CN108303251A - Rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state - Google Patents
Rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state Download PDFInfo
- Publication number
- CN108303251A CN108303251A CN201810355005.4A CN201810355005A CN108303251A CN 108303251 A CN108303251 A CN 108303251A CN 201810355005 A CN201810355005 A CN 201810355005A CN 108303251 A CN108303251 A CN 108303251A
- Authority
- CN
- China
- Prior art keywords
- rigidity
- electro spindle
- knife
- handle
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
Abstract
The invention discloses the rigidity modelings and Indirect Detecting Method under a kind of electro spindle rotary state to give a kind of Indirect Detecting Method of electro spindle rigidity mainly for directly electro spindle Rigidity of the detection under rotary state is difficult to.This method establishes shaft, bearing, the deformation equation for customizing handle of a knife and main shaft knife handle faying face respectively using small deflection differential equation and Hooke's law；With principle of stacking, the rigidity model of the electric chief axis systems of compositions such as shaft, bearing, main shaft knife handle faying face, customization handle of a knife is obtained.The detecting system formed based on loading device, spindle rotation error analyzer, to under electro spindle stationary state shaft, main shaft knife handle faying face and customize handle of a knife rigidity value recognize, the bearing rigidity value under electro spindle rotary state is recognized again, it is finally based on electro spindle rigidity model, calculates the true stiffness of electro spindle.This method can accurately detect electro spindle rigidity, can be used for electro spindle performance test.
Description
Technical field
The present invention relates to electro spindle performance detection fields, and in particular to rigidity modeling of the electro spindle under rotary state and
Connect detection method.
Background technology
The fast development of electro spindle technology makes Technology of High-speed Numerical-control Manufacturing be used widely.Electro spindle is by by numerical control machine
Bed main shaft and spindle motor combine together, keep the spindle unit of numerically-controlled machine tool independent from the transmission system and overall structure of lathe
Out, have many advantages, such as that compact-sized, light-weight, inertia is small, rotating speed is high, precision is high, noise is low, response is fast.Currently, electro spindle
Accurately high-speed cruising is not only needed, but also there is high rigidity.The kinematic accuracy and rigidity of electro spindle directly affect numerical control
The machining accuracy of lathe and the surface quality of workpiece.Rigidity of the electro spindle under rotary state is too low to normally result in flutter, knife
Piece over-tilting and unwanted switchback.Therefore, it in order to ensure best processing technology and reliable operation, needs to electro spindle
Rigidity be detected, and assess its performance under rotary state.
The rigidity of electro spindle can be divided into the rigidity under static rigidity and rotating condition.Since electro spindle is in high-speed rotation
When, the deflection of force direction can not be applied in applied force and the detection simultaneously of the front end of electro spindle, therefore for the rigidity of electro spindle
Detection is generally detected under static state.But since numerically-controlled machine tool is in processing, electro spindle is in rotation status, therefore examines
It surveys electro spindle and is in the rigidity under rotation status, it more can accurate evaluation electro spindle rigidity.Further, since electro spindle when rotated can
Centrifugal force and flywheel moment are generated, causes position and gap between electro spindle internal element to change, to make electro spindle
Rigidity changes.Therefore it needs to be detected rigidity of the electro spindle under rotation status.
The present invention proposes the rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state, is being revolved for electro spindle
Turn the problem of rigidity can not be detected directly under state, first by deformation equation and principle of stacking, establishes the rigid of electric chief axis system
Model is spent, and respectively under electro spindle stationary state and under rotary state, recognizes the parameter in electric chief axis system rigidity model, most
Eventually rigidity value of the electro spindle under different rotating speeds is obtained by model conversion.The performance that the method for the present invention can be applicable to electro spindle is surveyed
Examination, can accurately detect the rigidity of electro spindle.
Invention content
The object of the present invention is to provide the rigidity modelings and Indirect Detecting Method under a kind of electro spindle rotary state, main to use
To solve the problems, such as that electro spindle rotational stiffness is difficult to directly detect.
