WO2011024833A1 - Procédé de correction du déplacement thermique dans une machine-outil, et dispositif de correction du déplacement thermique - Google Patents

Procédé de correction du déplacement thermique dans une machine-outil, et dispositif de correction du déplacement thermique Download PDF

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Publication number
WO2011024833A1
WO2011024833A1 PCT/JP2010/064332 JP2010064332W WO2011024833A1 WO 2011024833 A1 WO2011024833 A1 WO 2011024833A1 JP 2010064332 W JP2010064332 W JP 2010064332W WO 2011024833 A1 WO2011024833 A1 WO 2011024833A1
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Prior art keywords
thermal displacement
sections
amount
shaft
heat conduction
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PCT/JP2010/064332
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English (en)
Japanese (ja)
Inventor
治夫 小林
初 倉橋
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ブラザー工業株式会社
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Priority to CN201080037052.6A priority Critical patent/CN102481673B/zh
Publication of WO2011024833A1 publication Critical patent/WO2011024833A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49219—Compensation temperature, thermal displacement

Definitions

  • the present invention relates to a thermal displacement correction method and a thermal displacement correction apparatus for machine tools. More particularly, the present invention relates to a method and apparatus for correcting an error caused by thermal displacement of a ball screw shaft that occurs during operation of a ball screw mechanism in a machine tool.
  • the ball screw mechanism is widely used as a positioning mechanism for machine tools.
  • the ball screw mechanism causes thermal expansion based on the above-described temperature rise, and generates thermal displacement (elongation).
  • the thermal displacement of the shaft appears as a positioning error as it is.
  • Machine tools have used a pre-tension system that applies pre-tension to the ball screw shaft and absorbs thermal expansion as a measure against thermal expansion.
  • Modern machine tools use thick ball screw shafts and have very high feed rates. Therefore, since the calorific value increases, the machine tool must apply a very large tension to the ball screw shaft when the pre-tension method is adopted. When a very large tension is applied to the machine tool, there is a problem that the ball screw mechanism is deformed. In the above-described case, an excessive force is applied to the thrust bearing, and the ball screw mechanism is seized.
  • the method of correcting the thermal displacement of the ball screw shaft proposed by Patent Document 1 does not apply excessive pretension to the ball screw shaft and does not require a special measuring device.
  • This method corrects the amount of thermal displacement during operation of the machine tool.
  • the heat generation amount of the ball screw shaft is obtained from the product of the armature current and voltage of the servo motor.
  • a temperature distribution is obtained from the heat generation amount using a heat distribution model based on the unsteady heat conduction equation.
  • the heat distribution model is a model in which the ball screw shaft is divided into a plurality of sections.
  • the third step predicts the amount of thermal displacement of the ball screw shaft from time to time based on the temperature distribution.
  • the thermal displacement amount is given to the machine tool as pitch error correction.
  • Patent Document 1 calculates the amount of heat generation from current and voltage. This method does not examine the heat fluctuation factors based on the driving of the ball screw mechanism.
  • heat sources such as servo motors, bearings, nuts, and sliding surfaces generate heat.
  • the shaft radiates heat to the surroundings by rotating and cutting the surrounding wind.
  • Patent Document 1 does not suggest any heat dissipation amount.
  • An object of the present invention is to provide a thermal displacement correction method and a thermal displacement correction device for accurately correcting an error caused by thermal displacement of a shaft generated during operation of a ball screw mechanism in a machine tool.
  • a thermal displacement correction method for a machine tool is a ball screw mechanism for feed drive comprising a shaft and a nut, a servo motor for rotationally driving the shaft, and a control unit for controlling the servo motor based on control data;
  • the amount of heat generated in each of a plurality of sections obtained by dividing the entire length of the shaft into a plurality of sections is calculated based on the rotation speed of the servo motor and the control data for each first predetermined time.
  • the thermal displacement correction method of claim 1 can correct the error caused by the thermal displacement with high accuracy in consideration of the heat dissipation that increases with the increase of the rotation speed of the shaft of the ball screw mechanism.
  • the heat conduction matrix includes a heat radiation function that increases as the rotation speed of the servo motor increases. Therefore, the thermal displacement correction method according to claim 2 can obtain the thermal displacement amount reflecting the heat radiation amount corresponding to the rotational speed of the shaft, and can accurately correct the error caused by the thermal displacement.
  • the thermal displacement correction method for a machine tool wherein the thermal conduction matrix includes a first thermal conduction matrix that reflects the shape and material of the shaft, and a second thermal conduction matrix that reflects the structure of the ball screw mechanism. And the heat dissipation function for multiplying the second heat conduction matrix. Therefore, the thermal displacement correction method of claim 3 can reflect the above items and the rotational speed of the shaft in the unsteady heat conduction equation.
  • a thermal displacement correction device for a machine tool is a ball screw mechanism for feed driving comprising a shaft and a nut, a servo motor for rotationally driving the shaft, and a control unit for controlling the servo motor based on control data;
  • the rotational speed of the servo motor is a speed detection device for detecting the rotational speed of the servo motor, and the amount of heat generated in each of a plurality of sections obtained by dividing the entire length of the shaft.
  • a calorific value calculation unit determined every first predetermined time based on the control data, and the calorific value generated in each of the plurality of sections for a second predetermined time longer than the first predetermined time for each of the plurality of sections.
  • An unsteady heat conduction equation including an accumulated total heat generation amount and a heat conduction matrix set to a characteristic in which heat dissipation increases as the rotation speed of the shaft increases.
