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JP4582660B2 - Vibration suppressor for machine tools - Google Patents

Vibration suppressor for machine tools Download PDF

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Publication number
JP4582660B2
JP4582660B2 JP2007138164A JP2007138164A JP4582660B2 JP 4582660 B2 JP4582660 B2 JP 4582660B2 JP 2007138164 A JP2007138164 A JP 2007138164A JP 2007138164 A JP2007138164 A JP 2007138164A JP 4582660 B2 JP4582660 B2 JP 4582660B2
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vibration
value
chatter
rotation speed
calculated
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JP2008290186A (en
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教和 鈴木
英二 社本
浩 稲垣
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Nagoya University NUC
Okuma Corp
Tokai National Higher Education and Research System NUC
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Nagoya University NUC
Okuma Corp
Tokai National Higher Education and Research System NUC
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Priority to JP2007138164A priority Critical patent/JP4582660B2/en
Priority to US12/107,191 priority patent/US8256590B2/en
Priority to IT000871A priority patent/ITMI20080871A1/en
Priority to CN2008101090391A priority patent/CN101310921B/en
Priority to DE200810024773 priority patent/DE102008024773A1/en
Publication of JP2008290186A publication Critical patent/JP2008290186A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
    • B23Q17/0971—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring mechanical vibrations of parts of the machine
    • B23Q17/0976—Detection or control of chatter

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Control Of Machine Tools (AREA)

Description

本発明は、工具又はワークを回転させながら加工を行う工作機械において、加工中に発生する振動を抑制するための振動抑制装置に関するものである。   The present invention relates to a vibration suppressing device for suppressing vibration generated during machining in a machine tool that performs machining while rotating a tool or a workpiece.

従来より、たとえば回転可能な主軸にワークを支持させ、ワークに対して工具を送りながら、ワークに加工を施すといった工作機械がある。該工作機械においては、切削加工における切り込み量を必要以上に大きくすると、加工中に所謂「びびり振動」が発生して、加工面の仕上げ精度を悪化させてしまうという問題がある。このとき、特に問題となるのは、工具とワークとの間に生じる自励振動である「再生型びびり振動」と、工具を備える工作機械が振動源となる「強制びびり振動」である。このうち再生型びびり振動については、特許文献１、２に記載されているように、加工を行うにあたって、工具やワーク等の「びびり振動」が生じる系の固有振動数や加工中におけるびびり振動数を求め、固有振動数又はびびり振動数を６０倍して工具刃数及び所定の整数で除した値を回転速度とすればよいことが知られている。一方、強制びびり振動の場合は、回転速度をずらす、送り速度を下げる、加工物への切り込みを小さくする、といった対応が有効であることがわかっている。   2. Description of the Related Art Conventionally, for example, there is a machine tool that supports a workpiece on a rotatable main shaft and processes the workpiece while feeding a tool to the workpiece. In the machine tool, if the depth of cut in the cutting process is increased more than necessary, there is a problem that so-called “chatter vibration” occurs during the process, and the finished accuracy of the processed surface is deteriorated. Particularly problematic at this time are “regenerative chatter vibration” that is self-excited vibration generated between the tool and the workpiece, and “forced chatter vibration” in which the machine tool including the tool is a vibration source. Of these, regenerative chatter vibration, as described in Patent Documents 1 and 2, when processing, the natural frequency of the system where chatter vibration such as tools and workpieces occurs, and chatter frequency during processing It is known that the rotation speed may be obtained by multiplying the natural frequency or chatter frequency by 60 and dividing the number by the number of tool blades and a predetermined integer. On the other hand, in the case of forced chatter vibration, it has been found that countermeasures such as shifting the rotation speed, lowering the feed speed, and reducing the cut into the workpiece are effective.

