CN102476310A - Novel magnetic suspension linear feeding system for numerical control machine tool - Google Patents
Novel magnetic suspension linear feeding system for numerical control machine tool Download PDFInfo
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- CN102476310A CN102476310A CN2010105552607A CN201010555260A CN102476310A CN 102476310 A CN102476310 A CN 102476310A CN 2010105552607 A CN2010105552607 A CN 2010105552607A CN 201010555260 A CN201010555260 A CN 201010555260A CN 102476310 A CN102476310 A CN 102476310A
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Abstract
The invention discloses a novel magnetic suspension linear feeding system for a numerical control machine tool. The novel magnetic suspension linear feeding system mainly comprises two guide rails, a linear motor stator component, four pairs of differential suspension electromagnets, two pairs of guide electromagnets, a linear motor mover component, a grating measuring system and a support device, wherein a base is fixed on the guide rails; the four pairs of differential suspension electromagnets are arranged on the four bottom corners of a workbench; the two pairs of guide electromagnets are arranged beside the suspension electromagnets; the linear motor mover component is arranged below the workbench; and the grating measuring system and the support device are arranged on the guide rails. A control system disclosed by the invention consists of a gap control system which is provided with a DSP (Digital Signal Processor) main controller and is arranged among the suspension electromagnets, the guide electromagnets and the guide rails, as well as a linear motor servo control system. Due to the adoption of the novel magnetic suspension linear feeding system, contactless support and guidance of a machine tool workbench are realized, frictional wear is eliminated, feeding speed and positioning accuracy are increased, and sufficient bearing force and thrust force are provided; and moreover, the novel magnetic suspension linear feeding system can be applied to practical processing.
Description
Technical field
The present invention relates to a kind of NC machine tool feed system, adopt magnetic force to support and guiding, linear motor driving can realize high-speed, the high acceleration of platen, high-precision no friction feed.
Background technology
Traditional machine tool feed system comprises many middle transmission links, and the inertia mass of whole system is bigger, and the dynamic property of system is relatively poor.And intermediate link strain, fretting wear and the backlass etc. that in motion process, produce, can cause the hysteresis and the nonlinearity erron of location feed motion, influence machining accuracy.In addition, the inherent shortcoming of lead screw transmission makes workbench be difficult to reach very high feed speed and precision.
For feed speed, acceleration and the positioning accuracy that improves platen; The machine tool feed system that replaces " electric rotating machine+leading screw " to drive workbench with linear electric motors has occurred; Transmission connect link in the middle of all between motive power and the worktable part had been cancelled in its application; Simplified the structure of system, realized that mechanism directly drives.
Compare with the traditional mechanical line slideway, though at present the rolling guide in the rail support mode, plastics rail plate coefficient of friction is little and wearability is high, under high-speed overload, still can wear and tear; Hydrostatic slideway is in the neat liquid abrasion state, so guide rail can not wear and tear, precision stability is good, and coefficient of friction is little, but greasy dirt is serious, complex structure, and cost is high; Pneumato-static slideway is the same with hydrostatic slideway, needs many auxiliary equipment, as: air compressor, accumulator, filtering pressure reducing valve.Pneumatic Transmission and control assembly etc., and the rigidity property of gas suspension is relatively poor.
In order to overcome above-mentioned shortcoming, satisfy the processing request of high speed day by day, the present invention has adopted the structure of Magnetically suspended guide rail.Characteristics such as this guide rail not only has and do not have friction, unlubricated, precision height, and without any need for auxiliary equipment.In addition, the rigidity property of Magnetically suspended guide rail is good, is fit to heavy duty processing.
At present, the feed mechanism that cooperates linear motor driving with guiding is supported in magnetic suspension, all exists shortcomings such as bearing capacity is low, driving force is little, fails really to replace existing machine tool feed system.For example people such as Sun Baoyu has proposed a kind of structure in document " research of linear drives magnetic suspension feeding mechanism "; Shown in accompanying drawing 5; This magnetic suspension linear feed mechanism only provides suspending power and guiding force with two electromagnet; Vertical and the lateral bearing ability is low, and be difficult to satisfy the flatness requirement of machine tooling to worktable upper surface.So press for exploitation enough bearing capacities and thrust are arranged, can be applicable to the magnetic suspension linear feed system of actual processing.
