CN103331648A - Automatic cutter-replaceable rotary mechanical arm vibration measuring device - Google Patents
Automatic cutter-replaceable rotary mechanical arm vibration measuring device Download PDFInfo
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- CN103331648A CN103331648A CN2013102728659A CN201310272865A CN103331648A CN 103331648 A CN103331648 A CN 103331648A CN 2013102728659 A CN2013102728659 A CN 2013102728659A CN 201310272865 A CN201310272865 A CN 201310272865A CN 103331648 A CN103331648 A CN 103331648A
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Abstract
An automatic cutter-replaceable rotary mechanical arm vibration measuring device belongs to the field of automatic cutter-replacing equipment detection in a numerical control machining center, and comprises a follow-up rotary table 6 and a wireless vibration measuring system; the follow-up rotary table comprises a rotary table base, a rotary table bottom plate, a rotary table direct current motor and a rotary table turntable; the rotary table base is a thin-walled hollow cylinder with an upper opening and is internally provided with a controller printed circuit board; the rotary table bottom plate is fastened above the rotary table base, and a turntable rotary shaft arranged in the circle center of the rotary table base supports the rotary table turntable arranged above the turntable rotary shaft; the rotary table direct current motor is mounted below the rotary table bottom plate, and an output shaft of the rotary table direct current motor penetrates through an opening in the rotary table bottom plate to be connected with a rotary table speed reducing gear positioned on the rotary table bottom plate; the rotary table speed reducing gear is meshed with a circumferential rack inside the rotary table turntable; and a control end of the controller printed circuit board is connected with the rotary table direct current motor. A conditioner and a wireless emitting module, needed by a measuring transducer, are borne by the follow-up rotary table, so the follow-up of the rotary table and a mechanical arm is realized, the structure is simple, the cost is lower and the effectiveness is stronger.
Description
Technical field:
The invention belongs to numerical control machining center automatic tool changer Equipment Inspection field, be mainly used in gathering the vibration signal of tool changing mechanical arm in the automatic tool changer.
Background technology:
Tool magazine and automatic tool changer are to realize cutter deposit and the cutter critical function parts of exchange automatically, are the important component parts of high-grade machining center and heavy machining center.The required various cutters of using of machining center are stored in the tool magazine, and the cutter that tool magazine is used needs is delivered to tool change position exactly, then, by tool changing device cutter stand-by in the tool magazine and the work cutter on the main shaft are exchanged.
Involved in the present invention is the disc type tool magazine.The disc type tool magazine is applied on the minitype vertical type comprehensive machine usually, and " circular tool magazine " generally is commonly called as " disc type tool magazine ", in order to distinguish mutually with " umbrella shape tool magazine ", " chain-type tool magazine ".The tool magazine of the disc type automatic tool changer ATC (Auto Tools Change) that need arrange in pairs or groups carries out cutter exchange.Whether for circular tool magazine and automatic tool changer thereof, it is correct, smooth and easy to estimate exchanging knives process, and the vibration signal of gathering cutter-exchange mechanism is a kind of directly and fast way.
In general rotate the core component that the tool changing mechanical arm is automatic tool changer; its test is the long-time continual test of not shutting down; obtain the test data of nearly 1,000,000 tool changing of number, therefore must have a kind of reliability height, little to the test bodies structure influence, conveniently method for testing vibration could obtain the tool changing mechanical arm vibration signal of automatic tool changer.
Because the motion mode of tool changing mechanical arm is that intermittently folk prescription turns round to low speed, and acceleration transducer is fixed on the mechanical arm, if with the relative mechanical arm that is still in wireless launcher of signal regulating device, allow the holding wire of acceleration transducer twine when can cause acceleration transducer to obtain vibration signal.The conventional approach of tackling this rotating mechanism survey sensor coiling problem is at the sensor of measuring body installation low-power consumption and conditioner and additional radiofrequency emitting module, do not install coil with permanent magnet so that cutting magnetic line obtains induced voltage as if not adopting powered battery also need add at slew gear in addition, and conditioning is sensor and the required power supply of radio-frequency module.It is bigger that but this scheme can cause frame for movement to be changed, and this outer sensor and conditioner are in case the measurement content has just been determined in installation, and versatility is relatively poor.
Summary of the invention:
The objective of the invention is to realize the continuous shaking signal measurement of rotating mechanical arm, and at the vibration measurement device of problem provides a kind of arm of rotary machine efficiently such as existing coiling problem and structural modification be bigger.Of the present inventionly mainly formed by servo-actuated turret systems and wireless vibration measuring system.Since the wireless vibration measuring system of carrying on the servo-actuated turntable can be under the carrying of servo-actuated turntable according to the motion of rotating mechanism and servo-actuated, this just can effectively be avoided the problem of sensor coiling.Can carry different signal conditioners arbitrarily owing to servo-actuated turntable in addition, so the present invention can also measure other signals.
