CN116460321B - Compensation method and device for elongation of spindle of numerical control machine tool and numerical control machine tool - Google Patents
Compensation method and device for elongation of spindle of numerical control machine tool and numerical control machine tool Download PDFInfo
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- CN116460321B CN116460321B CN202310387056.6A CN202310387056A CN116460321B CN 116460321 B CN116460321 B CN 116460321B CN 202310387056 A CN202310387056 A CN 202310387056A CN 116460321 B CN116460321 B CN 116460321B
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- 238000010438 heat treatment Methods 0.000 claims description 2
- 238000005314 correlation function Methods 0.000 claims 1
- 238000003754 machining Methods 0.000 abstract description 7
- 230000012391 spindle elongation Effects 0.000 description 10
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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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a method and a device for compensating the elongation of a main shaft of a numerical control machine tool and the numerical control machine tool, wherein the method for compensating the elongation of the main shaft of the numerical control machine tool comprises the following steps: calculating a temperature compensation value based on an initial temperature of the spindle; calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time; calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time; and calculating an elongation compensation value of the main shaft based on the temperature compensation value, the jump compensation value and the thermal elongation compensation value, wherein the elongation compensation value of the main shaft is used for adjusting the position of the main shaft. The method and the device compensate the elongation of the spindle to improve the machining precision of the machine tool.
Description
Technical Field
The invention relates to the field of numerically-controlled machine tools, in particular to a method and a device for compensating the elongation of a main shaft of a numerically-controlled machine tool and the numerically-controlled machine tool.
Background
The numerical control machine tool is short for numerical control machine tool, and is an automatic machine tool with a program control system. The control system can logically read a prescribed program, analyze the program, perform logic analysis and arithmetic processing, and then send various control signals through a numerical control device to control the action of a machine tool, and process parts corresponding to the drawing paper according to programmed instructions. The precision of the machined part is affected by the thermal deformation of the machine spindle. Specifically, with the change of the ambient temperature, the heat generated by the movement of the movement axis of the machine tool, the heat generated by the rotation of the spindle and the influence of other heat sources, the spindle has different elongations, which may be positive or negative, and the movement of the spindle structure controlled by the numerical control system obtains data through an encoder or a grating ruler, and the cutter of the machine tool is arranged at the front end of the spindle axis, so that the change of the position of the spindle axis influences the machining precision of the final actual product.
At present, the thermal elongation of a main shaft of a machine tool is usually compensated by detecting the temperature at each position of the machine tool and then compensating according to a created relation model of the temperature and the error. However, the heating transmission process requires time, the deformation of the machine tool is gradual, the calculation is performed only according to the heat balance when the model is built, and some hysteresis is brought to actual compensation, so that the compensation error is larger under the frequently-changed working condition. In the above-mentioned compensation scheme, a single thermal compensation coefficient is often adopted, however, the thermal compensation coefficients of the same spindle at different rotation speeds are different, and if only a single thermal compensation coefficient is adopted, the compensation accuracy is also affected. In particular, the electric spindle has gradually become a development trend of the spindle, and the characteristic difference of the electric spindle at low speed and high speed is obvious, so that the machining precision of a machine tool is greatly affected by using a single thermal compensation coefficient.
In order to avoid the influence of a single thermal compensation coefficient on the machining precision of the machine tool, some compensation schemes make the spindle rotation speed linearly related to the thermal compensation coefficient. However, based on testing, the spindle speed of a portion of the spindle is often non-linearly related to the thermal compensation coefficient, and thus, using a linear compensation scheme can also result in compensation errors that affect machine tool machining accuracy.
Therefore, how to compensate the elongation of the spindle to improve the machining precision of the machine tool is a technical problem to be solved in the field.
Disclosure of Invention
In order to overcome the defects of the related art, the invention provides a method and a device for compensating the elongation of a main shaft of a numerical control machine tool and the numerical control machine tool, so as to compensate the elongation of the main shaft to improve the machining precision of the machine tool.
