WO2017113055A1

WO2017113055A1 - Hole tapping method, numerically-controlled machine tool, and numerically-controlled machining device

Info

Publication number: WO2017113055A1
Application number: PCT/CN2015/099193
Authority: WO
Inventors: 龚丽辉
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2015-12-28
Filing date: 2015-12-28
Publication date: 2017-07-06
Also published as: CN107615195A; CN107615195B

Abstract

A hole tapping method and a numerically-controlled machine tool. The method comprises: obtaining instructed main shaft displacement and sending same to a main shaft motor driver (1105); obtaining actual main shaft displacement by using a main shaft displacement sensor (1106); performing compensation calculation on the actual main shaft displacement according to a difference between the actual main shaft displacement and the instructed main shaft displacement, to obtain instructed Z shaft feed displacement; and sending the instructed Z shaft feed displacement to a Z shaft motor driver (1104) so that the Z shaft motor driver (1104) drives a Z shaft (1102) and a main shaft (1103) to machine a hole to be tapped.

Description

Method for tapping threaded hole, numerical control machine tool and numerical control processing device

[Technical Field]

The invention relates to the field of numerical control machining, in particular to a method for tapping a threaded hole, a numerical control machine tool and a numerical control processing device.

【Background technique】

During the tapping process, the numerical control system obtains the Z-axis feed speed by giving a spindle a speed, and then according to the F=pitch* spindle speed, so that the desired screw hole is machined by the tap through the cooperation of the spindle and the Z-axis. . Although this method looks at the spindle speed and the Z-axis feed speed on the surface according to the pitch, in the actual process, the spindle speed needs to go through the process of forward, stop, reverse, and stop, so the spindle and angle and the Z-axis The location cannot be fully synchronized.

Rigid tapping is proposed to solve the above problems. When the rigid tapping is performed, the CNC system can feedback the pitch according to the position of the spindle motor encoder and calculate the Z-axis command position in real time. This ensures the synchronization of the spindle and Z-axis position.

Although the rigid tapping ensures the synchronization of the command position of the spindle and the Z axis in the numerical control system, due to the inconsistency of the performance of the spindle and the Z-axis drive (such as delay, rigidity, etc.), in the high-speed rigid tapping, the spindle and the Z-axis The actual motion position is still not fully synchronized. This requires the CNC system to compensate for the synchronization error between the two.

At present, it is common practice in the industry to solve this problem by adjusting the spindle and Z-axis drive parameters, such as increasing the rigidity of the Z-axis drive, thereby reducing the response delay of the Z-axis, so that the synchronization error between the two is reduced.

[Summary of the Invention]

The technical problem mainly solved by the invention is to provide a method for tapping a threaded hole, a numerical control machine tool and a numerical control processing device, which can improve the precision and efficiency of the rigid tapping of the numerical control system.

In order to solve the above technical problem, a technical solution adopted by the present invention is to provide a tapped hole The method comprises: acquiring a spindle command displacement, and transmitting the spindle command displacement to the spindle motor driver; using the spindle displacement sensor to obtain the actual spindle displacement; and using the difference between the spindle actual displacement and the spindle command displacement to perform the spindle actual displacement The compensation calculation is to obtain the Z-axis command feed displacement; the Z-axis command feed displacement is sent to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis and then drives the spindle to process the tapped hole.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a numerical control machine tool including: a spindle and a spindle motor driver and a spindle displacement sensor mounted on the spindle, a Z-axis and a Z-axis mounted on the Z-axis The Z-axis motor driver and the numerical control system; the numerical control system is connected to the spindle motor driver and the Z-axis motor driver; the numerical control system is used for acquiring the spindle command displacement, and transmitting the spindle command displacement to the spindle motor driver; and for acquiring by the spindle displacement sensor Actual displacement of the spindle; and used to compensate the actual displacement of the spindle by the difference between the actual displacement of the spindle and the displacement of the spindle command, to obtain the Z-axis command feed displacement; and to send the Z-axis command feed displacement to the Z-axis The motor driver is used to drive the Z-axis motor drive to drive the Z-axis and then drive the spindle to process the tapped hole.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a numerical control processing apparatus, including a processor, a memory, an input device, and an output device; wherein the processor is configured to perform the following steps: acquiring a spindle command displacement, The spindle command displacement is sent to the spindle motor driver; the spindle displacement sensor is used to obtain the actual spindle displacement; the actual displacement of the spindle is compensated by the difference between the actual spindle displacement and the spindle command displacement, and the Z-axis command feed displacement is obtained; The Z-axis command feed displacement is sent to the Z-axis motor drive so that the Z-axis motor drive drives the Z-axis and drives the spindle to machine the tapped hole.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a computer storage medium for storing computer program code, when executed by a processor, causes the processor to execute a processing method. The processing method comprises the steps of: acquiring the spindle command displacement, and transmitting the spindle command displacement to the spindle motor driver; using the spindle displacement sensor to obtain the actual spindle displacement; using the difference between the spindle actual displacement and the spindle command displacement to the actual spindle displacement The compensation calculation is performed to obtain the Z-axis command feed displacement; the Z-axis command feed displacement is sent to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis and then drives the spindle to process the tapped hole.