Main purpose of the present invention is to propose a kind of solution that is applicable to the vibration measurement of automatic tool changer mechanical arm, adopt the mode of servo-actuated rotating disk replace will measuring-nursing one's health-the wireless transmission device is installed in the traditional scheme of measuring on the body, expanded the scope of application that the rotating mechanism thing is measured in the problem of this method sensor wire coiling when avoiding rotating mechanism to measure, when measuring acceleration signal, can also change measurement device as required, realize the measurement to other physical quantitys.
Automatic tool changer rotating mechanical arm vibration measurement device comprises servo-actuated turntable 6 and wireless vibration measuring system major part;
Described servo-actuated turntable 6 comprises turret base 10, turntable base plate 8, turntable direct current generator 9, turntable rotating disk 7; Turret base 10 is a upper shed thin-walled hollow cylinder, and its inside is equipped with controller printed circuit board (PCB) 19; Turret base 10 tops fastening turntable base plate 8, its circle centre position have a disk shaft 17 supporting the top turntable rotating disk 7; One turntable direct current generator 9 is installed below turntable base plate 8, the perforate that the output shaft of turntable direct current generator 9 passes on the turntable base plate 8 is connected with turntable reduction gearing on being positioned at turntable base plate 8, makes the output shaft of turntable direct current generator 9 with the turntable reduction gearing 12 of transmission of power to the turntable base plate 8; Turntable reduction gearing 12 meshes the driving that realizes turntable rotating disk 7 with the circumference tooth bar of turntable rotating disk 7 inboards; The control end of controller printed circuit board (PCB) 19 links to each other with turntable direct current generator 9, drives the rotation of turntable direct current generator 9.
Below rotating mechanical arm 14 gyroaxis verticals, place servo-actuated turntable 6; Freely place lithium electricity power supply 4 and signal wireless transmitter module 5 on the turntable rotating disk 7, wherein in the signal wireless transmitter module 5 a built-in IEPE constant-current source 3 in order to drive IEPE acceleration transducer 2; IEPE acceleration transducer 2 is installed in the required measuring position on the rotating mechanical arm 14 arbitrarily, and the holding wire of signal wireless transmitter module 5 links to each other with IEPE acceleration transducer 2; 2 measuring acceleration signals of IEPE acceleration transducer are sent to host computer after gathering via wireless transmitter module 5.
Equidistantly slot in the edge of turntable rotating disk 7, optoelectronic switch 11 is installed in the fluting at turntable base plate 8 edges, obtains the angle signal of turntable rotating disk 7 by the mode of equidistant fluting on turntable rotating disk 7; The angle signal of optoelectronic switch 11 gained is for to import level controller 13 under the turntable into the form of pulse, position and velocity information that the umber of pulse that level controller 13 records obtain under the turntable and time can obtain turntable.
The present invention has following beneficial effect:
(1) the invention provides a kind of simply, servo-actuated turntable scheme measurement scheme efficiently, can overcome traditional rotating mechanism vibration measurement to measuring body and change big and versatility not waiting deficiency by force.The present invention is with required conditioner and the wireless transmitter module of servo-actuated turntable carrying measuring transducer, and that realizes turntable and mechanical arm servo-actuatedly namely eliminates the two relative motion.And turntable itself is not limited to carry sensor conditioner and the wireless transmitter module of single variety, therefore can be applied to the measurement of the multiple physical quantity of rotating mechanism.
(2) the present invention utilizes the radio communication of the next Rotation Controllers realization and host computer to realize the perception that the mechanical arm rotating mechanical arm is moved.Optoelectronic switch according to turntable can be judged the residing angle position of turntable by summary.The information of comprehensive above two aspects realizes servo-actuated turntable following rotating mechanical arm.Owing to do not need accurate turntable is positioned, this implementation features simple structure, cost is lower, actual effect is strong.
Description of drawings:
Fig. 1 is overall schematic of the present invention
Fig. 2 is servo-actuated turntable schematic diagram of the present invention
Fig. 3 is operation logic figure of the present invention
Fig. 4 is level controlling system schematic diagram under the servo-actuated turntable of the present invention
Fig. 5 is photoswitch circuit schematic diagram of the present invention
Fig. 6 is relay of the present invention and photoelectric isolating circuit schematic diagram
Among the figure: the 1-rotating mechanical arm, the 2-IEPE acceleration transducer, the 3-IEPE constant-current source, 4-lithium electricity power supply, 5-signal wireless sending module, the servo-actuated turntable of 6-, 7-turntable rotating disk, 8-turntable base plate, 9-turntable direct current generator, 10-turret base, 11-optoelectronic switch, 12-turntable reduction gearing, level controller under the 13-turntable, 14-mechanical arm rotating shaft, 15-IEPE acceleration transducer signals line, the 16-light tank, 17-disk shaft, 18-wireless serial transceiver module, 19-controller printed circuit board (PCB), 20-relay.
