• 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 speed control circuit 103 which can control motor 104 driving spindle 108 so as to make actual speed AV detected by a detector 105 coincide with a commanded speed CV. A position control circuit 112 provides a position deviation signal RPD which can be applied to speed control circuit 103 in place of commanded speed CV (by means of changeover switch 111) so that the circuit 103 controls the motor to bring the spindle to rest at the desired stopping position. A proximity switch 110 is used which has a magnetic body 110a on the spindle and a fixed sensing portion 110b. At the desired stopping position 110a and 110b confront one another. The switch 110 produces an output of zero volts at the desired stopping position and a positive and a negative output when immediately to the left and the right of the desired stopping position. The signal output of 110 is used to provide position deviation signal RPD.
    公开号:SU1165226A3
    申请号:SU802994159
    申请日:1980-10-09
    公开日:1985-06-30
    发明作者:Козаи Есинори；Фудзиока Есики
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to the field of machine tools, namely to a device for stopping the spindle in a predetermined position. Known control system for controlling the spindle Vera scheni spindle speed and stop it at a predetermined position, comprising a spindle speed sensor, a digital to analog converter, speed 3adatchik unit JCpavneni, blok adjusting spindle speed sinhrrnizator comprising pulse position sensor blok.upravleni spindle position of the spindle with a digital master switch, two-position switch and adder lj. However, this control system does not provide high accuracy of the spindle stop in a predetermined position. The purpose of the invention is to improve the accuracy of the stop of the spindle in a predetermined position. This goal is achieved by the fact that in the device for stopping the spindle in a predetermined position, it contains the spindle speed setting POS, the output of which is connected to the first two-way switch having a moving contact actuator connected to the spindle speed control unit, the other input connected to the output of the spindle speed sensor, a spindle position sensor formed by a moving part mounted on the spindle and a fixed part, the output of which is connected to the input of the spi position control unit The unit and the output of the latter are connected to the first two-position switch, and the unit for setting the operating mode. the output of which is connected to the moving contact drive of the first two-position switch, the control unit of the spindle position contains a separating circuit, a trigger, a signal synthesizer, an amplifier, an additional two-position switch with a moving contact drive, a constant voltage source, and a matching signal generating circuit position is connected to the input of the dividing circuit, one of the outputs of which is connected to the trigger trigger, and the other to the trigger reset output of the trigger trigger output Connected to one input of the synthesizer, the other inputs of which are connected to the output of the spindle position sensor and to a constant voltage source, one output of the signal synthesizer is connected respectively to the fixed contacts of the additional two-position switch through the amplifier and directly, and the other to the input of the mode setting unit, movable the contact of the additional two-position switch is connected to the fixed contact of the first two-position switch, one input of the signal generation circuit is the same tim connected to the output of spindle speed sensor, and a second operating mode setting unit, wherein the output of the circuit for generating the coincidence signal is coupled to drive the movable contact and an additional switch-off control unit of the spindle speed. FIG. 1 shows a device for stopping the spindle in a predetermined position; in fig. 2-3 - waveforms at the exit from the spindle position sensor; in fig. 4 - waveform in the spindle position control unit; in fig. 5 is a waveform of the device in FIG. one; in fig. 6 - the location of parts of the device when adjusting the positions of the spindle; in fig. 7 shows the relationship between the voltage of the positional deviation and the angle of the positional deviation when switching the gain. The device contains a block 1 setting the spindle 2, generating a signal of a given speed CV, block 3 setting an operating mode, generating a signal of a given orientation C PC. The spindle speed control unit 4 contains an adder 5, a phase compensation circuit 6, a voltage-to-phase conversion circuit 7, and a thyristor circuit 8. The adder 5 is unique for the difference voltage between the signal of the given speed CV and the actual signal. motor speed frV, phase compensation circuit 6 performs phase compensation in the servo system by advancing or decelerating the phase. The voltage-to-phase conversion circuit 7 controls the ignition angle of each thyristor in the thyristor circuit 8-according to the deviation between the given CV speed and the actual AV speed. The thyristor circuit 8, consisting of a series of thyristors, operates in accordance with adjustable thyristor ignition angles to vary the voltage applied to the direct current motor 9, thereby controlling the rotational speed of the motor. The engine speed sensor 10 serves to obtain a voltage proportional to the speed of the engine. The cutting tool 11 is mounted on the spindle mechanism 12, and the spindle 2 is connected to a direct current motor 9 through a belt (or gears) 13. The spindle position sensor 14 is formed by a movable part 15 mounted on the spindle and a fixed part 16. The fixed part 16 of the sensor 14 The spindle position serves to create a P05 detection signal (in FIG. 2). The magnitude of the detection signal PD5 is zero volts when the movable part 15 of the sensor opposes the fixed part 16 of the sensor, and has positive and negative portions when the movable part 15 is located on either side of the fixed part 16 of the sensor, and the polarity of the signal depends on the specific side ( Fig. 3) The movable part 15 of the sensor is mounted on spindle 2 in the angular field of the line corresponding to a certain point, which is supposed to stop at a predetermined position. The fixed part 16 of the sensor is installed in a position that corresponds to the specified.