According to one aspect of the present invention, there is provided a method for compensating for elongation of a spindle of a numerical control machine tool, comprising:
calculating a temperature compensation value based on the initial temperature and the calibration temperature of the spindle;
calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time;
calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time;
and calculating an elongation compensation value of the main shaft based on the temperature compensation value, the jump compensation value and the thermal elongation compensation value, wherein the elongation compensation value of the main shaft is used for adjusting the position of the main shaft.
In some embodiments of the present application, the temperature compensation value is positively correlated to a temperature difference of the initial temperature and the calibration temperature of the spindle.
In some embodiments of the present application, the positive correlation of the temperature difference and the temperature compensation value is established based on the amount of thermal elongation of the spindle at a set initial temperature or at a different initial temperature.
In some embodiments of the present application, the run-out compensation value is calculated based on a run-out model that is a functional relationship between run-out and the rotational speed of the spindle and the integral of the spindle on-off time.
In some embodiments of the present application, the run-out model includes a cold run-out model and a heat engine run-out model, and calculating the run-out compensation value based on the rotational speed of the main shaft includes:
determining the working condition of the main shaft;
determining to use a cold machine runout model or a heat machine runout model based on the working condition of the main shaft, calculating the thermal elongation compensation value,
the cold machine runout model is established based on runout of the cold machine at the starting stage and the stopping stage of different spindle rotating speeds; the thermal engine runout model is built based on runout of starting and stopping stages of different spindle speeds under the working condition of the thermal engine.
In some embodiments of the present application, the thermal elongation compensation value is calculated based on a thermal elongation compensation model that is a function of thermal elongation compensation amount as a function of rotational speed of the spindle, real-time temperature, and the spindle start-stop time.
In some embodiments of the present application, the thermal elongation compensation model is built based on thermal elongations at different spindle speeds, different real-time temperatures, and different start-stop times during a cold-hot machine change.
In some embodiments of the present application, further comprising:
responding to shutdown of the numerical control machine tool, and recording the temperature of the main shaft;
and taking the shutdown stage of the numerical control machine as a cold machine stage, calculating the run-out compensation value and the thermal elongation compensation value according to the shutdown time and the spindle temperature during restarting, wherein the run-out compensation value, the thermal elongation compensation value and the temperature compensation value are used for calculating the elongation compensation value of the spindle when the numerical control machine is restarted.
According to still another aspect of the present application, there is also provided a compensation device for the elongation of a spindle of a numerical control machine tool, including:
the first calculation module is used for calculating a temperature compensation value based on the initial temperature and the calibration temperature of the main shaft;
the second calculation module is used for calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time;
the third calculation module is used for calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time;
and a fourth calculation module for calculating an elongation compensation value of the spindle based on the temperature compensation value, the run-out compensation value and the thermal elongation compensation value, wherein the elongation compensation value of the spindle is used for adjusting the position of the spindle.
According to still another aspect of the present application, there is also provided a numerical control machine tool including:
a main shaft;
the temperature sensing module is used for acquiring the initial temperature and the real-time temperature of the main shaft;
the temperature acquisition module is used for acquiring the initial temperature and the real-time temperature of the main shaft acquired by the temperature sensing module;
a compensating device as described above;
and the main shaft control module is used for adjusting the position of the main shaft based on the elongation compensation value of the main shaft.
Compared with the prior art, the invention has the advantages that:
1) Calculating a temperature compensation value based on the initial temperature of the spindle, thereby incorporating the influence of the change of the ambient temperature on the thermal change of the spindle into the calculation of the spindle elongation compensation value, and avoiding deviation caused by the difference between the ambient temperature and the calibration temperature when the compensation value is calculated;
2) The jump compensation value is calculated based on the rotating speed of the main shaft and the starting and stopping time of the main shaft, so that the starting and stopping jump quantity of the main shaft is incorporated into the calculation of the main shaft elongation compensation value, the abrupt change problem of switching under various rotating speeds is avoided, the compensation precision of rotating speed switching is improved, and particularly, the compensation precision under the condition of frequently switching rotating speeds can be improved.