Technical scheme is as follows：
Rigidity modeling and Indirect Detecting Method under a kind of main axis state, the electro spindle include fore bearing, after
Bearing and shaft；Electro spindle, customization handle of a knife, main shaft knife handle faying face and standard ball target collectively constitute electric chief axis system, special
Sign is that the rigidity modeling and detection method include the following steps：
1) shaft in electric chief axis system is reduced to two simply supported beams to connect with customization handle of a knife, and micro- based on small deflection
Divide equation, establish shaft and customizes the deformation equation of handle of a knife：
Wherein, w1(z) it is the shaft and the deflection of simply supported beam that customization handle of a knife is formed, F is consequently exerted at customization
External force on handle of a knife, z are length of the point away from rear bearing on the simply supported beam of shaft and customization handle of a knife composition, l1It is fore bearing away from rear
The length of bearing, l2It is length of the electro spindle front end away from fore bearing, l3It is the length for customizing handle of a knife, k1、k2It indicates to turn respectively
Axis, the rigidity for customizing handle of a knife, C1,C2,C3,C4,D1,D2,D3And D4It is constant, is determined by the internal structure of axis system；
2) it is based on Hooke's law, establishes the deformation equation of the fore bearing and rear bearing in electric chief axis system：
Wherein, w2(z) deflection that fore bearing and rear bearing generate, k are indicated3、k4Bearing, fore bearing after indicating respectively
Rigidity；
3) it is based on Hooke's law, establishes the deformation equation of main shaft knife handle faying face：
Wherein, w3(z) deflection that main shaft knife handle faying face generates, k are indicated5Indicate the rigidity of main shaft knife handle faying face；
4) be based on principle of stacking, by the shaft and customization handle of a knife deflection in step 1), fore bearing in step 2) and after
The deflection of main shaft knife handle faying face in the deflection and step 3) of bearing is added, and the change of electric chief axis system is established
Shape equation：
Wherein, w (z) indicates the deflection of electric chief axis system, B1(z),B2(z),B3(z),B4(z) and B5(z) it is respectively to turn
Axis, customization handle of a knife, fore bearing, rear bearing, main shaft knife handle faying face z points constant；
5) it will be applied to the deflection of the external force on customization handle of a knife divided by electric chief axis system, obtain the rigidity of electric chief axis system
Model：
Wherein Kd(z) rigidity value of the expression electric chief axis system in z points；
6) be based on principle of stacking, by the shaft and customization handle of a knife deflection in step 1), fore bearing in step 2) and after
The deflection of bearing is added, and the deflection of electro spindle, and the external force divided by electro spindle that will be applied to electro spindle front end are obtained
Deflection, obtain the rigidity model of electro spindle：
Wherein KspindleIndicate the rigidity value of electro spindle；
7) under electro spindle stationary state, electricity master is acquired to the customization handle of a knife applied force, and by displacement sensor
Displacement of the axle system in different force effects；Based on linear least square, the once linear equation of power and displacement is established,
The slope of wherein linear equation is rigidity value of the electric chief axis system in displacement sensor test position, the electric chief axis system
It is in the calculation formula of the rigidity value of displacement sensor test position：
Wherein, wi(z) it is when the power being applied on customization handle of a knife (4) is FiWhen z points displacement；N indicates detection number,
Indicate the average value for the power that detection n times are applied,Indicate the average value of the displacement of detection n times；
8) change displacement sensor test position, repeat step 7) m times, obtain in electric chief axis system m different location
Rigidity value, the m are greater than the positive integer equal to 5；
9) it is based on generalized inverse, the rigidity value of m position and according in step 5) on the electric chief axis system that step 8) is obtained
The electric chief axis system rigidity value being calculated is fitted, and the rigid of shaft, customization handle of a knife and main shaft knife handle faying face is calculated
The rigidity value of fore bearing and rear bearing under angle value and stationary state, i.e.,：
Wherein, z6,z7,z8Indicate the measuring point of different location on electric chief axis system；
10) under electro spindle rotary state, to the customization handle of a knife applied force, and spindle rotation error analyzer is used
Acquire the rotary motion curve of standard ball target；It based on Least Square Circle algorithm, obtains under different force effects, standard ball target
Rotary motion curve Least Square Circle center location；It is obtained under different force effects based on Pythagorean theorem, least square is round
The displacement of heart position；Based on linear least square, the one of the displacement of different power and Least Square Circle center location is established
The slope of sublinear equation, wherein linear equation is rigidity value of the electric chief axis system under rotary state, the electro spindle
Rigidity value calculation formula under rotary state is：
Wherein, dj(z) it is to customizing the power that handle of a knife applies as FjWhen, the Least Square Circle center of circle of the rotary motion curve of z points
The displacement of position；N indicates detection number,Indicate the average value for the power that detection n times are applied,Indicate detection n times
The average value of the displacement of Least Square Circle center location；
11) it the rigidity value by electric chief axis system that step 10) obtains under rotary state and is calculated according in step 5)
To electric chief axis system rigidity value be fitted, be calculated the rigidity value of fore bearing, rear bearing under different rotating speeds, calculate public
Formula is：
Wherein, z4And z5Two different locations in standard ball target are indicated respectively；
12) it is based on the electro spindle rigidity model of step 6), by the shaft stiffness value recognized in step 9) and step 11), preceding
Bearing rigidity value and rear bearing rigidity value substitute into electro spindle rigidity model, obtain final electro spindle rigidity value：
Rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state, which is characterized in that minimum two
Multiply round algorithm using least square circle-fitting algorithm to calculate the Least Square Circle center of circle, calculation formula is：
Wherein x0And y0Indicate the abscissa and ordinate in the Least Square Circle center of circle, A1、A2、A3、A4And A5It indicates intermediate to become
Amount, respectively：
Wherein xiAnd yiIndicate that the signal that two displacement sensors detect, n indicate detection number.
Rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state, which is characterized in that described
Standard ball target is using double standard balls, accurate divider or master bar.
The present invention has the following advantages and the technique effect of high-lighting：
The present invention proposes the rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state, for electro spindle rigidity
Undetectable problem establishes the rigidity of electric chief axis system first by small deflection differential equation, Hooke's law and principle of stacking
Model, and respectively under electro spindle stationary state and under rotary state, the parameter in electric chief axis system rigidity model is recognized, finally
Rigidity value of the electro spindle under different rotating speeds is obtained by model conversion.The performance that the method for the present invention can be applicable to electro spindle is surveyed
Examination, can accurately detect the rigidity of electro spindle.
Description of the drawings
Fig. 1 is the flow of the rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state provided by the invention
Figure.
Fig. 2 is electric chief axis system and performance detecting system figure.
Fig. 3 is shaft and customizes the rigidity model schematic diagram of handle of a knife.
Fig. 4 is the rigidity model schematic diagram of fore bearing and rear bearing.
Fig. 5 is the rigidity model schematic diagram of main shaft knife handle faying face.
Fig. 6 is electro spindle front end standard ball centre of sphere rotating curve.
Fig. 7 is Least Square Circle under electro spindle rotation status with loading force change schematic diagram.
Fig. 8 is a kind of rigidity property figure of the domestic electro spindle obtained using the present invention.
In figure：Bearing after 1-；2- shafts；3- fore bearings；4- customizes handle of a knife；The bis- standard balls of 5-；6- displacement sensors；7- is most
Small two multiply the round heart；8- maximum inscribed circles；9- Least Square Circles；10- minimum circumscribed circles.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail：
Fig. 1 is the flow chart of the rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state of the present invention, Fig. 2
For electric chief axis system and performance detecting system figure, the rigidity modeling of the present invention and discrimination method are applied to the electro spindle system of Fig. 2
In embodiment of uniting, describe in detail to electro spindle rigidity modeling and discrimination method flow.It is described below with reference to attached drawing
Embodiment be exemplary, be only used for explaining the present invention, and be not considered as limiting the invention.
Since electro spindle is in high-speed rotation, displacement can not be detected again, therefore is devised in electro spindle front end, that is, applied force
Electric chief axis system and rigidity detection device as shown in Figure 2.By, customization handle of a knife 4, being customized in the installation one of electro spindle front end
Bearing is installed in 4 top of handle of a knife, by the applied force on bearing, to realize to applying load on the main shaft under rotation status.Simultaneously
In the double standard balls 5 of 4 front end of customization handle of a knife installation, curve is turned round to detect the movement of electro spindle by double standard balls 5.From Fig. 2
It can be seen that electric chief axis system includes shaft 2, customization handle of a knife 4, main shaft knife handle faying face, double standard balls 5, fore bearing 1, rear bearing
3 equal parts, therefore below independent analysis will be carried out to the stress of various pieces and deformation, then principle of stacking is used, obtain electric master
The deformation of axle system and rigidity model.
