• 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:
    A device for controlling a spindle stop in a given position, containing a spindle speed setting unit and a spindle orientation unit. Connected via a two-way switch to a single input of a spindle speed control unit, the other input of which is connected to a spindle speed sensor, a mode setting unit connected to the drive the switch and the spindle position sensor connected to the input of the spindle orientation block, characterized in that, in order to increase the accuracy, it is equipped with a block formed the signal and the gain control switch of the spindle speed control block; the signal shaping block is made in the form of comparators and logic element AND, the output of which is connected to the gain switch, and the inputs through the comparators (Pdineny, respectively, with the output of the orientation block of the orientation, block output ; ka assignment modes and the output of the speed sensor spindle.
    公开号:SU1175357A3
    申请号:SU802994158
    申请日:1980-10-09
    公开日:1985-08-23
    发明作者:Козаи Есинори；Фудзиока Есики；Ота Наото
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

     ate
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    .1 11
    The invention relates to a machine tool industry, namely to devices for controlling the stop of a spindle in a predetermined position.
    A device is known for controlling the stop of the spindle in a predetermined position, comprising a spindle speed setting unit and a spindle orientation unit, obtained through a two-position switch with a drive to one input of a spindle speed control unit, another input connected to a spindle speed sensor, a mode setting unit, connected to the drive the switch, and the spindle position sensor connected to the input of the spindle orientation block l.
    However, the known device does not provide high precision control of the stop of the spindle in a predetermined position.
    The aim of the invention is to improve the accuracy of controlling the stop of the spindle in a predetermined position.
    This goal is achieved by having a device for controlling the spindle stop in a predetermined position, comprising a spindle speed setting unit and a spindle orientation unit, connected via a two-position switch driven to one input of the spindle speed control unit, the other input of which is connected to the spindle speed sensor, setting unit modes connected to the actuator of the switch, the spindle position sensor connected to the input of the spindle orientation unit is equipped with a signal conditioning unit and a switch the gain of the spindle speed control unit, the signal shaping unit made in the form of comparators and logic element, the output of which is connected to the gain switch, and the inputs through the comparators are connected respectively to the output of the spindle orientation unit, the output of the spindle speed sensor .
    .In FIG. 1 shows a device for controlling the stop of a spindle in a predetermined position; in fig. 2 - waveforms in the device; in fig. 3, the signal conditioning unit in position, in FIG. 4 - the location of parts of the device in operation; in figure 5 53572
    spindle orientation block; in FIG. 6 the waveforms in the spindle orientation block; in FIG. 7 -. plot of the current core versus speed deviation 5.
    The device comprises a direct current motor 1, a spindle 3 s-speed sensor 2, a tool 4, a spindle mechanism 5 in which it is installed.
    o tool. The spindle 3 is connected to the DC motor by a belt (or gear) 6, the sensor 7 of the position of the spindle 3 is directly connected to the spindle and serves
    15 to generate a signal corresponding to the angular position of the spindle. Two-position switch 8 is provided with a drive. Block 9 task sc. The spindle 3 serves to generate
    0 ki signal of a given speed CV.