  • the heat conduction matrix includes a heat radiation function that increases as the rotation speed of the servo motor increases. Therefore, the thermal displacement correction device according to claim 5 can obtain the thermal displacement amount reflecting the heat radiation amount corresponding to the rotational speed of the shaft, and can accurately correct the error caused by the thermal displacement.
  • the thermal displacement correction device for a machine tool wherein the heat conduction matrix includes a first heat conduction matrix reflecting the shape and material of the shaft, and a second heat conduction matrix reflecting the structure of the ball screw mechanism. And the heat dissipation function for multiplying the second heat conduction matrix. Therefore, the thermal displacement correction apparatus according to the sixth aspect can reflect the above items and the rotational speed of the shaft in the unsteady heat conduction equation.
  • the whole machine tool perspective view of a present Example A side view of a machine tool.
  • (A) is a relationship diagram of the motor body temperature and elapsed time from 0 to t1 after the start of driving.
  • (B) is a relationship diagram between the motor body temperature and the elapsed time from t1 to t2 after the start of driving.
  • (C) is a relationship diagram of the motor body temperature and the elapsed time from t2 to t3 after the start of driving.
  • (D) is a relationship diagram between the motor body temperature and the elapsed time from 0 to t3 after the start of driving.
  • Explanatory drawing explaining the distribution calorific value and temperature distributed to the several area Explanatory drawing of the correction area for pitch error correction.
  • Explanatory drawing which illustrates the approximate formula of heat dissipation function h ((omega)).
  • the configuration of the machine tool M will be described with reference to FIGS.
  • the lower right of FIG. 1 is the front of the machine tool M.
  • a workpiece (not shown) and the tool 6 are relatively moved independently in the respective axis directions in the XYZ rectangular coordinate system to perform desired machining (for example, “milling”, “drilling”, “cutting”) on the workpiece. Etc.).
  • the X-axis direction, Y-axis direction, and Z-axis direction of the machine tool M (machine main body 2) are the left-right direction, front-rear direction, and vertical direction of the machine tool M (machine main body 2), respectively.
  • the machine tool M includes a base 1, a machine body 2, and a cover (not shown) as main constituents.
  • the base 1 is a substantially rectangular parallelepiped casting that is long in the Y-axis direction.
  • the machine body 2 is provided on the upper part of the base 1.
  • the machine body 2 cuts the workpiece.
  • the cover is fixed to the upper part of the base 1.
  • the cover has a box shape covering the machine body 2 and the upper part of the base 1.
  • the machine body 2 includes a column 4, a spindle head 5, a spindle (not shown), a tool changer 7, and a table 8 as main components.
  • the column 4 has a substantially prismatic shape and is fixed to a column seat portion 3 provided at the rear portion of the base 1.
  • the spindle head 5 can be moved up and down along the front surface of the column 4.
  • the spindle head 5 supports the spindle in a rotatable manner.
  • the tool changer 7 is provided on the right side of the spindle head 5.
  • the tool changer 7 replaces the tool holder attached to the tip of the spindle with another tool holder.
  • the tool holder is equipped with a tool 6.
  • the table 8 is provided on the upper part of the base 1.
  • the table 8 fixes the work so as to be detachable.
  • a box-shaped control box 9 is provided on the back side of the column 4.
  • the control box 9 includes a numerical control device 50 inside thereof.
  • the numerical controller 50 controls the operation of the machine tool M.
  • the moving mechanism of the table 8 will be described.
  • An X-axis motor 71 (see FIG. 4) and a Y-axis motor 72 (see FIG. 4) move the table 8 in the X-axis direction and the Y-axis direction, respectively.
  • the X axis motor 71 and the Y axis motor 72 are servo motors.
  • the moving mechanism of the table 8 has the following configuration.
  • a rectangular parallelepiped support 10 is provided below the table 8.
  • the support base 10 includes a pair of X-axis feed guide rails extending along the X-axis direction on the upper surface thereof.
  • the pair of X-axis feed guide rails movably supports the table 8 thereon.
  • the nut portion 8 a is disposed on the lower surface of the table 8.
  • the X-axis ball screw shaft 81 extends from the X-axis motor 71 via the coupling 17.
  • the nut portion 8a is engaged with the X-axis ball screw shaft 81 to constitute a ball screw mechanism.
  • a fixed bearing 18 (front bearing) fixed to the support base 10 supports an end portion 81 e of the X-axis ball screw shaft 81 on the X-axis motor 71 side.
  • the movable bearing 19 (rear bearing) supports an end portion 81f opposite to the X-axis ball screw shaft 81.
  • a pair of Y-axis feed guide rails extend along the front-rear direction at the top of the base 1.
  • the pair of Y-axis feed guide rails support the support base 10 so as to be movable.
  • An X-axis motor 71 provided on the support base 10 moves and drives the table 8 in the X-axis direction along an X-axis feed guide rail (not shown).
  • a Y-axis motor 72 provided on the base 1 moves and drives the table 8 in the Y-axis direction along the Y-axis feed guide rail.
  • the movement mechanism of the Y axis is also a ball screw mechanism (see FIG. 3) similar to the X axis.
  • Covers 11 and 12 cover the X-axis feed guide rails on the left and right sides of the table 8.
  • a cover 13 and a Y-axis rear cover (not shown) cover the Y-axis feed guide rail before and after the support base 10, respectively.
