JPS61193212A - Repeating step feed device with high accuracy and at high speed - Google Patents

Abstract

PURPOSE:To decide a repeating step position with high accuracy and a high speed by combining a simple elastic mechanism and a positioning mechanism and loading them on a traveling object. CONSTITUTION:A brake beam 20 is set horizontally to a feed device rack 1 and a traveling object 4 contains a clamp mechanism 21 which holds the beam 20 and a hydraulic cylinder 22. Then a servo motor 7 and a ball screw 3 are driven by a shift command given from a positioning controller 8. However the object 4 is clamped and the feed driving force is stored in a feed device 30. A solenoid valve 23 is energized by a positioning shift command and opened by the next command. Thus a repeating step position can be decided instantaneously with high accuracy and at a high speed owing to the elastic restoring force using the feed driving force stored in the device 30.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a device for positioning a moving body having an extremely large mass and inertia, such as a column of a machine tool or a feed drive unit for a wire winding machine, by high-speed, high-precision repetitive step feed.

BACKGROUND OF THE INVENTION 2. Description of the Related Art Conventionally, the operating system for positioning a moving body has mainly been represented by the one shown in FIG. 1 is the feeder mount, 2 is the guide rod,
3 is a pole screw, 4 is a moving body for positioning, 6 is a pole nut, 7 is a servo motor, 8 is a positioning control device, which includes a control unit 9, a deviation counter 10, and a D/A converter 11.
The moving body 4 is coupled to the amplifier 12 and the feedback 13, and the moving body 4 is controlled by the positioning control device 8 according to program instructions.
The servo motor 7 is rotated according to the command value, and the movable body 4 is driven by the pole screw 3 and the pole nut 6. Therefore, the positioning operation is performed when positioning is performed repeatedly in steps as shown by the arrow shown in the lower part of FIG. As shown in Fig. 2, even if a movement command value is given to the feeding device at a time of 5 Qmsec such as 15, in reality, the inertia of the moving body 4, pole screw 3, etc. is large and the response is poor, so The positioning operation flows as shown in Fig. 3, resulting in a positioning time of 100m5 to 200m5, making it difficult to perform high-speed positioning, and as shown in Figure 3, positioning commands are frequently issued for 500m5.
If commands are given at ec intervals, there are drawbacks such as a large amount of heat is generated, requiring a large-capacity servo motor, and positioning accuracy becomes extremely poor because the positioning points flow.

C0 Problems to be Solved by the Invention In the drive system of the movable body 4 which is composed of the servo motor 7 and the pole screw 3 via the positioning control device 8, the mass and inertia of the movable body 4 are extremely large, and as mentioned above, positioning is difficult. Therefore, by attaching a combination of a simple elastic mechanism and a positioning mechanism to the movable body 4, repeated step positioning can be achieved with high accuracy and high speed.

21 Means for Solving the Problems First, in order to explain the actuation system provided by the present invention, FIG.
0 is horizontally mounted on the left and right, and the moving body 4 has the brake beam 20
A clamp mechanism 21 that clamps the clamp mechanism and a hydraulic cylinder 22 that operates the mechanism are attached to the movable body 4, and the servo motor 7 and the pole screw 3 are moved by a movement command from the positioning control device 8.
is driven, but the movable body 4 is clamped, the feed thrust is stored in the feed device 30, and the solenoid valve 23 is excited by the positioning movement command and opened by the next command, so that the feed thrust is stored in the feed device 30 in FIG. The elastic restoring force generated by the applied feed thrust instantly performs high-precision, high-speed positioning.

Next, the proposed moving body feeding device 30 will be explained with reference to FIG. The feeding device is installed on the right side of the moving body in FIG. 4, and the feeding device case 33 is fitted into the right side of the moving body 4 through which the pole nut 3 passes, and is fastened with bolts 40 and knock pins (not shown). Case 33 has piece 31.
A guide key 35 is inserted into the guide key 35 to guide and slide the guide key 32 in the axial direction.

