Device for controlling orientation of spindle

专利摘要:
A spindle orientation control apparatus has a motor 102 for driving a spindle 101, speed control means 121 for rotating the spindle 101 at a speed in accordance with a command speed, and position control means 131 for stopping the spindle 101 at a commanded stopping position. The apparatus is further provided with stopping position command means 131 e for digitally instructing the spindle stopping position, a position sensor 105, error monitoring means 153, 156 for monitoring an error between the commanded stopping position and the actual rotational position of the spindle and for generating a signal when the error attains a predetermined value, and means 141 for generating a signal indicative of an orientation speed. When the apparatus is in a spindle orientation control mode, the spindle is speed-controlled so as to rotate at the orientation speed until the error monitoring means 156 generates said signal, and is position-controlled after the generation of the signal so as to reduce the error to zero.
公开号:SU1258316A3
申请号:SU3247296
申请日:1981-02-23
公开日:1986-09-15
发明作者:Коцаи Есинори；Фудзиока Есики；Ота Наото
申请人:Фудзицу Фанук Лимитед (Фирма)；
IPC主号:

专利说明:

move - with a switch, and the decoding unit is connected to the output by the input
The invention relates to metal-cutting machine tools, namely, an orientation control device for a spindle, Which can stop the spindle in an arbitrary rotational position.
The aim of the invention is to increase accuracy by reducing the number of commands.
Fig; 1 shows a workpiece in which it is necessary to process a hole and a tongue groove; Fig. 2 is a schematic diagram of the device controlling the orientation of the spindle; in fig. 3 — the relationship between the initial position (the position at which the one-turn signal is generated) and the stop position of the spindle; Fig. 4 is a waveform diagram for the case where the spindle rotates | on. 5 is the same for the case when the spindle is at rest; Figs 6 and 7 show cases where the spindle is oriented during its forward direction; in FIG. 8 and 9 - the same, in the opposite direction.
The blank 1, previously machined, has holes 2 for screws, a keyway 3 and holes 4 located in certain positions on the surface. The keyway and the various holes are machined as follows. Billet 1, held in a zakhshmny cartridge (not shown), at. is driven into rotation by means of a drive motor, the spindle, and the place to be machined is machined to a point that is opposite to the rotating tool. Ta i Then the machining is done. Orientation of the spindle position in. The 6 th desired rotational position is an important requirement in machine tools with programmed control.
 The device works as follows.
1258316
arithmetic unit, and outputs - to the sequence counter.
five
0
five
0
five
40
45
The spindle 5 is driven by the engine 6 through the drive belt 7 and rotates the workpiece 1. The speed sensor (tachometer) 8 is mounted on the shaft of the drive motor spindle 5 and generates an actual voltage signal AV, which corresponds to the actual speed of rotation of the engine 6 and, therefore, spindle 5 and workpiece 1, the optical sensor 9 of the spindle position through the drive belt 10 connects to the spindle 5 and generates a single-pulse FBP each time the spindle 5 rotates through a given angle, as well as a single signal turn of the RTS every time, when pgpindle 5 makes a full turn. The clamping mechanism 11 clamps the spindle 5 against the movement when the spindle is already stopped after its orient. I rotate the di- with the cutting tool 12 and the 13-g turning cutter 13-g is driven on the tool supply device t4. And transported in the direction of the X-axis by the driving motor 15, controlled by the digital control device 16, or the NG. The tool supplying device t4 is connected via a drive belt 17 to the drive motor 15. The digital control device 16 or the CNC generates signals such as the orientation command OR CM, the rotation speed command VCMD, and the Jftni XS signal yppa to control the drive motor 15 along the X axis.
The speed control unit 18 includes: an adder 19, the output of which is a voltage indicating a rotational error mismatch, representing the deviation between the number of revolutions VCMD and the actual number of revolutions during the rotation speed control period given by the command from the CNC: the known phase equalizer circuit 20 and the phase regulator circuit 21 responsive to the voltage error of the speed from the adder 19 for adjusting the synchronization, and the thyristors in the thyristor circuit are lit 22, the forming; a thyristor converter 22 for supplying the drive motor 5 with a voltage which is in accordance with the speed error. The speed control circuit, the tachometer 8 and the FL feedback line constitute the SPF speed control loop.
