CN110000416A - A kind of the power position control milling machine tool working and its control method of radial vibration auxiliary - Google Patents
A kind of the power position control milling machine tool working and its control method of radial vibration auxiliary Download PDFInfo
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- CN110000416A CN110000416A CN201910427682.7A CN201910427682A CN110000416A CN 110000416 A CN110000416 A CN 110000416A CN 201910427682 A CN201910427682 A CN 201910427682A CN 110000416 A CN110000416 A CN 110000416A
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- 238000003801 milling Methods 0.000 title claims abstract description 138
- 238000000034 method Methods 0.000 title abstract description 11
- 238000003754 machining Methods 0.000 claims abstract description 9
- 239000000919 ceramic Substances 0.000 claims description 70
- 238000000227 grinding Methods 0.000 claims description 24
- 238000005520 cutting process Methods 0.000 claims description 21
- 238000005498 polishing Methods 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 8
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims description 6
- 230000001788 irregular Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 241000270722 Crocodylidae Species 0.000 claims description 3
- LNNWVNGFPYWNQE-GMIGKAJZSA-N desomorphine Chemical compound C1C2=CC=C(O)C3=C2[C@]24CCN(C)[C@H]1[C@@H]2CCC[C@@H]4O3 LNNWVNGFPYWNQE-GMIGKAJZSA-N 0.000 claims description 3
- 241001416181 Axis axis Species 0.000 claims description 2
- 230000036316 preload Effects 0.000 claims description 2
- 229910052573 porcelain Inorganic materials 0.000 claims 1
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000003245 working effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 239000012530 fluid Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 239000006061 abrasive grain Substances 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Milling Processes (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The present invention relates to the power position control milling machine tool workings and its control method of a kind of radial vibration auxiliary, belong to mechanical precision manufactureing field.The longitudinally fixed middle position being mounted on the upside of lathe base of longitudinal moving device, first machine pillar is mounted by means of bolts on the leftward position above lathe base, second machine pillar is mounted by means of bolts on the right positions above lathe base, first machine pillar and the second machine pillar are symmetrical about longitudinal moving device, the both ends of machine tool beam are respectively and fixedly installed to the upper end of the first machine pillar and the second machine pillar, horizontal mobile device is laterally fixedly mounted on the leading flank of machine tool beam, vertically movable device is vertically fixedly mounted on the slide carriage of horizontal mobile device, milling tool system is vertically fixedly mounted on the slide carriage of vertically movable device by bolt.Advantage is to be capable of processing complex-curved, the accurate control of realization milling power, improves machining accuracy and efficiency, reduction processing cost.
Description
Technical field
The power position assisted the invention belongs to mechanical precision manufactureing field more particularly to a kind of radial vibration controls milling machine tool working
And method.
Background technique
Nowadays, the numerous areas such as the aerospace in China, electronics, national defence develop rapidly, this is complex-curved to high-performance
The demand of part is also more and more.Study complex-curved precision processing technology, develop associated equipment, for promote national defense industry and
The development of certain new high-tech industries has a very important significance.Currently, polishing essence is completed on the complex-curved surface of high-precision
Process before processing mainly uses milling and the semifinishing skill for being ground (milling), and traditional milling processing depends on ripe
Practice worker manual operations, large labor intensity, low efficiency, unstable quality, existing milling molding machine is rigidly big, milling power and
The coupled problem of milling cutter head position control is not well solved, moreover, being especially ground in milling process
Cheng Zhong remains and contacts that grinding fluid is difficult to enter between cutter head and workpiece to be machined surface between milling cutter head and workpiece,
So that grinding fluid reduces cutting temperature, chip is taken away, the effect that the abrasive grain in grinding fluid participates in cutting substantially reduces, and is processed work
Part surface quality and processing efficiency are difficult to ensure, it is difficult to which the modern complicated wheat flour of adaptation makes high-precision, efficient, inexpensive development and becomes
Gesture.
Summary of the invention
The present invention provides the power position control milling machine tool working and its control method of a kind of radial vibration auxiliary, it is therefore an objective to by right
The main shaft of Milling Process provides radial ancillary vibration so that cutter head and workpiece surface Intermittent Contact, make grinding fluid well into
To between cutter and workpiece to be machined surface, by installing baric systerm on milling head and by milling system and mobile platform knot
The control to Milling Force in milling process and milling cutter head position is realized altogether, to improve machining accuracy and production efficiency, drop
Low processing cost.
The technical solution adopted by the present invention is that: including milling tool system, the first machine pillar, lathe base, Zong Xiangyi
Dynamic device, the second machine pillar, machine tool beam, horizontal mobile device, vertically movable device, wherein longitudinal moving device is longitudinally solid
Middle position of the Dingan County on the upside of lathe base, the first machine pillar are mounted by means of bolts on the left side above lathe base
Side position, the second machine pillar are mounted by means of bolts on the right positions above lathe base, the first machine pillar and
Two machine pillars are symmetrical about longitudinal moving device, the both ends of machine tool beam be respectively and fixedly installed to the first machine pillar and
The upper end of second machine pillar, horizontal mobile device are laterally fixedly mounted on the leading flank of machine tool beam, vertically movable device
It is vertically fixedly mounted on the slide carriage of horizontal mobile device, the milling tool system is vertically fixedly mounted on vertically by bolt
On the slide carriage of mobile device.
The milling tool system includes mobile platform component, rear fixed plate, vertical milling component and radial hinge component,
Wherein mobile platform component level is fixedly mounted on the upper end of rear fixed plate and the main body of mobile platform component and rear fixed plate hang down
Directly, the top half of the universal joint of the vertical milling component upper end and the universal joint fixed station of the mobile platform component are fixed
Connection, radial hinge component level is fixedly mounted on the lower end of rear fixed plate, and radial hinge component main body and rear fixed plate hang down
Directly, the output long axis of vertical milling component passes through the pillar linear ball bushing of radial hinge component and linear with pillar
Ball bushing is slidably connected.
Plane where the mobile platform module body is parallel with plane where the radial hinge component main body.
The mobile platform component includes mobile platform bracket, first linear module, universal joint fixed station, third linear mould
Group and the second linear mould group, wherein first linear module and the second linear Mo Zu are fixedly installed in mobile platform cradle bottom surface respectively
Left and right side, one end of third linear mould group is mounted on the slide carriage of first linear module, and the other end is installed on the second line
On the slide carriage of property mould group, and third linear mould group is vertical with first linear module and the second linear mould group holding always, and described ten thousand
It is fixedly mounted on the slide carriage of third linear mould group to section fixed station.
