CN112719317A - Integrated ultrasonic spindle motor vibration system for industrial robot machining - Google Patents
Integrated ultrasonic spindle motor vibration system for industrial robot machining Download PDFInfo
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- CN112719317A CN112719317A CN202110008105.1A CN202110008105A CN112719317A CN 112719317 A CN112719317 A CN 112719317A CN 202110008105 A CN202110008105 A CN 202110008105A CN 112719317 A CN112719317 A CN 112719317A
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- industrial robot
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- 238000003754 machining Methods 0.000 title description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 42
- 239000000919 ceramic Substances 0.000 claims abstract description 36
- 239000002131 composite material Substances 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 12
- 229910001385 heavy metal Inorganic materials 0.000 claims description 6
- 229910052751 metal Inorganic materials 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 3
- 229910000881 Cu alloy Inorganic materials 0.000 claims description 3
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- HFGPZNIAWCZYJU-UHFFFAOYSA-N lead zirconate titanate Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[Ti+4].[Zr+4].[Pb+2] HFGPZNIAWCZYJU-UHFFFAOYSA-N 0.000 claims description 3
- 230000010287 polarization Effects 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims 1
- 238000000746 purification Methods 0.000 claims 1
- 238000013461 design Methods 0.000 description 13
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
一种用于工业机器人加工的集成式超声主轴电机振动系统，包括电机外壳，电机的主轴为三段式复合变幅杆，复合变幅杆自前向后依次为小圆柱段、圆锥段和大圆柱段，小圆柱段前端伸出电机外壳前端面，大圆柱段外圆与电机外壳内壁转动连接，大圆柱段外圆设有电机转子，大圆柱段后端面同轴线设有压电陶瓷堆，压电陶瓷堆后端面同轴线设有前无线传输盘，电机外壳后端设有与前无线传输盘平行的后无线传输盘，后无线传输盘连接有导线。本发明在保证原有的压电陶瓷堆不变的基础下，即不影响原有换能器功率的情况下，明显减小了变幅器的整体尺寸，能够满足工业机器人末端换刀装置使用要求。
An integrated ultrasonic spindle motor vibration system for industrial robot processing includes a motor casing, the main shaft of the motor is a three-section composite horn, and the composite horn is a small cylindrical section, a conical section and a large cylindrical section from front to back. The front end of the small cylindrical section protrudes from the front end surface of the motor casing, the outer circle of the large cylindrical section is rotatably connected to the inner wall of the motor casing, the outer circumference of the large cylindrical section is provided with a motor rotor, and the rear end surface of the large cylindrical section is provided with a piezoelectric ceramic stack on the coaxial line. A front wireless transmission plate is arranged on the coaxial line on the rear surface of the piezoelectric ceramic stack, a rear wireless transmission plate parallel to the front wireless transmission plate is arranged at the rear end of the motor casing, and a wire is connected to the rear wireless transmission plate. On the basis of ensuring that the original piezoelectric ceramic stack remains unchanged, that is, without affecting the power of the original transducer, the invention significantly reduces the overall size of the horn, and can meet the requirements of the end tool changer of an industrial robot. Require.
Description
Technical Field
The invention belongs to the field of ultrasonic cutting machining and application of industrial robots, and particularly relates to an integrated ultrasonic spindle motor vibration system for industrial robot machining.
Background
The traditional ultrasonic vibration system for cutting processing designs piezoelectric transducer, amplitude transformer, wireless transmission unit etc. at spindle motor periphery, assembles ultrasonic component and spindle motor, accomplishes ultrasonic processing vibration system, and the structure is more complicated and leads to the system overall structure size great, can't satisfy the operational requirement in the limited occasion in space such as industrial robot terminal.
Disclosure of Invention
The invention provides an integrated ultrasonic spindle motor vibration system for industrial robot machining, which aims to overcome the defects in the prior art and can realize multidirectional movement combination of a target and improve the actual combat training effect.