3) The thermal elongation compensation value is calculated based on the rotating speed of the main shaft, the real-time temperature and the main shaft start-stop time, so that different rotating speeds can use different compensation coefficients, and the real thermal variable is corresponding to the real-time temperature and the main shaft start-stop time, thereby avoiding the calculation deviation of the compensation values of different rotating speed switching. Meanwhile, considering that all main shaft thermal changes and main shaft rotating speed changes are nonlinear, due to the fact that thermal model coefficients are different at different rotating speeds, compensation values of the heat and cold machines at different rotating speeds are calculated through time integration superposition, and the inaccuracy of error calculation of corrected rotating speeds obtained through a rotating speed fitting mode is solved.
Drawings
The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a flowchart of a method for compensating for elongation of a spindle of a numerical control machine according to an embodiment of the present invention.
Fig. 2 shows a block diagram of a compensation device for the elongation of a spindle of a numerical control machine tool according to an embodiment of the present invention.
Fig. 3 shows a block diagram of a numerical control machine according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only and not necessarily all steps are included. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
Fig. 1 shows a flowchart of a method of compensating for elongation of a spindle of a numerical control machine according to an embodiment of the present invention. The compensation method for the elongation of the main shaft of the numerical control machine tool comprises the following steps:
step S110: based on the initial temperature of the spindle, a temperature compensation value is calculated.
Specifically, a temperature compensation model may be employed to calculate a temperature compensation value based on the initial temperature of the spindle. The initial spindle temperature is the spindle temperature at start-up and can also be understood as the ambient temperature.
In some embodiments, the temperature compensation model may be built based on the amount of spindle thermal elongation at different initial temperatures. For example, one or more temperature sensors may be disposed on the related structure of the spindle, and a test bar may be clamped at the axial center of the spindle, and the distance sensor may be used to detect the distance of the test bar, so as to measure the thermal elongation variable of the spindle. By recording the temperature change of the temperature sensor and the distance value of the distance sensor, a temperature compensation model of the spindle thermal elongation for the change of the environment temperature (initial temperature) is established.
In some embodiments, the temperature compensation model may be expressed as a positive correlation of the temperature compensation value with the temperature difference of the initial temperature of the spindle and the calibration temperature. The calibration temperature may be a set standard ambient temperature. In other words, the temperature compensation model can be expressed as the following formula:
Y 1 ＝f 1 (T 0 -T ref )，
wherein Y is 1 For temperature compensation value, T 0 T is the initial temperature of the main shaft ref To calibrate the temperature, f 1 Is a function of the temperature compensation value and the difference between the initial temperature and the calibration temperature. In some embodiments, the positive correlation of the temperature difference and the temperature compensation value may be established based on the amount of thermal elongation of the spindle at different initial temperatures.
In the above embodiment, when the temperature compensation model is built, the spindle may be in a stop stage, so that the spindle elongation is affected only by the ambient temperature.
Step S120: and calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time.
Specifically, according to the characteristic analysis of the main shaft, it is found that the centrifugal force applied to the bearings is different in all the starting stage and stopping stage of the main shaft, so that the main shaft has a kick, the kick has different performances on different main shafts and rotating speeds, and some main shafts can reach about 20% of the most value of the main shaft thermal error. See tables 1 and 2:
table 1: starting runout obtained by continuous multiple measurement at different rotation speeds of main shaft
Table 2: stopping and jumping amount obtained by continuous multiple measurement under different rotating speeds of main shaft
According to tables 1 and 2, the starting and stopping phases of the spindle at different speeds have abrupt changes in the amount of runout.
In order to avoid the influence of the jump amount mutation in the starting stage and the stopping stage of the spindle on the precision of the numerically controlled machine tool, step S120 may calculate and obtain a jump compensation value of the spindle based on the rotational speed of the spindle and the starting and stopping time of the spindle.
