CN103324082B - 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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- CN103324082B CN103324082B CN201310186231.1A CN201310186231A CN103324082B CN 103324082 B CN103324082 B CN 103324082B CN 201310186231 A CN201310186231 A CN 201310186231A CN 103324082 B CN103324082 B CN 103324082B
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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 machine velocity control communications field, more particularly, to a kind of spindle speed Automatic adjusument side
Method, apparatus and system.
Background technology
Hair, brush industry processed are being planted, feather planting machine main shaft is provided with the workbench of workpiece by pre- in quickly up and down motion
Fixed track is made according to the velocity variations of main shaft and follows change in main shaft moved beneath, the speed of workbench, i.e., spindle speed is accelerated,
The speed of table follows quickening, and spindle speed is slack-off, the speed of table follow it is slack-off, to meet the processing of workpiece track point.Machine
Bed main shaft drives drill bit that many processing holes are rapidly got out on workpiece is used for next procedure, as the speed of workbench is subject to hard
The restriction of part equipment, when which reaches maximal rate cannot all meet the change of spindle speed, now working table movement will be late by,
Cause main shaft drill by machining locus, cause workpiece to damage or scrap.
The content of the invention
For the defect of prior art, it is an object of the invention to provide a kind of spindle speed adaptive regulation method, purport
Solving now in the art as the speed of workbench is limited by hardware device, cannot all meet when which reaches maximal rate
During the change of spindle speed, working table movement will be late by, and cause main shaft drill by machining locus, cause workpiece damage or
The problem scrapped.
For achieving the above object, the invention provides a kind of spindle speed adaptive regulation method, comprises the steps：
S1：The position data that workpieces in subsequent needs multiple continuous path points of processing is obtained in current location；
S2：Worked with maximal rate the time to needed for stopping according to the tracing point position data evaluation work platform
Tmax；
S3：Calculate time rT1s of the current rotating speed rV1 of main shaft to required for stopping；
S4：Time Tmax is compared with time rT1；As Tmax ＜ rT1, worked as according to maximum table speed control
Forward spindle accelerates；As Tmax=rT1, control current spindle speed and keep constant；As Tmax ＞ rT1, according to workbench most
Big speed controlling is slowed down when forward spindle.
Further, in step s3, the current rotating speed rV1 of main shaft is calculated to stopping according to formula rT1=(rV1/V) * T
Required time rT1, wherein V are maximum speed of spindle, T is from maximum speed to the time for freely stopping.
The present invention provide spindle speed adaptive regulation method according to the automatic pre-decelerating of system requirements main shaft or acceleration,
To adapt to the movement locus of workbench, it is to avoid produce defective products, conforming product rate is improved, while work efficiency can be greatly improved.
Present invention also offers a kind of adaptive adjusting means of spindle speed, including：
Data acquisition module, for obtaining the position that workpieces in subsequent needs multiple continuous path points of processing in current location
Data；
Computing module, for being worked with maximal rate to needed for stopping according to the tracing point position data evaluation work platform
Time Tmax；And calculate time rT1s of the current rotating speed rV1 of main shaft to required for stopping；And
Control module, for being controlled to the speed when forward spindle according to the comparative result of time Tmax and time rT1.
Further, the computing module calculates the current rotating speed rV1 of main shaft to stopping according to formula rT1=(rV1/V) * T
Only required time rT1, wherein V are maximum speed of spindle, T is from maximum speed to the time for freely stopping.
Further, the control module includes：
Comparing unit, for time Tmax and time rT1 to be compared and export comparative result；
First control unit, for as Tmax ＜ rT1 according to maximum table speed control when forward spindle acceleration；
Second control unit, keeps constant for current spindle speed is controlled as Tmax=rT1；And
3rd control unit, for as Tmax ＞ rT1 according to maximum table speed control when forward spindle deceleration.
