CN109551062A - The control method of spiral bevel gear automatic grinding - Google Patents
The control method of spiral bevel gear automatic grinding Download PDFInfo
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- CN109551062A CN109551062A CN201910043562.7A CN201910043562A CN109551062A CN 109551062 A CN109551062 A CN 109551062A CN 201910043562 A CN201910043562 A CN 201910043562A CN 109551062 A CN109551062 A CN 109551062A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F19/00—Finishing gear teeth by other tools than those used for manufacturing gear teeth
- B23F19/02—Lapping gear teeth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
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- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Grinding-Machine Dressing And Accessory Apparatuses (AREA)
Abstract
The present invention relates to the technical field of numerical control gear lapping more particularly to a kind of control methods of spiral bevel gear automatic grinding.It is responsible for high-speed computation and core control, signal acquisition including host computer IPC, embedded controller BYC, grating scale ruler SINO-KA-300 and servo drive unit BYET, controller BYC and maintains Modbus serial communication；Servo drive unit driving motor carries out axial real-time interpolation movement, guarantees that the large and small gear teeth have constant backlash values and reasonable flank of tooth abrasive areas in grinding；The closed loop online feedback of system, to guarantee the mobile accuracy of servo drive unit；The large and small automatic engagement of wheel before gear lapping, automatic measurement flank of tooth sideshake, entire Control system architecture is succinctly efficient, and the division of labor is clear, reduces operating process, improves production efficiency.
Description
Technical field
The present invention relates to one kind more particularly to a kind of control methods of spiral bevel gear automatic grinding.
Background technique
Automobile industry increasingly higher demands are proposed to performances such as the smooth running of rear axle bevel gear pair and low noises, it is existing
Algebra control gear lapping technology becomes one of several key technologies of domestic and international Bevel Gear Generator equipment industry.Existing screw conic tooth
Wheel automatic grinding motion model can be classified as two classes: Swing pinion cone gear lapping motion model and the movement of V/H adjusting method gear lapping
Model.Swing pinion cone gear lapping motion model mainly on traditional mechanical semi-automatic bevel gear lapper, and
Digital control lapping device is essentially all using V/H adjusting method gear lapping motion model.Wherein, the tune of Swing pinion cone gear lapping processing
Examination process is complicated, and motion profile setting is more troublesome, for the flank of tooth situation of variation multiplicity, the pattern of these motion profiles
It is excessively single, without too big changeability；In addition, the design of swing mechanism is more multiple relative to the design of straight-line motion mechanism
It is miscellaneous, while increasing the cost and unstability of system.Therefore, modern digital control lapping device is essentially all to be adjusted using V/H
Method gear lapping motion model carries out gear lapping processing.
The digital control lapping device of main product such as Glerson and Oerlikon company directlys adopt import currently on the market
CNC digital control platform, therefore by platform considerable restraint in terms of Function Extension, and due to import CNC digital control platform cost itself
Excessively high, causing can not large-scale application using the type of the platform.
Summary of the invention
Present invention seek to address that drawbacks described above, provides a kind of control method of spiral bevel gear automatic grinding.
In order to overcome defect present in background technique, the technical solution adopted by the present invention to solve the technical problems is:
The control method of this spiral bevel gear automatic grinding includes host computer IPC, embedded controller BYC, grating scale ruler SINO-
KA-300 and servo drive unit BYET, host computer IPC carry out data exchange by TCP port and embedded controller BYC, embedding
Enter formula controller BYC to connect with grating scale ruler SINO-KA-300 and servo drive unit BYET respectively,
The effect of the host computer IPC is human-computer interaction, and state, input spiral bevel gear including dynamic display system grind phase
Corresponding operating mode is ground in the parameter of pass and triggering/entrance；
The embedded controller BYC is responsible for high-speed computation and core control, signal acquisition and maintains Modbus serial communication；
The servo drive unit BYET includes servo-driver and actuator, and servo drive unit BYET driving motor carries out
Axial real-time interpolation movement guarantees that the large and small gear teeth have constant backlash values and reasonable flank of tooth abrasive areas in grinding；
Grating scale ruler SINO-KA-300 is the closed loop online feedback of system, to guarantee the mobile accuracy of servo drive unit.
