CN106238829B - A kind of gear shapping machine electron helical guide rail motion control method - Google Patents
A kind of gear shapping machine electron helical guide rail motion control method Download PDFInfo
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- CN106238829B CN106238829B CN201610710166.1A CN201610710166A CN106238829B CN 106238829 B CN106238829 B CN 106238829B CN 201610710166 A CN201610710166 A CN 201610710166A CN 106238829 B CN106238829 B CN 106238829B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F9/00—Making gears having teeth curved in their longitudinal direction
- B23F9/04—Making gears having teeth curved in their longitudinal direction by planing or slotting with reciprocating cutting tools
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
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- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
A kind of gear shapping machine electron helical guide rail motion control method, the angle of gear shapping machine crank-motion is main motor anglec of rotation α, the angle of cutter shaft of gear shaper screw is the anglec of rotation φ of torque motor, main motor anglec of rotation α and torque motor anglec of rotation φ is in real time nonlinear relation, is represented with function phi=F (α)；Main motor anglec of rotation α is actively value, its value is discrete non-arithmetic progression, the anglec of rotation φ of torque motor is follows value, by establishing the cyclic curve table of the main motor anglec of rotation and the torque motor anglec of rotation in digital control system, to control the motion of gear shapping machine electron helical guide rail.The present invention realizes the correct control of electron helical guide rail, and can calculate efficient electron helical guide rail operation program.The control method is simple and reliable, and executing efficiency is high after adaptive polo placement.
Description
Technical Field
The invention relates to a motion control method for an electronic spiral guide rail of a gear shaping machine, which is suitable for controlling a torque motor of the spiral guide rail of a universal gear shaping machine.
Background
On the existing common gear shaping machine, only straight gears can be processed generally, if spiral gears need to be processed, a set of mechanical spiral guide rail accessories need to be added, the accessories are complex and have high manufacturing difficulty, and one set of spiral guide rail can only adapt to one spiral angle. In order to enable a gear shaper to machine a helical gear with any helical angle, a universal electronic helical guide rail gear shaper is produced, and a torque motor for the universal gear shaper replaces a mechanical helical guide rail with a fixed angle. Aiming at gears with different spiral angles, a spiral curve table of the torque motor can be calculated through gear parameters to obtain a control program of the torque motor, so that gear shaping processing of the spiral gear with any angle is realized. Because the application of the electronic spiral guide rail is in a starting stage in China, the control method for the electronic spiral guide rail is not mature enough.
Disclosure of Invention
Based on the problems, the invention provides a motion control method for an electronic spiral guide rail of a gear shaping machine, which realizes the correct control of the electronic spiral guide rail and can calculate an efficient electronic spiral guide rail operation program. The control method is simple and reliable, and the program execution efficiency is high after the self-adaptive calculation.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method for controlling the motion of an electronic spiral guide rail of a gear shaping machine is characterized in that the motion angle of a crank of the gear shaping machine is the rotation angle alpha of a main motor, the spiral motion angle of a cutter shaft of the gear shaping machine is the rotation angle phi of a torque motor, the rotation angle alpha of the main motor and the rotation angle phi of the torque motor are in a real-time nonlinear relation and are expressed by a function phi = F (alpha); the rotation angle alpha of the main motor is an active value, the value of the rotation angle alpha is a discrete unequal difference array, the rotation angle phi of the torque motor is a follow-up value, and a periodic curve table of the rotation angle of the main motor and the rotation angle of the torque motor is established in the numerical control system to control the movement of the electronic spiral guide rail of the gear shaper.
The nonlinear functional relation is as follows:
in the formula, phi is the rotation angle of the torque motor; f is a nonlinear relation function; alpha is the rotation angle of the main motor, and is the angle between the crank and the Y axis of the motion coordinate system, namely angle AOC; beta is the angle of the Y axis of the connecting rod, namely < ABC; l. the 1 Is the crank length, i.e., the distance of AO; l. the 2 Is the link length, i.e., the distance AB; p is the pitch of the electronic spiral guide rail; s. the t Is the real-time position of the cutter shaft movement of the gear shaper.
The rotation angle alpha of the main motor is a discrete unequal difference series, and two adjacent angle values (alpha) i ,φ i ) And (alpha) i+1 ，φ i+1 ) By fitting a straight line instead of the original curve,by continuously varying alpha i+1 Until the error between the fitted straight line and the curve meets the tolerance requirement, the alpha is i+1 And (4) taking a value, namely, the rotation angle value of the main motor after self-adaptive calculation.