The first linear module include stepper motor, front shoe, linear module base, linear guides, it is small slip version, rolling
Ballscrew and rear fixed plate, wherein linear guides are fixedly mounted in linear module base, and rear fixed plate is fixedly mounted on linearly
One end of module base, front shoe are fixedly mounted on the other end of linear module base, and stepper motor is solid before being fixedly mounted on
Side of the fixed board far from rear fixed plate, ball-screw one end are rotatablely connected by the output shaft of shaft coupling and stepper motor, rear solid
The other end of fixed board is rotatablely connected by bearing and rear fixed plate, and small version of slipping is connected with ball-screw and slides with linear guides
Connection.
The vertical milling component include Linear displacement transducer, connecting plate, connection shaft, force snesor, servo motor,
Export long axis, universal joint, air cylinder supporting structure, cylinder, band flange linear ball bushing, guiding axis, motor fixing frame, shaft coupling and
Milling cutter, wherein the lower end of universal joint is fixedly mounted in the universal hinge mounting hole in air cylinder supporting structure, and cylinder passes through long spiral shell
Bolt is fixedly mounted on the inside of air cylinder supporting structure, and Linear displacement transducer is fixedly mounted on the side of air cylinder supporting structure, connection
Plate one end is fixedly connected with the output shaft of Linear displacement transducer, and one end is connected with the output shaft of cylinder, force snesor it is upper
End is fixedly connected by connection shaft with the output shaft of cylinder, and the lower end of force snesor connects by the way that screw thread and motor fixing frame are fixed
It connects, with flange linear ball bushing, there are two be inverted the downside for being fixedly mounted on the bearing erecting bed of air cylinder supporting structure two sides respectively
On face, two guiding axis are threadably secured the two sides for being connected to force snesor on motor fixing frame, described two guiding respectively
Axis is connect with two band flange linear ball casing slips respectively, under one end and motor fixing frame of the output shaft of servo motor
End is fixedly connected, and servo motor is located in motor fixing frame, is exported long axis by shaft coupling and is fixedly connected on servo motor
On output shaft, milling cutter is fixedly connected on the lower end of output long axis.
The axis of described two guiding axis and the axis of cylinder output shaft are in same plane, the axis of two guiding axis
Axisymmetrical of the axis in parallel and about cylinder output shaft about cylinder output shaft, axis, the gas of the lower half portion of universal joint
The axis of cylinder output shaft, the axis of connection shaft, the central axes of force snesor, the axis of servo motor output shaft, output long axis
Axis, milling cutter axis be overlapped.
The radial direction hinge component includes spherical bearing, pillar linear ball bushing, wedge shape preload block, piezoelectric ceramic stack
Stack and flexible hinge, wherein flexible hinge is symmetrical structure, and has spherical bearing mounting hole, two piezoelectric ceramics on flexible hinge
Storehouse mounting groove, two piezoelectric ceramics storehouses pre-tighten inclined-planes, 12 second hinge links for being located at six vertex of regular hexagon,
And four first axle links on the outside of hexagon are distributed in, the wedge shape pre-tightens block and piezoelectric ceramics storehouse two respectively
A, two piezoelectric ceramics storehouses are separately mounted to pre-tighten in the piezoelectric ceramics storehouse mounting groove of flexible hinge and respectively by wedge shape
Block pre-tighten, two piezoelectric ceramics storehouses about the symmetrical axial symmetry of flexible hinge and the axis of two piezoelectric ceramics storehouses it is vertical,
The spherical bearing is fixedly mounted in spherical bearing mounting hole, the axis of the spherical bearing and two piezoelectric ceramics storehouse axis
Plane where line is vertical and crosses the intersection point of two piezoelectric ceramics storehouse axis, and the pillar linear ball bushing is fixedly mounted
In the hole slot at spherical bearing center.
The universal joint fixed station effective exercise region is a square area, and the central point of this square area is thrown
Shadow to radial hinge component main body point in the plane, be overlapped just with the intersection point of two piezoelectric ceramics storehouse axis.
A kind of power position control milling method of radial vibration auxiliary, including the following steps:
(1), establish grinding and polishing tool system coordinate system xyz: universal joint is fixedly connected on universal joint fixed station, universal joint
The effective exercise region of spider center point is square region, using the central point of this square area as origin O, to cross O point
And the straight line for being parallel to third linear mould group ball-screw axis is x-axis, with the servo motor in x-axis close to third linear mould group
Direction be x-axis positive direction, to cross O point and be parallel to the straight line of the second linear mould group ball-screw axis as y-axis, with y-axis
The upper direction close to the second linear mould group servo motor is the positive direction of y-axis, to cross O point and the straight line all vertical with x-axis and y-axis
Dimensional Cartesian coordinates system xyz is established, it is specified that the universal joint ten using direction straight up as the positive direction of z-axis for z-axis
Four vertex in the square effective exercise region of word axis center point are respectively A, B, C and D, and wherein B point is located in first quartile,
A point is located in the second quadrant, and D point is located in third quadrant, and C point is located in fourth quadrant, wherein universal-joint cross trunnion central point
Effective exercise region square side length, b is the difference in height of universal-joint cross trunnion central point and spherical bearing center point, and L is
Cylinder output shaft exports the distance of cutter head center point of the universal-joint cross trunnion central point apart from milling cutter when length is zero, cylinder
The output length of output shaft is △ L, △ LmaxFor cylinder output shaft maximum output length, the output length of cylinder output shaft is zero
And the corresponding point of cutter head institute of universal-joint cross trunnion central point milling cutter when being located at A, B, C, D is C ', D ', A ',
B ', the extension elongation of cylinder output shaft are △ LmaxAnd universal-joint cross trunnion central point milling cutter when being located at A, B, C, D
The corresponding point of cutter head institute is C ", D ", A ", B "；
(2), it installs on workpiece to be processed to the slide carriage of longitudinal moving device, positioning clamping is carried out to workpiece to be processed, control
Milling tool system is adjusted in place by longitudinal moving device processed, horizontal mobile device, vertically movable device, so that workpiece to be processed
Surface is located in milling cutting tool insert center point useful effect region；
(3), it determines machining locus, and determines the relationship of normal vector and milling tool axis vector at machining locus point: is logical
Crossing control first linear module, third linear mould group, the second linear mould group makes universal-joint cross trunnion central point in its effective exercise
It is moved in region, and make milling cutting tool insert center point reach purpose coordinate by controlling cylinder and obtain corresponding milling
The angle of tool axis and z-axis, position of action point and cylinder the output length and universal-joint cross trunnion center point of milling cutter
The relationship set is as follows:
If universal-joint cross trunnion central point is S point, S point coordinate (xS,yS, 0), if milling cutting tool insert center point T, T point
Coordinate is (xT,yT,zT), in a state of nature, output distance is when being zero, 141 center point of spherical bearing for two piezoelectric ceramics storehouses
