CN109382700B - Rigidity self-adaptive quick cutter servo device and method based on magnetorheological elastomer - Google Patents
Rigidity self-adaptive quick cutter servo device and method based on magnetorheological elastomer Download PDFInfo
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- CN109382700B CN109382700B CN201811453645.5A CN201811453645A CN109382700B CN 109382700 B CN109382700 B CN 109382700B CN 201811453645 A CN201811453645 A CN 201811453645A CN 109382700 B CN109382700 B CN 109382700B
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- 229920001971 elastomer Polymers 0.000 title claims abstract description 66
- 239000000806 elastomer Substances 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000000919 ceramic Substances 0.000 claims abstract description 52
- 238000006073 displacement reaction Methods 0.000 claims abstract description 42
- 238000005520 cutting process Methods 0.000 claims abstract description 33
- 229910003460 diamond Inorganic materials 0.000 claims abstract description 19
- 239000010432 diamond Substances 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 3
- 238000004026 adhesive bonding Methods 0.000 claims description 3
- 238000010079 rubber tapping Methods 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 230000003044 adaptive effect Effects 0.000 claims 3
- 230000006978 adaptation Effects 0.000 claims 1
- 238000003754 machining Methods 0.000 description 9
- 230000001105 regulatory effect Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
- B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
- B23Q17/0966—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring a force on parts of the machine other than a motor
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Abstract
The invention discloses a rigidity self-adaptive quick cutter servo device and method based on a magnetorheological elastomer. The existing rapid tool servo device with adjustable rigidity cannot realize real-time adjustment of rigidity. The invention comprises a tool rest fixing piece, a diamond tool, a tool holder, a coil, a pressure sensor, a displacement output piece, a sensor fixing piece, a capacitance displacement sensor, a cylindrical piezoelectric ceramic actuator, a frame, a magnetorheological elastomer mounting piece, an adjusting bolt, a magnetorheological elastomer and a screw. According to the invention, the pressure sensor and the capacitance displacement sensor are used for measuring the cutting force and the actual output displacement of the quick cutter servo device in the processing process, and the cutting deformation error is calculated to control the power-on current of the coil, so that the magnetic field intensity is changed, the rigidity of the magnetorheological elastomer is controlled, and the rigidity self-adaptive online adjustment of the whole device is realized. The invention can effectively prevent the displacement deviation of the tool apron in the axial direction of the vertical cylindrical piezoelectric ceramic actuator.
Description
Technical Field
The invention belongs to the technical field of ultra-precision machining equipment, and particularly relates to a rigidity self-adaptive quick cutter servo device based on a magnetorheological elastomer and a rigidity self-adaptive method thereof.
Background
With the development of optoelectronics in recent years, optical elements play a key or even decisive role in a series of technological fields such as aerospace, military, medicine, communication and the like, and non-rotationally symmetrical optical curved surface elements have become key parts for photoelectric irreplacements. The traditional machining cannot meet the machining requirements more and more, and a plurality of emerging machining methods have great limitations, so that the superiority of the Fast Tool Servo (FTS) technology on complex asymmetric free-form surface parts is more and more obvious.
The rigidity is the resistance of the device to deformation under the action of external force, and comprises static rigidity and dynamic rigidity. The variation in cutting depth in asymmetric freeform machining makes the cutting force uneven as well. The cutting force consists of a static force and a dynamic force, the static force only affects the size of the workpiece, and the dynamic force directly affects the shape of the workpiece. If the stiffness of the fast tool servo is very low, the "error-mapping" effect of the cutting process is very severe, which can greatly reduce the machining accuracy and even cause cutting chatter, affecting the stability of the whole cutting process.
The existing stiffness-adjustable quick cutter servo device is mostly used for realizing manual adjustment of stiffness through a compression spring, is greatly influenced by human factors in the adjustment process, cannot realize real-time adjustment of stiffness, and cannot meet the dynamic requirements of a modern quick cutter servo device.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art, and provides a rigidity self-adaptive quick cutter servo device based on a magnetorheological elastomer and a rigidity self-adaptive method thereof.
