CN106224477B - Double compensation formula ball-screw mobile system - Google Patents
Double compensation formula ball-screw mobile system Download PDFInfo
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- CN106224477B CN106224477B CN201610620651.XA CN201610620651A CN106224477B CN 106224477 B CN106224477 B CN 106224477B CN 201610620651 A CN201610620651 A CN 201610620651A CN 106224477 B CN106224477 B CN 106224477B
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- temperature
- screw
- mobile
- pitch
- compensation
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
- Transmission Devices (AREA)
Abstract
A kind of double compensation formula ball-screw mobile system,Including base station,The base station is equipped with lead screw,The periphery of the lead screw is equipped with nut,The nut is fixed with mobile platform,Also include control system and monitoring assembly,The monitoring assembly includes temperature sensor,Laser range sensor and Grating Angle Sensor,The temperature sensor detects the temperature signal of each section,The displacement distance of the laser range sensor detection mobile platform,The rotation angle of the Grating Angle Sensor detection lead screw,The control system includes signal receiving processing module,Control module,Memory module and signal transmitting module,The control module is according to preset distance and temperature signal,Displacement distance and rotation angle form control signal,Temperature-compensating and pitch compensation are carried out to displacement distance in control,Thus,The present invention is easy to operate,It is mobile to stablize,And mobile accuracy is high,Improve processing acceptance rate.
Description
Technical field
The present invention relates to the technical field of ball-screw-transmission more particularly to a kind of double compensation formula ball-screw movement systems
System.
Background technology
Ball screw assembly, replaces sliding friction by rolling friction, thus with stable drive, efficient, hysterisis error is small
The features such as, it is used widely in fields such as aviation, automobile, lathes.With the acceleration of process of industrialization, people are to ball-screw
Demand it is increasing, the setting accuracy of leading screw is required also higher and higher.Positioning of the helix of ball-screw to leading screw
Main function is played, precision determines the quality of ball-screw, and this requires leading screw drivings higher precision.
For this purpose, the designer of the present invention, in view of drawbacks described above, by concentrating on studies and designing, synthesis is engaged in for many years for a long time
The experience and achievement of related industry, research and design goes out a kind of double compensation formula ball-screw mobile system, to overcome drawbacks described above.
Invention content
It is easy to operate the purpose of the present invention is to provide a kind of double compensation formula ball-screw mobile system, it is mobile to stablize,
And mobile accuracy is high, improves processing acceptance rate.
To solve the above problems, the invention discloses a kind of double compensation formula ball-screw mobile systems, including base station, described
Base station is equipped with leading screw, and the periphery of the leading screw is equipped with nut, and the nut is fixed with mobile platform, it is characterised in that：
Also include control system and monitoring assembly, the monitoring assembly include temperature sensor, laser range sensor and
Grating Angle Sensor, the temperature sensor are the temperature signal T for detecting each section, and the laser range sensor detection moves
The displacement distance L of moving platform, the rotation angle A of the Grating Angle Sensor detection leading screw, the control system includes signal
Receiving processing module, control module, memory module and signal transmitting module, the signal receiving processing module are respectively connected to temperature
Spend sensor, laser range sensor and Grating Angle Sensor, the control module according to preset distance and temperature signal,
Displacement distance and rotation angle form control signal, and temperature-compensating and pitch compensation are carried out to displacement distance in control.
Wherein：The control module includes pitch compensation unit, temperature compensation unit and motor control unit, memory module
It is inside stored with the calibration value B0 of leading screw screw pitch B, the pitch compensation unit obtains pitch error value Δ B, the temperature-compensating list
Member obtains temperature compensation parameter T and mends, and servo motor needs the angle A A rotated：AA=LA*360/ (B0+ Δ B)+T is mended, wherein LA
For the distance for needing mobile.
Wherein：The basic step that the pitch compensation unit obtains pitch error value Δ B is：Mobile platform passes through conventional shape
Displacement distance L0 that state is tested and rotation angle A0, to obtain the test value of leading screw screw pitch B, i.e. L0/ (A0/360)=
B1, and then pitch error value Δ B=B1-B0 is obtained, and pitch compensation is provided.
Wherein：At the end of each moving member movement of temperature compensation unit, the temperature sensing on different structure is measured
The temperature signal T of device obtains integrally-built mean temperature after carrying out mean value, and obtains this by laser range sensor and be averaged
At a temperature of this time it is mobile described in moving member practical displacement distance LA1, to obtain the range error under the mean temperature
Δ L=LA1-LA, and by counter the pushing away of AA=LA*360/ (B0+ Δ B)+T benefits, obtain T benefits=Δ L* under the mean temperature
360/ (B0+ Δ B), it is mobile to provide next time to which the temperature compensation coefficient T formed under a series of different mean temperatures of correspondences is mended
When temperature-compensating.