  • the covers 11, 12, 13 and the Y-axis rear cover always cover the X-axis feed guide rail and the Y-axis feed guide rail even when the table 8 moves in either the X-axis direction or the Y-axis direction. Therefore, the covers 11, 12, 13 and the Y-axis rear cover prevent chips, coolant liquid, and the like scattered from the processing region from falling on each guide rail.
  • the column 4 includes a guide rail (not shown) extending in the vertical direction on the front side.
  • the guide rail guides the spindle head 5 through a linear guide (not shown) so as to be movable up and down.
  • the column 4 has a Z-axis ball screw shaft (not shown) extending in the vertical direction on the front side.
  • a nut (not shown) is screwed onto the Z-axis ball screw shaft and connected to the spindle head 5.
  • the axis controller 63a drives the Z-axis motor 73 based on a control signal from the CPU 51 of the numerical controller 50. When the Z-axis motor 73 is driven, the spindle head 5 is driven up and down.
  • the tool changer 7 includes a tool magazine 14 and a tool change arm 15.
  • the tool magazine 14 stores a plurality of tool holders that support the tool 6.
  • the tool exchange arm 15 grasps a tool holder attached to the spindle and another tool holder, and exchanges and exchanges them.
  • the tool magazine 14 includes a plurality of tool pots (not shown) and a transport mechanism (not shown) inside.
  • the tool pot supports the tool holder.
  • the transport mechanism transports the tool pot in the tool magazine 14.
  • a numerical controller 50 as a control unit of the machine tool M includes a CPU 51, a ROM 52, a flash memory 53, an input / output interface 54, axis control units 61a to 64a and 75a, servo amplifiers 61 to 64, and a differentiator. 71b to 74b and the like.
  • the servo amplifiers 61 to 64 are connected to an X-axis motor 71, a Y-axis motor 72, a Z-axis motor 73, and a main shaft motor 74, respectively.
  • the shaft control unit 75 a is connected to the magazine motor 75.
  • the X-axis motor 71 and the Y-axis motor 72 are motors for moving the table 8 in the X-axis direction and the Y-axis direction, respectively.
  • the magazine motor 75 is a motor for rotating the tool magazine 14.
  • the main shaft motor 74 is a motor for rotating the main shaft.
  • the X-axis motor 71, the Y-axis motor 72, the Z-axis motor 73, and the main shaft motor 74 are collectively referred to as motors 71 to 74.
  • the motors 71 to 74 are provided with encoders 71a to 74a, respectively.
  • the axis controllers 61a to 64a receive a movement command from the CPU 51 and output a current command (motor torque command) to the servo amplifiers 61 to 64, respectively.
  • the servo amplifiers 61 to 64 receive current commands and output drive currents to the motors 71 to 74, respectively.
  • the axis controllers 61a to 64a receive position feedback signals from the encoders 71a to 74a, respectively, and perform position feedback control. Differentiators 71b to 74b differentiate the position feedback signals output from the encoders 71a to 74a, respectively, and convert them into speed feedback signals.
  • the encoders 71a to 74a output speed feedback signals to the axis controllers 61a to 64a, respectively.
  • the shaft controllers 61a to 64a perform speed feedback control based on the speed feedback signals output from the differentiators 71b to 74b, respectively.
  • Current detectors 61b to 64b detect drive currents output from servo amplifiers 61 to 64 to motors 71 to 74, respectively.
  • the current detectors 61b to 64b feed back the drive current to the axis controllers 61a to 64a, respectively.
  • the shaft controllers 61a to 64a perform current (torque) control according to the drive current fed back by the current detectors 61b to 64b.
  • the shaft control unit 75a receives the movement command from the CPU 51 and drives the magazine motor 75.
  • the ROM 52 stores a main control program for executing a machining program for the machine tool M and a program for executing a thermal displacement correction control process (see FIGS. 14 and 15) described later.
  • the flash memory 53 stores parameters related to the mechanical structure, parameters related to physical properties, heat distribution coefficients (ratio) ⁇ F , ⁇ N , ⁇ B , pitch error correction amount tables, and the like which will be described later. Examples of the parameters related to the mechanical structure include the length and diameter of the ball screw shaft 81 and a reference position described later. Parameters relating to physical properties include, for example, density, specific heat, linear expansion coefficient, heat capacity, heat transfer coefficient, heat capacity, heat transfer coefficient, ⁇ used in equations (3) and (4), and other constants.
  • the flash memory 53 has a data area for updating and storing the heat generation amount, the total heat generation amount, the rotation speed and drive current of the motor 71, and the distributed heat generation amount shown in FIG.
  • the flash memory 53 appropriately stores a plurality of machining programs and the like for machining various workpieces.
  • the present embodiment is an example in which the pitch error correction amount is corrected using the thermal displacement amount.
  • a pitch error occurs between the target movement amount of the nut portion 8a and the actual movement amount with respect to the rotation amount of the ball screw shaft 81 due to a dimensional error at the time of manufacture.
  • the machine tool M corrects the pitch error based on the pitch error correction amount table.
  • the table of pitch error correction amount is set at the pre-shipment adjustment stage of the machine tool M.
  • the pitch error correction amount table is a table for correcting pitch errors of the X-axis, Y-axis, and Z-axis ball screw mechanisms. In this embodiment, an example of correcting the pitch error correction amount of the X-axis ball screw shaft 81 will be described, but the same applies to the Y-axis ball screw mechanism and the Z-axis ball screw mechanism.
  • the nut portion 8 a is movable in the nut moving range 81 b in the entire length of the X-axis ball screw shaft 81.
  • Pitch error correction is performed for each correction section.
