reciprocally movable, when the ball screw 16 is rotated forward and backward by an X-axis drive motor Mx provided on the bed 12. The X-axis drive motor Mx corresponds to a movement drive unit.

On the base 22, a rotary table 30 formed in a disk shape is provided so as to be turnable around a C axis parallel to the Z axis. As shown in FIG. 4, the base 22 is provided with a work spindle drive motor _MWS as a rotation drive means, and drives the turntable 30 to turn. A work mounting surface 32 on which the work W is mounted is formed on the upper part of the rotary table 30. As shown in FIGS. 4 and 13, a plurality of jigs 34 are mounted on the work mounting surface 32. The jig 34 is reciprocally movable with respect to the guide groove 35 extending substantially radially around the rotation center (C axis) of the turntable 30 and is fixed to the work mounting surface 32 (not shown). It can be fixedly held by means. The jig 34 can detachably hold the workpiece W. The workpiece W and the jig 34 correspond to a turntable mounted object.

  Further, as shown in FIGS. 13, 14 (a), and 14 (b), the balancer extends radially on the work mounting surface 32 around the rotation center (C axis) of the rotary table 30. The mounting groove 36 is formed. As described above, the mounting grooves 36 are provided radially around the rotation center (C axis) of the rotary table 30, so that each mounting groove 36 is arranged at an angle from an orientation position described later of the rotary table 30. α (see FIG. 13) are set different from each other. The mounting groove 36 corresponds to a balancer mounting portion. As shown in FIGS. 14 (a) and 14 (b), each mounting groove 36 has a wide portion at the bottom and a narrow portion at the top, and the cross section is formed in an inverted T shape. In addition, an opening is formed in the peripheral surface of the rotary table 30 and the workpiece mounting surface 32. A head 37 a of a bolt 37 as a mounting member can be inserted into the mounting groove 36 from an opening on the peripheral surface of the rotary table 30, and the bolt 37 can slide in the length direction of the mounting groove 36. It is said that.

  Further, the head portion 37a of the bolt 37 is engaged with a stepped portion 36a formed in the wide portion below the mounting groove 36 so that it cannot be removed from the opening on the workpiece mounting surface 32 side. When the bolt 37 is inserted into the mounting groove 36, the tip protrudes from the workpiece mounting surface 32 and is inserted into a through hole 42 provided in the balancer 40. The balancer 40 is formed with a plurality of through holes 42, and bolts 37 can be inserted into the through holes 42. The bolt 37 inserted into the mounting groove 36 can protrude from the balancer 40 with the balancer 40 inserted, and the nut 44 can be removably screwed to the tip.

  As shown in FIG. 1, a gate-shaped column 50 is provided on the bed 12 so as to straddle the linear guide rail 14. A plurality of linear guide rails 54 as guide means are provided on the front surface of the column 50 in parallel with the Z-axis direction which is the vertical direction. A saddle 52 is provided on the linear guide rail 54 so as to be movable in the Z-axis direction. Further, nuts (not shown) are provided on the side surface of the saddle 52 on the column 50 side, and the nuts are respectively screwed into a plurality of ball screws (not shown) provided on the column 50. The saddle 52 can be reciprocated in the Z-axis direction by rotating a ball screw (not shown) forward and backward by a plurality of Z-axis drive motors Mz provided on the upper surface of the column 50.

A plurality of linear guide rails 58 are provided on the side of the saddle 52 opposite to the column side in parallel to the Y-axis direction. A head support device 60 is provided on the linear guide rail 58. The head support device 60 is guided by a linear guide rail 58 and is provided so as to be movable in the Y-axis direction. A nut (not shown) is provided on the side surface of the head support device 60 on the saddle 52 side, and the nut is screwed to a ball screw 59 provided on the saddle 52. The head support device 60 can reciprocate in the Y-axis direction by rotating the ball screw 59 forward and backward by a Y-axis drive motor My provided on the saddle 52. A tool spindle head 70 is provided at the lower portion of the head support device 60 so as to be pivotable about a B axis parallel to the Y axis. That is, the head support device 60 is provided with a B-axis drive motor Mb (see FIG. 2), and the tool spindle head 70 is rotated by the B-axis drive motor Mb. The tool spindle head 70 includes a built-in type tool spindle motor M _TS (see FIG. 2), and a spindle (not shown) can be driven to rotate by the tool spindle motor M _TS . In addition, the tool spindle head 70 can be attached with a working tool for performing turning, and can be locked at a specific angle by a lock mechanism (not shown) with the working tool attached.

  The multi-tasking machine 10 is equipped with a machining control device 100 as a CNC control device shown in FIG. As shown in the figure, the machining control device 100 has a main control unit 110 composed of a CPU. The main control unit 110 includes a processing program memory 120, a system program memory 130, a buffer memory 140, a processing control unit 150, an operation panel 160 including a keyboard, a display unit 170 including a liquid crystal display device, and the like via a bus line 105. It is connected. The main control unit 110 corresponds to position control means in the moving direction of the rotary table 30 (X-axis direction in the present embodiment). The main control unit 110 corresponds to vibration detection means, calculation means, balancer attachment angle calculation means, attachment position selection means, selection result output means, and balancer weight calculation means. The display unit 170 corresponds to display means.