According to another embodiment of the invention, further comprise the servo-driver include control A axis servo drive
Dynamic device A, the servo-driver C for controlling C axis, the servo-driver V for controlling V axis, the servo-driver H for controlling H axis, control G axis
Servo-driver G, the servo-driver A concatenates servo motor A by signal wire, power line, and servo-driver C passes through letter
Number line, power line concatenate servo motor C, and servo-driver V concatenates servo motor V, servo-driver by signal wire, power line
H concatenates servo motor H by signal wire, power line, and servo-driver G concatenates servo motor G by signal wire, power line.
It according to another embodiment of the invention, further comprise entering self-test after the embedded controller BYC is powered
And mode, manual mode, linkage pattern or automatic mode are returned to zero,
Auto-Sensing Mode: whether within the allowable range parameter that host computer IPC is transmitted by TCP port is checked, parameter includes gear
Rotation direction, each axis of V, H, G target position data, sideshake setting value, revolving speed, torque；
Return to zero mode: each working shaft of V, H, G of control system return back to reference origin, using the position of reference origin as V, H,
The initial coordinate position of each axis of G；
Manual mode: can manually adjust the position of each working shaft of V/H/G by the mode, to primarily determine each axis of V/H/G
Relative positional relationship；
Linkage pattern: by for determining, the associated technical parameters of subtle adjustment spiral bevel gear automatic grinding, so as to subsequent same
A batch of type spiral bevel gear carries out automatic grinding according to the parameter；
Automatic mode: after determining the relevant abrasive parameters of principal and subordinate's gear under linkage pattern, with a batch of type spiral
Bevel gear can run in automatic mode, carry out automatic grinding according to corresponding abrasive parameters.
According to another embodiment of the invention, further comprise it is described return to zero mode, when embedded controller BYC is received
Host computer IPC by TCP port send when returning to zero instruction, first determine whether the state of current system:
Such as in returning to zero mode, then ignore the instruction；
It such as in manual mode, linkage pattern, automatic mode, needs first to exit the mode, then be controlled by control connecting line
Servo-driver V, servo-driver H, servo-driver G, which enter, returns to zero mode；
The workflow for returning to zero mode is as follows:
The first step, servo-driver G driving servo motor G control G axis advance always along the direction G；
The first step is corresponded to delay 3 seconds by second step, embedded controller BYC, it is ensured that principal and subordinate's gear disengaging of spiral bevel gear is nibbled
It closes；
Third step, servo-driver V driving servo motor V control V axis are retreated along the direction V, and servo-driver H drives servo motor
H controls H axis and advances along the direction H;
4th step waits V axis, H axis and G axis all to encounter limit point；
5th step, V axis, H axis, G axis start to return to zero；
6th step, embedded controller BYC detect the Relocation complete signal of V axis, H axis, G axis, and waiting returns to zero completion；
7th step, setting zero point coordinate.
Manual mode is sentenced when embedded controller BYC receives the manual command that host computer IPC is sent by TCP port
The state for current system of breaking:
Such as it is automatic, link, return to zero in mode, then ignore the instruction；
It is controlled by embedded controller BYC, control servo-driver V, servo-driver H, servo-driver G enter manual mould
Formula；
The manual mode is divided into forward/backward and stepping/step and moves back:
Forward/backward: entity button and operated by handwheel carry out speed setting in operation；
Stepping/step is moved back: being operated by host computer IPC, is provided single step value in operation, unit: silk (0.01 millimeter).
It according to another embodiment of the invention, further comprise the linkage pattern, when embedded controller BYC is received
When host computer IPC is instructed by the linkage that TCP port is sent, the state of current system is judged:
Such as it is automatic, return to zero in mode, then ignore the instruction；
Servo-driver V, servo-driver H, servo-driver G, which are controlled, by control connecting line enters linkage pattern；
The workflow of linkage pattern is as follows:
Before the first step, linkage pattern starting, the security bit whether G axis current location is less than between spiral bevel gear principal and subordinate's gear is judged
It sets, is such as less than then moved to the home, to prevent spiral bevel gear principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of spiral bevel gear principal and subordinate's gear；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, jump to step 10；
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to step 7；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows: mobile relative value=sideshake setting value * (the active tooth number/driven wheel of G axis
The number of teeth)；
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step, V axis and the linkage of H axis are completed, and linkage pattern is completed, and linkage pattern is exited.