Positioned at the position point O ', the coordinate of O ' point is (0,0 ,-b), if spherical bearing center point E, the coordinate of E point is (xE,yE,-b), S point
Region range r, is expressed as follows:
Position coordinates (the x of milling cutting tool insert center pointT,yT,zT) can be acquired by following equation:
When spherical bearing center point E is overlapped with O ' point namely when two piezoelectric ceramics storehouses output length is zero, if cylinder
It is zero that output shaft, which exports length, when universal-joint cross trunnion central point moves in its square effective exercise region ABCD, milling
Cutting tool insert center point motion range is curved surface quadrangle A ' B ' C ' D ', and quadrangle A ' B ' C ' D ' is indicated with equation are as follows:
If it is △ L that cylinder output shaft, which exports length,max, universal-joint cross trunnion central point is in its square effective exercise region
In ABCD when movement, milling cutting tool insert center point motion range is curved surface quadrangle A ' B ' C ' D ', and quadrangle A ' B ' C ' D ' is used
Equation indicates are as follows:
Therefore, universal-joint cross trunnion central point moves and long by the output of the output shaft of cylinder in its effective exercise region
Degree is 0 to △ LmaxIn range when variation, the useful effect region of milling cutting tool insert center point is Irregular hexahedron A'B'C'
D'-A " B " C " D ", quadrangle A'B'C'D' and quadrangle A " B " C " D " are Irregular Boundary Surface quadrangle；
If milling tool axis and the angle of z-axis are θ, by universal-joint cross trunnion central point S (xS,yS, 0) and spherical bearing
Center point E (xE,yE,-b) acquire milling tool axis and z-axis angle cosine value are as follows:
(4), to the frictional force F between flange linear ball bushing and guiding axisfAnd export long axis and pillar line
Frictional force F between property ball bushingf1It is demarcated, control milling head acts on the normal force on workpiece to be machined surface, if power
The power measured on sensor is Fq, the normal force that grinding and polishing head acts on workpiece to be machined surface is FN, along grinding and polishing tool axis direction
Power position F1, perpendicular to the power position F in grinding and polishing tool axis direction2, grinding and polishing tool axis and workpiece to be machined surface normal direction
Angle is φ, then when cylinder exports stem elongation and when output long axis is moved downward relative to pillar linear ball bushing:
F1=Fq+2Ff+Ff1
The size of the power of cylinder output is controlled, i.e., the i.e. controllable milling head of power that force snesor measures acts on processed work
The normal force on part surface is FN；
(5), the micron order radial direction ancillary vibration system of piezoelectric ceramics storehouse driving is controlled, namely to spherical axis
It holds mounting hole center position to be controlled, perpendicular to left side piezoelectric ceramics storehouse axis and excessively close in x'O'y' plane
The straight line of the first axle link geometric center point of left side piezoelectric ceramics storehouse mounting groove is x " axis, to hang down in x'O'y' plane
Directly in right side piezoelectric ceramics storehouse axis and excessively close to the first axle link geometric center of right side piezoelectric ceramics storehouse mounting groove
The straight line of point is y " axis, establishes plane right-angle coordinate x " O " y ", Axisymmetric Distributed Line of the coordinate origin in O " flexible hinge in plane
On, if when two piezoelectric ceramics storehouses output length are zero namely flexible hinge does not deform spherical bearing mounting hole center
When point E is overlapped with O' point, four first axle link central points are located at point B1、A1、B2、A2If two piezoelectric ceramics storehouses
Output length is when being not zero namely flexible hinge deforms spherical bearing installation central point of hole E when not being overlapped with O' point, and four
First axle link central point is located at point B1'、A1'、B2'、A2'；
If A1O'=A2O'=A1' E=A2' E=c, B1A1Length be L0,B1A1' length be L1, then △ L1=L1-L0
=| B1A1'|-|B1A1|,B2A2Length be similarly as L0,B2A2' length be L2, then △ L2=L2-L0=| B2A2'|-|B2A2
|, since the deflection angle that motion platform occurs is smaller, by the yaw motion crocodile of workbench, it is believed that it is only in plane
Interior translation is without deflecting, i.e. EA1' it is parallel to X-axis, EA always2' it is parallel to y-axis always, therefore, solution obtains motion platform
When the position of center E, first with B1Point is the center of circle, L1Justify for radius work, then with B2Point is the center of circle, L2Justify for radius work, acquires slope
It is negative 1, length isLine segment A1'A2' and the two round intersecting point coordinate A distinguished1'(x1, y1), A2'(x2, y2)；
It can be solved by above-mentioned equation group:
E≈(x1+ c, y2+c)
Assuming that the voltage for being input to piezoelectric ceramics storehouse is respectively V1(t) and V2(t), then E can be obtained in x " O " y " by above formula
Deformation trace figure in coordinate system, and then the motion profile of milling cutting tool insert center point is obtained, equally, according to ideal milling
Cutting tool insert center point motion profile carries out inverse, and the voltage that inverse obtains given two piezoelectric ceramics storehouses changes with time pass
It is V1(t) and V2(t), by V1(t) and V2(t) it is input to piezoelectric ceramics controller and controls two piezoelectric ceramics storehouses, obtain ideal
The motion profile of milling cutting tool insert center point.
The present invention provides radial ancillary vibration by the main shaft to Milling Process, so that cutter head connects with workpiece surface interval
Touching makes grinding fluid well into arriving between cutter and workpiece to be machined surface, passes through and installs baric systerm on milling head and incite somebody to action
Milling system combines the control realized to Milling Force in milling process and milling cutter head position with mobile platform.
The present invention has the advantages that
(1) there is biggish flexibility, the action space of milling cutter head center point is big, and attitude angle range is big, can process
It is complex-curved, realize the accurate control of milling power.
(2) radial ancillary vibration is provided the main shaft of Milling Process, so that cutter head and workpiece surface Intermittent Contact, make to grind
Liquid is cut well into grinding fluid reduction temperature between cutter and workpiece to be machined surface, is given full play to, takes away chip, grinding
Grain participates in the effect of cutting.
(3) it uses baric systerm to provide power output for milling process, pressure is adjusted using pressure regulator valve, it is flexible big,
Dynamic adjustment more easily is carried out to pressure, can be applied in more complicated milling-grinding process process, it is easier to optimize technique
Scheme improves machining accuracy and efficiency, reduces processing cost.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of milling tool system of the present invention；
Fig. 3 is the structural schematic diagram of mobile platform component of the present invention；
Fig. 4 a is the structural schematic diagram of vertical milling component of the invention；
Fig. 4 b is the left view of Fig. 4 a；
Fig. 5 is the structural schematic diagram of radial hinge component of the invention；
Fig. 6 is the structural schematic diagram of first linear module of the present invention；
Fig. 7 is air cylinder supporting structure axonometric drawing of the present invention；
Fig. 8 is motor fixing frame axonometric drawing of the present invention；
Fig. 9 is flexible hinge front view of the present invention；
Figure 10 is milling tool system working space schematic diagram of the present invention；
Figure 11 is flexible hinge working condition rough schematic view one of the present invention；
Figure 12 is flexible hinge working condition rough schematic view two of the present invention；
Figure 13 is vertical milling component operation state reduction schematic diagram of the invention.
