CN105372091A - Tool magazine reliability test bench tool change position adaptive centering adjustment device and method - Google Patents
Tool magazine reliability test bench tool change position adaptive centering adjustment device and method Download PDFInfo
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- CN105372091A CN105372091A CN201510962217.5A CN201510962217A CN105372091A CN 105372091 A CN105372091 A CN 105372091A CN 201510962217 A CN201510962217 A CN 201510962217A CN 105372091 A CN105372091 A CN 105372091A
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Abstract
A tool magazine reliability test bench tool change position adaptive centering adjustment device and method belong to the mechanical adaptive adjusting field, and aim to solve the problems of low adjusting precision and complex operation and the time-consuming and labor-consuming problems in the prior art. The device comprises a measurement taper shank, an automatic mechanical detection device and a main-shaft bottom feeding unit; and a drive gear and a driven gear in the automatic mechanical detection device are integrally disposed in a tool-grabbing disc, a servo motor A drives the drive gear to rotate, a positioning adjusting rod is connected with the lower end face of a driven gear shaft through an adjusting screw, a measuring rod is connected with the upper part of the positioning adjusting rod through a positioning pin, the positioning pin is located on the axis of the driven gear shaft, a force sensor is fixed to the lower part of the positioning adjusting rod, and the force sensor is connected to the lower part of the measuring rod through a connecting spring. The measurement taper shank is coaxially installed on a mechanical main shaft, the tool-grabbing disc of the automatic mechanical detection device is clamped through a manipulator, and a control unit of a tool magazine reliability test bench controls a motion of the main-shaft bottom feeding unit according to a signal acquired by the force sensor.
Description
Technical field
The invention belongs to mechanical self-adaptability regulation technology field, be specifically related to a kind of tool magazine reliability test bench tool change position self-adaptation centering adjusting device and method.
Background technology
At present, domestic numerical control lathe achieves rapid progress in Compound Machining, speed and precision etc., but its reliability and world level still have larger gap, and the reliability of key feature has become one of standard weighing numerically-controlled machine performance quality, therefore, the research of key feature reliability becomes the most important thing.Jilin University's Cnc ReliabilityintelligeNetwork Network laboratory relies on powerful Scientific Research Platform, draw according to long field reliability test research, the key feature failure rates such as tool changer mechanical arm are too high is one of key factor affecting machining center reliability, therefore have developed the multiple stage key feature reliability test bench such as chain type and disc tool magazine mechanical arm, find through long fail-test, the modal fault of tool changer mechanical arm is for falling cutter and swaging clamp, and the main cause causing tool changer mechanical arm to fall cutter or swaging clamp is exactly the axis of manipulator paw and main-shaft axis occurs that deviation causes, this will affect the reliability level of machining center to a great extent, therefore, in order to improve the serviceable life of tool magazine reliability test bench, elimination mechanical arm and main shaft misalign the additional force of generation, the impact that moment of torsion and vibration produce, therefore carry out in process of the test at tool magazine reliability test bench, the centering of tool hand and mechanical main shaft is regulated to have important practical significance.
In prior art, for adjusting the center method of tool magazine and main shaft tool change position, mainly utilize the mode of manual adjustments, first handgrip dish and the taper shank of fabricated ribbon cylindrical hole is distinguished, manufacture a check rod matched with cylindrical hole again, the mechanical arm that handgrip dish is housed is placed in tool change position, manual mode drive shaft, make taper shank end face near grabbing cutter chuck end face, length bar will be checked to insert in handgrip dish and taper shank hole, detect its mutual alignment to adjust, until check rod inserts in cylindrical hole, perception and the experience of what this method major part relied on is people, degree of regulation is lower, can not determine adjustment amount and adjustment direction, and complicated operation, waste time and energy.
Summary of the invention
The object of the invention is to propose a kind of tool magazine reliability test bench tool change position self-adaptation centering adjusting device and method, solve lower, the complicated operation of degree of regulation that prior art exists and the problem wasted time and energy.
For achieving the above object, tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention comprises feed unit bottom measurement taper shank, automation pick-up unit and main shaft;
Described automation pick-up unit comprises grabs cutterhead, follower gear, driving gear, servomotor A, set screw, force snesor, linking springs, sounding rod and location adjuster bar, described driving gear and follower gear engagement, be integrally provided in and grab cutterhead inside, driving gear is driven to rotate by described servomotor A, hollow driven gear shaft coordinates with angular contact ball bearing in described cutterhead inside of grabbing, described driven gear shaft is coaxial with described cutterhead of grabbing, it is inner that described location adjuster bar extend into described driven gear shaft, described location adjuster bar is connected with described driven gear shaft lower surface by set screw, described sounding rod is connected with adjuster bar top, described location by register pin, described register pin is positioned on the axis of described driven gear shaft, adjuster bar bottom, described location is fixed with force snesor, described force snesor is connected with described sounding rod bottom by linking springs,
Bottom described main shaft, feed unit comprises X-direction worktable respectively by X-direction servomotor and Y-direction driven by servomotor and Y-direction worktable;
Described measurement taper shank is coaxially arranged on mechanical main shaft, described automation pick-up unit grab cutterhead by manipulator clamping, the control module of tool magazine reliability test bench controls X-direction servomotor and the motion of Y-direction servomotor according to the signal that described force snesor gathers.