It according to another embodiment of the invention, further comprise the automatic mode, when embedded controller BYC is received
When the automatic command that host computer IPC is sent by TCP port, the state of current system is judged:
Such as it is automatic, link, return to zero in mode, then ignore the instruction；
Servo-driver V axis, H axis, G axis, which are controlled, by control connecting line enters automatic mode；
The workflow of automatic mode is as follows:
Before the first step, automatic mode starting, judge whether G axis current location is less than the safety between principal and subordinate's gear of spiral bevel gear
Position is such as less than then moved to the home, to prevent principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of principal and subordinate's gear；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, write down raster data V0, H0, G0 at this time, jump to step 10；
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to the 7th step；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows:
G axis is mobile relative value=sideshake setting value * (active tooth number/driven tooth number)；
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step starts to grind:
1) main shaft forward/reverse is determined according to rotation direction and positive vehicle/reversing face, determines revolving speed/torque；
2) V, H, G axis linear interpolation put a coordinate to grinding
==with s0 is starting
Vs0=V reference coordinate+V setting value
Hs0=H reference coordinate+H setting value
Gs0=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)
==t1-t5 h1-h5
V coordinate=V setting value+upper point V coordinate
H coordinate=H setting value+upper point H coordinate
G coordinate=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)；
3) point and timing are stopped；
4) whether all points in the face have moved, not no then repeat 2) -4)；
5) whether another side opens, open then repeat 1) -4)；
6) whether there is next phase, be then to repeat 1) -5), otherwise grinding is completed；
13rd step checks whether loading position function opens, and open then V axis, H axis, G axis are moved to loading position, do not open
Then G axis is moved to default location (V, H axis remain stationary)；
Automatic cycle terminates, and exits automatic mode.
The beneficial effects of the present invention are: the controller BYC of the control method of this spiral bevel gear automatic grinding is responsible for height
Fast operation and core control, signal acquisition and maintenance Modbus serial communication；Servo drive unit driving motor carries out axial
Real-time interpolation movement guarantees that the large and small gear teeth have constant backlash values and reasonable flank of tooth abrasive areas in grinding；System is closed
Ring online feedback, to guarantee the mobile accuracy of servo drive unit；The large and small automatic engagement of wheel, the automatic measurement flank of tooth before gear lapping
Sideshake, entire Control system architecture is succinctly efficient, and the division of labor is clear, reduces operating process, improves production efficiency.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the direction definition structural schematic diagram that the present invention works；
Fig. 3 is the structural schematic diagram of each axis corresponding gear of the present invention.
Specific embodiment
The control method of this spiral bevel gear automatic grinding includes host computer IPC, embedded controller BYC, grating quarter
Ruler SINO-KA-300 and servo drive unit BYET is spent, host computer IPC is counted by TCP port and embedded controller BYC
According to exchange, embedded controller BYC is connect with grating scale ruler SINO-KA-300 and servo drive unit BYET respectively,
The effect of host computer IPC is human-computer interaction, and state, input spiral bevel gear grinding including dynamic display system are relevant
Corresponding operating mode, the model GT2712-STBA of host computer are ground in parameter and triggering/entrance；
Embedded controller BYC is responsible for high-speed computation and core control, signal acquisition and maintains Modbus serial communication, controller
The model 306X of BYC；
Servo drive unit BYET includes servo-driver and servo motor, herein, the servo-driver model MR- used
J4-200A, servo motor model number HG-SR152J, servo drive unit BYET driving motor carry out axial real-time interpolation fortune
It is dynamic, guarantee that the large and small gear teeth have constant backlash values and reasonable flank of tooth abrasive areas in grinding；
Grating scale ruler SINO-KA-300 is the closed loop online feedback of system, to guarantee the mobile accuracy of servo drive unit.