Changchun Institute of Optics, Fine Mechanics and Physics, CAS discloses a kind of ultraprecise micrometric displacement magnetic suspension method for guide rail and device thereof in patent documentation CN1214892C; But this patent only produces suspending power with two electromagnet; So mobile platform does not limit along horizontal rotational freedom, thereby become unstable; In this patent, also play the effect of guiding simultaneously, must carry out decoupling zero control, increased the complexity of control system in order to two electromagnet that produce suspending power; The used linear electric motors of this patent are monolateral stator structure, have unilateral magnetic force between linear motor stator electric and the mover, and this causes very big burden to mobile platform.
Shanghai University discloses initiatively magnetic suspended guide linear electric motors feeding platform of a kind of commercial Application type in patent documentation CN1244432C; But the fixed part in this patent is the simple beam structure that two ends are supported; Rigidity property is poor, easy deformation, and bearing capacity is relatively poor; Linear electric motors in this patent are bilateral mover structure, and bilateral mover all is fixed on the moving-member, and this has just increased the useless weight of moving-member.
Summary of the invention
The object of the invention will provide a kind of novel numerical control machine tool feed system exactly; This system does not have friction, unlubricated, pollution-free and enough bearing capacities and thrust can be provided, to satisfy growing high-speed, high acceleration of numerically controlled machine and high accuracy service requirement.
Another object of the present invention is exactly to many defectives of the prior art, seeks a more satisfied solution.
For realizing above-mentioned purpose; The present invention combines magnetic suspension support and linear motor driving technology together; Eliminated the friction between workbench and the guide rail; Realize the contactless support and the guiding of platen, abandoned the middle transmission link of traditional machine tool feed system, realized the zero transmission of platen.
The present invention adopts following technical scheme:
A kind of numerical-control machine tool magnetic suspension linear feeding system structurally can be divided into limiting-members and dynamic component.Limiting-members comprises pedestal, two guide rails, grating chi and linear motor stator electric parts.Dynamic component mainly comprises: workbench, four bracing or strutting arrangements, four groups of differential levitating electromagnets, two groups of guiding electromagnets, eight eddy current displacement sensors, linear motor rotor parts, grating reading head and four bracing or strutting arrangements.The installation site of each parts is: two guide rails are fixed on the pedestal symmetrically, and the grating chi is installed on the guide rail through an auxiliary member, so that recycling; Four groups of differential levitating electromagnets are distributed in the below at four angles of workbench, and every group of electromagnet is made up of two electromagnet up and down: two groups of guiding electromagnets are installed in the next door of levitating electromagnet, and two electromagnet of every group along level to over against installation; Four bracing or strutting arrangements also are separately fixed at the below of workbench near position, four angles, its level to the position between the optical grating measuring system and levitating electromagnet on the guide rail; Four eddy current displacement sensors that are used to detect levitation gap vertically are installed in 10 millimeters places, next door of four low suspension electromagnet respectively through auxiliary member; Four eddy current displacement sensors that are used to detect the guiding clearance respectively through auxiliary member along level to 10 millimeters places over against the next door that is installed in four guiding electromagnets in twos, between electromagnet and sensor, reserve 10 millimeters gaps and be for fear of the magnetic field of electromagnet sensor is impacted.
Specifically acting as of above-mentioned each parts of numerical-control machine tool magnetic suspension linear feeding system: levitating electromagnet carries and contains workpiece, workbench, linear motor rotor parts, and the deadweight of levitating electromagnet and guiding electromagnet and connection element thereof and cutting perpendicular force are in the load of all interior vertical direction; Guiding electromagnet control lateral clearance, the horizontal disturbance of the infeed mean that elimination cutting force and other uncertain factors cause guarantees the vertically accurately feeding of workbench; Linear electric motors are realized the length feed of workbench; Bracing or strutting arrangement can be in fault, shutdown and is played laterally cut off the power supply suddenly the time and the effect of vertical support, in addition, and corrosion resistant plate machine tool guideway protective cover (not drawing among the figure) can play anti-bits and at a distance from the effect of magnetic.
The suspension of above-mentioned numerical-control machine tool magnetic suspension linear feeding system and guiding electromagnet all are fixed on the workbench through support, connect through interference fit between each electromagnet and the support, and support is processed with aluminum matrix composite.Each parameter of levitating electromagnet and guiding electromagnet has all been carried out standardization, optimization, in practical operation, as long as bed dimension allows, and can be with guiding and the vertical a plurality of arrangements of levitating electromagnet, to improve vertically and the lateral bearing ability along workbench.In addition; Horizontal, down suction between the bracing or strutting arrangement of this Digit Control Machine Tool magnetic suspension linear feeding system and the guide rail; Respectively less than the gap between guiding electromagnet, levitating electromagnet and the guide rail, so bracing or strutting arrangement can play the effect of vertical and cross-brace under the situation of off working state, outage suddenly or disorderly closedown.