Present invention also offers a kind of adaptive regulating system of spindle speed, including：What main shaft and the main shaft connected
Adjusting means, the workbench for being provided with workpiece；The adjusting means is the adjusting means of above-mentioned spindle speed.
The adjusting means of the spindle speed that the present invention is provided obtains workpieces in subsequent according to data acquisition module needs processing
The position data of multiple continuous path points, and pass through computing module according to tracing point position data evaluation work platform with maximal rate
Time rT1s of the time Tmax and the current rotating speed rV1 of main shaft worked to needed for stopping to required for stopping；And according to time Tmax
Pre-decelerating is carried out by control module to the speed for working as forward spindle with the comparative result of time rT1 or accelerates control, adapt to work
Make the movement locus of platform, it is to avoid produce defective products, improve conforming product rate, while work efficiency can be greatly improved.
Description of the drawings
Fig. 1 is the flowchart of spindle speed adaptive regulation method provided in an embodiment of the present invention；
Fig. 2 is to implement process schematic using spindle speed adaptive regulation method provided in an embodiment of the present invention；
Fig. 3 is provided in an embodiment of the present invention to realize feather planting machine spindle speed self-adaptive regulating structure schematic diagram.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, and
It is not used in the restriction present invention.
The invention provides a kind of spindle speed adaptive regulation method, when speed of table change cannot meet main shaft speed
During degree change, track automatic pre-decelerating or acceleration of the main shaft according to workpiece, to adapt to the motion of workbench.As shown in figure 1, should
Method specifically includes following step：
S1：The position data that workpieces in subsequent needs multiple continuous path points of processing is obtained in current location；
S2：Worked with maximal rate the time to needed for stopping according to the tracing point position data evaluation work platform
Tmax,
S3：Calculate time rT1s of the current rotating speed rV1 of main shaft to required for stopping；
S4：Time Tmax is compared with time rT1；As Tmax ＜ rT1, worked as according to maximum table speed control
Forward spindle accelerates；As Tmax=rT1, control current spindle speed and keep constant；As Tmax ＞ rT1, according to workbench most
Big speed controlling is slowed down when forward spindle.
In step s3, can be according to required for formula rT1=(rV1/V) * T calculate the current rotating speed rV1 of main shaft to stopping
Time rT1, it is time from maximum speed to free parking that wherein V is maximum speed of spindle, T.
The present invention provide spindle speed adaptive regulation method according to the automatic pre-decelerating of system requirements main shaft or acceleration,
To adapt to the movement locus of workbench, it is to avoid produce defective products, conforming product rate is improved, while work efficiency can be greatly improved.
In embodiments of the present invention, digital control system obtains workpieces in subsequent in current location needs multiple continuous paths of processing
Point position data such as Pi(xi, yi, zi)；According to the tracing point position data for obtaining, digital control system is calculated automatically presses workbench maximum
Can speed meet the change of spindle speed；If can not meet, main shaft makes master according to the automatic pre-decelerating of maximum table speed
Axle speed adapts to the motion of workbench；If can meet, the speed of workbench is made according to the velocity variations of main shaft and follows change.
