CN112388370A - Piezoelectric ceramic driven large-stroke constant-force fast knife servo device - Google Patents
Piezoelectric ceramic driven large-stroke constant-force fast knife servo device Download PDFInfo
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- CN112388370A CN112388370A CN202011271772.0A CN202011271772A CN112388370A CN 112388370 A CN112388370 A CN 112388370A CN 202011271772 A CN202011271772 A CN 202011271772A CN 112388370 A CN112388370 A CN 112388370A
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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
- B23Q5/22—Feeding members carrying tools or work
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Abstract
The invention discloses a piezoelectric ceramic driven large-stroke constant-force fast knife servo device, which mainly relates to the field of fast knife servo systems; the flexible blade holder is characterized by comprising a fixed base, a cutter and a flexible blade holder, wherein the top of the flexible blade holder is provided with a cutter holder, the upper part of the cutter holder is symmetrically provided with a flexible plate spring negative stiffness mechanism extending obliquely downwards, the lower side of the flexible plate spring negative stiffness mechanism is horizontally provided with a flexible plate spring positive stiffness mechanism, the bottom of the cutter holder is symmetrically provided with a secondary lever amplification mechanism, the bottom of the secondary lever amplification mechanism is provided with a primary lever amplification mechanism, a connecting base is arranged between the two primary lever amplification mechanisms, the lower side of the connecting base is provided with piezoelectric ceramics, and the flexible blade holder is provided with piezoelectric ceramic mounting holes matched with the piezoelectric ceramics; the invention realizes the constant force output of the fast knife servo device, and simultaneously, the integral flexible mechanism adopts a symmetrical decoupling design, thereby eliminating parasitic displacement and improving the processing precision.
Description
Technical Field
The invention relates to the field of fast knife servo systems, in particular to a piezoelectric ceramic driven large-stroke constant-force fast knife servo device.
Background
Optical free-form surface elements, micro-structural arrays, non-circular cross-section parts and other novel complex curved surface elements are widely applied in the fields of aerospace, optical fiber communication, precision instruments, national defense industry and the like. Based on the complex curved surface of the element, the traditional processing technology cannot meet the requirement of high-efficiency and high-precision processing, and the ultra-precision fast knife servo technology becomes a key technology for processing parts with complex curved surfaces due to the characteristics of high precision and high frequency response.
The fast tool servo technology outputs the displacement of a tool by means of the deformation of a flexible mechanism, constant cutting force and output displacement need to be guaranteed in the high-precision machining process of complex elements such as optical free-form surface elements and the like, and the relative error and roughness of the surface of a machined part are guaranteed. The inventor finds that in the prior art, a constant-force fast knife servo device is disclosed, which adopts a voice coil motor as a driving mechanism, and can meet the requirement of the output end on constant force and realize the servo processing requirement of a fast knife with a large stroke. However, the voice coil motor has the problems of large mass, small output force and the like, so that the fast knife servo device is not compact enough, and the response frequency of the system is low.
The piezoelectric ceramic has the characteristics of high rigidity, small mass and large output force, and the piezoelectric ceramic is used as a driving element of the fast knife servo system, so that the structure can be effectively simplified, and the response frequency of the system is improved. However, the output displacement of the piezoelectric ceramic is too small, so that the stroke requirement of the fast knife servo system cannot be met.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a piezoelectric ceramic driven large-stroke constant-force fast knife servo device.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a big stroke constant force fast sword servo device of piezoceramics driven, includes unable adjustment base, cutter, flexible knife rest, the top of flexible knife rest is equipped with the cutter saddle, the upper portion symmetry of cutter saddle is equipped with the flexible leaf spring negative stiffness mechanism of oblique downwardly extending, the downside level of flexible leaf spring negative stiffness mechanism is equipped with the positive stiffness mechanism of flexible leaf spring, the one end that the cutter saddle was kept away from to the positive stiffness mechanism of flexible leaf spring, flexible leaf spring negative stiffness mechanism all is connected with the flexible knife rest, the bottom symmetry of cutter saddle is equipped with secondary lever amplification mechanism, the bottom of secondary lever amplification mechanism is equipped with elementary lever amplification mechanism, secondary lever amplification mechanism, elementary lever amplification mechanism all are located the inboard of the support body of flexible knife rest, two be equipped with the connection base between the elementary lever amplification mechanism, the downside of connecting the base is vertical to be equipped with piezoceramics, and the flexible knife rest is provided with a piezoelectric ceramic mounting hole matched with the piezoelectric ceramic.