Servo-driver includes the servo-driver A for controlling A axis, the servo-driver C for controlling C axis, the servo for controlling V axis
Driver V, the servo-driver H for controlling H axis, the servo-driver G for controlling G axis, the servo-driver A by signal wire,
Power line concatenates servo motor A, and servo-driver C concatenates servo motor C by signal wire, power line, and servo-driver V passes through
Signal wire, power line concatenate servo motor V, and servo-driver H concatenates servo motor H, servo-drive by signal wire, power line
Device G concatenates servo motor G by signal wire, power line.
Embedded controller BYC enters self-test after being powered and returns to zero mode, manual mode, linkage pattern or automatic mold
Formula.
Auto-Sensing Mode: whether within the allowable range parameter that host computer IPC is transmitted by TCP port is checked, parameter includes
The rotation direction of gear, the target position data of each axis of V, H, G, sideshake setting value, revolving speed, torque；
Return to zero mode: each working shaft of V, H, G of control system return back to reference origin, using the position of reference origin as V, H,
The initial coordinate position of each axis of G；
Manual mode: can manually adjust the position of each working shaft of V/H/G by the mode, to primarily determine each axis of V/H/G
Relative positional relationship；
Linkage pattern: by for determining, the associated technical parameters of subtle adjustment spiral bevel gear automatic grinding, so as to subsequent same
A batch of type spiral bevel gear carries out automatic grinding according to the parameter；
Automatic mode: after determining the relevant abrasive parameters of principal and subordinate's gear under linkage pattern, with a batch of type spiral
Bevel gear can run in automatic mode, carry out automatic grinding according to corresponding abrasive parameters.
In the following, illustrating the specific implementation process of the present invention in conjunction with attached drawing 1, Fig. 2 and operating mode, wherein the direction V in Fig. 2
The direction of V axis is driven for servo motor V, the direction G is the direction that servo motor G drives G axis, and the direction H is that servo motor H drives H
The direction of axis, the direction A are the direction that servo motor A drives A axis, and the direction C is the direction that servo motor C drives C axis.
Firstly, in embedded controller BYC power-on self-test and entrance automatic mode, linkage pattern, returning to zero mode, manual mould
Before formula, whether within the allowable range parameter that host computer IPC is transmitted by TCP port can be checked, parameter includes the rotation direction A of gear
Direction, the direction rotation direction C of gear, V axis, H axis, the target position data of G axis, sideshake setting value, revolving speed, torque etc. are such as joined
Number exceeds allowed band, then controller BYC can forbid entering each operating mode, and pass through TCP port feedback to host computer IPC
It shows；If parameter is by checking, then controller BYC can go to enter corresponding modes according to the requirement of host computer IPC.
The undesirable contact area of the script of spiral bevel gear drives C axis by the A axis that embedded controller BYC is controlled
Rotation, while the position for controlling V, H, G respective shaft is mobile, in moving process, the braking moment applied by C axis, at two
Certain frictional force, the position in quantitative control face region, so that the flank of tooth connects are formed between the flank of tooth of spiral bevel gear
Touching area is deviated to scheduled ideal zone, to reach grinding effect, position assumption diagram, as shown in Figure 3.
Specific mode is as follows:
One, it returns to zero mode: powering on mandatory requirement for the first time and return to zero
Mode is returned to zero, specific implementation process:
When embedded controller BYC receive host computer IPC by TCP port send when returning to zero instruction, first determine whether be at present
The state of system:
Such as in returning to zero mode, then ignore the instruction；
It such as in manual mode, linkage pattern, automatic mode, needs first to exit the mode, then be controlled by control connecting line
Servo-driver V, servo-driver H, servo-driver G, which enter, returns to zero mode；
The workflow for returning to zero mode is as follows:
The first step, servo-driver G driving servo motor G control G axis advance always along the direction G；
The first step is corresponded to delay 3 seconds by second step, embedded controller BYC, it is ensured that principal and subordinate's gear disengaging of spiral bevel gear is nibbled
It closes;
Third step, servo-driver V driving servo motor V control V axis are retreated along the direction V, and servo-driver H drives servo motor
H controls H axis and advances along the direction H;
4th step waits V axis, H axis and G axis all to encounter limit point, and limit point refers to an extreme position point on lathe, the point
It is connected to corresponding close switch, when each axis encounters corresponding close switch, each axis is automatically stopped movement；
5th step, V axis, H axis, G axis start to return to zero；
6th step, embedded controller BYC detect the Relocation complete signal of V axis, H axis, G axis, and waiting returns to zero completion；
7th step, setting zero point coordinate.
