• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The system has a proximity sensor 10 with a part 10a on spindle 7. and a fixed part 10b including three saturable reactors SRA. to SRA3 one after another. An output DV2 derived from SRA; is zero when the spindle 7 is in the desired position (part 10a confronting SRA2), positive when the spindle 7 is slightly to one side of that position and negative when the spindle 7 is slightly to the other side. and provides a fine positioning signal. The sum ASV of outputs DV1 and DV3 derived from SRA1 and SRA3 takes values which indicate when the spindle 7 enters the environs of the desired position. DV2 and ASV and an actual speed signal AV are fed to a position deviation signal (RPD) generating circuit 11a. Circuit 11 a first delivers a position deviation signal RPD of an initially set voltage ISV corresponding to one spindle revolution. When signal ASV indicates the spindle has entered the environs of the desired position. circuit 11 a generates a coarse position signal CPD by subtracting the integrated value of AV from ISV then a bias signal BIS is supplied until ASV indicates the spindle has re-entered the environs of the desired position. Then circuit 11a a uses DV2 to bring the spindle to the desired position wnen DV2 is zero.
    公开号:SU1148555A3
    申请号:SU802994157
    申请日:1980-10-09
    公开日:1985-03-30
    发明作者:Козаи Есинори；Фудзиока Есики；Ота Наото
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to machine tool control systems, namely, control devices for stopping the spindle in a predetermined position. A device for stopping the spindle in a predetermined position is known, comprising a spindle speed setting unit, the output of which is connected to an actuator-connected device mode switch connected to The input of the spindle speed control unit, the other input of which is associated with the spin code of the spindle speed sensor, is a spindle position sensor, implemented as movable, located on the spindle, and fixed parts, the output of which is connected to. the input of the orientation control unit, the input next to it is connected to the switch of the device operation modes, and the task setting unit for the operation of the device, the output of which is connected to the switch of the operation mode switch of the device 111.. However, the known device does not provide a locking force on the spindle when it reaches a predetermined position, which reduces the accuracy of the spindle positioning. The purpose of the invention is to improve the accuracy of spindle positioning. The goal is achieved by the fact that in the device for stopping the spindle in a predetermined position, containing a spindle position sensor, made of two parts: the substructure is located on the spindle, and the fixed one, the speed control function connected to the speed sensor, and the orientation control unit of the spindle is made in the form of an integrator, the input of which is connected to the output of the speed sensor, a switch with drives, a signal synthesizer, the inputs of which are connected to the output of the integrator and the other part of the spindle position sensor through the switches and associated with the drive switches, the driver unit connected to the fixed part of the sensor, and the comparison elements, while the orientation control unit is connected to the speed control unit through the mode selectors, and the movable part of the sensor made in the form of a permanent magnet, the poles of which are located along the direction of rotation of the spindle, stationary - in the form of sensitive elements located in the same plane as the permanent magnet. In addition, each of the sensitive elements of the spindle position sensor is made in the form of throttles with two coils, wound oppositely and interconnected by one ends with a common ground connection, a pulse generator connected to a common terminal, to one full-wave rectifiers connected to other the ends of the coils. FIG. 1 shows a block diagram of a device; in fig. 2 - various forms of pulses obtained during the operation of the block diagram; in fig. 3 - spindle position sensor; in fig. 4 is a view A of FIG. 3; in fig. 5 shows the structural design and mutual arrangement of the moving and fixed parts of the spindle position sensor; in FIG. 6, the sensitive element of the fixed part — in FIG. 7 - time dependences of the voltages obtained from each of the chokes; in fig. 8 electrical circuit of throttle saturation; in fig. 9 - 12 - high-frequency pulse signal with different effects of an external magnetic field on the choke, in fig. 13 —the spindle orientation control unit; FIG. 14 - time diagram of the operation of the spindle orientation control unit. The device contains a speed setting unit 1 for generating signals depending on the speed, a mode setting unit 2 for generating a signal corresponding to a certain orientation of the spindle, a speed control unit 3 including an adder, a compensation circuit 35, arrays 3 in tension in phase and three-phase scheme 3g. Adder Zy is designed to receive the voltage difference (corresponding to the deviation from the speed value) that occurs between the value of the specified speed CV and the real value of the speed AU during the speed value control operation, and to accept the voltage difference between the RPD signal corresponding to