The invention is realized by the following technical scheme:
the invention discloses a rigidity self-adaptive quick cutter servo device based on a magnetorheological elastomer, which comprises a cutter holder fixing piece, a diamond cutter, a cutter holder, a coil, a pressure sensor, a displacement output piece, a sensor fixing piece, a capacitance displacement sensor, a cylindrical piezoelectric ceramic actuator, a frame, a magnetorheological elastomer mounting piece, an adjusting bolt, a magnetorheological elastomer and a screw. The frame comprises a frame front beam, a frame cross beam, a frame back beam and a rounded straight beam type flexible hinge which are integrally formed; one end of each of the two frame cross beams is connected with two ends of the frame back beam respectively, and the other ends of the two frame cross beams are connected with the frame front beam through two rounded straight beam type flexible hinges arranged at intervals; four rounded straight beam type flexible hinge arrays are arranged on two sides of the front beam of the frame; the rounded straight beam type flexible hinge comprises a straight beam and two flexible connecting beams which are integrally formed and arranged at two ends of the straight beam; the two flexible connecting beams are respectively connected with the frame front beam and the corresponding frame cross beam; the joints of the straight beam, the frame cross beam and the frame front beam and the flexible connecting beam are rounded. The frame back beam, the frame front beam, the two frame cross beams and the two rounded straight beam flexible hinges close to the frame back beam are encircled to form an actuator placing cavity; the frame back beam is provided with a central threaded hole and two connecting threaded holes symmetrically positioned on two sides of the central threaded hole. The tool apron is fixed at the front end of the frame front beam, and the diamond tool is fixed on the tool apron through the tool rest fixing piece. The frame front beam is provided with a coil placing opening, and the coil is fixed in the coil placing opening through gluing. The pressure sensor is fixed at the rear end of the front beam of the frame; the cylindrical piezoelectric ceramic actuator is arranged in the actuator placing cavity and is positioned between the pressure sensor and the frame back beam; the columnar piezoelectric ceramic actuator is arranged in front of the frame Liang Tongzhou; the magnetorheological elastomer mounting piece is provided with a magnetorheological elastomer mounting groove, and an integrally formed limiting block is arranged at the center of the magnetorheological elastomer mounting groove; the limiting block is provided with a central through hole; the magnetorheological elastomer mounting member is also provided with two connecting through holes which are symmetrical relative to the central through hole; the magnetorheological elastomer is placed in the magnetorheological elastomer placing groove of the magnetorheological elastomer mounting piece and sleeved on the limiting block; each connecting through hole of the magnetorheological elastomer mounting piece is connected with one connecting threaded hole corresponding to the frame back beam through a screw; the adjusting bolt penetrates through the central through hole of the magnetorheological elastomer mounting piece and is connected with the central threaded hole of the frame back beam; two ends of the cylindrical piezoelectric ceramic actuator are limited by the tail parts of the pressure sensor and the adjusting bolt respectively; the sensor fixing piece is fixed on the frame beam, and the capacitance displacement sensor is fixed on the sensor fixing piece; one end of the displacement output piece is fixed on the frame front beam, and the other end is opposite to the measuring head of the capacitance displacement sensor. The signal output ends of the pressure sensor, the capacitance displacement sensor and the cylindrical piezoelectric ceramic actuator are connected with the controller; the signal input end of the power supply of the coil is connected with the controller.
The frame is processed as follows: firstly, cutting an actuator placing cavity and four rounded straight beam type flexible hinges on massive stainless steel by linear cutting, so as to form a frame front beam, a frame rear beam and two frame cross beams; then, a center screw hole and two connection screw holes are formed on the frame back beam by tapping.
The cylindrical piezoelectric ceramic actuator is replaced by a voice coil motor.
The rigidity self-adaption method of the rigidity self-adaption quick cutter servo device based on the magnetorheological elastomer comprises the following specific steps:
1) Stiffness K of columnar piezoelectric ceramic actuator PZT The pre-tightening force of the columnar piezoelectric ceramic actuator is adjusted through an adjusting bolt and stored in a controller in advance.
2) The cylindrical piezoelectric ceramic actuator inputs displacement, and the pressure sensor measures that the diamond cutter receives cutting force F along the axial direction of the cylindrical piezoelectric ceramic actuator in the processing process y The capacitance displacement sensor detects output displacement l of the diamond cutter along the axial direction of the cylindrical piezoelectric ceramic actuator mech The method comprises the steps of carrying out a first treatment on the surface of the Controller reads F y 、l mech And input displacement l of cylindrical piezoelectric ceramic actuator PZT And calculating the rigidity K of the whole rigidity self-adaptive quick cutter servo device based on the magnetorheological elastomer by the formula (1) and the formula (2) mech And a cutting deformation error Vy of the diamond cutter along the axial direction of the cylindrical piezoelectric ceramic actuator.