  • the correction sections are 15 sections obtained by dividing the nut movement range 81b (300 mm) by a set length of 20 mm, for example.
  • the pitch error correction amount for correcting the pitch error is a value obtained by the following procedure in the adjustment stage after the machine tool M is manufactured.
  • the nut portion 8a moves from the position X0 to the position X300 for each correction section at intervals of 20 mm in the X-axis direction according to the command value.
  • an error with respect to the movement command value that is, an error which is (target value ⁇ actual movement amount) is accurately measured.
  • a table of pitch error correction amounts is created based on the measurement results.
  • the created table is stored in advance in the flash memory 53 and shipped.
  • a table of pitch error correction amounts is similarly created for the Y-axis and Z-axis directions.
  • the amount of heat generated in the three regions of the front shaft portion 81a of the ball screw shaft 81, the nut moving range 81b, and the rear shaft portion 81c is obtained.
  • a section from the end 81e to the end 81f of the ball screw shaft 81 is divided into, for example, sections 1 to 5.
  • the number of sections is not limited to five.
  • the emitted-heat amount for every area is calculated
  • the flash memory 53 has data areas for storing the heat generation amounts Q 1 to Q 5 , the total heat generation amount Q T , the rotational speed ⁇ of the X-axis motor 71, and the drive current i.
  • the calorific values Q 1 to Q 5 are the calorific values for each section generated in the sections 1 to 5 during a predetermined period (for example, 6400 ms).
  • the total heat generation amount Q T is the total amount of the heat generation amounts Q 1 to Q 5 .
  • the nut portion 8a moves in the nut movement range 81b from the origin coordinates X0 to X300. Based on the X-axis feed data (control data) of the machining program, it is determined in which section the nut portion 8a is located every predetermined time (50 ms).
  • the table feed speed F by the X-axis motor 71 is calculated from the detection signal of the encoder 71a.
  • the calorific value is calculated from the table feed speed F using the following equation (1).
  • the calculated heat generation amount is stored in the data area of the flash memory 53.
  • Q K 1 ⁇ F T (1)
  • Q is the calorific value
  • F is the feed rate
  • K 1 is a predetermined constant
  • T is a predetermined constant.
  • the amount of heat generated due to the movement of the nut portion 8a in the sections 1 to 5 is calculated every predetermined time.
  • the calorific value is calculated 128 times every 50 ms for 6400 ms.
  • the calculated calorific values for 128 times are totaled for each section to calculate calorific values Q 1 to Q 5 .
  • the heat generation amounts Q 1 to Q 5 are stored in the data areas corresponding to the sections 1 to 5 of the flash memory 53, respectively.
  • the total calorific value Q T is calculated by adding the calorific values Q 1 to Q 5 for each section generated during 6400 ms.
  • Data of the rotational speed ⁇ (that is, ⁇ 0 , ⁇ 1 ,..., ⁇ 127 ) for every 50 ms of the X-axis motor 71 for 6400 ms is stored in the data area corresponding to the rotational speed of the flash memory 53.
  • the data of the drive current i (that is, i 0 , i 1 ,... I 127 ) of the X-axis motor 71 every 50 ms during 6400 ms is stored in the data area corresponding to the drive current of the flash memory 53.
  • the heat generation amounts Q N and Q B Can be used to calculate.
  • the ratio ⁇ N is a ratio of the calorific value Q N of the nut movement range 81b to the total calorific value Q T.
  • the ratio ⁇ B is a ratio of the calorific value Q B of the rear shaft portion 18c to the total calorific value Q T.
  • the ratios ⁇ N and ⁇ B are constant as described above. Therefore, Q N and Q B are measured with an actual machine, and the ratios ⁇ N and ⁇ B are obtained in advance.
  • a curve 150 indicating an increase in the motor body temperature ⁇ M can be expressed by the following equation.
  • ⁇ M L 1a ⁇ ⁇ 1 ⁇ exp ( ⁇ ⁇ t) ⁇ (3)
  • ⁇ is a constant inherent to the X-axis motor 71.
  • t is the elapsed time from the start of driving.
  • the curve 151 can be expressed by the following equation.
  • ⁇ M L 1a ⁇ exp ( ⁇ ⁇ t) (4)
  • ⁇ is a constant specific to the servo motor.
  • t is the elapsed time from the stop of driving.
  • the motor body temperature ⁇ M1a after a minute from the start of driving of the machine tool M can be expressed by the following equation based on the equation (3).
  • ⁇ M1a L 1a ⁇ ⁇ 1-exp ( ⁇ ⁇ a / 60) ⁇
  • the motor body temperature ⁇ M-1a after a minute from the stop of driving of the machine tool M can be expressed by the following equation based on the equation (4).
  • ⁇ M-1a L 1a ⁇ exp ( ⁇ ⁇ a / 60)
  • the temperature change of the motor body when the rotational speed ⁇ and the drive current i of the X-axis motor 71 are constant has been described.
  • the current i is not always constant. Therefore, in the present embodiment, X is calculated from the actual rotational speed ⁇ and the driving current i (the average values of the rotational speed and the driving current measured every 50 ms) for each predetermined period (6400 ms) using the formula (2).
  • the saturation temperature of the shaft motor 71 is calculated.
  • the temperature change of the motor body is calculated from the saturation temperature and the elapsed time using the above formulas (3) and (4).
  • the temperature of the motor body is calculated by adding the calculated temperature changes as follows.
  • the motor body temperature ⁇ M rises according to the above-described equation (3) during the elapsed time and then decreases according to the equation (4).