1) shaft 2 and customization 4 deformation analysis of handle of a knife
Fig. 3 is shaft 2 and customizes the rigidity model schematic diagram of handle of a knife 4, and shaft 2 and customization handle of a knife 4 are reduced to two phases
The simply supported beam connect can be obtained according to small deflection differential equation:
Wherein, θ1It indicates shaft 2 and customizes the corner of the point on the simply supported beam that handle of a knife 4 forms, z indicates the point on simply supported beam
With a distance from rear bearing 1；w1It is the moment of flexure in freely-supported beam deflection and freely-supported beam section respectively with M；I is freely-supported beam section in
The moment of inertia of property axis；E is the elasticity modulus of material；C and D is integral constant, by the corner of simply supported beam and the constraints of amount of deflection
It determines.
Force analysis is carried out to main shaft, obtains Bending Moment Equations:
Wherein F is consequently exerted at the external force on customization handle of a knife 4, l1It is length of the fore bearing 3 away from rear bearing 1, l2Be electro spindle most
Front end is with a distance from fore bearing 3, l3It is the length for customizing handle of a knife 4.
It brings equation (3) into equation (2), obtain shaft 2 and customizes the deformation equation for the simply supported beam that handle of a knife 4 forms, i.e.,
Wherein k1、k2The rigidity for indicating shaft 2 respectively, customizing handle of a knife 4, C1,C2,C3,C4,D1,D2,D3And D4It is intermediate change
Constant is measured, specific relationship is:
D1=0 (9)
2) 1 deformation analysis of fore bearing 3 and rear bearing
Fig. 4 is the rigidity model schematic diagram of fore bearing 3 and rear bearing 1, is divided to fore bearing 3 and 1 rigidity of rear bearing
When analysis, shaft 2, customization handle of a knife 4 and main shaft knife handle faying face are considered into rigid body.Therefore, when customization handle of a knife 4 is carried by radial load
When lotus, run-off the straight analyzes its stress, obtains equilibrium equation by electro spindle：
WhereinWithIndicate electric chief axis system in z respectively0Point, z1Point and z3The suffered power of point, therefore in z0
Point and z1Point deflection be respectively：
WhereinWithIndicate electric chief axis system in z respectively0Point and z1The deflection of point, k3And k4Rear axle is indicated respectively
The rigidity of 1 and fore bearing 3 is held, therefore the deformation equation of fore bearing 3 and rear bearing 1 can be obtained：
3) main shaft knife handle deformation of joint surface is analyzed
Fig. 5 is the rigidity model schematic diagram of main shaft knife handle faying face, it is assumed that shaft 2 is connected with customization handle of a knife 4 by spring,
Therefore the deformation at main shaft knife handle faying face is：
WhereinWithRespectively when customizing handle of a knife 4 by plus load power F, shaft 2 and customization handle of a knife 4 are even
Meet place z2The deflection of point, k5For the equivalent stiffness of main shaft knife handle faying face；
Therefore the deformation equation of main shaft knife handle faying face is：
4) electric chief axis system and main axis stiffness model
By principle of stacking, equation (4), equation (16) and equation (18) are overlapped, the total of electric chief axis system is obtained
Deformation equation
Wherein B1(z),B2(z),B3(z),B4(z) and B5(z) constant respectively about test point position.
By external force divided by deflection, the rigidity model of electric chief axis system is obtained, expression formula is
The practical stiffness of electro spindle is in electro spindle front end z2Point applies loading forceAnd divided by z2Displacement at point, institute
Obtained value is the rigidity value of electro spindle.The rigidity model of electro spindle is similar with the analysis of electric chief axis system rigidity model, only needs
External applied load power F is moved into z2Point, in conjunction with principle of stacking, you can obtain calculating the rigidity model of main shaft, i.e.,
5) stiffness parameters recognize under electro spindle stationary state
First in the case where electro spindle remains static, 2 rigidity of countershaft, 4 rigidity of customization handle of a knife, main shaft knife handle faying face are rigid
Degree is recognized, and then in the case where electro spindle is in high speed rotation state, is recognized to the rigidity of fore bearing 3 and rear bearing 1.Most
It combines first two steps identified parameters as a result, the rigidity to main shaft calculates afterwards, obtains rigidity of the electro spindle under different rotating speeds.
By installing displacement sensor 6 in multiple location points of electro spindle, detection acts on z in external applied load3It is each when point
The displacement of measuring point, and least square fitting linear equation in two unknowns is used, the slope of the equation is the equivalent stiffness of the measuring point,
Equivalent stiffness accounting equation is
Wherein wi(z) work as z when3Point loading force is FiWhen, the shift value of z points.