3) When the cutting deformation error Vy exceeds a preset value, the controller outputs a control signal to increase the power-on current of the coil and increase the magnetic field intensity, so that the rigidity of the magnetorheological elastomer is increased, and the rigidity of the whole self-adaptive rapid cutter servo device based on the rigidity of the magnetorheological elastomer is increased until the cutting deformation error Vy is equal to 95% of the preset value, so that the power-on current of the coil is kept unchanged; when the cutting deformation error Vy is lower than 80% of the preset value, the controller outputs a control signal to reduce the power-on current of the coil until the cutting deformation error Vy is equal to 95% of the preset value, and the power-on current of the coil is kept unchanged.
The invention has the beneficial effects that:
1. according to the invention, by utilizing the characteristic that the rigidity of the magnetorheological elastomer changes under the excitation of a magnetic field, the cutting force and the actual output displacement of the quick cutter servo device in the machining process are measured through the pressure sensor and the capacitance displacement sensor, and the cutting deformation error is calculated to control the power-on current of the coil, so that the magnetic field intensity is changed, the rigidity of the magnetorheological elastomer is controlled, and the self-adaptive online adjustment of the rigidity of the whole device is realized.
2. The frame front beam is a connecting piece of a double-parallel four-bar mechanism, and the cylindrical piezoelectric ceramic actuator is arranged in front of the frame Liang Tongzhou, so that displacement deviation of the tool apron in the direction perpendicular to the axis of the cylindrical piezoelectric ceramic actuator can be effectively prevented when pretightening force of the cylindrical piezoelectric ceramic actuator or when the cylindrical piezoelectric ceramic actuator inputs displacement is regulated by the regulating bolt, the linearity of output displacement of the diamond tool along the axis of the cylindrical piezoelectric ceramic actuator is improved, and the precision of the whole device is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the device of the present invention;
FIG. 2 is a schematic illustration of an assembly of a magnetorheological elastomer and a magnetorheological elastomer mounting in accordance with the present invention;
FIG. 3 is a perspective view of a magnetorheological elastomer mounting in accordance with the present invention;
fig. 4 is a schematic view of the structure of the frame in the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 4, the magnetorheological elastomer-based stiffness self-adaptive quick tool servo device comprises a tool rest fixing piece 1, a diamond tool 2, a tool holder 3, a coil 5, a pressure sensor 6, a displacement output piece 7, a sensor fixing piece 8, a capacitance displacement sensor 9, a cylindrical piezoelectric ceramic actuator 10, a frame 11, a magnetorheological elastomer mounting piece 12, an adjusting bolt 13, a magnetorheological elastomer 14 and a screw 15. The frame 11 comprises a frame front beam 11-1, a frame cross beam 11-2, a frame rear beam 11-3 and a rounded straight beam type flexible hinge 4 which are integrally formed; one end of the two frame cross beams 11-2 is respectively connected with two ends of the frame back beam 11-3, and the other ends of the two frame cross beams 11-2 are connected with the frame front beam 11-1 through two round straight beam type flexible hinges 4 arranged at intervals; four rounded straight beam type flexible hinges 4 are arranged on two sides of the frame front beam 11-1 in an array manner; the rounded straight beam type flexible hinge 4 comprises a straight beam and two flexible connecting beams which are integrally formed and arranged at two ends of the straight beam; the two flexible connecting beams are respectively connected with the frame front beam 11-1 and the corresponding frame cross beam 11-2; the joints of the straight beam, the frame cross beam 11-2 and the frame front beam 11-1 and the flexible connecting beam are rounded. The frame back beam 11-3, the frame front beam 11-1, the two frame cross beams 11-2 and the two rounded straight beam type flexible hinges 4 close to the frame back beam 11-3 are encircled to form an actuator placing cavity; the frame back beam 11-3 is provided with a central threaded hole and two connecting threaded holes symmetrically positioned at two sides of the central threaded hole. The frame 11 is processed as follows: firstly, an actuator placing cavity and four rounded straight beam type flexible hinges 4 are cut on a block 304 stainless steel through linear cutting, so that a frame front beam 11-1, a frame rear beam 11-3 and two frame cross beams 11-2 are formed; then, the center screw hole and the two coupling screw holes are formed by tapping on the frame back 11-3. The tool holder 3 is fixed at the front end of the frame front beam 11-1, and the diamond tool 2 is fixed on the tool holder 3 through the tool holder fixing piece 1. The frame front beam 11-1 is provided with a coil placing opening in which the coil 5 is fixed by gluing. The pressure sensor 6 is fixed at the rear end