JPH02120911A - Backlash correction device for working machine moving part - Google Patents

Abstract

PURPOSE:To remove a non-sensitive band in the working machine moving part by selecting one of plural backlash correcting values in accordance with the moving speed of the working machine moving part. CONSTITUTION:An output signal from a position detector 5 fixed to a motor 4 is inputted to a switch control part 12 to drive a switch 11 and selects one of backlash correcting values M1 to Mn set up in a memory 13. Namely, the switch control part 12 switches the switch 11 in accordance with the moving speed of the working machine moving part 6 and the selected backlash correcting value (one of M1 to Mn) is applied to a position command (a). Consequently, a change in the backlash value of a transmission mechanism part which may be generated due to a change in the moving speed of the working machine moving part is canceled and the non-sensitive band in the working machine moving part 6 can be removed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an improvement of a backlash correction device for correcting backlash of a movable part of a machine tool.

[Prior Art] Conventionally, as this type of par/crane correction device, the fourth
There is something like the one shown in the figure.

The part surrounded by the dashed-dotted line in FIG. 4 is I! When the sign of the position command a from the ¥ value control device 2 is reversed from the positive direction to the negative direction or from the negative direction to the positive direction, one backlash compensation 11E value, which is preset in the memory 81, is activated. It was a method that was attached to position commands.

That is, detection of sign inversion is performed by the code r1 discriminator 7, and the output of the sign discriminator 7 drives the switch 9.
The backlash correction value outputted from the memory 8 is used as an input command and is added to the position command a to drive the motor 4 via the servo amplifier 3 to control the machine tool II7 moving part 6.

In the figure, numeral 5 indicates a position detection system, which is connected to the servo amplifier 3 to form a position lube surf system.

Further, 6a is a transmission mechanism section.

[Problems to be solved] 1. The conventional backlash correction device l described above is as follows.

■The moving speed of the movable part 6 of the two-working machine takes various values i
Since the resulting change in the backlash of the transmission mechanism section 6a is compensated for by Babkrantzyu IEIF11 using a single backlash correction value, there is a drawback that backlash correction cannot be performed correctly.

The present invention has been made in view of the problems mentioned above.
An object of the present invention is to provide a backlash correction device for a hinged part of a machine tool, which can correct backlash of a moving part of a machine tool i+f using a plurality of backlash correction values.

[Steps to solve the problem] In order to achieve the J2-IJ objective, unreleased [! The backlash correction device for the +1 machine tool 2fJJ section includes a memory for storing a plurality of backlash correction values, and a backlash correction device for backlash correction for the machine tool 2fJJ section, and a memory for storing a plurality of backlash correction values, and a backlash correction device for backlash correction for the machine tool 2 fJJ section. The configuration includes a switch that selects one of the values, and a switch control section that drives the switch.

[′i! Example] Hereinafter, an example of the present invention will be described with reference to the drawings.

In addition, common reference numerals are given to parts that are common to the conventional art and will be explained.

FIG. 1 is a block diagram of one embodiment of the present invention.

In the figure, the part surrounded by the dashed line 1-1 is the backlash correction device 10. The position command a from the numerical control device 2 serves as an input command to the servo amplifier 3 and drives the motor 4. The output signal of the position detector 5 attached to the motor is branched, one enters the servo amplifier 3 to form a position loop servo system, and the other enters the switch control section 12 to drive the switch 11 and is stored in the memory 13. Select the backlash compensation IE value M I'' M n that has been set.

The switch control section 12 switches the switch 11 according to the moving speed of the I machine tool movable section 6. A transmission mechanism section 6a is coupled to the motor 4, and drives the -L machine tool movable section 6.

If the sign of the 1st position command a is now reversed, the sign 'P
In response to the output of the 0 position detector 5, the switch control unit 12 detects a sign reversal in the I separate unit 7 and closes the switch 9.
The backlash correction value (any one of M1 to Mn) selected by the operation of the switch 11 selected by is given to the position command a. Note that at this time, a sign is assigned to the backlash correction value (M+ to Mo) according to the direction of the position command a.

Once this operation is completed, switch 9 is opened and will not be closed until the direction of command a is reversed again. In this way, every time the sign of the position command is reversed /\
Performs sharpness correction operation.

Next, we consider the occurrence of puncture crunch and backlash correction (r
The relationship between fr will be explained.

FIG. 2 is a diagram schematically showing the mechanism of occurrence of puncture crash in the transmission mechanism section 6a. In FIG. This is a transmission mechanism piece corresponding to 6a. 2nd IN
(I) is a state in which the movable part is moving rightward, and the movable part 21 is being moved because the transmission mechanism piece 22 is not pressed against the right end. FIG. 2 (II) is a view when moving to the left, and the transmission mechanism piece 22 is pressed against the left end. That is, the transmission mechanism piece 22
There is a region in which the moving part 21 does not move even if the moving part 21 moves.

This dead zone is called the backlash amount, and L is called the amount of backlash. This is done to eliminate the insensitivity of 21.

When moving at low speed, the contact surface approaches LI: as shown in FIG. At this time, the packler, Nyu■L, and the memory's backruff compensation iE value Ml
to be memorized. At low speeds, by selecting the backlash sleeve iF- (direct M+) and performing the 8-7 crash compensation 1F operation, it is possible to eliminate the f-sensitive zone of the sliding part 6 of the machining machine.

Figure 3 shows the state '8.' when moving at high speed. ! ; and is a nti lubricant such as a body line or oil. When the speed increases, the number of backlash stars decreases like LX due to the dynamic pressure action of this gate lubricant X. Pack lassi there. supplementary rE
If f1M2 stores LX. At high speed
By selecting 7 Kura Tsunyu correction (1M 7) and performing the correction operation, it is possible to eliminate the 1ζ feeling of the movable part 6 of the machine.

Different speed from the case described in L1. When moving at Ilt, if the backrun complement +1-(+Ci) corresponding to 7 to 7 at that speed is set in the memory 13, similarly, the insensitivity of the I-machine moving part 6? iF can be eliminated.

[Effects of the first and second effects] As explained above, the present invention is capable of generating multiple backlashes depending on the moving speed of the mechanical movable parts. lIi L
By selecting one of the optimal supplementary IF values at that speed from the I value and performing bank crash compensation 1 operation, L
This has the effect of canceling out changes in the power and clamp of the transmission mechanism that occur when the moving speed of the moving part of the machine tool takes various values, and eliminating the insensitivity of the moving part of the machine tool. be.

[Brief explanation of the drawing]

No. 1 +4 is a block diagram of an embodiment of the present invention, No. 21
．． 4 is a schematic diagram showing how to reduce the occurrence of /-tsu crash at low speeds, Figure 3 is a schematic diagram showing the occurrence of puff crash at high speeds, and Figure 4 is a conventional backlash? 1tii
FIG. 2 is a block diagram of a TE device. 22 number (i Control device 3: Servo amplifier 4: Motor 5: Position detector 6: Machine machine IjJ moving part 6a: Transmission a4Ii part 7: j: r5 Discriminator 9: Switch 10'' Buckler 7 Shuttle correction device Awn 1m switch 12/switch control unit 13: , A Mori M1 to Mn: Backlash correction value Figure 1 Figure 2 Agent Gof Riju Watanabe Yoshimo

Claims (1)

[Claims] A backlash correction device for a movable part of a machine tool using a numerical control device includes a memory for storing a plurality of backlash correction values, and one of the plurality of backlash correction values according to a moving speed of the movable part of the machine tool. A backlash correction device for a movable part of a machine tool, comprising a switch for selecting a switch, and a switch control section for driving the switch.