In order to solve the technical problems, the invention adopts the following technical scheme: an integrated ultrasonic main shaft motor vibration system for industrial robot processing comprises a motor shell, wherein a main shaft of the motor is a three-section type composite amplitude transformer which sequentially comprises a small cylindrical section, a conical section and a large cylindrical section from front to back, the conical section is thin in front and thick in back, the outer diameter of the small cylindrical section is equal to the diameter of the thin end of the conical section, the diameter of the large cylindrical section is equal to the diameter of the thick end of the conical section, the front end of the small cylindrical section extends out of the front end face of the motor shell, the front side and the rear side of the excircle of the large cylindrical section are respectively in rotary connection with the inner wall of the motor shell through a first bearing and a second bearing, a motor rotor is arranged on the excircle of the large cylindrical section between the first bearing and the second bearing, a piezoelectric ceramic stack is arranged on the rear end face of the large cylindrical section, a front wireless transmission disc is arranged on the rear end face of the piezoelectric ceramic stack, a rear wireless transmission disc parallel to the front, the rear wireless transmission disc is connected with a lead.
The piezoelectric ceramic stack consists of an even number of PZT-8 piezoelectric ceramic pieces with end faces polarized and a corresponding number of electrode pieces, the longitudinal polarization directions of the two adjacent piezoelectric ceramic pieces are opposite, and the piezoelectric ceramic pieces are adhered into a whole through an adhesive after being purified.
The front wireless transmission disc, the piezoelectric ceramic stack and the large cylindrical section of the composite amplitude transformer are connected into a whole through a fastening bolt arranged along the central line of the composite amplitude transformer, a countersunk head groove is arranged at the center of the rear side surface of the front wireless transmission disc, and the head part of the fastening bolt is positioned in the countersunk head groove.
The center of the front end face of the small cylindrical section is provided with a taper hole for mounting a cutter.
The total length of the composite amplitude transformer, the piezoelectric ceramic stack and the front wireless transmission disc is equal to one wavelength of an ultrasonic spindle motor vibration system, the first bearing and the second bearing are respectively positioned at the position of two adjacent nodal surfaces of one wavelength, and the composite amplitude transformer is subjected to flange disc removing design at the nodal surfaces.
The front wireless transmission disc is made of heavy metal, and the rear wireless transmission disc is made of light metal.
The heavy metal is copper alloy or alloy steel, and the light metal is titanium alloy or aluminum alloy.
By adopting the technical scheme, the invention has the following technical characteristics and beneficial effects:
1. the invention carries out ultrasonic integrated design on the main shaft part of the motor, designs the original rotary main shaft with uniform section into an ultrasonic vibration system consisting of an amplitude transformer, an energy transducer and a wireless transmission disc, and simultaneously considers the functions of the main shaft of the motor and the ultrasonic vibration. And the integrated structure of the ultrasonic vibration system and the motor spindle is realized.
2. The three parts of coaxial lines of the composite amplitude transformer, the piezoelectric ceramic stack and the front wireless transmission disc are combined to form a motor spindle, the motor spindle is subjected to integrated ultrasonic vibration system design, the three-section type composite amplitude transformer is used as a front cover plate of the piezoelectric transducer, and the transmitting end function and the amplitude transformer energy transfer function of the transducer are realized at the same time;
3. in order to further shorten the size, the front wireless transmission disc is countersunk at the center, and the head of the fastening bolt is embedded in the front wireless transmission disc.
4. The center of the front end of the motor spindle is provided with a taper hole for installing a cutter required in cutting.
5. A wireless transmission system is designed in the ultrasonic spindle motor to realize ultrasonic electric signal transmission; the rear end cover direct design of motor is back wireless transmission dish, and the back shroud design of transducer is preceding wireless transmission dish, further reduces system overall dimension, realizes integrating the design.
6. And pre-tightening force calculation is carried out according to the area of the piezoelectric ceramic sheet and the cross section area of the fastening bolt, and a torque measuring wrench is used for applying the pre-tightening force to ensure that all parts of the motor spindle are tightly connected.
7. All the joint surfaces of the motor spindle need to be finely ground to meet a certain roughness requirement so as to ensure that the joint surfaces of the motor spindle are tightly attached to each other and be beneficial to wave transmission.
