CN102554700B - Method for measuring pre-tightened torque of double-motor clearance elimination mechanism of numerical control machine tool on basis of current signals - Google Patents
Method for measuring pre-tightened torque of double-motor clearance elimination mechanism of numerical control machine tool on basis of current signals Download PDFInfo
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Abstract
The invention relates to a method for measuring a pre-tightened torque of a double-motor clearance elimination mechanism of a numerical control machine tool on the basis of current signals. The method comprises utilizing the current signals of a driving motor stator in the process of the back and forth movements of a feed shaft to serve as an analysis object; respectively collecting current signals under the low pre-tightened torques of 0%, 2%, 4%, 6%, 8% and 10%; calculating an average value of current peak values obtained in the back and forth movements; utilizing a least square method to fit a linear equation of the pre-tightened torque and the average value of the current peak values; gradually increasing the pre-tightened torque; stopping increasing the pre-tightened torque when the error between the actually-measured average value of the current peak values and the average value of the current peak values on a fitting straight line is larger than a threshold value; and obtaining the pre-tightened torque at the optimal clearance elimination state. By means of quantitative treatment and comparative analysis on the current signals in the feed process, the method obtains objective and accurate pre-tightened torque which provides guide for on-site debugging of the double-motor clearance elimination mechanism of the numerical control machine tool.
Description
Technical field
The debugging and the performance estimating method that the present invention relates to a kind of bi-motor-gear rack anti-backlash mechanism, be specifically related to a kind of pre-tightened torque of double-motor clearance elimination mechanism of numerical control machine tool assay method based on current signal, belongs to Mechatronic Systems condition monitoring and fault diagnosis field.
Background technology
Along with the continuous growth of equipment manufacture to high speed, high accuracy and Compound Machining demand, many feed shafts Compound Machining of Digit Control Machine Tool is day by day universal, also more and more higher to the requirement of feed shaft kinematic accuracy.Ball-screw is because the restriction of length cannot be applied in heavy duty machine tools, and the transmission efficiency of gear & rack structure is high, bearing capacity is strong, is applicable to the large stroke feeding of large-size numerical control machine, but its drive gap cannot be avoided.In order to address this problem, bi-motor-gear rack anti-backlash mechanism is introduced in Digit Control Machine Tool, adjust the rotation direction of Double-gear and moment of torsion and realize the reliable elimination of drive gap by electric control system, become gradually one of accurate transmission Main Means of large-size numerical control machine.
Double-motor anti-backlash is to use two identical motors to drive respectively the reducing gear that two covers are identical, the output gear of two cover reducing gears drives workbench to move on tooth bar jointly, by electrical control, make feed mechanism in the process starting and commutate, two output gears are adjacent to respectively two contrary fields of conjugate action on tooth bar, utilize prefastening torque to avoid feed mechanism to swing back and forth in gear clearance, thereby reach the object of eliminating gap, improving feed accuracy.According to its operation principle, as long as control the prefastening torque between bi-motor, the maximum instantaneous moment of torsion while making it to be greater than motion, just can meet in feeding process all the time in the gap state that disappears, increase motor load but prefastening torque is crossed conference, and cause the wearing and tearing of rack-and-pinion.In actual applications, by regulating electrical control characteristic and mechanical part operation characteristic, make it reach the gap effect that disappears of matched well competence exertion, otherwise not only cannot guarantee feed accuracy, life-span that on the contrary can acceleration mechanical parts declines.Therefore, in the urgent need to can effectively regulating the technical method of prefastening torque, for large-size numerical control machine installation and debugging and maintenance are offered help.
In traditional Digit Control Machine Tool installation and debugging technology, bi-motor-gear rack anti-backlash mechanism is general adopts two kinds of methods to measure prefastening torque, one is to adopt laser displacement sensor prototype gear tooth bar gap, another kind is to strengthen gradually prefastening torque proportion, have or not and produce vibration according to feed mechanism, be similar to and choose good prefastening torque.Front a kind of method complicated operation also needs repeatedly repeatedly, and a kind of rear method mainly relies on artificial experience, is all difficult to meet the specialized requirement that anti-backlash mechanism is adjusted.
Summary of the invention
The object of the invention overcomes the shortcoming of above-mentioned prior art, invent on a kind of basis that is based upon motor stator current signal analytical technology, object is to provide a kind of method of utilizing objective detection data determination bi-motor-gear rack anti-backlash mechanism prefastening torque, can comparatively comprehensively reflect the gap performance that disappears, break away from the dependence to artificial experience, improve the automatization level of heavy duty machine tools debugging, meet heavy duty machine tools debugging needs.