  The main control unit 110 is connected to the X-axis control unit 200, the Y-axis control unit 210, the Z-axis control unit 220, the B-axis control unit 230, and the work spindle control unit 240 via the bus line 105. Yes. Note that the same number of Z-axis control units 220 and drive circuits 222 as the number of Z-axis drive motors Mz are provided, but in FIG. 2, only one Z-axis control unit 220 is shown for convenience of explanation. The others are omitted. Each axis control unit receives a movement command for each axis (5 axes) of the main control unit 110 and outputs a movement command for each axis to the drive circuits 202, 212, 222, 232, 242. In response to this movement command, the motors (X to Z, B and the work spindle driving motor) of each axis are driven.

  Rotary encoders 204, 214, 224, 234, and 244 as position detectors are attached to the motors (X to Z, B, and the work spindle driving motor) for each axis. Each rotary encoder outputs an output pulse corresponding to the rotation amount of the motor of each axis to each axis control unit (200, 210, 220, 230, 240). These output pulses are used to generate position feedback signals and velocity feedback signals for the respective axes. The rotary encoder 204 corresponds to position detection means in the moving direction of the rotary table 30 (in the present embodiment, the X-axis direction), and its output pulse corresponds to an output signal.

  When stopping the rotary table 30, the main control unit 110 can output a control signal for stopping the work spindle control unit 240 at the orientation position according to a system program stored in the system program memory 130. ing. Based on this control signal, the work spindle control unit 240 can position the rotary table 30 at a certain rotation stop position (that is, an orientation position).

Next, the X-axis control unit 200, which is a characteristic configuration of the present invention, will be described. FIG. 3 shows a control block diagram of the X-axis control unit 200.
The X-axis control unit 200 includes a speed detection unit 203, a position control unit 205, a speed control unit 206, a current control unit 207, and a latch unit 208. The speed detection unit 203 creates speed feedback from the output pulse (position feedback) of the rotary encoder 204. The position control unit 205 creates a speed command from the position command from the main control unit 110 and the output pulse (position feedback) from the rotary encoder 204. Here, the difference between the position command and the position feedback is called position droop, and is calculated by the subtractor 205a. The position command and position feedback correspond to input values input to the position feedback loop of the present invention. In this way, the X-axis control unit 200 constitutes a servo system including a position feedback loop.

  The speed control unit 206 creates a current command so that the difference between the speed command and the speed feedback becomes zero. Thus, the X-axis control unit 200 includes a speed feedback loop. The current control unit 207 creates a voltage command so that an error between the current command and a current value detected by a current detection unit (see FIG. 3) described later becomes zero. Although not shown in FIG. 2, the current detection unit detects the magnitude (current value) of the current flowing from the drive circuit 202 to the X-axis drive motor Mx. Thus, the X-axis control unit 200 includes a current feedback loop. The latch unit 208 latches the position droop calculated at that time by the position control unit 205 and outputs it to the main control unit 110.

In addition, since each control part of other motors (Y, Z, B, and a work spindle drive motor) has only a latch part omitted, detailed description is omitted.
The drive circuit 202 includes an inverter circuit that generates a voltage to be applied to the actual X-axis drive motor Mx from the voltage command, and performs power amplification. Since the drive circuits of the other motors (Y, Z, B, and workpiece spindle drive motor) have the same configuration as the drive circuit 202, detailed description thereof is omitted.

A tool spindle control unit 250 is connected to the main control unit 110 via the bus line 105. The tool spindle control section 250 receives a spindle rotation command from the main control unit 110, and outputs a spindle speed signal to the drive circuit 252, drive circuit 252, on the basis of the spindle speed signal, the spindle and the tool spindle motor M _TS A cutting tool that rotates at a rotation speed corresponding to the rotation command and rotates integrally with the spindle is rotated.

(Operation of the embodiment)
Now, how to detect vibration when the rotary table 30 of the multi-tasking machine 10 configured as described above is rotated will be described.

FIG. 5 is a flowchart when the vibration detection program for the rotary table 30 is executed. FIG. 4 is a schematic diagram of the X-axis drive motor Mx, the work spindle drive motor M _WS , and the electrical configuration that controls them. This vibration detection program is stored in the system program memory 130, and is executed under the control of the main control unit 110 before, for example, various machining programs stored in the machining program memory 120 are executed. For convenience of explanation, it is assumed that the work W is first held on the rotary table 30 by the jig 34, and the balancer 40 is not attached to the rotary table 30. Further, it is assumed that the base 22 is located at an initial position (origin position before starting machining).

(S10)
In S10, when the X-axis control unit 200 receives a position command in the X-axis direction from the main control unit 110, the X-axis control unit 200 drives and controls the X-axis drive motor Mx based on the received position command, and the base 22 is moved from the initial position along the X-axis direction. The X-axis control unit 200 receives an output pulse of the rotary encoder 204, performs position feedback control based on the output pulse, and determines whether the base 22 has moved to a position corresponding to the position command. In S10, when the base 22 is moved to a position corresponding to the position command (movement is completed), the position command output by the main control unit 110 is a position command that is held at a fixed position that is the stopped position.