Preferably, the cross section of the fixed base is L-shaped, and the flexible knife rest is installed in an L-shaped installation position of the fixed base through a screw.
Preferably, the outer wall of the upper part of the cutter seat is provided with a mounting position adaptive to the cutter, and the cutter is connected with the cutter seat through a bolt.
Preferably, a pre-tightening mechanism which is adaptive to the piezoelectric ceramic is arranged on the fixed base.
Preferably, the pre-tightening mechanism is a pre-tightening bolt.
Preferably, the flexible hinges in the flexible plate spring positive stiffness mechanism and the flexible plate spring negative stiffness mechanism are all straight circular hinges.
Compared with the prior art, the invention has the beneficial effects that:
1. the driving element of the invention adopts piezoelectric ceramics, has the characteristics of high rigidity, large output force and small mass, effectively simplifies the structure of the fast knife servo device and improves the natural frequency of the system;
2. the flexible amplifying mechanism is added, and the mechanism is a secondary lever amplifying mechanism consisting of a primary lever amplifying mechanism and a secondary lever amplifying mechanism, so that the output displacement of the piezoelectric ceramic is greatly increased, and the application range of the piezoelectric ceramic is improved;
3. the positive stiffness mechanism and the negative stiffness mechanism of the flexible plate spring form a constant force mechanism, and the flexible amplifying mechanism and the constant force mechanism are symmetrically arranged, so that parasitic displacement of the flexible mechanism is eliminated, and the processing precision is effectively improved;
4. the constant force mechanism and the flexible amplifying mechanism designed by the invention are connected in series, so that the constant force output can be realized, the amplification proportion of displacement is not influenced, the output cutting force is unchanged in the high-speed feeding process of the cutter, and the processing precision is improved;
5. the identity of the flexible hinges of the flexible amplification mechanism of the invention facilitates design and processing.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic plan view of the present invention;
FIG. 3 is a right side elevational full sectional view of the present invention;
fig. 4 is a schematic structural view of the flexible blade holder.
The reference numbers in the drawings:
1. a cutter; 2. a tool holder; 3. a negative stiffness mechanism of the flexible plate spring; 4. a positive stiffness mechanism of the flexible plate spring; 5. a secondary lever amplification mechanism; 6. a primary lever amplification mechanism; 7. a fixed base; 8. piezoelectric ceramics; 9. a pre-tightening mechanism; 10. and (5) mounting holes for piezoelectric ceramics.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Example (b): as described in the background art, the fast tool servo technology outputs the displacement of the tool by means of the deformation of the flexible mechanism, and needs to ensure constant cutting force and output displacement in the high-precision machining process of complex elements such as optical free-form surface elements, and the like, so as to ensure the relative error and roughness of the surface of a machined part.
The inventor finds that in the prior art, a constant-force fast knife servo device is disclosed, which adopts a voice coil motor as a driving mechanism, and can meet the requirement of the output end on constant force and realize the servo processing requirement of a fast knife with a large stroke. Because the voice coil motor has the characteristics of large mass, small output force and the like, the fast knife servo device is not compact enough, and the response frequency of the system is low. Therefore, in order to solve the problems, the piezoelectric ceramic is used as a driver to replace a voice coil motor, meanwhile, a two-stage lever amplification mechanism is connected to the tail end of the piezoelectric ceramic to increase output displacement, and the series constant force mechanism enables the fast knife servo mechanism to meet the requirement of large stroke constant force and improve the inherent frequency of the device, so that the structure is more compact.
Specifically, as shown in fig. 1-4, the invention relates to a piezoelectric ceramic driven large-stroke constant-force fast knife servo device, which comprises a fixed base 7, a knife 1 and a flexible knife rest, wherein the top of the flexible knife rest is provided with a knife seat 2, the upper part of the knife seat 2 is symmetrically provided with a flexible plate spring negative stiffness mechanism 3 extending obliquely downwards, the lower side of the flexible plate spring negative stiffness mechanism 3 is horizontally provided with a flexible plate spring positive stiffness mechanism 4, one ends of the flexible plate spring positive stiffness mechanism 4 and the flexible plate spring negative stiffness mechanism 3 far away from the knife seat 2 are both connected with a frame body of the flexible knife rest, the bottom of the knife seat 2 is symmetrically provided with a secondary lever amplification mechanism 5, the bottom of the secondary lever amplification mechanism 5 is provided with a primary lever amplification mechanism 6, and the secondary lever amplification mechanism 5 and the primary lever amplification mechanism 6 are both positioned on the inner side of the frame body of the flexible knife, a connecting base is arranged between the two primary lever amplifying mechanisms 6, and the flexible knife rest comprises a frame body with an opening at the top, a flexible amplifying mechanism consisting of the primary lever amplifying mechanism 6 and a primary lever amplifying mechanism 5, and a constant force mechanism formed by connecting a flexible plate spring negative stiffness mechanism 3 and a flexible plate spring positive stiffness mechanism 4 in parallel;
the constant force mechanism adopts a zero stiffness mechanism with positive and negative stiffness mechanisms connected in parallel to offset stiffness, constant force output of the fast knife servo device is realized, the flexible plate spring negative stiffness mechanism 3 and two sides of the flexible knife rest form a certain angle along the axial direction, the specific angle is related to the flexible plate spring parameter, the angle enables the mechanism to present a negative stiffness characteristic, the constant force mechanism is connected in parallel through the positive and negative stiffness mechanisms, zero stiffness can be realized through equal-magnitude reversal of positive and negative stiffness within a certain range, and meanwhile, parasitic displacement of an output end is effectively eliminated through symmetrical arrangement of the positive and negative stiffness beams.