    3
    deviation from a given position, and the AV signal corresponding to the actual value of the speed. The 3S phase compensation circuit provides phase compensation for the voltage generated at the output of the 3 "adder, implemented by shifting this phase 1X in the direction of advance or lag. A voltage-to-phase voltage converter serves to adjust the triggering angle of each of the thyristors in the thyristor circuit 3i, in accordance with the output voltage of the circuit 35 of the phase compensation. The thyristor circuit 3g serves to change the value of the voltage supplied to the DC motor 4, in order to provide speed control, motor rotation, in accordance with the adjustable starting angles of the thyristors included in it. The speed sensor - tachometer 5 is designed to forming the voltage in accordance with the magnitude of the engine speed. The device comprises a mechanism 6 for mounting the spindle 7, a tool 8 and a gear system 9 (or a driving belt) for transmitting the rotational movement from the direct current motor 4 to the spindle 7.
    The sensor 1O of the spindle position is made of two parts, the movable part 10a located on the spindle and the fixed part 105. The movable part of the sensor is made up of permanent magnets whose poles are located along the direction of rotation of the spindle. The stationary part 106 contains sensitive elements, located in the same plane with permanent magnets, and includes three saturation thrusters 11 12 and - 13 located in the housing and placed in the direction of rotation of the spindle (Fig. 5).
    Each of the saturation throttles contains coils Ц Ц wound on the core tA (Fig. 6). The coils Iv,, Uj on each of the cores are wound in such a way as to have opposite polarities. The coils on each core have a common pin 15, which serves to supply a high-frequency signal, and pins 16 and 17.
    - Curves DV, DVj, DVj (Fig. 7) correspond to variable voltages
    48555 4
    formed on pins 16 and 17 chokes at e1 1, 12 and 13, respectively. Each of these variable voltages takes a zero value,
    5 when the central line of the corresponding fixed throttle coincides with the central line of the magnet. At these times, the voltage curve is positive in one direction, well, the side from zero, and negative on the other side, i.e. it completely crosses the zero level. The curve of the SV voltage corresponds to the sum of the voltages DV, WU and DVj.
    The electrical circuit 18 for each of the chokes on it (Fig. 8) includes a pulse generator 19 for generating
    20 pulsed HFP signal with a frequency of 100 Hz, a transition transformer 20, one-half-cycle rectifiers 21 and 22, and pins 23 and 24. Block 25 of the orientation control of the spindle (Fig. 1)
    25 serves to obtain an RPD signal corresponding to the spindle deviation from a predetermined ratio. The RPD signal is a voltage, the magnitude of which is in accordance with, a VII with the degree of deviation from a certain position, as well as the ORDEN orientation termination signal. Block 25 (Fig. 13) contains an integral 26 with its input connected to the output of the speed sensor used to integrate a signal corresponding to the actual speed value and to subtract the result of the integration from the originally set voltage JSV. The switch 27 is installed in a position which is either −i-15 t or -151, and in accordance with the direction of rotation of the spindle.
    The integrator includes resistances 5 and 28, 29, 30 and 31, capacitor 32, amplifiers 33 and 34, switches 35, 36, 37 and 38.
    Circuit 39 serves to determine 50 the absolute value of the integrator output signal. Comparison elements 40 serve to determine whether the SRV signal, corresponding to a gross deviation from a certain position, indicated whether a predetermined voltage level V is below or below, generates an NRPS signal that indicates that a part of the spindle (magnet) approached the area located near the predetermined stopping position. The NRPS signal provides the closure of the switches 37 and 38. The gain control circuit 41 provides gain control in accordance with the gap between parts 10a and 10 and serves to generate a detection signal DV (voltage corresponding to a precise deviation from a certain position) having pre-determined slope. The signal separation circuit 42 provides the separation of the ASV approach signal (Fig. 2a) at a predetermined level and generates a signal L5, which indicates that the magnet of part 10p (reaches the area close to the predetermined spindle position.
