JP2010125570A - Chattering vibration suppressing method and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a chattering vibration suppressing method capable of suppressing chattering vibration more reliably and performing a stable processing. <P>SOLUTION: The chattering vibration suppressing method includes: a first step to acquire frequency fc of chattering vibration and vibration acceleration; a second process to determine the lower limit Sp1 and the upper limit Sp2 in changing the rotating speed of a spindle from the acquired frequency fc of the chattering vibration and vibration acceleration, the number of blades Z of a tool, and the spindle rotating speed S; and a third step to change the spindle rotating speed within the range between the lower limit Sp1 and the upper limit Sp2. In determining the lower limit Sp1 and the upper limit Sp2, formula (1): Sp1=60×fc/äZ×(k+1)}, and formula (2): Sp2=60×fc/(Z×k) are used respectively, wherein k is the integer part of 60×fc/(Z×S). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a method for suppressing chatter vibration that occurs during machining in a machine tool that performs machining while rotating a tool or a workpiece, and a chatter vibration suppressing device that executes the chatter vibration suppressing method.

When cutting with a machine tool, chatter vibration may occur when the rigidity of the tool or workpiece is low. When chatter vibration occurs, there are problems such as the tool being lost or the accuracy of the machined surface of the workpiece being deteriorated. Therefore, measures described in Patent Document 1 and Patent Document 2 have been proposed as methods for suppressing the chatter vibration.
The method described in Patent Document 1 tries to avoid chatter vibration in main machining by performing test machining before main machining, estimating chatter vibration based on the cutting load, and determining machining conditions. It is. The method described in Patent Document 2 calculates chatter vibration frequency during machining, calculates the rotation speed of the main shaft that does not generate chatter vibration from the chatter vibration frequency, and changes the rotation speed of the main shaft to the rotation speed. In this way, it is intended to suppress chatter vibration.

JP 2006-102927 A JP 2007-44852 A

  However, in the method described in Patent Document 1, since the occurrence of chatter vibration is estimated based on the cutting load, regenerative chatter vibration in which the presence or absence of chatter vibration is determined by the rotational speed of the spindle is not considered. Therefore, there is a problem that such regenerative chatter vibration cannot be suppressed. Further, in the method described in Patent Document 2, there is no problem when there is one dynamic compliance peak that is a transfer function of the mechanical structure, but when there are a plurality of peaks, machining is performed at a rotational speed that can suppress the calculated chatter vibration. However, chatter vibration occurs at different frequencies, and as a result, stable machining may not be performed.

  Therefore, the present invention has been made in view of the above problems, and is intended to provide a chatter vibration suppressing method and apparatus that can more reliably suppress chatter vibration and perform stable machining. is there.

  In order to achieve the above object, a chatter vibration suppressing method for suppressing chatter vibration that occurs during machining in a machine tool that performs machining by rotating a tool mounted on a spindle, and obtains the frequency and acceleration of the chatter vibration. And a second step of obtaining a lower limit and an upper limit when changing the rotation speed of the spindle from the acquired frequency and acceleration of the chatter vibration, the number of blades of the tool, and the rotation speed of the spindle. And a third step of changing the rotational speed of the spindle between a lower limit and an upper limit.

The invention according to claim 2 is characterized in that, in the invention according to claim 1, in the second step, the lower limit Sp1 is obtained by the following equation (1), and the upper limit Sp2 is obtained by the following equation (2). And
Formula 1: Sp1 = 60 × fc / {Z × (k + 1)}
Formula 2: Sp2 = 60 × fc / (Z × k)
Note that fc is the frequency of chatter vibration acquired in the first step, and Z is the number of cutting edges of the tool. K is an integer part of 60 × fc / (Z × S), and S is a rotation speed per minute of the main shaft.

The invention according to claim 3 is the invention according to claim 1 or 2, wherein in the third step, the rotational speed of the spindle is changed in stages, and the acceleration of the chatter vibration in each stage is acquired. The fourth step of storing the rotation speed in association with the rotation speed and rotating the main shaft at the rotation speed at which the acceleration becomes the smallest after the acquisition of the chatter vibration acceleration in all stages is performed.
According to a fourth aspect of the present invention, in the third aspect of the present invention, after the fourth step is executed, a fifth step of reducing the cutting depth of the tool is performed.