  In S10, even when the rotary table 30 is located at a position corresponding to the position command in the X-axis direction (that is, at a certain position), the X-axis control unit 200 The position droop between the position feedback based on the output pulse from the input rotary encoder 204 and the position command is calculated. Incidentally, when the rotary table 30 is not oscillating in a state where the rotary table 30 is located at a position corresponding to the position command in the X-axis direction, the position droop is zero.

(S20)
Subsequently, in S <b> 20, a speed command is output from the main control unit 110 to the work spindle control unit 240. This speed command is a command for rotating to a predetermined rotational speed (that is, a target rotational speed). Workpiece spindle control unit 240, and the velocity command based on the output Bals of the rotary encoder 244, to the speed feedback control on the workpiece main spindle motor M _WS.

(S30)
After outputting the speed command, the main control unit 110 performs the danger detection droop monitoring process of S30 until the target rotational speed is reached. Here, the vibration detection performed by the main control unit 110 will be described.

(Vibration detection)
When the rotation table 30 is positioned (stopped) at a fixed position on the X axis and rotation unbalance occurs, the rotation table 30 vibrates according to the rotation speed and the amount of unbalance. That is, the magnitude of the vibration also changes according to the magnitude of the centrifugal force acting on the rotary table 30, and the vibration at this time appears as a fluctuation in the position droop in the X-axis direction via the ball screw 16. There is a correlation between the centrifugal force of the rotary table 30 and the amplitude when the rotary table 30 vibrates, and there is also a correlation between the centrifugal force and the position droop in the X-axis direction. In other words, there is a correlation between the amplitude and the position droop in the X-axis direction, and the vibration of the rotary table 30 can be detected by monitoring the amount of variation in the position droop in the X-axis direction.

FIG. 9A shows a measurement example showing the correlation between the centrifugal force of the rotary table 30 and the amplitude in the X-axis direction. FIG. 9A shows an example (A to E) in which the workpiece W is not eccentric with respect to the rotary table 30 and is eccentric every 1 mm from the eccentric amount 1 to 4 mm, and the vertical axis indicates the amplitude obtained by measurement. The horizontal axis represents the rotational speed (m ⁻¹ ) of the rotary table 30.

FIG. 9B shows the correlation between the position droop in the X-axis direction of the rotary table 30 and the rotational speed in the examples similarly denoted by A to E. In the figure, the vertical axis represents the position droop in the X-axis direction obtained by measurement, and the horizontal axis represents the rotational speed (m ⁻¹ ) of the rotary table 30. Thus, in each example, based on the numerical value obtained by measurement, the centrifugal force is calculated by the following formula, and the correlation between the amplitude and the centrifugal force is shown in FIG. FIG. 10B shows the correlation between the directional position droop and the centrifugal force.

Centrifugal force [kN] = (π ² · m · r · n ² ) / (9 × 10 ⁸ )
In the above formula, m is the mass [kg] of the workpiece W, r is the amount of eccentricity [mm] of the workpiece W from the rotation center (C axis) of the rotary table 30, and n is the rotational speed [min ⁻ of the rotary table 30]. ¹ ].

  Based on the results of FIGS. 10A and 10B, FIG. 11 shows a characteristic diagram showing the correlation between the amplitude and the position droop. In the figure, the vertical axis represents amplitude and the horizontal axis represents position droop in the X-axis direction.

  As described above, the amplitude and the position droop are closely related, and the magnitude of the amplitude can be accurately estimated by monitoring the position droop. Therefore, the danger detection droop monitoring process in the present embodiment is performed using the position droop. I am trying to monitor fluctuations. Here, when the position droop is represented by Dx, the position droop Dx has a positive or negative sign due to the vibration of the rotary table 30. Therefore, the main control unit 110 determines whether or not the absolute value (| Dx |) of the position droop input from the latch unit 208 at that time is equal to or less than the threshold value and the danger detection threshold value γ1 as the first threshold value. I have to. The danger detection threshold value γ1 is set to a value larger than a later-described threshold value and a defect detection threshold value γ2 as the second threshold value (see FIG. 8). This is because acceleration is applied to the rotary table 30 until the rotary table 30 reaches the target rotational speed, and the vibration is larger than the case where the target rotational speed rotates at a constant speed depending on the degree of eccentricity of the workpiece W. Therefore, the allowable amplitude range is increased.

  In S30, if the absolute value of position droop (| Dx |) is less than or equal to the danger detection threshold γ1, the process proceeds to S40, and if the absolute value of position droop (| Dx |) exceeds the danger detection threshold γ1, the process proceeds to S70. Transition.

