JPS5851284B2 - Mandrel Kaitensokudo Kirikae Houshiki - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention operates along the surface of a three-dimensional base material that rotates around a rotation axis, and performs marking, winding, welding, and cutting of linear members on the surface of the rotating base material. The present invention relates to an apparatus for accurately positioning a work tool for cutting or the like, and more particularly to a method for controlling the rotational speed of a three-dimensional base material (mandrel).

Conventionally, when performing some kind of processing along the surface of a base material using a work tool, the work tool is usually rotated and its axis of rotation is moved laterally in the axial direction. Either the base material is fixed in the axial direction of the base material, or the base material is rotated at a fixed position and the work tool is moved laterally in the direction of the rotational axis of the rotating base material.In either case, , the ratio of the lateral movement speed to the rotational speed of the rotating body is determined by connecting the rotation axis and the lateral movement axis of the rotating body with gears,
Adjustments were made by changing this gear ratio, or by attaching digital multi-operation devices (e.g., stepping motors) driven by electric pulse commands to the rotation axis and lateral movement axis of the rotating body, and changing the pulse ratio between the two. .

Therefore, for example, when performing a simple process such as spiral processing on the surface of a cylindrical base material, this will not be a problem, but the ratio of the rotation speed of the base material to the lateral movement speed is the rotation angle of the base material ( θ) or when the shape of the base material has a shape other than a cylinder, e.g. spherical or other shapes, special considerations are required to ensure accurate and continuous positioning of the implement at all times. Therefore, calculation control that requires complicated programmable programs such as those normally found in NC machine tools has been required.

For this reason, the present applicant and others have proposed that the shape of the base material to be rotated and the work content be determined in advance, but in cases where a wide setting range is required for the coefficient of the work content, and We have proposed a high-precision work device that always positions the work tool with high precision and continuously even when a wide setting range is required for the dimensions of the base material.

Figure 1 is an overall configuration diagram of the working device, in which the base material is rotated and moved in the axial direction, and the work tool is moved back and forth and rotated relative to the base material while attaching the wire member to the base material. An example of wrapping is shown below.

In the figure, a straight rail 2 is installed on a suitable fixed base 1,
A carriage 3 is placed on the rail 2.

A pole nut 4 is attached to the reciprocating table 3, and a ball screw 5 installed parallel to the rail 2 is screwed into the pole nut 4.

The ball screw 5 is rotated by a stepping motor 6, and as a result, the carriage 3 runs on the rail 2.

A mandrel 8 is installed on the carriage 3, supported at both ends by bearings installed on the carriage, and rotated by a stepping motor 7 at one end.

On the other hand, at a spatial position facing the mandrel 8, there is provided an extendable arm 9 that moves in a direction perpendicular to the rotation axis of the mandrel, and is extended and contracted by a stepping motor 11 via a ball screw 10.

A rotary arm 12 is engaged with the telescopic arm 9 and rotates around the tip of the telescopic arm.

The rotating arm 12 is rotated by a stepping motor 13, and a working tool 14 is fixed to the tip of the rotating arm 12.

In the case of FIG. 1, the working tool 14 is a yarn feeding member, from which a filament member 15 is fed out and wound around the mandrel 8.

Note that 16 is a support member that appropriately supports the telescopic arm and the like.

The outline of the operation of this working device is as follows: a mandrel 8 is rotated by a stepping motor 7;
．． 11.13 takes into account the movement of the carriage 3, the extension and contraction of the telescoping arm 9, and the rotational movement of the rotary arm 12 to move the work tool through a predetermined path on the surface of the mandrel 8 and wind the desired winding. This is what you get.

To manipulate the implement through a defined path on the mandrel surface, the angle of rotation θ of the mandrel 8 is taken as an independent variable, and the coordinate (X) of the implement along the mandrel surface as a function of θ.

y, z).

The coordinates (X, y, z) are the positions of three types of dependent axes, namely the position (2) of the carriage 3, the turning angle (ε) of the rotary arm 12,
And the telescopic position (1) of the telescopic arm 9 is determined as the dependent variables f(, g(θ) and h(θ) of the rotation angle (θ), and each control axis is positioned in this way. Ingredients 1
The position of 4 is determined.

In FIG. 1, reference numeral 19 is a digital differential analyzer (DDA) which incorporates arithmetic circuits 19, 20, and 21 that satisfy the above-mentioned functional formula, and is characterized by incremental type calculations.

