CN103324082A - Main shaft speed self-adaptation adjustment method, device and system - Google Patents
Main shaft speed self-adaptation adjustment method, device and system Download PDFInfo
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- CN103324082A CN103324082A CN2013101862311A CN201310186231A CN103324082A CN 103324082 A CN103324082 A CN 103324082A CN 2013101862311 A CN2013101862311 A CN 2013101862311A CN 201310186231 A CN201310186231 A CN 201310186231A CN 103324082 A CN103324082 A CN 103324082A
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Abstract
The invention belongs to the field of machine tool speed control communication, and discloses a main shaft speed self-adaptation adjustment method, device and system. The method comprises that S1, position data of a plurality of continuous track points needing processing subsequently of a workpiece are acquired in the current position; S2, the time Tmax needed within the period that a workbench works at a maximum speed until stopping is calculated according to the position data of the track points; S3, the time rT1needed within the period that a main shaft rotates at the current speed rV1 is calculated; S4, the time Tmax is compared with the time rT1, when the Tmax is smaller than the rT1, the current main shaft is controlled to accelerate according to the maximum speed of the workbench, when the Tmax equals the Rt1, the speed of the current main shaft is controlled to remain unchanged, and when the Tmax is larger than the rT1, the current main shaft is controlled to slow down according to the maximum speed of the workbench. According to the main shaft speed self-adaptation adjustment method, the main shaft automatically slows down or accelerates in advance according to system requirements so as to adapt with the motion track of the workbench, defective products are avoided, the pass percent of products is improved and meanwhile the working efficiency can be greatly improved.
Description
Technical field
The invention belongs to the lathe speed control communications field, more specifically, relate to a kind of spindle speed adaptive regulation method, Apparatus and system.
Background technology
Planting hair, system brush industry, the feather planting machine main shaft is in fast and moves up and down, the worktable that workpiece is installed moves below main shaft by desired trajectory, the speed of worktable is made according to the velocity variations of main shaft and is followed change, be that spindle speed is accelerated, the speed of table is followed quickening, and spindle speed is slack-off, the speed of table is followed slack-off, to satisfy the processing of workpiece track point.Machine tool chief axis drives drill bit and gets out a lot of machining holes rapidly for next procedure on workpiece, because the speed of worktable is subjected to the restriction of hardware device, when it reaches maximal rate and all can't satisfy the variation of spindle speed, working table movement will lag behind this moment, cause main shaft not hole by machining locus, cause workpiece to damage or scrap.
Summary of the invention
Defective at prior art, the object of the present invention is to provide a kind of spindle speed adaptive regulation method, be intended to solve in the present technology because the speed of worktable is subjected to the restriction of hardware device, working table movement will lag behind when it reaches maximal rate and all can't satisfy the variation of spindle speed, cause main shaft not hole by machining locus, the problem that causes workpiece to damage or scrap.
For achieving the above object, the invention provides a kind of spindle speed adaptive regulation method, comprise the steps:
S1: the position data of obtaining a plurality of continuous path points that workpieces in subsequent need process in current location;
S2: according to described tracing point position data evaluation work platform with maximal rate work to stopping required time T max;
S3: calculate the current rotating speed rV1 of main shaft to stopping needed time rT1;
S4: time T max and time rT1 are compared; When Tmax＜rT1, accelerate when forward spindle according to maximum table speed control; When Tmax=rT1, control current spindle speed and remain unchanged; When Tmax＞rT1, slow down when forward spindle according to maximum table speed control.
Further, in step S3, calculate the current rotating speed rV1 of main shaft to stopping needed time rT1 according to formula rT1=(rV1/V) * T, wherein V is maximum speed of spindle, the time of T for extremely freely stopping from maximum speed.
Spindle speed adaptive regulation method provided by the invention slows down in advance automatically according to the system requirements main shaft or accelerates, and to adapt to the movement locus of worktable, avoids producing defective products, improves product percent of pass, can increase work efficiency greatly simultaneously.
The present invention also provides a kind of spindle speed adaptive regulating device, comprising:
Data acquisition module is used for obtaining in current location the position data of a plurality of continuous path points that workpieces in subsequent need process;
Computing module is used for according to described tracing point position data evaluation work platform with maximal rate work to stopping required time T max; And calculate the current rotating speed rV1 of main shaft to stopping needed time rT1; And
Control module is used for according to the comparative result of time T max and time rT1 the speed when forward spindle being controlled.