特開２００３−３４０６２７号公報JP 2003-340627 A 特表２００１−５１７５５７号公報JP-T-2001-517557

しかし、強制びびり振動の抑制においては、ずらす回転速度の変化量が不明であるし、送り速度を下げると生産効率の低下に繋がる。また、切り込みを小さくするとしてもその方向を特定する計算方法が複雑になり、強制びびり振動の迅速な抑制には至らない。また、再生型びびり振動との区別も難しいため、強制びびり振動と判断して行った処置が有効に機能せず、びびり振動が抑制されない場合には、改めて再生型びびり振動に対する処置を行うといった試行錯誤の繰り返しとなってしまい、びびり振動の抑制に時間が掛かることもあった。   However, in suppressing forced chatter vibration, the amount of change in rotational speed to be shifted is unknown, and lowering the feed speed leads to a decrease in production efficiency. Even if the cut is made small, the calculation method for specifying the direction becomes complicated, and the forced chatter vibration cannot be quickly suppressed. In addition, since it is difficult to distinguish from regenerative chatter vibration, if the action that was determined to be forced chatter vibration does not function effectively and chatter vibration is not suppressed, a trial to replay regenerative chatter vibration is performed. Repeated mistakes and sometimes it took time to suppress chatter vibration.

そこで、本発明は、上記問題に鑑みなされたものであって、強制びびり振動と再生型びびり振動とを明確に区別して夫々の場合に最適な回転速度を瞬時に求めることができ、びびり振動を効果的に抑制可能な工作機械の振動抑制装置を提供しようとするものである。   Therefore, the present invention has been made in view of the above problems, and it is possible to determine the optimum rotational speed instantaneously in each case by clearly distinguishing the forced chatter vibration from the regenerative chatter vibration. An object of the present invention is to provide a vibration suppression device for a machine tool that can be effectively suppressed.

上記目的を達成するために、請求項１に記載の発明は、回転中の回転軸の時間領域での振動を検出する検出手段と、検出手段により検出された時間領域の振動に基づいて、びびり振動数及びそのびびり振動数における周波数領域の振動を算出するとともに、算出した周波数領域の振動が所定の閾値を超えた場合、所定のパラメータに基づき、びびり振動を抑制可能な回転軸の最適回転速度を算出する演算手段と、その演算手段により算出された最適回転速度にて回転軸を回転させる回転速度制御手段とを備え、演算手段は、所定のパラメータとなる下記の演算式（１）〜（４）に基づいて最適回転速度の演算を行うものであり、その際に、演算式（３）に基づいて算出した位相情報から発生したびびりの種類を特定し、特定されたびびりの種類に応じて下記の変更式（１）（２）の何れかに基づいて演算式（２）のｋ値を変更してｋ１値を求め、そのｋ１値を用いた演算式（４）によって夫々最適回転速度を算出することを特徴とするものである。
ｋ’値＝６０×びびり振動数／（工具刃数×回転軸回転速度） ・・・（１）
ｋ値＝ｋ’値の整数部 ・・・（２）
位相情報＝ｋ’値−ｋ値 ・・・（３）
強制びびり振動の場合 ：ｋ１値＝ｋ値＋定数＋１・・変更式（１）
再生型びびり振動の場合：ｋ１値＝ｋ値＋１・・変更式（２）
最適回転速度＝６０×びびり振動数／（工具刃数×ｋ１値）・・・（４） In order to achieve the above object, the invention according to claim 1 is characterized in that chatter is based on detection means for detecting vibration in the time domain of a rotating rotating shaft, and vibration in the time domain detected by the detection means. Calculates the vibration in the frequency domain at the vibration frequency and its chatter frequency, and when the calculated vibration in the frequency domain exceeds a predetermined threshold, based on a predetermined parameter, the optimum rotation speed of the rotating shaft that can suppress chatter vibration And a rotation speed control means for rotating the rotation shaft at the optimum rotation speed calculated by the calculation means. The calculation means includes the following calculation formulas (1) to (1) as predetermined parameters: 4), the optimum rotational speed is calculated based on the phase information calculated based on the calculation formula (3), and the type of the generated chatter is specified. Following obtains a k1 value by changing the k value of the arithmetic expression (2) based on any changes formula (1) (2), respectively optimum by computing equation (4) using the k1 value in accordance with The rotational speed is calculated.
k ′ value = 60 × chat vibration frequency / (number of tool blades × rotational axis rotation speed) (1)
k value = integer part of k ′ value (2)
Phase information = k ′ value−k value (3)
In the case of forced chatter vibration: k1 value = k value + constant + 1 + 1, change formula (1)
In the case of regenerative chatter vibration: k1 value = k value + 1..Change formula (2)
Optimal rotation speed = 60 x chatter frequency / (number of tool blades x k1 value) (4)