of the frame front beam 11-1; the cylindrical piezoelectric ceramic actuator 10 is arranged in the actuator accommodating cavity and is positioned between the pressure sensor 6 and the frame back beam 11-3; the columnar piezoelectric ceramic actuator 10 is coaxially arranged with the frame front beam 11-1; as shown in fig. 2 and 3, the magnetorheological elastomer mounting member 12 is provided with a magnetorheological elastomer receiving slot, and an integrally formed limiting block is arranged at the center of the magnetorheological elastomer receiving slot; the limiting block is provided with a central through hole; the magnetorheological elastomer mounting member 12 is also provided with two connecting through holes which are symmetrical with respect to the central through hole; the magnetorheological elastomer 14 is placed in a magnetorheological elastomer placing groove of the magnetorheological elastomer mounting member 12 and sleeved on the limiting block; each connecting through hole of the magnetorheological elastomer mounting member 12 is connected with a corresponding connecting threaded hole of the frame back beam 11-3 through a screw 15; the adjusting bolt 13 passes through the central through hole of the magnetorheological elastomer mounting member 12 and is connected with the central threaded hole of the frame back beam 11-3; two ends of the cylindrical piezoelectric ceramic actuator 10 are limited by the tail parts of the pressure sensor 6 and the adjusting bolt 13 respectively; the preload of the cylindrical piezo ceramic actuator 10 can be adjusted by means of the adjusting screw 13. The sensor fixing piece 8 is fixed on the frame beam 10-2, and the capacitance displacement sensor 9 is fixed on the sensor fixing piece 8; one end of the displacement output piece 7 is fixed on the frame front beam 11-1, and the other end is opposite to the measuring head of the capacitance displacement sensor 9. The signal output ends of the pressure sensor 6, the capacitance displacement sensor 9 and the cylindrical piezoelectric ceramic actuator are connected with a controller; the power supply signal input end of the coil 5 is connected with the controller.
The cylindrical piezo-ceramic actuator 10 may be replaced with a voice coil motor as a driver.
The rigidity self-adaption method of the rigidity self-adaption quick cutter servo device based on the magnetorheological elastomer comprises the following specific steps:
1) Stiffness K of columnar piezoelectric ceramic actuator PZT Is stored in the controller in advance, and the pretightening force of the cylindrical piezoelectric ceramic actuator 10 is regulated by the regulating bolt 13.
2) The cylindrical piezoelectric ceramic actuator 10 inputs displacement, and the pressure sensor 6 measures the cutting force F applied to the diamond cutter 2 along the axial direction of the cylindrical piezoelectric ceramic actuator during the machining process y Electric powerRong Weiyi sensor 9 measures the output displacement l of the diamond tool 2 in the axial direction of the cylindrical piezoelectric ceramic actuator 10 mech The method comprises the steps of carrying out a first treatment on the surface of the Controller reads F y 、l mech And input displacement l of cylindrical piezoelectric ceramic actuator PZT And calculating the rigidity K of the whole rigidity self-adaptive quick cutter servo device based on the magnetorheological elastomer by the formula (1) and the formula (2) mech And a cutting deformation error Vy of the diamond tool 2 in the axial direction of the cylindrical piezoelectric ceramic actuator.
3) When the cutting deformation error Vy exceeds a preset value, namely the system rigidity is insufficient, in order to reduce the influence of error remapping on the machining precision, the controller outputs a control signal to increase the power-on current of the coil 5 and increase the magnetic field intensity, so that the rigidity of the magnetorheological elastomer is increased. The assembly of the magnetorheological elastomer and the frame and the magnetorheological elastomer mounting piece 12 can be equivalently formed into two springs which are connected in parallel, so that the rigidity of the magnetorheological elastomer is increased, the rigidity of the whole self-adaptive rapid cutter servo device based on the rigidity of the magnetorheological elastomer is increased, and the energizing current of the coil 5 is kept unchanged until the cutting deformation error Vy is equal to 95% of a preset value; when the cutting deformation error Vy is lower than 80% of the preset value, that is, when there is a large margin in the system rigidity (as can be seen from the formula (1), l mech And K is equal to mech Inversely proportional, i.e. K mech Become larger, l mech The system rigidity margin is too large, so that the maximum stroke of the diamond cutter 2 along the axial direction of the cylindrical piezoelectric ceramic actuator 10 is only reduced, and K is visible mech Rather than being larger, the controller outputs a control signal to reduce the magnitude of the energizing current of the coil 5 until the cutting deformation error Vy is equal to 95% of the preset value, keeping the energizing current of the coil 5 unchanged. The stiffness of the whole device is adaptively adjusted through the process.