    The oriental spindle control unit 25 also contains switches 43 - 48, equipped with actuators, a signal generator 49 corresponding to the spindle in the desired position, equipped with a comparison element and serves to control the HV signal corresponding to an exact deviation from a certain position, and to generate a signal corresponding to the position in given position LP05, when the spindle is in the range corresponding to a predetermined specific position.
    The elements of comparison 50- and 51 serve to control the signal DV2, corresponding to an exact deviation from a certain position, and generate signals N € Ca, P05 upon detecting that the spindle is approaching a cure to a certain position when rotating in the opposite direction (signal SUB corresponds to 1) or when rotating in the forward direction (the POS signal corresponds to 1), respectively. The synthesizer 53 slz / zhit performed at the amplifier 52 for transmitting a signal corresponding to an exact deviation from a certain position, or a signal corresponding to a gross deviation from a certain position in accordance with closed or open state of switches 46 and 47 or 48. The inputs of the synthesizer are connected to
    The integrator 26 is equipped with a fixed part 105 of the spindle position sensor 10 through the switches 46i 47 and 48. The 49 transducer is connected to the actuators of the switches 46, 47 and 48 and the fixed part of the spivdel orientation control unit 25 through the block 54 management; The work clamp switches 55 are connected to the speed control unit 3. Switch 55 contains terminals 56 and 57.
    The device works as follows.
    When the engine rotates, the switch 35 is connected to terminal 56 (Fig. 1), thereby forming a speed control loop. The adder receives the command signal CV corresponding to the speed value from block 1, which generates speed command signals, and the signal V, COOT corresponding to the average speed value from the tachometer 5, and in response to this it generates a voltage corresponding to the speed deviation. Phase phase compensation circuit 36 provides control of the thyristor triggering angle of the thyristor circuit 3G in accordance with the voltage determining the speed deviation, and the thyristor circuit provides control of the voltage supplied to the DC motor 4. As a result, the actual value of the AV speed of the 4 DC motor is adjusted so as to bring it in line with the value determined by the CV command given by the speed value. After this, the speed control unit will control the speed of engine 4 so that the speed deviation is zero. a state is provided in which the motor and, therefore, the spindle rotates at approximately the speed corresponding to the command signal, during the processing of the parts.
    When the part processing ends, the control unit, such as a digital control unit (not proven), commands the unit 2 to set operating modes to supply a signal corresponding to the command defining the orientation in block 54 at the time t at the same time signal The CV corresponding to the Speed value drops to zero (Fig. 25). The actual value of the speed / 4V of the motor and the spindle gradually decreases and reaches zero at the time point. When this happens, in block 25 a pulse signal VZR is generated corresponding to the zero speed value, under the influence of which the 5D surge switch allows switching switch 55 to terminal 57, so that The unit switches from speed control to position control. Under the influence of the pulse signal V2f, the unit 25, which generates a signal corresponding to the deviation from a certain position, first generates, as a signal corresponding to the deviation from a certain position, the initially set voltage J5V. Under the influence of this signal, the spindle begins to rotate again, so that the signal AV, which determines the real value of the speed:, increases in such a way that it reaches the value; V. As the magnet of part 10a mounted on the spindle continues to rotate and reaches the predetermined position for the first time (time tj), block 25, which forms: a signal corresponding to the deviation from a predetermined position, generates an SRV signal, a rough definition deviation from a predetermined position, as a signal deviating from a certain position of the RP As the spindle: continues to rotate and the magnet of the Yuc part approaches the area located near the predetermined position and (moment of time tj), block 25, the formation of the signal, corresponding to the deviation from a certain position, generates an offset signal 615 as a signal of deviation from a certain position RPB Then when the magnet enters the above-mentioned area located in the vicinity of the predetermined position 4) "Block 25 generates an accurate deviation signal from a certain position. 