The spindle position control unit 23, limited by a two-dot dash line, includes: a speed control unit 24, which generates a signal determined by a given number of revolutions gpcndel OVCMD during the orientation control time} the spindle position control signaling unit 25 to stop the spindle B. arbitrary rotational position; a switch 26 for selectively supplying either a signal determined by the OVCMD command of the number of rotations from the speed control unit 24, or a signal, a positional error PER from the position control circuit during the orientation control time; an orientation speed shaping unit 27 for controlling the increase in the number of revolutions in response to the clutch switching signal CLC; unit 28 in order to externally set to the installation position in the form of a 12-bit digital value. In particular, setpoint 28 is used to input pulses of the number n, corresponding to an angle of N degrees, measured from the initial position of the MHP to the stop position of the ps. CP. The combination of letters RTSP (Fig. 3) denotes the angular position; which generates a signal for one revolution of the RTSe. Thus, if the sensor, the 9 position generates 2 4096 km / s, thanks to one revolution of the spins. 5, then the setter is manipulated so as to pass the number of pulses
N
50
equivalent, 4096, numerically, in the form of 12 bits to stop the spindle at the CP point.
Unit 24 includes an orientation speed direction indicating unit 29, which over time
j you
15 jo 25 JQ
35
40
45
0
orientation generates a signal to achieve a certain number of revolutions ORV after reading that spindle 5 has already reached a predetermined number of revolutions Vg., at which orientation is possible; a rotational direction unit 30 for generating a rotational direction signal RDS after reading a direction in which the spindle is rotating; an orientation rotation speed command generation unit 31 for generating a rotation speed command signal OVCMD during the orientation time.
The spindle position control signal generating unit 25 includes: a factory setting control unit 32 for setting the spindle stop position by means of a digital setting in the form of 12 binary bits in the pulse counter t, equivalent (g, 4096),
corresponding to the number of degrees M, measured by it from the position of the return of the RTSP to the initial position of the MRP shown in FIG. four; a register 33 in which a digital value in the form of 12 bits (100 ... 01 2049 in this embodiment of the invention) is set at the factory, calculated on 12 binary bits; a reversible arithmetic unit 34 having a capacitance for counting 4096 FPB feedback pulses that are generated by sensor 9 during one full spindle revolution; a control unit 35 of a reversible arithmetic unit 34 for controlling the direction in which the arithmetic unit 34 is counting; a digital-to-analog converter (DA) 36 to form an analog voltage that is proportional to the contents of block 34; the decoding unit 37 for generating the HR signal when the content of the arithmetic unit 34 reaches a value b, equivalent to (2 -1) -aJ (in this embodiment, an embodiment of the invention b is 011 ..., which is the equivalent of the number of pulses communication generated by the sensor 9 for about 180 spindle rotations), and for generating the FR signal when the contents of the counter reaches the value 00.,. 0 (all zeros); a sequence counter 38; digital value block 39 for selection
one of the .digit values a, t, n and for presetting the arithmetic unit 34 to a selected
Value; valve circuit AND 40 L of the ORED orientation completion signal j.
The sequence counter 38 feeds the signal of the first sequence state SO ,, equivalent to 1, as a reaction to the formation of 10 ORCM orientation commands, controlled via switch 41, as well as the second, third and fourth sequences SQ, SQ and SQ, all equivalent to 1, as a 15 response to generating a signal of one turn of RTS and HR signals (at level 1) and FR (at level 1), respectively. The digital value block 39 presets the arithmetic unit 34 to the content state m or -t in accordance with the rotational signal of the spindle RDC if a signal of one turn of RTS is generated (the signal that controls the transmittance GM, comes to level 1). when the signal SO, is at level 1, pre-sets. the counter is in the state of its contents. according to the direction of rotation signal of the RDS spindle, if the HR signal comes to level- (the signal controlling the transmittance GNj comes to level 1) when the signal 50 is at level 35 and pre-set. the counter is in the state of the contents of a. or -a if the signal FP comes to level 1 (the signal controlling the transmission of the GP comes to level 40 1) j when SO is at level 1,
In the proposed device, it is not necessary to use any sensor to indicate the initial position of the SR, even if the stop position of the spindle (CP in FIG. 3) is caused by the setting device 28 based on the initial MRP position ;, the sensor is excluded, since he is jo expensive and cannot easily and accurately give an indication of the initial position.
In accordance with the invention, the sensor is replaced by a device in which the number of degrees M, measured from the position of the RTSP (rotation position) to the initial position of the MRP, is set by the setting device 32, since the angle M is different different machines, depending on how the sensor 9 is mounted, M is measured for each machine and the number of pulses T corresponding to this angle, is then set by the setting device 32, the setting device 32 is installed inside the device to prevent problems resulting from by chance change the set value of ha,
The setpoint adjuster 28, which establishes the stop position of the spindle, is used to enter the number of pulses n corresponding to the angle N from the initial
the position of the MRP to stop the CP. The number of pulses w corresponding to the angle M from the position of the rotation of the RTSP to the initial position of the MRP is preset by setpoint 32 to set the position of the spindle stop. These operations accurately determine the stop positions of the CP spindle.