The specific embodiment:
The present invention is further illustrated below in conjunction with the accompanying drawing example illustrated.Rotary machine vibration measurement device of the present invention comprises:
1. servo-actuated turntable arrangement
As Fig. 1 the spatial relation of rotating mechanical arm 1 and servo-actuated turntable 6 has been described, namely servo-actuated turntable is installed in any one plane of rotating mechanical arm below, and rotating mechanical arm is done the unidirectional gyration around rotating shaft 14 in exchanging knives process.Be placed with IEPE constant-current source 3, lithium electricity power supply 4 and signal wireless transmitter module on the servo-actuated turntable and follow the turntable rotation.IEPE acceleration sensor 2 is installed on the rotating mechanical arm 1 by the gummed mode, and the holding wire 15 of IEPE acceleration transducer is connected directly to the IEPE constant-current source.If following the servo-actuated IEPE of the avoiding acceleration transducer signals of mechanical arm line, servo-actuated turntable 6 twines when mechanical arm rotates 1 as Fig. 1.
The rotating mechanical arm acceleration signal that the IEPE acceleration transducer obtains is done signal condition by IEPE constant-current source 3, and the voltage signal that obtains is sent to host computer via signal wireless transmitter module 5.Wireless signal adopts the IEEE802.11WiFi signal to send, and signal wireless transmitter module 5 can be used as the WiFi focus, is had the portable equipment identification of wireless networking capabilities and uploads signal by other.
Wherein the position of IEPE acceleration transducer 2 can be arranged arbitrarily according to the measurement demand, and this is not subjected to the restriction of servo-actuated turntable mechanism.Measurement parameter shown in this example is acceleration signal in addition, if measure other rotating machineries or other physical signallings, avoids coiling if the mode that the coiling problem all can adopt servo-actuated turntable occurs.
2. servo-actuated turntable internal structure
As shown in Figure 2, servo-actuated turntable mainly is made up of main function components such as level controllers 13 under direct current generator 9, reduction gearing 12, optoelectronic switch 11 and the turntable.Wherein descend level controller to be installed on the turret base 10, optoelectronic switch is installed on the turntable base plate 8.Mechanism's operation principles is, when the closed motor 9 of motor relay begins rotation, after slowing down via reduction gearing 12 with the rack circle of transmission of power to turntable rotating disk 7 inside, the turntable rotating disk begin to rotate drive its IEPE constant-current source 3 that carries and signal wireless transmitter module 5 servo-actuated.
The outer ledge of its intermediate station rotating disk 7 has 6 equally spaced light tanks, and the turntable disk edge passes from optoelectronic switch 11 and blocks light path.When 7 rotations of turntable rotating disk, just can be through a light tank every 60 degree, optoelectronic switch 11 will be exported a square wave immediately.Just can judge the anglec of rotation of turntable rotating disk summary by the rising edge number of calculating square wave.
As shown in Figure 5 be the schematic diagram of optoelectronic switch, wherein the resistance R in the circuit 2 plays OUT is clamped down on effect at high level, when the photoelectric tube conducting, the OUT output low level.
The operation logic of this example has as shown in Figure 3 illustrated how to utilize turntable rotating disk angle that optoelectronic switch obtains and realize the servo-actuated of turntable rotating disk 7 and rotating mechanical arm 1 from the mechanical arm rotating signal that host computer obtains.
3. level controller under the turntable
Level controller mainly is made up of motor relay, single-chip minimum system, wireless radiofrequency module, power supply etc. under the turntable.
Wherein the wireless radiofrequency module plays the function that receives the host computer rotation command signal and send current turntable rotating disk 7 angle signals of living in to host computer.Adopt in this example the Shenzhen converge XL02 that farsighted little logical scientific and technological development Co., Ltd produces ?the 232AP1 module.This is a UART Universal Asynchronous Receiver Transmitter (UART) interface half-duplex wireless transport module.Module is connected with single-chip microcomputer with RS-232 serial ports form.
Wherein single-chip microcomputer is selected the AT89C2051 that ATMEL produces for use.As shown in Figure 6, single-chip microcomputer utilizes self I/O port via the actuating of relay of PC817 photoelectric coupled device drive motors after the instruction that obtains the wireless radiofrequency module, thereby realizes the control to motor.
Be illustrated in figure 5 as the Single-chip Controlling flow chart.
Can realize the measurement of rotating mechanical arm vibration by the method for the servo-actuated turntable of above-mentioned visible employing, and avoid the problem of sensor coiling.The servo-actuated turntable installation requirement of this example employing is low in addition, and little to measuring the body influence, extensibility is strong, can realize the measurement of rotating mechanical arm with less cost.Therefore this method has stronger realistic meaning in the Performance Detection of automatic tool changer mechanical arm.
