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Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method

A technology of motion trajectory and mechanical motion, which is applied in the direction of measuring device, feeding device, digital control, etc., and can solve the problems such as the inability to measure the motion trajectory

Active Publication Date: 2015-05-27
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0013] In the method described in Patent Document 1, there is a problem that only the trajectory of a circular arc with a defined radius can be measured, for example, the movement trajectory of a corner that is likely to vibrate in the machine cannot be measured.

Method used

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  • Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method
  • Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method
  • Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method

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Embodiment approach

[0040] Hereinafter, taking the measurement of the mechanical movement trajectory of a numerically controlled machine tool as an example, the mechanical movement trajectory measuring device according to the embodiment of the present invention will be described with the drawings. In addition, the present invention is not limited to the following description.

[0041] figure 1 Shows an example of the form of a CNC machine tool. It has a plurality of movable shafts that guide movement in the X-axis, Y-axis, and Z-axis directions, and each movable shaft is driven by a driving mechanism composed of a motor 1 and a feed screw 2. The rotation angle of the motor is detected by the rotation angle detector 3 and fed back to the control device. As a driving method, a linear motor is sometimes used instead of the motor 1 and the feed screw 2, and a linear scale is used instead of the rotation angle detector 3.

[0042] in figure 1 In the numerical control machine tool of the form shown, the t...

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Abstract

A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

Description

Technical field [0001] The present invention relates to a device for measuring the trajectory of machinery, in particular to a device for measuring the trajectory of machinery in a numerically controlled machine tool and a robot. Background technique [0002] In CNC machine tools and robots, in order to move the machine along multiple movable axes, the motor is driven to control the position of the machine as faithfully as possible to the commanded position. In this case, due to the influence of the vibration of the machine and the frictional force when the movement direction is reversed, an error occurs between the commanded position and the actual machine position, for example, damage is caused to the machined surface. When such a problem occurs, the trajectory of the machine is measured, the cause of the problem is explored, and various parameters of the controller that controls the motor are adjusted. Various methods are known for measuring and displaying the trajectory of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q17/00G01B21/00G05B19/18
CPCB23Q5/40B23Q5/28B23Q17/22G05B19/19G05B2219/41233G05B2219/43072
Inventor 左藤隆太长冈弘太朗佐藤智典
Owner MITSUBISHI ELECTRIC CORP