CN108490886A - Method for realizing position following of partial area of main shaft and workbench - Google Patents
Method for realizing position following of partial area of main shaft and workbench Download PDFInfo
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- CN108490886A CN108490886A CN201810261302.2A CN201810261302A CN108490886A CN 108490886 A CN108490886 A CN 108490886A CN 201810261302 A CN201810261302 A CN 201810261302A CN 108490886 A CN108490886 A CN 108490886A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 230000004044 response Effects 0.000 claims description 8
- 238000012986 modification Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 8
- 238000003754 machining Methods 0.000 description 4
- 210000003746 feather Anatomy 0.000 description 3
- 206010068052 Mosaicism Diseases 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003765 sex chromosome Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34015—Axis controller
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention belongs to the field of machine tool speed control communication, and discloses a method for realizing position following of a partial area of a main shaft and a workbench, which comprises the step S1 of obtaining the current main shaft speed V in real time through encoder feedbackmain(ii) a S2 according to the set time T after the bench servo responsedlayAnd VmainCalculating the corresponding spindle offset angle Aoffset(ii) a S3 according to AoffsetModifying the following area of a spindleSfollow_new(ii) a S4 new following area S of main shaft according to accelerationfollow_newDividing the system into three sections of acceleration, uniform speed and deceleration; s5, judging according to the current following area and the divided three sections of area positions; when S iscurrent＜Sfollow_addWhen the pulse of the working platform corresponding to the area integral is sent out in an acceleration mode; when S isfollow_add＜Scurrent＜Sfollow_downWhen the pulse of the working platform corresponding to the area integral is sent out in a constant speed mode; when S isfollow_down＜ScurrentAnd when the pulse of the working table corresponding to the area integral is sent out in a speed reduction mode.
Description
Technical field
The invention belongs to machine velocities to control the communications field, and main shaft portion region and work are directed to more particularly, to one kind
Make the implementation method of platform location following.
Background technology
Hair, brush industry processed are being planted, feather planting machine main shaft, which is in, quickly to move up and down, and is equipped with the workbench of workpiece by pre-
Fixed track is transported in main shaft moved beneath, the movement of workbench it is often the case that carrying out constant acceleration and deceleration according to the parameter of setting
It is dynamic, it carries out movement in some region of main shaft and is realized by upper and lower level sensor.When processing different workpieces,
Manual setting or more level sensor is needed in the case that some region of forward spindle cannot meet processing technology.Also certain
When each section of workpieces processing move distance difference it is bigger, the fixed speed parameter being at this moment arranged can not meet processing at all
It is required that：Appear in apart from it is short when do not accelerate up just must slow down, lead to workbench vibration effect machining accuracy；
Or acceleration and deceleration are slow when apart from long and then appearance positioning postpones, and cause main shaft that cannot become by pre- orbit determination and process,
It causes workpiece damage or scraps.
Invention content
In view of the drawbacks of the prior art, the purpose of the present invention is to provide one kind for main shaft portion region and workbench position
Set the method followed, it is intended to solve the speed of table in the prior art and be followed between region with a kind of fixed setting means and main shaft
The existing limitation of motion process, when processing different workpieces, when some region of forward spindle cannot meet processing work
Manual setting level sensor up and down is needed in the case of skill.Also ratio is differed in the move distance of each section of sometimes workpieces processing
Larger, the fixed speed parameter being at this moment arranged can not meet processing request at all：Appear in apart from it is short when do not accelerate
It just must slow down up, lead to workbench vibration effect machining accuracy；Or acceleration and deceleration are compared when apart from long
Slow-motion and occur positioning postpone, cause main shaft cannot by pre- orbit determination become process, cause workpiece damage or scrap.
To achieve the above object, the present invention provides a kind of realizations followed with operating position for main shaft portion region
Method includes the following steps：
S1：It is calculated in real time by encoder feedback and obtains current spindle speed Vmain；
S2：Time T is postponed according to the workbench servo response of settingdlayWith VmainCalculate corresponding main shaft angle Aoffset；
S3：According to main shaft angle of eccentricity AoffsetModification main shaft follows region Sfollow_new；
S4：Main shaft is newly followed to region S according to accelerationfollow_newBe divided into acceleration, at the uniform velocity, slow down three sections；
S5：Judged with the three sections of regional locations divided according to region is currently followed；Work as Scurrent＜ Sfollow_addWhen,
The corresponding workbench pulse of the domain integral is distributed with accelerated mode；Work as Sfollow_add＜ Scurrent＜ Sfollow_downWhen,
The corresponding workbench pulse of the domain integral distributes in a manner of at the uniform velocity；Work as Sfollow_down＜ ScurrentWhen, the domain integral pair
The workbench pulse answered is distributed with ways of deceleration.