A digital signal that commands one rotation angle (θ) is obtained by a mandrel rotation pulse generator 18, and its output is sent to a stepping motor 7 for rotating the mandrel 8 and calculation circuits 19, 20, and 21 that calculate the positions of each dependent axis. Supplied.

The arithmetic circuit 19 calculates the carriage position zf(θ), and the output of the calculation is supplied to the reciprocating stepping motor 6 of the carriage 3.

Similarly, the arithmetic circuit 20 calculates the rotating arm turning angle ε-g(θ), and the arithmetic circuit 21 calculates the telescopic arm position t=h(θ).
These calculations are performed, and their outputs are supplied to a stepping motor 13 for turning the rotary arm 12 and a stepping motor 11 for extending and retracting the telescopic arm 9.

Various constants, initial conditions, etc. required by the arithmetic circuits 19, 20 and 21 are given from the operation panel 22.

In this way, the digital differential analyzer 17 uses the mandrel 8
Angle finger 4> (pulse signal) is supplied to the main shaft stepping motor 7, and the position z1ε,l of each slave shaft corresponding to one step of the main shaft stepping motor is calculated,
By driving the dependent axis stepping motors 6.13.11, each control axis is positioned with high accuracy and continuously.

FIG. 2 is an explanatory diagram of the principle of a DDA integrator, which is a basic component of the digital differential analyzer 17.

The integration principle of the DDA integrator is the piecewise quadrature method, as shown in Figure 2a.
The human power to be integrated Y shown in FIG. 2 is stored in the Y register 27 in FIG.

The product Yn-AX of this Yn and the independent variable IJx is added to the contents of the R register 26, and the integral value Σ
Yn-Ax is stored.

The content ΣYn-AX of this R register 26 is expressed by the quantizer 28.
is quantized to become a quantized pulse JZ.

Therefore, by counting this pulse JZ, an integral value (fYdx) can be obtained.

Note that 23 is a gate circuit, and 24 and 25 are adders.

Normally, the calculation elements are composed of one or more DDA integrators, and these calculation elements are connected in series to calculate a desired expression, so the calculation speed decreases as the number of calculation elements increases.

Now, let us consider a case in which the mandrel 8 in the working device shown in FIG. 1 is a cylinder having a spherical surface at both ends, and a linear member 15 is wound around the mandrel 8.

In this case, the conditions are different when the yarn separation point from the mandrel of the linear member 15 is on the spherical portion and on the cylindrical portion, so the digital differential analyzer 17 uses the The calculation formula is switched depending on when the mandrel is in the cylindrical part, and three dependent positions (Z,
ε, r) are calculated.

In this S, the number of DDA operation elements required in the calculation formula for the spherical part is nl for the Z fine calculation circuit, n2 for the ε fine calculation circuit, and r
Let n3 be the number of DDA calculation elements required in the calculation formula for the cylindrical part and n4 in the Z fine calculation circuit (in the cylindrical part, the ε and r axes are fixed to the boundary values of the spherical part. Ori,
In general, there is n between these
3>n2>n1>n4 holds true.

Therefore, considering that the position calculation time of each dependent axis per unit minute angular increment of the mandrel 8 is proportional to the number of DDA calculation elements, in the configuration of FIG. The winding work speed is determined.

This means that productivity in the cylindrical portion is reduced.

Of course, the same thing can be said when performing operations such as scribing, welding, cutting, etc. on the surface of the mandrel.

An object of the present invention is to change the rotational speed of the mandrel between the spherical part and the cylindrical part, thereby improving the working speed of the working device as a whole.

FIG. 3 shows an embodiment of the present invention.

In the figure, the mandrel rotation pulse generator 18 that commands the rotation angle θ of the mandrel is a spherical part pulse generator 181.
and a cylindrical part pulse generator 18-2.

Here, the repetition frequency of the output pulses of the pulse generator 18-1 is set to a lower value than that of the output pulses of the pulse generator 18-2.

The output pulse of the pulse generator 18-1 is transmitted through the switch A1 to determine the position of the carriage in the spherical region z = f t (θ)
Arithmetic circuit 19-1 for calculating rotating arm turning angle εg
Arithmetic circuit 20 for calculating (θ), telescopic arm position lh(θ)
A spherical part arithmetic circuit 100 consisting of an arithmetic circuit 21 that calculates
be taken in.

On the other hand, the output pulses of the pulse generator 182 are taken into the cylindrical part calculation circuit 200.

In the cylindrical region, the ε and r axes are fixed to the boundary values of the spherical surface, so the cylindrical region arithmetic circuit 200 operates as the arithmetic circuit 19 that calculates the carriage position z ``”' f 2 (θ) in the cylindrical region.
-2 alone is sufficient.