Described automation pick-up unit also comprises top end cap, lower end cap, motor support frame, shaft coupling and digital display meter, described top end cap and lower end cap respectively with grab cutterhead upper and lower end face and be fixedly connected with, described servomotor A is fixed in described lower end cap by motor support frame, and described servomotor A output shaft is connected with driving gear shaft by shaft coupling; Described digital display meter is connected with the ATmega16 single-chip microcomputer signal pickup assembly of described force snesor.
Described measurement taper shank is smooth internal taper hole structure.
Described force snesor to be connected with described sounding rod bottom by linking springs and to be specially: hole is opened in junction, described sounding rod bottom, described linking springs afterbody is through the through hole of junction, sounding rod bottom, the side opening threaded hole of junction, described sounding rod bottom through hole, adopts bolted.
Described control module comprises upper industrial computer and the next programmable controller PLC, described the next programmable controller PLC up direction and upper industrial computer communication; Described self-adapting adjusting apparatus also comprises A/D signal conversion module, ATmega16 single-chip microcomputer and main shaft and regulates servo controller; The signal of described force snesor collection is converted into digital signal through A/D signal conversion module, the digital signal obtained is after the collection of ATmega16 single-chip microcomputer and data processing, upper industrial computer is passed to through the next programmable controller PLC, control signal is fed back to described main shaft by the next programmable controller PLC and regulates servo controller by described upper industrial computer, regulates servo controller to control X-direction servomotor and the motion of Y-direction servomotor by described main shaft.
Tool magazine reliability test bench tool change position self-adaptation centering control method, comprises the following steps:
Step one: measurement taper shank is coaxially fixed on mechanical main shaft, mechanical arm gripping automation pick-up unit grab cutterhead, mechanical arm and automation pick-up unit coaxial;
Step 2: upper industrial computer controls mechanical arm by the next programmable controller PLC and moves to predetermined tool change position, the top end cap making automation pick-up unit and the lower surface laminating of measuring taper shank, sounding rod upper end extend into be measured taper shank inside and measures taper shank contact internal walls;
Step 3: the funtcional relationship setting up angle a between sounding rod and center line and force snesor collection signal, simulation generation meets path curves in centering situation;
Step 4: the servomotor A being controlled automation pick-up unit by the next programmable controller PLC is started, the signal of force snesor collection calculates the angle a between sounding rod and center line by the funtcional relationship of the angle a between the sounding rod that obtains in step 3 and center line and force snesor collection signal, and real time record;
Step 5: draw according to the angle a between the sounding rod obtained in step 4 and center line and measure taper shank path curves;
Step 6: the geometric locus met in centering situation obtained in the measurement taper shank path curves obtained in step 5 and step 3 is contrasted, the track centers spot projection position detected under obtaining maximum deflection difference value β between two closed trajectory central point projected positions and misaligning situation is relative to the misalignment angle γ of closed trajectory center line in centering situation;
Step 7: to the maximum deflection difference value β obtained in step 6 and the track centers spot projection position that detects under the misaligning situation misalignment angle γ relative to closed trajectory center line in centering situation, determine the offset direction of mechanical main shaft X-axis and Y-axis, then calculate the off-set value of mechanical main shaft in X-direction and the off-set value of Y-direction according to trigonometric function relation;
Step 8: upper industrial computer moves with adjustment direction controlling X-direction servomotor and Y-direction servomotor according to the regulated value of the mechanical main shaft obtained in step 7 in X-direction and Y-direction;
Step 9: repeat step 4 to step 8, until automation pick-up unit and measurement taper shank meet pre-set centering requirement, completes adjustment.
Sounding rod upper end described in step 2 extend into measure taper shank inside and measure taper shank contact internal walls and is specially: by unclamping the adjusting bolt of junction, sounding rod bottom, regulate the pulling force size of linking springs, make sounding rod upper end and measure taper shank contact internal walls, then by fastening for junction, sounding rod bottom adjusting bolt.
Described measurement taper shank comprises smooth internal taper hole structure.