  On the other hand, in order to achieve the above object, the invention according to claim 5 of the present invention is a chatter vibration that suppresses chatter vibration generated during machining in a machine tool that performs machining by rotating a tool attached to a spindle. It is a suppression device, the rotation of the main shaft from the acquisition means for acquiring the frequency and acceleration of the chatter vibration, the acquired frequency and acceleration of the chatter vibration, the number of blades of the tool, and the rotation speed of the main shaft Computation means for obtaining a lower limit and an upper limit for changing the speed, and a rotational speed control means for changing the rotational speed of the spindle between the lower limit and the upper limit are provided.

According to the present invention, based on the frequency and acceleration of chatter vibration acquired, the lower limit and upper limit when changing the rotational speed of the spindle are obtained, and chatter vibration is suppressed while changing the rotational speed within the range. Even when there are a plurality of dynamic compliance peaks, the rotational speed capable of suppressing chatter vibration can be obtained efficiently, and as a result, stable machining can be performed efficiently.
In addition, according to the invention described in claim 4, chatter vibration can be suppressed extremely reliably because chatter vibration is suppressed while changing the cutting amount in addition to the change of the rotational speed.

  Hereinafter, a chatter vibration suppressing method and apparatus according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory view showing a configuration of a machine tool (including a chatter vibration suppressing device).
The machine tool has a well-known configuration in which a rotatable spindle 2 is provided on a spindle head 1 provided above, and a workpiece 4 set on a lower machining table is machined by a tool 3 attached to the spindle 2. Become.
5 is a numerical control device that controls the feed operation of the spindle head 1 and the rotational speed of the spindle 2, and 6 is an arithmetic device that can transmit and receive information to and from the numerical control device 5. Are connected to an acceleration sensor 7 for measuring vibration acceleration of chatter vibration, a memory device 8, and an external input device 9 for inputting the number of blades of a tool.

Here, an example of the chatter vibration suppressing method in the machine tool as described above will be described.
In the present invention, before performing the main cutting process, a test process based on a flowchart shown in FIG. 2 is performed in advance. First, when the test machining is started by rotating the tool 3 at a predetermined set rotation speed (rotation speed set by a machining program or the like), it is determined whether or not chatter vibration is generated in the machining at the set rotation speed. Judgment is made (S1). This determination is, for example, the occurrence of chatter vibration when a case where the vibration acceleration obtained from the acceleration sensor 7 exceeds a predetermined threshold is detected a plurality of times. When the occurrence of chatter vibration is confirmed, the chatter vibration waveform is input from the acceleration sensor 7 to the arithmetic unit 6 and Fourier transform is performed on the chatter vibration waveform (S2). The frequency fc is acquired (S3).

  Next, the rotational speed (set rotational speed in this case) S of the spindle 2 obtained from the numerical control device 5, the frequency fc obtained in S3, and the number of cutting edges Z of the tool inputted in advance from the external input device 9 Based on this, a periodic relationship between the rotational speed of the main shaft 2 and chatter vibration is estimated and calculated to obtain a lower limit Sp1 and an upper limit Sp2 of the rotational speed, which will be described later (S4). Furthermore, the rotational speed S of the spindle 2 is changed from the set rotational speed to the lower limit Sp1 (S5), the vibration waveform is again input from the acceleration sensor 7 to the arithmetic unit 6, and the vibration waveform is Fourier transformed (S6) and Fourier The maximum value G of the converted waveform is acquired (S7). Then, it is determined whether or not the obtained maximum value G is equal to or less than a predetermined threshold value (S8).

