CN110253308B - Machine tool and method for compensating gantry double-drive motion deviation - Google Patents
Machine tool and method for compensating gantry double-drive motion deviation Download PDFInfo
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- CN110253308B CN110253308B CN201910666525.1A CN201910666525A CN110253308B CN 110253308 B CN110253308 B CN 110253308B CN 201910666525 A CN201910666525 A CN 201910666525A CN 110253308 B CN110253308 B CN 110253308B
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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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
- B23Q1/012—Portals
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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
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Abstract
The invention discloses a machine tool for compensating gantry double-drive motion deviation, which comprises a bottom plate; an arched portal frame; the two driving devices are arranged on the bottom plate and used for driving the portal frame to move along the front-back direction and obtaining the actual displacement and the input displacement of the end part of the portal frame; the industrial personal computer is used for sending a driving signal to the driving device, acquiring the actual displacement and the input displacement of the end part of the portal frame from the driving device, calculating the displacement deviation of the end part of the portal frame, and sending the displacement deviation to the driving device. The machine tool can eliminate displacement deviation of the end part of the portal frame, avoid bending of the cross beam of the portal frame and ensure straightness of the linear track, and further solve the problem of reduction of production precision of the machine tool. In addition, the invention also discloses a method for compensating the gantry double-drive motion deviation.
Description
Technical Field
The invention relates to the technical field of numerical control machine tools, in particular to a machine tool and a method for compensating gantry double-drive motion deviation.
Background
In the twentieth century, with technological innovations of various emerging fields such as information technology, biotechnology, new material technology, laser technology and photolithography technology, the leading edge manufacturing technologies such as digital manufacturing, green manufacturing, micro-nano manufacturing and intelligent manufacturing in the manufacturing industry field are beginning to become important components of the national strategy of comprehensive promotion of manufacturing in China.
Among them, the high-speed processing of nanometer level has become the mainstream development direction in the global manufacturing field, and international society of production engineering has already pointed out in 2011 machine tool feed drive transmission system subject report that, in the future, on the basis of ensuring high precision, the feed speed of the machine tool will be up to 50m/min (meter/min), the feed acceleration will be at least 10g (i.e. 10 times the gravity acceleration), and the spindle rotation speed will reach 500000rpm (revolutions/min).
At present, in the process of high-speed operation of the traditional gantry double-drive linear platform, a certain deviation exists between the actual displacement of the end part of the gantry and the input displacement, so that the machine tool cannot perform high-precision production; in addition, certain deviation often exists between two ends of the portal frame, the portal frame can deform under the limitation of the linear rail, and accordingly the structure and the straightness of the linear rail can be damaged.
Therefore, how to eliminate the positional deviation of the gantry end is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a machine tool for compensating the deviation of double-drive movement of a gantry, which can eliminate the displacement deviation of the end part of the gantry, avoid the bending of a beam of the gantry and ensure the straightness of a linear track, thereby solving the problem of reduced production precision of the machine tool. Another object of the present invention is to provide a method for compensating for gantry double drive motion bias.
In order to achieve the above object, the present invention provides a machine tool for compensating for a gantry double drive motion deviation, comprising: a bottom plate; an arched portal frame; the two driving devices are arranged on the bottom plate and used for driving the portal frame to move along the front-back direction and obtaining the actual displacement and the input displacement of the end part of the portal frame; the industrial personal computer is used for sending a driving signal to the driving device, acquiring the actual displacement and the input displacement of the end part of the portal frame from the driving device, calculating the displacement deviation of the end part of the portal frame, and sending the displacement deviation to the driving device.
Preferably, all the driving means comprise: the movable platform is connected with the end part of the portal frame and is used for adjusting the relative position between the movable platform and the end part of the portal frame along the front-back direction according to the displacement deviation; the grating guide rail is matched with the mobile platform and used for detecting the actual displacement of the mobile platform; and the linear motor is connected with the mobile platform and used for driving the mobile platform to move along the grating guide rail according to the driving signal.