Specific embodiment
As shown in Figure 1, including milling tool system 1, the first machine pillar 2, lathe base 3, longitudinal moving device 4, the
Two machine pillars 5, machine tool beam 6, horizontal mobile device 7, vertically movable device 8, the wherein longitudinally fixed peace of longitudinal moving device 4
Mounted in the middle position of 3 upside of lathe base, the first machine pillar 2 is mounted by means of bolts on a left side for 3 top of lathe base
Side position, the second machine pillar 5 are mounted by means of bolts on the right positions of 3 top of lathe base, 2 He of the first machine pillar
Second machine pillar 5 is symmetrical about longitudinal moving device 4, and the both ends of machine tool beam 6 are respectively and fixedly installed to the first lathe
The upper end of column 2 and the second machine pillar 5, horizontal mobile device 7 are laterally fixedly mounted on the leading flank of machine tool beam 6, are erected
It is vertically fixedly mounted on to mobile device 8 on the slide carriage of horizontal mobile device 7, the milling tool system 1 is vertical by bolt
It is fixedly mounted on the slide carriage of vertically movable device 8.
As shown in Fig. 2, the milling tool system 1 includes mobile platform component 11, rear fixed plate 12, vertical milling component
13 and radial hinge component 14, wherein 11 level of mobile platform component is fixedly mounted on the upper end of rear fixed plate 12 and mobile flat
The main body of platform component 11 is vertical with rear fixed plate 12, the top half of the universal joint 1307 of vertical 13 upper end of milling component with
The universal joint fixed station 113 of the mobile platform component 11 is fixedly connected, and radial 14 level of hinge component is solid after being fixedly mounted on
The lower end of fixed board 12, and 14 main body of radial hinge component is vertical with rear fixed plate 12, the output long axis of vertical milling component 13
1306 pass through the pillar linear ball bushing 142 of radial hinge component 14 and slide company with pillar linear ball bushing 142
It connects.
As shown in Fig. 2, Figure 10,14 main body of plane where 11 main body of mobile platform component and the radial hinge component
Place plane is parallel.
As shown in figure 3, the mobile platform component 11 include mobile platform bracket 111, it is first linear module 112, universal
Fixed station 113, third linear mould group 114 and the second linear mould group 115 are saved, wherein first linear module 112 and the second linear mould
Group 115 is fixedly installed in the left and right side of 111 bottom surface of mobile platform bracket, one end installation of third linear mould group 114 respectively
On the slide carriage of first linear module 112, the other end is installed on the slide carriage of the second linear mould group 115, and third linear mould group
114 keep vertical with first linear module 112 and the second linear mould group 115 always, and the universal joint fixed station 113 is fixedly mounted
On the slide carriage of third linear mould group 114.
As shown in fig. 6, the first linear module 112 includes stepper motor 1121, front shoe 1122, linear mould group bottom
Seat 1123, linear guides 1124, it is small slip version 1125, ball-screw 1126 and rear fixed plate 1127, wherein linear guides 1124 are solid
In linear module base 1123, rear fixed plate 1127 is fixedly mounted on one end of linear module base 1123, preceding solid for Dingan County
Fixed board 1122 is fixedly mounted on the other end of linear module base 1123, and stepper motor 1121 is fixedly mounted on front shoe 1122
Side far from rear fixed plate 1127,1126 one end of ball-screw is rotated by the output shaft of shaft coupling and stepper motor 1121 to be connected
It connects, the other end of rear fixed plate 1127 is rotatablely connected by bearing and rear fixed plate 1127, small to slip version 1125 and ball-screw
1126 are connected and are slidably connected with linear guides 1124.
As shown in Fig. 4 a, Fig. 4 b, Fig. 7, Fig. 8, the vertical milling component 13 includes Linear displacement transducer 1301, connection
Plate 1302, connection shaft 1303, force snesor 1304, servo motor 1305, output long axis 1306, universal joint 1307, cylinder are solid
Determine frame 1308, cylinder 1309, band flange linear ball bushing 1310, guiding axis 1311, motor fixing frame 1312, shaft coupling 1313
With milling cutter 1314, wherein the lower end of universal joint 1307 is fixedly mounted on the universal hinge mounting hole in air cylinder supporting structure 1308
Interior, cylinder 1309 is fixedly mounted on the inside of air cylinder supporting structure 1308, the fixed peace of Linear displacement transducer 1301 by stay bolt
On the side of air cylinder supporting structure 1308, the output shaft of 1302 one end of connecting plate and Linear displacement transducer 1301 is fixed to be connected
It connects, one end is connected with the output shaft of cylinder 1309, and the upper end of force snesor 1304 passes through connection shaft 1303 and cylinder 1309
Output shaft be fixedly connected, the lower end of force snesor 1304 is fixedly connected by screw thread with motor fixing frame 1312, with flange line
Property ball bushing 1310 there are two respectively be inverted be fixedly mounted on 1308 two sides of air cylinder supporting structure bearing erecting bed downside
On, two guiding axis 1311 are threadably secured the two sides for being connected to force snesor 1304 on motor fixing frame 1312, institute respectively
It states two guiding axis 1311 to be slidably connected with two band flange linear ball bushings 1310 respectively, the output shaft of servo motor 1305
One end be fixedly connected with the lower end of motor fixing frame 1312, and servo motor 1305 is located in motor fixing frame 1312, output
Long axis 1306 is fixedly connected on the output shaft of servo motor 1305 by shaft coupling 1313, and milling cutter 1314 is fixedly connected on
Export the lower end of long axis 1306.
As shown in Fig. 2, the axis of the axis of described two guiding axis 1311 and 1309 output shaft of cylinder is in same plane
It is interior, the axis of two guiding axis 1311 axis parallel and about 1309 output shaft of cylinder about the axis of 1309 output shaft of cylinder
Line is symmetrical, the axis of the lower half portion of universal joint 1307, the axis of 1309 output shaft of cylinder, the axis of connection shaft 1303, power
The central axes of sensor 1304, the axis of 1305 output shaft of servo motor, the axis for exporting long axis 1306, milling cutter 1314
Axis is overlapped.