In addition, in FIG. 8, the danger detection area at the time of acceleration rotation shows the time zone when the fluctuation of the position droop is determined by the danger detection threshold.
(S40)
In S40, the main control unit 110 determines whether or not the rotation speed of the turntable 30 has reached the target rotation speed. The rotation speed of the rotary table 30 is calculated based on the output pulse of the rotary encoder 244. In S40, when the rotation speed of the turntable 30 has not reached the target rotation speed, the main control unit 110 returns to S30, and when the rotation speed of the turntable 30 has reached the target rotation speed, A speed command for the target rotational speed is output to the work spindle control unit 240 so as to maintain the rotational speed, that is, to rotate at a constant speed, and the process proceeds to S50.

(S50)
In S50, the main control unit 110 performs defect detection droop monitoring processing. The defect detection droop monitoring process is a position droop that is latched and output at any time by the latch unit 208 of the X-axis control unit 200 when the rotary table 30 rotates at a target rotation speed (ie, constant speed). It is the process which monitors the fluctuation | variation of. If the absolute value (| Dx |) of the position droop is equal to or less than the defect detection threshold γ2, the main control unit 110 proceeds to S60, and the absolute value (| Dx |) of the position droop exceeds the defect detection threshold γ2. If so, the process proceeds to S70.

(S60)
In S60, the main control unit 110 determines whether or not the rotation of the turntable 30 has been rotated by a preset number of rotations. For example, a few rotations are sufficient for this set rotation speed. In FIG. 8, the constant speed rotation failure detection area that starts after “speed has been reached” corresponds to a time that has been rotated by a preset number of rotations.

The main control unit 110 includes a pulse counter (not shown) that counts the output pulses of the rotary encoder 244. As shown in FIG. 7A, the pulse counter counts the output pulses of the rotary encoder 244 inputted during 60 / N, and resets when the counted value reaches a predetermined number (= h). (= 0) to restart counting. N is the rotational speed [min ⁻¹ ] of the rotary table 30. Each time the pulse counter counts a predetermined number of the output pulses, a rotation speed counter (not shown) of the main control unit 110 increments the count value of the rotation speed of the rotation table 30 by one. If the count value of the rotation speed counter does not reach the preset rotation speed in advance, the determination in S60 is “NO” and the process returns to S30. When the count value of the rotation speed counter reaches the preset rotation speed, the main control unit 110 sets the determination in S60 to “YES” and ends this vibration detection program.

In this embodiment, when it is determined “NO” in S60, the process returns to S30. However, the process may return to S50.
(S70, S80)
In S70 and S80, the absolute value of the position droop (| Dx |) exceeds the danger detection threshold γ1 in S30, or the absolute value of the position droop (| Dx |) exceeds the defect detection threshold γ2 in S50. This is the process when Therefore, in S70, the main control unit 110 outputs a stop control signal to the work spindle control unit 240 in order to stop the rotation of the turntable 30 at the orientation position, and in S80, an alarm signal is generated as a notification signal indicating an abnormality. The data is output to the display unit 170. As a result, the work spindle drive motor _MWS is controlled to stop by the control of the work spindle control unit 240 based on the stop control signal, and the rotary table 30 stops rotating. As a result, the rotary table 30 stops at the orientation position, and the display unit 170 displays a warning indicating that the rotation has stopped and that there is vibration. Here, the stop control signal and the alarm signal correspond to a signal indicating that the rotary table 30 is abnormal.

(S90)
Subsequently, in S90, the main control unit 110 performs a calculation process such as a balancer attachment angle. The calculation processing of the balancer mounting angle and the like includes calculation of an unbalance amount MR that is the product of the workpiece weight M and the center misalignment amount R, calculation of the center misalignment angle θ, and calculation of the balancer mounting angle (θ + π). Contains. The unbalance amount MR and the misalignment angle θ correspond to a misalignment physical quantity.

(Calculation of unbalance amount MR)
A method for calculating the unbalance amount MR will be described. In addition, the symbol in the expression in the following description has the following meaning (see FIG. 6).

R: Workpiece misalignment amount [m], N: Rotational speed of rotary table 30 [min ⁻¹ ], ω: Angular speed of rotary table 30 [rad / s], M: Weight of work W [kg], Fx: X Centrifugal force applied in the axial direction, Dx: position droop of the X-axis drive motor Mx, θ: misalignment angle [rad] of the workpiece W from the orientation position, t: time. And is stored in the buffer memory 140 and read when the system program is executed.

  First, the centrifugal force applied in the X-axis direction is obtained by the equations (1) and (2).

又、Ｘ軸方向の遠心力の最大値は、Ｘ軸方向の位置ドループ最大値の多項式Ｆ_xmaxで推定できる。図１２は、本実施形態の複合加工機１０に関して、Ｘ軸方向の位置ドループと遠心力の相関関係を示す図であり、前記図１０（ｂ）と実質は同じものであるが、縦軸を遠心力に、横軸を位置ドループとしたものである。図１２で示される曲線は、（３）式の多項式Ｆ_xmaxで示される曲線である。この多項式Ｆ_xmaxは予め試験により得られた試験データに基づいて、求められ、システムプログラムメモリ１３０に格納されている。

Further, the maximum value of the centrifugal force in the X-axis direction can be estimated by a polynomial F _xmax of the position droop maximum value in the X-axis direction. FIG. 12 is a diagram showing the correlation between the position droop in the X-axis direction and the centrifugal force with respect to the multi-tasking machine 10 of the present embodiment, which is substantially the same as FIG. In the centrifugal force, the horizontal axis is a position droop. The curve shown in FIG. 12 is a curve indicated by the polynomial F _xmax in equation (3). The polynomial F _xmax is obtained based on test data obtained in advance by a test and stored in the system program memory 130.