Specifically, the run-out compensation value may be calculated based on a run-out model, which is a functional relationship between run-out and the rotational speed of the spindle and the integral of the spindle start-stop time. The runout model can be expressed as the following formula:
wherein Y is 2 For the run-out compensation value, S is the rotational speed of the spindle,for the integral sum of the starting and stopping time of the main shaft in a previous period, n is the starting and stopping times of a numerical control machine tool, t (k-1) To t k For the time interval of the start or stop, f 2 Is a functional relationship between the rotational speed of the spindle and the integral of the spindle start-stop time.
Specifically, the runout model may include runout models under different conditions, so that different conditions may be adapted. For example, the run-out models may include a chiller run-out model and a heat engine run-out model. Thus, step S120 may include: determining the working condition of the main shaft; and determining to use a cold machine runout model or a heat machine runout model based on the working condition of the main shaft, and calculating the thermal elongation compensation value. Further, when the runout model is built, the runout of the starting stage and the stopping stage of different spindle rotating speeds can be built based on different working conditions. For example, the cold machine runout model may be established based on runout amounts of start and stop phases of different spindle speeds under cold machine conditions. The thermal engine runout model can be established based on runout of starting and stopping stages of different spindle speeds under the working condition of the thermal engine.
In some specific implementations, a test rod can be clamped at the axis position of the spindle, and distance detection is performed on the test rod by using a distance sensor, so that the measurement of the runout amount of the spindle is realized. And establishing a runout model of the runout of the spindle in the starting stage and the stopping stage of different spindle rotating speeds by recording the rotating speed change of the spindle and the distance value of the distance sensor under different working conditions.
Step S130: and calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time.
Specifically, the thermal elongation compensation value may be calculated based on a thermal elongation compensation model that is a functional relationship between thermal elongation compensation amount and rotational speed of the spindle, real-time temperature, and the spindle start-stop time. The thermal elongation compensation model can be expressed as the following formula:
Y 3 ＝f 3 (S,T,t)，
wherein Y is 3 Is a thermal elongation compensation value, S is the rotating speed of a main shaft, T is the real-time temperature, T is the starting time of the main shaft, and f 3 Is a functional relation between the thermal elongation compensation quantity and the rotating speed, the real-time temperature and the starting and stopping time of the main shaft.
In some embodiments, S is the rotational speed of the spindle and T is the real-time temperature may form a sequence of values based on the spindle start-stop time, such that the thermal elongation compensation model may calculate thermal elongation compensation values based on the sequence of values. That is, the thermal elongation compensation model may calculate the thermal elongation compensation value based on real-time spindle speed and temperature, and historical spindle speed and temperature.
Specifically, since all the main shaft thermal changes and the main shaft rotation speed changes are nonlinear, due to the difference of the thermal model coefficients at different rotation speeds, the inaccuracy of error calculation of the corrected rotation speed obtained by the rotation speed fitting mode can be solved by calculating the compensation values of the heat and cold machines at different rotation speeds through time integration superposition based on the scheme using energy conservation.
Further, the thermal elongation compensation model can be built based on the thermal elongation of different spindle speeds, different real-time temperatures and different start-stop times in the cold and hot machine changing process. In some implementations, one or more temperature sensors may be disposed on the related structure of the spindle, while a test rod is clamped at the axial center of the spindle, and a distance sensor is used to detect the distance of the test rod, so as to measure the thermal elongation variable of the spindle. The temperature change and the thermal elongation change of different rotating speeds from the cold machine stage to the thermal elongation stabilization stage and then to the cold machine stage are recorded, so that a relation model of the thermal elongation of the main shaft, the temperature change and the time under the cold machine and the heat machine with different rotating speeds is established.
Step S140: and calculating an elongation compensation value of the main shaft based on the temperature compensation value, the jump compensation value and the thermal elongation compensation value, wherein the elongation compensation value of the main shaft is used for adjusting the position of the main shaft.
In some embodiments, the elongation compensation value of the spindle may be a sum of a temperature compensation value, a runout compensation value, and a thermal elongation compensation value. The present application is not limited thereto, and other computing methods are within the scope of the present application.