At this time, when the maximum value G becomes equal to or less than a predetermined threshold value (determined as YES in S8), the lower limit Sp1 is set as the rotation speed of the main shaft capable of suppressing chatter vibration (hereinafter referred to as vibration suppression rotation speed). 8 and finish the test processing. And in performing this cutting process, let the rotational speed of the main axis | shaft 2 be the minimum Sp1.
On the other hand, when the vibration acceleration does not fall below the predetermined threshold (determined as NO in S8), the rotational speed of the spindle 2 (here, the lower limit Sp1) and the maximum value G acquired in S7 are associated with each other and stored in the memory device 8. After confirming whether the rotational speed of the main shaft 2 has reached the upper limit Sp2 (S10), the rotational speed of the main shaft 2 is increased by a predetermined unit change amount ΔS (S11). Thereafter, at the rotational speed increased by the unit change amount ΔS, the vibration waveform is subjected to Fourier transform (S6), the maximum value G of the Fourier-transformed waveform is acquired (S7), and the maximum value G is compared with the threshold value ( S8) is performed again. Then, the rotational speed and the maximum value G of the waveform at the rotational speed are stored (S9), the unit change amount ΔS of the rotational speed of the spindle 2 is increased (S11), the Fourier transform after the rotational speed is changed (S6), and the maximum of the waveform The acquisition of the value G (S7) and the comparison between the maximum value G and the threshold value (S8) are repeated until the maximum value G becomes equal to or less than the threshold value or until the rotation speed of the spindle 2 reaches the upper limit Sp2. In addition, when the maximum value G becomes equal to or less than a predetermined threshold value in the repetition, the rotation speed at that time is stored in the memory device 8 as the vibration suppression rotation speed, the test processing is finished, and the vibration suppression rotation speed is The main cutting process is performed while rotating the spindle 2.

  Further, when the rotational speed of the spindle 2 has reached the upper limit Sp2 (determined as YES in S10) and the vibration acceleration does not fall below a predetermined threshold value, it is stored in the memory device 8. Of the rotational speeds, the rotational speed when the maximum value G of the waveform is the smallest is selected (S12), and the cutting amount of the tool 3 into the workpiece 4 is controlled while controlling the rotational speed of the spindle 2 to the selected rotational speed. Is decreased by a predetermined unit amount (S13). Then, in the cut amount, the vibration waveform obtained from the acceleration sensor 7 is Fourier-transformed similarly to S6 and S7, and the maximum value G of the waveform is acquired, and the maximum value G is compared with a predetermined threshold (S14). And the cutting amount is decreased stepwise until the maximum value G falls below a predetermined threshold. When the maximum value G falls below a predetermined threshold value, the cutting amount at this time is stored as the vibration suppression cutting amount, the rotational speed selected in S12 is stored in the memory device 8 as the vibration suppression rotational speed, and the test machining is finished. . Thereafter, the main cutting process is performed while controlling the rotation speed of the main shaft 2 to the vibration suppressing rotation speed and the cutting amount of the tool 3 to the vibration suppressing cutting amount.

Next, here, the calculation of the lower limit Sp1 and the upper limit Sp2 of the rotation speed will be described in detail.
When the rotational speed of the spindle 2 is changed and the values of chatter vibration frequency and vibration acceleration are measured, as shown in FIG. 3, both the frequency and vibration acceleration exhibit a behavior that is periodic with respect to the rotation speed. Has been confirmed. Therefore, it can be said that selecting the rotation speed at which chatter vibration can be suppressed most within one cycle including the current rotation speed of the main spindle 2 is efficient chatter vibration suppression. Therefore, in S4, the lower limit Sp1 and the upper limit Sp2 of the rotation speed corresponding to one cycle including the rotation speed at which chatter vibration has occurred, the lower limit Sp1 is expressed by the following formula (1), and the upper limit Sp2 is calculated by the following formula (2). Ask for each one. Note that the interval of the rotation speed corresponding to this one cycle is not constant, but varies depending on the rotation speed itself and various processing conditions (for example, in FIG. 3, the interval at which the rotation speed is lower is one cycle. Is also narrower).

Sp1 = 60 × fc / {Z × (k + 1)} (1)
Sp2 = 60 × fc / (Z × k) (2)
Note that fc is the frequency of chatter vibration obtained in S3, and Z is the number of cutting edges of the tool. K is an integer part of 60 × fc / (Z × S), and S is the rotational speed of the main shaft 2 per minute.