Two, manual mode
Manual mode, specific implementation process:
When embedded controller BYC receives the manual command that host computer IPC is sent by TCP port, current system is judged
State:
Such as it is automatic, link, return to zero in mode, then ignore the instruction；
It is controlled by embedded controller BYC, control servo-driver V, servo-driver H, servo-driver G enter manual mould
Formula；
Manual mode is divided into forward/backward and stepping/step and moves back:
Forward/backward: entity button and operated by handwheel carry out speed setting in operation；
Stepping/step is moved back: being operated by host computer IPC, is provided single step value in operation, unit: silk (0.01 millimeter).
Three, linkage pattern: under adjustment modes, the forward-reverse of V/H/G working shaft can be carried out, sets coordinate, modifies phase
Parameter is answered, confirms grinding effect.
Linkage pattern, specific implementation process:
When embedded controller BYC, which receives host computer IPC, to be instructed by the linkage that TCP port is sent, current system is judged
State:
Such as it is automatic, return to zero in mode, then ignore the instruction；
Servo-driver V, servo-driver H, servo-driver G, which are controlled, by control connecting line enters linkage pattern；
The workflow of linkage pattern is as follows:
Before the first step, linkage pattern starting, the security bit whether G axis current location is less than between spiral bevel gear principal and subordinate's gear is judged
It sets, is such as less than then moved to the home, to prevent spiral bevel gear principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of spiral bevel gear principal and subordinate's gear, and the theoretical position of engagement refers to spiral shell
Revolve ideal contact position when bevel gear design, processing, the i.e. theoretical locating distance position of driving wheel, driven wheel；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, jump to step 10；
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to step 7；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows: mobile relative value=sideshake setting value * (the active tooth number/driven of G axis
Tooth number)；
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step, V axis and the linkage of H axis are completed, and linkage pattern is completed, and linkage pattern is exited.
Four, automatic mode,
Specific implementation process:
When embedded controller BYC receives the automatic command that host computer IPC is sent by TCP port, current system is judged
State:
Such as it is automatic, link, return to zero in mode, then ignore the instruction；
Servo-driver V axis, H axis, G axis, which are controlled, by control connecting line enters automatic mode；
The workflow of automatic mode is as follows:
Before the first step, automatic mode starting, judge whether G axis current location is less than the safety between principal and subordinate's gear of spiral bevel gear
Position is such as less than then moved to the home, to prevent principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of principal and subordinate's gear；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, write down raster data V0, H0, G0 at this time, jump to step 10；
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to the 7th step；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows:
G axis is mobile relative value=sideshake setting value * (active tooth number/driven tooth number)；
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step starts to grind:
1) main shaft forward/reverse is determined according to rotation direction and positive vehicle/reversing face, determines revolving speed/torque；
2) V, H, G axis linear interpolation put a coordinate to grinding
==with s0 is starting
Vs0=V reference coordinate+V setting value
Hs0=H reference coordinate+H setting value
Gs0=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)
==t1-t5 h1-h5
V coordinate=V setting value+upper point V coordinate
H coordinate=H setting value+upper point H coordinate
G coordinate=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)；
3) point and timing are stopped；
4) whether all points in the face have moved, not no then repeat 2) -4)；
5) whether another side opens, open then repeat 1) -4)；
6) whether there is next phase, be then to repeat 1) -5), otherwise grinding is completed；
13rd step checks whether loading position function opens, and open then V axis, H axis, G axis are moved to loading position, do not open
Then G axis is moved to default location (V, H axis remain stationary)；
Automatic cycle terminates, and exits automatic mode.