The pieces 31 and 32 are divided into left and right parts, and the nut case 3
The top 31 is pressed and positioned against the left wall of the case 33 by a spring 41 mounted on the top of 7.38 and applied with a specific preload, and the top 32 pushes the case 33 against the moving body 4
The lid 34 is pressed to the right and positioned against the wall of the lid 34 for fixing to the lid 34.

The nut cases 37 and 38 are divided into two parts to facilitate the assembly of the pieces 31 and 32 and the spring 41, and are connected with "screws" so that the pieces 31 and 3 are integrated into the case 33.
When # is assembled together with the spring 41, the structure is such that there is a gap in the center that is larger than the amount of repeated step feed.

Further, a guide key 36 is fixed to the left and right nut cases 37, 38 for slidingly guiding the nut cases 37, 38 in the axial direction by rotation of the pole screw 3. is slidably fitted into the

A pole nut 39 is tightly fitted into the nut case (right) 38, and the rotation of the pole screw 3 is guided by the guide key 36 to cause the nut cases 37 and 38 to move in a straight line.

For 6 works The operation of the feeding device 30 will be explained with reference to FIG.

The figure shows an enlarged view of the operation of the feeding device 30 of the moving body 4, and FIG. . When a positioning movement command is given, the pole screw 3 is in a clamped state and rotates by the movement command value, so the nut cases 37 and 38 move straight to the left by the command value using the guide key 36 as a guide. Figure-2
stand out like this. Further, the top (left) 31 is in contact with the case 33 and does not move, and the top (right) 32 is biased by compressing the spring 41 by the command value as described above.

When the positioning movement command passes through the solenoid valve 23, hydraulic cylinder 22, and clamp 21, and the clamp is released, the previously energized spring force causes the top 31 to move instantaneously by the command value, as shown in Figure 6-3. operates,
Since the end of the piece 31 abuts against the shoulder of the nut case 37 with a constant spring force, extremely high positioning accuracy is achieved.

Also, the figure shows a case where the step feed is repeated to the left, but if the pole screw 3 is reversed and the step feed is repeated to the right, the above is reversed, and the piece 31 moves to the right. When the spring 41 is compressed and the clamp is released, the top 32 is instantaneously actuated by the command value and is brought into contact with the shoulder of the lid 34 and positioned.

Embodiment FIG. 7 shows a device that rotates a trapezoidal winding drum at a constant rate and winds a wire or the like within the trapezoid of the winding drum. A feed drive unit 78 is provided. A winding drum 72 is fastened to the rotary drive unit 71, and a wire or the like is wound around the winding drum 72, which is guided by a roll 74 attached to a feed drive unit 78 equipped with the above-mentioned high-precision, high-speed repeating step feed device. Figure 8 shows the winding drum 72.
The cross-sectional shape of the winding drum 72 and the wire 82 is shown by using the feeding drive unit 78 on the trapezoidal part 73 of the winding drum 72 and the wire 82.
, is an application example of the present device showing a trapezoidal portion 73 and showing a wound state.

Further, FIG. 9 shows an example of repeated step feeding, in which the winding drum 72 is developed from point a, and the winding start point A is shown in the figure. It is wound linearly along the circumference of the winding drum 72, passes through A, is moved at high speed to the left by the diameter of the wire at AI', is positioned at A,'', and is again wound around the circumference of the drum. Pass through A2 in a straight line along A2I and A2''
positioning at high speed.・・・・・・・・・・・・Repeat this operation until one side of the bottom has been wound. At A4', feed the wire by the radius of the wire in order to overlap it on the top of the wire as shown in the figure. Position it at 1 and overlap it. 1. Feed the wire to A, A,', feed it to the right by the diameter of the wire at A,'', position it, and then wind it again in a straight line along the circumference, repeating this step feed.