The funtcional relationship setting up angle a between sounding rod and center line and force snesor collection signal described in step 3, under simulation generation meets centering situation, path curves is specially: ensure that the length of linking springs access is constant, change the angle a between sounding rod and center line, get the signal that several groups of different angle values and corresponding force snesor thereof gather respectively, these several groups of data are carried out matching by the cubic spline interpolation method of matlab software, set up the funtcional relationship of angle a between sounding rod and center line and force snesor collection signal, simultaneously with sounding rod stiff end alignment pin position for origin, with axis feeding unit X, Y-direction is benchmark, with sounding rod vertical direction for Z-direction, set up X, Y, Z-direction three-dimensional cartesian coordinate system, the contact point of sounding rod is turned in X-axis positive dirction, as starting point, record start point angle a, then wheel measuring bar, often rotate N degree record angle a, the coordinate of respective corners angle value a contact point under this three-dimensional cartesian coordinate system is calculated again by Matlab software, finally simulate generation according to 360/N coordinate points and meet path curves in centering situation.
Trigonometric function relation described in step 7 is specially: X=| β * cos (γ-π) |, Y=| β * sin (γ-π) |.
Beneficial effect of the present invention is: tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention and method adopt automation pick-up unit, can by normal tool change control, mechanical arm is rested on main shaft tool change position, by automation pick-up unit, the positional precision deviation of detailed collection main shaft and mechanical arm, and the position deviation of mechanical arm and main shaft is converted to digital signal, by the demarcation of the pick-up transducers to mechanical arm and main spindle's deviation, the exact numerical of positional precision deviation can be obtained, instruct next step Automatic adjusument, drastically increase accuracy and the real-time of adjustment.
Realize the automatic adjustment of main spindle's, by the collection of data and feed back to the next programmable controller PLC and instruct adjustment to carry out, and unconfined fine adjustment can be carried out with vertical direction in the horizontal direction, at utmost reduce the time regulating and expend, the inconvenience that manual shift is brought can be reduced, improve test and carry out efficiency.
Detecting portion detects position accuracy error in real time mainly through force snesor, and feeds back to the real-time adjustment of the next programmable controller PLC realization to main axle unit by aftertreatment.
Automatic control section combines in the unified control of host computer, can realize the detection of positional precision deviation and the auto-adjustment control of signals collecting and spindle machine hand position simultaneously.
The present invention's automatically accurately measuring and feedback by pick-up unit, can arrive and automatically regulate centering, compensate for the trueness error because manual adjustments causes, handled easily simultaneously, effectively extend the serviceable life of tool magazine reliability test bench, simultaneously for the mechanical arm of high-grade precise numerical control machine tool magazine and main spindle's accuracy detection and adjustment, there is good using value.
Automation pick-up unit of the present invention can be applied to separately the mechanical arm of the numerically-controlled machines such as high-grade Precision Machining center and main spindle's precision detection as measurement mechanism with regulate, itself can by Single-chip Controlling image data, and carry out data processing by single-chip microcomputer implant procedure, deviation exact numerical and misalignment angle can be shown to instruct adjustment on digital display meter, simultaneously can storage data connected in series, be convenient to testing crew analyze data better and instruct next step adjustment work, thus effectively reduce because mechanical arm and main spindle's accuracy error are on the impact of lathe reliability.
Accompanying drawing explanation
Fig. 1 is the structural representation of tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Fig. 2 is the shaft side projection drawing of automation pick-up unit in tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Fig. 3 is that in tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention, automation pick-up unit conceals the shaft side projection drawing of grabbing cutterhead;
Fig. 4 is the inner structure shaft side projection drawing of automation pick-up unit in tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Fig. 5 is the function declaration figure of automation pick-up unit in tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Fig. 6 is the Cleaning Principle figure of tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention.
Fig. 7 is mechanical arm and the main shaft tool changing function declaration figure of tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Fig. 8 is the data acquisition system (DAS) process flow diagram of tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Fig. 9 is the data acquisition structure principle chart of tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Figure 10 is the next programmable controller PLC and the ATmega16 single chip communication connected mode figure of tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention;
Figure 11 is tool magazine reliability test bench tool change position self-adaptation centering adjusting device servo-control system process flow diagram of the present invention;
Figure 12 is tool magazine reliability test bench tool change position self-adaptation centering control method process flow diagram of the present invention;
Wherein: 1, tool magazine support, 2, broach shell, 3, tool magazine, 4, main shaft is forged a knife cylinder, 5, main shaft support seat, 6, automation pick-up unit, 7, mechanical arm, 8, Y-direction servomotor, 9, Y-direction worktable, 10, X-direction worktable, 11, T-shaped iron, 12, industrial computer, 13, top end cap, 14, grab cutterhead, 15, lower end cap, 16, angular contact ball bearing, 17, follower gear, 18, driving gear, 19, motor support frame, 20, shaft coupling, 21, servomotor A, 22, register pin, 23, set screw, 24, force snesor, 25, linking springs, 26, sounding rod, 27, measure taper shank, 28, location adjuster bar, 29, handle of a knife, 30, locking pin, 31, have strong market potential, 32, mechanical main shaft, 33, locking spring, 34, paw, 35, promote, 36, mechanical arm, 37, garter spring, 38, removable pin, 39, digital display meter, 40, adjusting bolt.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are described further.