    The first two-position switch 17 (Fig. 1) is provided with a moving contact actuator for moving it from one position to another by means of an orientation reference signal from the task setting unit 3.
    The spindle position control unit 18 includes the INPOS matching signal generation circuit 19 when the real speed AV drops to zero, and the signal for setting the orientation of the CPC is 1, the amplifier 20 for amplifying the positional deflection signal RPD, an additional two-position switch 21 with a moving contact actuator, the dividing circuit 22, the trigger 23, the signal synthesizer 24 and the constant voltage source 25. The divider circuit 22 serves to detect the voltage detected. Neither the PD5 from the spindle position sensor 14 and the constant voltage + Vp, -V and is intended to compare the magnitude of the detection voltage PD with the voltage levels + Vp, -Vp. The divider circuit 22 serves to generate a pulse Pd when the voltage of PD5 detects a voltage of + Vp and a pulse of Pg when the detection voltage of PTE 5 is lower than the voltage of -Vp ,. In addition, the dividing circuit 22 serves to apply pulses P and Pg to the respective start and reset terminals of the trigger 23, which is triggered by the pulse Pd and reset to zero by the pulse Pd. The trigger 23 serves to generate the FP5 signal (FIG. 4). The signal synthesizer 24 serves to sense the constant voltage V. from the constant voltage source 25 and the detection voltage POS and is adapted to receive the POS signal when the signal at the trigger input is 1 and the constant voltage V when the FF5 signal is O. Thus, the resulting output signal of the signal synthesizer 24 is the positional deviation signal R PD (FIG. 4).
    The device for stopping the spindle in a predetermined position operates as follows.
    When the spindle rotates (the first two-way switch 17 is connected, as shown in Fig. 1, to the adder 5), a difference voltage between the signal of a given speed CV and the signal of the actual speed AV occurs at the output of the adder. This differential voltage is applied through phase compensating circuit 6 to voltage-to-phase conversion circuit 7. The voltage-to-phase conversion circuit 7 controls the ignition angles of the thyristors in the thyristor circuit 8 in accordance with the magnitude and polarity of the differential voltage, thereby changing the voltage applied to the DC motor 9 in such a way that the actual speed of the motor ftV pr: It matches the specified CV speed. The operation of the system continues in a similar manner, as a result, the DC motor 9 rotates at a predetermined speed. The speed control unit 4, the DC motor 9, the speed sensor 10 form a system
    speed feedback control.
    At the completion of the machining of the part and, if necessary, changing the tool, the operating mode setting unit 3 receives a signal to set the orientation of the CPC at time tjj (Fig. 5). As a result, the signal of a given speed CV from block 1 specifying the speed of spindle 2 decreases to zero, the actual speed of AV spindle starts to drop (Fig. 5). Then at any given point in time, for example t, when the actual speed .v5V reaches some value V, the operation mode setting unit 3 switches the first two-way switch 17 to another position, thereby causing feedback control operation.