  • the motor body temperature ⁇ Mt1 based on the elapsed time from time 0 to time t1 is drawn from a curve 301 that rises from time 0 to time t1 and falls after time t1.
  • Value theta Mt1-1 at time t1 the motor body temperature theta Mt1 is according to equation (3) can be calculated as follows.
  • ⁇ Mt1-1 L t1 ⁇ ⁇ 1-exp ( ⁇ ⁇ t1 / 60) ⁇ L t1 is a saturation temperature calculated from the actual rotational speed ⁇ of the X-axis motor 71 and the drive current i between times 0 and t1.
  • ⁇ Mt1-2 ⁇ Mt1-1 ⁇ exp ⁇ ⁇ (t2-t1) / 60 ⁇
  • the values ⁇ Mt1-3 and ⁇ Mt1-4 of the motor body temperature ⁇ Mt1 at times t3 and t4 can be calculated as follows according to the equation (4).
  • ⁇ Mt1-3 ⁇ Mt1-1 ⁇ exp ⁇ ⁇ (t3-t1) / 60 ⁇
  • ⁇ Mt1-4 ⁇ Mt1-1 ⁇ exp ⁇ ⁇ (t4-t1) / 60 ⁇
  • a motor main body temperature ⁇ Mt2 based on the elapsed time from time t1 to time t2 draws a curve 302 that rises from time t1 to time t2 and decreases after time t2. Since the saturation temperature L t2 can be calculated from the actual rotational speed ⁇ and the drive current i of the X-axis motor 71 between time t1 and time t2, the motor body temperatures ⁇ Mt2-1 and ⁇ Mt2 ⁇ at times t2, t3, and t4 are calculated. 2 and ⁇ Mt2-3 can be calculated as follows using Equation (3) and Equation (4), respectively.
  • ⁇ Mt2-1 L t2 ⁇ [1-exp ⁇ ⁇ (t2 ⁇ t1) / 60 ⁇ ]
  • a motor main body temperature ⁇ Mt3 based on the elapsed time from time t2 to t3 is drawn from a curve 303 that increases from time t2 to t3 and decreases after time t3.
  • motor body temperatures ⁇ Mt3-1 , ⁇ Mt3-2 , ⁇ Mt3-3 at times t3, t4, t5 are calculated.
  • the actual motor body temperature ⁇ is calculated by adding the motor body temperatures ⁇ Mt1 , ⁇ Mt2 , ⁇ Mt3 ... Calculated at the respective times as described above. For example, assume that motor body temperatures ⁇ Mt1 , ⁇ Mt2 , and ⁇ Mt3 at times t1, t2, and t3 are calculated. In this case, the value ⁇ 1 of the motor main body temperature ⁇ at time t1 is ⁇ Mt1-1 . The value ⁇ 2 of the motor main body temperature ⁇ at time t2 is ⁇ Mt1-2 + ⁇ Mt2-1 . The value ⁇ 3 of the motor main body temperature ⁇ at time t3 is ⁇ Mt1-3 + ⁇ Mt2-2 + ⁇ Mt3-1 . Similarly, when the value of the motor body temperature ⁇ at each time is calculated, the motor body temperature ⁇ changes as illustrated by a curve 304 shown in FIG. 8D.
  • the calorific value Q F of the front shaft portion 18a is calculated using the motor body temperature ⁇ calculated as described above according to the following equation (5).
  • Q F K 4 ( ⁇ S ) (5)
  • Q F is the amount of heat generated by the front shaft portion 18a during a predetermined period (6400 ms).
  • K 4 is a coefficient.
  • ⁇ S is the temperature of the ball screw shaft end portion 81e (see FIG. 5).
  • the value of the temperature ⁇ 1 at the right separation position of the section 1 calculated in the previous process is used as ⁇ S.
  • the calorific value Q N of the nut movement range 81b is distributed to five sections.
  • the distribution ratio X for distributing the calorific value Q N to the five sections 1 to 5 according to the following equation from the calorific values Q 1 to Q 5 and the total calorific value Q T for each section stored in the data area of the flash memory 53 to calculate the 1 ⁇ X 5.
  • X 1 calorific value Q 1 / Q T in section 1 :
  • X 5 calorific value of section 5 Q 5 / Q T From the distribution ratios X 1 to X 5 to each section calculated by the above equation and the heat generation amount Q N of the nut moving section 81b, the distribution heat generation amounts Q N1 to Q distributed to each of the sections 1 to 5 according to the following formula: Calculate N5 .
  • the total distributed heat generation amount for each of the sections 1 to 5 can be expressed using the above result.
  • the total distributed heat generation amount for the section 1 is a heat generation amount obtained by adding the heat generation amount Q N1 to the heat generation amount Q F of the front shaft portion 18a.
  • the total distributed calorific value for section 2 to section 4 is calorific value Q N2 to calorific value Q N4 , respectively.
  • the total distributed heat generation amount for the section 5 is a heat generation amount obtained by adding the heat generation amount Q N5 to the heat generation amount Q B of the rear shaft portion 81c.
  • the total distributed heat generation amount (see FIG. 9) of each of the five sections 1 to 5 is obtained as described above, and then the temperature distribution is calculated from the total distributed heat generation amount.
  • [C] is a heat capacity matrix
  • [H] is a heat conduction matrix
  • ⁇ is a temperature distribution
  • ⁇ Q ⁇ is an input / output heat generation matrix
  • t is time.
  • the heat capacity matrix [C] is a fixed value determined by the ball screw mechanism, and can be expressed as the following equation.