In summary, the invention provides an integrated ultrasonic system design of a piezoelectric transducer, a composite amplitude transformer and a wireless transmission unit according to the reason that the space of a tool changer at the tail end of an industrial robot is limited and the like aiming at the characteristic that the vibration system of an ultrasonic device arranged outside a spindle motor is large in size, and the spindle of the motor is subjected to ultrasonic integrated design. The joint surface of the wavelength adopts a design without a flange disc, and bearings are arranged at two joint surface positions of the full wavelength to realize the rotation of the main shaft. The electronic rotor is installed at the uniform large cylindrical section of the composite amplitude transformer and rotates along with the uniform large cylindrical section. The motor shell is used as a stator, and the rear end cover is used as a rear wireless transmission disc and is connected with an ultrasonic power supply through a lead. The transducer back shroud simultaneously carries out rotary motion along with the main shaft as preceding wireless transmission dish during processing, gives piezoelectric ceramic heap with ultrasonic electric signal transmission, realizes electromechanical transformation, converts ultrasonic electric signal into high frequency mechanical vibration. The composite amplitude transformer amplifies the amplitude of the mechanical vibration to realize energy conversion. Finally, ultrasonic vibration is applied to the end tool, and the end tool is applied to cutting machining of the industrial robot. Therefore, under the basis of ensuring that the original piezoelectric ceramic stack is unchanged, namely under the condition of not influencing the power of the original transducer, the overall size of the amplitude transformer is obviously reduced, and the use requirement of the industrial robot terminal tool changer can be met.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural dimension design diagram of the motor spindle vibration system in the invention.
Detailed Description
As shown in figure 1, the integrated ultrasonic spindle motor vibration system for industrial robot machining of the invention comprises a motor housing 1, a spindle of the motor is a three-section composite amplitude transformer 2, the composite amplitude transformer 2 sequentially comprises a small cylindrical section 11, a conical section 12 and a large cylindrical section 13 from front to back, the conical section 12 is thin in front and thick in back, the outer diameter of the small cylindrical section 11 is equal to the diameter of the thin end of the conical section 12, the diameter of the large cylindrical section 13 is equal to the diameter of the thick end of the conical section 12, the front end of the small cylindrical section 11 extends out of the front end face of the motor housing 1, the front side and the back side of the excircle of the large cylindrical section 13 are respectively and rotatably connected with the inner wall of the motor housing 1 through a first bearing 3 and a second bearing 5, a motor rotor 4 is arranged on the excircle of the large cylindrical section 13 between the first bearing 3 and the second bearing 5, a piezoelectric ceramic stack 6 is coaxially arranged on the back end face of the large cylindrical section 13, a front wireless transmission disc 7 is coaxially arranged on the back end, the rear end of the motor shell 1 is provided with a rear wireless transmission disc 8 parallel to the front wireless transmission disc 7, and the rear wireless transmission disc 8 is connected with a lead 10.
The piezoelectric ceramic stack 6 consists of an even number of PZT-8 piezoelectric ceramic pieces with end faces polarized and a corresponding number of electrode pieces, the longitudinal polarization directions of the two adjacent piezoelectric ceramic pieces are opposite, and the piezoelectric ceramic pieces are adhered into a whole through an adhesive after being purified.
The front wireless transmission disc 7, the piezoelectric ceramic stack 6 and the large cylindrical section 13 of the composite amplitude transformer 2 are connected into a whole through a fastening bolt 9 arranged along the central line of the composite amplitude transformer 2, a countersunk head groove 15 is arranged at the center of the rear side surface of the front wireless transmission disc 7, and the head part of the fastening bolt 9 is positioned in the countersunk head groove 15.
The center of the front end face of the small cylindrical section 11 is provided with a taper hole 14 for mounting a cutter.
The total length of the composite amplitude transformer 2, the piezoelectric ceramic stack 6 and the front wireless transmission disc 7 is equal to one wavelength of an ultrasonic spindle motor vibration system, the first bearing 3 and the second bearing 5 are respectively located at the position of two adjacent nodal surfaces of one wavelength, and the flange removing design is carried out on the nodal surfaces of the composite amplitude transformer 2.
The front wireless transmission disc 7 is made of heavy metal, and the rear wireless transmission disc 8 is made of light metal.
The heavy metal is copper alloy or alloy steel, and the light metal is titanium alloy or aluminum alloy.
The composite amplitude transformer 2, the piezoelectric ceramic stack 6 and the front wireless transmission disk 7 form a full-wavelength ultrasonic vibration system. The composite amplitude transformer 2 and the sandwich transducer (piezoelectric ceramic stack 6) are respectively designed by half wavelength, and the structural size is shown in figure 2.