The invention discloses a motion control method of an electronic spiral guide rail of a gear shaping machine, which has the advantages that:
1) The invention provides a motion control algorithm for an electronic spiral guide rail of a gear shaping machine, which is particularly suitable for controlling a torque motor of the spiral guide rail of a universal gear shaping machine, and the control method is simple and reliable.
2) The algorithm has a self-adaptive calculation function, can effectively reduce the number of the middle points in the curve table of the electronic spiral guide rail, and improves the execution efficiency of a numerical control program.
3) The motor rotation angle alpha in the invention meets the requirements of minimum program segment number and gear spiral precision by optimal value, and improves the processing efficiency and the processing quality.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic view of an electronic spiral guide of the present invention.
Fig. 2 is a schematic diagram of the movement of the electronic spiral guide rail of the present invention.
Fig. 3 is a flow chart of the adaptive calculation of the angle of the main motor according to the present invention.
FIG. 4 is a schematic diagram of the error calculation according to the present invention.
Fig. 5 is a periodic curve table of the rotation angle of the torque motor of the present invention.
Detailed Description
As shown in fig. 1-2, a method for controlling the motion of an electronic spiral guide rail of a gear shaping machine realizes the correct control of the electronic spiral guide rail and can calculate an efficient electronic spiral guide rail operation program.
The angle of the crank movement of the gear shaper is the rotation angle alpha of the main motor, the angle of the cutter shaft spiral movement of the gear shaper is the rotation angle phi of the torque motor, and the rotation angle alpha of the main motor and the rotation angle phi of the torque motor are in a real-time nonlinear relation and are expressed by a function phi = F (alpha); the rotation angle alpha of the main motor is an active value, the value of the rotation angle alpha is a discrete unequal difference array, the rotation angle phi of the torque motor is a follow-up value, and a periodic curve table of the rotation angle of the main motor and the rotation angle of the torque motor is established in the numerical control system to control the movement of the electronic spiral guide rail of the gear shaper.
The nonlinear function relation is as follows:
in the formula, phi is the rotation angle of the torque motor; f is a nonlinear relation function; alpha is the rotation angle of the main motor, and is the angle between the crank and the Y axis of the motion coordinate system, namely & lt AOC; beta is the angle of the Y axis of the connecting rod, namely < ABC; l 1 Is the crank length, i.e. the distance of AO; l 2 Is the link length, i.e., the distance AB; p is the pitch of the electronic spiral guide rail; s t Is the real-time position of the cutter shaft movement of the gear shaping machine.
As can be seen from the figure 2 of the drawings,
the above-described bivariate non-linear functional relation may become a univariate function as follows.
The rotation angle alpha of the main motor is a discrete unequal difference sequence, and the angle value calculation process is as follows:
(1) Let a starting point be alpha i Then, the corresponding phi can be calculated according to the above-mentioned univariate nonlinear function i ；
(2) Initializing alpha i+1 Is taken to be a i+1 ＝α i +5；
(3) Is calculated at alpha i+1 Point torque motor phi i+1 A value of (d);
(4) According to two adjacent angle values (alpha) i ,φ i ) And (alpha) i+1 ,φ i+1 ) Fitting a straight line EF to replace the original curve;
(5) Taking the median of two adjacent anglesThe value of the error GH is calculated, and fig. 4 is a schematic diagram of the error calculation of the present invention. If the following inequality is satisfied,. DELTA.T-0.01<GH<,. DELTA.T +0.01, then alpha i+1 And finishing the value taking. If the inequality is not satisfied, the process returns to step (3) according to the GH accuracy standard requirement in fig. 3.
(6) End alpha i+1 And (5) value calculation.
Where GH is the error, Δ T is the error threshold, and-0.01 and 0.01 are the error band.
