CN104476398A - Dynamic compensation method of abrasion of grinding wheel of numerical control horizontal shaft surface grinding machine - Google Patents
Dynamic compensation method of abrasion of grinding wheel of numerical control horizontal shaft surface grinding machine Download PDFInfo
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- CN104476398A CN104476398A CN201410614535.8A CN201410614535A CN104476398A CN 104476398 A CN104476398 A CN 104476398A CN 201410614535 A CN201410614535 A CN 201410614535A CN 104476398 A CN104476398 A CN 104476398A
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- grinding wheel
- abrasion
- dynamic compensation
- grinding
- active power
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/18—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the presence of dressing tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/25—Drives or gearings; Equipment therefor for compensating grinding wheel abrasion resulting from dressing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
The invention provides a dynamic compensation method of the abrasion of a grinding wheel of a numerical control horizontal shaft surface grinding machine and relates to the technical field of numerical control grinding machines, particularly to a dynamic compensation technology of the abrasion of the grinding wheel of the numerical control horizontal shaft surface grinding machine. The active power of a main shaft or grinding head motor and for grinding is measured to indirectly calculate the abrasion of the grinding wheel and implement the dynamic compensation of the abrasion of the grinding wheel of the numerical control horizontal shaft surface grinding machine. The invention also provides a calculation method of the dynamic compensation of the abrasion of the grinding wheel of the numerical control horizontal shaft surface grinding machine. According to the dynamic compensation method of the abrasion of the grinding wheel of the numerical control horizontal shaft surface grinding machine, the dynamic compensation method is not affected by the shape of workpieces and limitations are avoided; only a main shaft motor active power transducer and a digital transmission device need to be added to a numerical control system and accordingly the cost of the added hardware is low; the machining efficiency of the numerical control surface grinding machine can be greatly improved.
Description
Technical field
The present invention relates to numerical control machine tool technique field, specifically relate to NC horizontal spindle surface grinding machine abrasion of grinding wheel dynamic compensation technology.
Background technology
The emery wheel of horizontal axis surface grinding machine can diminish gradually at process medium plain emery wheel radius, and the error caused becomes large gradually.When worn amount is larger, (a criticizing) workpiece does not process, and the error that grinding wheel radius wearing and tearing produce is considerably beyond workpiece franchise.Grinding part is out not only highly defective, and flatness is also defective, the arc shape that in the middle of normal appearance, high both sides are low.In reality, (manual grinding machine and the numerically control grinder without abrasion of grinding wheel dynamic compensation function) ways of addressing this issue adopts the step feed amount much smaller than 1/2 grinding wheel width, utilize the face of cylinder grinding near emery wheel both sides, keep the wearing and tearing of emery wheel middle part few, utilize emery wheel middle part to control workpiece size.Grinding-wheel grinder bevel becomes dolioform by cylindrical gradually.When emery wheel become dolioform after middle part also can comparatively quick-wearing, at this moment just need repair an emery wheel, make grinding-wheel grinder bevel become the face of cylinder.Clearly this processing method can increase grinding reciprocal time greatly, reduces working (machining) efficiency, also can trim a lot of emery wheel in vain.
NC horizontal spindle surface grinding machine Y-axis controls emery wheel bite.General Y-axis procedure coordinate value
Y
journey=Y
machine+ Y
machine zero-R
sand
In formula:
Y
journeyfor Y-axis procedure coordinate value
Y
machinefor Y-axis mechanical coordinate value
Y
machine zerofor Y-axis mechanical zero coordinate value
R
sandfor grinding wheel radius nominal value
Y-axis procedure coordinate actual value
Y
cheng Shi=Y
machine+ Y
machine zero-R
sand is real
In formula:
Y
cheng Shifor Y-axis procedure coordinate actual value
Y
machinefor Y-axis mechanical coordinate value
Y
machine zerofor Y-axis mechanical zero coordinate value
R
sand is realfor grinding wheel radius actual value
Y
journeyand Y
cheng Shirelation can be expressed as
Δ Y
r=Y
journey-Y
cheng Shi
Δ Y
rit is the error amount because of abrasion of grinding wheel Y-axis program coordinate value and program coordinate actual value.
R
sandand R
sandreal relation can be expressed as
Δ R=R
sand-R
sand is real
Δ R is the error amount because of wearing and tearing grinding wheel radius nominal value and grinding wheel radius actual value.