Further, described computing module calculates the current rotating speed rV1 of main shaft to stopping needed time rT1 according to formula rT1=(rV1/V) * T, and wherein V is maximum speed of spindle, the time of T for extremely freely stopping from maximum speed.
Further, described control module comprises:
Comparing unit is used for time T max and time rT1 are compared and export comparative result;
First control module is used for when Tmax＜rT1 according to maximum table speed control when the forward spindle acceleration;
Second control module is used for controlling current spindle speed when Tmax=rT1 and remains unchanged; And
The 3rd control module is used for when Tmax＞rT1 according to maximum table speed control when the forward spindle deceleration.
The present invention also provides a kind of spindle speed adaptive regulating system, comprising: main shaft, the regulating device that is connected with described main shaft, the worktable that workpiece is installed; Described regulating device is the regulating device of above-mentioned spindle speed.
The regulating device of spindle speed provided by the invention is obtained the position data of a plurality of continuous path points of workpieces in subsequent needs processing according to data acquisition module, and by computing module according to tracing point position data evaluation work platform with maximal rate work to stopping the current rotating speed rV1 of required time T max and main shaft to stopping needed time rT1; And according to the comparative result of time T max and time rT1 by control module to slowing down in advance when the speed of forward spindle or accelerating control, adapt to the movement locus of worktable, avoid producing defective products, improve product percent of pass, the while can increase work efficiency greatly.
Description of drawings
Fig. 1 is the realization flow figure of the spindle speed adaptive regulation method that provides of the embodiment of the invention;
Fig. 2 is the spindle speed adaptive regulation method specific implementation process synoptic diagram that adopts the embodiment of the invention to provide;
Fig. 3 is the realization feather planting machine spindle speed self-adaptive regulating structure synoptic diagram that the embodiment of the invention provides.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
The invention provides a kind of spindle speed adaptive regulation method, when speed of table variation can't be satisfied the spindle speed variation, main shaft slowed down or acceleration automatically in advance according to the track of workpiece, to adapt to the motion of worktable.As shown in Figure 1, this method specifically comprises the steps:
S1: the position data of obtaining a plurality of continuous path points that workpieces in subsequent need process in current location;
S2: according to described tracing point position data evaluation work platform with maximal rate work to stopping required time T max,
S3: calculate the current rotating speed rV1 of main shaft to stopping needed time rT1;
S4: time T max and time rT1 are compared; When Tmax＜rT1, accelerate when forward spindle according to maximum table speed control; When Tmax=rT1, control current spindle speed and remain unchanged; When Tmax＞rT1, slow down when forward spindle according to maximum table speed control.
In step S3, can calculate the current rotating speed rV1 of main shaft to stopping needed time rT1 according to formula rT1=(rV1/V) * T, wherein V is that maximum speed of spindle, T are the time from maximum speed to free parking.
Spindle speed adaptive regulation method provided by the invention slows down in advance automatically according to the system requirements main shaft or accelerates, and to adapt to the movement locus of worktable, avoids producing defective products, improves product percent of pass, can increase work efficiency greatly simultaneously.
In embodiments of the present invention, digital control system is obtained a plurality of continuous path point position datas such as the P that workpieces in subsequent need be processed in current location
i(x
i, y
i, z
i); According to the tracing point position data of obtaining, can digital control system calculate the variation that satisfy spindle speed by maximum table speed automatically; If can not satisfy, main shaft slows down automatically in advance according to maximum table speed, makes spindle speed adapt to the motion of worktable; If can satisfy, the speed of worktable is made according to the velocity variations of main shaft and is followed change.
According to parameter and handling procedure are set, can determine at first that the current rotating speed rV1 of main shaft is pV1 to stopping the maximal rate that needed time rT1 and worktable can reach; Begin with the current tracing point of worktable, calculate according to main shaft present speed rV1 that to finish a needed time of boring action be zT1, obtain the data that need read in advance the individual processing stand of N (comprising oneself current point) in advance by N=rT1/zT1 and handle; The maximal rate pV1 that can reach with worktable calculate N following process point put in place separately needed time T i (span of i is 1 ... N, N are positive integer).Because the speed of worktable is followed variation with spindle speed, namely Twork==Tmain (Twork be worktable when time motion deadline, Tmain is that main shaft is when time motion deadline.Because so worktable is to equate two times of following main shaft to do accompany movement).Put before this Ti respectively with rT1 relatively, if wherein during Zui Da Tn＞rT1, to slow down to working as forward spindle so.If wherein during Zui Da Tn＜=rT1, to accelerating when forward spindle or not changing speed.System according to the previous calculations result slow down in advance, acceleration or constant: rV2=rV1 * rT1/Tn.If comprised last point in the processing stand of reading in advance, that this moment of above calculating will increase by one " when can the speed of forward spindle satisfy high position parking time last point " (after current workpiece machines, main shaft must be parked in home, also cry high-order the parking), will carry out the main shaft deceleration if cannot satisfy.(Asafe spends as 30 with respect to the home angular range that theoretical most significant digit allows the high-order angular range Amain=360 °-Asafe that stops of known current spindle speed, the high-order angular range value of stopping of the main shaft that Amain namely draws by 360 °-Asafe (330 degree are to 360 degree)) and main shaft brake response time Tb.According to current spindle speed rV1, can obtain the high-order time of stopping of current spindle speed by formula Ts=(Amain/360 °) * (rV1/60*360 °).Relatively deciding according to Tb and Ts is to slow down or constant.