    The mode setting unit 10 is designed to generate a signal of a given orientation of the CPC. The spindle 3 speed control unit 11 contains an adder 12 for supplying a versatile voltage between a given speed signal CV and a real speed signal AV from a spindle speed sensor, a gain switch 13 for providing phase compensation in the device by advanced or decelerating phase, and also a thyristor circuit 14 containing a number of thyristors. The thyristor circuit serves to control the voltage supplied to the DC motor. The spindle speed control unit also contains and the voltage-to-phase voltage conversion circuit 15 for controlling the firing angle of each thyristor in the thyristor circuit according to the deviation between the signal of the given speed CV and the signal of the real speed AV so that the voltage applied to the DC motor increases as the deviation increases and decreases with a small deviation so that the speed of the dc motor corresponds to
    50 set speed. The mode setting block is used to switch: the moving contact of the two-way switch. The spindle orientation unit 16 is designed to create
    55 PSC orientation termination signals
    at the end of the exact set-up vkn spin cases. The signal conditioning unit 17 at the position serves to drive the signal at the 1NPOS position at the moment when a certain point on the spindle of the orientation section 18 (Fig. 4) approaches the neighborhood of the predetermined stop position. The mode setting unit, the spindle orientation unit and the sig nal formation unit in position constitute the orientation control circuit 19. The signal conditioning unit 17 at the 1NPOS position is designed as an AND 20 logic element, the output of which is connected to the gain factor switch for switching the gain factor, the inputs through the comparators 21 and 22. are connected respectively to the output of the spindle orientation unit, the output of the mode setting unit and spindle speed sensor output. The spindle orientation unit 16 comprises a receiver 23 for receiving positional pulses PA and PB from the spindle position sensor 7 and the single rotation pulse RP. The quadrupling circuit 24 serves to differentiate the positional pulses of RA and PB and generate a pulse PP, which coincides with the positive and negative deviations of the pulses PA, PB and obtain a sequence of pulses with a frequency four times the frequency of the pulse sequences PA and PB. Circuit 25 serves to separate the pulse of one revolution RP. Block 16 includes a stop position input switch 26, a position detection circuit 27 serving to pulse RP, and a reversible counter 28. The output of counter 28 is connected to the input of a digital-to-analog converter 29, the output of which is connected to cut-off circuit 30, serving to compare the RPD position deviation signal with a constant voltage Vc, -Vc and generate the PSC orientation termination signal when the RPD signal is between two levels + Vc -Vc. The directional recognition circuit 31 controls the phases of the positional signals PA, PB for recognizing the direction of rotation of the spindle and sending the directional signal -DS to the reversible counter 28. The device operates as follows. At the completion of the operation mechanic. processing (time t), the signal of a given speed CV from the spindle speed setting unit is reduced to zero volts, as a result, the signal of the actual speed AV of the DC motor 1 begins to decrease. The mode setting unit 10 generates at a predetermined point in time t {a signal of a given orientation of the CPC. The moment t is immediately before the engine stops. It can be done so that the CPC signal will be generated automatically at a predetermined point in time after the creation of the signal stopping the engine, or when the signal of the actual AV speed drops below a fixed level after the creation of the said signal. The generation of the orientation signal of the CPC switch is a moving contact of the switch 8, as a result of which the feedback loop of the position control is activated. Now, the adder 12 generates a differential voltage between the RPD positional deviation signal from the spindle orientation block 16 and the actual speed signal AV from the spindle speed sensor 2. The differential voltage is applied through a gain switch 13 to the voltage conversion circuit 15 which controls the firing angle of each thyristor in the thyristor circuit 14 according to the magnitude and polarity of the differential voltage, thereby changing the voltage applied to the constant-current motor 1 current. As a result, the speed of the engine 1 is further reduced, and the differential voltage tends to zero. Meanwhile, the signal of a given orientation of the CPC, the signal of the actual speed AV and the signal of the positional deviation RPD arrive at the signal generation unit 17 at the position intended to generate a signal at the 1NPOS position when the signal of the specified orientation of the CPC and VZS and PZS are simultaneously equal. The signal VZS formed in the signal generation unit 17 at the position becomes equal to logical 1 in the case when the signal of the actual speed AV drops essentially to zero, i.e. when it reaches some low level Ve. Signal
    The PZS, also formed in the signal generation unit 17 at the position, becomes equal to logical 1 in the case where the positional deviation signal RPD falls below a predetermined level Vp. So, when the level of the three CPC signals VZS, PZS becomes high, the output signal of the AND gate 20 contained in the signal generation unit 17 in position and receiving all these three signals reaches the level of logic 1, c. As a result, the signal B increases to the 1NPOS position. The first comparator 21 supplies the signal VZS logical 1 to the first input of the logical element AND when the signal of the actual speed AV reaches a low level Ve, and the second comparator 22 supplies the signal PZS logical 1 to the second input of the logical element AND when the signal of the positional deviation RPD falls below a predetermined level Vp. The logical element And performs a logical multiplication of the output signals VZS, PZS of the first and second comparators and a signal of a given orientation of the CPC and generates a signal in the 1NPOS position when three signals of the CPC, VZS, PZS receive a high level. This signal is transmitted to the gain switch 13, as a result, the gain is increased two or three times. It is preferable to generate a signal in the 1NPOS position when a certain point on the spindle is in the range of 3-5 relative to the predetermined stop position. When generating a signal in the 1NPOS position, the feedback loop of the position control loop acts to stop a certain point on the spindle (for example, the orientation segment 18 in FIG. 4) exactly in the stop position.