上記（１）〜（３）式により、（４）式が、導出されるため、主制御部１１０は、（４）式を使用してアンバランス量ＭＲを算出する。

Since the expression (4) is derived from the above expressions (1) to (3), the main control unit 110 calculates the unbalance amount MR using the expression (4).

（芯ずれ角度θの算出）
次に、主制御部１１０は、オリエント位置からの芯ずれ角度θを（５）式を使用して算出する。

(Calculation of misalignment angle θ)
Next, the main control unit 110 calculates the misalignment angle θ from the orientation position using the equation (5).

Δｔについて説明する。なお、本実施形態では、回転テーブル３０のオリエント位置は、パルスカウンタが０にリセットされた位置とされている。図７（ｂ）は、Ｘ軸駆動モータＭｘ（Ｘ軸方向）の位置ドループの変動を示している。Δｔは、同図に示すように、位置ドループＤｘの波高値に達した時点から、図７（ａ）のパルスカウンタが０にリセットした時点までの時間とされている。

Δt will be described. In the present embodiment, the orientation position of the rotary table 30 is the position where the pulse counter is reset to zero. FIG. 7B shows the fluctuation of the position droop of the X-axis drive motor Mx (X-axis direction). As shown in the figure, Δt is the time from when the peak value of the position droop Dx is reached to when the pulse counter of FIG.

  Then, the main control unit 110 calculates an angle (balancer mounting angle) for attaching the balancer in the rotary table 30 as described later. FIG. 15A shows a state where the rotary table 30 is stopped at the orientation position. Although not shown in the schematic perspective view of the multi-tasking machine 10 in FIG. 1, as shown in FIG. 15A, the partition wall 500 and the machine door 510 are arranged along the movement trajectory of the rotary table 30 in the X-axis direction. Is arranged. An operator can attach and remove the workpiece W and the balancer 40 to and from the rotary table 30 by opening the machine door 510. When the machine door 510 is opened, the space where the machine door 510 is opened and the surrounding area are set as a work area Ar where an operator can be located.

In the present embodiment, when a rotational imbalance occurs in the rotary table 30, a suitable attachment portion (mounting groove 36) of the balancer 40 with respect to the rotary table 30 is placed relative to or close to the machine door 510. The main shaft drive motor _MWS is controlled. Specifically, the main control unit 110 calculates a balancer mounting angle (θ + π) based on the calculated misalignment angle θ, and an attachment site having the balancer mounting angle (θ + π) is added to the machine door 510. The relative or close angle, that is, the rotation angle (π / 2−θ) of the rotary table from the orientation position is calculated. Based on the rotation angle (π / 2−θ), the main control unit 110 controls the work spindle driving motor _MWS . As a result, a mounting portion (mounting groove 36) having a balancer mounting angle (θ + π) is relatively or close to the machine door 510 (see FIG. 15B).

In the present embodiment, since one balancer is used for correction so as to suppress the rotation imbalance of the turntable 30, the correction method in this case, that is, selection of the attachment portion of the balancer will be described. FIG. 16 is an explanatory diagram of the position of the balancer mounting portion, that is, the mounting position. FIG. 17A is an explanatory diagram when the work W and the balancer are balanced. FIG. 17B is an explanatory diagram of the difference β between the ideal balancer mounting angle (θ + π) and the arrangement angle α _m of the balancer mounting position P _m closest to the mounting angle (θ + π). Note that an attachment position where the balancer of the turntable 30 can be attached is P _n , and an angle from the orientation position to the attachment position is α _n . In the example of FIG. 16, the number of mountable positions is 12 in a state where the rotary table 30 is stopped at the orientation position, and n = 0, 1,. m indicates the actual attachment position. The symbols used in the following formula are as follows.

r _n : distance from the center of rotation to the mounting position [m], m _n : balancer weight [kg], α n: angle from the orientation position to the mounting position of the balancer [rad], R: workpiece misalignment amount [m], M: Weight of workpiece W [kg], θ: Angle of misalignment of workpiece W from the orientation position [rad]
First, the main control unit 110 calculates the weight of the balancer 40 to be attached by using equation (6).

ｒ_mは、バランサを取付けする場合の、回転テーブル３０の回転中心（Ｃ軸）からバランサまでの距離であり、予めシステムプログラムメモリ１３０に格納されている。又、オリエント位置からの回転テーブル３０上におけるバランサの取付可能な取付位置Ｐ_nの角度α_nは、固定値としてシステムプログラムメモリ１３０に予め格納されている。

r _m is the case of mounting the balancer, the distance from the rotational center of the rotary table 30 (C-axis) to the balancer, are previously stored in the system program memory 130. Further, the angle α _n of the mounting position P _{n where} the balancer can be mounted on the rotary table 30 from the orientation position is stored in advance in the system program memory 130 as a fixed value.