As shown in Figure 5, Figure 9, the radial hinge component 14 includes spherical bearing 141, pillar linear ball bushing
142, wedge shape pre-tightens block 143, piezoelectric ceramics storehouse 144 and flexible hinge 145, and wherein flexible hinge 145 is symmetrical structure, and soft
There is the piezoelectric ceramics storehouse of piezoelectric ceramics storehouse mounting groove 1451, two of spherical bearing mounting hole 1453, two pre- on property hinge 145
1452,12, tight inclined-plane is located at the second hinge link 1455 on six vertex of regular hexagon and is distributed on the outside of hexagon
Four first axle links 1454, the wedge shape pre-tighten block 143 and piezoelectric ceramics storehouse 144 respectively there are two, two piezoelectricity
Ceramic storehouse 144 is separately mounted to pre-tighten block 143 in the piezoelectric ceramics storehouse mounting groove of flexible hinge 145 and respectively by wedge shape
It pre-tightens, two piezoelectric ceramics storehouses 144 are about the symmetrical axial symmetry of flexible hinge 145 and the axis of two piezoelectric ceramics storehouses 144
Line is vertical, and the spherical bearing 141 is fixedly mounted in spherical bearing mounting hole 1453, the axis of the spherical bearing 141 with
Plane where two 144 axis of piezoelectric ceramics storehouse is vertical and crosses the intersection point of two 144 axis of piezoelectric ceramics storehouse, the branch
Column linear ball bushing 142 is fixedly mounted in the hole slot at 141 center of spherical bearing.
As shown in Figure 11, Figure 12,14 main body institute of plane where 11 main body of mobile platform component and the radial hinge component
Parallel in plane, the 113 effective exercise region of universal joint fixed station is a square area, and in this square area
Heart point project to radial 14 main body of hinge component the point in the plane intersection point with two 144 axis of piezoelectric ceramics storehouse just
It is overlapped.
A kind of power position control milling method of radial vibration auxiliary, including the following steps:
(1), establish grinding and polishing tool system coordinate system xyz: universal joint 1307 is fixedly connected on universal joint fixed station 113,
The effective exercise region of 1307 spider center point of universal joint is square region, using the central point of this square area as origin
O, to cross O point and be parallel to the straight line of 114 ball-screw axis of third linear mould group as x-axis, in x-axis close to third linear mould
The direction of the servo motor of group 114 is the positive direction of x-axis, to cross O point and be parallel to the second linear 115 ball-screw axis of mould group
Straight line be y-axis, using in y-axis close to the second linear 115 servo motor of mould group direction as the positive direction of y-axis, with cross O point and with
X-axis and all vertical straight line of y-axis are that z-axis using direction straight up as the positive direction of z-axis establishes dimensional Cartesian coordinates system
Xyz, it is specified that four vertex in the square effective exercise region of 1307 spider center point of the universal joint be respectively A, B, C and
D, wherein B point is located in first quartile, and A point is located in the second quadrant, and D point is located in third quadrant, and C point is located at fourth quadrant
Interior, wherein the side length of the effective exercise region square of 1307 spider center point of universal joint, b are in 1307 cross axle of universal joint
The difference in height of heart point and 141 center point of spherical bearing, L are that cylinder output shaft exports when length is zero in 1307 cross axle of universal joint
The distance of cutter head center point of the heart point apart from milling cutter 1314, the output length of 1309 output shaft of cylinder are △ L, △ LmaxFor
1309 output shaft maximum output length of cylinder, the output length of 1309 output shaft of cylinder are zero and 1307 spider center of universal joint
The corresponding point of cutter head institute of milling cutter 1314 is C ', D ', A ', B ' when point is located at A, B, C, D, and cylinder 1309 exports
The extension elongation of axis is △ LmaxAnd the knife of 1307 spider center point of universal joint milling cutter 1314 when being located at A, B, C, D
The corresponding point of head institute is C ", D ", A ", B "；
(2), it installs on workpiece to be processed to the slide carriage of longitudinal moving device 4, positioning clamping is carried out to workpiece to be processed,
Milling tool system 1 is adjusted to one reasonably by control longitudinal moving device 4, horizontal mobile device 7, vertically movable device 8
Position, so that workpiece to be processed surface is located in 1314 cutter head center point useful effect region of milling cutter；
(3), it determines machining locus, and determines the pass of normal vector and 1314 axis vector of milling cutter at machining locus point
System: 1307 cross axle of universal joint is made by control first linear module 112, third linear mould group 114, the second linear mould group 115
Central point moves in its effective exercise region, and by controlling cylinder 1,309 1314 cutter head center point of milling cutter is reached
Purpose coordinate and the angle for obtaining corresponding milling cutter 1314 axis and z-axis, the position of action point of milling cutter 1314 with
Cylinder exports length and the relationship of 1307 spider center point position of universal joint is as follows:
If 1307 spider center point of universal joint is S point, S point coordinate (xS,yS, 0), if the 1314 cutter head centre of sphere of milling cutter
The coordinate of point T, T point is (xT,yT,zT), in a state of nature, output distance is when being zero, spherical bearing for two piezoelectric ceramics storehouses
141 center points are located at the position point O ', and the coordinate of O ' point is (0,0 ,-b), if 141 center point E of spherical bearing, the coordinate of E point is
(xE,yE,-b), S point region range r is expressed as follows:
Position coordinates (the x of 1314 cutter head center point of milling cutterT,yT,zT) can be acquired by following equation:
When 141 center point E of spherical bearing is overlapped with O ' point namely when two piezoelectric ceramics storehouses 144 output length is zero,
If it is zero that 1309 output shaft of cylinder, which exports length, 1307 spider center point of universal joint is in its square effective exercise region ABCD
When interior movement, 1314 cutter head center point motion range of milling cutter is curved surface quadrangle A ' B ' C ' D ', and quadrangle A ' B ' C ' D ' is used
Equation indicates are as follows:
If it is △ L that 1309 output shaft of cylinder, which exports length,max, 1307 spider center point of universal joint its square effectively
In the ABCD of moving region when movement, 1314 cutter head center point motion range of milling cutter is curved surface quadrangle A ' B ' C ' D ', four sides
Shape A ' B ' C ' D ' is indicated with equation are as follows:
Therefore, 1307 spider center point of universal joint moved in its effective exercise region and by cylinder 1309 output shaft
Output length 0 to △ LmaxIn range when variation, the useful effect region of 1314 cutter head center point of milling cutter is irregular
Hexahedron A'B'C'D'-A " B " C " D ", quadrangle A'B'C'D' and quadrangle A " B " C " D " are Irregular Boundary Surface quadrangle；
If 1314 axis of milling cutter and the angle of z-axis are θ, by 1307 spider center point S (x of universal jointS,yS, 0) and
141 center point E (x of spherical bearingE,yE,-b) acquire 1314 axis of milling cutter and z-axis angle cosine value are as follows:
(4), to the frictional force F between flange linear ball bushing 1310 and guiding axis 1311fAnd output long axis
Frictional force F between 1306 and pillar linear ball bushing 142f1It is demarcated, control milling head acts on workpiece to be machined