When the spindle rotates in the prlg-th direction, it is assumed that the ORCM orientation command is formed (SO, comes to state 1) when the spindle is in position (1), FIG. 6. The formation of the ORCM command forces the spindle to start the rotation rotation V, at which the orientation becomes possible, and a signal of one turn of the RTS (SQg comes to state 1) is generated, when the spindle is in the position (II). At this time point and the numerical value of -t is preset to the arithmetic flea 34 (Fig. 2). The spindle continues rotation with speed VQ ,, and block 34 is counting in direct feedback pulse FBP with the contents of the counter reaching the value of b when the spindle reaches poloken (H) 5 after turning through an angle (B + M). which matches b + g :; feedback pulses, at this instant of time, and the decoder 37 generates an HR signal (SQ comes to state 1), by virtue of which it presets the arithmetical unit .34 to the count state. The spindle continues to rotate at the speed of the CCR, and block 34 reads in the forward direction the feedback pulses FBP with the contents of the counter, reach the reference value when the spindle reaches
712
Position (4) after rotating by an angle of N degrees, which corresponds to n feedback pulses, at this point in time the decoder 37 generates a signal FR (SQ comes to state 1). The value 1 of the FR signal causes the block 34 to be preset. e on the value of a (2 -1-b), i.e. per number of pulses (I00, .. 0l), equivalent to (360-V) °, which is approximately equal to 180 °. At this point, the operation switches from speed control to position control at contact switch 26, which varies from S to S. From this point on the spindle, the drive motor 6 is controlled in accordance with the error voltage (output signal from the digital converter). form to analog), which is proportional to the content of the arithmetic unit 34. Now, block 34 is counting in the reverse direction of the feedback pulses, since the circuit now operates in accordance with the position control. The content of this counter reaches zero, when the spindle 5 nails to the position (5) after rotation (360-B) °, and the valve on the circuit 40 is signaling the completion of the orientation ORED, which is fed to the digital control device 16 to stop orientation control operation. In accordance with the aforementioned operation, spindle 5, following the generation of a single turn signal RTS. turns on (B + M) when SQ is 1, on N degrees, when SQ is 1, and on (360-V) when SQ is 1. Thus, the spindle stops exactly at the command position rotation, after turning in total DIFFICULTY, on (360 + M + N). Fig. 6 shows the position when M-t-N is less than 180. However, the control operation is identical for the case when M + K is greater than 180 ° (Fig. 7). It should also be noted that although the t-values were described as preset in the arithmetic unit 34, by generating the RTS and HR signals, respectively, a device is possible in which the -p and -t values are preset into the counter by the corresponding RTS signals HR
16S
The control operation described above relates to the rotation in the forward direction of the spindle 5. If the ORCM orientation command is generated when the spindle rotates in the opposite direction, the orientation control operation occurs during the rotation, the spindle in the direction mentioned and almost the same as described. operation. The only difference is that the values of m, n are pre-set in the counter instead of -m, -n, and the value - () - b - instead of the value (,
Suppose the spindle 5 rotates in the forward direction at the rotational speed due to the rev command CV14D from the digital control device 16. Under this condition, when the ORCM orientation command comes to state 1 (SQf comes to state 1), b is time tj, (position (1) in Fig. 6), the contact of switch 41 changes from position S, to the position S and the pattern of instructions for the number of turns of orientation. simultaneously issues an instruction for the number of revolutions OVCMD, which decreases towards zero from the magnitude of s. As a result, the driving motor of the spindle 6 starts to decrease the number of revolutions in accordance with the command for reducing the number of revolutions OVCMD and at the time t reaches the rotational speed at which the spindle orientation becomes possible. The orientation speed indication unit 29 detects this rotational speed and generates a signal to reach this rotational speed number ORV (1). The rotational speed command generation unit 31 responds to 1 output of the output signal V, as a rotational speed command OVCMD. Therefore, spindle 5 continues Bpanja.TbcH with a constant speed Vji. Sensor 9 generates a signal of one turn of RTS at time t (position (2) in Fig. 6) so that the state of the second sequence is reached (SQj comes to state 1). The formation of the RTS signal causes the control signal transmittance of the GM signal to level 1 so that the digital value -th, which is in the setter 32, is preset in the arithmetic
block 3.4 through block 39 digital values. Meanwhile, the spindle t 5 continues to rotate at the speed, vratden g Vor-j. and, rotary coding, a single feedback pulse FBP; when the spindle is shaking) is set to a predetermined angle, namely 360/4096. The feedback pulses are counted in the forward direction, the arithmetic unit 34. In the direction (forward or backward), count and return the feedback pulses to the 34 block, is determined by the control circuit 35 of block 34, in particular, the counting pulses, are referred to directly by the right-hand side of the system, with a score of 1 x 1;
