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哈爾濱理工大學(xué)學(xué)士學(xué)位論文
三維數(shù)控工作臺(tái)的設(shè)計(jì)與開(kāi)發(fā)
摘要
在當(dāng)前生產(chǎn)中的許多機(jī)械設(shè)備中均需要精密定位，而其中的三維精密定位工作臺(tái)作為關(guān)鍵部件將直接影響其整機(jī)的性能和精度。為保證機(jī)器性能，工作臺(tái)要在X方向和Y方向?qū)崿F(xiàn)快速準(zhǔn)確的定位，并且要求在Z方向能夠?qū)崿F(xiàn)精確調(diào)整和定位，要實(shí)現(xiàn)快速和準(zhǔn)確定位，必須對(duì)工作臺(tái)進(jìn)行改裝，使用步進(jìn)電機(jī)和控制卡。本文設(shè)計(jì)的工作臺(tái)就是基于單片機(jī)控制的三維數(shù)控工作臺(tái)。
本次研究的課題的主要內(nèi)容包括：充分利用實(shí)驗(yàn)室中廢舊的二維工作臺(tái)，通過(guò)對(duì)硬件諸如直線導(dǎo)軌，深溝球軸承，滾珠絲杠，步進(jìn)電機(jī)等的選擇并對(duì)零件的整體連接結(jié)構(gòu)進(jìn)行設(shè)計(jì)從而組裝出一臺(tái)可運(yùn)轉(zhuǎn)的三維工作臺(tái)；利用三維建模軟件對(duì)所選擇的工作臺(tái)的各部分零件進(jìn)行建模，裝配，并對(duì)裝配好的三維工作臺(tái)實(shí)現(xiàn)運(yùn)動(dòng)仿真；利用VB語(yǔ)言對(duì)插補(bǔ)程序進(jìn)行軟件設(shè)計(jì)；需要完成對(duì)三維工作臺(tái)的控制系統(tǒng)的設(shè)計(jì)，主要包括對(duì)開(kāi)閉環(huán)的選擇，對(duì)80C51單片機(jī)功能的充分認(rèn)識(shí)并編寫控制程序，充分理解、學(xué)習(xí)插補(bǔ)技術(shù)在三維數(shù)控工作臺(tái)中的應(yīng)用。
通過(guò)上述研究?jī)?nèi)容，我們可以的到一臺(tái)經(jīng)濟(jì)，實(shí)用，精密度較高的三維數(shù)控工作臺(tái)，通過(guò)與普通工作臺(tái)的比較，我們可以從中得出插補(bǔ)技術(shù)對(duì)于數(shù)控工作臺(tái)的影響。可以說(shuō)將插補(bǔ)技術(shù)應(yīng)用到現(xiàn)代數(shù)控加工已經(jīng)是一個(gè)不可逆轉(zhuǎn)的趨勢(shì)，因此本課題具有很高的研究?jī)r(jià)值。
關(guān)鍵詞 數(shù)控系統(tǒng)；三維工作臺(tái)；單片機(jī)；插補(bǔ)技術(shù)
Design and development of 3D NC workbench
Abstract
To study the influence of the parameters of open NC servo feed systems and spatial geometry error on the precision and find methods to realize the high precision control of numerical control (NC) system, the development of the control system of a two-axis NC worktable ,consisting of ball screws and linear roller guides, was presented in this thesis. The system is based on an open architecture PMAC (Programmable multi-Axis controller) motion control card to realize real-time control. Some experiments concerning control test and error measurement and analysis can be carried out on the designed worktable. At first, the configuration of control system of the 3D NC worktable Was proposed ,and its software was developed. Modular software development concept featured the system design, which includes the following modules: machining position and speed sampled display module; file management module; parameters setting module; error diagnosis module; precision analysis module; manual debugging module; machine simulation module; help module.
As one of focuses, the error measurement and precision analysis of the worktable were emphasized in the development of the system software. Series of experiments about system control and precision were made on the worktable. The precision characteristics of the half-loop and closed-loop position feedbacks were analyzed. Through comparing the theoretical analysis with the data collected from experiments ,a conclusion has been drawn that the smallest contour error will be got if the two axes have the same servo characteristics. The ball-bar ,which is considered to be more reliable than linearscales in measuring contour error, was used to measure the circular motion of the system. The experiment result showed that the contour error of the system was big .By analysis of the error source based on a mathematical model of the measuring system proposed in this thesis, it was found that it was the installation inclination of linear scales that caused so big error. By compensating the error with the measured result by the ball-bar ,the precision of the control system had been improved.
Keywords Numerical Control System；three-dimensional NC workbench；SCM；Interpolation technique；
III
目錄
摘要 I
Abstract II
第1章 緒論 1
1.1課題研究的意義 1
1.2課題研究的現(xiàn)狀 1
1.3課題研究的主要內(nèi)容 2
第2章 三維數(shù)控工作臺(tái)的硬件選擇及連接結(jié)構(gòu) 3
2.1三維數(shù)控工作臺(tái)的工作原理介紹 3
2.2三維數(shù)控工作臺(tái)的基本結(jié)構(gòu) 3
2.3步進(jìn)電機(jī)的選擇 4
2.4絲杠的選型與校核 5
2.4.1滾珠絲杠的簡(jiǎn)單介紹 5
2.4.2滾珠絲杠的選型 7
2.4.3滾珠絲杠的校核 8
2.5直線導(dǎo)軌的選型與計(jì)算 9
2.5.1直線導(dǎo)軌的簡(jiǎn)單介紹 9
2.5.2直線導(dǎo)軌的選型 10
2.6聯(lián)軸器的選型 12
2.6.1聯(lián)軸器的簡(jiǎn)介 12
2.6.2聯(lián)軸器的選型 13
2.7軸承選型 14
2.8本章小結(jié) 16
第3章 三維數(shù)控工作臺(tái)的Pro/E三維建模 17
3.1 Pro/E建模軟件簡(jiǎn)介 17
3.2 Pro/E界面介紹 17
3.3零件三維建模實(shí)例介紹 18
3.3.1新建文件 18
3.3.2建立拉伸特征 19
3.3.3建立螺旋特征 20
3.3.4建立螺母副特征 20
3.3.5進(jìn)行顏色和外觀設(shè)計(jì) 21
3.4其余零件三維建模圖展示 22
3.5三維數(shù)控工作臺(tái)裝配 23
3.6本章小結(jié) 25
第4章 三維工作臺(tái)的軟件及控制系統(tǒng)設(shè)計(jì) 26
4.1逐點(diǎn)比較法直線插補(bǔ)的簡(jiǎn)介 26
4.2逐點(diǎn)比較法直線插補(bǔ)的計(jì)算步驟 26
4.3數(shù)控插補(bǔ)仿真軟件的說(shuō)明 29
4.4開(kāi)環(huán)系統(tǒng)控制原理 30
4.5單片機(jī)設(shè)計(jì) 30
4.6本章小結(jié) 35
結(jié)論 36
致謝 37
參考文獻(xiàn) 38
附錄一 39
附錄二 49
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