  • Elements C 1 to C 5 of the heat capacity matrix [C] are predetermined constants.
  • the temperature rise matrix ⁇ corresponding to the temperature distribution, the rotational speed ⁇ of the ball screw shaft 81, and the heat generation amount matrix ⁇ Q ⁇ calculated from the current value of the X-axis motor 71 can be expressed by the following equations, respectively.
  • the heat conduction matrix [H] can be expressed by the following equation (7) from the first heat conduction matrix [K] and the matrix [H F ].
  • the first heat conduction matrix [K] is determined by the shape and material of the divided section.
  • the matrix [H F ] changes with the rotational speed of the ball screw shaft 81 driven by the X-axis motor 71. In this embodiment, the rotational speed of the ball screw shaft 81 is assumed to be equal to the rotational speed ⁇ of the X-axis motor 71.
  • Elements k11 to k55 of the first heat conduction matrix [K] are predetermined constants determined by the ball screw mechanism.
  • the matrix [H F ] can be expressed by the following equation (8) from the heat release function h ( ⁇ ) and the second heat conduction matrix [h F ].
  • the heat radiation function h ( ⁇ ) is a function representing the effect of heat radiation with the rotational speed ⁇ of the ball screw shaft 81 as a parameter.
  • Elements h f1 to h f5 of the second heat conduction matrix [h F ] are predetermined constants determined by the ball screw mechanism.
  • the heat radiation function h ( ⁇ ) can be expressed as the following equation (9).
  • h ( ⁇ ) a ⁇ + b (9)
  • Expressions (9) a and b can be calculated by approximating values obtained by experiments in advance and creating a characteristic diagram as illustrated in FIG.
  • temperature rise at each time that is, temperature distribution ⁇ is calculated.
  • ⁇ L ⁇ L 0 ⁇ ⁇ ⁇ (L) dL ⁇ (11)
  • ⁇ L is the amount of thermal displacement.
  • ⁇ is the linear expansion coefficient of the shaft material.
  • the integration symbol indicates integration in the range of 0 to L, and L indicates the length to the section break position for the five sections. Assuming that the length of each section 1 to 5 is 100 mm, the integration in the range of 0 to 100, 0 to 200, 0 to 300,.
  • FIG. 10 shows correction sections 1 to 15 obtained by dividing the nut movement range 81b of the ball screw shaft 81 at intervals of 20 mm.
  • the correction of the pitch error correction amount is performed for each correction section.
  • the moving range of the nut portion 8a is X0 to X300 (300 mm range), and the length of each correction section is 20 mm, so there are 15 correction sections.
  • the pitch error correction amount table that defines the pitch error correction amount corresponding to each correction section is stored in advance in the flash memory 53 as described above.
  • the correction amounts for correcting the pitch error correction amounts of the 15 correction sections are calculated.
  • the vertical axis of the graph in FIG. 13 indicates the amount of thermal displacement with respect to the position of the fixed bearing 18.
  • the horizontal axis of the upper graph indicates the position of each part of the ball screw shaft 81 (the length of the ball screw shaft) with respect to the fixed bearing 18.
  • the horizontal axis on the lower side of the graph indicates the delimiting positions (X0, X20..., X300) of 15 correction sections.
  • DF1 is the amount of thermal displacement in section 1.
  • DF2 is the total amount of thermal displacement in section 1 and section 2.
  • DF5 is the total amount of thermal displacement in section 1 to section 5.
  • correction amount at the delimiter positions (X20,..., X300) of the 15 correction sections is calculated from the following equation.
  • Correction amount of X0 (thermal displacement amount of section 1) + (thermal displacement amount of section 2) ⁇ ⁇ (length between left delimiter position of section 2 and X0) / (length of section 2)
  • Correction amount of X20 (thermal displacement amount of section 1) + (thermal displacement amount of section 2) ⁇ ⁇ (length between left separation position of section 2 and X20) / (length of section 2) ⁇ ⁇ (X0 Correction amount)
  • Correction amount of X40 (thermal displacement amount of section 1) + (thermal displacement amount of section 2) ⁇ ⁇ (length between left separation position of section 2 and X40) / (length of section 2) ⁇ ⁇ (X20 Correction amount)
  • Correction amount of X60 (thermal displacement amount of section 1) + (thermal displacement amount of section 2) ⁇ ⁇ (length between left separation position of section 2 and X60) / (
  • the CPU 51 executes workpiece processing in parallel with the thermal displacement correction control process.
  • the CPU 51 first performs initial setting (S1).
  • the CPU 51 sets a matrix and an ambient temperature (for example, room temperature) necessary for calculation by the finite element method from setting data such as parameters.
  • the CPU 51 divides the section from the end 81e to the end 81f of the ball screw shaft 81 into five sections 1 to 5 (see FIG. 5) (S2).
  • the CP51 sets the counter I to 0 (S3).
  • the CPU 51 reads the X-axis feed data and the detection signal of the encoder 71a (S4).
  • the CPU 51 calculates the amount of heat generated every 50 ms in the sections 1 to 5 and the motor body temperature ⁇ , and stores it in a predetermined data area of the flash memory 53 (S5).
  • the CPU 51 also stores data on the rotational speed ⁇ of the X-axis motor 71 in the flash memory 53.
  • the CPU 51 increments the counter I by “1” (S6).
  • the CPU 51 determines whether or not the counter value of the counter I is “127” (S7). While the counter value is smaller than “127” (S7: No), the CPU 51 returns to step S4 and repeats the processes of steps S4 to S6. When the counter value reaches “127” (S7: Yes), the CPU 51 proceeds to the process of step S8.