Numerical-control machine tool magnetic suspension linear feeding system of the present invention has provided a kind of method that realizes contactless support of platen and guiding: at the levitating electromagnet of four groups of Differential Control of arranged beneath at four angles of workbench; Every group of levitating electromagnet is made up of two electromagnet up and down; The eddy current displacement sensor that is contained in low suspension electromagnet next door detects the gap between electromagnet and the guide rail in real time; And give digital dsp controller with gap value with the form of current signal through A/D conversion equipment and level matching circuit; DSP gives the levitating electromagnet coil windings with differential control signal through D/A conversion and driver after computing; With gap between regulating magnet and the guide rail, thereby realize workbench stable suspersion in vertical direction.The decoupling zero of four groups of levitating electromagnets control realizes that through software they retrain the workbench three degree of freedom altogether: moving vertically, around rotating longitudinally and around horizontal rotation.Four guiding electromagnets are installed in the levitating electromagnet next door of below, four angles of workbench; Its operation principle is identical with levitating electromagnet; Different is that four guiding electromagnets are divided into two groups of work; And every group of electromagnet be convenient to realize Differential Control along laterally over against installation, and guiding electromagnet retrains two frees degree of workbench altogether: move and around the rotation of vertical direction along horizontal.
The stator component of the DC linear electric motor of above-mentioned numerical-control machine tool magnetic suspension linear feeding system mainly comprises permanent magnet and permanent magnet yoke, and mover component comprises winding, winding support and magnetic conductor.Wherein permanent magnet adopts plurality of small blocks NdFeB permanent magnet longitudinally to be consecutively arranged to form, and the permanent magnet yoke adopts the #20 steel.The mover winding adopts the aluminum conductor coiling to form, and winding support adopts aluminum matrix composite to process, and this all is in order to alleviate the weight of mover.The mover magnetic conductor adopts the Ni-Zn soft magnetic ferrite to process; This is in order to guarantee under the prerequisite of magnetic property preferably; Improve its resistivity as far as possible; The induced-current that causes owing to the reverse induction electromotive force when moving to reduce motor, thus reverse electromagnetic force reduced, and the mover magnetic conductor links together through oat tail groove structure and winding support.The control system of this DC linear electric motor mainly comprises DSP master controller, photoelectric isolating circuit, A/D and D/A converter device, Hall current sensor, grating detection system and H type bridge-type chopper driver; The current inversion function of control system is accomplished by driver, and the position of linear electric motors and speed regulation are all realized by software.In addition, the stator of linear electric motors and mover are level basically to layout.
In sum, the present invention gives the method for raising bearing capacity and driving force when realizing the contactless support of platen, guiding and directly driving, and makes that it can be applied at a high speed, the feed system of the Digit Control Machine Tool of high acceleration.
With respect to patent documentation CN1214892C, the present invention has adopted four groups of levitating electromagnets that suspending power is provided, and mobile platform has obtained restriction along horizontal rotational freedom, simultaneously because every group of electromagnet all adopted Differential Control, so improved precision; In addition among the present invention, the vertical each other coupling phenomenon that do not exist of the action direction of levitating electromagnet and guiding electromagnet; Linear electric motors among the present invention adopt the double-sided stator structure, do not have the problem of unilateral magnetic force.
With respect to patent documentation CN1244432C, bearing guide rail longitudinally contacts with pedestal everywhere among the present invention, so rigidity property is good, has improved bearing capacity greatly; Linear electric motors among the present invention adopt the double-sided stator structure in addition, and mover employing light material, have reduced the deadweight of mobile platform effectively, and then have improved bearing capacity and overall system efficiency.
Description of drawings
Accompanying drawing 1 is looked sketch map for numerical-control machine tool magnetic suspension linear feeding system frame for movement master.
Accompanying drawing 2 is a numerical-control machine tool magnetic suspension linear feeding system frame for movement schematic side view.
Accompanying drawing 3 is a numerical-control machine tool magnetic suspension linear feeding system frame for movement schematic top plan view.
Accompanying drawing 4 is numerical-control machine tool magnetic suspension linear feeding system control system schematic.
Accompanying drawing 5 is a kind of magnetic suspension linear feed structural scheme of mechanism.