So
Y
journey=(Y
machine+ Δ Y
r)+Y
machine zero-(R
sand-Δ R)
Obviously
ΔY
R＝-ΔR
So
Y
journey=(Y
machine-Δ R)+Y
machine zero-(R
sand-Δ R)
After emery wheel weares and teares, program coordinate value Y journey be kept constant, and program coordinate actual value Y journey is real consistent with it, can deduct abrasion of grinding wheel amount with former grinding wheel radius, Y-axis mechanical coordinate moves with the wear extent negative sense of emery wheel simultaneously.
Abrasion of grinding wheel dynamic compensation has two class methods.One class measures radius value (i.e. grinding wheel radius nominal value R sand) or the radius wear extent (i.e. Δ R) of emery wheel, the new grinding wheel radius value measured of input replaces grinding wheel radius value or deduct radius wear extent (Δ R) by grinding wheel radius value last time and revise grinding wheel radius value last time, and is the Y-axis mechanical coordinate position of negative increment correction emery wheel by grinding wheel radius wear extent.Another kind of is error (the i.e. Δ Y measuring processing work size (namely Y-axis procedure coordinate actual value Y journey is real) or workpiece
r), error (the Δ Y of workpiece is added by grinding wheel radius value last time
r) revise grinding wheel radius parameter, and be the Y-axis mechanical coordinate position of increment correction emery wheel by workpiece error.
Want dynamic realtime correction grinding wheel radius parameter and position, static measurement is obviously poor efficiency, does not have practical value.Due to feature and the rotation status of emery wheel self, process medium plain emery wheel surface can not provide clean, safe and reliable measurement point, no matter be that the way of contact or non-contact mode measuring grinding wheel radius are all very difficult.Due to the reciprocating processing mode of surface grinding machine, workpiece scrambling, a large amount of abrasive dusts and grinding fluid, in process, surface of the work can not provide continuous print, clean, all the time after grinding measurement point, and kinetic measurement workpiece is difficult to.So existing dynamic process self-operated measuring unit in the application of universal numerical control horizontal axis surface grinding machine seldom.Abrasion of grinding wheel dynamic compensation can not be realized, just reduce working (machining) efficiency and the benefit of digital control plain surface grinding machine, just can not give full play to the advantage of Numeric Control Technology.
Summary of the invention
Emery wheel dynamic compensation method principle of the present invention is: consume emery wheel self during wheel grinding workpiece simultaneously, and at identical conditions, the ratio of worn amount and emery wheel consumption is constant, and the ratio of worn amount and energy consumption is also constant.Emery wheel consumption and energy consumption proportional.Calculate energy consumption goes out grinding wheel radius wear extent with regard to energy indirect calculation, just can realize abrasion of grinding wheel and compensate.
Abrasion of grinding wheel dynamic compensation method of the present invention: just measure a current active power value of main shaft (bistrique) motor every the unit interval (very little), by following formulae discovery grinding wheel radius wear extent, by grinding wheel radius wear extent, grinding wheel radius parameter is revised, simultaneously with grinding wheel radius wear extent adjustment Y-axis mechanical coordinate value Y machine, procedure coordinate values is remained unchanged, and makes procedure coordinate actual value consistent with it.
1) grinding wheel radius wear extent formula is calculated
ΔRn＝k＊∑Mni/Rn-1 (1)
n＝1，2，3……，
I=1,2,3 ..., i=1 when n changes,
In formula:
N is the cycle sequence number implementing to compensate, and just implements single compensation when the cumulative attrition amount not implementing to compensate is more than or equal to Y-axis minimum amount of feeding Δ Vmin,
I is the sequence number measuring spindle motor power consumption Pni in a compensation cycle,
K is the grinding wheel radius coefficient of waste,
Rn-1 is the grinding wheel radius value after the (n-1)th Periodic Compensation,
Rn-1＝Rn-2-δRn-1
In formula:
δ Rn-1 is the grinding wheel radius compensation rate implemented for (n-1)th time
δRn-1＝□(ΔRn-1+Sn-2)/ΔVmin□*ΔVmin
ΔRn-1+Sn-2≥ΔVmin
ΔVmin＞0
Δ Vmin is the minimum amount of feeding of lathe Y-axis
Sn-2 is the surplus can not implementing completely in the n-th-2 cycle to compensate,
Sn-2＝ΔRn-2+Sn-3-δRn-2
Mni is the active power of the spindle motor detected for n-th i time for grinding,
Mni＝(Pni-P0) Pni＞P0
Mni＝0 Pni≤P0
Pni is n-th i time spindle motor active power value measured,
P0 is spindle motor zero load actual measurement active power value;
Abrasion of grinding wheel coefficient k is the parameter that user is arranged by actual conditions.Coefficient k and grinding machine spindle motor speed, power, the certainty of measurement of digital control system, interval time, with emery wheel model, the trade mark, lot number, width and workpiece material, shape, with the amount of feeding, bite, grinding speed, wait many factors relevant.So the excursion of coefficient k is wider.Obviously, the power consumption of grinding wheel thickness and unit wear extent is proportional, for convenience of operation, and Ke Yiling
k＝S/A (2)
A is grinding wheel thickness, is lathe customer parameter, and user can set by emery wheel specification, but non-programmable setting.S is user-programmable parameter, with process reform.