The invention has the beneficial effects that the invention is different from the prior art, and the invention transmits the spindle command displacement and transmits the spindle command displacement to the spindle motor driver; the spindle displacement sensor is used to obtain the actual spindle displacement; and the spindle actual displacement and the spindle command are utilized. The difference between the displacements is compensated for the actual displacement of the spindle, and the Z-axis command feed displacement is obtained. The Z-axis command feed displacement is sent to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis and then drives the spindle processing. Tap the threaded hole. According to the principle that the difference between the actual position of the main shaft and the Z-axis is proportional to the difference between the actual position of the main shaft and the command position, the compensation value is calculated according to this ratio to compensate the Z-axis command position so that the actual position of the main shaft and The actual position of the Z-axis is closer together, which improves the machining accuracy and efficiency during the tapping hole machining process.

[Description of the Drawings]

Figure 1 is a schematic structural view of a CNC tapping hole device;

2 is a flow chart of an embodiment of a method for tapping a threaded hole according to the present invention;

3 is a schematic view showing the positional relationship between the main shaft and the Z-axis when the error compensation is not performed in the conventional tapping hole processing;

4 is a schematic diagram of error analysis when error compensation is not performed in conventional tapping hole processing;

Figure 5 is a schematic view of the spindle speed in the conventional tapping hole machining;

6 is a schematic view showing the positional relationship between the main shaft and the Z-axis when the error compensation coefficient K=0.4 in the method for tapping the threaded hole according to the present invention;

7 is a schematic diagram of error analysis when the error compensation coefficient K=0.4 in the method for tapping a threaded hole according to the present invention;

Figure 8 is a detailed flow chart of step 200 of the method for tapping a hole according to the present invention;

9 is a schematic view showing the positional relationship between the main shaft and the Z-axis when the error compensation coefficient K=0.6 in another embodiment of the method for tapping the hole according to the present invention;

10 is a schematic diagram of error analysis when the error compensation coefficient K=0.6 in another embodiment of the method for tapping a hole according to the present invention;

11 is a schematic structural view of an embodiment of a numerical control machine tool according to the present invention;

Figure 12 is a schematic view showing the structure of an embodiment of the numerical control processing apparatus of the present invention.

【detailed description】

Referring to Figure 1, the schematic diagram of the CNC tapping hole device, the CNC tapping hole device mainly includes a spindle and a Z-axis, and the spindle is provided with a tap 101 for tapping the hole to be processed, and the spindle rotates the tap 101 to rotate. The Z axis moves in the Z coordinate direction to drive the tap 101 to feed in the Z axis for tapping, also referred to as the feed axis. A motor driver is mounted on both the main shaft and the Z-axis to receive commands from the numerical control system to drive the spindle and the Z-axis respectively, and a spindle displacement sensor is also mounted on the spindle. Since the present invention is not intended to improve the structure of the processing apparatus, the specific structure of the apparatus will not be described herein.

Referring to FIG. 2, a flowchart of an embodiment of a method for tapping a threaded hole according to the present invention includes:

Step 201: Acquire a spindle command displacement, and send the spindle command displacement to the spindle motor driver.

For example, the spindle command displacement can be input by the user into the numerical control system, or it can be imported from the machining file by the numerical control system; the spindle command displacement is determined according to factors such as the depth of the threaded hole to be processed, the pitch, and the like. Obtained when an instruction entered by the user is received.

Step 202: Acquire the actual displacement of the spindle by using a spindle displacement sensor.

In other embodiments, the actual displacement of the spindle using the spindle displacement sensor can be obtained by:

The actual angular displacement of the spindle is measured by a rotary encoder mounted on the spindle, and the actual displacement of the spindle is calculated according to the following formula: actual spindle displacement = actual angular displacement of the spindle * pitch of the tapped hole to be tapped.

