Data processing: generic control systems or specific application – Specific application – apparatus or process – Product assembly or manufacturing
Reexamination Certificate
2001-09-18
2004-01-20
Picard, Leo (Department: 2125)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Product assembly or manufacturing
C700S192000
Reexamination Certificate
active
06681146
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a control method and a control apparatus for controlling operations of two (two kinds of) driver mechanisms for relatively moving a main spindle along a single axis in an NC machine tool.
2. Description of the Prior Art
An example of the NC machine tool comprised two driver mechanisms for relatively moving the main spindle along a single axis as mentioned above is shown in FIG.
8
and FIG.
9
.
FIG. 8
is a front view showing the schematic construction of the NC machine tool, and
FIG. 9
is a block diagram showing the schematic construction of a control apparatus which numerically controls the NC machine tool.
As illustrated, the NC machine tool
100
is a so-called portal type machining center and mainly comprises: a pair of columns
101
and
101
erected on the installation surface with an appropriate distance therebetween; a crossbeam
102
extended over the columns
101
and
101
so as to be movable along the respective columns
101
and
101
, that is, along feed axes in the direction of W shown by arrows (hereinafter, referred to as “W-axis”); a spindle head
103
provided on the crossbeam
102
so as to be movable along the longitudinal direction thereof, that is, along a feed axis in the direction of Y shown by arrows (hereinafter, referred to as “Y-axis”); a main spindle
104
which is rotatably supported on the spindle head
103
and provided so as to be movable along a feed axis in the direction of Z shown by arrows (hereinafter, referred to as “Z-axis”); a bed
105
disposed below the spindle head
103
between the columns
101
and
101
; and a table
106
which is mounted on the bed
105
and provided so as to be movable along a feed axis in the direction perpendicular to the paper (hereinafter, this feed axis is referred to as “X-axis”).
The crossbeam
102
is driven by a first W-axis driver mechanism
125
and a second W-axis driver mechanism
126
which are respectively provided on the respective columns
101
and
101
and each of which comprises a servomotor, ball screw, and ball nut and moves along the W-axis as mentioned above, and the main spindle
104
is driven by a Z-axis driver mechanism
124
comprising a servomotor, a ball screw, and a ball nut provided on the spindle head
103
and is moved along the Z-axis direction.
In addition, the spindle head
103
is driven by a Y-axis driver mechanism
123
comprising a servomotor, a ball screw, and a ball nut provided on the crossbeam
102
and moves along the Y-axis direction, and the table
106
is driven by an X-axis driver mechanism
122
comprising a servomotor, a ball screw, and a ball nut provided on the bed
105
and moves along the X-axis direction.
The X-axis driver mechanism
122
, the Y-axis driver mechanism
123
, the Z-axis driver mechanism
124
, the first W-axis driver mechanism
125
, and the second W-axis driver mechanism
126
are numerically controlled by a control apparatus
110
shown in FIG.
9
. As shown in
FIG. 9
, this control apparatus
110
mainly comprises: a program analyzing section
111
, an X-axis position data generating section
112
, a Y-axis position data generating section
113
, a Z-axis position data generating section
114
, a first W-axis position data generating section
115
, a second W-axis position data generating section
116
, an X-axis drive controlling section
117
, a Y-axis drive controlling section
118
, a Z-axis drive controlling section
119
, a first W-axis drive controlling section
120
, and a second W-axis drive controlling section
121
.
The program analyzing section
111
analyzes each command block of machining program stored in the control apparatus
110
, extracts commands concerning moving position coordinates and feed speed, and outputs the position data and speed data thus extracted to the X-axis position data generating section
112
, the Y-axis position data generating section
113
, the Z-axis position data generating section
114
, the first W-axis position data generating section
115
, and the second W-axis position data generating section
116
related to the commands, respectively.
Then, the X-axis position data generating section
112
, the Y-axis position data generating section
113
, the Z-axis position data generating section
114
, the first W-axis position data generating section
115
, and the second W-axis position data generating section
116
, respectively, generate target position data at predetermined-time intervals on the basis of the position data and speed data received from the program analyzing section
111
and output the generated target position data to the corresponding X-axis drive controlling section
117
, the Y-axis drive controlling section
118
, the Z-axis drive controlling section
119
, the first W-axis drive controlling section
120
, and the second W-axis drive controlling section
121
, respectively.
The X-axis drive controlling section
117
, the Y-axis drive controlling section
118
, the Z-axis drive controlling section
119
, the first W-axis drive controlling section
120
, and the second W-axis drive controlling section
121
, respectively, calculate the deviations between the respectively received target position data and present positions fed back from the correspondingly set X-axis driver mechanism
122
, the Y-axis driver mechanism
123
, the Z-axis driver mechanism
124
, the first W-axis driver mechanism
125
, and the second W-axis driver mechanism
126
, respectively, calculate speed command values by multiplying the deviations by a position loop gain, and then calculate the deviations between the calculated speed command values and present speed data fed back from, again, the X-axis driver mechanism
122
, the Y-axis driver mechanism
123
, the Z-axis driver mechanism
124
, the first W-axis driver mechanism
125
, and the second W-axis driver mechanism
126
, calculate torque command signals by multiplying the deviations by a speed loop gain, and thereafter output drive currents depending on the calculated torque command signals to the X-axis driver mechanism
122
, the Y-axis driver mechanism
123
, the Z-axis driver mechanism
124
, the first W-axis driver mechanism
125
, and the second W-axis driver mechanism
126
, respectively.
Then, with respect to the servomotors of the respective X-axis driver mechanism
122
, the Y-axis driver mechanism
123
, the Z-axis driver mechanism
124
, the first W-axis driver mechanism
125
, and the second W-axis driver mechanism
126
, servomotors which compose the respective mechanisms are driven by the inputted drive currents and by operations of these X-axis driver mechanism
122
, the Y-axis driver mechanism
123
, the Z-axis driver mechanism
124
, the first W-axis driver mechanism
125
, and the second W-axis driver mechanism
126
, as mentioned above, the table
106
is moved along the X-axis direction, the spindle head
103
is moved along the Y-axis direction, the main spindle
104
is moved along the Z-axis direction, and the crossbeam
102
is moved along the W-axis direction.
Thus, according to the NC machine tool
100
, by moving the table
106
along the X-axis direction, the spindle head
103
along the Y-axis direction, the main spindle
104
along the Z-axis direction, and the crossbeam
102
along the W-axis direction, respectively, a work-piece (not illustrated) mounted and fixed on the table
106
and the main spindle
104
can be relatively moved along the respective directions of the X-axis, Y-axis, Z-axis, and W-axis, and three-dimensional machining can be performed on the work-piece. In addition, both Z-axis and W-axis are feed axes in the up-and-down direction and will be generically called a Z′-axis in the following description.
In general, the table
106
, spindle head
103
, main spindle
104
, and crossbeam
102
are guided by sliding guide portions (not illustrated) which are, respectively, correspondingly provided and moved along the aforementioned direction, respectively. Accordingly, straightness of a work-piece mac
Kawase Shinji
Ohji Takayuki
Ozaki Hiroyuki
Cabrera Zoila
Mori Seiki Co. Ltd.
Picard Leo
Westerman Hattori Daniels & Adrian LLP
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