Therefore, for example, when chatter vibration occurs when the rotational speed of the main shaft 2 is 8150 min ⁻¹ , the lower limit Sp1 = 8083 min ⁻¹ and the upper limit Sp2 = from the chatter vibration frequency 7257 Hz using the above formulas (1) and (2). 9094 min ⁻¹ can be obtained respectively.
Thus, when there is one compliance peak of the mechanical structure system, the lower limit Sp1 and the upper limit Sp2 can be obtained, and S5 and subsequent steps may be executed using the obtained lower limit Sp1 and upper limit Sp2.

On the other hand, when there are a plurality of compliance peaks (here, two), the lower limit Sp1 and the upper limit Sp2 may be obtained as follows.
FIG. 4 is a diagram showing an example of an actual measurement value of chatter vibration frequency and vibration acceleration with respect to the rotation speed when there are two peaks, and a chatter vibration having a frequency of 4900 Hz and a chatter vibration having a frequency of around 5300 Hz are mixed. It can be seen that the two periods overlap. Although there is a difference between these two periods, when viewed in the local range of the rotational speed, the difference is small and does not cause a problem. Using either one of the frequencies, the above equations (1) and (2) What is necessary is just to obtain | require the lower limit Sp1 and the upper limit Sp2. That is, for example, even if the lower limit Sp1 = 7000 min ⁻¹ and the upper limit Sp2 = 8167 min ⁻¹ are obtained from a frequency of 4900 Hz at a rotational speed of 7050 min ⁻¹ , this is substantially the same as the period of the frequency 5300 Hz, By using Sp1 and the upper limit Sp2, sufficiently effective vibration suppression can be expected. And what is necessary is just to perform S5 and subsequent steps using the lower limit Sp1 and the upper limit Sp2 thus obtained. In FIG. 4, a frequency of 5600 Hz is also observed, but the vibration acceleration at this time is sufficiently small, and chatter vibration is not occurring, so there is no need to consider it.

According to the chatter vibration suppressing method as described above, the lower limit Sp1 and the upper limit Sp2 of the rotational speed are obtained based on the acquired frequency of chatter vibration, and the vibration waveform is obtained by Fourier transform while changing the rotational speed within the range. Since the rotation speed at which the maximum value G of the waveform falls below a predetermined threshold, that is, the vibration suppression rotation speed is obtained, chatter vibration can be efficiently suppressed.
In addition, in the case where there is one compliance peak as well as in the case where there are a plurality of compliance peaks, the vibration suppression rotation speed can be obtained, chatter vibration can be effectively suppressed, and stable machining with high machining surface accuracy can be performed.
Further, when it is not possible to deal with only by changing the rotation speed, the chatter vibration is suppressed while changing the cutting amount, so that the chatter vibration can be suppressed extremely reliably.
In addition, since the main cutting is performed after performing the test processing, the main cutting can be performed in a state in which chatter vibration is sufficiently suppressed, and processing is performed in a state in which chatter vibration is not sufficiently suppressed. There is no waste of finished products.

  The configuration related to the chatter vibration suppressing method and apparatus of the present invention is not limited to the aspect described in the above embodiment, and the configuration related to acquisition of chatter vibration frequency and control of vibration suppression is not limited to the present invention. As long as it does not deviate from the above, it can be changed as necessary.

For example, in the above embodiment, the unit change amount ΔS is used to change the rotation speed. Instead, the obtained lower limit Sp1 and upper limit Sp2 are equally divided (for example, equally divided into 10), and the division is performed. The rotational speed may be changed stepwise according to the amount. Furthermore, instead of dividing the rotational speed itself into equal parts, k used in Equations (1) and (2) is equally divided, and the test cutting is performed by substituting the equally divided value ks into Equation (3) below. The speed Sp3 may be obtained.
Rotation speed Sp3 = 60 × fc / (Z × ks) (3)
Needless to say, the rotational speed may be changed stepwise at an arbitrary interval, instead of being equally divided or using the unit change amount ΔS.