Wherein：Between the mobile platform and base station be equipped with guide frame, the guide frame include be set to base station and
Guide rail on one of mobile platform and it is wherein another on guide groove.
Wherein：The both ends of the leading screw are respectively equipped with the first support base and the second support base, are set in first support base
There is the first bearing component of rotation support leading screw one end, the second of the rotation support leading screw other end is equipped in second support base
Bearing assembly.
By above structure it is found that the double compensation formula ball-screw mobile system of the present invention not only allows for the benefit of screw pitch
It repays, the compensation at any time of the temperature also fully considered realizes real-time update and the control of mobile accuracy, is not influencing existing movement
In the case of, it is mobile to next time as far as possible to carry out compensated in advance, preferably to improve mobile accuracy.
The detailed content of the present invention can be obtained by aftermentioned explanation and institute's attached drawing.
Description of the drawings
Fig. 1 shows the structural schematic diagram of the double compensation formula ball-screw mobile system of the present invention.
Reference numeral：
11, base station；12, leading screw；13, nut；14, mobile platform；15, the first support base；16, the second support base；17,
One bearing assembly；18, second bearing component.
Specific implementation mode
Referring to Fig. 1, it is shown that double compensation formula ball-screw mobile system of the invention.
The double compensation formula ball-screw mobile system is primarily applicable for numerically-controlled machine tool etc. and needs accurate movement and transmission
Ball-screw, to provide accurate movement for digital control processing etc..
Referring to Fig. 1, the present invention includes mainly base station 11, and the base station 11 can be rectangular platy structure, in order to pacify
Dress and positioning are equipped with leading screw 12 in the upper longitudinal direction of the base station 11, and the periphery of the leading screw 12 is equipped with nut 13, the nut 13
Multiple balls are equipped between leading screw 12, to realize the linear motion of nut 13 by the rotation of leading screw 12.
It is detachably and fixedly provided with mobile platform 14 on the nut 13, can be equipped between the mobile platform 14 and base station 11
Guide frame, the guide frame may include being set to guide rail on one of them of base station 11 and mobile platform 14 and wherein another
On guide groove, be oriented to by the way that guide rail and guide groove are mutually chimeric, to realize mobile platform 14 with respect to moving in parallel between base station 11.
Wherein, the both ends of the leading screw 12 are respectively equipped with the first support base 15 and the second support base 16, first support
It is equipped with the first bearing component 17 of 12 one end of rotation support leading screw in seat 15, rotation supporting wire is equipped in second support base 16
The second bearing component 18 of 12 other end of thick stick.
To realize that accurate running fix, the present invention also include control system and monitoring assembly, the monitoring assembly includes
Temperature sensor, laser range sensor and Grating Angle Sensor, the temperature sensor are multiple and can be respectively arranged at
Base station 11, leading screw 12 and mobile platform 14, to detect the temperature signal T of each section, the laser range sensor is set to shifting
Moving platform 14, to detect displacement distance L of the mobile platform 14 relative to base station 11, the Grating Angle Sensor is set to leading screw
12 one end, to detect the rotation angle A of leading screw 12, the control system includes signal receiving processing module, control module, deposits
Storage module and signal transmitting module, the signal receiving processing module are respectively connected to temperature sensor, laser range sensor
And Grating Angle Sensor, it is sent to control after the temperature signal received, displacement distance and rotation angle are carried out signal modulation
Molding block, the control module form control according to preset distance and modulated temperature signal, displacement distance and rotation angle
Signal processed carries out real-time control by signal transmitting module to the servo motor of driving leading screw rotation, and to movement in control
Distance carries out temperature-compensating and pitch compensation.
Wherein, the control module includes pitch compensation unit, temperature compensation unit and motor control unit, memory module
It is inside stored with the calibration value B0 of leading screw screw pitch B, pitch error value Δ B, the temperature-compensating can be obtained in the pitch compensation unit
Unit can be obtained temperature compensation parameter T and mend, and the motor control unit is mended by pitch error value Δ B and temperature compensation parameter T
Carry out compensated distance on the move, wherein if desired the present invention moves a preset distance LA, then servo motor needs the angle rotated
Spend AA：AA=LA*360/ (B0+ Δ B)+T is mended, and the basic principle that the pitch compensation unit obtains pitch error value Δ B is as follows：
Mobile platform is obtained by conventional sense test (being moved to the other end from one end of leading screw in moving member under no-load condition)
Displacement distance L0 and rotation angle A0, to obtain the test value of leading screw screw pitch B, i.e. L0/ (A0/360)=B1, and then obtain
Pitch error value Δ B=B1 (test value)-B0 (calibration value)；After obtaining pitch error value Δ B, the update of pitch compensation unit is deposited
The pitch error value Δ B in module is stored up, therefore, which can measure as needed, to determine screw pitch at any time
Error amount Δ B, so as to avoid due to screw rod itself rigidity and internal stress influence its screw pitch generation variation.