Step 203: Perform compensation calculation on the actual displacement of the spindle by using a difference between the actual displacement of the spindle and the displacement of the spindle command to obtain a Z-axis command feed displacement.

Specifically, the following formula can be used to compensate the actual displacement of the spindle, and the Z-axis command feed displacement is obtained: M ₁ =S ₂ +K*(S ₁ -S ₂ ), where M ₁ is the Z-axis command feed displacement. S ₁ is the spindle command displacement, S ₂ is the actual spindle displacement, and K is the predetermined compensation coefficient.

It should be noted that the above formula is a mathematical formula based on the specific principle of the present embodiment as an example, if there are other formulas obtained according to the same principle of the present embodiment, or other derivation or deformation according to the mathematical formula. Formulas should be included in the scope of the present embodiment.

Referring to Fig. 3, here, for example, a threaded hole having a hole depth of 10 mm is processed. In Fig. 3, the ordinate is the displacement amount, the unit is mm, and the abscissa is the data point number. Refer specifically to the partially enlarged part of Figure 3 (for a section of data point number between 500 and 800), where the Z-axis command position (line 3) and the actual spindle position (line 2) are relatively close, due to the Z-axis. The command position is calculated from the actual position of the spindle, but due to the response delay of the Z-axis drive, the actual position of the Z-axis (line 4) is significantly delayed compared to the actual position of the spindle. The actual position of the two axes at this time. The error between them is shown in Fig. 4. The ordinate in Fig. 4 is the error value in mm, and the abscissa is the data point number. The error that can be seen is at most 0.1 mm. For comparison, referring to Fig. 4 and Fig. 5, the ordinate of Fig. 5 is the rotational speed of the main shaft, and the abscissa is the data point number. In Figure 4, the data point number when the error is maximum is approximately 500-800, which corresponds to the time when the spindle rotation speed is the largest in Fig. 5. Therefore, the error of the actual position of the Z-axis is proportional to the rotation speed of the spindle. The faster the spindle speed, the greater the error.

Since the Z-axis driver response delay is stable, the difference between the Z-axis actual position and the command position curve is also stable. We close the Z-axis command position curve toward the spindle command position curve, then the Z-axis actual position is also It is inevitable to move closer to the actual position of the spindle.

Through the above principle, we added the adjustment parameter "error compensation coefficient" in the numerical control system, here named K. In each interpolation cycle, since the Z-axis command feed displacement is the same as the actual spindle displacement, the actual spindle displacement and spindle rotation The ratio of the change of the number of weeks is the pitch, so the actual displacement S _{2 of the} spindle can be calculated from the actual angular displacement of the spindle through this relationship. When the error compensation is not performed, the Z-axis command displacement M ₁ =S ₂ , the actual spindle displacement S ₂ and displacement of the spindle S command and both the difference is the difference between the displacement axis command _1, this difference value is multiplied by the compensation coefficient K, i.e., the compensation value obtained in this case C = K * (S ₁ -S ₂ ), adding the compensation displacement of the Z axis to this compensation value gives the final Z axis command displacement M ₁ =S ₂ +K*(S ₁ -S ₂ ).

Step 204: Send the Z-axis command feed displacement to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis to drive the spindle to process the tapped hole.

Referring to Figures 6 and 7, wherein the ordinate in Figure 6 is the displacement amount, in mm, and the abscissa is the data point number. The ordinate in Fig. 7 is the error value in mm, and the abscissa is the data point number. Here, the threaded hole with a hole depth of 10 mm is still processed, and the error compensation coefficient K is taken as K=0.4. As can be clearly seen from the partial enlarged part in Fig. 6, the actual position of the Z axis (line 4) and the main axis The actual position (line 2) is clearly closer to that in Figure 3. Referring to Figure 7, the maximum position error of the two axes is reduced to about 0.04mm, which is 60% lower than the error of 0.1mm when the error compensation is not performed. This shows the compensation we added. It is vaild.