As shown in Figure 2, spindle speed adaptive regulation method detailed process provided by the invention is as follows:
According to parameter and handling procedure are set, can determine at first that the current rotating speed rV1 of main shaft is pV1 to stopping the maximal rate that needed time rT1 and worktable can reach; Explanation is arranged above the process flow diagram: the parameter of setting has maximum speed of spindle V, from the time T of maximum speed free parking, can obtain rT1 by the current rotating speed of the main shaft that collects (rV1/V) * T.The maximal rate that worktable can reach is that pV1 is known also arranging by parameter.
Begin with the current tracing point of worktable, calculate according to main shaft present speed rV1 that to finish a needed time of boring action be zT1, obtain the data that need read in advance the individual processing stand of N (comprising oneself current point) in advance by N=rT1/zT1 and handle; The maximal rate pV1 that can reach with worktable calculates N following process point and puts separately that (span of i is 1 to needed time T i in place ... N).Because the speed of worktable is followed variation, i.e. Twork==Tmain with spindle speed.Put before this Ti respectively with rT1 relatively, if Zui Da T wherein
NDuring＞rT1, so will be to slowing down when forward spindle.If wherein during Zui Da Tn＜=rT1, to accelerating when forward spindle or not changing speed.System according to the previous calculations result slow down in advance, acceleration or constant: rV2=rV1 * rT1/Tn.If comprised last point in the processing stand of reading in advance, that this moment of above calculating will increase by one " when can the speed of forward spindle satisfy high-order parking time last point ", will carry out the main shaft deceleration if cannot satisfy.The high-order angular range Amain=360 °-Asafe that stops of known current spindle speed and main shaft brake response time Tb.According to current spindle speed rV1, can obtain the high-order time of stopping of current spindle speed by formula Ts=(Amain/360 °) * (rV1/60*360 °).Relatively deciding according to Tb and Ts is to slow down or constant.System slows down in advance according to the previous calculations result or is constant: rV2=rV1 * Tb/Ts.
The present invention also provides a kind of spindle speed self-adaption regulation system, comprising: main shaft, spindle speed self-adaptive regulating, the worktable of workpiece is installed; Wherein the spindle speed self-adaptive regulating comprises: the data acquisition module of Lian Jieing, computing module and control module successively; Data acquisition module is used for obtaining in current location the position data of a plurality of continuous path points that workpieces in subsequent need process; Computing module is used for according to described tracing point position data evaluation work platform with maximal rate work to stopping required time T max; And calculate the current rotating speed rV1 of main shaft to stopping needed time rT1; Control module is used for according to the comparative result of time T max and time rT1 the speed when forward spindle being controlled.
In embodiments of the present invention, computing module calculates the current rotating speed rV1 of main shaft to stopping needed time rT1 according to formula rT1=(rV1/V) * T, and wherein V is maximum speed of spindle, the time of T for extremely freely stopping from maximum speed.
As one embodiment of the present of invention, control module comprises: comparing unit and first control module that is connected with described comparing unit respectively, second control module and the 3rd control module; Wherein comparing unit is used for time T max and time rT1 are compared and export comparative result; First control module is used for when Tmax＜rT1, according to maximum table speed control when the forward spindle acceleration; Second control module is used for controlling current spindle speed and remaining unchanged when Tmax=rT1; The 3rd control module is used for when Tmax＞rT1, according to maximum table speed control when the forward spindle deceleration.