Due to that there can be certain measurement error in an experiment, carried out to the parameter in axis system rigidity model
When identification, detection is constructed into over-determined systems more than the measuring point for solving variate-value, then using group inverse matrices come the side of solution
The least square of journey is conciliate, and is reduced the error in experiment with this, is finally obtained shaft 2, customization handle of a knife 4, main shaft knife handle and combine
1 rigidity value of fore bearing 3 and rear bearing under the rigidity value and main shaft stationary state in face, i.e.,
Wherein z6,z7,z8Indicate the measuring point of different location on electric chief axis system.
6) stiffness parameters recognize under electro spindle rotation status
When electro spindle is in high speed rotation, due to the presence of centrifugal force, the deflection of electric chief axis system includes that external force is drawn
Deflection caused by the deflection and centrifugal force that rise, therefore cannot be directly by external force divided by the obtained value of electro spindle radial displacement
As rigidity value of the electric chief axis system under rotation status, main axis stiffness can be caused less than normal in this way.Due to centrifuging force isotropy
Property, therefore radial displacement of the offset as electro spindle of the electro spindle centre of gyration can be used.Therefore in electro spindle front end
The double standard balls 5 of installation, electro spindle is detected by installing displacement sensor 6 in 5 horizontal and vertical both direction of double standard balls
Radial direction turns round curve, and the Least Square Circle center of circle 7 of main shaft gyration track is calculated by Least Square Circle algorithm.According to difference
The coordinate in the Least Square Circle center of circle 7 under loading force, to obtain the relative displacement of the main shaft rotation center under different loading forces.
Least square method and electro spindle rigidity model are finally combined, rigidity of the electro spindle under different rotational speeds is obtained.
Fig. 6 is electro spindle front end standard ball centre of sphere rotating curve.Solid line in figure revolves for the electro spindle front end standard ball centre of sphere
Turning curve, three dashed concentrics justify from the inside to surface respectively maximum inscribed circle 8, Least Square Circle 9 and minimum circumscribed circle 10, wherein
The calculation formula of Least Square Circle 9 is：
By solving x0、y0And rlmsSo thatIt is minimum.Wherein xiAnd yiTwo orthogonal displacements are indicated respectively
The displacement signal that sensor 6 detects, x0、y0The abscissa and ordinate in the Least Square Circle center of circle 7, r are indicated respectivelylmsIt indicates most
Small two multiply radius of circle.Since Least Square Circle 9 is without analytic solutions, the Least Square Circle center of circle 7 is solved using approximate data, is calculated
Formula is
Wherein,
Fig. 7 is Least Square Circle 9 under electro spindle rotation status with loading force change schematic diagram.Electro spindle is rotated, and by
Step increases the external force of electro spindle, draws radial motion curve graph of the electro spindle under different loading forces.Pass through above-mentioned minimum two
Multiply round algorithm, 7 position of the Least Square Circle center of circle under different loading forces is calculated, with the Least Square Circle of not loading force
The center of circle 7 is starting point, is based on Pythagorean theorem, the center of circle offset under different radial loads is calculated.It is finally based on linear minimum
Square law is fitted the linear relationship curve between loading force and center of circle displacement, and slope is equivalent stiffness in the position, just
The accounting equation of degree is：
Wherein dj(z) it is expressed as z3Point loading force is FjWhen, 7 displacement of the Least Square Circle center of circle of z points, i.e.,：
Wherein x0And y07 coordinate of the Least Square Circle center of circle of z points when indicating no loading force.
In conjunction with the rigidity characteristic for having picked out the shaft 2 come under stationary state, having customized handle of a knife 4 and main shaft knife handle faying face
Value, the rigidity model of electric chief axis system and is reduced to：
By matrix inversion, fore bearing 3 and rear bearing 1 rigidity of the electro spindle under different rotating speeds can be obtained, calculate public
Formula is
Wherein z4And z5Indicate two centre ofs sphere of double standard balls 5 with a distance from 1 center of rear bearing respectively.