The main control unit 110, the angle alpha _n of each P _n, the difference β respectively calculated ideal attachment angle of the balancer (θ + π), the position where the absolute value thereof becomes a smallest value, most (θ + π) to close the attachment position P _m. Thus, calculation of the difference β in order to search the closest attachment position P _m ideally attachment angle (theta + [pi) of the balancer is performed in the following equation (8).

In this case, the centrifugal force F _A generated by the rotational imbalance after mounting the balancer at the mounting position P _m closest to the ideal mounting angle (θ + π) of the balancer can be obtained by Equation (7).

主制御部１１０は、バランサの理想的な取付角度（θ＋π）を算出すると、差βが下記バランス条件を満足しているか否かを判定する。

When calculating the ideal mounting angle (θ + π) of the balancer, the main control unit 110 determines whether or not the difference β satisfies the following balance condition.

-Π / 3 <β <π / 3
If the difference β satisfies the balance condition, the centrifugal force F _A becomes smaller than the centrifugal force MRω ² before the balancer is attached, and vibration can be suppressed. On the other hand, when the difference β does not satisfy the balance condition, the unbalance increases.

The balance condition is derived from the following.
Centrifugal force before the balancer attachment, because it is MRomega ^2, if (7) is smaller than MRomega ^2, the vibration can be suppressed. The equation (7) to less than MRomega ² is, | 2sinβ / 2 | must <1, from this equation, | sinβ / 2 | <1/2 is derived. In order to satisfy this relationship, −π / 6 <β / 2 <π / 6 is calculated, and from this equation, −π / 3 <β <π / 3.

Here, returning to the original, in the present embodiment, as described above, the main control unit 110, based on the rotation angle (π / 2−θ), the closest mounting position P _m (that is, the difference β A control signal as a selection signal is output to the work spindle control unit 240 so that the mounting groove 36) having the smallest is relatively or close to the machine door 510. As a result, the work spindle driving motor _MWS is driven and controlled, and the rotary table 30 is rotated from the orientation position and stopped.

FIG. 15B shows a case where the mounting position P _m closest to (θ + π) is made to be relative to the machine door 510. FIG. 15B shows the case where β = 0 for convenience of explanation.

(S100)
In S100, the main control unit 110 outputs a display signal for displaying the correction method to the display unit 170 based on the result calculated in S90. Specifically, when the difference β satisfies the balance condition, the balancer weight m ₁ (= m _m ) of the balancer 40 used for correction, and the distance r ₁ (where the balancer 40 is mounted from the rotation center of the rotary table 30). = R _m ) and the signal indicating the angle θ ₁ (= α _m ) of the attachment groove 36 (attachment site), which is the selection result, is output as a display signal. The display unit 170 displays the correction method on the display unit 170 based on the display signal. Further, based on the various data, the main control unit 110 outputs a control signal to the display unit 170 and causes the display screen 172 to display the balancer with respect to the rotary table 30. The main control unit 110 displays this correction method on the display unit 170, and then ends this flowchart. In FIG. 18, on the display screen 172 of the display unit 170, for example, the balancer weight m ₁ (= m _m ), the distance r ₁ (= r _m ), and the angle θ ₁ (= α _m ) is shown.

This is displayed on the display screen 172 of the display unit 170, the balancer weight m _m, the operator prepares the balancer 40 having the weight. Further, since the mounting groove 36 to which the balancer 40 is to be mounted is disposed close to or opposite to the machine door 510, the operator inserts the bolt 37 into the mounting groove 36 and the mounting groove 36 The prepared balancer 40 is penetrated and attached to the portion of the bolt 37 protruding from 36. Then, after moving the balancer 40 at a distance r _m from the rotational center of the rotary table 30, by tightening the nut 44 to the bolt 37 to secure the balancer 40 with respect to the rotary table 30.

  When the difference β does not satisfy the balance condition, the main control unit 110 outputs a display signal to the display unit 170 indicating that the vibration cannot be suppressed by attaching a balancer. Based on this display signal, the display unit 170 displays that the balancer cannot perform correction and that the work W is to be mounted again.

  According to the multi-tasking machine configured as described above, the unbalance amount MR of the workpiece W with respect to the rotary table 30 and the misalignment angle θ from the orientation position of the rotary table 30 are calculated, and the calculated misalignment of the workpiece W is calculated. Based on the angle θ, the balancer mounting angle (θ + π) of the balancer 40 in the rotary table 30 is calculated. For this reason, the balancer mounting angle (θ + π) of the balancer 40 for suppressing the vibration of the work W on the rotary table 30 can be easily obtained. Furthermore, in this embodiment, since the mounting groove 36 having the arrangement angle α closest to the balancer mounting angle (θ + π) is selected from among the plurality of mounting grooves 36, the operator selects this mounting groove. When the balancer 40 is attached to 36, vibration of the rotary table 30 can be easily suppressed.