The normal force on surface, if the power measured on force snesor 1304 is Fq, grinding and polishing head acts on the normal force on workpiece to be machined surface
For FN, power position F along grinding and polishing tool axis direction1, perpendicular to the power position F in grinding and polishing tool axis direction2, grinding and polishing tool axis with
The angle in workpiece to be machined surface normal direction is φ, then when cylinder 1309 export stem elongation when and output long axis 1306 relative to
When pillar linear ball bushing 142 moves downward:
F1=Fq+2Ff+Ff1
So the i.e. controllable milling head of power that the size namely force snesor 1304 of the power that control cylinder 1309 exports measure
The normal force for acting on workpiece to be machined surface is FN；
(5), the micron order radial direction ancillary vibration system of piezoelectric ceramics storehouse driving is controlled, namely to spherical axis
It holds 1453 center position of mounting hole to be controlled, perpendicular to 144 axis of left side piezoelectric ceramics storehouse in x'O'y' plane
And excessively close to the straight line of 1454 geometric center point of first axle link of left side piezoelectric ceramics storehouse mounting groove 1451 be x " axis,
Perpendicular to 144 axis of right side piezoelectric ceramics storehouse and excessively close to right side piezoelectric ceramics storehouse mounting groove 1451 in x'O'y' plane
1454 geometric center point of first axle link straight line be y " axis, establish plane right-angle coordinate x " O " y ", coordinate origin exists
O " is in plane on the Axisymmetric Distributed Line of flexible hinge 145, if two piezoelectric ceramics storehouses 144 export length when being zero, namely flexible
Hinge 145 does not deform 1453 central point E of spherical bearing mounting hole when being overlapped with O' point, in four first axle links 1454
Heart point is located at point B1、A1、B2、A2If two piezoelectric ceramics storehouses 144 export when length is not zero namely flexible hinge
145 deform 1453 central point E of spherical bearing mounting hole when not being overlapped with O' point, four 1454 central points of first axle link
It is located at point B1'、A1'、B2'、A2'；
If A1O'=A2O'=A1' E=A2' E=c, B1A1Length be L0,B1A1' length be L1, then △ L1=L1-L0
=| B1A1'|-|B1A1|,B2A2Length be similarly as L0,B2A2' length be L2, then △ L2=L2-L0=| B2A2'|-|B2A2
|, since the deflection angle that motion platform occurs is smaller, by the yaw motion crocodile of workbench, it is believed that it is only in plane
Interior translation is without deflecting, i.e. EA1' it is parallel to X-axis, EA always2' it is parallel to y-axis always, therefore, solution obtains motion platform
When the position of center E, first with B1Point is the center of circle, L1Justify for radius work, then with B2Point is the center of circle, L2Justify for radius work, acquires slope
It is negative 1, length isLine segment A1'A2' and the two round intersecting point coordinate A distinguished1'(x1, y1), A2'(x2, y2)；
It can be solved by above-mentioned equation group:
E≈(x1+ c, y2+c)
Assuming that the voltage for being input to piezoelectric ceramics storehouse is respectively V1(t) and V2(t), then E can be obtained in x " O " y " by above formula
Deformation trace figure in coordinate system, and then the motion profile of 1314 cutter head center point of milling cutter is obtained, equally, according to ideal
1314 cutter head center point motion profile of milling cutter carries out inverse, inverse obtain the voltage of given two piezoelectric ceramics storehouses 144 with
The variation relation V of time1(t) and V2(t), by V1(t) and V2(t) it is input to piezoelectric ceramics controller and controls two piezoelectric ceramic stacks
Stack 144 obtains the motion profile of ideal 1314 cutter head center point of milling cutter.
Claims (10)
1. a kind of power position of radial vibration auxiliary controls milling machine tool working, it is characterised in that: including milling tool system, the first lathe
Column, lathe base, longitudinal moving device, the second machine pillar, machine tool beam, horizontal mobile device, vertically movable device,
The longitudinally fixed middle position being mounted on the upside of lathe base of middle longitudinal moving device, the first machine pillar are bolted peace
Leftward position above lathe base, the second machine pillar are mounted by means of bolts on the right lateral position above lathe base
It sets, the first machine pillar and the second machine pillar are symmetrical about longitudinal moving device, and the both ends of machine tool beam are fixed respectively
It is mounted on the upper end of the first machine pillar and the second machine pillar, before horizontal mobile device is laterally fixedly mounted on machine tool beam
On side, vertically movable device is vertically fixedly mounted on the slide carriage of horizontal mobile device, and the milling tool system passes through spiral shell
Bolt is vertically fixedly mounted on the slide carriage of vertically movable device.
2. a kind of power position of radial vibration auxiliary according to claim 1 controls milling machine tool working, it is characterised in that: the milling
Mill tool system includes mobile platform component, rear fixed plate, vertical milling component and radial hinge component, wherein mobile platform group
Part level is fixedly mounted on the upper end of rear fixed plate and the main body of mobile platform component is vertical with rear fixed plate, the vertical milling
The top half for grinding the universal joint of component upper end is fixedly connected with the universal joint fixed station of the mobile platform component, radial hinge
Component level is fixedly mounted on the lower end of rear fixed plate, and radial hinge component main body is vertical with rear fixed plate, vertical milling group
The output long axis of part passes through the pillar linear ball bushing of radial hinge component and connects with pillar linear ball casing slip
It connects.
3. a kind of power position of radial vibration auxiliary according to claim 2 controls milling machine tool working, it is characterised in that: mobile flat
Plane where platform module body is parallel with plane where the radial hinge component main body.
4. a kind of power position of radial vibration auxiliary according to claim 2 controls milling machine tool working, it is characterised in that: the shifting
Moving platform component includes mobile platform bracket, first linear module, universal joint fixed station, third linear mould group and the second linear mould
Group, wherein first linear module and the second linear Mo Zu are fixedly installed in the left and right side of mobile platform cradle bottom surface respectively,
One end of third linear mould group is mounted on the slide carriage of first linear module, and the other end is installed on the slide carriage of the second linear mould group
On, and third linear mould group is vertical with first linear module and the second linear mould group holding always, the universal joint fixed station is solid
Dingan County is on the slide carriage of third linear mould group.
5. a kind of power position of radial vibration auxiliary according to claim 4 controls milling machine tool working, it is characterised in that: described the
One linear mould group includes stepper motor, front shoe, linear module base, linear guides, small slips version, ball-screw and rear fixed
Plate, wherein linear guides are fixedly mounted in linear module base, and rear fixed plate is fixedly mounted on one end of linear module base,
Front shoe is fixedly mounted on the other end of linear module base, and stepper motor is fixedly mounted on front shoe far from rear fixed plate
Side, ball-screw one end is rotatablely connected by the output shaft of shaft coupling and stepper motor, and the other end of rear fixed plate passes through
Bearing and rear fixed plate are rotatablely connected, and small version of slipping is connected with ball-screw and is slidably connected with linear guides.