請求項２に記載の発明は、請求項１に記載の発明において、演算手段は、演算式（３）で得られる位相情報が０に近い値であれば強制びびり振動と判断し、変更式（１）における定数を０．５或いは−０．５に設定してｋ１値を求め、演算式（４）から最適回転速度を演算するようにしたものである。
尚、請求項１における「振動」とは、振動加速度、振動による変位、及び振動による音圧等、振動自体は勿論、振動に起因して回転軸に発生し、間接的に振動を検出できる物理的変化を含むものである。 According to a second aspect of the present invention, in the first aspect of the present invention, when the phase information obtained by the arithmetic expression (3) is a value close to 0, the calculating means determines that the forced chatter vibration, and the change expression ( The constant in 1) is set to 0.5 or -0.5 to obtain the k1 value, and the optimum rotational speed is calculated from the calculation formula (4).
The term “vibration” as used in claim 1 refers to a physical that can be detected on a rotating shaft indirectly due to vibration, as well as vibration itself, such as vibration acceleration, displacement due to vibration, and sound pressure due to vibration. Change.

本発明によれば、実際に回転している回転軸に生じるびびり振動に基づいて最適回転速度を算出するため、より正確な最適回転速度を直ちに算出することができると共に、算出した最適回転速度を直ちに回転軸の回転に活かすことができる。特に、演算手段は、位相情報に基づいて発生したびびりの種類を特定し、その種類に応じてｋ値を変更したｋ１値を決定して、ｋ１値を用いた演算式で夫々最適回転速度を算出するので、強制びびり振動と再生型びびり振動とを明確に区別して夫々の場合に最適な回転速度を瞬時に求めることができ、びびり振動を効果的に抑制可能となる。従って、加工面の仕上げ精度を高品位に保つことができ、工具摩耗の抑制、工具欠損の防止も期待できる。
According to the present invention, since the optimum rotation speed is calculated based on chatter vibration generated in the rotating shaft that is actually rotating, it is possible to immediately calculate a more accurate optimum rotation speed and to calculate the calculated optimum rotation speed. Immediately, it can be used to rotate the rotating shaft. In particular, the calculation means identifies the type of chatter that occurs based on the phase information, determines the k1 value that has changed the k value according to the type, and determines the optimum rotation speed using a calculation formula that uses the k1 value. Since the calculation is performed, the forced chatter vibration and the regenerative chatter vibration can be clearly distinguished and the optimum rotation speed can be obtained instantaneously in each case, and chatter vibration can be effectively suppressed. Therefore, the finishing accuracy of the machined surface can be maintained at a high quality, and it can be expected to suppress the tool wear and prevent the tool from being lost.

以下、本発明の一実施形態となる振動抑制装置について、図面をもとに説明する。   Hereinafter, a vibration suppression device according to an embodiment of the present invention will be described with reference to the drawings.