1) H When signal IV decreases to zero, i.e. when the magnet of part Yu, pa 1,558 laid on the pre-selected part of the spindle, is directly against the central throttle 12 of saturation, the control of the position of the spindle ends. The saturation inductor is excited by the high-frequency pulse signal HFP by using a transition transformer 20. As a result, at the outputs .23 and 24 (Fig. 8), the output voltages are 0V, where i 1, 2, 3 (Fig. 7), and takes place for each drossel of saturation, the amplitudes of these output voltages are proportional to the value of the external magnetic field H -..-., ..., the intensity of which varies in accordance with the position of the magnet part lOd. When the magnet of the 1Oft part is removed from the saturation droplets 11 so that the value of the external magnetic field acting on the throttle 11 is zero, the high-frequency impulse signal HFP flows around the vertical zero line of the BH magnetization curve passing through the center of this curve (Fig. 9) . As a result, the number of magnetic flux lines crossing the coils L, 1-2 turns out to be the same, so that the output voltages taken from pins 16 and 17 are equal in amplitude, but out of phase by 180. Because these voltages are ml of the corresponding half-wave rectifiers 21 and 22, the potentials appearing on terminals 23 and 24, are equal, so that as a result, the voltage between terminals 23 and 24 is zero. As part 10 of the magnet approaches the unsaturated choke 11, the external magnetic field H generated by the magnet begins to act on the choke 11. If we assume that hp denotes the field generated by the high-frequency impulse signal HFP, then the flow corresponding to the field bb - Nvneyn „crosses the coil {(Fig. 10), and the flow corresponding to the field bg + Н0 secheshn coil Lj. If this state is expressed using the B – H curve, the tr high frequency impulse signal of the HFP will act near the –Junction line as relative to the center with respect to 91 coil L,;, (Fig. 11) and with respect to line with respect to coil C (Fig . 12). Therefore, the flow directed in the negative direction, which crosses the roller L, leads to saturation of the coil and consequently to the occurrence of a change of small magnitude (Fig. 1 and while the directed negative magnetic flux that crosses the coil L, - does not obstruct and creates The change of a larger magnitude itself (Fig. 12), Based on the fact that the induced voltage in is determined by the value NdfcJi (where N is equal to the number of turns), the potential at step 24 becomes greater than the potential at pin 23, which leads to The potential difference between the terminals. This potential varies according to the curve DV (Fig. 7) as the magnet of part 10 continues to rotate. Block 25, which generates a signal corresponding to the deviation from a certain position, receives from the position sensor 10 DV as a voltage that is used as an accurate deviation signal from a certain position when the spindle is in close proximity to a predetermined position, in contrast to the gross deviation signal corresponding to the signal nassh1eni choke 12 which .raspolozhen centered (Fig. 5), and an approach signal ASV which is obtained by folding the stresses JV, j) V of the respective respective stresses of the chokes 11, 12 of the congestion, and which indicates that the spindle has entered the region in the vicinity of a predetermined position .. the AV signal corresponds to the actual value of the engine speed 4 and the same goes to block 25 from the tachometer 5 and is integrated in this block. The result of the integration is subtracted from the initially generated ISV voltage signal and then converted into a CPB signal corresponding to a gross deviation from a certain position. Block 25, intended to form a signal corresponding to the deviation from a definite 510 divided position, is designed to form a constant, initially set voltage as a JSV signal and a bias signal 639 (Fig. 2o (). V value - for example JSv signal is set at such a level that it turns out to be equal to the voltage determined by the deviation from a certain position, which corresponds to one rotation (360 °) of the spindle. Vlok 25, which generates a signal corresponding to the deviation from a certain The first position generates the initially set voltage as a 35V signal from time i, and the OPCM signal is your orientation command, generated until time i2 when the spindle initially reaches a predetermined position. After that, as the spindle continues rotates and the magnet of part 10a (a predetermined part of the spindle) reaches a predetermined position of rotation a second time, an FRO signal is generated corresponding to a gross deviation from a certain position, up to x until the magnet of part 10a approaches a region (defined between 6 and + b) located close to