In some embodiments, consider the case where there is a brief time period after the numerically controlled machine is turned off and then turned on. At this time, the numerically-controlled machine tool is actually in a cold working condition after being turned off, so that the shutdown stage of the numerically-controlled machine tool after being turned off can be used as a cold stage, and therefore, the elongation compensation value of the main shaft can be calculated through the cold stage to be used as the elongation compensation value of the main shaft when the numerically-controlled machine tool is restarted. Specifically, the above scheme can be realized by the following steps: when the numerically-controlled machine tool is turned off, the temperature of the main shaft is recorded, the turning-off stage of the numerically-controlled machine tool is used as a cooling stage (such as a stopping stage under the condition of a cooling machine) so as to calculate the run-out compensation value and the thermal elongation compensation value according to the turning-off time and the recorded temperature, and the run-out compensation value and the thermal elongation compensation value are used for calculating the elongation compensation value of the main shaft when the numerically-controlled machine tool is turned on again.
For example, the compensation value is calculated by directly defaulting to the cold stage at the time of initialization, assuming shutdownRestarting after 10 minutes, if the cold stage is defaulted according to the start-up, the reference temperature is 20 ℃ in the cold stage, and the temperature T of the measuring spindle is 22 ℃ at the moment, and when the compensation value is calculated: y is Y 1 ＝f 1 (T 0 -T ref )＝f 1 (2),Equal to 0, Y 3 =f3 (S, T) =f3 (0,22,0). However, in practice, the numerical control machine is obviously not in the cold stage when restarting. In this regard, the present embodiment can record the time of shutdown and the spindle rotation speed change condition at the designated time before shutdown (assuming that the last startup time is 10 hours), when restarting, calculate the time interval from this restart to the last shutdown to be 10 minutes, then when calculating the compensation value, Y 1 ＝f 1 (T 0 -T ref ) Wherein T is 0 Is the temperature of the last cold stage when the machine is started, < >>Y can be performed according to the data before shutdown 2 To obtain Y 2 More precisely, Y 3 ＝f 3 (S,T,t)＝f 3 (0, 22,10 x 60), whereby more accurate thermal elongation compensation can be achieved.
In the compensation method of the spindle elongation of the numerical control machine tool provided by the invention, 1) the temperature compensation value is calculated based on the initial temperature of the spindle, so that the influence of the change of the ambient temperature on the thermal change of the spindle is incorporated into the calculation of the spindle elongation compensation value, and the deviation generated when the compensation value is calculated due to the fact that the ambient temperature is different from the calibration temperature is avoided; 2) Calculating a runout compensation value based on the rotating speed of the main shaft and the starting and stopping time of the main shaft, thereby incorporating the runout of the starting and stopping of the main shaft into the calculation of a main shaft elongation compensation value, avoiding the abrupt change problem of switching under various rotating speeds, improving the compensation precision of rotating speed switching, and particularly improving the compensation precision under the condition of frequently switching the rotating speed; 3) The thermal elongation compensation value is calculated based on the rotating speed of the main shaft, the real-time temperature and the main shaft start-stop time, so that different rotating speeds can use different compensation coefficients, and the real thermal variable is corresponding to the real-time temperature and the main shaft start-stop time, thereby avoiding the calculation deviation of the compensation values of different rotating speed switching. Meanwhile, considering that all main shaft thermal changes and main shaft rotating speed changes are nonlinear, due to the fact that thermal model coefficients are different at different rotating speeds, compensation values of the heat and cold machines at different rotating speeds are calculated through time integration superposition, and the inaccuracy of error calculation of corrected rotating speeds obtained through a rotating speed fitting mode is solved.