2 rigidity value of shaft, 3 rigidity value of fore bearing and 1 rigidity value of rear bearing that identification obtains finally are brought into electro spindle
In rigidity model, the rigidity value of electro spindle is obtained, calculation formula is：
Fig. 8 be using this method after, to the rigidity figure obtained after a kind of identification of the rigidity of domestic electro spindle, the horizontal seat in figure
Mark indicates that the rotation speed change range of electro spindle, ordinate indicate the rigidity value of electro spindle.Testing result shows the static of electro spindle
Rigidity value is 72 newton/micron, and the rigidity value under rotation status is about 50 newton/micron, when electro spindle rotates, electro spindle
Rigidity first rises and declines afterwards with the raising of rotating speed.Rigidity modeling under a kind of electro spindle rotary state proposed by the present invention and
Indirect Detecting Method can be applied to electro spindle performance detection and monitoring, it can also be used to the system of Cutting Process in the following true cutting
The research of motion state and performance degradation in fixed and reliability consideration.
Claims (3)
1. rigidity modeling and Indirect Detecting Method under a kind of main axis state, the electro spindle include fore bearing (3), after
Bearing (1) and shaft (2)；Electro spindle, customization handle of a knife (4), main shaft knife handle faying face and standard ball target collectively constitute electro spindle
System, which is characterized in that the rigidity modeling and detection method includes the following steps：
1) by electric chief axis system shaft (2) and customization handle of a knife (4) be reduced to two simply supported beams to connect, and be based on small deflection
The differential equation establishes shaft (2) and customizes the deformation equation of handle of a knife (4)：
Wherein, w1(z) it is the shaft (2) and the deflection of simply supported beam that customization handle of a knife (4) is formed, F is consequently exerted at customization
External force on handle of a knife (4), z are length of the point away from rear bearing (1) on the simply supported beam of shaft (2) and customization handle of a knife (4) composition, l1
It is the length of fore bearing (3) away from rear bearing (1), l2It is length of the electro spindle front end away from fore bearing (3), l3It is customization handle of a knife (4)
Length, k1、k2Shaft (2), the rigidity of customization handle of a knife (4), C are indicated respectively1,C2,C3,C4,D1,D2,D3And D4It is constant, by
The internal structure of axis system determines；
2) it is based on Hooke's law, establishes the deformation equation of the fore bearing (3) and rear bearing (1) in electric chief axis system：
Wherein, w2(z) deflection that fore bearing (3) and rear bearing (1) generate, k are indicated3、k4Bearing (1), front axle after indicating respectively
Hold the rigidity of (3)；
3) it is based on Hooke's law, establishes the deformation equation of main shaft knife handle faying face：
Wherein, w3(z) deflection that main shaft knife handle faying face generates, k are indicated5Indicate the rigidity of main shaft knife handle faying face；
4) be based on principle of stacking, by step 1) shaft (2) and customize handle of a knife (4) deflection, the fore bearing (3) in step 2)
It is added with the deflection of the main shaft knife handle faying face in the deflection and step 3) of rear bearing (1), establishes electro spindle system
The deformation equation of system：
Wherein, w (z) indicates the deflection of electric chief axis system, B1(z),B2(z),B3(z),B4(z) and B5(z) it is respectively shaft
(2), customization handle of a knife (4), fore bearing (3), rear bearing (1), main shaft knife handle faying face z points constant；
5) deflection of the external force divided by electric chief axis system that will be applied on customization handle of a knife (4), obtains the rigidity of electric chief axis system
Model：
Wherein Kd(z) rigidity value of the expression electric chief axis system in z points；
6) be based on principle of stacking, by step 1) shaft (2) and customize handle of a knife (4) deflection, the fore bearing (3) in step 2)
Be added with the deflection of rear bearing (1), obtain the deflection of electro spindle, and by be applied to electro spindle front end external force divided by
The deflection of electro spindle obtains the rigidity model of electro spindle：
Wherein KspindleIndicate the rigidity value of electro spindle；
7) under electro spindle stationary state, electricity is acquired to described customization handle of a knife (4) applied force, and by displacement sensor (6)
Displacement of the axis system in different force effects；Based on linear least square, the once linear side of power and displacement is established
The slope of journey, wherein linear equation is rigidity value of the electric chief axis system in displacement sensor (6) test position, and the electricity is main