According to arrange parameter and processing routine, times of the current rotating speed rV1 of main shaft to required for stopping can be determined first
The maximal rate that rT1 and workbench can reach is pV1；Started with workbench current trace points, according to main shaft present speed rV1
It is zT1 to calculate the time required for a boring action of completing, obtained by N=rT1/zT1 need to pre-read in advance N (include from
Own current point) data of individual processing stand are processed；Maximal rate pV1 that can be reached with workbench calculates N number of following process
The each required in place time Ti of point (span of i is 1 ... N, N are positive integer).Because the speed of workbench is with master
Axle speed follow change, i.e. Twork==Tmain (Twork be workbench when time motion deadline, based on Tmain
Axle is when time motion deadline.Because workbench is to do pursuit movement with main shaft so two times are equal).In this premise
It is lower that Ti is compared with rT1 respectively, if during maximum of which Tn ＞ rT1, then be to slowing down when forward spindle.If wherein
During the Tn ＜=rT1 of maximum, to when forward spindle accelerates or does not change speed.System according to above result of calculation pre-decelerating, plus
It is fast or constant：RV2=rV1 × rT1/Tn.If last point is included in the processing stand for pre-reading, that calculating now above
One " high-order parking can be disclosure satisfy that when the speed of forward spindle is put to last " will be increased (to add in current workpiece
After the completion of work, main shaft must be parked in home, also cry high-order parking), if cannot meet that main shaft deceleration will be carried out.It is known
(Asafe is to allow relative to theoretical highest order to the high-order Amain=360 ° of-Asafe of angular range for stopping of current spindle speed
Such as 30 degree of one home angular range, the high-order angle stopped of the main shaft that Amain is drawn by 360 ° of-Asafe
Degree value range (330 degree to 360 degree)), and main shaft brake response time Tb.According to current spindle speed rV1, by formula Ts
=(Amain/360 °) * (rV1/60*360 °) can obtain the current spindle speed high-order time stopped.According to Tb compare with Ts come
Decision is to slow down or constant.
As shown in Fig. 2 the spindle speed adaptive regulation method detailed process that the present invention is provided is as follows：
According to arrange parameter and processing routine, times of the current rotating speed rV1 of main shaft to required for stopping can be determined first
The maximal rate that rT1 and workbench can reach is pV1；It is described above flow chart：The parameter of setting has maximum speed of spindle
V, from the time T of maximum speed free parking, rT1 can be obtained by the main shaft for collecting current rotating speed (rV1/V) * T.Workbench
The maximal rate that can be reached is known and by parameter setting for pV1.
Started with workbench current trace points, according to needed for main shaft present speed rV1 is calculated and completed a boring action
The time wanted is zT1, is obtained by N=rT1/zT1 and need to pre-read the data of N (include oneself current point) individual processing stand in advance and carry out
Process；Maximal rate pV1 that can be reached with workbench calculate each required in place time Ti of N number of following process point (i's
Span is 1 ... N).Because the speed of workbench follows change, i.e. Twork==Tmain with spindle speed.Here
Under the premise of Ti is compared with rT1 respectively, if maximum of which TNDuring ＞ rT1, then be to slowing down when forward spindle.If
During maximum of which Tn ＜=rT1, to when forward spindle accelerates or does not change speed.System subtracts in advance according to above result of calculation
Speed, acceleration or constant：RV2=rV1 × rT1/Tn.If last point is included in the processing stand for pre-reading, that now more than
Calculating will increase by one " when forward spindle speed to last point when can disclosure satisfy that high-order parking ", if not
Can meet to carry out main shaft deceleration.Amain=360 ° of-Asafe of angular range that a known current spindle speed high position is stopped, and
Main shaft brake response time Tb.According to current spindle speed rV1, by formula Ts=(Amain/360 °) * (rV1/60*
360 °) the current spindle speed high-order time stopped can be obtained.Compared to determine it is to slow down or constant according to Tb with Ts.System root
According to above result of calculation pre-decelerating or constant：RV2=rV1 × Tb/Ts.
Present invention also offers a kind of spindle speed self-adaption regulation system, including：Main shaft, spindle speed Automatic adjusument
Device, the workbench for being provided with workpiece；Wherein spindle speed self-adaptive regulating includes：The data acquisition mould being sequentially connected
Block, computing module and control module；Data acquisition module needs multiple companies of processing for obtaining workpieces in subsequent in current location
The position data of continuous tracing point；Computing module for according to the tracing point position data evaluation work platform with maximal rate work
Time Tmax to needed for stopping；And calculate time rT1s of the current rotating speed rV1 of main shaft to required for stopping；Control module, is used for
The speed when forward spindle is controlled according to the comparative result of time Tmax and time rT1.