The technical solution adopted in the present invention is, pre-tightened torque of double-motor clearance elimination mechanism of numerical control machine tool assay method based on current signal, it is characterized in that with the drive motors stator current signal in feed shaft reciprocating motion process, the analytic target of reference as a comparison, under low prefastening torque, gather drive motors stator current signal, and the linear equation of matching prefastening torque and current peak mean value, then progressively increase prefastening torque, in the time that current peak mean value and fitting a straight line error exceed threshold value, obtain the disappear prefastening torque of gap state of the best; The implementation step of the method comprises:
Step 1: from two drive motors optional one, on its bus, lay current clamp, feed shaft is moved back and forth 3 times under constant speed zero load, gather the drive motors stator current signal in this two-way process, as a comparison the analytic target of reference;
Step 2: the drive motors stator current signal that step 1 is obtained, find the current peak in each coming and going, note is P
i1, P
i2and P
i3, the average value P of 3 current peaks of calculating
i=(P
i1+ P
i2+ P
i3)/3, in formula, i represents i group collection signal;
Step 3: adjusting tool digital control system parameter Pre-Tension-Torque, adds the gap prefastening torque T that disappears to feed shaft
i, it is set to respectively to 0%, 2%, 4%, 6%, 8%, 10%, repeating step 1 and 2, obtains 6 current peak average value P under prefastening torque
i, i=1,2, Λ, 6;
Step 4: use the linear equation P=a+bT of least square method digital simulation prefastening torque and current peak mean value, wherein
Step 5: by the adjusting digital control system parameter Pre-Tension-Torque of this model lathe, progressively increase prefastening torque T
i, i=7, Λ, then gather drive motors stator current signal, and calculate current peak average value P
i, by T
iin substitution linear equation P=a+bT, obtain the current peak average value P in fitting a straight line
i';
If | P
i'-P
i| be more than or equal to given threshold value P
tH, stop increasing moment of torsion, record stop position j=i;
Step 6: with T
j-1for best prefastening torque value;
Described threshold value P
tHempirical value is 2.5 amperes.
Tool of the present invention has the following advantages:
1. utilize drive motors current signal and mechanical-electric coupling relation, can accurately hold the gap performance that disappears of bi-motor-pinion and rack, for the installment and debugging of lathe is made guidance.
2. than traditional mechanical precision measuring method and empirical method, the collection of drive motors stator current signal is convenient, is easy to field conduct, measuring period is short, can judge fast, and measurement result accurate science, for the mensuration of prefastening torque provides a kind of fast and reliable method.
3. for large-size numerical control machine feed shaft, different guide rail structures has the different gap effects that disappears, and prefastening torque settings are not identical yet, and the present invention has general applicability to various forms of guide rail structures, meets field adjustable needs.
It is analytic target that the inventive method is closed with the mechanical-electric coupling in double-motor anti-backlash mechanism, performance according to machine performance in current signal, anti-release best prefastening torque value, have simple to operate, accurately and reliably with practical feature, greatly facilitate commissioning staff's work on the spot.
Accompanying drawing explanation
Fig. 1 is the structural representation of Digit Control Machine Tool bi-motor-gear rack anti-backlash device in the embodiment of the present invention.
Fig. 2 is the acquisition system schematic diagram of feed shaft drive motors stator current signal of the present invention.
Fig. 3 is the flow chart of method for measuring pre-tightened torque of double-motor clearance elimination mechanism of the present invention.
When Fig. 4 is X-axis feed speed F=3000mm/min, under 2% biasing prefastening torque, X-axis Main motor current data.
When Fig. 5 is X-axis feed speed F=3000mm/min, under 4% biasing prefastening torque, X-axis Main motor current data.
When Fig. 6 is X-axis feed speed F=3000mm/min, the current of electric peak averaging value curve under different prefastening torques.
When Fig. 7 is X-axis feed speed F=5000mm/min, under 2% biasing prefastening torque, X-axis Main motor current data.
When Fig. 8 is X-axis feed speed F=5000mm/min, under 4% biasing prefastening torque, X-axis Main motor current data.
When Fig. 9 is X-axis feed speed F=5000mm/min, the current of electric peak averaging value curve under different prefastening torques.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
Prefastening torque assay method of the present invention is take the drive motors stator current signal in feed shaft reciprocating motion process as analytic target, under low prefastening torque, gather the linear equation of current signal matching prefastening torque and current peak mean value, then progressively increase prefastening torque, in the time that current peak mean value and fitting a straight line error exceed threshold value, obtain the disappear prefastening torque of gap state of the best.
As shown in Figure 1, bi-motor-gear rack anti-backlash mechanism that certain large floor formula milling-boring machine X-axis adopts.This structure is used two identical motors to drive respectively the planetary reduction gear that two covers are identical, and planetary reduction gear driven wheel moves on tooth bar.By electrical control, make feed mechanism in the process starting and commutate, two output gears are adjacent to respectively two contrary fields of conjugate action on tooth bar, utilize prefastening torque to avoid workbench to swing back and forth in gear clearance, thereby eliminate X to gap, improve feed accuracy.