図１は、振動抑制装置１０のブロック構成を示した説明図である。図２は、振動抑制の対象となる回転軸ハウジング１を側面から示した説明図であり、図３は、回転軸ハウジング１を軸方向から示した説明図である。
振動抑制装置１０は、回転軸ハウジング１にＣ軸周りで回転可能に備えられた回転軸３に生じる「びびり振動」を抑制するためのものであって、回転中の回転軸３に生じる時間領域の振動加速度を検出するための振動センサ（検出手段）２ａ〜２ｃと、該振動センサ２ａ〜２ｃによる検出値をもとにして回転軸３の回転速度を制御する制御装置（演算手段、及び回転速度制御手段）５とを備えてなる。 FIG. 1 is an explanatory diagram showing a block configuration of the vibration suppressing device 10. FIG. 2 is an explanatory view showing the rotary shaft housing 1 to be subjected to vibration suppression from the side, and FIG. 3 is an explanatory view showing the rotary shaft housing 1 from the axial direction.
The vibration suppressing device 10 is for suppressing “chatter vibration” generated in the rotating shaft 3 provided in the rotating shaft housing 1 so as to be rotatable around the C axis, and is a time region generated in the rotating rotating shaft 3. Sensor (detection means) 2a to 2c for detecting the vibration acceleration of the motor, and a control device (calculation means and rotation) for controlling the rotational speed of the rotary shaft 3 based on the detection values by the vibration sensors 2a to 2c. Speed control means) 5.

振動センサ２ａ〜２ｃは、図２及び３に示す如く回転軸ハウジング１に取り付けられており、一の振動センサは、他の振動センサに対して直角方向への時間領域の振動加速度（時間軸上の振動加速度を意味する）を検出するようになっている（たとえば、振動センサ２ａ〜２ｃにて、それぞれ直交するＸ軸、Ｙ軸、Ｚ軸方向での時間領域の振動加速度を検出するようにする）。   The vibration sensors 2a to 2c are attached to the rotary shaft housing 1 as shown in FIGS. 2 and 3, and one vibration sensor is a time domain vibration acceleration (on the time axis) in a direction perpendicular to the other vibration sensors. (For example, the vibration sensors 2a to 2c detect vibration accelerations in the time domain in the X-axis, Y-axis, and Z-axis directions orthogonal to each other, respectively). To do).

一方、制御装置５は、振動センサ２ａ〜２ｃから検出される時間領域の振動加速度をもとにした解析を行うＦＦＴ演算装置６と、該ＦＦＴ演算装置６にて算出された値に基づいて最適回転速度の算出等を行うパラメータ演算装置７と、回転軸ハウジング１における加工を制御するＮＣ装置８とを備えており、ＦＦＴ演算装置６における後述の如き解析、及び回転軸３の回転速度のモニタリングを行っている。   On the other hand, the control device 5 is optimal based on the FFT calculation device 6 that performs analysis based on vibration acceleration in the time domain detected from the vibration sensors 2a to 2c, and the value calculated by the FFT calculation device 6. A parameter calculation device 7 for calculating the rotation speed and the like and an NC device 8 for controlling machining in the rotary shaft housing 1 are provided. Analysis as described later in the FFT calculation device 6 and monitoring of the rotation speed of the rotary shaft 3 are provided. It is carried out.

以下、制御装置５における「びびり振動」の抑制制御について、図５のフローチャートに基づいて説明する。
まず、ＦＦＴ演算装置６では、回転中に常時検出される振動センサ２ａ〜２ｃにおける時間領域の振動加速度のフーリエ解析を行い（Ｓ１）、図４の４に示すような最大加速度とその周波数（びびり振動数）とを算出する（Ｓ２）。
次に、パラメータ演算装置７で、上記Ｓ２で算出された最大加速度と予め設定された所定の閾値とを比較し（Ｓ３）、閾値を超えた場合には、回転軸３に抑制すべき「びびり振動」が生じているとして、Ｓ４で、びびり振動数、工具刃数、回転軸３の回転速度から以下の演算式（１）〜（３）により、ｋ値及び位相情報を算出する。 Hereinafter, suppression control of “chatter vibration” in the control device 5 will be described based on the flowchart of FIG. 5.
First, the FFT processing unit 6 performs Fourier analysis of vibration acceleration in the time domain in the vibration sensors 2a to 2c that are constantly detected during rotation (S1), and the maximum acceleration and its frequency (chatter) as shown in 4 of FIG. Frequency) is calculated (S2).
Next, the parameter calculation device 7 compares the maximum acceleration calculated in S2 above with a predetermined threshold value set in advance (S3). Assuming that "vibration" has occurred, in S4, the k value and phase information are calculated from the chatter frequency, the number of tool blades, and the rotational speed of the rotary shaft 3 by the following arithmetic expressions (1) to (3).

