JP2002132319A - Moving body feeding method for machine tool - Google Patents
Moving body feeding method for machine toolInfo
- Publication number
- JP2002132319A JP2002132319A JP2000322971A JP2000322971A JP2002132319A JP 2002132319 A JP2002132319 A JP 2002132319A JP 2000322971 A JP2000322971 A JP 2000322971A JP 2000322971 A JP2000322971 A JP 2000322971A JP 2002132319 A JP2002132319 A JP 2002132319A
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- main
- speed
- axis unit
- period
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Automatic Control Of Machine Tools (AREA)
- Numerical Control (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、工作機械における
移動体の送り方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for feeding a moving body in a machine tool.
【０００２】[0002]
【従来の技術】従来、大型マシニングセンタ等におい
て、ストロークが大きく加工物を含む総質量も大きなテ
ーブルの速度及び加減速度を向上させるために、送り軸
の剛性を高めたり、駆動モータの出力トルクを上げたり
するなどの対策が採られてきた。2. Description of the Related Art Conventionally, in a large machining center or the like, in order to improve the speed and acceleration / deceleration of a table having a large stroke and a large total mass including a workpiece, the rigidity of a feed shaft or the output torque of a drive motor is increased. And other measures have been taken.
【０００３】ところが、こうした機械構造上の高速化対
策は、移動体の質量をさらに増し、負荷イナーシャを押
し上げるため、特に加減速度の点ではさほどの効果を期
待することができなかった。However, such measures for increasing the speed of the mechanical structure further increase the mass of the moving body and push up the load inertia, so that a significant effect cannot be expected particularly in terms of acceleration / deceleration.
【０００４】そこで、本発明の課題は、２つの移動体の
合成送りすることで、加減速度を大幅に向上させること
ができる送り方法を提供することにある。Accordingly, an object of the present invention is to provide a feeding method capable of greatly improving the acceleration / deceleration speed by synthesizing two moving bodies.
【０００５】[0005]
【課題を解決するための手段】上記の課題を解決するた
めに、本発明は、主移動体と、主移動体より質量の小さ
い副移動体とを装備した工作機械において、両移動体の
合成送りにより台形の速度パターンを得る方法であっ
て、主移動体を加速する期間中に、両移動体の速度合計
値が目標速度に到達するまで副移動体を加速したのち、
速度合計値が目標速度を維持するように副移動体を減速
する第１段階と、主移動体を目標速度で等速送りする期
間中に、副移動を停止させる第２段階と、主移動体を減
速する期間中に、速度合計値が目標速度を維持するよう
に副移動体を加速したのち、両移動体が同時に停止する
ように副移動体を減速する第３段階とからなることを特
徴とする。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to a machine tool equipped with a main moving body and a sub moving body having a smaller mass than the main moving body. A method of obtaining a trapezoidal speed pattern by feeding, during the period of accelerating the main moving body, after accelerating the sub-moving body until the total speed of both moving bodies reaches the target speed,
A first stage for decelerating the sub-moving body so that the total speed value maintains the target speed, a second stage for stopping the sub-movement during a period in which the main moving body is fed at a constant speed at the target speed, A third stage of accelerating the sub-moving body so that the total speed value maintains the target speed during the period of decelerating, and then decelerating the sub-moving body so that both moving bodies simultaneously stop. And
【０００６】[0006]
【発明の実施の形態】以下、本発明を門形マシニングセ
ンタに具体化した一実施形態を図面に基づいて説明す
る。図１に示すように、門形マシニングセンタのベッド
１上には、金型等の加工物２を載せるテーブル３が設置
されている。テーブル３は、加工物２を含む総質量が大
きな主移動体であって、駆動モータ４により送り軸５を
介しガイド６に沿って水平方向へ往復移動される。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a portal machining center will be described below with reference to the drawings. As shown in FIG. 1, a table 3 on which a workpiece 2 such as a mold is placed is placed on a bed 1 of a portal machining center. The table 3 is a main moving body having a large total mass including the workpiece 2, and is reciprocated in a horizontal direction along a guide 6 by a drive motor 4 via a feed shaft 5.