Claims (3)
1. automatic tool changer rotating mechanical arm vibration measurement device is characterized in that: comprise servo-actuated turntable (6) and wireless vibration measuring system major part;
Described servo-actuated turntable (6) comprises turret base (10), turntable base plate (8), turntable direct current generator (9), turntable rotating disk (7); Turret base (10) is a upper shed thin-walled hollow cylinder, and its inside is equipped with controller printed circuit board (PCB) (19); Turret base (10) top fastening turntable base plate (8), its circle centre position has a disk shaft (17) supporting the turntable rotating disk (7) of top; In turntable base plate (8) below one turntable direct current generator (9) is installed, the perforate that the output shaft of turntable direct current generator (9) passes on the turntable base plate (8) is connected with turntable reduction gearing on being positioned at turntable base plate (8), makes the output shaft of turntable direct current generator (9) with the turntable reduction gearing (12) of transmission of power to the turntable base plate (8); Turntable reduction gearing (12) meshes the driving that realizes turntable rotating disk (7) with the circumference tooth bar of turntable rotating disk (7) inboard; The control end of controller printed circuit board (PCB) (19) links to each other with turntable direct current generator (9), drives the rotation of turntable direct current generator (9).
Place servo-actuated turntable (6) in rotating mechanical arm (14) gyroaxis vertical below; Turntable rotating disk (7) is gone up and freely to be placed the electric power supply (4) of a lithium and signal wireless transmitter module (5), wherein in the signal wireless transmitter module (5) a built-in IEPE constant-current source (3) in order to drive IEPE acceleration transducer (2); IEPE acceleration transducer (2) is installed in the required measuring position on the rotating mechanical arm (14) arbitrarily, and the holding wire of signal wireless transmitter module (5) links to each other with IEPE acceleration transducer (2); IEPE acceleration transducer (2) institute measuring acceleration signal is sent to host computer after gathering via wireless transmitter module (5).
2. automatic tool changer rotating mechanical arm vibration measurement device as claimed in claim 1, it is characterized in that: equidistantly slot in the edge of turntable rotating disk (7), optoelectronic switch (11) is installed in the fluting at turntable base plate (8) edge, obtains the angle signal of turntable rotating disk (7) by the mode that goes up equidistant fluting at turntable rotating disk (7); The angle signal of optoelectronic switch (11) gained is for to import level controller under the turntable (13) into the form of pulse, position and velocity information that the umber of pulse that level controller under the turntable (13) record obtains and time can obtain turntable.
3. automatic tool changer rotating mechanical arm vibration measurement device as claimed in claim 2, it is characterized in that: level controller under the described turntable (13) is core with the 89C2051 single-chip microcomputer; Level controller under the turntable (13) adopts the form of paster to be installed on the controller printed circuit board (PCB) (19), be motor relay (20) on the driving governor printed circuit board (PCB) (19) via driving amplifying circuit, thereby realize the control to turntable direct current generator (9); Its intermediate station direct current generator (9) is fastened on the turret base (10) with screw; Wireless serial transceiver module (18) is installed in controller printed circuit board (PCB) (19) top, and by RS232 serial ports and following level controller (13) be electrically connected connect realize under the communication of level controller (13) and host computer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310272865.9A CN103331648B (en) | 2013-07-01 | 2013-07-01 | Automatic tool changer rotating mechanical arm vibration measurement device |
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| CN201310272865.9A CN103331648B (en) | 2013-07-01 | 2013-07-01 | Automatic tool changer rotating mechanical arm vibration measurement device |
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| CN103331648A true CN103331648A (en) | 2013-10-02 |
| CN103331648B CN103331648B (en) | 2016-04-06 |
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Cited By (4)
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| CN103551919A (en) * | 2013-10-17 | 2014-02-05 | 北京工业大学 | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator |
| CN104669060A (en) * | 2015-01-22 | 2015-06-03 | 南大（浙江）环保科技有限公司 | Fault diagnosis method for automatic tool changer of numerical-control machining center |
| CN106695455A (en) * | 2017-03-29 | 2017-05-24 | 贵州大学 | Auxiliary engineering platform for lathe monitoring |
| CN110442085A (en) * | 2019-07-26 | 2019-11-12 | 北京工业大学 | A kind of tool magazine and automatic tool changer comprehensive performance and reliability detecting device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103551919A (en) * | 2013-10-17 | 2014-02-05 | 北京工业大学 | Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator |
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| CN106695455A (en) * | 2017-03-29 | 2017-05-24 | 贵州大学 | Auxiliary engineering platform for lathe monitoring |
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| CN110442085A (en) * | 2019-07-26 | 2019-11-12 | 北京工业大学 | A kind of tool magazine and automatic tool changer comprehensive performance and reliability detecting device |
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