a predetermined position, i.e. until it is in the position indicated by -0. In addition, the bias signal BJ5 is also forked until the specified area is reached. On the other hand, a signal DV2, corresponding to an exact deviation from a certain position, is generated after the magnet of the lOoi part has reached: and then entered the area near the predetermined position. The result of all these operations is the RPB deviation signal from a certain position (Fig. 2a and S). Moreover, the 6JS offset signal can be removed from the RPD signal by setting to 9. If the spindle rotates in the forward direction, it is connected to a terminal with a voltage of 15V. Suppose that switch 27 is set to the position when it is connected to a terminal with a voltage of 15 V at time t. (Fig. 14). The voltage is divided by the resistances 28 and 29 and provides the charge of the capacitor 32 through the amplifier 33 and the switch 37. The voltage to which the capacitor is charged reaches the value Vj corresponding to the initially set voltage as a signal JSV, If the signal Du, corresponding to the real value of speed, goes to integrator 26 through switch 37 or through switch 35 after switch 37 opens (at time 2 H °, capacitor 32 begins to discharge with a constant RC time, since the value When the signal corresponding to the real value of the speed, AV is smaller than Vj i, as a result of it, the CPD signal determines a gross deviation from the predetermined position obtained by subtracting the integrated signal AV corresponding to the real value of the speed from the initially set voltage form; signal E5U, occurs on the output terminal of amplifier 34 (amplifier 34, resistance 31 and capacitor 32 form an integration circuit). If both switches 37 and 38 are closed after the CPD signal has reached a predetermined voltage value (time ij), then integrator 26 functions as an amplifier, and in this case a bias BUS signal is generated at the output terminals 34 corresponding to the pre-set level. In other embodiments, in accordance with a particular combination and synchronization of onepaivm of opening and ordering 1 of the switches 35, 36, 37 and 38, the initially set voltage is first generated as an HSV signal, then an SRV signal corresponding to a coarse deviation from a predetermined position, and finally a signal 8J offset, g. To provide a high gain value of the spindle orientation control unit 25 when the gears mounted between the DC motor 4 and the spindle 7 are very different from each other. (The degree of reduction is high) to provide a low gain value, when gears 52 audio not differ greatly (the degree of reducing the speed is low), it is necessary to make the gain of low compared with the gain in a case where the reduction rate is large. When the gear ratio is large, the switches 35 and 45 are closed, and the switches 36 and 44 are open to increase the gain, and when the gear ratio is small, the switches 36 and 44 are closed, and the switches 35 and 45 are open to lower gain factor. This eliminates the possibility of yawing and re-adjusting the spindle when it stops at a predetermined position and allows the operation to stop the spindle in a shorter period of time regardless of the ratio of the gear ratio. Signal US opens switches 47 and 48 and closes switches 46 (at time 4). As a result, a DV signal corresponding to a precise deviation from a certain position is received as an RPD signal corresponding to a deviation from a certain position. The switch 47 is closed when the spindle is controlled at. its rotation in the forward direction, and when the spindle rotates in the opposite direction, the switch 48 is closed. The generated signal JNP05, after its occurrence, creates conditions under which the signal corresponding to the command to terminate the orientation operation is then dropped into the digital control unit. The elements of comparison 50 and 51 control the signal DVj corresponding to an exact deviation from a certain position, and form the signal NEG, P05 when the spindle approaches the predetermined position when rotating in the opposite direction or in the forward direction. The switch 47 closes under the influence of the signal P05, and the switch 48 switches to the same state under the influence of the signal NEG. Thus, if the signal is ORCW ,, the owner of the orientation command,. it tends to become 1 at the moment of time, then the CV signal corresponding to the real value of the speed drops to zero, so that as the real value of the speed decreases, the signal corresponding to this real value drops to zero at time i., -. At this point in time, the VZR signal corresponding to the zero speed value tends to the value corresponding to 1. The switch 43 opens, one of the switches 45, 44 closes in accordance with a high or low gear ratio, and one of the switches 