For the excursion of specification programmable parameter, also can make further:
S＝K*B (3)
B is lathe customer parameter, and user can set by lathe actual state, and K is user-programmable parameter, specifies that it sets in certain scope, such as 0-1000 during design digital control system.
When coefficient k is zero, abrasion of grinding wheel is compensated for as zero.The same with there is no the state of compensate function.
2) the n-th cycle grinding wheel radius dynamic compensation increment δ Rn is calculated
δRn＝□(ΔRn+Sn-1)/ΔVmin□*ΔVmin
In formula:
Sn-1 is the surplus can not implementing completely in the (n-1)th cycle to compensate
Δ Vmin is the minimum amount of feeding of lathe Y-axis;
3) as shown in Figure 1, digital control system at least comprises master controller 3, comprise the servomotor 7 and servo-driver 6 that control Y-axis digital servo location, comprise the transmitter 1 of measurement main shaft (bistrique) motor active power and active power is converted to the analog-to-digital conversion equipment 2 that data signal is input to master controller.
4) as shown in Figure 1, main shaft (bistrique) motor 5 current supply circuit 4 is equipped with merit power transducer 1, measures the active power of motor in real time, be sent to the master controller 3 of digital control system through analog-to-digital conversion.
5) active power of main shaft (bistrique) motor is measured in master controller accumulation at every turn, goes out abrasion of grinding wheel dynamic compensation increment δ Rn by above-mentioned formulae discovery.When δ Rn value is more than or equal to the minimum amount of feeding of Y-axis, just sends instruction and control the servo-driver of Y-axis digital servo location and servomotor performs the Y-axis mechanical coordinate position revising main shaft, revise grinding wheel radius parameter simultaneously and make Y-axis program coordinate value constant.The remainder of the temporary minimum amount of feeding of not enough Y-axis is used for calculating next time, empties the accumulative total of active power, accumulates from newly, prepares to calculate next time and compensate.
Compensation of grinding wheel method benefit of the present invention:
1) do not affect by workpiece shapes etc., there is no limitation.
2) digital control system only need newly increase spindle motor active power transmitter and Digital Transmission device, and newly-increased hardware cost is little.
3) working (machining) efficiency of digital control plain surface grinding machine can significantly be improved.
Weak point of the present invention and solution.
1. coefficient k needs with adjustment such as processing technology, emery wheel material, workpiece materials.Solution: designed by digital control system method of operating, after adopting examination processing, static measurement error, error originated from input amount, allows system automatically calculate and correction factor k, can simplify coefficient k computational problem.Coefficient k is designed to programmable parameter, set in user program, usual specification ground processing, a kind of workpiece can be specified and be used certain emery wheel, and such processing object (material, shape), grinding wheel performance, technique various factors just can be unified in user program and suffer.After user program is debugged, this part of reprocessing next time, as long as select the emery wheel that matches and user program just passable, easily.
2. compensation method itself can not provide coordinate parameters or grinding wheel radius parameter, can accumulated error.Solution: provide accurate emery wheel parameter by good time trimming wheel, eliminates accumulated error, ensures machining accuracy.
Accompanying drawing explanation
Accompanying drawing 1 is the hardware block diagram of NC horizontal spindle surface grinding machine abrasion of grinding wheel dynamic compensation function
Connotation is marked in accompanying drawing 1:
1---the transmitter of active power
2---analog-to-digital conversion transfer equipment
3---digital control system master controller
4---spindle motor current supply circuit
5---spindle motor
6---Y-axis servo-driver
7---servomotor
8---emery wheel
9---workpiece
10---leading screw
11---feed screw nut
12---main shaft
Detailed description of the invention
By an embodiment, content of the present invention is described further below.