【０００７】一方、ラム７の下端には、工具８を保持す
る主軸ユニット９が設けられている。主軸ユニット９
は、工具８を含む総質量がテーブル３よりも小さい、高
応答、高加減速性能を有する副移動体であって、駆動モ
ータ１０により送り軸１１を介しガイド１２に沿って水
平方向へ往復移動される。On the other hand, a spindle unit 9 for holding a tool 8 is provided at a lower end of the ram 7. Spindle unit 9
Is a sub-moving body having a high response and high acceleration / deceleration performance having a total mass smaller than that of the table 3 including the tool 8, and is reciprocated in a horizontal direction along a guide 12 via a feed shaft 11 by a drive motor 10. Is done.
【０００８】上記構成の門形マシニングセンタにおい
て、次に、テーブル３及び主軸ユニット９の送り方法を
図２に基づいて説明する。この実施形態の送り方法にお
いては、加工物２の水平面を加工するにあたり、テーブ
ル３及び主軸ユニット９の合成送りによって、工作物２
と工具８との加工点が加速時間（Ｔ）及び減速時間
（Ｔ）の等しい正台形の速度パターンに従って制御され
る。Next, a method of feeding the table 3 and the spindle unit 9 in the portal machining center having the above configuration will be described with reference to FIG. In the feed method of this embodiment, when processing the horizontal surface of the workpiece 2, the workpiece 3 is synthesized by the table 3 and the spindle unit 9.
The machining points of the tool and the tool 8 are controlled according to a trapezoidal speed pattern having the same acceleration time (T) and deceleration time (T).
【０００９】すなわち、加工の第１段階においては、テ
ーブル３を所定の加速度で加速し、この加速期間（Ｔ
１）中に、主軸ユニット９をテーブル３と反対方向に所
定の加速度で加速する。テーブル３の速度（Ｆ１）と主
軸ユニット９の速度（Ｆ２）との合計値が目標速度（Ｆ
０）に達したときに、主軸ユニット９を加速から減速に
切り換える。そして、主軸ユニット９を所定の減速度で
減速し、速度合計値を目標速度（Ｆ０）に維持し、テー
ブル３が目標速度（Ｆ０）に到達した時点で主軸ユニッ
ト９を停止させる。That is, in the first stage of machining, the table 3 is accelerated at a predetermined acceleration, and the acceleration period (T
During 1), the spindle unit 9 is accelerated in a direction opposite to the table 3 at a predetermined acceleration. The sum of the speed (F1) in Table 3 and the speed (F2) of the spindle unit 9 is the target speed (F
0), the spindle unit 9 is switched from acceleration to deceleration. Then, the spindle unit 9 is decelerated at a predetermined deceleration, the total speed is maintained at the target speed (F0), and the spindle unit 9 is stopped when the table 3 reaches the target speed (F0).
【００１０】第２段階では、テーブル３を目標速度（Ｆ
０）で等速送りする。この等速送り期間中は主軸ユニッ
ト９を停止させる。In the second stage, the table 3 is set to the target speed (F
Feed at a constant speed in 0). During this constant feed period, the spindle unit 9 is stopped.
【００１１】第３段階では、テーブル３を第１段階の加
速度と同じ減速度で減速し、この減速期間（Ｔ１）中
に、主軸ユニット９をテーブル３と同一方向に第１段階
の減速度と同じ加速度で加速し、速度合計値を目標速度
（Ｆ０）に維持する。第１段階の減速時間と同じ加速時
間が経過したのち、主軸ユニット９を加速から減速に切
り換える。そして、主軸ユニット９を第１段階の加速度
と同じ減速度で減速し、テーブル３及び主軸ユニット９
を目標位置で同時に停止させる。In the third stage, the table 3 is decelerated at the same deceleration as the acceleration in the first stage. During this deceleration period (T1), the spindle unit 9 is moved in the same direction as the table 3 in the first direction. It accelerates at the same acceleration and maintains the total speed value at the target speed (F0). After the same acceleration time as the deceleration time in the first stage has elapsed, the spindle unit 9 is switched from acceleration to deceleration. Then, the spindle unit 9 is decelerated at the same deceleration as the first stage acceleration, and the table 3 and the spindle unit 9 are decelerated.