  • the CPU 51 calculates a heat generation amount Q 1 to Q 5 for each of the sections 1 to 5 for 6400 ms and a total heat generation amount Q T obtained by adding the heat generation amounts Q 1 to Q 5 (S8).
  • the CPU 51 stores the heat generation amounts Q 1 to Q 5 and the total heat generation amount Q T in a predetermined data area of the flash memory 53.
  • the CPU 51 calculates the heat generation amount Q F of the front shaft portion 18a, the heat generation amount Q N of the nut moving section 81b, and the heat generation amount Q B of the rear shaft portion 18c (S9).
  • the CPU 51 stores the heat generation amount Q F , the heat generation amount Q N and the heat generation amount Q B in a predetermined data area of the flash memory 53.
  • the CPU 51 calculates distributed heat generation amounts Q N1 to Q N5 distributed to the sections 1 to 5 from the heat generation amount Q N (S9).
  • the CPU 51 stores the distributed heat generation amounts Q N1 to Q N5 in a predetermined data area of the flash memory 53.
  • the CPU 51 calculates the total distributed heat generation amount (see FIG. 9) for each of the sections 1 to 5 (S9).
  • the CPU 51 stores the total distributed heat generation amount in a predetermined data area of the flash memory 53.
  • the CPU 51 uses the average value of 128 motor body temperatures ⁇ stored in the flash memory 53 for a predetermined period (6400 ms) as the motor body temperature ⁇ .
  • the CPU 51 uses the previous ⁇ 1 as ⁇ S.
  • the CPU 51 calculates the rising temperatures ⁇ 1 to ⁇ 5 in the sections 1 to 5 based on the total heat generation amount shown in FIG. 9 (S10).
  • the CPU 51 stores the increased temperatures ⁇ 1 to ⁇ 5 in the flash memory 53.
  • the CPU 51 calculates the amount of thermal displacement at the section break positions of the five sections based on the above equation (11) (S11).
  • the CPU 51 stores the thermal displacement amount in the flash memory 53.
  • the CPU 51 calculates the correction amounts at the 15 correction section break positions based on the correction amount calculation formula described above (S12).
  • the CPU 51 executes correction processing for the pitch error correction amount using the correction amount calculated in step S12 (S13).
  • the pitch error correction amount is preset for 15 correction section break positions and stored in a pitch error correction amount table.
  • the CPU 51 executes a feed amount correction process based on the corrected pitch error correction amount.
  • the CPU 51 determines whether or not to end the thermal displacement correction process (S14). When the CPU 51 does not end the thermal displacement correction process (S14: No), the CPU 51 returns to step S3 and repeatedly executes the processes after step S3.
  • the correction amount calculation processing is processing for calculating a correction amount for correcting the pitch error correction amount.
  • the CPU 51 resets the counter n to 0 (S10).
  • the CPU 51 calculates the correction amount ⁇ M n of the position Xn by the following equation (S21).
  • ⁇ M n D F + ⁇ D n ⁇ ⁇ (Xn ⁇ X F ) / L n ⁇ ⁇ M n ⁇ 20
  • the above expression is a simple expression of the above-described correction amount calculation expression.
  • DF is the total amount of thermal displacement generated in the calculation section closer to the fixed bearing 18 than the position Xn.
  • ⁇ D n is the amount of thermal displacement generated in the calculation interval including the position Xn.
  • X F is the left delimiter position of the calculation section including the position Xn.
  • L n is the length of the calculation interval including the position Xn.
  • ⁇ M ⁇ 20 used when calculating ⁇ M 0 is set to 0.
  • the CPU 51 increases n by 20 (S22).
  • the CPU 51 determines whether n is 320 (S23). When n is not 320 (S23; No), the CPU 51 determines that the calculation for the correction amount up to the position X300 has not ended.
  • the CPU 51 returns to step S21 to calculate the correction amount ⁇ M n for the position Xn.
  • the CPU 51 repeatedly executes the processes of steps S21 to S23 until the correction amount ⁇ M 300 for the position X300 is calculated.
  • the CPU 51 calculates the correction amount ⁇ M 300 (S21). When the CPU 51 increases n by 20 (S22), n becomes 320 (S23; Yes).
  • Encoder 71a corresponds to “speed detection device”.
  • the CPU 51 of the numerical controller 50 that executes the processes of steps S3 to S7 corresponds to a “heat generation amount calculation unit”.
  • the CPU 51 that executes the processes of steps S8 to S10 corresponds to a “temperature distribution calculation unit”.
  • the CPU 51 that executes the process of step S11 sets the “thermal displacement amount calculation unit”.
  • the CPU 51 that executes the process of step S12 corresponds to a “correction amount calculation unit”.
  • the thermal displacement correction method and the thermal displacement correction device (numerical control device 50) of the machine tool M described above will be described.
  • the heat conduction matrix of the unsteady heat conduction equation is set to a characteristic that the heat dissipation increases as the rotational speed of the ball screw shaft 81 increases.
  • the method and apparatus calculate the calorific value of each of the plurality of sections 1 to 5 every predetermined time.
  • the method and apparatus calculate the calorific value distributed to each of the plurality of sections using the calorific values Q 1 to Q 5 obtained by accumulating the calorific values of the plurality of sections 1 to 5 for a predetermined period.
  • the method and apparatus calculate temperature distributions ⁇ 1 to ⁇ 5 in a plurality of sections using the distributed heat generation amount and the above-described unsteady heat conduction equation.