In embodiments of the present invention, computing module calculates the current rotating speed rV1 of main shaft according to formula rT1=(rV1/V) * T and arrives
Time rT1 required for stopping, wherein V are maximum speed of spindle, T is from maximum speed to the time for freely stopping.
Used as one embodiment of the present of invention, control module includes：Comparing unit and respectively with the comparing unit connect
The first control unit, the second control unit and the 3rd control unit for connecing；Wherein comparing unit is for by time Tmax and time
RT1 is compared and exports comparative result；First control unit for as Tmax ＜ rT1, according to maximum table speed control
System accelerates when forward spindle；Second control unit keeps constant for as Tmax=rT1, controlling current spindle speed；3rd control
Unit processed for as Tmax ＞ rT1, according to maximum table speed control when forward spindle deceleration.
The adjusting means or system of the spindle speed that the present invention is provided obtains workpieces in subsequent needs according to data acquisition module
The position data of multiple continuous path points of processing, and pass through computing module according to tracing point position data evaluation work platform with most
Time rT1s of the big speed operation time Tmax to needed for the stopping and current rotating speed rV1 of main shaft to required for stopping；And according to when
Between Tmax and time rT1 comparative result by control module to when the speed of forward spindle carries out pre-decelerating or accelerates to control,
Adapt to the movement locus of workbench, it is to avoid produce defective products, improve conforming product rate, while work efficiency can be greatly improved.
For further description spindle speed adaptive regulation method provided in an embodiment of the present invention, device and it is
System, now by taking feather planting machine as an example and combine Fig. 3 details are as follows：
Main shaft 1 drives drill bit in quickly up and down motion.The workbench 2 of workpiece brush holder 3 is installed by desired trajectory
In main shaft moved beneath, machine tool chief axis 1 drive drill bit continuously rapidly to get out numerous processing holes for planting hair work on brush holder 3
Sequence.
Current spindle speed Vcurrent (current spindle speed) is understood by preset parameter signal processing routine and can be asked
Go out its time Tstop (high-order to stop the required time) for arriving high-order shutdown, can be obtained by Vcurrent and Tstop is needed
The data for pre-reading N number of hole are processed.The time Tn of each pitch-row can from point a to point b to be provided with the workbench of workpiece brush holder
Obtained with the speed by instructing data and workbench, when workbench is in tracing point a, main shaft present speed is Vstart (in a
The present speed of main shaft during point).According to system requirements, the Tmaxn of the maximum in N number of hole is obtained by the data for pre-reading N number of hole
(in the data in the N number of hole for reading out in advance, obtaining the maximum run time of pitch-row), realizes a drilling with current Vcurrent
The time Tdrill (time for realizing a boring action is calculated by current spindle speed) of action is compared, by judging
The speed of the relation and then regulation main shaft of Tmaxn and Tdrill is with the movement locus of adaptation workbench；Tdrill==
During Tmaxn, spindle speed keeps constant；During Tdrill ＞ Tmaxn, main shaft carries out reduction of speed；During Tdrill ＜ Tmaxn, main shaft is carried
Speed.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, not to
The present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc. are limited, all should be included
Within protection scope of the present invention.
Claims (6)
1. a kind of spindle speed adaptive regulation method, it is characterised in that comprise the steps：
S1：The position data that workpieces in subsequent needs multiple continuous path points of processing is obtained in current location；
S2：According to the tracing point position data, the maximal rate that can be reached with workbench calculates N number of following process point each
In place the required time, the maximum of which time is Tmax, and N is positive integer；
S3：The time rT1 that main shaft is calculated with current rotating speed rV1 to required for stopping；
S4：Time Tmax is compared with time rT1；Work as Tmax<It is during rT1, current main according to maximum table speed control
Axle accelerates；As Tmax=rT1, control current spindle speed and keep constant；Work as Tmax>During rT1, according to maximum table speed
Control is slowed down when forward spindle.
2. the method for claim 1, it is characterised in that in step s3, calculates according to formula rT1=(rV1/V) * T
Time rT1 of the main shaft with current rotating speed rV1 to required for stopping, wherein V is maximum speed of spindle, T is from maximum speed to certainly
By the time for stopping.