Different from the prior art, the present embodiment obtains the spindle command displacement and transmits the spindle command displacement to the spindle motor driver; uses the spindle displacement sensor to obtain the actual spindle displacement; and uses the difference between the spindle actual displacement and the spindle command displacement to the spindle. The actual displacement is compensated and calculated, and the Z-axis command feed displacement is obtained. The Z-axis command feed displacement is sent to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis and then drives the spindle to process the tapped hole. According to the principle that the difference between the actual position of the main shaft and the Z-axis is proportional to the difference between the actual position of the main shaft and the command position, the compensation value is calculated according to this ratio to compensate the Z-axis command position so that the actual position of the main shaft and The actual position of the Z-axis is closer together, which improves the machining accuracy and efficiency during the tapping hole machining process.

In this embodiment, before the step 201, the method for tapping the hole provided by the present invention may further include:

Step 200: Calculate the error compensation coefficient K. Referring to FIG. 8, a specific flowchart of step 200 in the method for tapping a hole in the present invention, specifically, step 200 may include:

Referring to FIG. 8, a flow chart of another embodiment of a method for tapping a threaded hole according to the present invention includes:

Step 2001: Obtain an initial error compensation coefficient K ₀ and take the value of K as K ₀ .

In one embodiment, the initial error compensation coefficient K ₀ may be a default value, in the range of 0≤K ₀ ≤1, the specific value may be empirically determined value; In another embodiment, the initial error compensation coefficient K ₀ can also be determined as follows:

Perform uncompensated trial processing on the tapped hole, obtain the spindle command displacement S ₅ , and send the spindle command displacement S ₅ to the spindle motor driver;

By the spindle shaft displacement sensor acquires the actual displacement S _6;

The Z-axis feed command to the Z-axis drive motor to a displacement of M _5, wherein, M ₅ = S _6;

The Z-axis displacement sensor is used to obtain the actual feed displacement M _{6 of the} Z-axis;

The initial compensation coefficient K ₀ is calculated according to the following formula: K ₀ = (M _{5 -} M ₆ ) / (S _{5 -} M ₅ ).

Step 2002: Perform compensation trial processing on the tapped hole, and obtain the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial processing.

In an embodiment, the step 2002 may specifically be:

Acquiring the spindle command displacement S ₃ during the compensation trial machining process, and transmitting the spindle command displacement S ₃ to the spindle motor driver;

Using the spindle displacement sensor to obtain the actual spindle displacement S ₄ ;

Calculate the Z-axis command feed displacement M ₃ during the compensation trial machining according to the following formula: M ₃ = S ₄ + K ₀ * (S _{3 -} S ₄ );

Sending the command feed displacement M ₃ to the Z-axis motor drive;

The Z-axis actual feed displacement M _{4 is} obtained using a Z-axis displacement sensor.

Step 2003: Determine whether the difference between the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial processing is within a predetermined error value w. If yes, proceed to step 2004, and if not, proceed to step 2005.

The specific value of W can be determined according to the demand for processing precision, for example, it can be determined to be 0.005 mm, 0.01 mm, 0.02 mm, 0.05 mm or other suitable values. The preferred value of W in this embodiment is 0.01 mm.

Step 2004: Determine the current K value as an error compensation coefficient.

Specifically, if the initial error compensation coefficient K ₀ makes the determination process in step 2003 satisfy the requirement, the value of the error compensation system K is determined as the initial error compensation coefficient K ₀ .

Step 2005: Adjust the value of the error compensation coefficient K and repeat step 2002.

Wherein, in an embodiment, the method for adjusting the value of the adjustment error compensation coefficient K is:

Calculated according to the following formula, K = K ₀ + K ₁ , where K ₁ is calculated according to the following formula: K ₁ = (S _{4 -} M ₄ ) / (S _{3 -} S ₄ ).

Referring to Figures 9 and 10, wherein the ordinate in Figure 9 is the displacement amount, in mm, and the abscissa is the data point number. The ordinate in Fig. 10 is the error value in mm, and the abscissa is the data point number. For example, the threaded hole with a hole depth of 10 mm is taken as an example. The value of the error compensation coefficient K is adjusted to K=0.6 by the above method. The actual position of the Z axis can be clearly seen from the partial enlarged part in FIG. (Line 4) and the actual position of the main axis (line 2) are closer together than in Figure 6, almost coincident. Referring again to Figure 10, the maximum position error of the two axes is reduced to within 0.01 mm, which satisfies the synchronization error requirements of the tapped hole.

Can be continuously changed to the acquired value of the compensation factor K by the above-described manner, until the difference between the actual displacement _test N into the actual displacement of the spindle P * A _sample of the Z-axis and to within a predetermined error range value W, thus increasing The accuracy of the tapping of the above embodiment is further reduced.