Axle system is in the calculation formula of the rigidity value of displacement sensor (6) test position：
Wherein, wi(z) it is when the power being applied on customization handle of a knife (4) is FiWhen z points displacement；N indicates detection number,It indicates
The average value for the power that detection n times are applied,Indicate the average value of the displacement of detection n times；
8) change displacement sensor (6) test position, repeat step 7) m times, obtain in electric chief axis system the rigid of m different location
Angle value, the m are greater than the positive integer equal to 5；
9) it is based on generalized inverse, the rigidity value of m position and according to calculating in step 5) on the electric chief axis system that step 8) is obtained
Obtained electric chief axis system rigidity value is fitted, and shaft (2), customization handle of a knife (4) and main shaft knife handle faying face is calculated
The rigidity value of fore bearing (3) and rear bearing (1) under rigidity value and stationary state, i.e.,：
Wherein, z6,z7,z8Indicate the measuring point of different location on electric chief axis system；
10) under electro spindle rotary state, to described customization handle of a knife (4) applied force, and spindle rotation error analyzer is used
Acquire the rotary motion curve of standard ball target；It based on Least Square Circle algorithm, obtains under different force effects, standard ball target
Rotary motion curve the Least Square Circle center of circle (7) position；It is obtained under different force effects based on Pythagorean theorem, Least Square Circle
The displacement of the center of circle (7) position；Based on linear least square, the position of different power and the Least Square Circle center of circle (7) position is established
The slope of the once linear equation of shifting amount, wherein linear equation is rigidity value of the electric chief axis system under rotary state, described
Rigidity value calculation formula of the electro spindle under rotary state be：
Wherein, dj(z) it is to customizing the power that handle of a knife applies as FjWhen, the Least Square Circle center of circle (7) of the rotary motion curve of z points
The displacement of position；N indicates detection number,Indicate the average value for the power that detection n times are applied,Indicate detection n times
The average value of the displacement of the Least Square Circle center of circle (7) position；
11) rigidity value by electric chief axis system that step 10) obtains under rotary state and according to being calculated in step 5)
Electric chief axis system rigidity value is fitted, and the rigidity value of fore bearing (3), rear bearing (1) under different rotating speeds is calculated, and is calculated
Formula is：
Wherein, z4And z5Two different locations in standard ball target are indicated respectively；
12) it is based on the electro spindle rigidity model of step 6), shaft (1) rigidity value, the front axle that will be recognized in step 9) and step 11)
It holds (3) rigidity value and rear bearing (1) rigidity value substitutes into electro spindle rigidity model, obtain final electro spindle rigidity value：
2. rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state as described in claim 1, feature exist
In Least Square Circle algorithm calculates the Least Square Circle center of circle (7) using least square circle-fitting algorithm, and calculation formula is：
Wherein x0And y0Indicate the abscissa and ordinate of the Least Square Circle center of circle (7), A1、A2、A3、A4And A5Indicate intermediate variable,
Respectively：
Wherein xiAnd yiIndicate that the signal that two displacement sensors detect, n indicate detection number.
3. rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state as described in claim 1, feature exist
In the standard ball target is using double standard balls (5), accurate divider or master bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810355005.4A CN108303251B (en) | 2018-04-19 | 2018-04-19 | Rigidity modeling and indirect detection method in electric spindle rotation state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810355005.4A CN108303251B (en) | 2018-04-19 | 2018-04-19 | Rigidity modeling and indirect detection method in electric spindle rotation state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108303251A true CN108303251A (en) | 2018-07-20 |
| CN108303251B CN108303251B (en) | 2020-03-06 |
Family
ID=62847509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810355005.4A Active CN108303251B (en) | 2018-04-19 | 2018-04-19 | Rigidity modeling and indirect detection method in electric spindle rotation state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108303251B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879626A (en) * | 2020-07-31 | 2020-11-03 | 广西交科集团有限公司 | Method for testing actual rigidity static force of bridge rubber support |
| CN112059721A (en) * | 2020-08-06 | 2020-12-11 | 清华大学 | Online indirect measurement method for rotation precision of machine tool spindle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068504A (en) * | 2015-07-31 | 2015-11-18 | 北京工业大学 | Electric main shaft system modeling method taking features of combination portions into consideration |