ｋ’値＝６０×びびり振動数／（工具刃数×回転軸回転速度） ・・・（１）
ｋ値＝ｋ’値の整数部 ・・・（２）
位相情報＝ｋ’値−ｋ値 ・・・（３）
ここで、演算式（１）における「工具刃数」は、予めパラメータ演算装置７に設定されているものとする。また、演算式（１）における回転軸回転速度とは、現在（最適回転速度とする前）の回転速度である。 k ′ value = 60 × chat vibration frequency / (number of tool blades × rotational axis rotation speed) (1)
k value = integer part of k ′ value (2)
Phase information = k ′ value−k value (3)
Here, it is assumed that the “number of tool blades” in the calculation formula (1) is set in the parameter calculation device 7 in advance. Further, the rotation shaft rotation speed in the calculation formula (1) is the current rotation speed (before the optimum rotation speed).

次に、Ｓ５において、演算式（３）で得られた位相情報と定数１，２とを比較する。ここで、位相情報が定数１より大きく、且つ定数２よりも小さければ、強制びびり振動が発生しているとして、Ｓ６で、変更式（１）に基づいてｋ１値を算出する。一方、位相情報がこの範囲外であれば、再生型びびり振動が発生しているとして、Ｓ７で、変更式（２）に基づいてｋ１値を算出する。ここでの判別がびびり振動を特定する所定の条件となる。
ｋ１値＝ｋ値＋定数３＋１・・・変更式（１）
ｋ１値＝ｋ値＋１・・・変更式（２）
なお、定数１は０、定数２は０．１とすれば、強制びびり振動を選別して再生型びびり振動と区別できる。また、定数３は、通常は０．５或いは−０．５を設定すれば強制びびり振動を最も抑制できる。±の選択は回転速度増減の選択に対応している。 Next, in S5, the phase information obtained by the arithmetic expression (3) is compared with the constants 1 and 2. Here, if the phase information is larger than the constant 1 and smaller than the constant 2, the k1 value is calculated based on the change equation (1) in S6, assuming that forced chatter vibration has occurred. On the other hand, if the phase information is outside this range, it is determined that regenerative chatter vibration has occurred, and in step S7, the k1 value is calculated based on the change equation (2). This discrimination is a predetermined condition for specifying chatter vibration.
k1 value = k value + constant 3 + 1... change formula (1)
k1 value = k value + 1... change formula (2)
If constant 1 is 0 and constant 2 is 0.1, forced chatter vibration can be selected and distinguished from regenerative chatter vibration. Further, if the constant 3 is normally set to 0.5 or -0.5, forced chatter vibration can be most suppressed. Selection of ± corresponds to selection of rotation speed increase / decrease.

次に、Ｓ８では、びびり振動数、工具刃数、Ｓ６，７で得られたｋ１値から、以下の演算式（４）に基づいて最適回転速度の演算を行う。
最適回転速度＝６０×びびり振動数／（工具刃数×ｋ１値）・・・（４）
そして、Ｓ９で、算出された最適回転速度となるように、ＮＣ装置８にて回転軸３の回転速度を変更して、「びびり振動」の増幅の防止、すなわち抑制を行う。
以上のようにして、制御装置５における「びびり振動」の抑制制御は行われる。 Next, in S8, the optimum rotational speed is calculated from the chatter frequency, the number of tool blades, and the k1 value obtained in S6 and 7, based on the following calculation formula (4).
Optimal rotation speed = 60 x chatter frequency / (number of tool blades x k1 value) (4)
Then, in S9, the rotation speed of the rotary shaft 3 is changed by the NC device 8 so that the calculated optimum rotation speed is obtained, so that the “chatter vibration” is prevented from being amplified, that is, suppressed.
As described above, the suppression control of “chatter vibration” in the control device 5 is performed.