At the target position at the same time.
【００１２】上記送り方法によれば、質量が小さく高応
答の主軸ユニット９を速度制御することで、テーブル３
側の機械的構造を変更することなく、極めて高い加減速
度を発揮する速度パターンを得ることができ、もって、
金型等の大型加工物の加工時間を大幅に短縮することが
できる。また、テーブル３の加速及び減速期間中に主軸
ユニット９を加速から減速に切り換えるので、主軸ユニ
ット９の全移動量を短縮でき、これをラム７にコンパク
トな形態で装備することも可能である。以下に、これら
の作用効果を確認する計算式を例示する。According to the above-mentioned feeding method, the speed of the spindle unit 9 having a small mass and a high response is controlled, so that the table 3 is controlled.
Without changing the mechanical structure of the side, it is possible to obtain a speed pattern exhibiting extremely high acceleration / deceleration,
The processing time for large workpieces such as dies can be greatly reduced. In addition, since the spindle unit 9 is switched from acceleration to deceleration during the acceleration and deceleration periods of the table 3, the total movement amount of the spindle unit 9 can be reduced, and the ram 7 can be equipped in a compact form. The following is an example of a calculation formula for confirming these effects.
【００１３】 最大加速度 時定数 目標速度 テーブル α１ Ｔ１ Ｆ０ 主軸ユニット α２ Ｔ２ Ｆ０ 合成送り α Ｔ Ｆ０ α１×Ｔ１＝Ｆ０ α２×Ｔ２＝Ｆ０ α＝α１＋α２ Ｔ＝Ｆ０／α＝Ｔ１×Ｔ２／（Ｔ１＋Ｔ２）Maximum acceleration time constant Target speed table α1 T1 F0 Spindle unit α2 T2 F0 Combined feed α T F0 α1 × T1 = F0 α2 × T2 = F0 α = α1 + α2 T = F0 / α = T1 × T2 / (T1 + T2)
【００１４】主軸ユニット９の移動量：Ｌ Ｆ＝Ｆ０×Ｔ／Ｔ２＝Ｆ０×Ｔ１／（Ｔ１＋Ｔ２） Ｌ＝Ｆ×Ｔ１／２×２＝Ｆ０×Ｔ１２／（Ｔ１＋Ｔ２） 具体例として、 Ｆ０＝３０ｍ／ｍｉｎ＝５００ｍｍ／ｓｅｃ α１＝０．１Ｇ→Ｔ１＝０．５ｓｅｃ α２＝１Ｇ →Ｔ２＝０．０５ｓｅｃ Ｌ＝５００×０．５２ ／（０．５＋０．０５）≒２２
７ｍｍMovement amount of the spindle unit 9: LF = F0 × T / T2 = F0 × T1 / (T1 + T2) L = F × T1 / 2 × 2 = F0 × T1 2 / (T1 + T2) As a specific example, F0 = 30m / min = 500mm / sec α1 = 0.1G → T1 = 0.5sec α2 = 1G → T2 = 0.05sec L = 500 × 0.5 2 /(0.5+0.05)≒22
7mm
【００１５】なお、本発明は上記実施形態に限定される
ものではなく、メインテーブルとサブテーブルとをそれ
ぞれ独立制御可能に装備した工作機械において、両テー
ブルを加速時に同一方向へ送り、減速時に反対方向へ送
り、双方の合成送りにより台形の速度パターンを得るこ
ともできる。また、本発明の方法は門形マシニングセン
タのみに限定されるものではなく、研削盤やフライス盤
など、大質量の主移動体と小質量の副移動体とを装備し
た各種の工作機械に応用して実施することも可能であ
る。The present invention is not limited to the above-described embodiment. In a machine tool equipped with a main table and a sub-table, each of which can be independently controlled, the two tables are moved in the same direction during acceleration, and are opposite during deceleration. Direction, and a trapezoidal speed pattern can be obtained by combining the two. Further, the method of the present invention is not limited to only the portal machining center, and is applied to various machine tools equipped with a large-mass main moving body and a small-mass sub-moving body, such as a grinder and a milling machine. It is also possible to carry out.