As shown in fig. 2, the left two segments (the sum of the small cylindrical segment 11L1 and the conical segment 12L 2) of the half-wavelength composite horn 2 are 1/4 wavelengths, and the large cylindrical segment 13 is 1/4 wavelengths; the right two sections (the sum of the piezoelectric ceramic stack 6L4 and the rear cover plate L5) of the half-wavelength piezoelectric transducer are 1/4 wavelengths, and the left transmitting end of the half-wavelength piezoelectric transducer is 1/4 wavelengths; the large cylindrical section 13 (L3 section) of the composite horn 22 is half wavelength.
The first bearing 3 is arranged at the left limit position of the large cylindrical section 13 deviated from the node, and the second bearing 5 is arranged at the right limit position of the large cylindrical section 13 deviated from the node, and vibration isolation measures are adopted at the two limit positions.
The prestress of the piezoelectric ceramic piece is 3000-3500N/CM2, the pretightening force of the amplitude transformer is calculated according to the area of the piezoelectric ceramic piece and the cross section area of the connecting bolt, and the pretightening force is applied through the force measuring torque wrench so as to ensure the axial force of the amplitude transformer and further ensure the close fit between the joint surfaces.
The invention relates to an integrated ultrasonic spindle motor vibration system for industrial robot machining, which obviously reduces the size of the traditional ultrasonic vibration system and can also be applied to other ultrasonic vibration systems with limited structures.
The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110008105.1A CN112719317A (en) | 2021-01-05 | 2021-01-05 | Integrated ultrasonic spindle motor vibration system for industrial robot machining |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110008105.1A CN112719317A (en) | 2021-01-05 | 2021-01-05 | Integrated ultrasonic spindle motor vibration system for industrial robot machining |
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| CN112719317A true CN112719317A (en) | 2021-04-30 |
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| CN202110008105.1A Pending CN112719317A (en) | 2021-01-05 | 2021-01-05 | Integrated ultrasonic spindle motor vibration system for industrial robot machining |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458512A (en) * | 2021-06-25 | 2021-10-01 | 大连大学 | Multidirectional adjustable composite ultrasonic auxiliary electric spark main shaft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004106125A (en) * | 2002-09-19 | 2004-04-08 | Taga Electric Co Ltd | Working tool |
| JP2010207972A (en) * | 2009-03-11 | 2010-09-24 | Masahiko Jin | Spindle device |
| CN104785799A (en) * | 2015-04-24 | 2015-07-22 | 北京航空航天大学 | High-effect and small-size rotary ultrasonic spindle |
| CN107116019A (en) * | 2017-06-27 | 2017-09-01 | 哈尔滨工业大学深圳研究生院 | Bifrequency ultrasonic vibrating machining transducer and its mode of operation |
| US20200180041A1 (en) * | 2017-08-03 | 2020-06-11 | Kira Corporation | Ultrasonic vibration processing device |
| CN214321850U (en) * | 2021-01-05 | 2021-10-01 | 河南牧业经济学院 | An Integrated Ultrasonic Spindle Motor Vibration System for Industrial Robot Machining |
-
2021
- 2021-01-05 CN CN202110008105.1A patent/CN112719317A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004106125A (en) * | 2002-09-19 | 2004-04-08 | Taga Electric Co Ltd | Working tool |
| JP2010207972A (en) * | 2009-03-11 | 2010-09-24 | Masahiko Jin | Spindle device |
| CN104785799A (en) * | 2015-04-24 | 2015-07-22 | 北京航空航天大学 | High-effect and small-size rotary ultrasonic spindle |
| CN107116019A (en) * | 2017-06-27 | 2017-09-01 | 哈尔滨工业大学深圳研究生院 | Bifrequency ultrasonic vibrating machining transducer and its mode of operation |
| US20200180041A1 (en) * | 2017-08-03 | 2020-06-11 | Kira Corporation | Ultrasonic vibration processing device |
| CN214321850U (en) * | 2021-01-05 | 2021-10-01 | 河南牧业经济学院 | An Integrated Ultrasonic Spindle Motor Vibration System for Industrial Robot Machining |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113458512A (en) * | 2021-06-25 | 2021-10-01 | 大连大学 | Multidirectional adjustable composite ultrasonic auxiliary electric spark main shaft |
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