6. a kind of power position of radial vibration auxiliary according to claim 2 controls milling machine tool working, it is characterised in that: described perpendicular
Include Linear displacement transducer, connecting plate, connection shaft, force snesor, servo motor, export long axis, universal to milling component
Section, air cylinder supporting structure, cylinder, band flange linear ball bushing, guiding axis, motor fixing frame, shaft coupling and milling cutter, wherein
The lower end of universal joint is fixedly mounted in the universal hinge mounting hole in air cylinder supporting structure, and cylinder is fixedly mounted on gas by stay bolt
The inside of cylinder fixed frame, Linear displacement transducer are fixedly mounted on the side of air cylinder supporting structure, one end of the connection board and linear position
The output shaft of displacement sensor is fixedly connected, and one end is connected with the output shaft of cylinder, and the upper end of force snesor passes through connection shaft
It is fixedly connected with the output shaft of cylinder, the lower end of force snesor is fixedly connected by screw thread with motor fixing frame, and band flange is linear
There are two being inverted to be fixedly mounted on the downside of bearing erecting bed of air cylinder supporting structure two sides respectively, two are oriented to ball bushing
Axis is threadably secured the two sides for being connected to force snesor on motor fixing frame respectively, described two guiding axis respectively with two bands
The connection of flange linear ball casing slip, one end of the output shaft of servo motor are fixedly connected with the lower end of motor fixing frame, and
Servo motor is located in motor fixing frame, and output long axis is fixedly connected on the output shaft of servo motor by shaft coupling, milling
Cutter is fixedly connected on the lower end of output long axis.
7. a kind of power position of radial vibration auxiliary according to claim 6 controls milling machine tool working, it is characterised in that: described two
The axis of a guiding axis and the axis of cylinder output shaft are in same plane, and the axis of two guiding axis is about cylinder output shaft
Axis is parallel and the axisymmetrical about cylinder output shaft, the axis of the axis of the lower half portion of universal joint, cylinder output shaft
Line, the axis of connection shaft, the central axes of force snesor, servo motor output shaft axis, export long axis axis, milling knife
The axis of tool is overlapped.
8. a kind of power position of radial vibration auxiliary according to claim 2 controls milling machine tool working, it is characterised in that: the diameter
It include that spherical bearing, pillar linear ball bushing, wedge shape pre-tighten block, piezoelectric ceramics storehouse and flexible hinge to hinge component,
Wherein flexible hinge is symmetrical structure, and has spherical bearing mounting hole, two piezoelectric ceramics storehouse mounting grooves, two on flexible hinge
A piezoelectric ceramics storehouse pre-tighten inclined-plane, 12 be located at the second hinge link on six vertex of regular hexagon and be distributed in six
Four first axle links on the outside of the shape of side, the wedge shape pre-tighten block and piezoelectric ceramics storehouse respectively there are two, two piezoelectricity potteries
Porcelain storehouse is separately mounted in the piezoelectric ceramics storehouse mounting groove of flexible hinge and pre-tightens block preload, two pressures by wedge shape respectively
Electroceramics storehouse about the symmetrical axial symmetry of flexible hinge and the axis of two piezoelectric ceramics storehouses it is vertical, the spherical bearing
It is fixedly mounted in spherical bearing mounting hole, plane where the axis of the spherical bearing and two piezoelectric ceramics storehouse axis is hung down
Directly and the intersection point of two piezoelectric ceramics storehouse axis excessively, the pillar linear ball bushing are fixedly mounted in spherical bearing
In the hole slot of the heart.
9. a kind of power position of radial vibration auxiliary according to claim 8 controls milling machine tool working, it is characterised in that: described ten thousand
It is a square area to section fixed station effective exercise region, and the central point of this square area projects to radial hinge set
Part main body point in the plane, be overlapped just with the intersection point of two piezoelectric ceramics storehouse axis.
10. a kind of power position of radial vibration auxiliary controls milling method, including the following steps:
(1), establish grinding and polishing tool system coordinate system xyz: universal joint is fixedly connected on universal joint fixed station, universal joint cross
The effective exercise region of axis center point is square region, using the central point of this square area as origin O, to cross O point and put down
Row is x-axis in the straight line of third linear mould group ball-screw axis, with the side of the servo motor of third linear mould group close in x-axis
To the positive direction for x-axis, to cross O point and be parallel to the straight line of the second linear mould group ball-screw axis as y-axis, to lean in y-axis
The direction of nearly second linear mould group servo motor is the positive direction of y-axis, and with O point excessively and the straight line all vertical with x-axis and y-axis is z
Axis establishes dimensional Cartesian coordinates system xyz, it is specified that the universal-joint cross trunnion using direction straight up as the positive direction of z-axis
Four vertex in the square effective exercise region of central point are respectively A, B, C and D, and wherein B point is located in first quartile, A point
In the second quadrant, D point is located in third quadrant, and C point is located in fourth quadrant, and wherein universal-joint cross trunnion central point has
The side length of moving region square is imitated, b is the difference in height of universal-joint cross trunnion central point and spherical bearing center point, and L is cylinder
Output shaft exports the distance of cutter head center point of the universal-joint cross trunnion central point apart from milling cutter when length is zero, cylinder output
The output length of axis is △ L, △ LmaxFor cylinder output shaft maximum output length, the output length of cylinder output shaft is zero and ten thousand
The corresponding point of cutter head institute of milling cutter is C ', D ', A ', B ', gas when being located at A, B, C, D to section spider center point
The extension elongation of cylinder output shaft is △ LmaxAnd the cutter head of universal-joint cross trunnion central point milling cutter when being located at A, B, C, D
The corresponding point of institute is C ", D ", A ", B "；
(2), it installs on workpiece to be processed to the slide carriage of longitudinal moving device, positioning clamping is carried out to workpiece to be processed, control is vertical
Milling tool system is adjusted in place to mobile device, horizontal mobile device, vertically movable device, so that workpiece to be processed surface
In milling cutting tool insert center point useful effect region；
(3), it determines machining locus, and determines the relationship of normal vector and milling tool axis vector at machining locus point: passing through control
First linear module processed, third linear mould group, the second linear mould group make universal-joint cross trunnion central point in its effective exercise region
Interior movement, and make milling cutting tool insert center point reach purpose coordinate by controlling cylinder and obtain corresponding milling cutter