In one embodiment, a temperature sensor may be installed at a designated location of the spindle to reduce the cost of the temperature sensor. When the numerical control machine is started, the read temperature is 21 degrees (initial temperature), the calibration temperature is 20 degrees, the model parameters of the temperature compensation model are assumed to be 7, and the temperature compensation model Y is used 1 =7×21-20=7 um, and when the spindle is not started, the jitter compensation value and the thermal elongation compensation value are both 0. Thus, the elongation compensation value y=y 1 +Y 2 +Y 3 =7+0+0=7um. When the spindle rotation speed is set to 10000RPM and the spindle reaches 10000 revolutions, y2=8.8 um is calculated according to the runout model, and y=y at this time 1 +Y 2 +Y 3 =7+8.8+0=15.8 um. With the lapse of time, the temperature of the spindle rises, Y 1 And Y 3 Also over time, e.g. after 5 minutes, Y 3 Calculated as 8um, Y according to a thermal elongation compensation model 1 The elongation compensation value y=y is changed to 9um 1 +Y 2 +Y 3 =9+8.8+8=25.8 um. The elongation compensation value is slowly increased to a stable value (in the case of constant ambient temperature) at constant rotational speed.
The above is merely a plurality of specific implementations of the method for compensating the elongation of the spindle of the numerically-controlled machine tool according to the present invention, and each implementation may be implemented independently or in combination, and the present invention is not limited thereto. Further, the flow chart of the present invention is merely illustrative, and the execution order of steps is not limited thereto, and the splitting, merging, sequential exchange, and other synchronous or asynchronous execution of steps are all within the scope of the present invention.
Referring now to fig. 2, fig. 2 is a block diagram showing a compensation apparatus for spindle elongation of a numerical control machine according to an embodiment of the present invention. The compensation device 200 for the spindle elongation of the numerical control machine tool comprises a first calculation module 210, a second calculation module 220, a third calculation module 230 and a fourth calculation module 240.
The first calculating module 210 is configured to calculate a temperature compensation value based on an initial temperature of the spindle;
the second calculating module 220 is configured to calculate a runout compensation value based on the rotational speed of the spindle and the spindle start-stop time;
the third calculation module 230 is configured to calculate a thermal elongation compensation value based on a rotational speed of the spindle, a real-time temperature, and the spindle start-stop time;
the fourth calculation module 240 is configured to calculate an elongation compensation value of the spindle based on the temperature compensation value, the run-out compensation value, and the thermal elongation compensation value, where the elongation compensation value of the spindle is used to adjust a position of the spindle.
In the compensation device for the spindle elongation of the numerical control machine tool according to the exemplary embodiment of the present invention, 1) a temperature compensation value is calculated based on an initial temperature of the spindle, thereby incorporating an influence of a change of an ambient temperature on a thermal change of the spindle into the calculation of the spindle elongation compensation value, and avoiding deviation in the calculation of the compensation value due to a difference between the ambient temperature and a calibration temperature; 2) Calculating a runout compensation value based on the rotating speed of the main shaft and the starting and stopping time of the main shaft, thereby incorporating the runout of the starting and stopping of the main shaft into the calculation of a main shaft elongation compensation value, avoiding the abrupt change problem of switching under various rotating speeds, improving the compensation precision of rotating speed switching, and particularly improving the compensation precision under the condition of frequently switching the rotating speed; 3) The thermal elongation compensation value is calculated based on the rotating speed of the main shaft, the real-time temperature and the main shaft start-stop time, so that different rotating speeds can use different compensation coefficients, and the real thermal variable is corresponding to the real-time temperature and the main shaft start-stop time, thereby avoiding the calculation deviation of the compensation values of different rotating speed switching. Meanwhile, considering that all main shaft thermal changes and main shaft rotating speed changes are nonlinear, due to the fact that thermal model coefficients are different at different rotating speeds, compensation values of the heat and cold machines at different rotating speeds are calculated through time integration superposition, and the inaccuracy of error calculation of corrected rotating speeds obtained through a rotating speed fitting mode is solved.
Fig. 2 is a schematic illustration only of the compensation device 200 for the elongation of the spindle of the numerically-controlled machine tool provided by the invention, and the disassembly, the combination and the addition of the modules are all within the protection scope of the invention without departing from the concept of the invention. The compensation device 200 for the elongation of the spindle of the numerical control machine tool provided by the invention can be realized by any combination of software, hardware, firmware, plug-in components and the like, and the invention is not limited to the above.