See accompanying drawing 1, tool magazine reliability test bench tool change position self-adaptation centering adjusting device of the present invention comprises measures feed unit bottom taper shank 27, automation pick-up unit 6 and main shaft, bottom described main shaft, feed unit and tool magazine support 1 are installed on T-shaped iron 11, ensure that its levelness meets the demands, main shaft support seat 5 is arranged on bottom main shaft on feed unit simultaneously, ensures that the verticality of main shaft meets the demands;
See accompanying drawing 2, accompanying drawing 3, accompanying drawing 4, accompanying drawing 5 and accompanying drawing 6, described automation pick-up unit 6 comprises grabs cutterhead 14, follower gear 17, driving gear 18, servomotor A21, set screw 23, force snesor 24, linking springs 25, sounding rod 26 and location adjuster bar 28, described driving gear 18 and follower gear 17 engage, be integrally provided in and grab cutterhead 14 inside, driving gear 18 is driven to rotate by described servomotor A21, hollow driven gear shaft coordinates with angular contact ball bearing (16) in described cutterhead (14) inside of grabbing, described driven gear shaft is coaxial with described cutterhead 14 of grabbing, it is inner that described location adjuster bar 28 extend into described driven gear shaft, described location adjuster bar 28 is connected with described driven gear shaft lower surface by set screw 23, described sounding rod 26 is connected with adjuster bar 28 top, described location by register pin 22, described register pin 22 is positioned on the axis of described driven gear shaft, adjuster bar 28 bottom, described location is fixed with force snesor 24, described force snesor 24 is connected with described sounding rod 26 bottom by linking springs 25, by set screw 23 drive location adjuster bar 28 relatively driven gear shaft move up and down, location adjuster bar 28 drives sounding rod 26 to move up and down by register pin 22, by regulate linking springs 25 ensure sounding rod 26 all the time with precision measurement taper shank 27 close contact.Sounding rod 26 circles on measurement taper shank 27, if full-automatic tool-changing mechanical arm 7 misaligns with the center of mechanical main shaft 32, then sounding rod 26 changes with the angular dimension of contact point.Then sounding rod 26 will change with the contact force of the contact head measuring taper shank 27, the lever transmission that contact force is formed by sounding rod 26 and register pin 22 is on force snesor 24, by gathering the signal fitting movement locus of power, calculate track centers point deviate and central point projected position misalignment angle, and be presented on digital display meter 39;
Bottom described main shaft, feed unit comprises the X-direction worktable 10 and Y-direction worktable 9 that drive respectively by X-direction servomotor and Y-direction servomotor 8;
Described measurement taper shank 27 is coaxially arranged on mechanical main shaft 32, the cutterhead 2 of grabbing of described automation pick-up unit 6 is clamped by mechanical arm 7, and the control module of tool magazine reliability test bench controls X-direction servomotor according to the signal that described force snesor 24 gathers and Y-direction servomotor 8 moves.
Described automation pick-up unit 6 also comprises top end cap 13, lower end cap 15, motor support frame 19, shaft coupling 20 and digital display meter 39, described top end cap 13 and lower end cap 15 respectively with grab cutterhead 14 upper and lower end face and be fixedly connected with, described servomotor A21 is fixed in described lower end cap 15 by motor support frame 19, and described servomotor A21 output shaft is connected with driving gear shaft by shaft coupling 20; Described digital display meter 39 is connected in series with the single-chip microcomputer signal pickup assembly of described force snesor 24, in real time result after display force snesor 24 measurement processing.
Described measurement taper shank 27 is smooth internal taper hole structure.
Described force snesor 24 to be connected with described sounding rod 26 bottom by linking springs 25 and to be specially: hole is opened in junction, described sounding rod 26 bottom, described linking springs 25 afterbody is through the through hole of junction, sounding rod 26 bottom, the side opening threaded hole of junction, described sounding rod 26 bottom through hole, adopts adjusting bolt 40 fastening.
Described control module comprises upper industrial computer 12 and the next programmable controller PLC, described the next programmable controller PLC up direction and upper industrial computer 12 communication; Described self-adapting adjusting apparatus also comprises A/D signal conversion module, ATmega16 single-chip microcomputer and main shaft and regulates servo controller; The signal that described force snesor 24 gathers is converted into digital signal through A/D signal conversion module, the digital signal obtained is after ATmega16 single-chip microcomputer gathers, upper industrial computer 12 is passed to through the next programmable controller PLC, control signal is fed back to described main shaft by the next programmable controller PLC and regulates servo controller by described upper industrial computer 12, regulates servo controller control X-direction servomotor and Y-direction servomotor 8 to move by described main shaft.