    The receiver 23 (FIG. 5) receives the positional pulses PA, PB from the spindle position sensor 7 from the line.
    Each of these pulses is generated whenever a spindle is turned at a certain predetermined angle. In addition to TorOj, for each revolution of the spindle, a pulse of one rotation RP is generated. The sequence of positional pulses of RA, PB are shifted relative to
    other in phase on. The quadrupling circuit 24 differentiates the positional pulses of the RA and the PB and produces pulses of PP that coincide with the positive and negative deviations of the pulses of the RA, PB. The result is a pulse train with a frequency four times the frequency of the pulse sequences PA and PB, respectively. Circuit 25 detects a pulse of one revolution RP. The stop position input switch 26 closes with a signal of a given orientation of the CPC and the stop position detection circuit 27 acquires a pulse RP. When a pulse of one revolution RP is generated and the stop position input switch 26 is closed, circuit 27 outputs a pulse RP after N the number of pulse PP received after the generation of pulse RP. The orientation portion 18 (FIG. 4) is opposite to the specified STP Stop position at the time of generation of the RP pulse. In other words, at this moment the orientation segment is shifted by 180 from the STP position. The pre-set reversible counter 28 is set using the pulse RP to M / 2, where M is the number of PP pulses generated per spindle revolution. After presetting the counter 28, its contents either increase or decrease with the arrival of each pulse PP in accordance with the direction of rotation of the spindle. The contents of the counter enters the digital-to-analogue converter 29, i.e., both the sign and the numerical value of the counting arrive.
    Converter 29 converts the numerical value to an analog signal representing the positional deviation signal RPD, the polarity of which depends on the sign of the received numerical value. Cutoff circuit 30 compares the positional deviation signal
    A constant voltage .RPD + VC, -Vc and generates a PSC orientation termination signal when the RPD signal is between two levels + Vc, -Vc. The directional recognition circuit 31 monitors the phases of the positional signals PA, PB to recognize the direction of rotation of the spindle and sends a direction signal DS to a reversible counter 28. Recognition
    the directions are based on the fact that the positional pulses of the RA advance in phase to the positional pulses of the RV when the spindles rotate forward, they lag behind the positional pulses of the RV when the spins rotate in the opposite direction. Therefore, the positional deviation signal RPD (Fig. 6) from the digital-to-analog converter 29 is in accordance with the rotational position of the spindle. This signal enters the spindle speed control unit 11 via switch 8, after which the position control operation is executed.
    The graph (Fig. 7) shows the dependence of the current in the core on the deviation of the signal in the position control loop (output of the adder 12). The current core is plotted on the vertical axis, on the horizontal - deviation. The continuous line represents the case of a large gain, and the dotted line represents the case of a small gain. Thus, increasing the gain provides a high current to the core with the same
    deviation. And since the rotating moment is proportional to the current lcr,
    then the greater the gain, the greater the torque (returning force), hence the greater the stiffness of which the spindle possesses at rest.
    Thus, the proposed device provides a reduction in the rotational gain, ensuring the stability of the system, and an increase in the gain while the spindles are at rest ensures an increase in the rigidity of the system. Therefore, under the action of an external force, the spindle will not be able to rotate with the same ease and will return to the specified stop position even if it is slightly displaced by an extremely large external force. The gain can be switched using a simple circuit device. Mechanical operation of the device also significantly increases, so that the need for installing a key or similar device to prevent rotation is eliminated.
    spindle.
    The invention can be used to stop the spindle in a number of positions with a roll, for example, O, 90, 180, 270, and so on. However, in this case, the mode setting unit 10 should be adapted to the commands that point to a specific stop position The orientation must be modified to generate a RPD position deviation signal in accordance with each of the possible stop positions.
    cv
    ov
    FIG.
    PA PB
    RP
    Jr.

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    J JTJgl J J J JglJ J J.