Further, in step s 2, according to formula Aoffset=Vmain*Tdlay* 360 ° calculate in current spindle speed
Under, kinematic axis postpones time TdlayCorresponding AoffsetMain shaft angle, and the main shaft for changing setting follows region SfollowFor
Sfollow_new, wherein VmainFor main shaft present speed, TdlayThe time is postponed for movement axle response.
What the method provided by the invention followed for main shaft portion region and operating position was arranged according to system spindle
Follow region, and sex chromosome mosaicism postponed according to the speed of main shaft and the working table movement of physical presence, calculate it is new follow region,
And provided with accelerate, at the uniform velocity, decelerating area, realize the movement that follows of workbench and the acceleration and deceleration of main shaft portion region, realization work
Platform smooth motion improves machining accuracy, improves process velocity and efficiency, avoids defective products.
Description of the drawings
Fig. 1 is the implementation process for the method that main shaft portion region provided in an embodiment of the present invention is followed with operating position
Figure；
Fig. 2 is implemented using main shaft portion region provided in an embodiment of the present invention and the method that operating position follows
Process schematic；
Fig. 3 is that realization feather planting machine main shaft portion region provided in an embodiment of the present invention follows structural representation with operating position
Figure.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention provides a kind of methods that main shaft portion region and operating position follow, and are collected in real time in main shaft
Speed under, by with postpone the time existing for workbench servo in the case of, show that main shaft follows the offset angle in region to find out newly
Follow region, and region is accelerated, at the uniform velocity, slow down division, in corresponding region to the pulse equivalency of each axis of workbench
Carry out it is corresponding accelerate, at the uniform velocity, slow down output, can also smooth motion under main shaft high speed to reach workbench.As shown in Figure 1,
This method specifically includes following step：
S1：It is calculated in real time by encoder feedback and obtains current spindle speed Vmain；
S2：Time T is postponed according to the workbench servo response of settingdlayWith VmainCalculate corresponding main shaft angle Aoffset；
S3：According to main shaft angle of eccentricity AoffsetModification main shaft follows region Sfollow_new；
S4：Main shaft is newly followed to region S according to accelerationfollow_newBe divided into acceleration, at the uniform velocity, slow down three sections；
S5：Judged with the three sections of regional locations divided according to region is currently followed；Work as Scurrent＜ Sfollow_addWhen,
The corresponding workbench pulse of the domain integral is distributed with accelerated mode；Work as Sfollow_add＜ Scurrent＜ Sfollow_downWhen,
The corresponding workbench pulse of the domain integral distributes in a manner of at the uniform velocity；Work as Sfollow_down＜ ScurrentWhen, the domain integral pair
The workbench pulse answered is distributed with ways of deceleration.
In step s 2, according to formula Aoffset=Vmain*Tdlay* 360 ° calculate under current spindle speed, kinematic axis
Postpone time TdlayCorresponding AoffsetMain shaft angle, and the main shaft for changing setting follows region SfollowFor Sfollow_new, wherein
VmainFor main shaft present speed, TdlayThe time is postponed for movement axle response.
What the method provided by the invention followed for main shaft portion region and operating position was arranged according to system spindle
Follow region, and sex chromosome mosaicism postponed according to the speed of main shaft and the working table movement of physical presence, calculate it is new follow region,
And provided with accelerate, at the uniform velocity, decelerating area, realize the movement that follows of workbench and the acceleration and deceleration of main shaft portion region, realization work
Platform smooth motion improves machining accuracy, improves process velocity and efficiency, avoids defective products.
In embodiments of the present invention, digital control system is acquired and calculates to current spindle speed in real time, obtains main shaft speed
Spend Vmain；According to the spindle speed known, digital control system calculates and actually follows region under current spindle speed automatically, and divides
For accelerate, at the uniform velocity, slow down three regions, the pulse needed for the working table movement corresponding to different regions is reached according to main shaft and is worked as
Amount accelerated, at the uniform velocity, slow down output.