It is worth noting that since the rotation of the main shaft and the feed of the Z-axis are both an acceleration-constant-deceleration process, it is preferable that the actual displacement of the main shaft S ₄ and the Z-axis are actually fed during the above-described compensation trial machining. The displacement M ₄ is obtained between the spindle command displacement S ₃ between H/3 and 2H/3, where H is the hole depth of the tapped hole. Meanwhile Preferably, in the non-test compensation processing, the actual angular displacement of the spindle S ₆ and Z actual feed M ₆ are displaced in the displacement S ₅ spindle command acquired between H / 3 to 2H / 3 in.

Different from the prior art, the present embodiment can quickly and quantitatively describe the synchronization error of the spindle and the Z-axis during rigid tapping, and quickly realize the complete synchronization of the spindle and the Z-axis by adjusting the compensation coefficient. Generally, only one or two rigid tappings are required to obtain the final compensation coefficient. Moreover, the actual position of the main shaft and the Z-axis can be synchronized to the greatest extent by the method of the present invention, and the rigid tapping synchronization performance can be greatly improved, thereby increasing the rotational speed of the rigid tapping spindle and improving the efficiency of the rigid tapping process.

Referring to FIG. 11, a schematic structural view of an embodiment of a numerically controlled machine tool according to the present invention includes: a spindle 1103 and a spindle motor driver 1105 and a spindle displacement sensor 1106 mounted on the spindle 1103, a Z-axis 1102, and a Z mounted on the Z-axis 1102. Axis motor driver 1104, and numerical control system 1101; The numerical control system 1101 is connected to a spindle motor driver 1105, a spindle displacement sensor 1106, and a Z-axis motor driver 1104.

The numerical control system 1101 is configured to acquire a spindle command displacement, and send the spindle command displacement to the spindle motor driver 1105; and to obtain the actual spindle displacement by using the spindle displacement sensor 1106; and to utilize the difference between the actual spindle displacement and the spindle command displacement The value is compensated for the actual displacement of the spindle to obtain the Z-axis command feed displacement; and the Z-axis command feed displacement is sent to the Z-axis motor driver 1104, so that the Z-axis motor driver 1104 drives the Z-axis 1102 to drive the spindle 1103. Machining the tapped hole to be tapped.

Specifically, the numerical control system 1101 specifically calculates the actual displacement of the spindle by using the following formula to obtain a Z-axis command feed displacement: M ₁ =S ₂ +K*(S ₁ -S ₂ ), where M ₁ is Z axis command feed displacement, S ₁ is the spindle command displacement, S ₂ is the actual spindle displacement, and K is the predetermined compensation coefficient.

In another embodiment, the numerical control system 1101 is further configured to obtain an initial error compensation coefficient K ₀ and take the value of K as K ₀ ; perform a trial processing on the tapped hole, and obtain an actual displacement of the spindle during the compensation trial process. And the actual feed displacement of the Z axis; determine whether the difference between the actual spindle displacement and the Z axis actual feed displacement during the compensation trial machining is within a predetermined error value W, and if so, the value of the error compensation coefficient K is determined as the initial error The compensation coefficient K ₀ , if not, adjusts the value of the error compensation coefficient K, and returns to the tapping of the tapped hole to perform the trial machining, and obtains the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial machining.

The numerical control system 1101 is further configured to acquire a spindle command displacement S ₃ during the compensation trial machining process, and send the spindle command displacement S ₃ to the spindle motor driver; use the spindle displacement sensor to obtain the spindle actual displacement S ₄ ; according to the following formula Calculating the Z-axis command feed displacement M ₃ during the trial machining process: M ₃ = S ₄ + K ₀ * (S _{3 -} S ₄ ); sending the command feed displacement M ₃ to the Z-axis motor driver; The Z-axis actual feed displacement M _{4 is} obtained using a Z-axis displacement sensor.

The numerical control system 1101 is further configured to perform uncompensated trial processing on the tapped hole, obtain the spindle command displacement S ₅ , and send the spindle command displacement S ₅ to the spindle motor driver; use the spindle displacement sensor to obtain the spindle actual displacement S ₆ The Z-axis command feed displacement M _{5 is} sent to the Z-axis motor drive, where M ₅ =S ₆ ; the Z-axis displacement sensor is used to obtain the actual feed displacement M _{6 of the} Z-axis; the initial compensation coefficient K ₀ is calculated according to the following formula _; : K ₀ = (M _{5 -} M ₆ ) / (S _{5 -} M ₅ ).