As shown in Figure 2, be the acquisition system schematic diagram of feed shaft drive motors stator current signal.Use current clamp to gather drive motors current signal, by conditioning device and data collecting card, be converted to data signal and enter computer, process by DAS.
As shown in Figure 3, be the flow chart of method for measuring pre-tightened torque of double-motor clearance elimination mechanism of the present invention.
Implementation step comprises:
Step 1: from two drive motors optional one, on its bus, lay current clamp, feed shaft is moved back and forth 3 times under constant speed zero load, gather the drive motors stator current signal in this two-way process;
Step 2: the current signal that step 1 is obtained, find the current peak in each coming and going, note is P
i1, P
i2and P
i3, the average value P of 3 current peaks of calculating
i=(P
i1+ P
i2+ P
i3)/3, in formula, i represents i group collection signal;
Step 3: adjusting tool digital control system parameter Pre-Tension-Torque, adds the gap prefastening torque T that disappears to feed shaft
i, it is set to respectively to 0%, 2%, 4%, 6%, 8%, 10%, repeating step 1 and 2, obtains 6 current peak average value P under prefastening torque
i, i=1,2, Λ, 6;
Step 4: use the linear equation P=a+bT of least square fitting prefastening torque and current peak mean value, wherein
Step 5: regulate digital control system parameter Pre-Tension-Torque, progressively increase prefastening torque T
i, i=7, Λ, gathers drive motors stator current signal, and calculates current peak average value P
i, by T
iin substitution linear equation P=a+bT, obtain the current peak average value P in fitting a straight line
i', if | P
i'-P
i| be more than or equal to given threshold value P
tH(P
tHempirical value is 2.5 amperes), stop increasing moment of torsion, record stop position j=i;
Step 6: with T
j-1for best prefastening torque value.
Above-mentioned machine tool numerical control system parameter Pre-Tension-Torque be in every lathe with known technology parameter, be directly presented in the numerical control operation panel of this lathe.
Embodiment 1: in the time of X-axis feed speed F=3000mm/min, checking this patent method.
Step 1: lay current clamp on X-axis drive motors bus, gather the drive motors stator current signal in X-axis two-way process, current of electric data under different prefastening torques as shown in Figure 4 and Figure 5, as can be seen from the figure: (1) is along with the increase of prefastening torque, drive motors electric current presents the trend of continuous increase, (2) move back and forth in three processes in X-axis, while commutation, all there will be a significant peak value at every turn;
Step 2: calculate current peak mean value;
Step 3: at prefastening torque 0%, 2%, 4%, 6%, 8%, 10% time, the current peak mean value calculating is respectively: 25.875,28.550,31.400,33.775,36.950,39.450;
Step 4: the linear equation P=25.849+136.357T that uses least square fitting prefastening torque and current peak mean value;
Step 5: regulate digital control system parameter Pre-Tension-Torque, progressively increase prefastening torque every 2%, as prefastening torque T
9=16% time, current peak mean value when commutation is P
9=44.45A, and now the current peak average value P in fitting a straight line '
9=a+bT
9=48.32A, arranges P
tHfor 2.5A, now | P '
9-P
9|=3.87A > P
tH;
Step 6:T
8=14% is the optimum setting value of prefastening torque.
This process prefastening torque and current peak mean value are as shown in Figure 5.
Embodiment 2: in the time of X-axis feed speed F=5000mm/min, checking this patent method.
Step 1: lay current clamp on X-axis drive motors bus, gather the drive motors stator current signal in X-axis two-way process, as shown in Figure 7 and Figure 8, the rule that drive motors electric current presents is identical during with feed speed 3000mm/min for current of electric data under different prefastening torques;
Step 2: calculate current peak mean value;
Step 3: at prefastening torque 0%, 2%, 4%, 6%, 8%, 10% time, the current peak mean value calculating is respectively: 53.050,55.775,58.400,61.325,64.275,66.625;
Step 4: the linear equation P=53.030+137.571T that uses least square fitting prefastening torque and current peak mean value;
Step 5: regulate digital control system parameter Pre-Tension-Torque, progressively increase prefastening torque every 2%, as prefastening torque T
9=16% time, current peak mean value when commutation is P
9=71.88A, and now the current peak average value P in fitting a straight line '
9=a+bT
9=74.95A, arranges P
tHfor 2.5A, now | P '
9-P
9|=3.07A > P
tH;
Step 6:T
8=14% is the optimum setting value of prefastening torque.