A kind of common numerical control surface grinding machine with horizontal spindle and rectangular table, emery wheel perpendicular displacement axes is Y-axis, and Y-axis controls ball screw 10 by servomotor 7 through decelerator and rotates, and ball screw driving feed screw nut and the emery wheel supporting device 11 be connected with nut move up and down; Workbench transverse shifting axle is Z axis, and Z axis controls ball screw by servomotor through decelerator and rotates, and ball screw driving feed screw nut and the slide be connected with nut move, and slide supporting table moves laterally; It is X-axis that workbench vertically moves axle, and the workbench that X-axis is promoted on slide by the push rod of hydraulic cylinder vertically moves; Main shaft (bistrique) motor is that the asynchronous machine 5 of fixed speed is connected with main shaft 12, and emery wheel 8 is fixed on main shaft 12; The master controller 3 of the surface grinding machine digital control system formed with touch-screen and PLC; Cooling fluid is provided by the liquid pump of Induction Motor-Driven; Workpiece 9 is fixing on the table, can be adsorbed (irony workpiece), also can be clamped by mechanical frock by magnechuck.
Above-mentioned common numerical control surface grinding machine with horizontal spindle and rectangular table basis increase with lower part: on PLC, expand an analog-to-digital conversion module 2, the meritorious power transducer 1 of serial connection on the current supply circuit 4 of asynchronous machine 5, the 0-10V voltage signal of active power transmitter 1 delivers to analog-to-digital conversion module 2, and the PLC of master controller 3 just directly can read the data signal (14Bit=16383) of the 0-10V of active power transmitter 1 in analog-to-digital conversion module 2.
If its Specifications is: the minimum step of Y-axis is 1 μm, grinding wheel radius unit 1 μm, grinding wheel width unit 1 μm, the power of asynchronous machine 5 is 18kW, the corresponding active power of 0-10V of active power transmitter 1 is 0-100kW, the maximum grinding speed of grinding machine X-axis is 20M/min, and in order to ensure that grinding 5mm machining long workpieces can distinguish power signal, the interval time of reading active power signal gets 10mS.Programmable coefficients setting range is 0-1000.The method of design factor k, S, K and B is as follows:
If be 40mm at grinding wheel width, when grinding wheel radius is 180mm, when grinding wheel radius weares and teares 12 μm, the merit performance number that accumulation is used for a certain workpiece of grinding is 36000000W.Obtain according to formula (1)
12μm＝k*36000000W/180000μm
k＝16.66667
Obtain according to formula (2)
16.6667＝S/40000μm
S＝666667
According to formula (3)
666667＝K*B
Suppose that above-mentioned wearing and tearing and energy consumption ratio maximum likelihood are its 2 times, namely desirable K is 500, so
B＝666667/500
B＝1333
If numerical control is established system to become coefficient k and is determined by grinding wheel width A, lathe parameter B and programmable parameter K, so, at this moment will set lathe parameter: grinding wheel width parameter A is 40.000, non-programmable wear coefficient B is 1333, and the programmable parameter K processing this workpiece is 500.Parameter K adjusts correction further according to the error produced in real work, makes mismachining tolerance within franchise.If K parameter adjustment is to 1000, still can not eliminate error, just suitably can increase parameter B.If K parameter very little (less than 300) will could eliminate error, just suitably can reduce parameter B, K parameter is adjusted between 300-1000 can meet the demands.
Claims (6)
1. NC horizontal spindle surface grinding machine abrasion of grinding wheel dynamic compensation method:
1) just a main shaft (bistrique) motor power consumption Pni (active power) is measured every the unit interval;
2) according to following formulae discovery n-th cycle grinding wheel radius wear extent Δ Rn
ΔRn＝k＊∑Mni/Rn-1
n＝1，2，3……，
I=1,2,3 ..., i=1 when n changes,
In formula:
N is the cycle sequence number implementing to compensate, and just implements single compensation when the cumulative attrition amount not implementing to compensate is more than or equal to Y-axis minimum amount of feeding Δ Vmin,
I is the sequence number measuring spindle motor power consumption Pni in a compensation cycle,
K is the grinding wheel radius coefficient of waste,
Rn-1 is the grinding wheel radius value after the (n-1)th Periodic Compensation,
Mni measures the active power of spindle motor for grinding for n-th i time,
3) the n-th cycle grinding wheel radius dynamic compensation value δ Rn is calculated
δRn＝□(ΔRn+Sn-1)/ΔVmin□*ΔVmin
In formula:
Sn-1 is the surplus can not implementing completely in the (n-1)th cycle to compensate
Δ Vmin is the minimum amount of feeding of lathe Y-axis;
4) grinding wheel radius parameter is revised immediately, the grinding wheel radius Rn after the n-th Periodic Compensation with grinding wheel radius dynamic compensation value δ Rn
Rn＝Rn-1-δRn；
5) with grinding wheel radius dynamic compensation value δ Rn for increment negative sense drive stock removal feed shaft (Y-axis) align emery wheel position.
2. abrasion of grinding wheel dynamic compensation method feature according to claim 1 is: k parameter is the programmable parameter of user program.