See accompanying drawing 7, mechanical arm 7 and tool magazine 3 exchanging knives process are specially: tool magazine 3 moves and selects cutter under the driving of servomotor, tool magazine 3 number cutter location signal makes detent mechanism locate stopping under the control of the next programmable controller PLC, and arrive target cutter spacing, now the solenoid valve of falling cutter obtains electric, the cylinders retract of falling cutter, broach shell 2 is made to fall cutter, the running of mechanical torch machine is controlled under the transmission of position signalling, button cutter is confirmed to assigned address automatic tool changer machinery hand 7, in button cutter process, paw 34 to fasten in broach shell 2 handle of a knife 29 in handle of a knife 29 and mechanical main shaft 32, promote 35 location and block handle of a knife 29, have strong market potential 31, locking pin 30 and locking spring 33 are cascaded structure, now to have strong market potential 31 promotion locking pins 30, locking pin 30 is extrusion space under locking spring 33 acts on, liberation removable pin 38, removable pin 38 and garter spring 37 are cascaded structure, then under the effect of garter spring 37, removable pin 38 can free-extension, paw 34 is fitted handle of a knife 29, and handle of a knife 29 is clamped under garter spring 37 acts on, now main shaft cylinder 4 loose cutter solenoid valve of forging a knife obtains electric, main shaft is forged a knife after the loose cutter of cylinder 4, mechanical arm 7 motor rotation, handle of a knife 29 realizes drawing sword under the effect of automatic tool changer machinery hand 7, and under the effect of locking pin 30 locking knife handle 29, after mechanical arm 36 revolves and turns around, arrive assigned address, now automatic tool changer machinery hand 7 realizes slotting tool motion, thus realize exchanging knives process.
See accompanying drawing 12, tool magazine reliability test bench tool change position self-adaptation centering control method, comprises the following steps:
Step one: measurement taper shank 27 is coaxially fixed on mechanical main shaft 32, mechanical arm 7 gripping automation pick-up unit 6 grab cutterhead 14, mechanical arm 7 and automation pick-up unit 6 coaxial;
Step 2: upper industrial computer 12 controls mechanical arm 7 by the next programmable controller PLC and moves to predetermined tool change position, the top end cap 13 making automation pick-up unit 6 and the lower surface laminating of measuring taper shank 27, sounding rod 26 upper end extend into be measured taper shank 27 inside and measures taper shank 27 contact internal walls;
Step 3: the funtcional relationship setting up angle a between sounding rod (26) and center line and force snesor (24) collection signal, simulation generation meets path curves in centering situation;
Step 4: the servomotor A21 being controlled automation pick-up unit 6 by the next programmable controller PLC is started, the signal that force snesor 24 gathers calculates the angle a between sounding rod 26 and center line by the funtcional relationship of the angle a between the sounding rod 26 that obtains in step 3 and center line and force snesor 24 collection signal, and real time record;
Step 5: draw according to the angle a between the sounding rod 26 obtained in step 4 and center line and measure taper shank 27 path curves;
Step 6: the geometric locus met in centering situation obtained in measurement taper shank 27 path curves obtained in step 5 and step 3 is contrasted, the track centers spot projection position detected under obtaining maximum deflection difference value β between two closed trajectory central point projected positions and misaligning situation is relative to the misalignment angle γ of closed trajectory center line in centering situation;
Step 7: to the maximum deflection difference value β obtained in step 6 and the track centers spot projection position that detects under the misaligning situation misalignment angle γ relative to closed trajectory center line in centering situation, determine the offset direction of mechanical main shaft 32X axle and Y-axis, the off-set value of mechanical main shaft 32 in X-direction and the off-set value of Y-direction is calculated again according to trigonometric function relation X=β * cos (γ-π), Y=β * sin (γ-π);
Step 8: upper industrial computer 12 moves with adjustment direction controlling X-direction servomotor and Y-direction servomotor 8 according to the regulated value of the mechanical main shaft 32 obtained in step 7 in X-direction and Y-direction;
Step 9: repeat step 4 to step 8, until automation pick-up unit 6 and measurement taper shank 27 meet pre-set centering requirement, completes adjustment.
Sounding rod 26 upper end described in step 2 extend into measure taper shank 27 inside and measure taper shank 27 contact internal walls and is specially: by unclamping the adjusting bolt 40 of junction, sounding rod 26 bottom, regulate the pulling force size of linking springs 25, make sounding rod 26 upper end and measure taper shank 27 contact internal walls, again by fastening for junction, sounding rod 26 bottom adjusting bolt 40, realize sounding rod 26 upper end and measure taper shank 27 contact internal walls.
Described measurement taper shank 27 is smooth internal taper hole structure.