このように、上記形態の振動制御装置１０によれば、振動センサ２ａ〜２ｃ、ＦＦＴ演算装置６、及びパラメータ演算装置７により回転軸３の回転中に生じる「びびり振動」をリアルタイムでモニタリングしており、「びびり振動」の発生が検出されると、上記演算式（１）〜（４）及び変更式（１）（２）により直ちに最適回転速度を算出して、回転軸３の回転速度を該最適回転速度として「びびり振動」の増幅を抑制する。すなわち、実際に回転している回転軸３に生じた「びびり振動」に基づいて最適回転速度を算出するため、より正確な最適回転速度を直ちに算出することができる。特に、パラメータ演算装置７は、発生したびびりの種類を特定し、その種類に応じて変更したパラメータで夫々最適回転速度を算出するので、強制びびり振動と再生型びびり振動とを明確に区別して夫々の場合に最適な回転速度を瞬時に求めることができ、びびり振動を効果的に抑制可能となる。従って、加工面の仕上げ精度を高品位に保つことができ、工具摩耗の抑制、工具欠損の防止も期待できる。   As described above, according to the vibration control device 10 of the above embodiment, the chatter vibration generated during the rotation of the rotary shaft 3 is monitored in real time by the vibration sensors 2a to 2c, the FFT calculation device 6, and the parameter calculation device 7. When the occurrence of “chatter vibration” is detected, the optimum rotational speed is immediately calculated by the arithmetic expressions (1) to (4) and the modified expressions (1) and (2), and the rotational speed of the rotary shaft 3 is calculated. As the optimum rotation speed, amplification of “chatter vibration” is suppressed. That is, since the optimum rotation speed is calculated based on “chatter vibration” generated in the rotating shaft 3 that is actually rotating, a more accurate optimum rotation speed can be immediately calculated. In particular, the parameter calculation device 7 identifies the type of chatter that has occurred and calculates the optimum rotational speed using parameters that are changed according to the type, so that the forced chatter vibration and the regenerative chatter vibration are clearly distinguished from each other. In this case, the optimum rotation speed can be obtained instantaneously, and chatter vibration can be effectively suppressed. Therefore, the finishing accuracy of the machined surface can be maintained at a high quality, and it can be expected to suppress the tool wear and prevent the tool from being lost.

なお、本発明の振動抑制装置に係る構成は、上記実施の形態に記載した態様に何ら限定されるものではなく、検出手段、制御装置、及び制御装置における振動抑制の制御等に係る構成を、本発明の趣旨を逸脱しない範囲で、必要に応じて適宜変更することができる。   The configuration related to the vibration suppression device of the present invention is not limited to the mode described in the above embodiment, and the configuration related to vibration suppression control in the detection means, the control device, and the control device, The present invention can be changed as appropriate without departing from the spirit of the present invention.