The flexible amplifying mechanism adopts a lever amplifying principle, is a secondary lever amplifying mechanism in a specific structure, can effectively amplify the output displacement of piezoelectric ceramics, and realizes the large stroke capacity of the system, and the secondary lever amplifying mechanism and the constant force mechanism are in axial symmetry arrangement, namely two groups of lever amplifying mechanisms and positive and negative rigidity plate spring mechanisms are in mirror symmetry along a central shaft of the mechanism, and the parasitic displacement at the input end of the mechanism can be effectively eliminated through symmetrical arrangement, so that the system precision is improved.
The output end of the second-level lever amplification mechanism is connected with the input end of the constant force mechanism in series, so that the rigidity of the mechanism in a working range is always zero.
The lower side of the connecting base is vertically provided with piezoelectric ceramics 8, the flexible knife rest is provided with a piezoelectric ceramic mounting hole 10 matched with the piezoelectric ceramics 8, the output end of the piezoelectric ceramics 8 is connected with the input end of the flexible amplifying mechanism, and the piezoelectric ceramic driver has the characteristics of large output, high rigidity and high natural frequency, can realize high-frequency response of a system, and simultaneously enables the fast knife servo device to be compact.
The primary lever amplification mechanism 5 is connected with piezoelectric ceramics 8 through a connecting base, and the piezoelectric ceramics 8 are arranged on the flexible knife rest; one end of the secondary lever amplifying mechanism 6 is connected with the cutter seat 2, and the tail end of the cutter seat 2 is provided with a cutter 1;
the displacement output by the piezoelectric ceramic 8 is amplified step by step through a two-stage lever amplification structure, and under the action of a constant force mechanism, an output shaft performs constant force reciprocating linear motion to the displacement belt cutter seat 2, so that the workpiece is machined.
Specifically, be equipped with the pretension mechanism 9 that suits with piezoceramics 8 on unable adjustment base 7, piezoceramics 8 passes through pretension mechanism 9 to be fixed in piezoceramics mounting hole 10, can improve fast sword servo device's job stabilization nature.
Furthermore, the pre-tightening mechanism 9 is a pre-tightening bolt, and the pre-tightening of the piezoelectric ceramic 8 is realized by screwing the pre-tightening bolt to abut against the end part of the piezoelectric ceramic 8.
Preferably, unable adjustment base 7's transversal L type of personally submitting, flexible knife rest passes through the screw and installs in unable adjustment base 7's L type installation position, flexible knife rest and unable adjustment base 7 are last to have 6 counter bores, and it is fixed with unable adjustment base 7 through 6 bolts to can install on the lathe, unable adjustment base 7 and flexible knife rest are split type structure, make things convenient for fast sword server's dismantlement and installation.
Preferably, the outer wall of the upper part of the cutter seat 2 is provided with a mounting position matched with the cutter 1, the cutter 1 is connected with the cutter seat 2 through a bolt, the cutter 1 is mounted at the tail end of the cutter seat 2 and reciprocates along with the movement of the flexible cutter rest, and meanwhile, the cutter is convenient to replace and maintain.
Preferably, the flexible hinges in the flexible plate spring positive stiffness mechanism 4 and the flexible plate spring negative stiffness mechanism 3 are all straight circular hinges, so that the rotation precision is high, and the design and the processing are facilitated due to the identity of the flexible hinges.