As an example, the positioning movement command for one pitch is about 2+a, and the time required for one rotation of the winding drum is 5 Q Q
(About 11 Sec, positioning completion time for one command is 5
This is an example in which the above-mentioned high-accuracy high-speed repetitive step feeding device is used in Q m Sec.

Conventional method of directly positioning moving objects with large mass and large inertia by servo is used.In order to perform high-speed, repeated step positioning, large masses including servo motors, pole scree, moving objects, etc. can be accelerated in a short time. , the positioning operation flowed as shown in Figure 3 due to the inability to decelerate, but in the present invention, the drive system, which has an extremely large mass and high inertia, such as a servo motor and pole screw, can be started up at high speed and operated smoothly in advance.
There is no need to lower the moving body, and only the moving body is positioned by the biased spring force, so it operates instantaneously at high speed, and the positioning accuracy can be achieved by applying a specific force to the mechanical stopper, which consists of a positioning mechanism using a nut case and a piece. Since they are in contact with each other, positioning can be performed with extremely high precision. Although this embodiment uses a spring to store the feed thrust, a disc spring,
Naturally, the use of fluids and the like can also be applied.

In addition, in the case of high-speed repetitive step feeding, compared to the conventional positioning method, even if the frequency of starting and stopping is the same, the operation time can be extended as shown in Figure 10, so less heat is generated by the servo motor, etc., and therefore the overall One advantage is that the capacity of the servo system can be reduced, making it more economical.

[Brief explanation of the drawing]

FIG. 1 shows a schematic diagram of the operation of a conventional repeating step positioning device, and the arrow indicates a repeating step positioning command. FIG. 2 shows the deviation of the actual operating state from the command value using a conventional repeating positioning device. 15: Positioning movement command value, 16: Actual movement FIG. 3 shows the actual movement state in response to the repeated step positioning command. FIG. 4 shows a schematic diagram of the operation of the high-precision, high-speed repetitive step feeding device of the present invention, which is equipped with a conventional mechanism including a brake beam 20, a clamp 21, a hydraulic cylinder 22, a solenoid valve 23, and a feeding device 30. An explanatory diagram. FIG. 5 shows details of the feeding device which is the center of the present invention, including the moving body 4, guide key 36, lid 34, case 33,
Guide key 35, nut case (left) 37, nut case (right) 38, pole nut view 39, top (left) 31, top (right) 32, spring 4
1. Fastening bolt 40, pole screw 3, guide key 35
, the right side view shows the positional relationship of the guide key with the nut case. FIG. 6 1.2.3 is a positioning operation diagram of the feeding device. FIG. 7 shows an embodiment in which the present invention is installed, in which a rotary drive unit 71 is installed on a pedestal, a winding drum 72 is attached to the tip of the rotation drive unit 71, and
1 is a schematic view of a winding device equipped with a wire feed drive unit 78 having a high-precision, high-speed repetitive step feed device of the present invention mounted on a rotation drive unit 71. FIG. FIG. 8 shows a mode in which wires are wound in layers around a winding drum. Wire = 82 In order to make it easier to understand the position at which repeated step feeding is performed when winding a wire onto a winding drum, the winding drum is unfolded and the wire feeding positioning points are shown in FIG. 9. FIG. 10 shows a positioning movement command and an actual movement state using the device according to the present invention. Patent applicant Ikegai Iron Works Co., Ltd. 3rd Tower 10th Ward

Claims (1)

[Claims] Regarding a feeding device having a positioning control device and a movable body that is repeatedly positioned in steps, the movable body is fastened to the feed device mount and the positioning control device causes the positioning thrust to be driven by a feed amount according to a positioning movement command to move the induced positioning thrust. The high-speed vehicle is characterized in that the movable body is repeatedly positioned accurately by the feed amount according to the positioning movement command by the positioning thrust stored inside the body and then by the next command to release the movable body. Precision high speed repeat step feeder.