In the invention, because the four rounded straight beam type flexible hinges 4 are arranged on two sides of the frame front beam 11-1 in an array manner, the two rounded straight beam type flexible hinges 4 on the same side form a parallel four-bar mechanism with the frame front beam 11-1 and the corresponding side frame cross beam 11-2, so that the frame front beam 11-1 is a connecting piece of the double parallel four-bar mechanism, and the cylindrical piezoelectric ceramic actuator 10 and the frame front beam 11-1 are coaxially arranged, when the pretightening force of the cylindrical piezoelectric ceramic actuator 10 is regulated by the regulating bolt 13 or when the cylindrical piezoelectric ceramic actuator 10 inputs displacement, the displacement deviation of the tool apron 3 in the axial direction of the vertical cylindrical piezoelectric ceramic actuator 10 can be effectively prevented, the linearity of the diamond tool 2 in the axial direction of the cylindrical piezoelectric ceramic actuator 10 is improved, and the precision of the whole device is improved.
Claims (4)
1. The utility model provides a rigidity self-adaptation quick cutter servo based on magneto rheological elastomer, includes knife rest mounting, diamond cutter, blade holder, cylindricality piezoceramics actuator, frame and adjusting bolt, its characterized in that: the device also comprises a coil, a pressure sensor, a displacement output piece, a sensor fixing piece, a capacitance displacement sensor, a magnetorheological elastomer mounting piece, a magnetorheological elastomer and a screw; the frame comprises a frame front beam, a frame cross beam, a frame back beam and a rounded straight beam type flexible hinge which are integrally formed; one end of each of the two frame cross beams is connected with two ends of the frame back beam respectively, and the other ends of the two frame cross beams are connected with the frame front beam through two rounded straight beam type flexible hinges arranged at intervals; four rounded straight beam type flexible hinge arrays are arranged on two sides of the front beam of the frame; the rounded straight beam type flexible hinge comprises a straight beam and two flexible connecting beams which are integrally formed and arranged at two ends of the straight beam; the two flexible connecting beams are respectively connected with the frame front beam and the corresponding frame cross beam; rounded corners are arranged at the joints of the straight beam, the frame cross beam and the frame front beam and the flexible connecting beam; the frame back beam, the frame front beam, the two frame cross beams and the two rounded straight beam flexible hinges close to the frame back beam are encircled to form an actuator placing cavity; the frame back beam is provided with a central threaded hole and two connecting threaded holes symmetrically positioned at two sides of the central threaded hole; the tool apron is fixed at the front end of the front beam of the frame, and the diamond tool is fixed on the tool apron through a tool rest fixing piece; the frame front beam is provided with a coil placing opening, and the coil is fixed in the coil placing opening through gluing; the pressure sensor is fixed at the rear end of the front beam of the frame; the cylindrical piezoelectric ceramic actuator is arranged in the actuator placing cavity and is positioned between the pressure sensor and the frame back beam; the columnar piezoelectric ceramic actuator is arranged in front of the frame Liang Tongzhou; the magnetorheological elastomer mounting piece is provided with a magnetorheological elastomer mounting groove, and an integrally formed limiting block is arranged at the center of the magnetorheological elastomer mounting groove; the limiting block is provided with a central through hole; the magnetorheological elastomer mounting member is also provided with two connecting through holes which are symmetrical relative to the central through hole; the magnetorheological elastomer is placed in the magnetorheological elastomer placing groove of the magnetorheological elastomer mounting piece and sleeved on the limiting block; each connecting through hole of the magnetorheological elastomer mounting piece is connected with one connecting threaded hole corresponding to the frame back beam through a screw; the adjusting bolt penetrates through the central through hole of the magnetorheological elastomer mounting piece and is connected with the central threaded hole of the frame back beam; two ends of the cylindrical piezoelectric ceramic actuator are limited by the tail parts of the pressure sensor and the adjusting bolt respectively; the sensor fixing piece is fixed on the frame beam, and the capacitance displacement sensor is fixed on the sensor fixing piece; one end of the displacement output piece is fixed on the front beam of the frame, and the other end of the displacement output piece is opposite to the measuring head of the capacitance displacement sensor; the signal output ends of the pressure sensor, the capacitance displacement sensor and the cylindrical piezoelectric ceramic actuator are connected with the controller; the signal input end of the power supply of the coil is connected with the controller.