    The output of the adder 5 will be the differential voltage between the positional deflection signal RPr and the actual speed signal AV, the speed of the constant tick engine 9 will be adjusted until the differential voltage decreases to zero in the same way as described in connection with the speed control loop. FIG. 5, that part of the RPD positional deviation signal that is fed to the adder 5 from time tj is hatched. The voltage of the positional deviation signal HPD begins to fall simultaneously with the actual speed AV when the movable part 15 of the sensor 14 of the spindle 2 position approaches the fixed part 16 of the sensor. Although at time t, the movable part 15 is opposed to the fixed part 16, due to the significant moment of inertia of the engine 9, the movable part
    15 passes just beyond the fixed part 16, which is located in a predetermined stop position. At this time, the voltage of the RPD position deviation signal is negative, c. As a result, the direction of rotation of the engine 9 changes and the movable clean 15 of the sensor 1 of the position of the spindle 2 returns to the position against the fixed part 16. The movable part 15 stands still in the position opposite to the fixed part
    16 sensor, thereby completing the control operation to stop the spindle in a predetermined position.
    When the motor 9 stops, the coincidence signal generation circuit 19 detects that the signal of the actual speed AV has dropped to zero volts. As soon as this happens, the circuit 19 generates the INPOS position coincidence signal, switches the additional two-position switch 21 to increase the gain of the phase-compensating circuit 6. It is this operation that increases the gain of the control loop in position.
    The orientation control operation starts when the spindle rotates and ends when the spindle is stationary. The control of the orientation of the spindle in the case when it is stationary is performed in almost the same way as after time t (Fig. 5). Namely, if, when generating a signal of a given orientation of the CPC, the orientation of spindle 2 coincides with that shown in Fig. 6, then the spindle rotates in the direction of the arrow and switches to -. immobility, when the movable part 15 is opposed to the fixed part 16.
    FIG. Figure 7 shows the relationship between the voltage of a posterior RPD signal and the angle of the positional deviation in the position control system. The continuous line represents the case of a small gain factor, the dotted line represents a large gain factor, i.e. the greater the gain, the greater the voltage of the signal RP.B and, therefore, the greater the current (torque) of the DC motor 9. As a result, the stiffness with which the spindle is held in a state of immobility is increased.
    This device provides an accurate stop for the spindle at a predetermined position without applying a mechanical brake and rotating the spindle at exactly the specified speed. By reducing the gain during rotation of the spindle, stability is maintained and increasing the gain while the spindle is stationary is stiffness. Therefore, the fixed spindle does not show a tendency to rotate under the action of an external force or eccentric load.
    17
    .
    Fig h
    PPO
    tMPOS
    权利要求:
    Claims (1)
    [1]
    A DEVICE FOR STOPPING A SPINDLE IN A PRESENT POSITION, comprising a spindle speed setting unit, the output of which is connected to a first on-off switch having a movable contact drive connected to the input of the spindle speed control unit, the other input of which is connected to the output of the spindle speed sensor, a position sensor. spindle formed by the movable "part mounted on the spindle and the fixed part, the output of which is connected to the input of the spindle position control unit, and the output of the latter is connected to the first by a two-position switch, and the operating mode setting unit, the output of which is connected to the drive of the movable contact of the first two-position switch, characterized in that, in order to increase the accuracy of control, the spindle position control unit contains a dividing circuit, a trigger, a signal synthesizer, an amplifier, additional second on-off switch with a movable contact driven, the DC voltage and generating circuit coincidence signal, the output of position sensor connected to the input of the splitter circuit, one of whose outputs is connected to the trigger terminal of the flip-flop, and the other - with the latch reset terminal f latch output is connected to one the input of the signal synthesizer, the other inputs of which are connected to the output of the spindle position sensor and to a constant voltage source, one output of the signal synthesizer is connected respectively to the contacts of the additional on / off switch are used directly through the amplifier and the other to the input of the mode setting block, the movable contact of the additional on / off switch is connected to the fixed contact of the first on / off switch, one input of the matching signal generating circuit is connected to the output of the spindle speed sensor, and the second to the block setting the operating mode, while the output of the coincidence signal generating circuit is connected to the drive of the movable contact of an additional two-position ion switch and spindle speed control unit.
