Force control method for a bar feeder of a lathe
AssigneeFanuc Corporation
InventorYasusuke Iwashita
Life of this patent
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Abstract
A force control method for a bar feeder supporting a workpiece in a lathe, including seizing the workpiece by a Z-axis spindle of the lathe and the bar feeder, performing position control by the Z-axis spindle of the lathe, and performing force control by the bar feeder to apply a constant torque to the workpiece during the force control of the bar feeder supporting the workpiece in the lathe. This control of the bar feeder does not require the Z-axis spindle of the lathe and the bar feeder to be synchronized for the position control in the Z-axis direction, and prevents the workpiece from being deflected.
Claims6
A force control method for a workpiece in a lathe, comprising the steps of:
- supporting a workpiece by a Z-axis spindle of a lathe and by a bar feeder;
- controlling a position of the workpiece by the Z-axis spindle of the lathe;
- applying a constant force to the workpiece by performing force control through the bar feeder, the force control comprising
- estimating a disturbance load torque by a disturbance estimating observer, and
- generating a deviation value by performing a summation operation including subtracting a product of a speed of a motor for the bar feeder and a set coefficient from the estimated disturbance load torque,
- whereby the disturbance load torque agrees with a force command value.
A force control method for a workpiece in a lathe, comprising the steps of:
- supporting a workpiece by a Z-axis spindle of a lathe and by a bar feeder;
- controlling a position of the workpiece by the Z-axis spindle of the lathe;
- applying a constant force to the workpiece by performing force control through the bar feeder, the force control comprising
- estimating a disturbance load torque from a torque command value supplied to a motor for the bar feeder and an actual speed of the motor by a disturbance estimating observer and
- executing feedback control so that said disturbance load torque agrees with a force command value.
A force control method for a workpiece in a lathe, comprising the steps of:
- supporting a workpiece by a Z-axis spindle of a lathe and by a bar feeder;
- controlling a position of the workpiece by the Z-axis spindle of the lathe;
- and
- performing force control of a force applied to the workpiece through at least one of the bar feeder and a tail stock of the lathe to maintain a constant external load on the workpiece, the force control comprising
- estimating a disturbance load torque by a disturbance estimating observer based upon a torque command value supplied to a servomotor and an actual speed of the servomotor, and
- executing feedback control of the force based upon the estimated disturbance load torque.
A force control device, comprising:
- means for supporting a workpiece by a Z-axis spindle of a lathe;
- means for controlling a position of the workpiece supported by a bar feeder and by the Z-axis spindle of said lathe;
- means for applying a constant force to said workpiece, said constant force applying means comprising
- a servomotor;
- means for estimating a disturbance load torque;
- and
- means for executing feedback control based on a deviation value whereby the disturbance load torque agrees with a force command value, the deviation value obtained by performing a summation operation including subtracting a product of a speed of the servomotor and a set coefficient from said disturbance load torque.
A force control device, comprising:
- means for supporting a workpiece by a Z-axis spindle of a lathe;
- means for controlling a position of the workpiece supported by a bar feeder and by the Z-axis spindle of said lathe, wherein said bar feeder comprises a servomotor;
- means for applying a constant force to said workpiece by said bar feeder;
- means for estimating a disturbance load torque based upon a torque command value supplied to the servomotor and an actual speed of the servomotor;
- and
- means for executing feedback control based on the estimated disturbance load torque, whereby the estimated disturbance load torque agrees with a force command value.
A force control device, comprising:
- means for supporting a workpiece by a Z-axis spindle of a lathe;
- means for controlling a position of the workpiece supported by a bar feeder and by the Z-axis spindle of said lathe, wherein said bar feeder comprises a servomotor;
- means for applying a constant force to said workpiece by said bar feeder;
- means for estimating and feeding back a disturbance load torque to said means for controlling based on an external load applied to said workpiece;
- and
- means for executing feedback control so that said disturbance load torque is estimated based upon a torque command value supplied to said servomotor and an actual speed of said servomotor.
Dependencies are inferred from the claim text.