CN112025376A - Two-degree-of-freedom feeding device and application thereof - Google Patents
Two-degree-of-freedom feeding device and application thereof Download PDFInfo
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- CN112025376A CN112025376A CN201910480060.0A CN201910480060A CN112025376A CN 112025376 A CN112025376 A CN 112025376A CN 201910480060 A CN201910480060 A CN 201910480060A CN 112025376 A CN112025376 A CN 112025376A
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- straight rod
- degree
- power unit
- freedom
- feeding device
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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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
A two-degree-of-freedom feeding device and application thereof comprise: the power unit that sets up in the organism and one end mechanism of enlargiing that contacts with it, the other end of mechanism of enlargiing is as system output end in order to operate the object of organism outside, wherein: the amplifying mechanism is connected with the power unit to receive the driving output of the power unit, and when the body is driven to rotate, the amplifying mechanism simultaneously realizes the movement of two degrees of freedom of rotation and translation through a rotation and/or external magnetic field. The invention can realize the motion of two degrees of freedom of horizontal rotation through the integrated structure by at least one stage of amplification structure.
Description
Technical Field
The invention relates to a technology in the field of machining, in particular to a two-degree-of-freedom feeding device and application thereof.
Background
The existing various intelligent actuators all adopt piezoelectric ceramics, piezoelectric films, electrostriction, magnetostriction, shape memory alloys, servo and electrorheological fluids as power units. The advent of these actuators provides the necessary conditions for achieving high precision active control of vibrations. However, the amplification and intelligent control of the power unit by the existing device can not meet the industrial requirements yet.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a two-degree-of-freedom feeding device and application thereof, through at least one stage of amplification structure, the motion of flat rotation two degrees of freedom can be realized through an integrated structure, the reciprocating vibration frequency reaches 6-7 KHz after alternating current is input, and the motion range reaches 0.2mm after the alternating current is amplified four times by a lever.
The invention is realized by the following technical scheme:
the invention comprises the following steps: the power unit that sets up in the organism and one end mechanism of enlargiing that contacts with it, the other end of mechanism of enlargiing is as system output end in order to operate the object of organism outside, wherein: the amplifying mechanism is connected with the power unit to receive the driving output of the power unit, and synchronously/asynchronously realizes the horizontal feeding motion when the body is driven to rotate.
The amplification mechanism is realized by a connecting rod or a connecting rod group with at least one rotating shaft or a flexible hinge mechanism equivalent to a rotating shaft mode.
The connecting rod or the connecting rod group is used for realizing horizontal and vertical torque transmission, the rotating shaft is used for realizing the adjustment of the force arm of input and output, and the micro-displacement of the power unit is amplified and transmitted to an operation object outside the machine body through the amplifying mechanism.
The rotating shaft is arranged in the machine body and rotates synchronously with the machine body.
The power unit adopts a permanent magnet, a solid telescopic body or an electromagnetic telescopic body, and preferably adopts a piezoelectric telescopic material, a magnetostrictive material, a permanent magnet, an electromagnet and/or an electrostatic driving body.
The machine body is internally provided with a pre-tightening mechanism which is used for providing elastic force or pulling force for the amplifying mechanism in one direction and is in contact with the amplifying mechanism, so that the amplifying mechanism keeps the initial state of a specific position and eliminates a gap in the transmission process.
And the amplifying mechanism and the pre-tightening mechanism are further provided with sensors which are connected with an external control unit and output working condition information.
The power unit has driving and sensing characteristics, one part of the power unit can be a driving unit part, and the other part of the power unit is a sensing unit part; or two solid material bodies, wherein one material body is a driving unit, and the other material body is a sensing unit; so that the drive output loading and the drive output status monitoring can be simultaneously realized.
Drawings
FIG. 1 is a schematic view of a two degree of freedom feeder with a one-stage magnification;
FIG. 2 is a schematic view of a two degree of freedom feeder with two stages of amplification;
FIG. 3 is a schematic view of a two degree of freedom feeder with three stages of amplification;
FIGS. 4a and 4b are schematic views of the flexible hinge of the enlarged mechanism;
FIGS. 5 and 6 are schematic views of a two degree of freedom feeder with two stages of amplification with external drive;
FIG. 7 is a schematic view of an embodiment of an external permanent magnet;
FIG. 8 is a schematic view of a power unit;
in the figure: a is a full piezoelectric material; b is a full magnetostrictive material; c is a piezoelectric-magnetostrictive material; d is a magnetostrictive piezoelectric material;
FIG. 9 is a schematic diagram of an embodiment;
in the figure: the device comprises a power unit 0, a machine body 1, a limiting guide component 2, an amplifying mechanism 3, a rotating shaft 4, a pre-tightening device 5, a force transmission component 6, a secondary coil 7, a driving motor 8, a primary coil 9, a magnetic drive component 11, a sensor 12, a system output end 13, a permanent magnet shell 14, a flexible hinge rotating mechanism 15 and a displacement amplifying rod 16.