The angle of axis and z-axis, the position of action point of milling cutter and cylinder output length and universal-joint cross trunnion center position
Relationship is as follows:
If universal-joint cross trunnion central point is S point, S point coordinate (xS,yS, 0), if the coordinate of milling cutting tool insert center point T, T point
For (xT,yT,zT), in a state of nature, when output distance is zero, 141 center point of spherical bearing is located at two piezoelectric ceramics storehouses
The coordinate of the position point O ', O ' point is (0,0 ,-b), if spherical bearing center point E, the coordinate of E point is (xE,yE,-b), S point place
Regional scope r, is expressed as follows:
Position coordinates (the x of milling cutting tool insert center pointT,yT,zT) can be acquired by following equation:
When spherical bearing center point E is overlapped with O ' point namely when two piezoelectric ceramics storehouses output length is zero, if cylinder exports
It is zero that axis, which exports length, when universal-joint cross trunnion central point moves in its square effective exercise region ABCD, milling cutter
Cutter head center point motion range is curved surface quadrangle A ' B ' C ' D ', and quadrangle A ' B ' C ' D ' is indicated with equation are as follows:
If it is △ L that cylinder output shaft, which exports length,max, universal-joint cross trunnion central point is in its square effective exercise region ABCD
When interior movement, milling cutting tool insert center point motion range is curved surface quadrangle A ' B ' C ' D ', quadrangle A ' B ' C ' D ' equation
It indicates are as follows:
Therefore, universal-joint cross trunnion central point moves in its effective exercise region and is existed by the output length of the output shaft of cylinder
0 to △ LmaxIn range when variation, the useful effect region of milling cutting tool insert center point is Irregular hexahedron A'B'C'D'-
A " B " C " D ", quadrangle A'B'C'D' and quadrangle A " B " C " D " are Irregular Boundary Surface quadrangle；
If milling tool axis and the angle of z-axis are θ, by universal-joint cross trunnion central point S (xS,yS, 0) and the spherical bearing centre of sphere
Point E (xE,yE,-b) acquire milling tool axis and z-axis angle cosine value are as follows:
(4), to the frictional force F between flange linear ball bushing and guiding axisfAnd output long axis is linearly rolled with pillar
Frictional force F between pearl bushingf1It is demarcated, control milling head acts on the normal force on workpiece to be machined surface, if power senses
The power measured on device is Fq, the normal force that grinding and polishing head acts on workpiece to be machined surface is FN, power along grinding and polishing tool axis direction
Position F1, perpendicular to the power position F in grinding and polishing tool axis direction2, the angle of grinding and polishing tool axis and workpiece to be machined surface normal direction
For φ, then when cylinder exports stem elongation and when output long axis is moved downward relative to pillar linear ball bushing:
F1=Fq+2Ff+Ff1
The i.e. controllable milling head of power that the size namely force snesor of the power of control cylinder output measure acts on workpiece to be machined
The normal force on surface is FN；
(5), the micron order radial direction ancillary vibration system of piezoelectric ceramics storehouse driving is controlled, namely spherical bearing is pacified
Dress central point of hole position is controlled, perpendicular to left side piezoelectric ceramics storehouse axis and excessively close to left side in x'O'y' plane
The straight line of the first axle link geometric center point of piezoelectric ceramics storehouse mounting groove be x " axis, in x'O'y' plane with perpendicular to
Right side piezoelectric ceramics storehouse axis and excessively close to the first axle link geometric center point of right side piezoelectric ceramics storehouse mounting groove
Straight line is y " axis, establishes plane right-angle coordinate x " O " y ", coordinate origin in O " in plane on the Axisymmetric Distributed Line of flexible hinge, if
When two piezoelectric ceramics storehouses output length are zero namely flexible hinge do not deform spherical bearing installation central point of hole E with
When O' point is overlapped, four first axle link central points are located at point B1、A1、B2、A2If two piezoelectric ceramics storehouse outputs
When length is not zero namely flexible hinge deforms spherical bearing installation central point of hole E when not being overlapped with O' point, and four first
Hinge link central point is located at point B1'、A1'、B2'、A2'；
If A1O'=A2O'=A1' E=A2' E=c, B1A1Length be L0,B1A1' length be L1, then △ L1=L1-L0=|
B1A1'|-|B1A1|,B2A2Length be similarly as L0,B2A2' length be L2, then △ L2=L2-L0=| B2A2'|-|B2A2|, by
It is smaller in the deflection angle that motion platform occurs, therefore by the yaw motion crocodile of workbench, it is believed that it is only planar put down
It moves without deflecting, i.e. EA1' it is parallel to X-axis, EA always2' it is parallel to y-axis always, therefore, solution obtains motion platform center
When the position of E, first with B1Point is the center of circle, L1Justify for radius work, then with B2Point is the center of circle, L2Justify for radius work, acquires slope and be negative
1, length isLine segment A1'A2' and the two round intersecting point coordinate A distinguished1'(x1, y1), A2'(x2, y2)；
It can be solved by above-mentioned equation group:
E≈(x1+ c, y2+c)
Assuming that the voltage for being input to piezoelectric ceramics storehouse is respectively V1(t) and V2(t), then E can be obtained in x " O " y " coordinate by above formula
Deformation trace figure in system, and then the motion profile of milling cutting tool insert center point is obtained, equally, according to ideal milling cutter
Cutter head center point motion profile carries out inverse, and the voltage that inverse obtains given two piezoelectric ceramics storehouses changes with time relationship V1
(t) and V2(t), by V1(t) and V2(t) it is input to piezoelectric ceramics controller and controls two piezoelectric ceramics storehouses, obtain ideal milling
The motion profile of cutting tool insert center point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910427682.7A CN110000416B (en) | 2019-05-21 | 2019-05-21 | Radial vibration-assisted force position control milling and grinding machine tool and control method thereof |
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| CN110524389A (en) * | 2019-09-05 | 2019-12-03 | 徐州工业职业技术学院 | A kind of metal grinding device of intelligent electric automation control |
| CN111217151A (en) * | 2020-01-08 | 2020-06-02 | 上海向隆电子科技有限公司 | Stacking processing method and stacking processing equipment for wedge-shaped light guide plate |
| CN111408952A (en) * | 2020-05-29 | 2020-07-14 | 吉林大学 | Annular workpiece milling, grinding and measuring hybrid processing machine tool and control method thereof |
| CN111843714A (en) * | 2020-06-15 | 2020-10-30 | 华中科技大学 | Three-degree-of-freedom grinding and polishing device and force and position coupling control method thereof |
| CN112846323A (en) * | 2020-12-31 | 2021-05-28 | 天津理工大学 | Three-dimensional vibration-assisted milling system and structural surface three-dimensional vibration-assisted milling method |
| CN114383824A (en) * | 2020-10-16 | 2022-04-22 | 富准精密模具(嘉善)有限公司 | Tension testing device |
| CN115415588A (en) * | 2022-11-03 | 2022-12-02 | 江苏凯晟金属材料有限公司 | Large-scale metal material counter bore milling treatment equipment |
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