2. The magnetorheological elastomer based stiffness adaptive fast tool servo apparatus of claim 1, wherein: the frame is processed as follows: firstly, cutting an actuator placing cavity and four rounded straight beam type flexible hinges on massive stainless steel by linear cutting, so as to form a frame front beam, a frame rear beam and two frame cross beams; then, a center screw hole and two connection screw holes are formed on the frame back beam by tapping.
3. The magnetorheological elastomer based stiffness adaptive fast tool servo of claim 1 or 2, wherein: the cylindrical piezoelectric ceramic actuator is replaced by a voice coil motor.
4. The method for stiffness adaptation of a magnetorheological elastomer-based stiffness adaptive fast tool servo according to claim 1 or 2, wherein: the method comprises the following steps:
1) Stiffness K of columnar piezoelectric ceramic actuator PZT Pre-storing the pre-tightening force into a controller, and adjusting the pre-tightening force of the cylindrical piezoelectric ceramic actuator through an adjusting bolt;
2) The cylindrical piezoelectric ceramic actuator inputs displacement, and the pressure sensor measures that the diamond cutter receives cutting force F along the axial direction of the cylindrical piezoelectric ceramic actuator in the processing process y The capacitance displacement sensor detects output displacement l of the diamond cutter along the axial direction of the cylindrical piezoelectric ceramic actuator mech The method comprises the steps of carrying out a first treatment on the surface of the Controller reads F y 、l mech And input displacement l of cylindrical piezoelectric ceramic actuator PZT And calculating the rigidity K of the whole rigidity self-adaptive quick cutter servo device based on the magnetorheological elastomer by the formula (1) and the formula (2) mech And cutting deformation error delta y of the diamond cutter along the axial direction of the cylindrical piezoelectric ceramic actuator;
3) When the cutting deformation error delta y exceeds a preset value, the controller outputs a control signal to increase the power-on current of the coil and increase the magnetic field intensity, so that the rigidity of the magnetorheological elastomer is increased, and the rigidity of the whole self-adaptive rapid cutter servo device based on the rigidity of the magnetorheological elastomer is increased until the cutting deformation error delta y is equal to 95% of the preset value, and the power-on current of the coil is kept unchanged; when the cutting deformation error delta y is lower than 80% of a preset value, the controller outputs a control signal to reduce the power-on current of the coil until the cutting deformation error delta y is equal to 95% of the preset value, and the power-on current of the coil is kept unchanged.
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| CN201811453645.5A CN109382700B (en) | 2018-11-30 | 2018-11-30 | Rigidity self-adaptive quick cutter servo device and method based on magnetorheological elastomer |
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| CN201811453645.5A CN109382700B (en) | 2018-11-30 | 2018-11-30 | Rigidity self-adaptive quick cutter servo device and method based on magnetorheological elastomer |
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| CN110000611B (en) * | 2019-05-06 | 2020-11-17 | 浙江大学 | Control method of fast cutter servo device with cutting force online sensing function |
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| CN110757250B (en) * | 2019-11-26 | 2024-04-09 | 江苏集萃精凯高端装备技术有限公司 | Ultra-high precision positioning and adjusting device |
| CN111791079B (en) * | 2020-05-22 | 2021-08-31 | 浙江大学 | Electromagnetic driving type quick cutter servo system based on flexible hinge combined mechanism |
| CN111872746B (en) * | 2020-08-01 | 2022-02-08 | 浙江大学 | Mechanical flexible mechanism capable of realizing single-axis, double-axis and three-axis force detection functions |
| CN112338623B (en) * | 2020-10-30 | 2022-05-24 | 齐鲁工业大学 | Rigidity self-adjusting fast tool servo device |
| CN115431100B (en) * | 2022-09-30 | 2024-04-05 | 杭州电子科技大学 | Cutting force monitoring and displacement control system of rapid cutter servo device |
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