Preferably, automatic pitch compensation unit, the automatic pitch compensation list are additionally provided in the pitch compensation unit
Member is after the mobile platform 14 of entire ball-screw involves and is moved to certain distance (preferably 10m-20m, more preferably 12m)
The automatic Calibration of pitch error value Δ B is carried out, process is similar with the above, i.e., mobile platform is tested by conventional sense
The displacement distance L0 that (being moved to the other end from one end of leading screw in moving member under no-load condition) obtains and rotation angle A0,
To obtain the test value of leading screw screw pitch B, i.e. L0/ (A0/360)=B1, and then obtain pitch error value Δ B=B1 (tests
Value)-B0 (calibration value)；After obtaining pitch error value Δ B, automatic pitch compensation unit updates storage the pitch error in module
It is worth Δ B.
The temperature compensation unit is connected to temperature sensor and laser range sensor, terminates in the movement of each moving member
When, the temperature signal T of the temperature sensor on different structure is measured, integrally-built mean temperature is obtained after carrying out mean value,
And the practical displacement distance LA1 of moving member described in this time movement under the mean temperature is obtained by laser range sensor, from
And the range error Δ L=LA1-LA (preset distance) under the mean temperature is obtained, and pass through AA=LA*360/ (B0+ Δ B)
Counter the pushing away of+T benefits, obtains T benefits=Δ L*360/ (B0+ Δ B) under the mean temperature, and storing this by storage unit with regard to this is averaged
At a temperature of T mend, mended to form the temperature compensation coefficient T under a series of different mean temperatures of correspondences.
When next time is mobile, motor control unit reads the pitch error value Δ B in memory module respectively, and passes through movement
The preceding obtained mean temperature that measures chooses immediate temperature compensation coefficient T benefits, if measuring obtained mean temperature before mobile just
Fortunately between two fixed mean temperatures, then the temperature compensation coefficient T benefits of two fixed mean temperatures are averaged
Value, and bring obtained Δ B and temperature compensation coefficient T benefits into formula：AA=LA*360/ (B0+ Δ B)+T is mended, thus to servo
Motor sends corresponding angle rotating signal.
Wherein, excessively huge to avoid measuring the temperature compensation coefficient T complement evidences under obtained different mean temperatures, another
In one embodiment, in the setting of different mean temperatures, it is equipped with predetermined mean temperature Tp in the storage unit, it is described pre- to allocate
Equal temperature Tp is divided into different ranges, i.e., from Tp1, Tp2, Tp3, Tp4, Tp5, Tp6, Tp7, Tp8 ..., the predetermined average temperature
Tp is spent for example with 5 degrees Celsius for a small range, and both Tp1 is was less than or equal to 10 less than or equal to 5 degree, Tp2 more than 0 more than 5
Degree, Tp3 are less than or equal to 15 degree and so on more than 10, thus the T benefits pair under the mean temperature obtained at the end of moving
It should at any time be updated in the predetermined mean temperature in different range, and to the data in the predetermined average temperature range, under
The secondary T that can be read when being moved in corresponding predetermined mean temperature Tp is mended, and is mended to public affairs according to the temperature compensation coefficient T of reading
Formula AA=LA*360/ (B0+ Δ B)+T covers trip temperature compensation, to realize more precise control.
It can be seen that the present invention not only allows for the compensation of screw pitch, the compensation at any time of the temperature also fully considered realizes
The real-time update of mobile accuracy and control under double compensation system, in the case where not influencing existing movement, as far as possible to next time
It is mobile to carry out compensated in advance, preferably to improve mobile accuracy.
It is readily apparent that above description and record is only illustrated in the disclosure being not intended to be limiting of the invention
Appearance, application or use.Although describing and being described in the accompanying drawings embodiment in embodiment, the present invention does not limit
Be described as by attached drawing example and in embodiment it is now recognized that optimal mode to implement the particular case of the teachings of the present invention
Son, the scope of the present invention is by any embodiment of the description and appended claims including falling into front.
Claims (6)
1. a kind of double compensation formula ball-screw mobile system, including base station, the base station is equipped with leading screw, and the periphery of the leading screw is set
There are nut, the nut to be fixed with mobile platform, it is characterised in that：
Also include control system and monitoring assembly, the monitoring assembly includes temperature sensor, laser range sensor and grating
Angular transducer, the temperature sensor are the temperature signal T for detecting each section, and the laser range sensor detection is mobile flat
The displacement distance L of platform, the Grating Angle Sensor detect the rotation angle A of leading screw, and the control system includes that signal receives
Processing module, control module, memory module and signal transmitting module, the signal receiving processing module are respectively connected to temperature biography
Sensor, laser range sensor and Grating Angle Sensor, the control module is according to preset distance and temperature signal, movement
Distance and rotation angle form control signal, and temperature-compensating and pitch compensation are carried out to displacement distance in control.