Wherein the numerical control system 1101 is further configured to calculate the error compensation coefficient adjusted according to the following formula _{K: K = K 0 + K} 1; wherein, K ₁ is calculated according to the _{_{formula: K 1 = (S 4 -M}} 4 ) / (S _{3 -} S ₄ ).

It is worth noting that since the rotation of the main shaft and the feed of the Z-axis are both an acceleration-constant-deceleration process, the actual displacement S _{4 of the} main shaft and the actual feed displacement of the Z-axis during the above-mentioned compensation trial machining M ₄ Both are obtained between the spindle command displacement S ₃ between H/3 and 2H/3, where H is the hole depth of the tapped hole. At the same time, in the above uncompensated trial machining process, the actual angular displacement S _{6 of the} main shaft and the actual feed displacement M _{6 of the} Z-axis are obtained between the spindle command displacement S _{5 and} H/3 to 2H/3.

In addition, the spindle displacement sensor is a rotary encoder mounted on a spindle, and the rotary encoder is used to measure the actual angular displacement of the spindle; the numerical control system calculates the actual displacement of the spindle by using the actual angular displacement of the spindle. Actual angular displacement * Pitch of the tapped hole to be tapped.

This embodiment is an apparatus based on the above embodiment of the method of tapping a hole, and its implementation is similar, and will not be described again here.

Different from the prior art, the present embodiment calculates a compensation value to the Z-axis according to the ratio of the difference between the actual position of the main shaft and the Z-axis and the difference between the actual position of the main shaft and the command position. The position compensation makes the actual position of the main shaft and the actual position of the Z axis closer together, so that the machining accuracy and efficiency during the tapping hole processing are improved.

Referring to FIG. 12, in order to solve the above technical problem, another technical solution adopted by the present invention is to provide a numerical control processing apparatus 1200, including a processor 1201, a memory 1202, an input device 1203, and an output device 1204. The memory 1202, the input device 1203, and the output device 1204 may each be one or more, and one of them is exemplified in FIG. 12, and they may be connected through a bus.

Specifically, the memory 1102 is used to store an operating system, a computer program, and other necessary programs; the input device 1203 is configured to receive user input instructions (such as receiving user instructions through a device such as a keyboard, a mouse, or a touch screen) or other devices (such as a CNC lathe). Data or commands sent; output device 1204 is used to send data or commands to other devices or devices, such as display screens or CNC lathes.

The processor 1201 is configured to: perform a spindle command displacement, and send the spindle command displacement to a spindle motor driver; use a spindle displacement sensor to obtain a spindle actual displacement; and use the spindle actual displacement and the spindle command displacement The difference is calculated by compensating the actual displacement of the spindle to obtain a Z-axis command feed displacement; the Z-axis command feed displacement is sent to the Z-axis motor driver, so that the Z-axis motor drives the Z-axis to drive the spindle machining The thread to be tapped.

The processor 1021 is specifically configured to perform compensation calculation on the actual displacement of the spindle by using the following formula to obtain a Z-axis command feed displacement: M ₁ =S ₂ +K*(S ₁ -S ₂ ), where M ₁ is Z The axis command feeds the displacement, S ₁ is the spindle command displacement, S ₂ is the actual spindle displacement, and K is the predetermined compensation coefficient.

The processor 1201 is further configured to: obtain an initial error compensation coefficient K ₀ , and take a value of K as K ₀ ; perform a trial processing on the tapped hole, and obtain an actual spindle displacement and a Z-axis during the compensation trial processing. Actual feed displacement; determine whether the difference between the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial machining is within the predetermined error value W. If so, the value of the error compensation coefficient K is determined as the initial error compensation coefficient K. _0, if not, adjusting the value of the compensation factor K, and returns the treated tapped hole compensate trial machining, and obtain the actual displacement of the spindle and the Z-axis offset trial machining process actual feed displacement.

The processor 1201 is further configured to: perform a process of acquiring a spindle command displacement S ₃ during the compensation trial machining process, and transmitting the spindle command displacement S ₃ to the spindle motor driver; and acquiring the spindle actual displacement S ₄ by using the spindle displacement sensor Calculate the Z-axis command feed displacement M ₃ during the compensation trial machining according to the following formula: M ₃ = S ₄ + K ₀ * (S _{3 -} S ₄ ); send the command feed displacement M ₃ to Z Axis motor driver; Z-axis actual feed displacement M _{4 is} obtained by Z-axis displacement sensor.