The calculation outputs of the calculation circuits 19-1 and 19-2 are combined and given to the Z-axis driving stepping motor 6 (see Fig. 1) via switches A2 and B2, respectively, but at the same time, this Z-axis output pulse is This becomes an input to the cylindrical portion/spherical portion discrimination circuit 23.

This cylindrical part/spherical part discrimination circuit 23 counts the Z-axis output pulses and compares them with a preset value. For example, in the case of winding work, the thread separation point is in the spherical part area. When it is in the cylindrical region, signal a is sent out, and when it is in the cylindrical region, signal s is sent out.

Switches A1 and A2 are turned on by signal a, and switches B1 and B2 are turned on by signal a.

By adopting the configuration shown in FIG. 3, when the work is performed on the spherical region of the mandrel 8, the pulse generator 18-
1 output pulse is selected, and the dependent position Z1ε, r is calculated in the spherical part calculation circuit 100 for every minute angle increment of Mantle [/le] determined by the period of the pulse, and the Z-axis output is outputted through the switch A2. , the remaining ε and r axes are directly applied to their corresponding stepping motors.

The repetition frequency of the output pulse of the pulse generator 18-1 is
This value is set to a low value in consideration of the time required to calculate the position of each dependent axis in the spherical part calculation circuit 100, and the mandrel 8 rotates at a low speed.

As the work progresses and enters the cylindrical region of the mandrel 8, the output pulses of the pulse generator 18-2 are selected.

The repetition frequency of this output pulse is determined by the pulse generator 18-1.
Therefore, the mandrel 8 rotates at a higher speed than in the case of the spherical region, and correspondingly, the position calculation of the dependent axis in the cylindrical region arithmetic circuit 200 is performed at high speed.

The cylindrical part arithmetic circuit 200 has only the Z-axis arithmetic circuit 19-2, and the number of DDA arithmetic elements used therein is small, so that it can sufficiently follow the high-speed rotation of the mandrel 8.

Note that during the operation of the cylindrical part calculation circuit 200, the calculation results of each dependent axis of the spherical part calculation circuit 100 are fixed to the boundary values of the spherical part, and when the work enters the spherical part area again, the calculation is restarted from the boundary value. That will happen.

As is clear from the above description, according to the present invention, in a working device that uses a digital differential analyzer to control the trajectory of a working tool along a rotating cylindrical base material (mandrel) having curved surfaces at both ends, the curved surface area of the mandrel When the arithmetic circuits are switched and used in the cylindrical region, each arithmetic circuit can be operated at the highest arithmetic speed within its processing capacity, resulting in an improvement in the working capacity of the device.

[Brief explanation of the drawing]

Fig. 1 is an overall configuration diagram of a working device to which the mandrel rotational speed switching method of the present invention is applied, and Fig. 2 shows the basic arithmetic element (D
FIG. 3 is a block diagram of an embodiment of the present invention. 3...Reciprocating stand, 6, 7, 11.13...
・Stepping motor, 8...Rotating base material (mandrel), 17...Digital differential analyzer, 1
8... Mandrel rotating pulse generator, 23...
... Spherical part/cylindrical part determination circuit, 100...
Spherical part calculation circuit, 200... Cylindrical part calculation circuit.

Claims (1)

[Claims] 1 A cylindrical rotating three-dimensional object with curved surfaces at both ends (
When controlling the trajectory of a working tool working along a mandrel, the mandrel is rotated by a digital operating device driven by an output pulse from a pulse generator that commands the rotation angle of the mandrel, and the rotating mandrel is The positions of a plurality of dependent axes that determine the three-dimensional coordinates of the work implement on the trajectory are determined as a function of the rotation angle, using the rotation angle of the rotation angle as an independent variable, and these functions are calculated using the output pulses from the pulse generator as input. Generated in the form of a digital signal, solved by a digital differential analyzer, and used to drive each digital control device using the digital signal output to control the trajectory of the work tool.In a working device, multiple pulses with different repetition frequencies of output pulses are generated. The vessel and
Corresponding to the plurality of pulse generators, a plurality of digital differential analyzers having different position calculation times of dependent axes are provided, and the position of the work tool is determined from the curved end portion of the mandrel to the cylindrical portion,
Alternatively, a mandrel rotation speed switching method characterized in that the combination of the pulse generator and the differential analyzer is switched and used each time there is a transition from the cylindrical portion to the curved end portion.