  In the present embodiment, the balancer weight mm is calculated based on the unbalance amount MR, and the balancer weight is displayed on the display unit 170, so that the operator can easily be notified of the weight of the balancer 40 to be attached. it can. In the present embodiment, since the mounting groove 36 to which the balancer 40 is to be attached is displayed on the display unit 170, the operator can easily be notified of the mounting groove 36 to which the balancer 40 is to be attached. it can. For this reason, the operator can easily attach the balancer 40 to the indicated mounting groove 36.

  In addition, the multi-task machine 10 of the present embodiment is provided with a work area Ar in which a worker can be located in a part of the periphery of the rotary table 30. When the turntable 30 is stopped, the mounting groove 36 closest to the balancer mounting angle (θ + π) is arranged so as to correspond to the work area Ar. As a result, the operator can easily attach the balancer 40 to the attachment groove 36 corresponding to the work area Ar.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIGS. Since the second embodiment has the same hardware configuration as the first embodiment, the same components are denoted by the same reference numerals, description thereof is omitted, and differences will be mainly described.

In the second embodiment, the processing in S90 and S100 in FIG. 5, that is, the method for correcting the rotational imbalance of the balancer 40 with respect to the rotary table 30 is different.
In the first embodiment, only one balancer is attached to the rotary table 30. With this correction, it is possible to suppress the vibration of the rotary table 30 within an allowable value, but theoretically, the vibration cannot be reduced to zero. If there is a balance condition and the difference β from the position where the balancer 40 can be attached is not (−π / 3 <β <π / 3), vibration cannot be suppressed.

In the second embodiment, two balancers 40 are attached at attachment positions P _m and P _{m + 1} that satisfy the condition of the expression (9).

取付位置Ｐ_nの回転中心（Ｃ軸）からの距離をｒ_nとし、バランサ４０の重量をｍ_nとすると、図１９に示すようにモーメントの釣り合いから、Ｘ軸方向においては、（１０）式が成立し、Ｙ軸方向では（１１）式が成立する。

Assuming that the distance from the rotation center (C axis) of the mounting position P _n is r _n and the weight of the balancer 40 is m _n , from the balance of moments as shown in FIG. Is established, and the expression (11) is established in the Y-axis direction.

この連立方程式を、解くと、（１２）式と（１３）式が導出される。

When this simultaneous equation is solved, equations (12) and (13) are derived.

第２実施形態では、主制御部１１０は、まず、バランサ取付角度（θ＋π）を挟んで最も近いα_m，α_m+1を有する取付位置Ｐ_m，Ｐ_m+1を探索する。探索方法は、第１実施形態と同様に、各取付位置と、バランサ取付角度（θ＋π）との差βをそれぞれ算出して、その差βの絶対値の大小関係に基づいて、バランサ取付角度（θ＋π）よりも小なる配置角度α_mと、大なる配置角度α_m+1を有する取付位置Ｐ_m，Ｐ_m+1を選択する。

In the second embodiment, the main control unit 110 first searches for mounting positions P _m and P _{m + 1} having the closest α _m and α _{m + 1} across the balancer mounting angle (θ + π). As in the first embodiment, the search method calculates the difference β between each attachment position and the balancer attachment angle (θ + π), and based on the magnitude relationship between the absolute values of the difference β, the balancer attachment angle ( theta + [pi) selects the arrangement angle alpha _m made small, mounting position P _m having the arrangement angle alpha _{m + 1} where large becomes, the P m _{+ 1} than.

Then, the main control unit 110 calculates Equations (12) and (13) to calculate the balancer weights m _m and m _{m + 1} of the balancer 40 attached to the attachment positions P _m and P _{m + 1} , respectively. .
In the second embodiment as well, as in the first embodiment, the main control unit 110 performs “calculation of unbalance amount MR”, “calculation of misalignment angle θ”, and “balancer mounting angle (θ + π)”. It is assumed that “calculation” has been performed.

In the second embodiment, in S100, the main control unit 110 outputs a display signal for displaying the correction method to the display unit 170 based on the result calculated in S90.
Specifically, the balancer weights m ₁ (= m _m ) and m ₂ (= m _{m + 1} ) of the balancer 40 used for correction, the distance r ₁ (= r _m ), r from the rotation center of the rotary table 30. ₂ (= r _{m + 1} ) and the angle θ ₁ (= α _m ), θ ₂ (= α _{m + 1} ) of the mounting groove 36 (mounting site) are output as display signals. Note that the values of r _m and r _{m + 1} are stored in advance in the system program memory 130. The display unit 170 displays the correction method on the display unit 170 based on the display signal. Further, based on the various data, the main control unit 110 outputs a control signal to the display unit 170 and causes the display screen 172 to display the balancer with respect to the rotary table 30. The main control unit 110 displays this correction method on the display unit 170, and then ends this flowchart. FIG. 20 shows, as an example, balancer weights m ₁ and m ₂ , distances r ₁ and r _{2 of two} balancers 40 to be attached to the display screen 172 of the display unit 170, and angles θ ₁ and θ _{2 of} attachment parts. Has been.