たとえば、演算式（１）〜（４）や変更式（１）（２）に示すような位相情報、ｋ値、定数等やこれらの関係は、工作機械の種類に応じて適宜調査し、決定するようにすることで精度をさらに向上させることができる。
さらに、上記実施形態では、検出手段にて検出される時間領域の振動加速度のフーリエ解析を行った際、周波数領域の振動加速度が最大値を示す波形を使用して、「びびり振動」の抑制に係る制御を行うようにしているが、周波数領域の振動加速度の値が上位の複数（たとえば、３つ）の波形を用いて最適回転速度を算出するようにして、「びびり振動」の抑制効果の更なる向上を図ってもよい。 For example, the phase information, the k value, the constant, etc. as shown in the arithmetic expressions (1) to (4) and the changing expressions (1) and (2) and the relationship thereof are appropriately investigated and determined according to the type of machine tool. By doing so, the accuracy can be further improved.
Further, in the above embodiment, when Fourier analysis of the vibration acceleration in the time domain detected by the detection means is performed, the waveform having the maximum vibration acceleration in the frequency domain is used to suppress “chatter vibration”. Although such control is performed, the optimum rotational speed is calculated using a plurality of waveforms (for example, three) having higher values of vibration acceleration in the frequency domain, so that the effect of suppressing “chatter vibration” can be reduced. Further improvements may be made.

さらにまた、上記実施形態では、検出手段により回転軸の振動加速度を検出し、検出された振動加速度に基づいて最適回転速度を算出するといった構成としているが、検出手段によって振動による変位や音圧を検出し、検出された変位や音圧に基づいて最適回転速度を算出するように構成してもよい。
加えて、上記実施形態では、工具を回転させる所謂マシニングセンタ等の工作機械の回転軸における振動を検出する構成としているが、回転しない側（固定側）であるワーク又はその近傍の振動を検出するようにしても良い。更には、旋盤などワークを回転させる工作機械にも適用可能であり、その場合には回転軸であるワークを保持する主軸側の振動を検出したり、固定側である工具の振動を検出したりすることができる。尚、検出手段の設置位置や設置数等を、工作機械の種類、大きさ等に応じて適宜変更してもよいことは言うまでもない。
Furthermore, in the above-described embodiment, the configuration is such that the vibration acceleration of the rotating shaft is detected by the detection means, and the optimum rotation speed is calculated based on the detected vibration acceleration. It may be configured to detect and calculate the optimum rotational speed based on the detected displacement and sound pressure.
In addition, in the above-described embodiment, the vibration is detected in the rotating shaft of a machine tool such as a so-called machining center that rotates the tool. However, the vibration on the non-rotating side (fixed side) or the vicinity thereof is detected. Anyway. Furthermore, it can also be applied to a machine tool that rotates a workpiece such as a lathe. In that case, it detects vibrations on the spindle side that holds the workpiece that is the rotation axis, or detects vibrations on the tool that is on the fixed side. can do. Needless to say, the installation position, the number of installations, and the like of the detection means may be appropriately changed according to the type and size of the machine tool.

振動抑制装置のブロック構成を示した説明図である。It is explanatory drawing which showed the block structure of the vibration suppression apparatus. 振動抑制の対象となる回転軸ハウジングを側面から示した説明図である。It is explanatory drawing which showed the rotating shaft housing used as the object of vibration suppression from the side surface. 回転軸ハウジングを軸方向から示した説明図である。It is explanatory drawing which showed the rotating shaft housing from the axial direction. 時間領域の振動加速度のフーリエ解析結果の一例を示した説明図である。It is explanatory drawing which showed an example of the Fourier-analysis result of the vibration acceleration of a time domain. びびり振動の抑制制御に係るフローチャートである。It is a flowchart which concerns on suppression control of chatter vibration.

符号の説明Explanation of symbols

１・・回転軸ハウジング、２ａ、２ｂ、２ｃ・・振動センサ、３・・回転軸、５・・制御装置、６・・ＦＦＴ演算装置、７・・パラメータ演算装置、８・・ＮＣ装置、１０・・振動抑制装置。   1 ··· Rotating shaft housing, 2a, 2b, 2c ·· Vibration sensor, 3 ··· Rotating shaft, 5 ·· Control device, 6 ·· FFT computing device, 7 ·· Parameter computing device, 8 ·· NC device, 10 ..Vibration suppression devices

Claims (2)