The funtcional relationship setting up angle a between sounding rod 26 and center line and force snesor 24 collection signal described in step 3, under simulation generation meets centering situation, path curves is specially: ensure that the length that linking springs 25 accesses is constant, change the angle a between sounding rod 26 and center line, get the signal that several groups of different angle values and corresponding force snesor 24 thereof gather respectively, these several groups of data are carried out matching by the cubic spline interpolation method of matlab software, set up the funtcional relationship of angle a between sounding rod 26 and center line and force snesor 24 collection signal, simultaneously with sounding rod 26 stiff end register pin 22 position for origin, with axis feeding unit X, Y-direction is benchmark, with sounding rod 26 vertical direction for Z-direction, set up X, Y, the three-dimensional cartesian coordinate system of Z-direction, the contact point of sounding rod 26 is turned in X-axis positive dirction, as starting point, record start point angle a, then wheel measuring bar 26, often rotate N degree record angle a, the coordinate of respective corners angle value a contact point under this three-dimensional system of coordinate is calculated again by Matlab software, according to schematic diagram, because one end is fixed, long L is constant for bar, angle a is known, and the anglec of rotation is known, respective coordinate value (L*sina*sinxN can be calculated under the coordinate system of regulation, L*sina*cosxN, Lcosa), wherein x is the integer within the scope of 1≤x≤360/N, , finally simulate generation according to 360/N coordinate points and meet path curves in centering situation.
Trigonometric function relation described in step 7 is specially: X=| β * cos (γ-π) |, Y=| β * sin (γ-π) |.
See accompanying drawing 8, data acquisition system (DAS) is the serial communication system be made up of force snesor 24, A/D signal conversion module, ATmega16 single-chip microcomputer, simultaneously, deviate can be shown by digital display meter 39, see Figure 10, described upper industrial computer 12 controls the next programmable controller PLC and ATmega16 single-chip microcomputer carries out serial communication, programmable controller PLC and ATmega16 single-chip microcomputer is connected by 9013 triodes, the next programmable controller PLC is utilized to detect ATmega16 single-chip microcomputer signal, the collection of controls ATmega16 single-chip data simultaneously and data storage.When be used alone automation pick-up unit 6 carry out mechanical arm 7 detect with mechanical main shaft 32 alignment deviation time, UC600 type serial ports can be adopted to turn SD card memory circuit and to realize the serial communication with single-chip microcomputer, and data are stored among SD card, realize the storage of mass data, be convenient to adjustment and the data preparation in later stage, separately through ATmega16 single-chip microcomputer, program can be implanted the aftertreatment carrying out data simultaneously.
See accompanying drawing 9, AD7705 is adopted to gather signal, it has high resolving power, wide dynamic range, self calibration, excellent noise robustness and the feature such as low-voltage, low-power consumption, directly be connected with force snesor 24, by synchronous serial SPI interface, be directly connected with the SPI interface of ATmega16 single-chip microcomputer, its pin 14,13 connect with ATmega16 single-chip microcomputer pin 6,7, carry out the input and output of control signal with this.
Servo-control system with the tool magazine reliability test bench of self-adaptation centering adjusting device is specially:
See accompanying drawing 1, bottom main shaft, feed unit is made up of X-direction servomotor, Y-direction worktable 9 and X-direction worktable 10.The change of X-direction and Y-direction power is fed back by force snesor 24, pass through signal amplifier, pass to main shaft and regulate servo controller, main shaft regulates servo controller to control the motion of X-direction servomotor, makes X-direction worktable 10 and Y-direction worktable 9 move to assigned address.
Consult Figure 11, automatic control section comprises upper industrial computer 12, the next programmable controller PLC, tool magazine 3 servo controller and main shaft and regulates servo controller and pick-up unit data acquisition module.
The up direction of described the next programmable controller PLC and upper industrial computer 12 communication, down direction regulates servo controller to be connected with tool magazine servo controller and main shaft, controls the start and stop of pumping plant by controlling solenoid directional control valve and provides source of the gas to air pressure loading device.
The position of target broach shell 2 is fed back to the next programmable controller PLC and upper industrial computer 12 by signal amplifier by the signal that the sensor for countering on tool magazine 3 and position transducer collect, control the cylinder of falling cutter of broach shell 2 and the start and stop of mechanical arm 7 electric rotating machine, and add the motion of carrier gas cylinder and clamping cylinder, thus realize the real-time control to tool magazine 3 exchanging knives process.
Described force snesor 24 carries out signals collecting by carrying ATmega16 single-chip microcomputer, the next programmable controller PLC is utilized to detect ATmega16 single-chip microcomputer signal, make ATmega16 single-chip microcomputer and upper industrial computer 12 communication, by the computing of upper industrial computer 12 pairs of signals, the position that main shaft and mechanical arm 7 depart from is fed back to main shaft and regulates servo controller, control servomotor moves, thus realizes the Automatic adjusument of main shaft centering position.