Detailed Description
The present embodiment relates to a two-degree-of-freedom feeding device, including: a primary amplification mechanism as shown in fig. 1, a secondary amplification mechanism 3 as shown in fig. 2 or a tertiary amplification mechanism 3 as shown in fig. 3, a power unit 0 and a pretensioning device 5 which are arranged in the machine body 1.
As shown in fig. 1 to 3, a force transmission member 6 is disposed between the amplifying mechanism 3 and the power unit 0, and the force transmission member 6 is in a spherical or cambered surface structure and is in point contact with the amplifying mechanism 3 and the power unit 0, so as to realize no structural deformation stress during force transmission.
The amplification mechanism 3 comprises a linkage and a rotating shaft 4, wherein: the connecting rod group consists of a plurality of rigid straight rods which are sequentially and rotatably connected end to end, the rigid straight rods are horizontally arranged or arranged in the normal direction along the two-degree-of-freedom feeding device, the rotating shafts 4 are arranged on the normally arranged rigid straight rods, and output amplification is realized by adjusting the distance between the rotating shafts and the rigid straight rods adjacent to two ends.
The first-stage amplification mechanism comprises: a rigid straight rod with a rotating shaft 4, the straight rod is arranged in the normal direction and generates primary amplification, one end of the straight rod is in point contact with the power unit 0, and the other end of the straight rod is rotatably connected with the system output end 13.
The second-stage amplification mechanism comprises: three rigid straight rods connected end to end in turn and rotating shafts 4 arranged on the first straight rod and the third straight rod, wherein: the first straight rod and the third straight rod are arranged in a normal direction and generate two-stage amplification, the second straight rod is arranged horizontally, one end of the first straight rod is in point contact with the power unit 0, and one end of the third straight rod is rotatably connected with the system output end 13.
The three-stage amplification mechanism comprises: five rigid body straight rods which are sequentially connected end to end in a rotating manner and rotating shafts 4 arranged on the first, third and fifth straight rods, wherein: the first straight rod, the third straight rod and the fifth straight rod are arranged in a normal direction and generate three-stage amplification, and the second straight rod and the fourth straight rod are arranged horizontally.
Preferably, the horizontally arranged rigid straight rod is provided with a limiting guide part 2, and the limiting guide part 2 is arranged in the machine body 1 in parallel with the rigid straight rod and limits the horizontal movement of the rigid straight rod, so as to prevent the energy from being lost in the normal direction in the horizontal transmission process.
The limiting guide part 2 is realized by adopting but not limited to a ball, a bearing or a cylindrical rod.
As shown in fig. 4a and 4b, the amplification mechanism can also be implemented by a flexible hinge structure, which includes: a flexible hinge turning mechanism 15 and a displacement amplifying lever 16 connected thereto.
The pretensioning device 5 comprises: an elastic chamber and an elastic body arranged therein, which is in contact with the amplifying means 3 and provides a pushing or pulling force in an initial state to achieve pretension.
As shown in fig. 5 and 6, the exterior of the machine body 1 is fixedly connected with the motor 8 to realize horizontal rotation.
As shown in fig. 5, the main body 1 is provided with a primary coil 9 on the outside, and a secondary (induction) coil 7 corresponding to the inside of the main body 1, wherein the primary coil 9 wirelessly transmits energy and is connected with the power unit 0 through the secondary coil 7 to convert the energy into a force for the power unit 0 to drive the amplifying mechanism 3.
As shown in fig. 6, the power unit 0 may be implemented by using a permanent magnet, a magnetic field generating mechanism 11 is correspondingly disposed inside the machine body 1, the magnetic field generating mechanism 11 is offset disposed inside the machine body 1 and is used for providing an initial offset magnetic field for the magnetostrictive body and the permanent magnet, and when the primary coil 9 is started, a magnetic field generated by the primary coil and the magnetic field generating mechanism 11 act compositely on the power unit 0 to drive the amplifying mechanism 3.