3. the adaptive adjusting means of a kind of spindle speed, it is characterised in that include：
Data acquisition module, for obtaining the positional number that workpieces in subsequent needs multiple continuous path points of processing in current location
According to；
Computing module, for according to the tracing point position data, the maximal rate that can be reached with workbench calculates N number of follow-up
Processing stand each required in place time, maximum of which time are Tmax, and N is positive integer；And calculate main shaft to work as forward
Time rT1s of the fast rV1 to required for stopping；And
Control module, for being controlled to the speed when forward spindle according to the comparative result of time Tmax and time rT1.
4. adjusting means as claimed in claim 3, it is characterised in that the computing module is according to formula rT1=(rV1/V) * T
The time rT1 that main shaft is calculated with current rotating speed rV1 to required for stopping, wherein V is maximum speed of spindle, T is from maximum speed
To the time for freely stopping.
5. adjusting means as claimed in claim 3, it is characterised in that the control module includes：
Comparing unit, for time Tmax and time rT1 to be compared and export comparative result；
First control unit, for working as Tmax<Control to accelerate when forward spindle according to maximum table speed during rT1；
Second control unit, keeps constant for current spindle speed is controlled as Tmax=rT1；And
3rd control unit, for working as Tmax>Control to slow down when forward spindle according to maximum table speed during rT1.
6. the adaptive regulating system of a kind of spindle speed, including：Main shaft and the main shaft connection adjusting means, be provided with
The workbench of workpiece；Characterized in that, the adjusting means is the adjusting means described in any one of claim 3-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310186231.1A CN103324082B (en) | 2013-05-17 | 2013-05-17 | Main shaft speed self-adaptation adjustment method, device and system |
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|---|---|---|---|
| CN201310186231.1A CN103324082B (en) | 2013-05-17 | 2013-05-17 | Main shaft speed self-adaptation adjustment method, device and system |
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| CN103324082A CN103324082A (en) | 2013-09-25 |
| CN103324082B true CN103324082B (en) | 2017-04-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6034835B2 (en) * | 2014-08-26 | 2016-11-30 | ファナック株式会社 | Numerical control device for presenting information for shortening cycle time |
| CN112720455B (en) * | 2020-12-01 | 2022-05-10 | 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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|---|---|---|---|---|
| US4131837A (en) * | 1976-11-10 | 1978-12-26 | The Boeing Company | Machine tool monitoring system |
| CN1575892A (en) * | 2003-07-11 | 2005-02-09 | 西部电机株式会社 | High-speed cutting process for generating desired curved surface on workpiece |
| CN1801341A (en) * | 2004-07-24 | 2006-07-12 | 三星电子株式会社 | Optical recording/reproducing apparatus for clv error recovery and method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60256816A (en) * | 1984-06-04 | 1985-12-18 | Komatsu Ltd | Servo control method |
| JP5532306B2 (en) * | 2010-01-13 | 2014-06-25 | Ｄｍｇ森精機株式会社 | Machine Tools |
| CN202433772U (en) * | 2011-12-30 | 2012-09-12 | 深圳众为兴技术股份有限公司 | Motional controller tester |
-
2013
- 2013-05-17 CN CN201310186231.1A patent/CN103324082B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4131837A (en) * | 1976-11-10 | 1978-12-26 | The Boeing Company | Machine tool monitoring system |
| CN1575892A (en) * | 2003-07-11 | 2005-02-09 | 西部电机株式会社 | High-speed cutting process for generating desired curved surface on workpiece |
| CN1801341A (en) * | 2004-07-24 | 2006-07-12 | 三星电子株式会社 | Optical recording/reproducing apparatus for clv error recovery and method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 机床主轴定位速度控制的研究;吴晓 等;《机床与液压》;20080731;第36卷(第7期);第317-319页 * |
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