Furthermore, in the above embodiment, chatter vibration is detected by using an acceleration sensor. However, other devices such as a speed sensor, a displacement sensor, and an acoustic sensor can be used as long as the vibration vibration frequency and maximum value can be obtained. Of course, it is possible to use the detecting means, and by replacing the chatter vibration detecting means with another detecting means from the acceleration sensor, the threshold value itself used in S6 and S12 and the comparison target also correspond to the detecting means. Instead of another (for example, instead of vibration acceleration, displacement amount, etc.). Also, the mounting position of the detection means is not limited to the spindle head, and a plurality of detection means may naturally be provided.
Furthermore, in the above embodiment, if the maximum value G of the vibration waveform is below the threshold value even while the rotation speed of the spindle is changed from the lower limit to the upper limit, the rotation speed at that time is stored as the vibration suppression rotation speed. However, even if the maximum value G of the vibration waveform falls below the threshold value, the maximum value G of the vibration waveform is acquired at all stages, and the maximum value G of the vibration waveform becomes the minimum among them. You may comprise so that a rotational speed may be selected.
In addition, in the above embodiment, chatter vibration is generated near the natural frequency of the mechanical structure, but may occur near the natural frequency of the workpiece, and this method is also effective in that case. .

It is explanatory drawing which showed the structure of the machine tool. It is the flowchart figure which showed the chatter vibration suppression method. It is explanatory drawing which showed the actual value of the frequency of chatter vibration with respect to rotational speed, and vibration acceleration. It is explanatory drawing which showed the actual value of the frequency and vibration acceleration of the chatter vibration with respect to the rotational speed when there are a plurality of compliance peaks.

Explanation of symbols

  1 .... Spindle head 2 .... Spindle 3 .... Tool 4 .... Workpiece 5. Numerical control device (rotational speed control means) 6 .... Calculation device (acquisition means, calculation means) 7. Acceleration sensor (calculation means), 8 ... Memory device, 9 ... External input device.

Claims (5)

In a machine tool that performs processing by rotating a tool mounted on a spindle, a chatter vibration suppressing method that suppresses chatter vibration that occurs during processing,
A first step of obtaining a frequency and acceleration of the chatter vibration;
A second step of obtaining a lower limit and an upper limit when changing the rotation speed of the main spindle from the acquired frequency and acceleration of chatter vibration, the number of blades of the tool, and the rotation speed of the main spindle;
A chatter vibration suppressing method comprising: executing a third step of changing a rotation speed of the spindle between a lower limit and an upper limit. 2. The chatter vibration suppressing method according to claim 1, wherein in the second step, the lower limit Sp <b> 1 is obtained by the following formula (1), and the upper limit Sp <b> 2 is obtained by the following formula (2).
Formula 1: Sp1 = 60 × fc / {Z × (k + 1)}
Formula 2: Sp2 = 60 × fc / (Z × k)
Note that fc is the frequency of chatter vibration acquired in the first step, and Z is the number of cutting edges of the tool. K is an integer part of 60 × fc / (Z × S), and S is a rotation speed per minute of the main shaft. In the third step, the rotational speed of the spindle is changed in stages, the acceleration of chatter vibration in each stage is acquired and stored in association with the rotational speed,
3. The chatter vibration suppression according to claim 1, wherein after acquiring the chatter vibration acceleration in all stages, the fourth step of rotating the main shaft at the rotation speed at which the acceleration is minimized is performed. Method.   4. The chatter vibration suppressing method according to claim 3, wherein after the execution of the fourth step, the fifth step of reducing the cutting depth of the tool is executed. In a machine tool that performs processing by rotating a tool mounted on a spindle, a chatter vibration suppressing device that suppresses chatter vibration that occurs during processing,
Obtaining means for obtaining the frequency and acceleration of the chatter vibration;
Calculation means for obtaining a lower limit and an upper limit when changing the rotation speed of the spindle from the acquired frequency and acceleration of chatter vibration, the number of blades of the tool, and the rotation speed of the spindle;
A chatter vibration suppressing device comprising: a rotation speed control means for changing a rotation speed of the spindle between a lower limit and an upper limit.

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