Embodiment
The gear parameter setting for the spiral bevel gear that need to be ground is as shown in the table:
| Parameter name | Setting value | Value range | Unit |
| Sideshake compensation | 0 | 1-500 | Millimeter |
| Driving wheel locating distance | 148.00 | 1-550 | Millimeter |
| Driven wheel locating distance | 61.00 | 1-550 | Millimeter |
| Driving wheel fixture height | 89.47 | 1-550 | Millimeter |
| Driven wheel fixture height | 41.59 | 1-550 | Millimeter |
| Active tooth number | 9 | 1-99 | Tooth |
| Driven tooth number | 44 | 1-99 | Tooth |
| Offset | 0 | -55+75 | Millimeter |
| Tooth is entirely deep | 9.00 | 1-500 | Millimeter |
| Driven wheel diameter | 9.00 | 1-500 | Millimeter |
| Spindle speed | 200 | 0-4500 | Rev/min |
| Braking moment | 10 | 0-50 | Meters of ox |
| Flank of tooth sideshake | 0.10 | 0-1mm | Millimeter |
| Load and unload delay time | 0 | 0-10 | Second |
| Driven wheel locating distance error | 1.00 | 0-3mm | Millimeter |
| Burr | 1.00 | 0-2mm | Millimeter |
| Sideshake variation | 1.00 | 0-1mm | Millimeter |
| Active wheel footpath is jumped | 1.00 | 0-1mm | Millimeter |
| Driven wheel footpath is jumped | 1.00 | 0-1mm | Millimeter |
| Adjust spindle speed | 100 | 0-2000 | Rev/min |
| Workpiece delay relaxation time | 3 | 0-30 | Second |
The workflow of automatic mode is as follows:
Before the first step, automatic mode starting, judge whether G axis current location is less than the safety between principal and subordinate's gear of spiral bevel gear
Position is such as less than then moved to the home, to prevent principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of principal and subordinate's gear:
In the example
It is 0.00 millimeter that V axis, which is moved to the theoretical position of engagement,；
It is 237.48 millimeters that H axis, which is moved to the theoretical position of engagement,；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position:
In the example
G axis is moved to 111.59 millimeters of flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, write down raster data V0, H0, G0 at this time, jump to step 10；
Home minimum value=102.59 millimeter in the direction G in the example
Home maximum value=116.09 millimeter in the direction G
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to the 7th step；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows:
G axis is mobile relative value=sideshake setting value * (active tooth number/driven tooth number)；
In the example
G axis moves relative value=0.02 millimeter
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step starts to grind:
0.00 millimeter of V reference coordinate
237.48 millimeters of H reference coordinate
102.59 millimeters of G reference coordinate
0.10 millimeter of sideshake setting value
1) main shaft forward/reverse is determined according to rotation direction and positive vehicle/reversing face, determines 200 revs/min of revolving speed, 10 Ns meters of torque；
2) V, H, G axis linear interpolation put a coordinate to grinding
It is starting with s0
Setting value=0.00 millimeter Vs0=V reference coordinate+V
Setting value=237.48 millimeter Hs0=H reference coordinate+H
Gs0=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)
=102.59 millimeters of+0.10 millimeter of * (9/44)
=102.61 millimeters
A T1 reversing face small end grinding point coordinate
V coordinate=V setting value+coordinate=- 0.05 millimeter a upper point V
H coordinate=H setting value+coordinate=237.53 millimeter a upper point H
G coordinate=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)；
=102.59 millimeters of+0.10 millimeter of * (9/44)
=102.61 millimeters
A h1 reversing face big end grinding point coordinate
V coordinate=V setting value+coordinate=0.05 millimeter a upper point V
H coordinate=H setting value+coordinate=237.43 millimeter a upper point H
G coordinate=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)；
=102.59 millimeters of+0.10 millimeter of * (9/44)
=102.61 millimeters
3) it stops the point and enters next step after timing 5 seconds, 5 seconds；
4) whether all points in the face have moved；
5) another side does not open；
6) the phase process terminates, and grinding is completed；
13rd step checks whether loading position function opens, and open then V axis, H axis, G axis are moved to loading position, do not open
Then G axis is moved to default location (V, H axis remain stationary)；
Automatic cycle terminates, and exits automatic mode.