3. the feature realizing the digital control system of abrasion of grinding wheel dynamic compensation method according to claim 1 is: digital control system comprises master controller, comprise the servomotor and servo-driver that control Y-axis digital servo location, comprise the transmitter of measurement main shaft (bistrique) motor active power and active power is converted to the analog-to-digital conversion equipment that data signal is input to master controller.
4. abrasion of grinding wheel dynamic compensation method 1 according to claim 1) completed by the transmitter of measurement main shaft (bistrique) motor active power according to claim 2 and analog-to-digital conversion equipment, the master that the transmitter measuring main shaft (bistrique) motor active power is serially connected in spindle motor returns, the transmitter of active power is transported to spindle motor active power value on analog-to-digital conversion equipment, and analog-to-digital conversion equipment is converted to data signal spindle motor active power value and is input in digital control system master controller.
5. abrasion of grinding wheel dynamic compensation method 2 according to claim 1), 3), 4) complete in master controller according to claim 2.
6. abrasion of grinding wheel dynamic compensation method 5 according to claim 1) send instruction by master controller according to claim 2, the servomotor and the servo-driver that control Y-axis digital servo location are complete.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127901A (en) * | 2015-08-31 | 2015-12-09 | 桂林桂北机器有限责任公司 | Automatic compensation device for grinding wheel of caliper grinding machine |
| CN105598783A (en) * | 2016-03-02 | 2016-05-25 | 郑州旭飞光电科技有限公司 | Abrasion compensation and correction control method, device and system of grinding wheel of grinding machine |
| CN109877689A (en) * | 2019-03-27 | 2019-06-14 | 南京春辉科技实业有限公司 | The grinding wheel automatic cutting device of continuous circumferentially cutting cylindrical rod and compensation method |
| CN110238754A (en) * | 2019-07-22 | 2019-09-17 | 上海浩曦智能设备有限公司 | Thermal-insulation cup buffing machine Tool Compensation |
| CN111638682A (en) * | 2020-05-26 | 2020-09-08 | 四川新迎顺信息技术股份有限公司 | Compensation method for grinding rear cutter face of peripheral tooth spiral blade by using worn grinding wheel |
| CN113664621A (en) * | 2021-08-12 | 2021-11-19 | 广州奇芯机器人技术有限公司 | Grinding wheel wear compensation method and device |
| CN114290127A (en) * | 2021-12-22 | 2022-04-08 | 科德数控股份有限公司 | Grinding wheel dressing and grinding wheel replacing method |
| CN114536110A (en) * | 2022-03-03 | 2022-05-27 | 华辰精密装备（昆山）股份有限公司 | Error real-time compensation method and system for grinding complex profile of non-circular component |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127901A (en) * | 2015-08-31 | 2015-12-09 | 桂林桂北机器有限责任公司 | Automatic compensation device for grinding wheel of caliper grinding machine |
| CN105598783A (en) * | 2016-03-02 | 2016-05-25 | 郑州旭飞光电科技有限公司 | Abrasion compensation and correction control method, device and system of grinding wheel of grinding machine |
| CN109877689A (en) * | 2019-03-27 | 2019-06-14 | 南京春辉科技实业有限公司 | The grinding wheel automatic cutting device of continuous circumferentially cutting cylindrical rod and compensation method |
| CN110238754A (en) * | 2019-07-22 | 2019-09-17 | 上海浩曦智能设备有限公司 | Thermal-insulation cup buffing machine Tool Compensation |
| CN111638682A (en) * | 2020-05-26 | 2020-09-08 | 四川新迎顺信息技术股份有限公司 | Compensation method for grinding rear cutter face of peripheral tooth spiral blade by using worn grinding wheel |
| CN111638682B (en) * | 2020-05-26 | 2023-04-28 | 四川新迎顺信息技术股份有限公司 | Compensation method for grinding peripheral tooth helical blade back knife surface by using abrasion grinding wheel |
| CN113664621A (en) * | 2021-08-12 | 2021-11-19 | 广州奇芯机器人技术有限公司 | Grinding wheel wear compensation method and device |
| CN113664621B (en) * | 2021-08-12 | 2022-12-09 | 广州奇芯机器人技术有限公司 | Grinding wheel wear compensation method and device |
| CN114290127A (en) * | 2021-12-22 | 2022-04-08 | 科德数控股份有限公司 | Grinding wheel dressing and grinding wheel replacing method |
| CN114536110A (en) * | 2022-03-03 | 2022-05-27 | 华辰精密装备（昆山）股份有限公司 | Error real-time compensation method and system for grinding complex profile of non-circular component |
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