As shown in fig. 7, a permanent magnet housing 14 may be selectively disposed outside the machine body 1, and the secondary coil 7 has a rotation direction arrangement which moves relative to the permanent magnet housing 14 to generate magnetic lines of force for cutting; they can rotate relatively.
Preferably, the permanent magnet housing 14 is fixedly arranged and the secondary coil 7 is driven by a motor to rotate, so that the effect of simultaneous rotation and translation can be realized.
Further preferably, the actuation frequency of the power unit 0 is multiplied by providing several permanent magnet housings 14.
The power unit 0 has driving and sensing characteristics, namely:
when one or more parallel/serial composite piezoelectric material units are adopted for implementation, preferably one of the composite piezoelectric material units is used as the sensor 12, the acquired pressure signal is converted into an electric signal to be output to the control unit, and the other composite piezoelectric material units are still used as the power unit 0;
when one or more parallel/serial magnetostrictive units are adopted for implementation, preferably one of the magnetostrictive units is used as the sensor 12, the acquired induced current is output to the control unit to monitor the working conditions of other units, and the other magnetostrictive units are still used as the power unit 0;
when the composite piezoelectric material unit and the magnetostrictive unit are mixed and/or connected in series, any one of the units is preferably used as the sensor 12, or one of the units is preferably used as the sensor, so that the working conditions of the same unit can be monitored in real time.
As shown in a in fig. 8, the power unit 0 made of full piezoelectric material comprises a section1 for generating piezoelectric sensing signals and a section2 for generating telescopic driving by applying driving voltage by a coil.
As shown in b of fig. 8, the power unit 0 made of the full magnetostrictive material includes a section1 for generating a piezomagnetic sensing signal by coil induction or hall sensing or magneto-resistive sensing and a section2 for generating a driving telescopic by an external coil or applying a voltage/current.
As shown in fig. 8 c, power unit 0, which is made of piezo-magnetostrictive material, includes section1 for generating piezo-electric sensing signal and section2 for generating driving extension and contraction by external coil or applied voltage/current.
As shown in d of fig. 8, the power unit 0 made of magnetostrictive-piezoelectric material includes a section1 for generating a piezomagnetic sensing signal by coil induction or hall sensing or magneto-resistive sensing and a section2 for generating driving expansion by applying a driving voltage to the coil.
The power unit only needs to switch the corresponding sensing signal acquisition circuit to the driving excitation signal applying circuit; or the corresponding driving signal circuit is switched to the sensing signal acquisition circuit.
As shown in fig. 9, for the application of the two-degree-of-freedom feeding device, the two-degree-of-freedom feeding device is arranged on a surface to be processed of a workpiece, and the high-precision processing of the surface of the part is realized by driving the machine body 1 through the independent motor 8 and/or driving the secondary coil 7 through the external power supply.
The amplifying mechanism 3 is located at the system output end 13 of the machine body 1, and can be provided with an operation end for drilling, milling, cutting or 3D printing.
The high-precision machining is realized by a control unit which is respectively connected with the motor 8 and the primary coil 9.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A two degree of freedom feed device, comprising: the power unit that sets up in the organism and one end mechanism of enlargiing that contacts with it, the other end of mechanism of enlargiing is as system output end in order to operate the object of organism outside, wherein: the amplifying mechanism is connected with the power unit to receive the driving output of the power unit, and when the machine body is driven to rotate, the motion of two degrees of freedom of rotation and translation is simultaneously realized through a rotation and/or external magnetic field;
the amplification mechanism is realized by a connecting rod or a connecting rod group with at least one rotating shaft or a flexible hinge mechanism equivalent to a rotating shaft mode.
2. The two degree of freedom feed device of claim 1, wherein the amplification mechanism comprises: the connecting rod or the connecting rod group is used for realizing horizontal and vertical moment transmission, the rotating shaft is used for realizing the adjustment of the force arm of input and output, and the micro displacement of the power unit is amplified and transmitted to an operation object outside the machine body through the amplifying mechanism;
the connecting rod group consists of a plurality of rigid straight rods which are sequentially and rotatably connected end to end, the rigid straight rods are horizontally arranged or arranged in a normal direction along the two-degree-of-freedom feeding device, the rotating shafts are arranged on the normally arranged rigid straight rods, and output amplification is realized by adjusting the distance between the rotating shafts and the rigid straight rods adjacent to two ends.