Preferably, the mobile platform comprises: the bottom of the movable frame is matched with the grating guide rail, and the top of the movable frame is sequentially provided with a compensation groove and a placement groove from front to back; the compensating block is arranged in the compensating groove and used for supporting and connecting the end part of the portal frame; the piezoelectric ceramic is arranged in the placing groove and is electrically connected with the industrial personal computer, wherein the output end of the piezoelectric ceramic extends from the placing groove to the compensating groove and is fixedly connected with the compensating block so as to drive the compensating block to move in the compensating groove along the front-back direction.
Preferably, the compensation block is connected with the compensation groove through a flexible hinge, wherein the flexible hinge is arranged in a left-right direction in an extending manner so as to enable the compensation block to move in the front-back direction in the compensation groove.
Preferably, the flexible hinge is in particular a straight beam type flexible hinge.
Preferably, the straight beam type flexible hinge is provided with four.
Preferably, the moving platform further comprises a displacement sensor arranged on the front wall of the compensating groove and used for detecting the distance between the compensating block and the front wall of the compensating groove.
Preferably, the displacement sensor is in particular a capacitive sensor.
Compared with the background art, the machine tool for compensating the gantry double-drive motion deviation provided by the invention ensures that the actual displacement amount of the gantry end is equal to the input displacement amount by adjusting the relative position between the gantry end and the driving device along the front-rear direction by the driving device according to the displacement deviation. Specifically, the industrial personal computer controls the driving device to drive the portal frame to move along the front-rear direction through the driving signal, meanwhile, the industrial personal computer obtains the input displacement of the portal frame, the driving device obtains the actual displacement of the portal frame, and if the actual displacement of the end part of the portal frame is unequal to the input displacement, the industrial personal computer controls the driving device to adjust the relative position between the driving device and the end part of the portal frame along the front-rear direction so as to ensure that the input displacement of the end part of the portal frame is equal to the final actual displacement.
The invention also provides a method for compensating the gantry double-drive motion deviation, which is applied to the machine tool of any one of the above steps, and comprises the following steps: the method comprises the steps that a driving signal is sent to a driving device through an industrial personal computer, so that the driving device drives a portal frame to move, and the industrial personal computer obtains the input displacement of the end part of the portal frame; the driving device is used for acquiring the actual displacement of the end part of the portal frame and sending the actual displacement to the industrial personal computer; calculating displacement deviation amount of the end part of the portal frame according to the input displacement amount and the actual displacement amount; judging whether the displacement deviation is zero, if not, entering the next step; and adjusting the relative position between the driving device and the end part of the portal frame along the front-back direction according to the displacement deviation.
Preferably, the step of adjusting the relative position between the driving device and the gantry end in the front-rear direction according to the displacement deviation amount specifically includes: s51: acquiring displacement deviation by the driving device and adjusting the relative position between the displacement deviation and the end part of the portal frame along the front-back direction; s52: acquiring relative displacement between the driving device and the end part of the portal frame along the front-rear direction; s53: judging whether the relative displacement is equal to the displacement deviation, if not, entering S54; s54: calculating the deviation amount to be compensated of the end part of the portal frame according to the relative displacement amount and the displacement deviation amount; s55: judging whether the deviation amount to be compensated is zero, if not, entering S56; s56: and adjusting the relative position between the driving device and the end part of the portal frame along the front-rear direction according to the deviation amount to be compensated, and returning to the step S52.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a machine tool for compensating for gantry double drive motion bias provided by the present invention;
FIG. 2 is a schematic diagram of the portion A in FIG. 1;
FIG. 3 is an enlarged view of the portion of the gantry of FIG. 2 coupled to a drive mechanism;
FIG. 4 is a schematic diagram of the mobile platform of FIG. 3;
FIG. 5 is a flowchart of a first method for compensating for gantry dual drive motion bias according to the present invention;
FIG. 6 is a flowchart of a second method for compensating for gantry dual drive motion bias according to the present invention;
Wherein,
1-Bottom plate, 2-portal frame, 3-driving device, 31-movable platform, 311-movable frame, 3111-compensating groove, 3112-placing groove, 312-compensating block, 313-piezoelectric ceramics, 314-flexible hinge, 32-grating guide rail and 4-industrial personal computer;
arrows in fig. 1 represent the transmission of information and signals.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
Referring to fig. 1 to 6, fig. 1 is a schematic diagram of a machine tool for compensating for gantry dual-drive motion deviation according to the present invention; FIG. 2 is a schematic diagram of the portion A in FIG. 1; FIG. 3 is an enlarged view of the portion of the gantry of FIG. 2 coupled to a drive mechanism; FIG. 4 is a schematic diagram of the mobile platform of FIG. 3; FIG. 5 is a flowchart of a first method for compensating for gantry dual drive motion bias according to the present invention; fig. 6 is a flowchart of a second method for compensating for gantry dual-drive motion deviation according to the present invention.