By changing alpha continuously through the above process i+1 Until the error between the fitting straight line and the curve meets the tolerance requirement, and the alpha at the moment i+1 The value is the rotation angle value of the main motor after self-adaptive calculation. The main motor value taking points calculated by the method are fewer, the number of generated numerical control codes is small, and the execution efficiency of the numerical control system is high.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (3)
1. A motion control method for an electronic spiral guide rail of a gear shaping machine is characterized by comprising the following steps: the angle of the crank movement of the gear shaper is the rotation angle alpha of the main motor, the angle of the cutter shaft spiral movement of the gear shaper is the rotation angle phi of the torque motor, and the rotation angle alpha of the main motor and the rotation angle phi of the torque motor are in a real-time nonlinear relation and are expressed by a function phi = F (alpha); the rotation angle alpha of the main motor is an active value, the value of the rotation angle alpha is a discrete unequal difference array, the rotation angle phi of the torque motor is a following value, and a periodic curve table of the rotation angle of the main motor and the rotation angle of the torque motor is established in a numerical control system to control the movement of an electronic spiral guide rail of the gear shaper;
the nonlinear functional relationship is:
in the formula, phi is the rotation angle of the torque motor; f is a nonlinear relation function; alpha is the rotation angle of the main motor, and is the angle between the crank and the Y axis of the motion coordinate system, namely & lt AOC; beta is the angle of the Y axis of the connecting rod, namely & lt ABC; l 1 Is the crank length, i.e., the distance of AO; l. the 2 Is the link length, i.e., the distance AB; p is the pitch of the electron spiral guide.
2. The method of claim 1 for controlling the movement of an electronic helical track of a gear shaping machine, wherein: the rotation angle alpha of the main motor is a discrete unequal difference series, and two adjacent angle values (alpha) i ,φ i ) And (alpha) i+1 ,φ i+1 ) By fitting straight lines instead of the original curves, by varying alpha continuously i+1 Until the error between the fitted straight line and the curve meets the tolerance requirement, the alpha is i+1 And (4) taking a value, namely, the rotation angle value of the main motor after self-adaptive calculation.
3. The method for controlling the movement of the electronic spiral guide of the gear shaper according to claim 2, wherein: the rotation angle alpha of the main motor is a discrete unequal difference sequence, and the angle value calculation process is as follows:
(1) Is provided withA starting point of a i Then the corresponding phi can be calculated according to the univariate nonlinear function i ；
(2) Initializing alpha i+1 Is taken to be a i+1 ＝α i +5；
(3) Is calculated at alpha i+1 Point torque motor phi i+1 A value of (d);
(4) According to two adjacent angle values (alpha) i ,φ i ) And (alpha) i+1 ,φ i+1 ) Fitting a straight line EF to replace the original curve;
(5) Taking the intermediate value of two adjacent anglesCalculating the value of the error GH, if the following inequality is satisfied,
ΔT-0.01<GH<,. DELTA.T +0.01, then alpha i+1 Finishing the value taking; if the inequality is not satisfied, returning to the step (3);
(6) End alpha i+1 Value calculation;
where GH is the error, Δ T is the error threshold, and-0.01 and 0.01 are error tolerance bands;
by changing alpha continuously through the above process i+1 Until the error between the fitted straight line and the curve meets the tolerance requirement, the alpha is i+1 The value is the rotation angle value of the main motor after self-adaptive calculation.
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| CN201610710166.1A CN106238829B (en) | 2016-08-23 | 2016-08-23 | A kind of gear shapping machine electron helical guide rail motion control method |
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| CN201610710166.1A CN106238829B (en) | 2016-08-23 | 2016-08-23 | A kind of gear shapping machine electron helical guide rail motion control method |
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| CN112894026B (en) * | 2021-01-22 | 2022-08-02 | 浙江劳伦斯机床有限公司 | Spiral guide rail calculation and control method of gear shaping machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU878463A1 (en) * | 1979-07-04 | 1981-11-07 | Ленинградский Ордена Ленина Политехнический Институт Им. М.И.Калинина | Machine for cutting chip flutes on shavers |
| DE3623125A1 (en) * | 1985-08-13 | 1987-02-26 | Mitsubishi Heavy Ind Ltd | GUIDE DEVICE FOR A PLANER AND PUSHING MACHINE FOR THE PRODUCTION OF PARTICULARLY GEARED GEARS |
| US5136522A (en) * | 1990-06-13 | 1992-08-04 | The Gleason Works | Stock dividing method and apparatus for gear manufacturing machine |
| CN101530939A (en) * | 2009-04-07 | 2009-09-16 | 宜昌长机科技有限责任公司 | Linear grating ruler electron helical guideway |
| CN102069236A (en) * | 2009-11-23 | 2011-05-25 | 泰州格里森齿轮制造有限公司 | Novel micro taper gear slotting machine |
| CN102962527A (en) * | 2012-11-10 | 2013-03-13 | 湖南中石机器有限公司 | Gear shaping machine for machining oblique tooth through outer oblique tooth gear follow-up guide method |
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