【００１６】[0016]
【発明の効果】以上詳述したように、本発明の移動体送
り方法によれば、主移動体の加速及び減速期間中に副移
動体を加速したのち減速するので、主移動体の機械的構
造を変更することなく、副移動体の速度制御によって、
合成送りの加減速度を大幅に向上できるとともに、副移
動体の全移動量を短縮して、工作機械を小型に構成でき
るという優れた効果を奏する。As described above in detail, according to the moving body feeding method of the present invention, the secondary moving body is accelerated and then decelerated during the acceleration and deceleration periods of the main moving body. By changing the speed of the sub-moving body without changing the structure,
It is possible to greatly improve the acceleration / deceleration of the combined feed, and to shorten the total movement amount of the sub-moving body, thereby achieving an excellent effect that the machine tool can be made compact.
【図１】本発明の一実施形態を示す門形マシニングセン
タの要部正面図である。FIG. 1 is a front view of a main part of a portal machining center showing one embodiment of the present invention.
【図２】マシニングセンタの移動体送り方法を示す速度
特性図である。FIG. 2 is a speed characteristic diagram showing a moving body feeding method of the machining center.
１・・ベッド、２・・加工物、３・・テーブル、４，１
０・・駆動モータ、５，１１・・送り軸、６、１２・・
ガイド、７・・ラム、８・・工具、９・・主軸ユニッ
ト。1. Bed, 2. Workpiece, 3. Table, 4,1
0..drive motor, 5,11..feed shaft, 6,12 ..
Guide, 7 ram, 8 tool, 9 spindle unit.
Claims (1)
副移動体とを装備した工作機械において、両移動体の合
成送りにより台形の速度パターンを得る方法であって、
主移動体を加速する期間中に、両移動体の速度合計値が
目標速度に到達するまで副移動体を加速したのち、速度
合計値が目標速度を維持するように副移動体を減速する
第１段階と、主移動体を目標速度で等速送りする期間中
に、副移動を停止させる第２段階と、主移動体を減速す
る期間中に、速度合計値が目標速度を維持するように副
移動体を加速したのち、両移動体が同時に停止するよう
に副移動体を減速する第３段階とからなる移動体送り方
法。1. A method for obtaining a trapezoidal speed pattern by a combined feed of two moving bodies in a machine tool equipped with a main moving body and a sub-moving body having a smaller mass than the main moving body,
During the period of accelerating the main moving body, the secondary moving body is accelerated until the sum of the speeds of both moving bodies reaches the target speed, and then the second moving body is decelerated so that the total speed value maintains the target speed. One stage, the second stage of stopping the sub-movement during the period in which the main moving body is fed at a constant speed, and the total speed value maintaining the target speed during the period in which the main moving body is decelerated. A third step of decelerating the sub-moving body so that both moving bodies simultaneously stop after accelerating the sub-moving body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000322971A JP4455745B2 (en) | 2000-10-23 | 2000-10-23 | Machine tool feeding method for machine tools |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000322971A JP4455745B2 (en) | 2000-10-23 | 2000-10-23 | Machine tool feeding method for machine tools |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002132319A true JP2002132319A (en) | 2002-05-10 |
| JP4455745B2 JP4455745B2 (en) | 2010-04-21 |
Family
ID=18800753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000322971A Expired - Fee Related JP4455745B2 (en) | 2000-10-23 | 2000-10-23 | Machine tool feeding method for machine tools |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4455745B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015003370A (en) * | 2013-06-21 | 2015-01-08 | ファナック株式会社 | Machine tool having scattering prevention cover |
-
2000
- 2000-10-23 JP JP2000322971A patent/JP4455745B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015003370A (en) * | 2013-06-21 | 2015-01-08 | ファナック株式会社 | Machine tool having scattering prevention cover |
| US9566680B2 (en) | 2013-06-21 | 2017-02-14 | Fanuc Corporation | Machine tool having scattering prevention cover |
| DE102014108548B4 (en) * | 2013-06-21 | 2018-02-01 | Fanuc Corporation | Scatter protection cover for a machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4455745B2 (en) | 2010-04-21 |
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