The working method of the piezoelectric ceramic driven constant-force large-stroke fast knife servo comprises the following steps:
the output displacement of the piezoelectric ceramic 8 pre-tightened by the pre-tightening bolt is transmitted to the secondary lever mechanism, and the output displacement is amplified step by step sequentially through the primary lever amplifying mechanism 6 and the secondary lever amplifying mechanism 5;
the displacement amplified by the amplifying mechanism is transmitted to the output shaft of the flexible tool rest, and the tool realizes the large-stroke constant-force reciprocating motion under the action of the constant-force mechanism.
Claims (6)
1. The utility model provides a quick sword servo device of piezoceramics driven large stroke constant force, includes unable adjustment base (7), cutter (1), flexible knife rest, its characterized in that: the top of the flexible knife rest is provided with a knife seat (2), the upper part of the knife seat (2) is symmetrically provided with a flexible plate spring negative stiffness mechanism (3) extending obliquely downwards, the lower side level of the flexible plate spring negative stiffness mechanism (3) is provided with a flexible plate spring positive stiffness mechanism (4), one ends of the flexible plate spring positive stiffness mechanism (4) and the flexible plate spring negative stiffness mechanism (3) far away from the knife seat (2) are connected with the knife rest body of the flexible knife rest, the bottom of the knife seat (2) is symmetrically provided with a secondary lever amplification mechanism (5), the bottom of the secondary lever amplification mechanism (5) is provided with a primary lever amplification mechanism (6), the secondary lever amplification mechanism (5) and the primary lever amplification mechanism (6) are both positioned at the inner side of the knife rest body of the flexible knife rest, a connecting base is arranged between the two primary lever amplification mechanisms (6), the lower side of the connecting base is vertically provided with piezoelectric ceramics, and the flexible knife rest is provided with a piezoelectric ceramic mounting hole (10) which is matched with the piezoelectric ceramic (8).
2. The piezoelectric ceramic driven large-stroke constant-force fast knife servo device according to claim 1, characterized in that: the cross section of the fixed base (7) is L-shaped, and the flexible knife rest is installed in an L-shaped installation position of the fixed base (7) through a screw.
3. The piezoelectric ceramic driven large-stroke constant-force fast knife servo device according to claim 1, characterized in that: the outer wall of the upper portion of the cutter seat (2) is provided with a mounting position matched with the cutter (1), and the cutter (1) is connected with the cutter seat (2) through a bolt.
4. The piezoelectric ceramic driven large-stroke constant-force fast knife servo device according to claim 1, characterized in that: and a pre-tightening mechanism (9) which is adaptive to the piezoelectric ceramics (8) is arranged on the fixed base (7).
5. The piezoelectric ceramic driven large-stroke constant-force fast knife servo device according to claim 4, characterized in that: the pre-tightening mechanism (9) is a pre-tightening bolt.
6. The piezoelectric ceramic driven large-stroke constant-force fast knife servo device according to claim 1, characterized in that: and flexible hinges in the flexible plate spring positive stiffness mechanism (4) and the flexible plate spring negative stiffness mechanism (3) are all straight round hinges.
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| CN202011271772.0A CN112388370A (en) | 2020-11-13 | 2020-11-13 | Piezoelectric ceramic driven large-stroke constant-force fast knife servo device |
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| CN202011271772.0A CN112388370A (en) | 2020-11-13 | 2020-11-13 | Piezoelectric ceramic driven large-stroke constant-force fast knife servo device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113059464A (en) * | 2021-04-02 | 2021-07-02 | 澳门大学 | Constant-force polishing mechanism and polishing equipment |
| CN113101987A (en) * | 2021-03-22 | 2021-07-13 | 大连理工大学 | Compliant mechanism for microfluid storage and supply device |
| CN113941899A (en) * | 2021-05-18 | 2022-01-18 | 齐鲁工业大学 | Fast cutter servo device and application thereof in high-speed high-precision curved surface machining |
| CN114296322A (en) * | 2021-12-30 | 2022-04-08 | 哈尔滨工业大学 | Quasi-zero rigidity flexible guide structure based on composite structure |
| CN114296323A (en) * | 2021-12-30 | 2022-04-08 | 哈尔滨工业大学 | Long-stroke quasi-zero rigidity flexible guide mechanism |
| CN115614616A (en) * | 2022-10-17 | 2023-01-17 | 中国工程物理研究院应用电子学研究所 | Single-drive bipolar displacement amplifier and displacement amplification device for optical axis adjustment |
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| CN115614616A (en) * | 2022-10-17 | 2023-01-17 | 中国工程物理研究院应用电子学研究所 | Single-drive bipolar displacement amplifier and displacement amplification device for optical axis adjustment |
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