See accompanying drawing 5 and accompanying drawing 6, described sounding rod 26 is fixed on the adjuster bar 28 of location by register pin 22, by set screw 23 up-down adjustment location adjuster bar 28, be smooth internal taper hole structure owing to measuring taper shank 27, the signal that obtains can be detected in rational threshold value by adjustment force sensor 24.Because the change of sounding rod 26 and central axis angle a size and force snesor 24 detect the signal existence function relation obtained, angle a can be extrapolated by the signal collected, fix at guarantee location adjuster bar 28, measure the internal taper hole structure tapering of taper shank 27 simultaneously, size is known, and at sounding rod 26 with when measuring taper shank 27 real-time contact, sounding rod 26 can be obtained by the angle a matching obtained in real time and to rotate a circle the running orbit of contact point.Obtain the running orbit in simulation centering situation in advance, in centering situation, its movement locus is circular, misaligning in situation, its movement locus is oval, calculates the maximum deflection difference value β of central point projected position under movement locus central point projected position and centering situation in the situation that misaligns, and misalign the angle γ of center line under movement locus central point projected position and centering situation in situation, again by trigonometric function relation, obtain X-direction, the adjusted value of Y-direction.
Claims (10)
1. tool magazine reliability test bench tool change position self-adaptation centering adjusting device, is characterized in that, comprises and measures feed unit bottom taper shank (27), automation pick-up unit (6) and main shaft;
Described automation pick-up unit (6) comprises grabs cutterhead (14), follower gear (17), driving gear (18), servomotor A (21), set screw (23), force snesor (24), linking springs (25), sounding rod (26) and location adjuster bar (28), described driving gear (18) and follower gear (17) engagement, be integrally provided in and grab cutterhead (14) inside, driving gear (18) is driven to rotate by described servomotor A (21), hollow driven gear shaft coordinates with angular contact ball bearing (16) in described cutterhead (14) inside of grabbing, described driven gear shaft is coaxial with described cutterhead (14) of grabbing, it is inner that described location adjuster bar (28) extend into described driven gear shaft, described location adjuster bar (28) is connected with described driven gear shaft lower surface by set screw (23), described sounding rod (26) is connected with adjuster bar (28) top, described location by register pin (22), described register pin (22) is positioned on the axis of described driven gear shaft, adjuster bar (28) bottom, described location is fixed with force snesor (24), described force snesor (24) is connected with described sounding rod (26) bottom by linking springs (25),
Bottom described main shaft, feed unit comprises the X-direction worktable (10) and Y-direction worktable (9) that drive respectively by X-direction servomotor and Y-direction servomotor (8);
Described measurement taper shank (27) is coaxially arranged on mechanical main shaft (32), the cutterhead (14) of grabbing of described automation pick-up unit (6) is clamped by mechanical arm (7), and the control module of tool magazine reliability test bench controls X-direction servomotor and Y-direction servomotor (8) motion according to the signal that described force snesor (24) gathers.
2. tool magazine reliability test bench tool change position self-adaptation centering adjusting device according to claim 1, it is characterized in that, described automation pick-up unit (6) also comprises top end cap (13), lower end cap (15), motor support frame (19), shaft coupling (20) and digital display meter (39), described top end cap (13) and lower end cap (15) respectively with grab cutterhead (14) upper and lower end face and be fixedly connected with, described servomotor A (21) is fixed in described lower end cap (15) by motor support frame (19), described servomotor A (21) output shaft is connected with driving gear shaft by shaft coupling (20), described digital display meter (39) the ATmega16 single-chip microcomputer signal pickup assembly output terminal connected in series with described force snesor (24) is connected.
3. tool magazine reliability test bench tool change position self-adaptation centering adjusting device according to claim 1, is characterized in that, described measurement taper shank (27) is smooth internal taper hole structure.
4. tool magazine reliability test bench tool change position self-adaptation centering adjusting device according to claim 1, it is characterized in that, described force snesor (24) to be connected with described sounding rod (26) bottom by linking springs (25) and to be specially: hole is opened in described sounding rod (26) junction, bottom, described linking springs (25) afterbody is through the through hole of sounding rod (26) junction, bottom, the side opening threaded hole of described sounding rod (26) junction, bottom through hole, adopts adjusting bolt (40) fastening.
5. tool magazine reliability test bench tool change position self-adaptation centering adjusting device according to claim 1, it is characterized in that, described control module comprises upper industrial computer (12) and the next programmable controller PLC, described the next programmable controller PLC up direction and upper industrial computer (12) communication; Described self-adapting adjusting apparatus also comprises A/D signal conversion module, ATmega16 single-chip microcomputer and main shaft and regulates servo controller; The signal that described force snesor (24) gathers is converted into digital signal through A/D signal conversion module, the digital signal obtained is after the collection of ATmega16 single-chip microcomputer and data processing, upper industrial computer (12) is passed to through the next programmable controller PLC, control signal is fed back to described main shaft by the next programmable controller PLC and regulates servo controller by described upper industrial computer (12), regulates servo controller to control X-direction servomotor and Y-direction servomotor (8) motion by described main shaft.