The invention provides a machine tool for compensating gantry double-drive motion deviation, as shown in fig. 1 and 2, comprising: the device comprises a bottom plate 1, a portal frame 2, two driving devices 3 and an industrial personal computer 4.
The base plate 1 is used for fixedly supporting the two driving devices 3, and for vibration reduction and shock absorption, the base plate 1 is preferably made of marble material.
The portal frame 2 is arched, and two ends of the portal frame 2 are respectively connected with two driving devices 3 so as to drive the portal frame 2 to move along the front-back direction through the driving devices 3; and the cross beam of the portal frame 2 can be provided with components such as an industrial camera and the like so as to realize the functions of monitoring production operation and the like.
The two driving devices 3 are arranged in parallel, so that the two ends of the portal frame 2 can move along the same straight line direction, and each driving device 3 is used for driving the end part of the portal frame 2 to move along the front-back direction, wherein the driving device 3 can drive the portal frame 2 to move along the front-back direction along with the portal frame 2, and can also drive the portal frame 2 to move along the front-back direction relative to the driving device 3, namely, the driving device 3 can adjust the relative position between the driving device and the end part of the portal frame 2 along the front-back direction; the driving device 3 is also used for acquiring an input displacement amount and an actual displacement amount of the end of the gantry 2.
The industrial personal computer 4 can be arranged at the bottom plate 1 or at a position outside the bottom plate 1, and has three main functions, namely, the industrial personal computer is used for sending a driving signal to the driving device 3 so that the driving device 3 drives the end part of the portal frame 2 to move along the front-back direction together; secondly, acquiring information of an input displacement amount and information of an actual displacement amount of the end part of the portal frame 2 and calculating a displacement deviation amount of the end part of the portal frame 2; and thirdly, the displacement deviation amount information is sent to the driving device 3, so that the driving device 3 adjusts the relative position between the driving device 3 and the end part of the portal frame 2 along the front-rear direction according to the distance information and the direction information in the displacement deviation amount information, and further, the input displacement amount of the end part of the portal frame 2 is equal to the final actual displacement amount.
It should be noted that, the input displacement amount refers to a distance that the driving device 3 detects when receiving the driving signal and moves together with the end of the gantry 2, and a manner in which the driving device 3 detects the input displacement is referred to below, which will not be described in detail herein; in theory, the input displacement amount at the end of the gantry 2 should always be equal to the actual displacement amount, but in reality the input displacement amount is not always equal to the actual displacement amount, so it is necessary to calculate the difference between the two and derive the displacement deviation amount.
The machine tool can accurately control the actual displacement of the portal frame 2, and further can accurately regulate and control the position of the portal frame 2, so that high-precision operation of production and processing by using the machine tool is realized; in addition, because the actual displacement and the input displacement at the two ends of the portal frame 2 can be kept consistent, the cross beam of the portal frame 2 cannot deform, the driving device 3 cannot be damaged, and further the condition that the precision of production operation is gradually reduced is avoided.
In other words, the core of the present application has two: firstly, the relative position of the driving device 3 and the end part of the portal frame 2 can be adjusted, so that the input displacement of the end part of the portal frame 2 is equal to the final actual displacement; but a driving device 3 is respectively arranged at two ends of the portal frame 2 to ensure the accurate movement of the portal frame 2 so as to realize the high-precision production operation of the machine tool.
The following specific examples are given here for the structural construction of the drive device 3:
In the first embodiment, as shown in fig. 2 and 3, the driving device 3 includes: a moving platform 31, a linear motor (not shown) and a grating guide 32.