This process prefastening torque and current peak mean value are as shown in Figure 9.
Best prefastening torque value during with feed speed 3000mm/min conclusion identical, show that this method is not affected by feed speed.
The inventive method is utilized the current signal of drive motors, in conjunction with the operation principle of bi-motor-gear rack anti-backlash mechanism, extracts the current peak mean value relevant to the gap effect that disappears as characteristic parameter, realizes the adjusting critical point identification of prefastening torque.The method is a kind of method of utilizing objective detection data determination bi-motor-gear rack anti-backlash mechanism prefastening torque, can comparatively comprehensively reflect the gap performance that disappears, and breaks away from the dependence to artificial experience, has improved the debugging level of heavy duty machine tools.
Claims (2)
1. the pre-tightened torque of double-motor clearance elimination mechanism of numerical control machine tool assay method based on current signal, it is characterized in that with the drive motors stator current signal in feed shaft reciprocating motion process, the analytic target of reference as a comparison, under low prefastening torque, gather drive motors stator current signal, and the linear equation of matching prefastening torque and current peak mean value, then progressively increase prefastening torque, in the time that current peak mean value and fitting a straight line error exceed threshold value, obtain the disappear prefastening torque of gap state of the best; The implementation step of the method comprises:
Step 1: from two drive motors optional one, on its bus, lay current clamp, feed shaft is moved back and forth 3 times under constant speed zero load, gather the drive motors stator current signal in this two-way process, as a comparison the analytic target of reference;
Step 2: the drive motors stator current signal that step 1 is obtained, find the current peak in each coming and going, note is done
,
with
, the mean value of 3 current peaks of calculating
, in formula,
represent
group collection signal;
Step 3: adjusting tool digital control system parameter pretension moment, adds and arrange 0%, 2% to feed shaft, 4%, 6%, 8%, 10% the gap prefastening torque that disappears
, repeating step 1 and step 2, obtain 6 current peak mean values under prefastening torque
;
I in step 2 and step 3 represents identical, be all represent the 1st group, the 2nd group, the 3rd group ... collection signal;
Step 4: the linear equation that uses least square method digital simulation prefastening torque and current peak mean value
, wherein
,
;
Step 5: by the adjusting digital control system parameter pretension moment of this model lathe, progressively increase prefastening torque
, then gather drive motors stator current signal, and calculate current peak mean value
, will
substitution linear equation
in, obtain the current peak mean value in fitting a straight line
;
If
be more than or equal to given threshold value
, stop increasing moment of torsion, record stop position
;
Step 6: with
for best prefastening torque value.
2. the pre-tightened torque of double-motor clearance elimination mechanism of numerical control machine tool assay method based on current signal according to claim 1, is characterized in that described threshold value
empirical value is 2.5 amperes.
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| CN103273381B (en) * | 2013-06-03 | 2015-06-17 | 济南二机床集团有限公司 | Method for dynamically monitoring torque of main milling head of numerical-control floor type boring and milling machine |
| CN113976957B (en) * | 2021-11-19 | 2022-06-14 | 中国科学院合肥物质科学研究院 | Milling device for assembling vacuum chamber of fusion reactor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0706852A1 (en) * | 1994-04-15 | 1996-04-17 | Kitamura Machinery Co., Ltd. | Numerically controlled machine tool |
| CN201509175U (en) * | 2009-09-29 | 2010-06-16 | 扬州曙光光电自控有限责任公司 | Double-motor electric backlash eliminating control device of alternating-current servo system |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
| EP2253421A1 (en) * | 2008-03-04 | 2010-11-24 | Makino Milling Machine Co. Ltd. | Machining method and machine tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5392540B2 (en) * | 2008-12-30 | 2014-01-22 | 豊 嶋田 | High precision machine tool |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0706852A1 (en) * | 1994-04-15 | 1996-04-17 | Kitamura Machinery Co., Ltd. | Numerically controlled machine tool |
| EP2253421A1 (en) * | 2008-03-04 | 2010-11-24 | Makino Milling Machine Co. Ltd. | Machining method and machine tool |
| CN201509175U (en) * | 2009-09-29 | 2010-06-16 | 扬州曙光光电自控有限责任公司 | Double-motor electric backlash eliminating control device of alternating-current servo system |
| CN101841286A (en) * | 2010-05-28 | 2010-09-22 | 济南二机床集团有限公司 | Double motor driven backlash eliminating device and backlash eliminating method |
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Address after: 650203, 23 Dam Road, Kunming, Yunnan, Beijiao Patentee after: General technology Group Kunming Machine Tool Co.,Ltd. Address before: 650203, 23 Dam Road, Kunming, Yunnan, Beijiao Patentee before: SHENJI GROUP KUNMING MACHINE TOOL Co.,Ltd. |