2. double compensation formula ball-screw mobile system as described in claim 1, it is characterised in that：The control module includes spiral shell
Away from compensating unit, temperature compensation unit and motor control unit, the calibration value B0 of leading screw screw pitch B, institute are stored in memory module
It states pitch compensation unit and obtains pitch error value Δ B, the temperature compensation unit obtains temperature compensation parameter T and mends, servo motor
Need the angle A A rotated：AA=LA*360/ (B0+ Δ B)+T is mended, and wherein LA is to need mobile distance.
3. double compensation formula ball-screw mobile system as claimed in claim 2, it is characterised in that：The pitch compensation unit obtains
Basic step to pitch error value Δ B is：The displacement distance L0 and rotation angle that mobile platform is tested by conventional sense
A0 is spent, to obtain the test value of leading screw screw pitch B, i.e. L0/ (A0/360)=B1, and then obtains pitch error value Δ B=B1-
B0, and pitch compensation is provided.
4. the double compensation formula ball-screw mobile system as described in any in claim 2-3, it is characterised in that：The temperature is mended
At the end of repaying each moving member movement of unit, the temperature signal T of the temperature sensor on different structure is measured, after carrying out mean value
Integrally-built mean temperature is obtained, and obtains moving described in this time movement under the mean temperature by laser range sensor
The practical displacement distance LA1 of part to obtain the range error Δ L=LA1-LA under the mean temperature, and passes through AA=LA*
Counter the pushing away of 360/ (B0+ Δ B)+T benefits, obtains T benefits=Δ L*360/ (B0+ Δ B) under the mean temperature, a series of to be formed
Temperature compensation coefficient T under corresponding different mean temperatures is mended, to provide temperature-compensating when movement next time.
5. double compensation formula ball-screw mobile system as described in claim 1, it is characterised in that：The mobile platform and base station
Between be equipped with guide frame, the guide frame includes to be set to guide rail on one of base station and mobile platform and wherein separately
Guide groove on one.
6. double compensation formula ball-screw mobile system as described in claim 1, it is characterised in that：Distinguish at the both ends of the leading screw
The first bearing group of rotation support leading screw one end is equipped with equipped with the first support base and the second support base, in first support base
Part, the interior second bearing component for being equipped with the rotation support leading screw other end of second support base.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610620651.XA CN106224477B (en) | 2016-07-29 | 2016-07-29 | Double compensation formula ball-screw mobile system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610620651.XA CN106224477B (en) | 2016-07-29 | 2016-07-29 | Double compensation formula ball-screw mobile system |
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| CN106224477A CN106224477A (en) | 2016-12-14 |
| CN106224477B true CN106224477B (en) | 2018-09-11 |
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| CN201610620651.XA Active CN106224477B (en) | 2016-07-29 | 2016-07-29 | Double compensation formula ball-screw mobile system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110737284A (en) * | 2019-09-06 | 2020-01-31 | 深圳市兆威机电股份有限公司 | Position adjusting method and device of transmission mechanism, terminal equipment and medium |
| CN111890116B (en) * | 2020-07-31 | 2021-07-13 | 津上精密机床（浙江）有限公司 | Temperature compensation method, system, device and computer storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0764643A (en) * | 1993-08-31 | 1995-03-10 | Mitsubishi Heavy Ind Ltd | Driver positioning method using roller screw mechanism |
| PL1989019T3 (en) * | 2006-03-02 | 2009-12-31 | Mikron Agie Charmilles Ag | Method and apparatus for a displacement correction for a machine tool |
| CN103345199B (en) * | 2013-06-19 | 2016-03-30 | 上海交通大学 | Based on numerically-controllmachine machine tool error compensation system and the method for man-machine interface secondary development |
| CN104266837B (en) * | 2014-10-08 | 2017-02-15 | 上海理工大学 | Ball screw performance testing testbed based on motor servo loading |
| CN105090413A (en) * | 2015-08-06 | 2015-11-25 | 沈阳众拓机器人设备有限公司 | Ball screw positioning system |
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Effective date of registration: 20211111 Address after: 610000 No. 301, building 2, No. 79, tianqin West Street, hi tech Zone, Chengdu, Sichuan Patentee after: Chengdu Yuding special processing technology Co., Ltd Address before: 611731 No. 79, tianqin West Street, hi tech West District, Chengdu, Sichuan Patentee before: Chengdu Prius CNC Machine Tool Co., Ltd |
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