Referring now to fig. 3, fig. 3 shows a block diagram of a numerically controlled machine tool according to an embodiment of the present invention. The numerical control machine 300 includes a spindle 310, a temperature sensing module 320, a temperature acquisition module 330, a compensation device 340 as shown in fig. 2, and a spindle control module 350.
The temperature sensing module 320 is used for acquiring the initial temperature and the real-time temperature of the spindle.
Specifically, the temperature sensing module 320 may include one or more temperature sensors. The influence of the environmental temperature change on the deformation of the main shaft-related structure may be obtained by the temperature sensor of the structure on the main shaft, or by using the temperature sensor provided for the thermal elongation of the main shaft, and only one temperature sensor may be used in a scene where the environmental fluctuation is small. In some embodiments, temperature sensors may be disposed at the tail portion of the spindle and the structure, respectively, so that the obtained temperature data may be used as a basis for temperature change of the spindle structure.
The temperature acquisition module 330 is used for acquiring the initial temperature and the real-time temperature of the spindle acquired by the temperature sensing module. Specifically, the temperature acquisition module 330 may be a digital-to-analog acquisition card to convert temperature data into digital quantities after it is acquired.
The compensation device 340 is used for executing the calculation of a temperature compensation value based on the initial temperature of the spindle; calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time; calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time; and calculating an elongation compensation value of the spindle based on the temperature compensation value, the run-out compensation value and the thermal elongation compensation value. Specifically, the compensation device 340 may be implemented based on an industrial computer, and may communicate with a numerical control system of a numerical control machine tool in a wired or wireless manner to read the spindle rotation speed. In addition, the industrial computer may also read the digital quantity of the temperature data from the temperature acquisition module 330 through the communication module.
The spindle control module 350 is configured to adjust a position of the spindle based on the elongation compensation value of the spindle. Specifically, the spindle control module 350 may be part of a numerical control system of a numerical control machine to control a spindle.
In the compensation system for the spindle elongation of the numerical control machine tool according to the exemplary embodiment of the present invention, 1) a temperature compensation value is calculated based on an initial temperature of the spindle, thereby incorporating an influence of a change of an ambient temperature on a thermal change of the spindle into the calculation of the spindle elongation compensation value, and avoiding deviation in the calculation of the compensation value due to a difference between the ambient temperature and a calibration temperature; 2) Calculating a runout compensation value based on the rotating speed of the main shaft and the starting and stopping time of the main shaft, thereby incorporating the runout of the starting and stopping of the main shaft into the calculation of a main shaft elongation compensation value, avoiding the abrupt change problem of switching under various rotating speeds, improving the compensation precision of rotating speed switching, and particularly improving the compensation precision under the condition of frequently switching the rotating speed; 3) The thermal elongation compensation value is calculated based on the rotating speed of the main shaft, the real-time temperature and the main shaft start-stop time, so that different rotating speeds can use different compensation coefficients, and the real thermal variable is corresponding to the real-time temperature and the main shaft start-stop time, thereby avoiding the calculation deviation of the compensation values of different rotating speed switching. Meanwhile, considering that all main shaft thermal changes and main shaft rotating speed changes are nonlinear, due to the fact that thermal model coefficients are different at different rotating speeds, compensation values of the heat and cold machines at different rotating speeds are calculated through time integration superposition, and the inaccuracy of error calculation of corrected rotating speeds obtained through a rotating speed fitting mode is solved.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (7)
1. The compensation method for the elongation of the main shaft of the numerical control machine tool is characterized by comprising the following steps of:
calculating a temperature compensation value based on the initial temperature of the main shaft, wherein the temperature compensation value is positively correlated with the temperature difference between the initial temperature of the main shaft and the calibration temperature;
calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time, wherein the runout compensation value is calculated based on a runout model, and the runout model is a functional relation between the runout and the integral of the rotating speed of the main shaft and the main shaft starting and stopping time;
calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time, wherein the thermal elongation compensation value is calculated based on a thermal elongation compensation model, and the thermal elongation compensation model is a functional relation between the thermal elongation compensation value and the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time;
and calculating an elongation compensation value of the main shaft based on the temperature compensation value, the jump compensation value and the thermal elongation compensation value, wherein the elongation compensation value of the main shaft is used for adjusting the position of the main shaft, and the elongation compensation value of the main shaft is the sum of the temperature compensation value, the jump compensation value and the thermal elongation compensation value.