The moving platform 31 is connected with the end of the portal frame 2 and is matched with the grating guide rail 32, and the moving platform 31 is used for adjusting the position between the moving platform 31 and the end of the portal frame 2 along the front-back direction according to the displacement deviation amount, and can move along the grating guide rail 32 under the driving of a linear motor so as to drive the portal frame 2 to move along the front-back direction.
The linear motor is connected to the movable platform 31, and when receiving the driving signal, the linear motor starts and drives the movable platform 31 to move along the grating guide rail 32 in the front-rear direction, and in addition, the linear motor is further used for acquiring the input displacement of the end of the portal frame 2 and transmitting the input displacement information to the industrial personal computer 4. In particular, the linear motor has a stroke recorder inside which the displacement output thereof is recorded, wherein the stroke recorder belongs to the prior art and is not developed here, and the displacement output recorded by the stroke recorder is the input displacement of the end of the gantry 2 because the linear motor drives the moving platform 31 to move together with the end of the gantry 2.
The grating guide 32 is disposed in the front-rear direction, and the grating guide 32 mainly includes a grating sensor, preferably a grating scale, and a linear guide disposed in the front-rear direction. The linear guide rail is matched with the movable platform 31 so that the movable platform 31 can move along the front-back direction; the grating sensor is used for detecting the actual displacement of the moving platform 31, and the linear motor drives the moving platform 31 to move together with the end part of the portal frame 2, so that the actual displacement of the moving platform 31 detected by the grating sensor is the actual displacement of the end part of the portal frame 2, and the actual displacement information is sent to the industrial personal computer 4.
It should be noted that, the detection precision of the grating sensor such as the grating ruler can reach the micrometer level of 0.5um and 1um, so as to accurately obtain the actual displacement of the moving platform 31 to accurately adjust the relative position between the end of the portal frame 2 and the moving platform 31; before the relative position between the movable platform 31 and the end of the gantry 2 is adjusted, the actual displacement of the movable platform 31 is the actual displacement of the end of the gantry 2.
It should be noted that the displacement input amount is theoretical data calculated by the travel recorder according to an operating parameter (such as an energizing time) of the linear motor, and the actual displacement amount is actual data of the position of the grating sensor on the linear guide rail where the movable platform 31 is located.
The following specific embodiments are given here with respect to the structural configuration of the mobile platform 31 in the above-described embodiments:
In a second embodiment, as shown in fig. 3 and 4, the mobile platform 31 includes: a moving frame 311, a compensation block 312, and a piezoelectric ceramic 313.
The bottom of the moving frame 311 is matched with the linear guide rail of the grating guide rail 32, wherein the structural structure of the bottom of the moving frame 311 and the linear guide rail can refer to the prior art, and no improvement is made here; the top of the moving frame 311 is provided with a compensating groove 3111 and a placing groove 3112 in order from front to back.
The compensating block 312 is disposed in the compensating groove 3111, and the top of the compensating block 312 is fixedly connected to the end of the gantry 2, wherein the width of the compensating groove 3111 in the front-rear direction is larger than the length of the compensating block 312 in the front-rear direction, so that the compensating block 312 has a degree of freedom to move in the front-rear direction in the compensating groove 3111.
The piezoelectric ceramic 313 is disposed in the placement groove 3112, and an output end thereof extends from the placement groove 3112 to the compensation groove 3111 and is connected to the compensation block 312, the piezoelectric ceramic 313 is electrically connected to the industrial personal computer 4 and receives the displacement deviation information, and converts an electric signal corresponding to the displacement deviation information into mechanical energy, which is represented in a form that the output end of the piezoelectric ceramic 313 moves, that is, after the piezoelectric ceramic 313 receives the displacement deviation information, the output end of the piezoelectric ceramic 313 generates a displacement amount along the front-rear direction, so that the compensation block 312 moves along the front-rear direction in the compensation groove 3111, and further, the adjustment of the relative position between the end of the gantry 2 and the moving frame 311 is realized.
It should be noted that, in this embodiment, the compensation groove 3111 is preferably connected to the placement groove 3112, so as to simplify the structural design of the output end of the piezoelectric ceramic 313; the compensation groove 3111 may be disposed behind the placement groove 3112, and the piezoelectric ceramic 313 may be capable of driving the compensation block 313 to move in the front-rear direction in the compensation groove 3111.