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    权利要求:
    Claims (1)
    [1]
    DEVICE FOR CONTROLLING A SPINDLE STOP IN A PRESENT POSITION, comprising a spindle speed setting unit and a spindle orientation unit connected via a two-position switch with a drive * to one input of the spindle speed control unit, the other input of which is connected to the spindle speed sensor, a mode setting unit connected with a switch drive and a spindle position sensor connected to the input of the spindle orientation unit, characterized in that, in order to improve accuracy, it is equipped with a signal generation unit the gain and the gain switch of the spindle speed control unit, while the signal conditioning unit is made in the form of comparators and a logical element And whose output is connected to the gain coefficient switch, and the inputs through the comparators are connected respectively to the output of the spindle orientation unit, the output of the unit setting modes and the output of the spindle speed sensor.
    m SP W SP m
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1175357A3|1985-08-23|Device for controlling stop of spindle in given position
    US4591774A|1986-05-27|High performance incremental motion system using a closed loop stepping motor
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    KR830008212A|1983-11-16|Spindle rotation position control method and device
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    US4347470A|1982-08-31|Spindle orientation control apparatus
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    EP0141860A1|1985-05-22|Position-controlling apparatus
    US4374350A|1983-02-15|Control system for stopping spindle at predetermined rotational position
    US3668494A|1972-06-06|Constant displacement stopping control
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    SU479202A2|1975-07-30|Contactless DC motor
    US4529923A|1985-07-16|Circuit for driving a stepping motor
    SU1270745A1|1986-11-15|Servo drive
    SU1370710A2|1988-01-30|Frequency-controlled electric drive
    同族专利:
    公开号 | 公开日
    JPS5653591A|1981-05-13|
    DE3070954D1|1985-09-12|
    EP0028077A2|1981-05-06|
    EP0028077B1|1985-08-07|
    EP0028077A3|1981-08-26|
    US4342950A|1982-08-03|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3704510A|1962-03-13|1972-12-05|Kearney & Trecker Corp|Machine tool with tool changer|
    US3320502A|1964-01-24|1967-05-16|Sperry Gyroscope Company Of Ca|Automatic gain control for servo systems|
    US3644720A|1969-10-06|1972-02-22|Chandler Evans Inc|Gain multiplier|
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    JPS4971378A|1972-11-16|1974-07-10|
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    US3995208A|1975-04-25|1976-11-30|Parr Robert L|Control circuit|
    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|
    JPS5843220B2|1978-12-16|1983-09-26|Fuanatsuku Kk|
    US4216422A|1979-02-15|1980-08-05|Johnson Controls, Inc.|Solid state motor control circuit providing a dynamic braking function|JPS6043261B2|1980-10-30|1985-09-27|Fanuc Ltd|
    JPH0147805B2|1982-11-15|1989-10-17|Toshiba Kikai Kk|
    JPS59114553A|1982-12-22|1984-07-02|Toshiba Corp|Device for feeding original|
    JPS59189401A|1983-04-13|1984-10-27|Fanuc Ltd|Position controlling circuit|
    GB2151044A|1983-11-02|1985-07-10|Sangiacomo Off Mec|Regulating the speed and position of hosiery and knitting machines|
    JPS60112120A|1983-11-24|1985-06-18|Mitsubishi Electric Corp|Constant temperature bath|
    JPS62123975A|1985-11-13|1987-06-05|Hitachi Ltd|Stop control device of encoder motor|
    JP2844066B2|1987-12-16|1999-01-06|ファナック株式会社|Spindle orientation control device|
    GB2217051B|1988-04-07|1992-12-09|Sony Corp|A servo system for a motor|
    US5093610A|1990-02-12|1992-03-03|Abb Robotics Inc.|Apparatus for absolute position measurement|
    JPH04294406A|1991-03-22|1992-10-19|Kobe Steel Ltd|Rotational position detecting device for robot|
    DE4343020C2|1993-12-16|1996-11-28|Zinser Textilmaschinen Gmbh|Method and device for controlling the movement of a machine element|
    DE10346600A1|2003-10-07|2005-05-12|Twinhead Internat Corp Taipei|Fan motor speed detecting device for use between motor and portable computer, has speed output module making speed output terminal to output speed signal to computer in response to speed of fan motor|
    JP2018046593A|2016-09-12|2018-03-22|コニカミノルタ株式会社|Control device for permanent magnet synchronous motor, control method, and image forming apparatus|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP13015279A|JPS5653591A|1979-10-09|1979-10-09|Main shaft revolution control system|
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