2. The method for compensating for the elongation of the spindle of a numerical control machine tool according to claim 1, wherein the positive correlation function between the temperature difference and the temperature compensation value is established based on the thermal elongation of the spindle at a set initial temperature or at different initial temperatures.
3. The method for compensating for the elongation of a spindle of a numerical control machine tool according to claim 1, wherein the runout model includes a cold runout model and a heat machine runout model, and the calculating the runout compensation value based on the rotational speed of the spindle includes:
determining the working condition of the main shaft;
determining to use a cold machine runout model or a heat machine runout model based on the working condition of the main shaft, calculating the thermal elongation compensation value,
the cold machine runout model is established based on runout of the cold machine at the starting stage and the stopping stage of different spindle rotating speeds; the thermal engine runout model is built based on runout of starting and stopping stages of different spindle speeds under the working condition of the thermal engine.
4. The method for compensating for the elongation of the spindle of a numerical control machine according to claim 1, wherein the thermal elongation compensation model is established based on the thermal elongation at different spindle speeds, different real-time temperatures and different start-stop times during the change of the cooling and heating machines.
5. The method for compensating for the elongation of the spindle of a numerical control machine tool according to claim 1, further comprising:
responding to shutdown of the numerical control machine tool, and recording the temperature of the main shaft;
and taking the shutdown stage of the numerical control machine as a main shaft stopping state, calculating the jump compensation value and the thermal elongation compensation value according to the shutdown time and the main shaft temperature when the numerical control machine is restarted, wherein the jump compensation value, the thermal elongation compensation value and the temperature compensation value are used for calculating the elongation compensation value of the main shaft when the numerical control machine is restarted.
6. The utility model provides a compensation arrangement of digit control machine tool main shaft elongation which characterized in that includes:
the first calculation module is used for calculating a temperature compensation value based on the initial temperature of the main shaft, and the temperature compensation value is positively correlated with the temperature difference between the initial temperature of the main shaft and the calibration temperature;
the second calculation module is used for calculating a runout compensation value based on the rotating speed of the main shaft and the main shaft starting and stopping time, wherein the runout compensation value is calculated based on a runout model, and the runout model is a functional relation between the runout and the integral of the rotating speed of the main shaft and the main shaft starting and stopping time;
the third calculation module is used for calculating a thermal elongation compensation value based on the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time, wherein the thermal elongation compensation value is calculated based on a thermal elongation compensation model, and the thermal elongation compensation model is a functional relation between the thermal elongation compensation value and the rotating speed of the main shaft, the real-time temperature and the main shaft starting and stopping time;
and a fourth calculation module, configured to calculate an elongation compensation value of the spindle based on the temperature compensation value, the run-out compensation value, and the thermal elongation compensation value, where the elongation compensation value of the spindle is used to adjust a position of the spindle, and the elongation compensation value of the spindle is a sum of the temperature compensation value, the run-out compensation value, and the thermal elongation compensation value.
7. A numerically-controlled machine tool, comprising:
a main shaft;
the temperature sensing module is used for acquiring the initial temperature and the real-time temperature of the main shaft;
the temperature acquisition module is used for acquiring the initial temperature and the real-time temperature of the main shaft acquired by the temperature sensing module;
the compensation device of claim 6;
and the main shaft control module is used for adjusting the position of the main shaft based on the elongation compensation value of the main shaft.
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Denomination of invention: Compensation method, device, and CNC machine tool spindle elongation Granted publication date: 20240209 Pledgee: Shanghai Rural Commercial Bank Co.,Ltd. Pudong branch Pledgor: APAs CNC machine tool manufacturing (Shanghai) Co.,Ltd. Registration number: Y2024310000518 |
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