TI SQ
ate at time t (position, (: 3) in FIG. angle (B-S-M) (ISO-fTi)); what
 B + TP img; y, PSPO5:
in time, the time element is L-containing, and the block 34 is available lp ae velncinz b l decoding of which the device reacts with the output (pas ypoBi-ie 1), g; the power of which dosgpg ae7 c the state of the third follower ;; (O comes to the state D), As a result of the control, the control unit - sig - tal GN prc code r to the compo - rt is the digital value that is given .-- it was created in the task of 28 precursor: mouth,: - ; c; infusion, in arithmetic, KoJ f, block 34, through block 39, the value of гиggiidel 5 is still, t; rod} (it rotates with the speed of rotation Vg. and in MoMeiiT of time tu (position (4) in FIG. , 5)
, - the number of n) -tulses is inverse, Therefore, at the time ti and not the block, 34 become different. The FR signal is frigrix-dpt to the state;) 1 and you reach the same condition of the 51st sequence of the lines. The switch re.iE, b 26 reacts to the state 1 of the FR signal by its overpowering, -: onta, kta
from S
to
by virtue of what switches
C-T is regulated} rk of the speed (rotational speed) to the control of noses. At the same time, the digital waveguide a, which was set in register 33, is preset in block 34 through block 39, digitized values. It should be noted.
that the value of a is equivalent to the number of pulses inversely corresponding to approximately the ISC of the spindle rotation. The - command: the OVCMD RPM at the time t, becomes
equal to zero
The digital-to-analog converter 36 forms a per-position mismatch of a PER voltage proportional to the constrained arithmetic unit 34, and the spindle drive motor bp is supplied; it rotates in forward sign with the speed curve, which now corresponds to the PER signal.
In accordance with the regulation board, the content of block 39 is considered
 the reverse example
when i eHeyi / ipyeTCH in reverse
connection FBP, 3 result output
Fr e1; Lro5, L1a.} | Oughy npeoujjaso-vat 36 noc ieriejiHO decreases, fact, 15: the AV speed of the drive, the spindle engine 6 decreases with the output of the rotary gear with the output voltage,
digital camera : 1 ° C-development, gWh When spy 1D1;, 17b rotates Y 1 ol () (approx: 1 e ;, tsno tSO), the content of block 34 becomes equal to zero (FR, dos: crucibles state rh)
a, valve circuit H 40 iosalayet cis-, for-ve;:., orientation ORED Royc guv Ik. BlackBerry; governing the government to stop the orchestra governing
OXM: a presentation of Jaggigyu 1 in the vein:; K; - and Cintinpell in the direct direction, This operation takes place; -: almost the same; even when the -5ANDA ORCM comes to state 1, by the time G rotates, and) H is lipdel,: in the opposite direction, and in these cases, the fact is that the number of cores is AV and AV .-- it is as expected. ; stsy line on fkg, 4 ,, and - lpindle, 5 wasps, g; - avlivaete defined ko; DCI FDI rotation
The control operation is the same3 If C1pind2, 5 is found, the cysts are in a quiescent state, Korria the ORCM ops-organization command comes to a state. The change in the actual number of rounds w, pin, and the whole AV for this free flowing is shown in FIG. 5,,
In this way, the preamp, the jigger allows the rod to rotate with a definable cog-1e. - up to speed to stop 11
12
in any desired rotational position. Using only a drive motor of one spindle reduces the overall cost of the device, and also reduces its size. You can use a standard digital control device without modification. In addition, the spindle can be oriented continuously without returning to its original position and without temporarily stopping, even when the orientation control operation is performed during the rotation of the spindle. Moreover, this control operation can be carried out regardless of the direction in which the spinning spindle rotates. These advantages greatly reduce the time required to install the shanel, ate in the processing position. Opere sake; accurate orientation occurs quickly, t, k. the rotation speed is controlled up to a point not reaching the prescribed number of degrees determined by the command of the stop position, while controlling the position effective from the prescribed point ahead. The reference position sensor is not required, regardless of whether 8383
12
The stopping of the CP is determined by a command based on the initial position, as a result, the device is further reduced in price. Despite the fact that. . The angle M, measured from the position of the RTSP in which the one-turn signal is generated, differs from the initial position of the MRP depending on how the rotary encoder is mounted, or its equivalent, the number of pulses, coot. corresponding to the angle M, preliminarily set in the setting unit 32 after this angle is preliminary measured 5. This simplifies the command and control operations associated with the stop position, since the size of the angle M does not need to be considered during
20 operations.
The proposed device can be modified. For example, you can generate 4096 and my1 positions using rotary
25 of the encoder generating 1024 positional pulses during one full spindle revolution and using a quadruple circuit instead of sensor 9 (FIG. 2).
3 f
I I