3. A two degree of freedom feed arrangement according to claim 1 or 2 wherein the amplification mechanism is a primary, secondary or tertiary amplification mechanism wherein:
the first-order amplification mechanism comprises: a rigid straight rod with a rotating shaft, the straight rod is arranged in a normal direction and generates primary amplification, one end of the straight rod is in point contact with the power unit, and the other end of the straight rod is rotationally connected with the output end of the system;
the second-stage amplification mechanism comprises: three rigid straight rods connected end to end in turn and rotary shafts arranged on the first straight rod and the third straight rod, wherein: the first straight rod and the third straight rod are arranged in a normal direction and generate secondary amplification, the second straight rod is arranged horizontally, one end of the first straight rod is in point contact with the power unit, and one end of the third straight rod is rotatably connected with the output end of the system;
the tertiary mechanism of amplifying includes: five rigid body straight-bars that rotate the connection end to end in proper order with set up the revolving axle on first, third and fifth straight-bar, wherein: the first straight rod, the third straight rod and the fifth straight rod are arranged in a normal direction and generate three-stage amplification, and the second straight rod and the fourth straight rod are arranged horizontally.
4. The two-degree-of-freedom feeding device according to claim 3, wherein the horizontally arranged rigid straight rod is provided with a position-limiting guide member which is arranged in the machine body in parallel with the rigid straight rod and limits the horizontal movement of the rigid straight rod, thereby preventing the loss of energy in the normal direction during the horizontal transfer.
5. The two-degree-of-freedom feeding device according to claim 1, wherein the power unit adopts a permanent magnet, a solid telescopic body or an electromagnetic telescopic body, and has driving and sensing characteristics.
6. The two degree-of-freedom feeding device according to claim 1 or 5, wherein the power unit,
when the piezoelectric composite material unit is realized by adopting a plurality of parallel/serial composite piezoelectric material units, one composite piezoelectric material unit is used as a sensor, the acquired pressure signal is converted into an electric signal to be output to a control unit, and other composite piezoelectric material units are still used as power units;
when the magnetostrictive elements are connected in parallel/in series, one magnetostrictive element is used as a sensor, the acquired induced current is output to the control unit to monitor the working conditions of other elements, and other magnetostrictive elements are still used as power elements;
when the composite piezoelectric material unit and the magnetostrictive unit are mixed and/or connected in series, any one of the units is used as a sensor, or one of any one of the units is used as a sensor, so that the working conditions of the same type of unit can be monitored in real time.
7. The two-degree-of-freedom feeding device according to claim 1, wherein a pre-tightening mechanism for providing an elastic force or a tensile force to the amplifying mechanism in one direction is provided in the body to contact with the amplifying mechanism, so that the amplifying mechanism maintains an initial state of a specific position and eliminates a gap during transmission.
8. The two-degree-of-freedom feeding device according to claim 1, wherein a primary coil is provided outside the body, and a secondary coil or magnetic field generating mechanism is provided inside the body, the primary coil wirelessly transmits energy and is connected to the power unit through the secondary coil or magnetic field generating mechanism to convert the energy into a force for the power unit to drive the amplifying mechanism.
9. The two-degree-of-freedom feeding device according to claim 1, wherein a permanent magnet housing is provided outside the body, and the secondary coil is arranged in a rotation direction for generating magnetic lines of force to be cut by relative movement with the permanent magnet housing and rotates relatively.
10. Use of the two-degree-of-freedom feeding device according to any one of the preceding claims, wherein the two-degree-of-freedom feeding device is arranged on a surface to be machined of a workpiece and a secondary coil is driven by a separate motor-driven body and/or an external power supply to achieve high-precision machining of the surface of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480060.0A CN112025376A (en) | 2019-06-04 | 2019-06-04 | Two-degree-of-freedom feeding device and application thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480060.0A CN112025376A (en) | 2019-06-04 | 2019-06-04 | Two-degree-of-freedom feeding device and application thereof |
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| Publication Number | Publication Date |
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| CN112025376A true CN112025376A (en) | 2020-12-04 |
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| CN201910480060.0A Pending CN112025376A (en) | 2019-06-04 | 2019-06-04 | Two-degree-of-freedom feeding device and application thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400089A (en) * | 2021-07-01 | 2021-09-17 | 南京伶机宜动驱动技术有限公司 | Error sensing compensation method for precision machining |
-
2019
- 2019-06-04 CN CN201910480060.0A patent/CN112025376A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400089A (en) * | 2021-07-01 | 2021-09-17 | 南京伶机宜动驱动技术有限公司 | Error sensing compensation method for precision machining |
| CN113400089B (en) * | 2021-07-01 | 2022-06-14 | 南京伶机宜动驱动技术有限公司 | Error sensing compensation method for precision machining |
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