The specific embodiment
At first; Referring to accompanying drawing 1,2,3; Numerical-control machine tool magnetic suspension linear feeding system of the present invention, include pedestal 1, be fixed in two guide rails 14, linear motor stator electric parts 17,18 on the pedestal 1, be installed in the differential levitating electromagnet of four groups of below at four angles of workbench 54,10, be installed in levitating electromagnet 10 next doors two groups of guiding electromagnets 11, be installed in levitating electromagnet 4,10 and guiding electromagnet 11 next doors eddy current displacement sensor 19,21, be installed in linear motor rotor parts 8,15,16 below the workbench 5, be installed in grating chi 6 on the guide rail, be installed in the workbench below grating reading head 7, be installed in the bracing or strutting arrangement 9 and the guide rail protective cover (not drawing among the figure) of work below.
Is that example elaborates below in conjunction with accompanying drawing with a work period of the present invention.
When the machine tool feed system does not start, do not have electric current in each electromagnet coil, so electromagnet does not produce electromagnetic attraction, whole moving platform leans on bracing or strutting arrangement 9 to be supported on the guide rail 14.Because horizontal, down suction between bracing or strutting arrangement 9 and the guide rail 14; Respectively less than the gap between guiding electromagnet 11, levitating electromagnet 4 and the guide rail 14; So when whole machine tool feed system does not switch on; Can guarantee that bracing or strutting arrangement 9 keeps laterally contacting with vertical with guide rail 14, and each electromagnet 4,10,11 and guide rail 14 keep certain interval.
After system's energising; Electromagnet 4,10,11 produces electromagnetic attraction on the vertical direction of guide rail 9 and horizontal; Each eddy current displacement sensor 19,21 converts the gap between detected electromagnet 4,10,11 and the guide rail 9 to the signal of telecommunication, and this signal is admitted to the DSP master controller through devices such as A/D conversion, level shifting circuits, and controller is through a series of computing output control signals; To control on the winding 3,12 that electric current is added to electromagnet 4,10,11 through D/A conversion and driver again; Gap between regulating magnet 4,10,11 and the guide rail 9, thus make moving platform automatic capturing in a short period of time, and suspend to set the gap; Bracing or strutting arrangement 9 is getaway 14 also, and whole system gets into duty.
Behind the moving platform stable suspersion; Displacement transducer 19 is monitored the gap between levitating electromagnet 4,10 and the guide rail 14 in real time, and gives the control system with this feedback information, when levitation gap changes owing to interference; The control system distributes to differential levitating electromagnet 4,10 with the Differential Control current signal; Force mobile platform to get back to desired location, the PID through dsp controller regulates and makes the mobile platform stable suspersion. the operation principle of two groups of guiding electromagnets 11 and levitating electromagnet the 4, the 10th, and the same, only the force direction of guiding electromagnet 11 edge is horizontal; It mainly is in order to control lateral clearance, thus safeguard work platform 5 accurately feeding longitudinally.
When the needs platform is done the length feed motion; Host computer sends speed and position command; By the DC linear electric motor control loop that grating detection system 6,7, A/D device, DSP master controller, D/A device and driver are formed, driving and adjusting linear motor rotor 8,15,16 arrive assigned address with the speeds of appointment.In this process; Grating 6,7 detects the position and the speed of moving platform in real time. and controller is made the control reaction according to this signal with the very short time interval; This point is particularly evident in back, moving platform location, and in fact moving platform can not accurately hang down and be positioned at a certain assigned address, but near this position, does small vibration; We can make this vibration be controlled in the scope that error allows through the pid control parameter of regulating motor, and high position precision can reach micron order.In addition, what deserves to be mentioned is that because drive unit of the present invention adopts direct current supply, so need the electric current reversing arrangement, in the native system, commutation function is accomplished by driver.
After work is accomplished; Give the linear electric motors winding 16 outages earlier; Then progressively reduce the electric current of each electromagnet 4,10,11 coil windings 3,12, bracing or strutting arrangement 9 is slowly dropped on the guide rail 14, because the gap between bracing or strutting arrangement 9 and the guide rail 14 is less than 0.3 millimeter; So during contact, almost not bump vibrations.