Fig
TjTFTfT 5fl; M.
l - SHsVcp, j
I JTITi
.,. „1.111 .;
 ,
iO
fr.
mfw / i
WP
ag.Z
OKEL
onsm
ovcm
VDRJ
y
Yyg.5
(five;
6
(2)
W)
Phage.1
$
D
Phage. eight
 1) I
 four,
.,., ff
in.9.
)

Compiled by V. Povetkin Editor M. Tsitkina Tehred M. Khodanich Proofreader O. Lugova
Order 5044/60 Circulation 8.26 Acknowledgment s.e BHHnii of the USSR State Committee on Inventions and Discoveries 113035, Moscow, F - 35, Raushsk nab, d, 4/5
Production and printing enterprise, Uzhgorod, Proektna str., 4

权利要求:
Claims (3)
[1]
1. A SPINDLE ORIENTATION CONTROL DEVICE comprising a spindle position sensor, a speed control unit with a speed sensor, a spindle position control unit with a sensor, an operation mode switch, the first input of the speed control unit being connected to the first output of the numerical control device, the second input to the sensor speed, and the output is with a spindle motor, characterized in that, in order to increase accuracy, the spindle position control unit is equipped with a spindle position adjuster, a forming unit a spindle position control signal, the first and second inputs of which are connected to the first and second output of the position sensor, the third and fourth inputs, respectively, with the second output of the numerical control device and the spindle position adjuster, and a switch connected to the outputs of the speed control and position control units spindle.
[2]
2, The device according to claim 1, characterized in that the speed control unit is provided with an orientation speed direction indicating unit, a spindle rotation direction indicating unit connected to their inputs. With a speed sensor and an orientation speed generating unit, two inputs of which are connected to outputs of the indication units, and the third with the output of the numerical control device, and the output with the switch.
[3]
3. The device according to π. 1, characterized in that the spindle position control signal generating unit is equipped with a digital value selection unit, a register, a setter, a sequence counter, an arithmetic unit with a control unit, a converter and a decoding unit, while the three inputs of the digital value unit are connected respectively with a setter, a register and a spindle position adjuster, a sequence counter with inputs with a second output of a numerical program device and a second output of a spindle sensor, an arithmetic unit the first input is connected to the output of the digital value block, and the second input is connected to the first output of the spindle sensor, the arithmetic control unit by the input is connected to o>
It is connected to the sequence counter, and the output to the arithmetic block, the input of the converter is connected to the output of the arithmetic block, and the output 12512516 is connected to the switch, and the decoding of the arithmetic block, and the output block is connected by the input to the output of ^the sequence counter.

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同族专利:

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EP0034927B1|1986-05-14|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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JP2181780A|JPS56119349A|1980-02-23|1980-02-23|Controlling device of main shaft orientation|

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