It will be appreciated that if the width of the compensating groove 3111 in the left-right direction is greater than the length of the compensating block 312 in the left-right direction, the two ends of the gantry 2 are easy to shake in the left-right direction, but if the width of the compensating groove 3111 in the left-right direction is equal to the length of the compensating block 312 in the left-right direction, the compensating block 312 will be subjected to great friction force during the movement in the front-rear direction relative to the compensating groove 3111, and it is difficult to move the compensating block 312 by the distance corresponding to the displacement offset in the compensating groove 3111, so that the following modifications are made based on the third embodiment to avoid the above-mentioned situations:
In the fourth embodiment, as shown in fig. 4, the compensating block 312 is connected to the compensating groove 3111 by a flexible hinge 314, wherein the flexible hinge 314 is extended in the left-right direction, such that one end of the flexible hinge 314 is connected to the side wall of the compensating block 312 and the other end is connected to the side wall of the compensating groove 3111, so that the compensating block 312 can move only in the front-rear direction within the compensating groove 3111.
Preferably, the flexible hinge 314 is a straight beam type flexible hinge, wherein the straight beam type flexible hinge has high rigidity in the extending direction (i.e. the left-right bearing direction) and is not easy to deform, so as to limit the movement of the compensation block 312 in the left-right direction in the compensation groove 3111; and is rigid in a direction perpendicular to the extending direction of the straight beam type flexible hinge (i.e., the front-rear working direction) and is easily elastically deformed, thereby facilitating the movement of the compensating block 312 in the front-rear direction in the compensating groove 3111.
As further preferred, as shown in fig. 4, the above-mentioned straight beam type flexible hinge is provided in four and is connected with four portions of the four orientations of the left front, the left rear, the right front and the right rear of the compensating block 312, respectively, to secure stability of the movement of the compensating block 312 within the compensating groove 3111.
The following specific embodiments are given here with respect to the structural configuration of the mobile platform 31 described above:
In the fifth embodiment, as shown in fig. 4, the front wall of the compensation groove 3111 is further provided with a displacement sensor (not shown), and the displacement sensor is configured to detect a distance between the compensation block 312 and the front wall of the compensation groove 3111, and send the distance information to the industrial personal computer 4, so that the industrial personal computer 4 calculates a relative displacement amount of the end portion of the gantry 2 relative to the moving platform 31 according to the distance and an initial distance between the compensation block 312 and the front wall of the compensation groove 3111 when the piezoelectric ceramic 313 is not acted on, so as to determine whether the actual displacement amount of the end portion of the gantry 2 is equal to the input displacement amount, and if the relative displacement amount is not equal to the displacement amount, continuously adjusts the position of the compensation block 312 in the front-rear direction in the compensation groove 3111 according to a difference (i.e. the offset to be compensated) between the relative displacement amount and the displacement offset until the offset to be zero, so that the input displacement amount of the end portion of the gantry 2 is equal to the final actual displacement amount. Preferably, the displacement sensor is specifically a capacitance sensor electrically connected to the industrial personal computer 4.
It will be appreciated that if the compensating groove 3111 is located behind the placing groove 3112, the above-mentioned displacement sensor is preferably provided at the rear wall of the compensating groove 3111 so that the output end of the piezoelectric ceramic 313 is connected to the compensating block 312.
In the above description, in order to transmit signals and information to the industrial personal computer 4, components such as the driving device 3 and the linear motor may be electrically connected to the industrial personal computer 4 through a data line to implement data exchange, or may be implemented through a wireless communication technology (such as ZigBee wireless communication technology).
The method for compensating the gantry double-drive motion deviation is suitable for the machine tool, as shown in fig. 5, and comprises the following steps:
Step S1: the industrial personal computer 4 sends a driving signal to the driving device 3, so that the driving device 3 drives the portal frame 2 to move, and the industrial personal computer 4 obtains the input displacement of the end part of the portal frame 2. After receiving the driving signal sent by the industrial personal computer 4, the driving device 3 drives the portal frame 2 to move along the front-back direction, and the industrial personal computer 4 obtains the real-time input displacement of the end part of the portal frame 2 from the driving device 3.