The processor 1201 is further configured to perform the following steps: performing uncompensated trial processing on the tapped hole, acquiring the spindle command displacement S ₅ , and transmitting the spindle command displacement S ₅ to the spindle motor driver; acquiring the spindle by using the spindle displacement sensor Actual displacement S ₆ ; The Z-axis command feed displacement M _{5 is} sent to the Z-axis motor drive, where M ₅ =S ₆ ; the Z-axis displacement sensor is used to obtain the actual feed displacement M _{6 of the} Z-axis; the initial calculation is performed according to the following formula The compensation coefficient K ₀ : K ₀ = (M _{5 -} M ₆ ) / (S _{5 -} M ₅ ).

Wherein, the processor 1201 is further configured to perform the steps of: calculating error compensation coefficient adjusted according to the following formula _{K: K = K 0 + K} 1; wherein, K ₁ is calculated according to the formula: K ₁ = (S ₄ -M ₄ )/(S ₃ -S ₄ ).

In the several embodiments provided by the present invention, it should be understood that the disclosed method and terminal may be implemented in other manners. For example, the device implementations described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

In other embodiments, the present invention also provides a computer storage medium for storing computer program code, when executed by a processor, causes the processor to perform a processing method, the processing method comprising the following steps :

Obtaining a spindle command displacement, and transmitting the spindle command displacement to a spindle motor driver; acquiring a spindle actual displacement by using a spindle displacement sensor; and utilizing a difference between the spindle actual displacement and the spindle command displacement to actually shift the spindle The compensation calculation is performed to obtain a Z-axis command feed displacement; the Z-axis command feed displacement is sent to the Z-axis motor driver, so that the Z-axis motor drives the Z-axis to drive the spindle to machine the to-be-trimmed hole.

The integrated units of the other embodiments described above, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essential or the part contributing to the prior art or All or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) or A processor performs all or part of the steps of the method of various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A method for tapping a threaded hole, comprising:

Obtaining a spindle command displacement and transmitting the spindle command displacement to the spindle motor driver;

The spindle displacement sensor is used to obtain the actual displacement of the spindle;

Using the difference between the actual displacement of the spindle and the displacement of the spindle command to compensate the actual displacement of the spindle to obtain a Z-axis command feed displacement;

And transmitting the Z-axis command feed displacement to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis to drive the spindle to machine the to-be-trimmed hole.
The method according to claim 1, wherein said calculating a Z-axis command feed displacement by using a difference between said spindle actual displacement and said spindle command displacement to compensate said spindle actual displacement :

The actual displacement of the spindle is compensated by the following formula to obtain the Z-axis command feed displacement:

M 1 =S 2 +K*(S 1 -S 2 ), where M 1 is the Z-axis command feed displacement, S 1 is the spindle command displacement, S 2 is the spindle actual displacement, and K is the predetermined compensation coefficient.
The method of claim 2, wherein before the acquiring the spindle command displacement and transmitting the spindle command displacement to the spindle motor driver, the method further comprises:

Obtaining an initial error compensation coefficient K 0, K and taking the value of K is 0;

Compensate the trial tapping of the tapped hole, and obtain the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial processing;

Determining whether the difference between the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial processing is within a predetermined error value W, and if so, determining the value of the error compensation coefficient K as the initial error compensation coefficient K 0 , If not, adjust the value of the error compensation coefficient K, and return to the tapping hole for compensation trial processing, and obtain the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial machining.
The method according to claim 3, wherein the compensation for the tapped hole is compensated Machining and obtaining the actual displacement of the spindle during the trial machining process and the actual Z-axis feed displacement include:

Get command compensation trial machining spindle during the displacement of S 3, and S 3 of the spindle displacement instruction to a spindle motor driver;

Using the spindle displacement sensor to obtain the actual spindle displacement S 4 ;

Calculate the Z-axis command feed displacement M 3 during the compensation trial machining according to the following formula: M 3 = S 4 + K 0 * (S 3 - S 4 );

Sending the command feed displacement M 3 to the Z-axis motor driver;

The Z-axis actual feed displacement M 4 is obtained using a Z-axis displacement sensor.
The method according to claim 4, wherein the actual spindle displacement S 4 and the Z-axis actual feed displacement M 4 during the compensation trial machining are both at the spindle command displacement S 3 at H/3 to 2H/ Obtained between 3, where H is the hole depth of the tapped hole.
The method according to claim 3, wherein said obtaining an initial error compensation coefficient K 0 comprises:

Performing uncompensated trial processing on the tapped hole, obtaining the spindle command displacement S 5 , and transmitting the spindle command displacement S 5 to the spindle motor driver;

Using the spindle displacement sensor to obtain the actual spindle displacement S 6 ;

The Z axis command feed displacement M 5 is sent to the Z axis motor driver, where M 5 =S 6 ;

The Z-axis displacement sensor is used to obtain the actual feed displacement M 6 of the Z-axis;

The initial compensation coefficient K 0 is calculated according to the following formula: K 0 = (M 5 - M 6 ) / (S 5 - M 5 ).
The method according to claim 6, wherein said non-actual displacement spindle S 6 and Z-axis offset during the actual trial machining feed displacements M 6 are displaced in the spindle command in S 5 H / 3 to 2H Obtained between /3, where H is the hole depth of the tapped hole.
The method according to claim 4, wherein the value of the adjustment error compensation coefficient K comprises:

The adjusted error compensation coefficient K is calculated according to the following formula:

K = K 0 kK 1 ; wherein K 1 is calculated according to the following formula: K 1 = (S 4 - M 4 ) / (S 3 - S 4 ).
The method according to claim 1, wherein the obtaining the actual displacement of the spindle by using the spindle displacement sensor comprises: measuring the actual angular displacement of the spindle by using a rotary encoder mounted on the spindle, thereby calculating the actual spindle Displacement = actual angular displacement of the spindle * pitch of the tapped hole to be tapped.
A numerical control machine tool, comprising: a spindle and a spindle motor driver and a spindle displacement sensor mounted on the spindle, a Z-axis and a Z-axis motor driver mounted on the Z-axis, and a numerical control system;

The numerical control system is connected to the spindle motor driver and the Z-axis motor driver;

The numerical control system is configured to acquire a spindle command displacement, and send the spindle command displacement to a spindle motor driver; and to obtain an actual spindle displacement by using the spindle displacement sensor; and to utilize the spindle actual displacement and the The difference between the spindle command displacements is compensated for the actual displacement of the spindle to obtain a Z-axis command feed displacement; and the Z-axis command feed displacement is sent to the Z-axis motor driver to make the Z The shaft motor driver drives the Z axis to drive the spindle to machine the thread to be tapped.
The method according to claim 10, wherein the numerical control system is specifically configured to perform compensation calculation on the actual displacement of the spindle by using the following formula to obtain a Z-axis command feed displacement:

M 1 =S 2 +K*(S 1 -S 2 ), where M 1 is the Z-axis command feed displacement, S 1 is the spindle command displacement, S 2 is the spindle actual displacement, and K is the predetermined compensation coefficient.
The method of claim 11 wherein said numerical control system is further configured to:

Obtain an initial error compensation coefficient K 0 and take the value of K as K 0 ;

Compensate the trial tapping of the tapped hole, and obtain the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial processing;

Determining whether the difference between the actual spindle displacement and the Z-axis actual feed displacement during the compensation trial processing is within a predetermined error value W, and if so, determining the value of the error compensation coefficient K as the initial error compensation coefficient K 0 , If not, adjust the value of the error compensation coefficient K, and return to the tapping hole to perform the compensation trial processing, and obtain the steps of compensating the actual spindle displacement and the Z-axis actual feed displacement during the trial machining.
A numerically controlled machine tool according to claim 10, wherein said spindle displacement sensor is a rotary encoder mounted on a spindle, said rotary encoder is for measuring an actual angular displacement of the spindle; said numerical control system utilizing said spindle The actual angular displacement is calculated to obtain the actual displacement of the spindle = the actual angular displacement of the spindle * the pitch of the tapped hole to be tapped.
A numerical control processing device includes a processor, a memory, an input device, and an output device; wherein the processor is configured to perform the following steps:

Obtaining a spindle command displacement and transmitting the spindle command displacement to the spindle motor driver;

The spindle displacement sensor is used to obtain the actual displacement of the spindle;

Using the difference between the actual displacement of the spindle and the displacement of the spindle command to compensate the actual displacement of the spindle to obtain a Z-axis command feed displacement;

And transmitting the Z-axis command feed displacement to the Z-axis motor driver, so that the Z-axis motor driver drives the Z-axis to drive the spindle to machine the to-be-trimmed hole.