According to arrange parameter and processing routine, digital control system is acquired and calculates to current spindle speed in real time, obtains
Spindle speed Vmain；Time T is postponed then according to known workbench servo responsedlayWith VmainIt calculates in current spindle speed
In the case of postpone time corresponding main shaft angle Aoffset；Region S is followed safely according to the main shaft of settingfollowAnd AoffsetIt is right
SfollowProgress biased forward, which obtains, is ahead of its AoffsetThe new of angle follows region Sfollow_new；According at the uniform velocity comparing for setting
Example is by Sfollow_newDivision side accelerates, at the uniform velocity, three regions of slowing down, be to do symmetrical acceleration and deceleration under normal conditions, pass through product
The pulse equivalency of the corresponding each axis working table movement of three different zones can be found out by dividing；By the present bit for detecting main shaft in real time
It sets and is judged, work as Scurrent＜ Sfollow_addWhen, the corresponding workbench pulse of the domain integral is distributed with accelerated mode；
Work as Sfollow_add＜ Scurrent＜ Sfollow_downWhen, the corresponding workbench pulse of the domain integral is distributed in a manner of at the uniform velocity；When
Sfollow_down＜ ScurrentWhen, the corresponding workbench pulse of the domain integral is distributed with ways of deceleration.
As shown in Fig. 2, the method detailed process provided by the invention followed with operating position for main shaft portion region
It is as follows：
According to arrange parameter and processing routine, main shaft current rotating speed V can be determined firstmainWith when the position of forward spindle
Scurrent；It is described above flow chart：The parameter of setting has main shaft to follow region start angle AstartWith follow region end angle
Spend Aend, workbench servo response postpones time Tdlay, at the uniform velocity range scale Rratio；
Started with workbench current trace points, according to main shaft present speed VmainThe time is postponed with workbench servo response
TdlayIt calculates and postpones time corresponding main shaft angle A in current spindle speedoffset；According to the main shaft of setting safety with
With region SfollowAnd AoffsetTo SfollowProgress biased forward, which obtains, is ahead of its AoffsetThe new of angle follows region
Sfollow_new；According to the at the uniform velocity ratio R of settingratioBy Sfollow_newIt is divided into acceleration (1-R with symmetrical acceleration and decelerationratio)/
2, at the uniform velocity Rratio, slow down (1-Rratio)/2 three region can find out the corresponding each axis work of three different zones by integral
Make the pulse equivalency of platform movement；It acquires in real time and changes current main spindle's ScurrentValue and judged, work as Scurrent＜
Sfollow_addWhen, the corresponding workbench pulse of the domain integral is distributed with accelerated mode；Work as Sfollow_add＜ Scurrent＜
Sfollow_downWhen, the corresponding workbench pulse of the domain integral is distributed in a manner of at the uniform velocity；Work as Sfollow_down＜ ScurrentWhen,
The corresponding workbench pulse of the domain integral is distributed with ways of deceleration.
It is followed with operating position for main shaft portion region in order to which further description is provided in an embodiment of the present invention
Method, now by taking feather planting machine main shaft portion region and operating position follow as an example, in conjunction with Fig. 3, details are as follows：
Main shaft rotation band cutter moves up and down.Each axis of workbench of workpiece workpiece is installed by desired trajectory in main shaft
Moved beneath, machine tool chief axis band cutter is continuous on workpiece rapidly to carry out the processing of hole position.