47, 48 closes according to the direction, forward or reverse, of the spindle rotation. This forms a position control loop, at the output terminal of which the initially set voltage is received as a JSV signal. In this case, the switch 37 is open, and the switches 35, 36 and 38 are closed. Under voltage 35V, the motor starts rotating again, so that the spindle also rotates and reaches the predetermined position for the first time (i.e. LS signal corresponds to 1 and 3NP05 signal corresponding to walking in a predetermined position is also equal to 1) . In connection with this, at time tj, switch 37 goes out, and one of switches 35, 36 closes in accordance with a high or low gear ratio. Therefore, the SRG signal is removed from the output terminal, c corresponding to a coarse deviation from a certain position. As the AV signals corresponding to the real value of speed and deviation bt of a certain position decrease, and the spindle approaches the area in close proximity to the predetermined position of rotation a second time (at time ii), the circuit 41 generates an MftPS signal (1), under the influence of which the closure of the BTS switches 37 and 38 As a result of this, the bias signal BJ5 is transmitted from the output terminal, the value of which corresponds to a predetermined level. As the clampDel continues to rotate at a slower speed and reaches the area in close proximity to the predetermined rotation position (time t4), the signal LS goes to the level corresponding to 1, the switches 47 and 48 soften and the switch 46 closes In this situation, the DV-j signal passes from the output terminal, corresponding to a precise deviation from a certain position. Thus, the spindle can be stopped in a predetermined position with great precision without using contacting elements, such as mechanical brakes. The device has a high-precision approximation degree switch, designed in such a way as to generate a signal corresponding to an exact deviation from a certain position, when the preselected point on the spindle reaches the area in the immediate vicinity of the predetermined rotation position, as a result of which The accuracy of the installation is extremely high in the range from 0.03 to 0.05, which is confirmed by measurements. In addition, the integration of the voltage received at the output of the tachometer allows to generate a signal corresponding to a gross deviation from a certain position, which makes it possible to form a position control loop without using additional position sensors, using only an approximation degree switch. As a result of this, considerable savings are realized in the manufacture of the device. Since the system is designed in such a way that the gain of the Spindle Orientation Control Unit can be changed in accordance with the gear ratio of gears, the value of this parameter can be set in such a way as to prevent the possibility of yawing overshoot and reduce the time required to bring the spindles to a certain position. .

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    权利要求:
    Claims (2)
    [1]
    1. DEVICE FOR STOPPING THE SPINDLE IN THE PRESENT 'POSITION, comprising a spindle position sensor made of two parts: movable - located on the spindle and fixed, operation mode switches, control unit, speed connected to the speed sensor, and an orientation control unit that distinguishes with the fact that, in order to increase the accuracy of spindle positioning, the orientation control unit is made in the form of an integrator, the input of which is connected to the output of the speed sensor, switches with drives, a signal synthesizer, inputs to they are connected to the output of the integrator and the fixed part of the spindle position sensor via switches, and connected to the actuators of the switches, a signal shaper connected to the fixed part of the sensor, and comparison elements, while the orientation control unit is connected to the speed control unit via the operation mode switches, and vypolnenaι sensor movable part in the form of a permanent magnet whose poles are arranged along the direction of spindle rotation, Q stationary - as a sensitive "elements LAYOUT conjugated in the same plane with a permanent magnet.
    [2]
    2. The device according to claim 1, characterized in that, each of the sensitive elements of the spindle position sensor is made in the form of a choke s. two coils, counter-wound and interconnected by one end to form a common terminal, a pulse generator connected to a common terminal, and half-wave rectifiers connected to other ends of the coils.
    . SU ..1148555
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    同族专利:
    公开号 | 公开日
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP54130154A|JPH0245202B2|1979-10-09|1979-10-09|
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