    Od
    3d
    1 165226
    类似技术:
    公开号 | 公开日 | 专利标题
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    同族专利:
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    EP0028078A3|1981-11-25|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3663880A|1970-09-14|1972-05-16|Diablo Systems Inc|Apparatus for controlling the relative position between two relatively movable members|
    JPS496858A|1972-05-08|1974-01-22|
    JPS4971378A|1972-11-16|1974-07-10|
    JPS5213512U|1975-07-17|1977-01-31|
    NL7704258A|1977-04-19|1978-10-23|Daisy Syst Holland|SERVO CONTROL WITH DIGITIZED DISTANCE AND VARIABLE GAIN / DAMPING COEFFICIENCES.|
    JPS5916291B2|1977-04-28|1984-04-14|Fuanatsuku Kk|
    JPS5916292B2|1977-09-08|1984-04-14|Fuanatsuku Kk|
    JPS6244281B2|1978-02-08|1987-09-19|Toshiba Machine Co Ltd|
    US4226546A|1978-12-06|1980-10-07|Sci Systems, Inc.|Printer control system|
    JPS5843220B2|1978-12-16|1983-09-26|Fuanatsuku Kk|
    US4305028A|1980-04-04|1981-12-08|Nordson Corporation|System for evaluating the capability of a work-performing robot to reproduce a programmed series of motions|JPS5936330Y2|1980-12-12|1984-10-06|
    US4731579A|1982-10-12|1988-03-15|Polaroid Corporation|Magnetic position indicator and actuator using same|
    US4608651A|1982-10-28|1986-08-26|Kabushiki Kaisha Kobe Seiko Sho|Control system for direct teaching/playback type robots|
    JPS59189401A|1983-04-13|1984-10-27|Fanuc Ltd|Position controlling circuit|
    JPH0150490B2|1983-07-08|1989-10-30|Komatsu Mfg Co Ltd|
    DE3422429A1|1984-06-16|1985-12-19|Elastogran Maschinenbau GmbH, 2844 Lemförde|METHOD AND DEVICE FOR CONTROLLING THE ELECTROMOTORIC DRIVE OF A PLANT FOR PRODUCING MOLDED PARTS FROM MULTI-COMPONENT PLASTICS|
    JPS61233808A|1985-04-08|1986-10-18|Fanuc Ltd|Numerical controller|
    JPH0729252B2|1986-01-17|1995-04-05|東芝機械株式会社|Spindle positioning device|
    JP2518297B2|1987-08-29|1996-07-24|株式会社安川電機|Spindle rotation position control method|
    JP2518298B2|1987-08-29|1996-07-24|株式会社安川電機|Spindle rotation position control method|
    JPH07107643B2|1988-02-22|1995-11-15|本田技研工業株式会社|NC synchronous control system|
    EP0385459A3|1989-03-02|1990-11-14|Toyoda Koki Kabushiki Kaisha|Synchronizing control apparatus|
    JP2692274B2|1989-06-22|1997-12-17|三菱電機株式会社|Spindle position / speed control device|
    JP2954615B2|1989-11-24|1999-09-27|株式会社日立製作所|Motor drive control device|
    US5093610A|1990-02-12|1992-03-03|Abb Robotics Inc.|Apparatus for absolute position measurement|
    US5313253A|1992-08-17|1994-05-17|Xerox Corporation|Paper path signature analysis apparatus|
    JP4043996B2|2003-01-20|2008-02-06|ファナック株式会社|Servo motor drive control device|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP13015379A|JPS5653588A|1979-10-09|1979-10-09|Main shaft rotation control system|
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