Current spindle speed is acquired and is calculated in real time by digital control system, obtains spindle speed Vmain；Then root
Time T is postponed according to known workbench servo responsedlayWith VmainCalculate that in current spindle speed to postpone the time corresponding
Main shaft angle Aoffset；Region S is followed safely according to the main shaft of settingfollowAnd AoffsetTo SfollowIt carries out biased forward and obtains excess of export
It is preceding in its AoffsetThe new of angle follows region Sfollow_new；According to the at the uniform velocity ratio of setting by Sfollow_newIt is divided into acceleration, even
Speed, three regions of slowing down, are to do symmetrical acceleration and deceleration under normal conditions, and can find out three different zones by integral corresponds to
Each axis working table movement pulse equivalency；By detecting the current location of main shaft in real time and being judged, work as Scurrent＜
Sfollow_addWhen, the corresponding workbench pulse of the domain integral is distributed with accelerated mode；Work as Sfollow_add＜ Scurrent＜
Sfollow_downWhen, the corresponding workbench pulse of the domain integral is distributed in a manner of at the uniform velocity；Work as Sfollow_down＜ ScurrentWhen,
The corresponding workbench pulse of the domain integral is distributed with ways of deceleration.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (2)
1. a kind of implementation method followed with operating position for main shaft portion region, feature include the following steps：
S1：It is calculated in real time by encoder feedback and obtains current spindle speed Vmain；
S2：Time T is postponed according to the workbench servo response of settingdlayWith VmainCalculate corresponding main shaft angle Aoffset；
S3：According to main shaft angle of eccentricity AoffsetModification main shaft follows region Sfollow_new；
S4：Main shaft is newly followed to region S according to accelerationfollow_newBe divided into acceleration, at the uniform velocity, slow down three sections；
S5：Judged with the three sections of regional locations divided according to region is currently followed；Work as Scurrent＜ Sfollow_addWhen, this
The corresponding workbench pulse of domain integral is distributed with accelerated mode；Work as Sfollow_add＜ Scurrent＜ Sfollow_downWhen, the area
The corresponding workbench pulse of volume integration distributes in a manner of at the uniform velocity；Work as Sfollow_down＜ ScurrentWhen, the domain integral is corresponding
Workbench pulse is distributed with ways of deceleration.
2. the method as described in claim 1, it is characterised in that S2, in step s 2, according to formula Aoffset=Vmain*Tdlay*
360 ° calculate under current spindle speed, and kinematic axis postpones time TdlayCorresponding AoffsetMain shaft angle, and change setting
Main shaft follow region SfollowFor Sfollow_new, wherein VmainFor main shaft present speed, TdlayTo move when postponing of axle response
Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261302.2A CN108490886A (en) | 2018-03-22 | 2018-03-22 | Method for realizing position following of partial area of main shaft and workbench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261302.2A CN108490886A (en) | 2018-03-22 | 2018-03-22 | Method for realizing position following of partial area of main shaft and workbench |
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| CN108490886A true CN108490886A (en) | 2018-09-04 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3159889B2 (en) * | 1995-04-28 | 2001-04-23 | 株式会社日平トヤマ | Cam grinder |
| US20020060541A1 (en) * | 2000-11-22 | 2002-05-23 | Mori Seiki Co., Ltd | Numerical control apparatus for machine tool |
| CN102854901A (en) * | 2011-06-28 | 2013-01-02 | 欧姆龙株式会社 | Synchronous control apparatus and synchronous control method |
| CN103240613A (en) * | 2013-05-23 | 2013-08-14 | 南京工业大学 | Machine tool workbench motion control method |
| CN104238450A (en) * | 2013-06-20 | 2014-12-24 | 发那科株式会社 | Numerical controller of machine tool for drilling |
| CN107433493A (en) * | 2016-05-27 | 2017-12-05 | 中村留精密工业株式会社 | Work piece processing method, main shaft angle means for correcting and compound lathe |
-
2018
- 2018-03-22 CN CN201810261302.2A patent/CN108490886A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3159889B2 (en) * | 1995-04-28 | 2001-04-23 | 株式会社日平トヤマ | Cam grinder |
| US20020060541A1 (en) * | 2000-11-22 | 2002-05-23 | Mori Seiki Co., Ltd | Numerical control apparatus for machine tool |
| CN102854901A (en) * | 2011-06-28 | 2013-01-02 | 欧姆龙株式会社 | Synchronous control apparatus and synchronous control method |
| CN103240613A (en) * | 2013-05-23 | 2013-08-14 | 南京工业大学 | Machine tool workbench motion control method |
| CN104238450A (en) * | 2013-06-20 | 2014-12-24 | 发那科株式会社 | Numerical controller of machine tool for drilling |
| CN107433493A (en) * | 2016-05-27 | 2017-12-05 | 中村留精密工业株式会社 | Work piece processing method, main shaft angle means for correcting and compound lathe |
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Application publication date: 20180904 |