Based on the balancer weights m _m and m _{m + 1} displayed on the display screen 172 of the display unit 170, the operator prepares two balancers 40 having these weights. In addition, since the two mounting grooves 36 to which each balancer 40 is to be mounted are arranged close to or opposite to the machine door 510, the operator inserts a bolt 37 into each mounting groove 36. The prepared balancer 40 is penetrated and attached to the portion of the bolt 37 protruding from the mounting groove 36. Then, after the balancer 40 is moved to the distances r _m and r _{m + 1} from the rotation center of the turntable 30, each balancer 40 is fixed to the turntable 30 by tightening the nut 44 to the bolt 37.

In the second embodiment, the main control unit 110 has an arrangement angle (α _{m + 1} ) larger than the balancer attachment angle (θ + π) among the plurality of attachment grooves 36 as attachment position selection means, The mounting groove 36 having a close arrangement angle and the mounting groove 36 having an arrangement angle (α _m ) smaller than the balancer mounting angle (θ + π) and having the closest arrangement angle are selected. The main control unit 110 outputs a selection signal corresponding to the selection result to the display unit 170 as a selection result output unit. As a result, two mounting grooves 36 located at positions sandwiching the balancer mounting angle (θ + π) are selected, and a selection signal corresponding to the selection result is output by the main control unit 110, so that the operator selects this. When the balancers are respectively attached to the two mounting grooves 36, the vibration of the rotary table 30 can be made zero.

In addition, embodiment of this invention is not limited to the said embodiment. For example, the following may be used.
In the above embodiment, the present invention is embodied in the combined processing machine 10, but is not limited to the combined processing machine, and may be anything provided with a rotary table. In addition, when the rotary table uses the amount of fluctuation of the position droop for vibration detection, it is not limited to one that moves in one axis direction, but a type that moves in two axes, the X axis and the Y axis. It may be embodied in.

  In the above embodiment, in S60, it is determined whether or not the turntable 30 has been rotated by a preset number of rotations (set number of times). Instead, a timer is provided to determine whether or not a time corresponding to a preset number of revolutions (defect detection time) has elapsed, and whether or not the time counted by this timer has reached the defect detection time. May be determined by the main control unit 110.

In this case, the interval between the defect detections is calculated by, for example, the following calculation formula.
Defect detection time [ms] = (Set number of times [rev]) × 60000 / (Target rotational speed [min ⁻¹ ])
In the above-described embodiment, the balancer mounting portion is the mounting groove, but the balancer mounting portion is not limited to the mounting groove, and any balancer can be used.

  In the first embodiment, the work area Ar is a space for an operator to install a balancer. Instead, the work area Ar may be a space for a balancer automatic attachment device (not shown) to attach the balancer.

In this case, the main control unit 110 as a selection result output means calculates the calculated balancer weight m1, the distance r ₁ for mounting the balancer 40 from the rotation center of the rotary table 30, and the selection result for the automatic balancer mounting device. The data indicating the angle θ ₁ (= α _m ) of the mounting groove 36 (mounting site) is output. The balancer automatic attachment device selects a balancer having a balancer weight m ₁ based on the weight data. Further, the automatic balancer mounting device mounts the selected balancer at a distance r ₁ from the center of rotation of the turntable 30 in the mounting groove 36 closest to the angle θ 1 of the mounting site based on the distance and angle data. .

  In the second embodiment, as in the first embodiment, the work area Ar is a space for an operator to install a balancer. Instead, the work area Ar may be a space for a balancer automatic attachment device (not shown) to attach the balancer.

DESCRIPTION OF SYMBOLS 10 ... Complex processing machine 30 ... Rotary table 36 ... Mounting groove 36 (balancer mounting part)
DESCRIPTION OF SYMBOLS 100 ... Machining control apparatus 110 ... Main control part (Vibration detection means, output means, calculation means, balancer attachment angle calculation means, attachment position selection means, selection result output means, balancer weight calculation means)
170 ... display section (display means)
Mx ... X-axis drive motor (movement drive means)
α: Arrangement angle

Claims (3)

A rotation driving means for rotating the rotary table;
Movement drive means for driving the rotary table so as to advance and retreat in the movement direction;
In a machine tool having a servo system having a position feedback loop to control the movement drive means,
A machine comprising vibration detecting means for detecting the amount of vibration of the rotary table being rotated by the rotation driving means based on an input value used by being input to a position feedback loop of the servo system. machine.   2. The machine tool according to claim 1, wherein the vibration detection unit detects vibration of the rotary table based on a position droop variation calculated by the servo system based on the input value.   The input value is a position command given to the servo system to hold the rotary table at a fixed position, and an output signal from a position detecting means for detecting the position of the rotary table, and the vibration detecting means 3. The machine tool according to claim 2, wherein vibration detection is performed based on fluctuations in position droop calculated by the servo system based on the position command and the output signal.

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