The input displacement amount of the driving device 3 is the input displacement amount of the end of the gantry 2.
Step S2: the actual displacement of the end part of the portal frame 2 is acquired by the driving device 3 and is sent to the industrial personal computer 4. In the first embodiment, specifically, the grating sensor in the grating guide 32 detects the actual displacement of the moving platform 31 along the linear guide, and the end of the gantry 2 moves together with the moving platform 31 during the movement of the moving platform 31, so the actual displacement of the moving platform 31 is the actual displacement of the end of the gantry 2, and then the grating sensor sends the information of the measured actual displacement to the industrial personal computer 4.
Step S3: the displacement deviation amount of the gantry 2 is calculated based on the input displacement amount and the actual displacement amount. The industrial personal computer 4 calculates the difference value according to the input displacement and the actual displacement to obtain the displacement deviation of the end part of the portal frame 2, namely the end part of the portal frame 2 can make the actual displacement of the end part of the portal frame 2 consistent with the input displacement only by moving the distance of the displacement deviation.
The displacement deviation amount includes two kinds of information, one is a distance that the end of the gantry 2 needs to move relative to the driving device 3, and the other is a front-rear direction that the end of the gantry 2 needs to move relative to the driving device 3.
Step S4: and judging whether the displacement deviation amount is zero, and if not, proceeding to step S5. The industrial personal computer 4 determines whether the calculated displacement deviation amount is zero, if so, the actual displacement amount of the end part of the portal frame 2 is equal to the input displacement amount, otherwise, the actual displacement amount of the end part of the portal frame 2 is inconsistent with the input displacement amount, and the step S5 is performed.
Step S5: the driving device 3 adjusts the relative position between the driving device and the end of the gantry 2 in the front-rear direction according to the displacement deviation amount. The industrial personal computer 4 sends displacement deviation amount information to the driving device 3, so that the driving device 3 adjusts the relative position between the displacement deviation amount information and the end part of the portal frame 2, the end part of the portal frame 2 moves relative to the driving device 3 along the front-back direction by the displacement deviation amount distance, and the input displacement amount of the end part of the portal frame 2 is further equal to the final actual displacement amount.
As shown in fig. 6, the step S5 specifically includes:
Step S51: the displacement deviation amount is acquired by the driving device 3 and the relative position between the displacement deviation amount and the end of the gantry 2 in the front-rear direction is adjusted. The driving device 3 obtains displacement deviation amount information from the industrial personal computer 4, determines a direction in which the end of the gantry 2 needs to move relative to the driving device 3 according to the displacement deviation amount information, and drives the end of the gantry 2 relative to the driving device 3 in the direction.
Step S52: the relative displacement amount in the front-rear direction between the driving device 3 and the end of the gantry 2 is obtained. In the fifth embodiment described above, specifically, the displacement sensor detects the distance between the compensation block 312 and the front wall of the compensation groove 3111 and transmits the distance information to the industrial personal computer 4, and the industrial personal computer 4 calculates the relative displacement of the end of the gantry 2 with respect to the moving platform 31 based on the distance and the initial distance between the compensation block 312 and the front wall of the compensation groove 3111 when the piezoelectric ceramic 313 is not applied.
Step S53: and judging whether the relative displacement is equal to the displacement deviation, if not, proceeding to step S54. The industrial personal computer 4 determines whether the relative displacement amount is equal to the displacement deviation amount, if so, it indicates that the actual displacement amount of the end of the gantry 2 is equal to the input displacement amount, so that the movement of the end of the gantry 2 relative to the driving device 3 can be controlled to be stopped, otherwise, the process proceeds to step S54.
Step S54: and calculating the deviation amount to be compensated of the end part of the portal frame 2 according to the relative displacement amount and the displacement deviation amount. The industrial personal computer 4 calculates the difference value according to the relative displacement and the displacement deviation, and obtains the deviation to be compensated of the end part of the portal frame 2 which is required to move relative to the driving device 3. In the fifth embodiment, specifically, the compensation block 312 needs to be moved in the front-rear direction relative to the compensation groove 3111 by a distance equal to the actual displacement of the end of the gantry 2 and the input displacement, that is, the compensation block 312 needs to be moved relative to the compensation groove 3111 and the compensation block 312 needs to be moved in the front-rear direction relative to the compensation groove 3111.