| CN106289773A (en) * | 2016-07-15 | 2017-01-04 | 西安交通大学 | A kind of determination method of machine tool mainshaft bearing radially non-linear rigidity |
| CN106525418A (en) * | 2016-11-09 | 2017-03-22 | 北京工业大学 | Joint rigidity analyzing method for bi-side locking handle-main shaft under high rotating speed conditions |
| CN106885663A (en) * | 2017-02-21 | 2017-06-23 | 清华大学深圳研究生院 | A kind of machine tool chief axis stiffness test method and its system |
| CN107063601A (en) * | 2017-05-14 | 2017-08-18 | 北京工业大学 | A kind of calculating method of stiffness for the lower faying face that run at high speed based on HSK100 main shaft knife handles |
-
2018
- 2018-04-19 CN CN201810355005.4A patent/CN108303251B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068504A (en) * | 2015-07-31 | 2015-11-18 | 北京工业大学 | Electric main shaft system modeling method taking features of combination portions into consideration |
| CN106289773A (en) * | 2016-07-15 | 2017-01-04 | 西安交通大学 | A kind of determination method of machine tool mainshaft bearing radially non-linear rigidity |
| CN106525418A (en) * | 2016-11-09 | 2017-03-22 | 北京工业大学 | Joint rigidity analyzing method for bi-side locking handle-main shaft under high rotating speed conditions |
| CN106885663A (en) * | 2017-02-21 | 2017-06-23 | 清华大学深圳研究生院 | A kind of machine tool chief axis stiffness test method and its system |
| CN107063601A (en) * | 2017-05-14 | 2017-08-18 | 北京工业大学 | A kind of calculating method of stiffness for the lower faying face that run at high speed based on HSK100 main shaft knife handles |
Non-Patent Citations (2)
| Title |
|---|
| 汪博等: "考虑主轴—刀柄—刀具结合面的高速主轴系统动力学特性有限元建模", 《机械工程学报》 * |
| 王立平等: "基于最小二乘法的电主轴回转精度评价", 《制造技术与机床》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111879626A (en) * | 2020-07-31 | 2020-11-03 | 广西交科集团有限公司 | Method for testing actual rigidity static force of bridge rubber support |
| CN111879626B (en) * | 2020-07-31 | 2022-05-31 | 广西交科集团有限公司 | Method for testing actual rigidity static force of bridge rubber support |
| CN112059721A (en) * | 2020-08-06 | 2020-12-11 | 清华大学 | Online indirect measurement method for rotation precision of machine tool spindle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108303251B (en) | 2020-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109032070A (en) | A kind of contactless R-test measuring instrument scaling method using eddy current displacement sensor | |
| CN110967185B (en) | Rotor bearing radial load measuring method and device and aircraft engine | |
| JP4984268B2 (en) | Shaft measurement method and angle detector with self-calibration function with shaft shake measurement function | |
| CN110470242B (en) | Device and method for measuring roundness of inner hole of large part in situ | |
| EP1264998A2 (en) | Bearing device | |
| US20160169288A1 (en) | Rolling-element bearing for a gearing | |
| CN108303251A (en) | Rigidity modeling and Indirect Detecting Method under a kind of electro spindle rotary state | |
| CN104251764A (en) | Rolling bearing vibration detection device and analysis method | |
| CN109839270A (en) | The abnormality diagnostic method and apparatus for diagnosis of abnormality of feed shaft | |
| CN105352466A (en) | Axial displacement detection device and method and magnetic suspension bearing | |
| CN100354078C (en) | Double ring detecting mechanism for robot joint speed reducer flexibility | |
| CN113446968A (en) | Method for detecting and identifying installation error of main shaft and coaxiality of main shaft and C axis | |
| US6905393B2 (en) | Method for simultaneous machining and measuring parameters of a surface being subjected to machining | |
| CN104977126B (en) | A kind of main shaft unbalance dynamic detection computational methods and system | |
| CN101628396B (en) | Method for measuring thermal error of grinding wheel spindle of grinder | |
| Kenno et al. | Identification method of error motions and geometric errors of a rotary axis by R-test | |
| Viitala et al. | Device and method for measuring thickness variation of large roller element bearing rings | |
| CN116579104A (en) | Method and system for acquiring internal dynamic load of intermediate bearing with inner ring and outer ring rotating simultaneously | |
| US9926786B2 (en) | Method for joining at least two rotor elements of a turbomachine | |
| CN111829477B (en) | Method and device for calculating negative clearance of hub bearing, storage medium and equipment | |
| Tai et al. | A hybrid physics and data-driven model for spindle fault detection | |
| JP5233509B2 (en) | Load measuring device for rolling bearing units | |
| CN110657768B (en) | Method for measuring axial and radial displacements of rotor by utilizing conical surface | |
| CN206601119U (en) | A kind of ball-screw sag detection means | |
| CN110125724B (en) | System for axle center orbit test and circularity error separation measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |