CN114654284A - An electromagnetically driven flexible active intelligent support system for precision machining of rod parts - Google Patents

An electromagnetically driven flexible active intelligent support system for precision machining of rod parts Download PDF

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CN114654284A
CN114654284A CN202210440529.XA CN202210440529A CN114654284A CN 114654284 A CN114654284 A CN 114654284A CN 202210440529 A CN202210440529 A CN 202210440529A CN 114654284 A CN114654284 A CN 114654284A
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flexible
center frame
flexible active
connecting shaft
shell
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CN114654284B (en
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杨旭
刘延俊
刘鑫
纪立超
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Shandong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, 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
    • B23Q3/00Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/15Devices for holding work using magnetic or electric force acting directly on the work
    • B23Q3/154Stationary devices
    • B23Q3/1543Stationary devices using electromagnets
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract

本发明公开了一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,所述中心架壳体上均布多个柔性主动支撑机构,每个柔性主动支撑机构内置有力传感器、位移传感器和电磁驱动单元;在杆类零件加工过程中,根据力传感器和位移传感器的反馈信号,通过独立调节各电磁驱动单元的驱动电压,实现柔性主动支撑机构支撑力和位移的闭环控制;同时,在加工过程中,根据工件的实时加工状态,自适应调节电磁驱动单元的驱动电压,实现柔性主动支撑机构的自适应柔性主动支撑。此外,本发明设有自动装夹装置,通过驱动电磁铁实现自动化装夹,并通过设置的接触开关,在线检测工件的装夹状态,保证自动装夹装置的可靠性,进一步提高工件的加工效率。

Figure 202210440529

The invention discloses an electromagnetically driven flexible active intelligent support system for precision machining of rod parts. Displacement sensor and electromagnetic drive unit; in the process of rod-type parts processing, according to the feedback signal of force sensor and displacement sensor, by independently adjusting the driving voltage of each electromagnetic drive unit, the closed-loop control of the support force and displacement of the flexible active support mechanism is realized; at the same time , In the process of processing, according to the real-time processing state of the workpiece, the driving voltage of the electromagnetic drive unit is adaptively adjusted to realize the adaptive flexible active support of the flexible active support mechanism. In addition, the present invention is provided with an automatic clamping device, which realizes automatic clamping by driving the electromagnet, and detects the clamping state of the workpiece online through the set contact switch, so as to ensure the reliability of the automatic clamping device and further improve the processing efficiency of the workpiece. .

Figure 202210440529

Description

一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统An electromagnetically driven flexible active intelligent support system for precision machining of rod parts

技术领域technical field

本申请涉及车削精密加工领域,具体为一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统。The present application relates to the field of turning precision machining, in particular to an electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts.

背景技术Background technique

传统的中心支撑架一般采用手动装夹的方式,手动装夹操作繁琐、精度差、自动化程度低,导致装夹效率较低,降低整体的加工效率;此外,传统的中心支撑架通常采用简单的机械固定的方式,在工件的加工过程中,难以实现自适应柔性主动支撑;同时,传统的中心支撑架不具备力和位置的在线反馈,无法实现力和位移的闭环控制;此外,传统的中心支撑架三个方向的支撑力难以平衡。综上,现有的中心支撑架已无法满足当前的自动化加工需求,严重制约工件的加工质量和加工效率。The traditional center support frame generally adopts the manual clamping method. The manual clamping operation is cumbersome, the precision is poor, and the degree of automation is low, which leads to low clamping efficiency and reduces the overall processing efficiency. In addition, the traditional center support frame usually adopts a simple The mechanical fixing method makes it difficult to achieve adaptive flexible active support during the processing of the workpiece; at the same time, the traditional center support frame does not have online feedback of force and position, and cannot achieve closed-loop control of force and displacement; in addition, the traditional center support It is difficult to balance the supporting force in the three directions of the support frame. To sum up, the existing center support frame can no longer meet the current needs of automated processing, which seriously restricts the processing quality and processing efficiency of the workpiece.

发明内容SUMMARY OF THE INVENTION

基于上述问题,本申请提出一种自适应调节的杆类零件精密加工用电磁驱动柔性主动智能支撑架,其技术方案为,Based on the above problems, the present application proposes an electromagnetically driven flexible active intelligent support frame for precision machining of rod-type parts with self-adaptive adjustment, and the technical solution is:

一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,包括中心架壳体,所述中心架壳体上均布多个柔性主动支撑机构,所述柔性主动支撑机构包括内部为空心圆柱结构的柔性壳体,所述柔性壳体的一端由内至外依次设有锁紧圆柱销、驱动导磁体、电磁线圈、外圆导磁体,所述电磁线圈固定在电磁线圈支架上,所述电磁线圈支架与柔性壳体固定连接,所述柔性壳体上设有电涡流位移传感器,所述锁紧圆柱销一端与锁紧开口套连接,另一端穿过侧向导磁体、驱动导磁体与外圆导磁体连接,所述柔性壳体内部设有连接轴,所述连接轴上设有滑动装置,所述连接轴上设有力传感器。An electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts, comprising a center frame shell, a plurality of flexible active support mechanisms are evenly distributed on the center frame shell, and the flexible active support mechanism includes a hollow cylindrical structure inside A flexible casing, one end of the flexible casing is sequentially provided with a locking cylinder pin, a driving magnetic conductor, an electromagnetic coil, and an outer magnetic conductor from the inside to the outside, the electromagnetic coil is fixed on the electromagnetic coil bracket, the electromagnetic The coil bracket is fixedly connected with the flexible casing, the flexible casing is provided with an eddy current displacement sensor, one end of the locking cylinder pin is connected with the locking open sleeve, and the other end passes through the lateral guide magnet, the driving magnet guide body and the outer circle The magnetic conductor is connected, a connecting shaft is arranged inside the flexible casing, a sliding device is arranged on the connecting shaft, and a force sensor is arranged on the connecting shaft.

进一步优选的,所述柔性壳体包括柔性上壳体和柔性下壳体;所述滑动装置包括第一直线滑动轴承、第二直线滑动轴承、第三直线滑动轴承和第四直线滑动轴承;所述连接轴包括柔性上连接轴和柔性下连接轴,两者之间设有力传感器;所述柔性上壳体的内壁设有两个环形台肩,其内部设有柔性上连接轴;所述柔性上连接轴位于第一直线滑动轴承、第二直线滑动轴承内部,Further preferably, the flexible casing includes a flexible upper casing and a flexible lower casing; the sliding device includes a first linear sliding bearing, a second linear sliding bearing, a third linear sliding bearing and a fourth linear sliding bearing; The connecting shaft includes a flexible upper connecting shaft and a flexible lower connecting shaft, and a force sensor is arranged between them; the inner wall of the flexible upper casing is provided with two annular shoulders, and a flexible upper connecting shaft is arranged inside; The flexible upper connecting shaft is located inside the first linear sliding bearing and the second linear sliding bearing,

柔性下壳体的两端设有圆形凹槽,用于安装第三限位端盖和第四限位端盖,柔性下壳体内部设有两个环形台肩,用于第三直线滑动轴承和第四直线滑动轴承的限位;所述柔性下连接轴位于第三直线滑动轴承和第四直线滑动轴承的内部。Both ends of the flexible lower shell are provided with circular grooves for installing the third limit end cap and the fourth limit end cap, and two annular shoulders are arranged inside the flexible lower shell for the third linear sliding The limit of the bearing and the fourth linear sliding bearing; the flexible lower connecting shaft is located inside the third linear sliding bearing and the fourth linear sliding bearing.

进一步优选的,所述电磁线圈支架为二阶圆台结构,其中部设有圆形通孔,电磁线圈支架较小一端的外缘开设有环形槽,用于缠绕电磁线圈,电磁线圈支架较大一端设有用于手柄驱动的孔;电磁线圈支架通过连接螺栓与柔性上壳体连接。Further preferably, the electromagnetic coil support has a second-order circular truncated structure with a circular through hole in the middle, an annular groove is formed on the outer edge of the smaller end of the electromagnetic coil support for winding the electromagnetic coil, and the larger end of the electromagnetic coil support is provided. A hole for handle drive is provided; the electromagnetic coil bracket is connected with the flexible upper casing through connecting bolts.

进一步优选的,所述外圆导磁体为圆柱体结构,一端开设有圆形凹槽,圆形凹槽底部设有螺纹孔,外圆导磁体的另外一端设有螺纹柱;锁紧开口套为环形结构,并设有矩形开口,锁紧开口套内部设有楔形槽口;锁紧圆柱销为柱状结构,锁紧圆柱销一端设有楔形凸台,锁紧圆柱销通过螺纹配合与外圆导磁体连接,通过预紧锁紧开口套,使其楔形凹槽不断挤压锁紧圆柱销的楔形凸台,锁紧开口套不断向内挤压侧向导磁体,实现对驱动永磁体的预紧作用。Further preferably, the outer circular magnetic conductor is of a cylindrical structure, one end is provided with a circular groove, the bottom of the circular groove is provided with a threaded hole, and the other end of the outer circular magnetic conductive body is provided with a threaded column; the locking opening sleeve is: Ring-shaped structure with a rectangular opening and a wedge-shaped notch inside the locking opening sleeve; the locking cylindrical pin is a columnar structure, and one end of the locking cylindrical pin is provided with a wedge-shaped boss, and the locking cylindrical pin is threaded with the outer circular guide. The magnet is connected by pre-tightening and locking the split sleeve, so that the wedge-shaped groove continuously squeezes the wedge-shaped boss of the locking cylindrical pin, and the locking split sleeve continuously squeezes the lateral guide magnet inward to realize the pre-tightening effect on the driving permanent magnet. .

进一步优选的,柔性下连接轴通过螺纹与主尼龙安装基座连接,主尼龙安装基座主体为圆柱体,其一端设有半环形凸台,另一端设有用于连接的螺纹柱,主尼龙安装基座通过连接螺栓与与副尼龙安装基座连接,副尼龙安装基座主体为半环形结构,其两侧开设有用于安装的螺纹孔,弹性尼龙安装在副尼龙安装基座与主尼龙安装基座之间。Further preferably, the flexible lower connecting shaft is connected with the main nylon mounting base through threads, the main nylon mounting base is a cylinder, one end is provided with a semi-annular boss, the other end is provided with a threaded column for connection, and the main nylon mounting base is installed. The base is connected with the auxiliary nylon installation base through connecting bolts. The main body of the auxiliary nylon installation base is a semi-ring structure with threaded holes for installation on both sides. The elastic nylon is installed on the auxiliary nylon installation base and the main nylon installation base. between seats.

进一步优选的,所述中心架壳体包括中心架上壳体和中心架下壳体,中心架上壳体为半环形结构,中心架上壳体的上端设有环形圆台,环形圆台内部设有螺纹,用于安装柔性主动支撑机构,中心架上壳体的一侧设有矩形凸台,矩形凸台内部开有矩形槽,矩形槽内部安装有开关永磁体,矩形槽的一侧安装接触开关;中心架上壳体的另外一侧设有环形凸台,环形凸台内部的圆孔用于安装精密轴承。Further preferably, the center frame shell includes a center frame upper shell and a center frame lower shell, the center frame upper shell is a semi-annular structure, the upper end of the center frame upper shell is provided with an annular round table, and the inside of the annular round table is provided with Threads are used to install the flexible active support mechanism. There is a rectangular boss on one side of the shell on the center frame, a rectangular groove is opened inside the rectangular boss, a switch permanent magnet is installed in the rectangular groove, and a contact switch is installed on one side of the rectangular groove. ; The other side of the shell on the center frame is provided with an annular boss, and the circular hole inside the annular boss is used to install the precision bearing.

进一步优选的,中心架下壳体主体为半环形结构,中心架下壳体下端对称布置有两个环形圆台,环形圆台内部设有螺纹,中心架下壳体的一侧设有矩形凸台,矩形凸台内部开有矩形槽,矩形槽内部安装有闭合线圈,中心架下壳体的另外一侧设有两个环形凸台,两个环形凸台中间留有空间用于容纳中心架上壳体的环形凸台,中心架下壳体的两个环形凸台内部的圆孔用于安装精密轴承;精密轴承用心轴为阶梯轴,精密轴承安装在精密轴承用心轴上,精密轴承外侧设有精密轴承盖板,用于精密轴承的限位。Further preferably, the main body of the lower shell of the center frame is a semi-ring structure, the lower end of the lower shell of the center frame is symmetrically arranged with two annular circular platforms, the inside of the annular circular platforms is provided with threads, and one side of the lower shell of the center frame is provided with a rectangular boss, There is a rectangular groove inside the rectangular boss, a closed coil is installed inside the rectangular groove, two annular bosses are arranged on the other side of the lower shell of the center frame, and a space is left between the two annular bosses for accommodating the upper shell of the center frame The annular boss of the main frame, the circular holes inside the two annular bosses of the lower shell of the center frame are used to install the precision bearing; the mandrel for the precision bearing is a stepped shaft, the precision bearing is installed on the mandrel for the precision bearing, and the outside of the precision bearing is provided with The precision bearing cover plate is used for the limit of precision bearings.

进一步优选的,包括上位机、电磁驱动柔性主动支撑机构,当车床加工大长径比的弱刚性杆类零件时,需要柔性主动支撑架辅助支撑,上位机将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元控制电磁驱动器,此时闭合线圈得电,通过磁力的吸附作用,实现中心架上壳体、中心架下壳体的自动化装夹,接触开关将柔性中心架上壳体、中心架下壳体的装夹状态作为反馈信号传递至上位机,用于上位机调整电磁驱动器驱动电源的控制信号,完成中心架壳体的自动化装夹;上位机将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元将控制信号传递至电磁驱动器,电磁驱动器的控制信号传递至柔性主动支撑机构,同时,力传感器与电涡流位移传感器将力信号和位移信号,作为反馈信号传递至上位机,上位机根据反馈信号调节柔性主动支撑机构的输出力和位移,实现柔性主动支撑机构的力和位移的闭环控制,完成柔性主动支撑机构的柔性主动支撑。It is further preferred to include a host computer and an electromagnetically driven flexible active support mechanism. When the lathe processes weakly rigid rod-like parts with a large aspect ratio, a flexible active support frame is required for auxiliary support, and the host computer transmits the control signal to the electromagnetic drive drive unit. The electromagnetic driver drive unit controls the electromagnetic driver. At this time, the closed coil is energized. Through the adsorption of magnetic force, the automatic clamping of the upper shell of the center frame and the lower shell of the center frame is realized. The contact switch connects the flexible center frame to the upper shell and the center frame The clamping state of the lower shell is transmitted to the upper computer as a feedback signal, which is used for the upper computer to adjust the control signal of the driving power of the electromagnetic drive, and complete the automatic clamping of the center frame shell; the upper computer transmits the control signal to the electromagnetic drive drive unit, The electromagnetic driver drive unit transmits the control signal to the electromagnetic driver, and the control signal of the electromagnetic driver is transmitted to the flexible active support mechanism. At the same time, the force sensor and the eddy current displacement sensor transmit the force signal and displacement signal as feedback signals to the host computer. Adjust the output force and displacement of the flexible active support mechanism according to the feedback signal, realize the closed-loop control of the force and displacement of the flexible active support mechanism, and complete the flexible active support of the flexible active support mechanism.

有益效果beneficial effect

本发明采用柔性主动支撑机构代替原有的支撑机构,每个柔性主动支撑机构内置有力传感器、位移传感器和电磁驱动单元;在杆类零件加工过程中,根据力传感器和位移传感器的反馈信号,通过独立调节各电磁驱动单元的驱动电压,实现柔性主动支撑机构支撑力和输出位移的闭环控制;同时,在杆类零件的加工过程中,根据工件的实时加工状态,自适应调节电磁驱单元的驱动电压,实现柔性主动支撑机构的自适应柔性主动支撑。此外,本发明设有自动装夹装置,通过驱动电磁铁实现自动化装夹,并通过设置的接触开关,在线检测工件的装夹状态,保证自动装夹装置的可靠性,进一步提高工件的加工效率。The invention adopts a flexible active support mechanism to replace the original support mechanism, and each flexible active support mechanism has a built-in force sensor, a displacement sensor and an electromagnetic drive unit; Independently adjust the drive voltage of each electromagnetic drive unit to achieve closed-loop control of the support force and output displacement of the flexible active support mechanism; at the same time, during the processing of rod parts, the drive of the electromagnetic drive unit is adaptively adjusted according to the real-time processing state of the workpiece voltage to realize the adaptive flexible active support of the flexible active support mechanism. In addition, the present invention is provided with an automatic clamping device, which realizes automatic clamping by driving the electromagnet, and detects the clamping state of the workpiece online through the set contact switch, so as to ensure the reliability of the automatic clamping device and further improve the processing efficiency of the workpiece. .

附图说明Description of drawings

图1为本申请结构示意图;1 is a schematic structural diagram of the application;

图2为本申请剖视图;Fig. 2 is a sectional view of the application;

图3为中心架壳体示意图;Figure 3 is a schematic diagram of the center frame shell;

图4为柔性主动支撑机构剖视图;4 is a cross-sectional view of a flexible active support mechanism;

图5为外圆导磁体结构示意图;Fig. 5 is a schematic diagram of the structure of an outer circular magnetic conductor;

图6为主尼龙安装基座示意图;Figure 6 is a schematic diagram of the main nylon mounting base;

图7为第一直线滑动轴承结构示意图;7 is a schematic structural diagram of a first linear sliding bearing;

图8为柔性上壳体结构示意图;8 is a schematic structural diagram of a flexible upper casing;

图9手柄安装示意图;Figure 9 Schematic diagram of handle installation;

图10为副尼龙安装基座结构示意图;Figure 10 is a schematic structural diagram of a secondary nylon mounting base;

图11为弹性尼龙结构示意图;Figure 11 is a schematic diagram of the elastic nylon structure;

图12为柔性下壳体结构剖视图;Figure 12 is a sectional view of the flexible lower casing structure;

图13为电磁线圈支架一结构示意图;13 is a schematic structural diagram of an electromagnetic coil support;

图14为电磁驱动器电流方向示意图;14 is a schematic diagram of the current direction of the electromagnetic driver;

图15为控制原理图。Fig. 15 is a control principle diagram.

图中:In the picture:

1-中心架上壳体,2-中心架下壳体,3-接触开关,4-第一柔性主动支撑机构,5-第二柔性主动支撑机构,6-第三柔性主动支撑机构,7-加工工件,8-精密轴承盖板,9-精密轴承用心轴,10-开关永磁体,11-闭合线圈支撑架,12-接触开关用固定螺母,13-闭合线圈,14-精密轴承,15-手柄。1- Center frame upper shell, 2- Center frame lower shell, 3- Contact switch, 4- First flexible active support mechanism, 5- Second flexible active support mechanism, 6- Third flexible active support mechanism, 7- Machining workpiece, 8-precision bearing cover plate, 9-precision bearing mandrel, 10-switch permanent magnet, 11-close coil support frame, 12-contact switch fixing nut, 13-close coil, 14-precision bearing, 15- handle.

41-锁紧开口套一,42-电涡流位移传感器一,43-电磁线圈支架用连接螺栓一,44-外圆导磁体一,45-驱动永磁体一,46-锁紧圆柱销一,47-柔性上壳体一,48-柔性上连接轴一,49-第三限位端盖一,410-第三直线滑动轴承c,411-柔性下壳体一,412-第四限位端盖一,413-副尼龙安装基座一,414-弹性尼龙一,415-侧向导磁体一,416-电磁线圈支架一,417-电磁线圈一,418-第一限位端盖一,419-第一直线滑动轴承a,420-第二直线滑动轴承b,421-第二限位端盖一,422-力传感器一,423-柔性下连接轴一,424-第四直线滑动轴承d,425-主尼龙安装基座一。41-Locking open sleeve 1, 42- Eddy current displacement sensor 1, 43-Connecting bolt for electromagnetic coil bracket 1, 44-External circular magnet guide 1, 45- Driving permanent magnet 1, 46-Locking cylindrical pin 1, 47 -Flexible upper shell 1, 48-Flexible upper connecting shaft 1, 49-Third limit end cap 1, 410-Third linear sliding bearing c, 411-Flexible lower shell 1, 412-Fourth limit end cap 1, 413-Pair nylon mounting base 1, 414-Elastic nylon 1, 415- Lateral guide magnet 1, 416-Solenoid coil bracket 1, 417-Solenoid coil 1, 418-First limit end cap 1, 419-Part 1 A linear sliding bearing a, 420 - the second linear sliding bearing b, 421 - the second limit end cover 1, 422 - the force sensor 1, 423 - the flexible lower connecting shaft 1, 424 - the fourth linear sliding bearing d, 425 - Main nylon mounting base one.

51-锁紧开口套二,52-电涡流位移传感器二,53-电磁线圈支架用连接螺栓二,54-外圆导磁体二,55-驱动永磁体二,56-锁紧圆柱销二,57-柔性上壳体二,58-柔性上连接轴二,59-第三限位端盖二,510-第三直线滑动轴承g,511-柔性下壳体二,512-第四限位端盖二,513-副尼龙安装基座二,514-弹性尼龙二,515-侧向导磁体二,516-电磁线圈支架二,517-电磁线圈二,518-第一限位端盖二,519-第一直线滑动轴承e,520-第二直线滑动轴承f,521-第二限位端盖二,522-力传感器二,523-柔性下连接轴二,524-第四直线滑动轴承h,525-主尼龙安装基座二。51- Locking open sleeve 2, 52- Eddy current displacement sensor 2, 53- Connecting bolts for electromagnetic coil bracket 2, 54- Outer circular magnet guide 2, 55- Driving permanent magnet 2, 56- Locking cylindrical pin 2, 57 -Flexible upper shell II, 58-Flexible upper connecting shaft II, 59-Third limit end cap II, 510-Third linear sliding bearing g, 511-Flexible lower shell II, 512-Fourth limit end cap 2, 513- secondary nylon mounting base 2, 514- elastic nylon 2, 515- lateral guide magnet 2, 516- electromagnetic coil bracket 2, 517- electromagnetic coil 2, 518- the first limit end cap 2, 519- the first A linear sliding bearing e, 520 - the second linear sliding bearing f, 521 - the second limit end cover 2, 522 - the force sensor 2, 523 - the flexible lower connecting shaft 2, 524 - the fourth linear sliding bearing h, 525 - Main nylon mounting base two.

61-锁紧开口套三,62-电涡流位移传感器三,63-电磁线圈支架用连接螺栓三,64-外圆导磁体三,65-驱动永磁体三,66-锁紧圆柱销三,67-柔性上壳体三,68-柔性上连接轴三,69-第三限位端盖三,610-第三直线滑动轴承k,611-柔性下壳体三,612-第四限位端盖三,613-副尼龙安装基座三,614-弹性尼龙三,615-侧向导磁体三,616-电磁线圈支架三,617-电磁线圈三,618-第一限位端盖三,619-第一直线滑动轴承i,620-第二直线滑动轴承j,621-第二限位端盖三,622-力传感器三,623-柔性下连接轴三,624-第四直线滑动轴承m,625-主尼龙安装基座三。61-Locking open sleeve 3, 62- Eddy current displacement sensor 3, 63-Connecting bolts for electromagnetic coil bracket 3, 64-External circular magnet conducting body 3, 65- Driving permanent magnet 3, 66-Locking cylindrical pin 3, 67 -Flexible upper shell three, 68-flexible upper connecting shaft three, 69-third limit end cover three, 610-third linear sliding bearing k, 611-flexible lower shell three, 612-fourth limit end cover 3, 613- vice nylon mounting base 3, 614- elastic nylon 3, 615- lateral guide magnet 3, 616- electromagnetic coil bracket 3, 617- electromagnetic coil 3, 618- first limit end cap 3, 619- th A linear sliding bearing i, 620-the second linear sliding bearing j, 621-the second limit end cap 3, 622-force sensor 3, 623-flexible lower connecting shaft 3, 624-the fourth linear sliding bearing m, 625 -Main nylon mounting base three.

具体实施方式Detailed ways

以下详细说明都是例示性的,旨在对本申请提供进一步的说明。除非另有指明,本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。需要注意的是,这里所使用的术语仅是为了描述具体实施方式,而非意图限制根据本申请的示例性实施方式。The following detailed description is exemplary and intended to provide further explanation of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application.

本发明包括中心架壳体(中心架上壳体1,中心架下壳体2),所述中心架壳体上周向均布有三个柔性主动支撑机构,分别为第一柔性主动支撑机构4,第二柔性主动支撑机构5,第三柔性主动支撑机构6,The present invention includes a center frame shell (a center frame upper case 1, a center frame lower case 2), and the center frame case is uniformly distributed with three flexible active support mechanisms in the circumferential direction, which are a first flexible active support mechanism 4, a third flexible active support mechanism The second flexible active support mechanism 5, the third flexible active support mechanism 6,

中心架上壳体1主体为半环形结构,中心架上壳体1的上端设有环形圆台,环形圆台内部设有螺纹,用于安装柔性主动支撑机构,中心架上壳体1的一侧设有矩形凸台,矩形凸台内部开有矩形槽(矩形槽两端为半圆形),矩形槽内部安装有开关永磁体10,矩形槽左侧设有用于安装接触开关3的圆形孔(圆孔两端为盲孔,中间为通孔),接触开关3安装与中心架上壳体1的圆形通孔内,接触开关3的两侧用固定螺母12进行预紧;中心架上壳体1的另外一侧设有环形凸台,环形凸台内部的圆孔用于安装精密轴承14;The main body of the upper shell 1 of the center frame is a semi-annular structure, the upper end of the upper shell 1 of the center frame is provided with an annular round table, and the inside of the annular round table is provided with threads for installing the flexible active support mechanism. There is a rectangular boss, a rectangular slot is opened inside the rectangular boss (the two ends of the rectangular slot are semicircles), the switch permanent magnet 10 is installed inside the rectangular slot, and the left side of the rectangular slot is provided with a circular hole for installing the contact switch 3 ( Both ends of the round hole are blind holes, and the middle is a through hole), the contact switch 3 is installed in the circular through hole of the upper shell 1 of the center frame, and the two sides of the contact switch 3 are pre-tightened with fixing nuts 12; The other side of the body 1 is provided with an annular boss, and the circular hole inside the annular boss is used to install the precision bearing 14;

中心架下壳体2主体为半环形结构,中心架下壳体2下端对称布置有两个环形圆台,环形圆台内部设有螺纹,中心架下壳体2的一侧设有矩形凸台,矩形凸台内部开有矩形槽(矩形槽两端为半圆形),矩形槽内部安装有闭合线圈13,中心架下壳体2的另外一侧设有两个环形凸台,两个环形凸台中间留有空间用于容纳中心架上壳体1的环形凸台,中心架下壳体2的两个环形凸台内部的圆孔用于安装精密轴承14;精密轴承用心轴9为阶梯轴,精密轴承14安装在精密轴承用心轴9上,精密轴承14外侧设有精密轴承盖板8,用于精密轴承14的限位。The main body of the lower shell 2 of the center frame is a semi-annular structure. The lower end of the lower shell 2 of the center frame is symmetrically arranged with two annular circular platforms. The inside of the annular circular platform is provided with threads. One side of the lower shell 2 of the center frame is provided with a rectangular boss. A rectangular slot is opened inside the boss (the two ends of the rectangular slot are semi-circular), a closed coil 13 is installed inside the rectangular slot, and two annular bosses are arranged on the other side of the lower shell 2 of the center frame. A space is left in the middle for accommodating the annular bosses of the upper shell 1 of the center frame, and the round holes inside the two annular bosses of the lower shell 2 of the center frame are used to install the precision bearings 14; the precision bearing mandrel 9 is a stepped shaft, The precision bearing 14 is mounted on the precision bearing mandrel 9 , and a precision bearing cover plate 8 is provided on the outside of the precision bearing 14 to limit the position of the precision bearing 14 .

柔性主动支撑机构具有相同结构,此处仅以柔性主动支撑机构4为例说明,具体结构如下,柔性上壳体47主体为空心圆柱体,柔性上壳体47的一端设有较大尺寸的圆形盲孔,用于容纳电磁驱动单元;柔性上壳体47的另一端设有较小尺寸的盲孔,盲孔内壁设有连接用螺纹用于安装柔性下壳体411;柔性上壳体47的内部设有两个环形台肩,用于第一直线滑动轴承419、第二直线滑动轴承420的限位;柔性上壳体47外壁刻有刻度线,用于柔性主动支撑机构4的初级位置调节;电磁线圈支架416主体结构为二阶圆台结构,其中部设有圆形通孔,电磁线圈支架416较小的一端开设有环形槽,用于缠绕电磁线圈417,电磁线圈支架416较大一端的两侧设有盲孔,其周向均布用于连接的孔,此外,其周向设有用于手柄驱动的孔;电涡流位移传感器42安装于电磁线圈支架416的较大的一端,并通过螺母固定;电磁线圈支架416通过电磁线圈支架用连接螺栓43与柔性上壳体47连接;外圆导磁体44主体为圆柱体结构,外圆导磁体44一端开设有圆形凹槽,圆形凹槽底部设有用于连接的螺纹孔,用于安装锁紧圆柱销46,外圆导磁体44的另外一端设有用于连接的螺纹柱;驱动永磁体45主体为柱状结构,其内部设有圆孔;锁紧开口套41主体为环形结构,并设有矩形开口,矩形开口的两端设有用于连接的螺纹孔,锁紧开口套41内部设有楔形槽口;锁紧圆柱销46为柱状结构,锁紧圆柱销46一端设有楔形凸台,锁紧圆柱销46另一端设有连接用螺纹;锁紧圆柱销46通过螺纹配合与外圆导磁体44连接;侧向导磁体415主体为空心圆柱体结构;驱动永磁体45与侧向导磁体415通过其内部圆形孔安装在锁紧圆柱销46上,通过预紧锁紧开口套41,锁紧开口套41的楔形凹槽不断挤压锁紧圆柱销46的楔形凸台,锁紧开口套41不断挤压外侧导磁体415,实现对驱动永磁体45的预紧作用;第一直线滑动轴承419安装在柔性上壳体47的内部,第一直线滑动轴承419的一端由柔性上壳体47内部的环形凹槽限位,第一直线滑动轴承419的另一端安装有第一限位端盖418;第二直线滑动轴承420安装在柔性上壳体47的内部,第二直线滑动轴承420的一端由柔性上壳体47内部的环形凹槽限位,第二直线滑动轴承420的另一端安装有第二限位端盖421;柔性上连接轴48主体为圆柱体,其两端分别设有用于连接的螺纹孔,柔性上连接轴48的一端通过螺纹与外圆导磁体44连接,柔性上连接轴48安装于第一直线滑动轴承419和第二直线滑动轴承420的内部;力传感器422主体的圆柱体,其两端设有用于连接的螺纹柱,力传感器422的一端通过螺纹与柔性上连接轴48连接;The flexible active support mechanism has the same structure. Here, only the flexible active support mechanism 4 is used as an example. The specific structure is as follows. The main body of the flexible upper casing 47 is a hollow cylinder, and one end of the flexible upper casing 47 is provided with a larger size circle The other end of the flexible upper casing 47 is provided with a blind hole of a smaller size, and the inner wall of the blind hole is provided with a connecting thread for installing the flexible lower casing 411; the flexible upper casing 47 There are two annular shoulders on the inside of the lining, which are used for the limit of the first linear sliding bearing 419 and the second linear sliding bearing 420; the outer wall of the flexible upper casing 47 is engraved with scale lines, which are used for the primary of the flexible active support mechanism 4. Position adjustment; the main structure of the electromagnetic coil bracket 416 is a second-order circular truncated structure, with a circular through hole in the middle, and an annular groove is opened at the smaller end of the electromagnetic coil bracket 416 for winding the electromagnetic coil 417. The electromagnetic coil bracket 416 is larger Blind holes are provided on both sides of one end, and the holes for connection are evenly distributed in the circumferential direction. In addition, the holes for handle driving are provided in the circumferential direction; the eddy current displacement sensor 42 is installed on the larger end of the electromagnetic coil bracket 416 and is fixed by a nut The electromagnetic coil support 416 is connected with the flexible upper casing 47 through the electromagnetic coil support with connecting bolts 43; the main body of the outer circular magnetic conductor 44 is a cylindrical structure, and one end of the outer circular magnetic conductive body 44 is provided with a circular groove, and the bottom of the circular groove is A threaded hole for connection is provided for installing the locking cylinder pin 46, and the other end of the outer circular magnet 44 is provided with a threaded column for connection; the main body of the driving permanent magnet 45 is a columnar structure with a circular hole inside; The main body of the tight opening sleeve 41 is a ring structure, and is provided with a rectangular opening. The two ends of the rectangular opening are provided with threaded holes for connection. One end of the locking cylindrical pin 46 is provided with a wedge-shaped boss, and the other end of the locking cylindrical pin 46 is provided with a connecting thread; the locking cylindrical pin 46 is connected with the outer circular magnetic conductor 44 through threaded fitting; the main body of the lateral guiding magnet 415 is a hollow cylindrical structure ; The drive permanent magnet 45 and the lateral guide magnet 415 are installed on the locking cylinder pin 46 through its inner circular hole, and by pre-tightening the open sleeve 41, the wedge-shaped groove of the locking open sleeve 41 continuously squeezes the locking cylinder pin The wedge-shaped boss of 46, the locking opening sleeve 41 continuously squeezes the outer magnetic conductor 415 to realize the preloading effect on the driving permanent magnet 45; the first linear sliding bearing 419 is installed inside the flexible upper casing 47, the first linear One end of the linear sliding bearing 419 is limited by the annular groove inside the flexible upper casing 47, and the other end of the first linear sliding bearing 419 is mounted with a first limiting end cover 418; the second linear sliding bearing 420 is mounted on the flexible Inside the housing 47, one end of the second linear sliding bearing 420 is limited by the annular groove inside the flexible upper housing 47, and the other end of the second linear sliding bearing 420 is installed with a second limiting end cover 421; the flexible upper connection The main body of the shaft 48 is a cylinder, and its two ends are respectively provided with threaded holes for connection. The connecting shaft 48 is installed inside the first linear sliding bearing 419 and the second linear sliding bearing 420; the cylinder of the main body of the force sensor 422 is provided with threaded posts for connection at both ends, and one end of the force sensor 422 is threaded and flexible. The upper connecting shaft 48 is connected;

柔性下壳体411主体为二阶环形结构,其较小的一端设有连接螺纹;其两端设有圆形凹槽,用于安装限位端盖,其内部设有两个环形台肩,用于直线滑动轴承的限位;柔性下壳体411外侧设有螺纹;柔性上壳体47与柔性下壳体411之间通过螺纹连接;第三直线滑动轴承410安装在柔性下壳体411的内部,第三直线滑动轴承410的一端由柔性下壳体411内部的环形凹槽限位,第三直线滑动轴承410的另一端安装有第三限位端盖49;第四直线滑动轴承424安装在柔性下壳体411的内部,第四直线滑动轴承424的一端由柔性下壳体411内部的环形凹槽限位,第四直线滑动轴承424的另一端安装有第四限位端盖412;柔性下连接轴423主体的圆柱体,其两端分别设有用于连接的螺纹孔,柔性下连接轴423的一端通过螺纹与力传感器422连接;柔性下连接轴423安装在第三直线滑动轴承410与第四直线滑动轴承424内部;主尼龙安装基座425主体为圆柱体,其一端设有半环形凸台,另一端设有用于连接的螺纹柱,柔性下连接轴423的另一端通过螺纹与主尼龙安装基座425连接;副尼龙安装基座413主体为半环形结构,其两侧开设有用于安装的螺纹孔,副尼龙安装基座413通过连接螺栓与主尼龙安装基座425连接;弹性尼龙414安装在副尼龙安装基座413与主尼龙安装基座425之间。The main body of the flexible lower shell 411 is a second-order annular structure, and its smaller end is provided with a connecting thread; its two ends are provided with circular grooves for installing the limit end caps, and two annular shoulders are arranged inside it. It is used for the limit of the linear sliding bearing; the outer side of the flexible lower casing 411 is provided with threads; the flexible upper casing 47 and the flexible lower casing 411 are connected by threads; the third linear sliding bearing 410 is installed on the Inside, one end of the third linear sliding bearing 410 is limited by the annular groove inside the flexible lower casing 411, and the other end of the third linear sliding bearing 410 is installed with a third limiting end cover 49; the fourth linear sliding bearing 424 is installed Inside the flexible lower housing 411, one end of the fourth linear sliding bearing 424 is limited by the annular groove inside the flexible lower housing 411, and the other end of the fourth linear sliding bearing 424 is mounted with a fourth limiting end cover 412; The cylindrical body of the main body of the flexible lower connecting shaft 423 has threaded holes for connection at both ends, and one end of the flexible lower connecting shaft 423 is connected with the force sensor 422 through threads; the flexible lower connecting shaft 423 is installed on the third linear sliding bearing 410 Inside the fourth linear sliding bearing 424; the main body of the main nylon mounting base 425 is a cylinder, one end of which is provided with a semi-annular boss, the other end is provided with a threaded column for connection, and the other end of the flexible lower connecting shaft 423 is connected with the thread through the thread. The main nylon installation base 425 is connected; the main body of the auxiliary nylon installation base 413 is a semi-ring structure, with threaded holes for installation on both sides, and the auxiliary nylon installation base 413 is connected with the main nylon installation base 425 by connecting bolts; elastic Nylon 414 is mounted between secondary nylon mounting base 413 and primary nylon mounting base 425 .

系统部件材料说明:中心架上壳体1,中心架下壳体2为铸造件,主体采用铸铁,如T200等;精密轴承盖板8采用中碳钢;精密轴承用心轴9采用结构钢,保证各部件具有良好的性能;电磁线圈采用铜导线;闭合线圈支撑架11采用导磁材料,如纯铁、硅钢片等;手柄15采用中碳钢;驱动永磁体采用钕铁硼;外圆导磁体44为导磁材料,如纯铁、硅钢片等;锁紧开口套41、锁紧圆柱销46、柔性上连接轴48、柔性下连接轴423、柔性上壳体47和柔性下壳体411采用不导磁材料或弱导磁材料,如钛合金、316不锈钢等;副尼龙安装基座413和主尼龙安装基座425采用不锈钢材料;弹性尼龙414采用尼龙材料。Material description of system components: the upper shell 1 of the center frame and the lower shell 2 of the center frame are castings, and the main body is made of cast iron, such as T200, etc.; the precision bearing cover 8 is made of medium carbon steel; the precision bearing mandrel 9 is made of structural steel to ensure Each component has good performance; the electromagnetic coil adopts copper wire; the closed coil support frame 11 adopts magnetic conductive material, such as pure iron, silicon steel sheet, etc.; the handle 15 adopts medium carbon steel; the driving permanent magnet adopts NdFeB; 44 is a magnetic conductive material, such as pure iron, silicon steel sheet, etc.; the locking opening sleeve 41, the locking cylindrical pin 46, the flexible upper connecting shaft 48, the flexible lower connecting shaft 423, the flexible upper casing 47 and the flexible lower casing 411 adopt Non-magnetic or weakly conductive materials, such as titanium alloy, 316 stainless steel, etc.; the auxiliary nylon mounting base 413 and the main nylon mounting base 425 are made of stainless steel; the elastic nylon 414 is made of nylon.

柔性主动支撑架的总体控制过程:当车床加工大长径比的弱刚性杆类零件时,需要柔性主动支撑架辅助支撑,上位机通过控制线路将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元控制电磁驱动器四,此时闭合线圈得电,通过磁力的吸附作用,实现柔性主动支撑架上下壳体的自动化装夹,接触开关将柔性上壳体、柔性下壳体的装夹状态,作为反馈信号传递至上位机,用于上位机调整电磁驱动器驱动电源的控制信号,完成柔性上壳体、柔性下壳体的自动化装夹;上位机通过控制线路将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元分别将控制信号传递至电磁驱动器一、电磁驱动器二和电磁驱动器三,电磁驱动器一的控制信号经控制线路传递至柔性主动支撑机构三,同时,力传感器一与电涡流位移传感器一将力信号和位移信号,作为反馈信号传递至上位机,并根据反馈信号调节柔性主动支撑机构三,实现柔性主动支撑机构三的力和位移的闭环控制,完成柔性主动支撑机构三的柔性主动支撑;电磁驱动器二的控制信号经控制线路传递至基于电磁驱动的柔性主动支撑机构二,同时,力传感器二与电涡流位移传感器二将力信号和位移信号,作为反馈信号传递至上位机,并根据反馈信号调节柔性主动支撑机构二,实现柔性主动支撑机构二的力和位移的闭环控制,完成柔性主动支撑机构二的柔性主动支撑;电磁驱动器三的控制信号经控制线路传递至基于电磁驱动的柔性主动支撑机构一,同时,力传感器三与电涡流位移传感器三将力信号和位移信号,作为反馈信号传递至上位机,并根据反馈信号调节柔性主动支撑机构一,实现柔性主动支撑机构一的力和位移的闭环控制,完成柔性主动支撑机构一的柔性主动支撑;通过四个独立的闭环控制回路,实现柔性主动支撑架的总体控制。The overall control process of the flexible active support frame: when the lathe processes weakly rigid rod parts with large aspect ratios, the flexible active support frame is required for auxiliary support. The upper computer transmits the control signal to the electromagnetic drive drive unit through the control circuit, and the electromagnetic drive The unit controls the electromagnetic driver 4. At this time, the closed coil is energized, and the automatic clamping of the upper and lower shells of the flexible active support frame is realized through the adsorption of magnetic force. The feedback signal is transmitted to the upper computer, which is used for the upper computer to adjust the control signal of the driving power supply of the electromagnetic drive, and complete the automatic clamping of the flexible upper casing and the flexible lower casing; the upper computer transmits the control signal to the electromagnetic drive drive unit through the control circuit, The electromagnetic driver driving unit transmits control signals to electromagnetic driver one, electromagnetic driver two and electromagnetic driver three respectively, and the control signal of electromagnetic driver one is transmitted to the flexible active support mechanism three through the control circuit. The force signal and displacement signal are transmitted to the host computer as feedback signals, and the flexible active support mechanism 3 is adjusted according to the feedback signal to realize the closed-loop control of the force and displacement of the flexible active support mechanism 3, and the flexible active support of the flexible active support mechanism 3 is completed. ; The control signal of the electromagnetic driver 2 is transmitted to the flexible active support mechanism 2 based on electromagnetic drive through the control circuit. At the same time, the force sensor 2 and the eddy current displacement sensor 2 transmit the force signal and the displacement signal as the feedback signal to the upper computer, and according to the The feedback signal adjusts the flexible active support mechanism 2, realizes the closed-loop control of the force and displacement of the flexible active support mechanism 2, and completes the flexible active support of the flexible active support mechanism 2; Active support mechanism 1, at the same time, force sensor 3 and eddy current displacement sensor 3 transmit the force signal and displacement signal as feedback signals to the upper computer, and adjust the flexible active support mechanism 1 according to the feedback signal to realize the force of flexible active support mechanism 1. And the closed-loop control of displacement, the flexible active support of flexible active support mechanism one is completed; through four independent closed-loop control loops, the overall control of the flexible active support frame is realized.