Step S55: and judging whether the deviation to be compensated is zero, if not, proceeding to step S56. The industrial personal computer 4 determines whether the deviation to be compensated is zero, if so, it means that the end of the gantry 2 does not need to be further controlled to move relative to the driving device 3, otherwise, it proceeds to step S56.
Step S56: the relative position between the driving device 3 and the end of the gantry 2 in the front-rear direction is adjusted according to the amount of deviation to be compensated, and the process returns to S52. The industrial personal computer 4 continues to adjust the position between the end of the gantry 2 and the driving device 3 along the front-rear direction through the driving device 3, that is, the end of the gantry 2 continues to move relative to the driving device 3 according to the direction in which the end of the gantry 2 corresponding to the deviation to be compensated should move relative to the driving device 3, and returns to step S52.
It should be noted that, in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", and "right" are used based on the directions or positional relationships shown in the drawings, and are merely for convenience of description and simplification of the description, and are not limited to the specific directions of the elements or parts referred to, and therefore, the present invention should not be construed as being limited thereto.
The machine tool and the method for compensating the gantry double-drive motion deviation provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (6)
1. A machine tool for compensating for gantry double drive motion bias comprising:
A bottom plate (1);
a gantry (2) having an arch shape;
The two driving devices (3) are arranged on the bottom plate (1) and used for driving the portal frame (2) to move along the front-back direction and acquiring the actual displacement and the input displacement of the end part of the portal frame (2);
An industrial personal computer (4) for transmitting a drive signal to the drive device (3), acquiring an actual displacement amount and an input displacement amount of the end of the gantry (2) from the drive device (3), calculating a displacement deviation amount of the end of the gantry (2), and transmitting the displacement deviation amount to the drive device (3);
The driving device (3) can drive the portal frame (2) to move along with the portal frame in the front-rear direction, and can also drive the portal frame (2) to move relative to the driving device (3) in the front-rear direction;
All the driving means (3) comprise:
A moving platform (31) connected with the end part of the portal frame (2), wherein the moving platform (31) is used for adjusting the relative position between the moving platform and the end part of the portal frame (2) along the front-back direction according to the displacement deviation;
A grating guide rail (32) matched with the moving platform (31) and used for detecting the actual displacement of the moving platform (31), wherein the grating guide rail (32) comprises a grating sensor and a linear guide rail arranged along the front-back direction, the linear guide rail is matched with the moving platform (31) so as to enable the moving platform (31) to move along the front-back direction, and the grating sensor is used for detecting the actual displacement of the moving platform (31);
The linear motor is connected with the movable platform (31) and used for driving the movable platform (31) to move along the grating guide rail (32) according to a driving signal, when the driving signal is received, the linear motor is started and drives the movable platform (31) to move along the front-back direction of the grating guide rail (32), the linear motor is also used for acquiring the input displacement of the end part of the portal frame (2) and sending the input displacement information to the industrial personal computer (4), and the linear motor is provided with a travel recorder for recording the displacement output quantity of the linear motor;
The mobile platform (31) comprises:
the movable frame (311), wherein the bottom of the movable frame (311) is matched with the grating guide rail (32), and the top of the movable frame (311) is sequentially provided with a compensation groove (3111) and a placing groove (3112) from front to back;
The compensating block (312) is arranged in the compensating groove (3111) and used for supporting and connecting the end part of the portal frame (2), the top part of the compensating block (312) is fixedly connected with the end part of the portal frame (2), the groove width of the compensating groove (3111) along the front-back direction is larger than the length of the compensating block (312) along the front-back direction, so that the compensating block (312) has the freedom degree of moving along the front-back direction in the compensating groove (3111), and the compensating groove (3111) is communicated with the placing groove (3112);
The piezoelectric ceramic (313) is arranged in the placing groove (3112) and is electrically connected with the industrial personal computer (4), wherein the output end of the piezoelectric ceramic (313) extends from the placing groove (3112) into the compensating groove (3111) and is fixedly connected with the compensating block (312) so as to drive the compensating block (312) to move in the compensating groove (3111) along the front-back direction;
the compensation block (312) is connected with the compensation groove (3111) through a flexible hinge (314), wherein the flexible hinge (314) extends along the left-right direction so as to enable the compensation block (312) to move in the front-back direction in the compensation groove (3111);
The moving platform (31) further comprises a displacement sensor arranged on the front wall of the compensating groove (3111), the displacement sensor is used for detecting the distance between the compensating block (312) and the front wall of the compensating groove (3111) and sending the distance information to the industrial personal computer (4), so that the industrial personal computer (4) calculates the relative displacement of the end part of the portal frame (2) relative to the moving platform (31) according to the distance and the initial distance between the compensating block (312) and the front wall of the compensating groove (3111) when the piezoelectric ceramics (313) are not acted on, and if the relative displacement and the displacement deviation are not equal, the position of the compensating block (312) in the front-back direction in the compensating groove (3111) is continuously adjusted according to the difference between the relative displacement and the displacement deviation until the actual displacement of the end part of the portal frame (2) is zero, so that the actual displacement of the end part of the portal frame (2) is equal to the final displacement of the portal frame.