  • the method and apparatus calculate thermal displacement amounts D F1 to D F5 in a plurality of sections from the temperature distributions ⁇ 1 to ⁇ 5 .
  • the method and apparatus calculate correction amounts ⁇ M 0 , ⁇ M 20, ⁇ M 40, ... ⁇ M 300 for correcting a preset pitch error correction amount based on the thermal displacement amounts D F1 to D F5. To do.
  • the method and apparatus can perform the thermal displacement correction process with high accuracy in consideration of the heat dissipation that increases as the rotational speed ⁇ of the ball screw shaft 81 of the ball screw mechanism increases.
  • the heat conduction matrix includes a heat radiation function h ( ⁇ ) that increases as the rotational speed ⁇ of the X-axis motor 71 increases. Therefore, the method and apparatus can obtain the thermal displacement amount reflecting the heat radiation amount corresponding to the rotational speed of the ball screw shaft 81, and can accurately correct the thermal displacement.
  • the heat conduction matrix includes a first heat conduction matrix that reflects the shape and material of the ball screw shaft 81, a second heat conduction matrix that reflects the structure of the ball screw mechanism, and the heat dissipation function that multiplies the second heat conduction matrix. Including. Therefore, the method and apparatus can reflect the above items and the rotational speed of the ball screw shaft 81 in the unsteady heat conduction equation.
  • the heat radiation function h ( ⁇ ) only needs to reflect the amount of radiant heat radiated to the surroundings in accordance with the increase in the rotational speed of the ball screw shaft 81.
  • the heat radiation function h ( ⁇ ) is not an approximate expression, and may be based on data in which a correspondence relationship between the rotational speed ⁇ and the value of h ( ⁇ ) is set.
  • the separation by the rotational speed ⁇ may be an unequal interval.
  • the arithmetic processing required for the approximate expression is not necessary.
  • the thermal displacement correction method and the thermal displacement correction device may correct the control data of the machining program for each of a plurality of correction sections based on the thermal displacement amount independently of the pitch error correction.
  • the calculation cycle for calculating the calorific value is not necessarily 50 ms.
  • the predetermined period for performing correction based on the amount of thermal displacement is not 6400 ms, but may be in units of several tens of seconds.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)

Abstract

L'invention porte sur la correction du déplacement thermique dans une machine-outil sur la base d'une équation de conduction thermique instable, à partir de laquelle l'unité centrale de la machine–outil décrite calcule la distribution de la température d'une pluralité d'intervalles d'un arbre à vis à bille (81) et calcule l'ampleur du déplacement thermique de chaque intervalle à partir de ladite distribution de température. La matrice de conduction thermique de l'équation de conduction thermique instable comprend une première matrice de conduction thermique qui reflète la forme et la matière de l'arbre à vis à bille (81), une seconde matrice de conduction thermique qui reflète la structure du mécanisme de la vis à bille, et une fonction de dissipation thermique. La fonction de dissipation thermique est fixée à la caractéristique d'accroissement de la dissipation thermique en réponse à un accroissement de la fréquence de rotation d'un servomoteur. Par conséquent, l'unité centrale peut corriger l'erreur provoquée par le déplacement thermique avec une précision élevée en se basant sur l'ampleur du déplacement thermique qui prend en compte la quantité de dissipation thermique de l'arbre à vis à bille (81).
PCT/JP2010/064332 2009-08-28 2010-08-25 Procédé de correction du déplacement thermique dans une machine-outil, et dispositif de correction du déplacement thermique WO2011024833A1 (fr)

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JP5910331B2 (ja) * 2012-06-07 2016-04-27 株式会社ジェイテクト 位置決め装置
JP5956497B2 (ja) * 2014-04-08 2016-07-27 ファナック株式会社 機械の熱変位補正装置
JP6432424B2 (ja) * 2015-03-31 2018-12-05 ブラザー工業株式会社 工作機械及び演算方法
CN105867303A (zh) * 2016-04-18 2016-08-17 安徽省捷甬达智能机器有限公司 一种参考误差的机床温差补偿系统
JP6877989B2 (ja) * 2016-12-22 2021-05-26 オークマ株式会社 工作機械の温度推定方法及び熱変位補正方法
CN109709894B (zh) * 2019-01-18 2022-02-08 汪祖兵 一种数控机床热误差软件补偿方法

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JP2002018677A (ja) * 2000-07-06 2002-01-22 Fanuc Ltd 工作機械の熱変位補正方法
JP2004042260A (ja) * 1994-06-16 2004-02-12 Mori Seiki Hitech Co Ltd 工作機械の熱変位補正方法及びその装置
JP2009214283A (ja) * 2008-03-13 2009-09-24 Brother Ind Ltd 工作機械の熱変位補正方法、熱変位補正装置及びその熱変位補正用プログラム

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JP5447750B2 (ja) * 2006-12-14 2014-03-19 国立大学法人福井大学 稼動中のボールネジにおける温度分布算定方法及び当該方法に基づく変位補正方法

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JPH10138091A (ja) * 1996-11-11 1998-05-26 Fanuc Ltd 工作機械の熱変位補正方法
JP2002018677A (ja) * 2000-07-06 2002-01-22 Fanuc Ltd 工作機械の熱変位補正方法
JP2009214283A (ja) * 2008-03-13 2009-09-24 Brother Ind Ltd 工作機械の熱変位補正方法、熱変位補正装置及びその熱変位補正用プログラム

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