工具又はワークを回転させるための回転軸を備えた工作機械において、前記回転軸を回転させた際に生じるびびり振動を抑制するための振動抑制装置であって、
回転中の前記回転軸の時間領域での振動を検出する検出手段と、検出手段により検出された時間領域の振動に基づいて、びびり振動数及びそのびびり振動数における周波数領域の振動を算出すると共に、算出した前記周波数領域の振動が所定の閾値を超えた場合、所定のパラメータに基づき、びびり振動を抑制可能な前記回転軸の最適回転速度を算出する演算手段と、その演算手段により算出された最適回転速度にて前記回転軸を回転させる回転速度制御手段と、を備え、
前記演算手段は、前記所定のパラメータとなる下記の演算式（１）〜（４）に基づいて最適回転速度の演算を行うものであり、その際に、演算式（３）に基づいて算出した位相情報から発生したびびりの種類を特定し、特定されたびびりの種類に応じて下記の変更式（１）（２）の何れかに基づいて演算式（２）のｋ値を変更してｋ１値を求め、そのｋ１値を用いた演算式（４）によって夫々最適回転速度を算出することを特徴とする工作機械の振動抑制装置。
ｋ’値＝６０×びびり振動数／（工具刃数×回転軸回転速度） ・・・（１）
ｋ値＝ｋ’値の整数部 ・・・（２）
位相情報＝ｋ’値−ｋ値 ・・・（３）
強制びびり振動の場合 ：ｋ１値＝ｋ値＋定数＋１・・変更式（１）
再生型びびり振動の場合：ｋ１値＝ｋ値＋１・・変更式（２）
最適回転速度＝６０×びびり振動数／（工具刃数×ｋ１値）・・・（４） In a machine tool provided with a rotating shaft for rotating a tool or a workpiece, a vibration suppressing device for suppressing chatter vibration generated when the rotating shaft is rotated,
Based on the detection means for detecting the vibration in the time domain of the rotating shaft during rotation and the vibration in the time domain detected by the detection means, the vibration frequency and the vibration in the frequency domain at the chatter frequency are calculated. When the calculated vibration in the frequency domain exceeds a predetermined threshold, based on a predetermined parameter, calculating means for calculating the optimum rotational speed of the rotating shaft capable of suppressing chatter vibration, and the calculating means Rotation speed control means for rotating the rotation shaft at an optimum rotation speed, and
The calculation means calculates the optimum rotation speed based on the following calculation formulas (1) to (4) serving as the predetermined parameters. At that time, the calculation means is calculated based on the calculation formula (3). The type of chatter generated from the phase information is specified, and the k value of the calculation formula (2) is changed based on one of the following change formulas (1) and (2) according to the specified type of chatter to change k1 A vibration suppression device for a machine tool, characterized in that an optimum rotation speed is calculated by an arithmetic expression (4) using the k1 value.
k ′ value = 60 × chat vibration frequency / (number of tool blades × rotational axis rotation speed) (1)
k value = integer part of k ′ value (2)
Phase information = k ′ value−k value (3)
In the case of forced chatter vibration: k1 value = k value + constant + 1 + 1, change formula (1)
In the case of regenerative chatter vibration: k1 value = k value + 1..Change formula (2)
Optimal rotation speed = 60 x chatter frequency / (number of tool blades x k1 value) (4) 演算手段は、演算式（３）で得られる位相情報が０に近い値であれば強制びびり振動と判断し、変更式（１）における定数を０．５或いは−０．５に設定してｋ１値を求め、演算式（４）から最適回転速度を演算するものである請求項１に記載の工作機械の振動抑制装置。 If the phase information obtained by the calculation formula (3) is a value close to 0, the calculation means determines that it is forced chatter vibration , sets the constant in the change formula (1) to 0.5 or -0.5, and sets k1. The vibration suppression device for a machine tool according to claim 1, wherein a value is obtained and the optimum rotational speed is calculated from the calculation formula (4).
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