2. Machine tool according to claim 1, characterized in that the flexible hinge (314) is in particular a straight beam type flexible hinge.
3. A machine tool according to claim 2, wherein four of the straight beam type flexible hinges are provided.
4. Machine tool according to claim 1, characterized in that the displacement sensor is in particular a capacitive sensor.
5. A method of compensating for gantry double drive motion bias, applied to the machine tool of any one of claims 1 to 4, comprising:
The method comprises the steps that a driving signal is sent to a driving device (3) through an industrial personal computer (4), the driving device (3) drives a portal frame (2) to move, and the industrial personal computer (4) obtains the input displacement of the end part of the portal frame (2);
The driving device (3) is used for acquiring the actual displacement of the end part of the portal frame (2) and transmitting the actual displacement to the industrial personal computer (4);
Calculating a displacement deviation amount of the end part of the portal frame (2) according to the input displacement amount and the actual displacement amount;
judging whether the displacement deviation is zero, if not, entering the next step;
And adjusting the relative position between the driving device (3) and the end part of the portal frame (2) along the front-back direction according to the displacement deviation.
6. The method according to claim 5, wherein the step of adjusting the relative position between the driving device (3) and the end of the gantry (2) in the front-rear direction according to the displacement deviation amount specifically comprises:
S51: acquiring displacement deviation by the driving device (3) and adjusting the relative position between the displacement deviation and the end part of the portal frame (2) along the front-back direction;
S52: acquiring the relative displacement between the driving device (3) and the end part of the portal frame (2) along the front-rear direction;
S53: judging whether the relative displacement is equal to the displacement deviation, if not, entering S54;
S54: calculating the deviation amount to be compensated of the end part of the portal frame (2) according to the relative displacement amount and the displacement deviation amount;
s55: judging whether the deviation amount to be compensated is zero, if not, entering S56;
s56: and adjusting the relative position between the driving device (3) and the end part of the portal frame (2) along the front-back direction according to the deviation amount to be compensated, and returning to the step S52.
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| TWI726498B (en) | 2019-11-22 | 2021-05-01 | 財團法人工業技術研究院 | Method for synchronous control of gantry mechanism with online inertia matching |
| CN111716110A (en) * | 2020-06-18 | 2020-09-29 | 大族激光科技产业集团股份有限公司 | Gantry platform |
| CN112705866B (en) * | 2021-01-20 | 2022-08-05 | 奔腾激光科技(山东)有限公司 | Beam width compensation device of laser cutting machine |
| CN114473631B (en) * | 2022-01-19 | 2023-05-05 | 成都飞机工业（集团）有限责任公司 | Gantry synchronous adjustment method for double-drive system |
| CN115752239B (en) * | 2022-11-25 | 2023-06-27 | 杭州光尺科技有限公司 | Motion mechanism synchronism measuring device and measuring method thereof |
| CN118315320A (en) * | 2024-06-11 | 2024-07-09 | 马丁科瑞半导体(浙江)有限公司 | Gantry mechanism, manufacturing method thereof and chip loader |
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