The regulating device of spindle speed provided by the invention or system obtain the position data of a plurality of continuous path points of workpieces in subsequent needs processing according to data acquisition module, and by computing module according to tracing point position data evaluation work platform with maximal rate work to stopping the current rotating speed rV1 of required time T max and main shaft to stopping needed time rT1; And according to the comparative result of time T max and time rT1 by control module to slowing down in advance when the speed of forward spindle or accelerating control, adapt to the movement locus of worktable, avoid producing defective products, improve product percent of pass, the while can increase work efficiency greatly.
For spindle speed adaptive regulation method, the Apparatus and system that illustrates that further the embodiment of the invention provides, existing with the feather planting machine be example and in conjunction with Fig. 3 details are as follows:
Main shaft 1 drive drill bit is in fast and moves up and down.The worktable 2 that workpiece brush holder 3 is installed moves below main shaft by desired trajectory, and machine tool chief axis 1 drives drill bit and gets out numerous machining holes continuously rapidly be used for planting a mao operation on brush holder 3.
By preposition parameter signal handling procedure current spindle speed Vcurrent (current spindle speed) and can obtain it to high-order time T stop that shuts down (the high-order parking the needed time) as can be known, can obtain the data that to read N hole in advance by Vcurrent and Tstop and handle.The worktable that the workpiece brush holder is installed can be obtained by the speed of instruction data and worktable from an a to a time T n of each pitch-row of b, and when worktable during at tracing point a, the main shaft present speed is Vstart (present speed of main shaft when a point).According to system requirements, obtain the Tmaxn of N the maximum in the hole (in the data in the N that reads out an in advance hole by the data of reading N hole in advance, obtain the working time of pitch-row maximum), the time T drill (calculating the time of realizing a boring action by current spindle speed) that realizes a boring action with current Vcurrent relatively, the relation by judging Tmaxn and Tdrill and then regulate the speed of main shaft with the movement locus of adaptation worktable; Spindle speed remains unchanged during Tdrill==Tmaxn; Main shaft carries out reduction of speed during Tdrill＞Tmaxn; Main shaft raises speed during Tdrill＜Tmaxn.
Those skilled in the art will readily understand; the above only is preferred embodiment of the present invention; not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. a spindle speed adaptive regulation method is characterized in that, comprises the steps:
S1: the position data of obtaining a plurality of continuous path points that workpieces in subsequent need process in current location;
S2: according to described tracing point position data evaluation work platform with maximal rate work to stopping required time T max;
S3: calculate the current rotating speed rV1 of main shaft to stopping needed time rT1;
S4: time T max and time rT1 are compared; When Tmax＜rT1, accelerate when forward spindle according to maximum table speed control; When Tmax=rT1, control current spindle speed and remain unchanged; When Tmax＞rT1, slow down when forward spindle according to maximum table speed control.
2. the method for claim 1, it is characterized in that, in step S3, calculate the current rotating speed rV1 of main shaft to stopping needed time rT1 according to formula rT1=(rV1/V) * T, wherein V is maximum speed of spindle, the time of T for extremely freely stopping from maximum speed.
3. the adaptive regulating device of spindle speed is characterized in that, comprising:
Data acquisition module is used for obtaining in current location the position data of a plurality of continuous path points that workpieces in subsequent need process;
Computing module is used for according to described tracing point position data evaluation work platform with maximal rate work to stopping required time T max; And calculate the current rotating speed rV1 of main shaft to stopping needed time rT1; And
Control module is used for according to the comparative result of time T max and time rT1 the speed when forward spindle being controlled.
4. regulating device as claimed in claim 3, it is characterized in that, described computing module calculates the current rotating speed rV1 of main shaft to stopping needed time rT1 according to formula rT1=(rV1/V) * T, and wherein V is maximum speed of spindle, the time of T for extremely freely stopping from maximum speed.
5. regulating device as claimed in claim 3 is characterized in that, described control module comprises:
Comparing unit is used for time T max and time rT1 are compared and export comparative result;
First control module is used for when Tmax＜rT1 according to maximum table speed control when the forward spindle acceleration;
Second control module is used for controlling current spindle speed when Tmax=rT1 and remains unchanged; And
The 3rd control module is used for when Tmax＞rT1 according to maximum table speed control when the forward spindle deceleration.
6. adaptive regulating system of spindle speed comprises: main shaft, the regulating device that is connected with described main shaft, the worktable that workpiece is installed; It is characterized in that described regulating device is each described regulating device of claim 3-5.
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| CN112720455A (en) * | 2020-12-01 | 2021-04-30 | 深圳众为兴技术股份有限公司 | Optimal joint acceleration and deceleration calculation method and device and application thereof |
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