Claims (2)
1. a novel numerical control lathe magnetic suspension linear feeding system includes limiting-members and dynamic component; Limiting-members mainly comprises pedestal, be fixed on the pedestal guide rail and linear motor stator electric parts, dynamic component mainly comprise workbench, levitating electromagnet, guiding electromagnet, bracing or strutting arrangement and linear motor rotor parts; It is characterized in that: levitating electromagnet has four groups, and is distributed in the below at four angles of workbench, and every group of electromagnet is made up of two electromagnet up and down, and is provided with levitation gap and controls system; Guiding electromagnet has four and form two groups, and two electromagnet of every group to facing installation, and are provided with guiding clearance control system along level; The stator component of linear electric motors is installed on the guide rail, and the linear motor rotor parts are installed in the workbench bottom, and are provided with linear electric motors position and speed control system.
2. numerical-control machine tool magnetic suspension linear feeding system as claimed in claim 1; It is characterized in that: levitating electromagnet and guiding electromagnet are fixed on the workbench through support; The iron core of each electromagnet adopts silicon steel plate stacking to form; And and connect through interference fit between the support, support is processed with aluminum matrix composite; Linear motor stator electric parts and linear motor rotor parts are level basically to layout.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105552607A CN102476310A (en) | 2010-11-23 | 2010-11-23 | Novel magnetic suspension linear feeding system for numerical control machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105552607A CN102476310A (en) | 2010-11-23 | 2010-11-23 | Novel magnetic suspension linear feeding system for numerical control machine tool |
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| CN102476310A true CN102476310A (en) | 2012-05-30 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103000932A (en) * | 2012-11-29 | 2013-03-27 | 上海空间电源研究所 | Adjusting method and device of assembly flatness of rectangular storage battery |
| CN105540533A (en) * | 2016-01-22 | 2016-05-04 | 缪雪峰 | Permanent magnet force regulator |
| CN109412376A (en) * | 2018-12-29 | 2019-03-01 | 扬州大学 | A kind of linear motor based on hybrid magnetic suspension guide rail |
| CN110153877A (en) * | 2019-04-12 | 2019-08-23 | 常州市德速机械有限公司 | A kind of precision grinder guide rail |
| CN110524500A (en) * | 2019-09-27 | 2019-12-03 | 复旦大学 | Magnetically suspended guide rail motion platform |
| CN111941147A (en) * | 2020-08-18 | 2020-11-17 | 山东理工大学 | Floating directional machining force measuring and compensating table for cutting machining |
| CN112003441A (en) * | 2020-09-03 | 2020-11-27 | 九洲运通(北京)超导新技术产业发展有限公司 | Linear motor system for magnetic-levitation train |
| WO2021017570A1 (en) * | 2019-07-31 | 2021-02-04 | 南京禹智智能科技有限公司 | Double-station automatic glue dispensing robot and glue dispensing method therefor |
-
2010
- 2010-11-23 CN CN2010105552607A patent/CN102476310A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103000932A (en) * | 2012-11-29 | 2013-03-27 | 上海空间电源研究所 | Adjusting method and device of assembly flatness of rectangular storage battery |
| CN103000932B (en) * | 2012-11-29 | 2015-01-28 | 上海空间电源研究所 | Adjusting method and device of assembly flatness of rectangular storage battery |
| CN105540533A (en) * | 2016-01-22 | 2016-05-04 | 缪雪峰 | Permanent magnet force regulator |
| CN109412376A (en) * | 2018-12-29 | 2019-03-01 | 扬州大学 | A kind of linear motor based on hybrid magnetic suspension guide rail |
| CN109412376B (en) * | 2018-12-29 | 2023-10-17 | 扬州大学 | Linear motor based on hybrid magnetic levitation guide rail |
| CN110153877A (en) * | 2019-04-12 | 2019-08-23 | 常州市德速机械有限公司 | A kind of precision grinder guide rail |
| WO2021017570A1 (en) * | 2019-07-31 | 2021-02-04 | 南京禹智智能科技有限公司 | Double-station automatic glue dispensing robot and glue dispensing method therefor |
| CN110524500A (en) * | 2019-09-27 | 2019-12-03 | 复旦大学 | Magnetically suspended guide rail motion platform |
| CN111941147A (en) * | 2020-08-18 | 2020-11-17 | 山东理工大学 | Floating directional machining force measuring and compensating table for cutting machining |
| CN112003441A (en) * | 2020-09-03 | 2020-11-27 | 九洲运通(北京)超导新技术产业发展有限公司 | Linear motor system for magnetic-levitation train |
| CN112003441B (en) * | 2020-09-03 | 2021-10-26 | 九洲运通(北京)超导新技术产业发展有限公司 | Linear motor system for magnetic-levitation train |
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Application publication date: 20120530 |