Claims (7)
1. a kind of control method of spiral bevel gear automatic grinding, including host computer IPC, embedded controller BYC, grating scale
Ruler SINO-KA-300 and servo drive unit BYET, host computer IPC carry out data by TCP port and embedded controller BYC
Exchange, embedded controller BYC are connect with grating scale ruler SINO-KA-300 and servo drive unit BYET respectively, feature
It is:
The effect of the host computer IPC is human-computer interaction, and state, input spiral bevel gear including dynamic display system grind phase
Corresponding operating mode is ground in the parameter of pass and triggering/entrance；
The embedded controller BYC is responsible for high-speed computation and core control, signal acquisition and maintains Modbus serial communication；
The servo drive unit BYET includes servo-driver and actuator, and servo drive unit BYET driving motor carries out
Axial real-time interpolation movement guarantees that the large and small gear teeth have constant backlash values and reasonable flank of tooth abrasive areas in grinding；
Grating scale ruler SINO-KA-300 is the closed loop online feedback of system, to guarantee the mobile accuracy of servo drive unit.
2. the control method of spiral bevel gear automatic grinding as described in claim 1, it is characterised in that: the servo-driver
Including the servo-driver A for controlling A axis, the servo-driver C for controlling C axis, the servo-driver V for controlling V axis, control H axis
Servo-driver H, the servo-driver G, the servo-driver A for controlling G axis concatenate servo motor by signal wire, power line
A, servo-driver C concatenate servo motor C by signal wire, power line, and servo-driver V is concatenated by signal wire, power line
Servo motor V, servo-driver H concatenate servo motor H by signal wire, power line, and servo-driver G passes through signal wire, moves
The line of force concatenates servo motor G.
3. the control method of spiral bevel gear automatic grinding as described in claim 1, it is characterised in that: the embedded Control
Device BYC enters self-test after being powered and returns to zero mode, manual mode, linkage pattern or automatic mode,
Auto-Sensing Mode: whether within the allowable range parameter that host computer IPC is transmitted by TCP port is checked, parameter includes gear
Rotation direction, each axis of V, H, G target position data, sideshake setting value, revolving speed, torque；
Return to zero mode: each working shaft of V, H, G of control system return back to reference origin, using the position of reference origin as V, H,
The initial coordinate position of each axis of G；
Manual mode: can manually adjust the position of each working shaft of V/H/G by the mode, to primarily determine each axis of V/H/G
Relative positional relationship；
Linkage pattern: by for determining, the associated technical parameters of subtle adjustment spiral bevel gear automatic grinding, so as to subsequent same
A batch of type spiral bevel gear carries out automatic grinding according to the parameter；
Automatic mode: after determining the relevant abrasive parameters of principal and subordinate's gear under linkage pattern, with a batch of type spiral
Bevel gear can run in automatic mode, carry out automatic grinding according to corresponding abrasive parameters.
4. the control method of spiral bevel gear automatic grinding as claimed in claim 3, it is characterised in that: it is described to return to zero mode,
When embedded controller BYC receive host computer IPC by TCP port send when returning to zero instruction, first determine whether current system
State:
Such as in returning to zero mode, then ignore the instruction；
It such as in manual mode, linkage pattern, automatic mode, needs first to exit the mode, then be controlled by control connecting line
Servo-driver V, servo-driver H, servo-driver G, which enter, returns to zero mode；
The workflow for returning to zero mode is as follows:
The first step, servo-driver G driving servo motor G control G axis advance always along the direction G；
The first step is corresponded to delay 3 seconds by second step, embedded controller BYC, it is ensured that principal and subordinate's gear disengaging of spiral bevel gear is nibbled
It closes;
Third step, servo-driver V driving servo motor V control V axis are retreated along the direction V, and servo-driver H drives servo motor
H controls H axis and advances along the direction H;
4th step waits V axis, H axis and G axis all to encounter limit point；
5th step, V axis, H axis, G axis start to return to zero；
6th step, embedded controller BYC detect the Relocation complete signal of V axis, H axis, G axis, and waiting returns to zero completion；
7th step, setting zero point coordinate.
5. the control method of spiral bevel gear automatic grinding as claimed in claim 3, it is characterised in that: the manual mode,
When embedded controller BYC receives the manual command that host computer IPC is sent by TCP port, the state of current system is judged:
Such as it is automatic, link, return to zero in mode, then ignore the instruction；
It is controlled by embedded controller BYC, control servo-driver V, servo-driver H, servo-driver G enter manual mould
Formula；
The manual mode is divided into forward/backward and stepping/step and moves back:
Forward/backward: entity button and operated by handwheel carry out speed setting in operation；
Stepping/step is moved back: being operated by host computer IPC, is provided single step value in operation, unit: silk (0.01 millimeter).