6. the control method of tool magazine reliability test bench tool change position self-adaptation centering adjusting device according to claim 1, is characterized in that, comprise the following steps:
Step one: taper shank (27) will be measured and be coaxially fixed on mechanical main shaft (32), mechanical arm (7) gripping automation pick-up unit (6) grab cutterhead (14), mechanical arm (7) and automation pick-up unit (6) are coaxial;
Step 2: upper industrial computer (12) controls mechanical arm (7) by the next programmable controller PLC and moves to predetermined tool change position, the top end cap (13) making automation pick-up unit (6) and the lower surface laminating of measuring taper shank (27), sounding rod (26) upper end extend into be measured taper shank (27) inside and measures taper shank (27) contact internal walls;
Step 3: the funtcional relationship setting up angle a between sounding rod (26) and center line and force snesor (24) collection signal, simulation generation meets path curves in centering situation;
Step 4: the servomotor A (21) being controlled automation pick-up unit (6) by the next programmable controller PLC is started, the signal that force snesor (24) gathers calculates the angle a between sounding rod (26) and center line by the funtcional relationship of the angle a between the sounding rod (26) that obtains in step 3 and center line and force snesor (24) collection signal, and real time record;
Step 5: draw according to the angle a between the sounding rod obtained in step 4 (26) and center line and measure taper shank (27) path curves;
Step 6: the geometric locus met in centering situation obtained in measurement taper shank (27) path curves obtained in step 5 and step 3 is contrasted, the track centers spot projection position detected under obtaining maximum deflection difference value β between two closed trajectory central point projected positions and misaligning situation is relative to the misalignment angle γ of closed trajectory center line in centering situation;
Step 7: to the maximum deflection difference value β obtained in step 6 and the track centers spot projection position that detects under the misaligning situation misalignment angle γ relative to closed trajectory center line in centering situation, determine the offset direction of mechanical main shaft (32) X-axis and Y-axis, then calculate mechanical main shaft (32) off-set value in X-direction and the off-set value of Y-direction according to trigonometric function relation;
Step 8: upper industrial computer (12) moves with adjustment direction controlling X-direction servomotor and Y-direction servomotor (8) according to the regulated value of the mechanical main shaft obtained in step 7 (32) in X-direction and Y-direction;
Step 9: repeat step 4 to step 8, until automation pick-up unit (6) and measurement taper shank (27) meet pre-set centering requirement, completes adjustment.
7. tool magazine reliability test bench tool change position self-adaptation centering control method according to claim 6, it is characterized in that, sounding rod (26) upper end described in step 2 extend into measure taper shank (27) inside and measure taper shank (27) contact internal walls and is specially: by unclamping the fastening bolt of sounding rod (26) junction, bottom, regulate the pulling force size of linking springs (25), make sounding rod (26) upper end and measure taper shank (27) contact internal walls, then by fastening for sounding rod (26) junction, bottom adjusting bolt (40).
8. tool magazine reliability test bench tool change position self-adaptation centering control method according to claim 6, it is characterized in that, described measurement taper shank (27) is smooth internal taper hole structure.
9. tool magazine reliability test bench tool change position self-adaptation centering control method according to claim 6, it is characterized in that, the funtcional relationship setting up angle a between sounding rod (26) and center line and force snesor (24) collection signal described in step 3, under simulation generation meets centering situation, path curves is specially: ensure the angle a between the constant change sounding rod (26) of length that linking springs (25) accesses and center line, get the signal that several groups of different angle values and corresponding force snesor (24) thereof gather respectively, these several groups of data are carried out matching by the cubic spline interpolation method of matlab software, set up the funtcional relationship of angle a between sounding rod (26) and center line and force snesor (24) collection signal, simultaneously with sounding rod (26) stiff end register pin (22) position for origin, with axis feeding unit X, Y-direction is benchmark, with sounding rod (26) vertical direction for Z-direction, set up X, Y, Z-direction three-dimensional cartesian coordinate system, the contact point of sounding rod (26) is turned in X-axis positive dirction, as starting point, record start point angle a, then wheel measuring bar (26), often rotate N degree record angle a, the coordinate of respective corners angle value a contact point under this three-dimensional cartesian coordinate system is calculated again by Matlab software, finally simulate generation according to 360/N coordinate points and meet path curves in centering situation.
10. tool magazine reliability test bench tool change position self-adaptation centering control method according to claim 6, it is characterized in that, trigonometric function relation described in step 7 is specially: X=| β * cos (γ-π) |, Y=| β * sin (γ-π) |.
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| CN111076926A (en) * | 2019-12-12 | 2020-04-28 | 吉林大学 | Reliability test bed for triple fluted disc of numerical control tool rest |
| CN111928812A (en) * | 2020-09-22 | 2020-11-13 | 湖南英迈智能科技有限公司 | High-precision angle sensor calibration and inspection device and method |
| CN111928812B (en) * | 2020-09-22 | 2022-03-04 | 湖南英迈智能科技有限公司 | Calibration and inspection method for high-precision angle sensor |
| CN114346733A (en) * | 2022-03-21 | 2022-04-15 | 中机智能装备创新研究院(宁波)有限公司 | Horizontal tool magazine adjusting and positioning system for lateral machine tool of horizontal machining center |
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