6. the control method of spiral bevel gear automatic grinding as claimed in claim 3, it is characterised in that: the linkage pattern,
When embedded controller BYC, which receives host computer IPC, to be instructed by the linkage that TCP port is sent, the state of current system is judged:
Such as it is automatic, return to zero in mode, then ignore the instruction；
Servo-driver V, servo-driver H, servo-driver G, which are controlled, by control connecting line enters linkage pattern；
The workflow of linkage pattern is as follows:
Before the first step, linkage pattern starting, the security bit whether G axis current location is less than between spiral bevel gear principal and subordinate's gear is judged
It sets, is such as less than then moved to the home, to prevent spiral bevel gear principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of spiral bevel gear principal and subordinate's gear；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, jump to step 10；
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to step 7；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows: mobile relative value=sideshake setting value * (the active tooth number/driven of G axis
Tooth number)；
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step, V axis and the linkage of H axis are completed, and linkage pattern is completed, and linkage pattern is exited.
7. the control method of spiral bevel gear automatic grinding as claimed in claim 3, it is characterised in that: the automatic mode,
When embedded controller BYC receives the automatic command that host computer IPC is sent by TCP port, the state of current system is judged:
Such as it is automatic, link, return to zero in mode, then ignore the instruction；
Servo-driver V axis, H axis, G axis, which are controlled, by control connecting line enters automatic mode；
The workflow of automatic mode is as follows:
Before the first step, automatic mode starting, judge whether G axis current location is less than the safety between principal and subordinate's gear of spiral bevel gear
Position is such as less than then moved to the home, to prevent principal and subordinate's gear clash；
Second step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
Third step, V, H axis are moved respectively to the theoretical position of engagement of principal and subordinate's gear；
4th step, the Relocation complete signal for detecting V, H axis wait V, H axis are mobile to complete；
5th step, G axis are moved to flank of tooth position；
6th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
7th step, G axis are moved to tooth root with slower speed, to prevent principal and subordinate's axis from colliding；
8th step, acquisition raster data, when the raster data of acquisition is unchanged, and corresponding numerical value subtracts the position life of G axis
When the result of value being enabled to be greater than 40, control G axis stops retracting；
9th step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete, start to judge:
1) such as " raster data "≤principal and subordinate's gear in the home in the direction G, then judges that driving gear has pushed up driven gear
Tooth root, write down raster data V0, H0, G0 at this time, jump to step 10；
2) otherwise it is judged as that driving gear has pushed up the tooth top of driven gear, G axis is moved to principal and subordinate's gear in the safety in the direction G
Position waits G axis is mobile to complete, then branches to the 7th step；
Tenth step, on the basis of the current position of G axis, a mobile relative position makes the flank of tooth of principal and subordinate's gear keep certain
The calculation formula in gap, corresponding relative position is as follows:
G axis is mobile relative value=sideshake setting value * (active tooth number/driven tooth number)；
11st step, the Relocation complete signal for detecting G axis wait G axis is mobile to complete；
12nd step starts to grind:
1) main shaft forward/reverse is determined according to rotation direction and positive vehicle/reversing face, determines revolving speed/torque；
2) V, H, G axis linear interpolation put a coordinate to grinding
==with s0 is starting
Vs0=V reference coordinate+V setting value
Hs0=H reference coordinate+H setting value
Gs0=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)
==t1-t5 h1-h5
V coordinate=V setting value+upper point V coordinate
H coordinate=H setting value+upper point H coordinate
G coordinate=G reference coordinate+sideshake setting value * (active tooth number/driven tooth number)；
3) point and timing are stopped；
4) whether all points in the face have moved, not no then repeat 2) -4)；
5) whether another side opens, open then repeat 1) -4)；
6) whether there is next phase, be then to repeat 1) -5), otherwise grinding is completed；
13rd step checks whether loading position function opens, and open then V axis, H axis, G axis are moved to loading position, do not open
It puts, G axis is moved to default location (V, H axis remain stationary)；
Automatic cycle terminates, and exits automatic mode.
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