柔性主动支撑架的力与位置柔性补偿功能:车床在加工大长径比的杆类零件时,需要柔性主动支撑架进行自适应辅助支撑,当柔性主动支撑架安装至预定位置后,闭合线圈13得电,通过两个磁极间的磁力作用,实现中心架上壳体1与中心架下壳体2的自动装夹,根据接触开关的反馈信号,确定中心架上壳体1与中心架下壳体2之间的装夹状态,并适当调整闭合线圈13的驱动电压;完成柔性主动支撑架的自动装夹后,通过手柄15手动调节柔性主动支撑机构,根据柔性主动支撑架上壳体上的刻度尺,对柔性主动支撑机构进行初步的位置调节;完成三个柔性主动支撑机构的初步位置调节后,根据加工要求选择不同的补偿模式,包括压力柔性补偿功能与位置柔性补偿功能;第一柔性主动支撑机构4的电磁线圈一417得电,通电线圈在磁场的作用下开始运动,弹性尼龙一414不断靠近加工工件,随着弹性尼龙一414的不断运动,弹性尼龙一414开始挤压工件,并施加工件一个支撑力,当需要实现第一柔性主动支撑机构4进行力反馈时,根据力传感器一422的压力信号,在线调整电磁线圈一417的驱动电压,通过增大电磁线圈一417的驱动电压,提高第一柔性主动支撑机构4的输出支撑力,通过减小电磁线圈一417的驱动电压,降低第一柔性主动支撑机构4的输出支撑力,实现第一柔性主动支撑机构4的力柔性补偿功能;当需要实现第一柔性主动支撑机构4进行位置反馈时,根据电涡流位移传感器一42的位置信号,适当调整电磁线圈一417的驱动电压,实现第一柔性主动支撑机构4的位置柔性补偿功能;第二柔性主动支撑机构5的电磁线圈二517得电,通电线圈在磁场的作用下开始运动,弹性尼龙二514不断靠近加工工件,随着弹性尼龙二514的不断运动,弹性尼龙二514开始挤压工件,并施加工件一个支撑力,当需要实现第二柔性主动支撑机构5进行力反馈时,根据力传感器二522的压力信号,在线调整电磁线圈二517的驱动电压,通过增大电磁线圈二517的驱动电压,提高第二柔性主动支撑机构5的输出支撑力,通过减小电磁线圈二517的驱动电压,降低第二柔性主动支撑机构5的输出支撑力,实现第二柔性主动支撑机构5的力柔性补偿功能;当需要实现第二柔性主动支撑机构5进行位置反馈时,根据电涡流位移传感器二52的位置信号,适当调整电磁线圈二517的驱动电压,实现第二柔性主动支撑机构5的位置柔性补偿功能;第三柔性主动支撑机构6的电磁线圈三617得电,通电线圈在磁场的作用下开始运动,弹性尼龙三614不断靠近加工工件,随着弹性尼龙三614的不断运动,弹性尼龙三614开始挤压工件,并施加工件一个支撑力,当需要实现第三柔性主动支撑机构6进行力反馈时,根据力传感器三622的压力信号,在线调整电磁线圈三617的驱动电压,通过增大电磁线圈三617的驱动电压,提高第三柔性主动支撑机构6的输出支撑力,通过减小电磁线圈三617的驱动电压,降低第三柔性主动支撑机构6的输出支撑力,实现第三柔性主动支撑机构6的力柔性补偿功能;当需要实现第一柔性主动支撑机构6进行位置反馈时,根据电涡流位移传感器三62的位置信号,适当调整电磁线圈三617的驱动电压,实现第三柔性主动支撑机构6的位置柔性补偿功能;通过独立调节三个柔性补偿机构,实现柔性主动支撑架的力与位置柔性补偿功能。柔性主动支撑架的受力与运动分析:三个柔性主动支撑机构的受力状态和运动状态如下所述,第一柔性主动支撑机构4的驱动永磁体一45的N极与S级之间分布有磁场,此时电磁线圈一417得电,电流方向如图14所示,通电导线在磁场的作用下输出推力,同时产生的反作用力作用在导磁体和驱动永磁体一45上,电磁线圈受到的力经电磁线圈支架一416,传递至柔性主动支撑架上壳体一47,传递至柔性主动支撑架上壳体一47受到的力最终传递至车床床身;侧向导磁体一415和驱动永磁体一45受力开始运动,同时侧向导磁体一415和驱动永磁体一45受到的力通过螺栓连接,传递至柔性上连接轴一48;柔性上连接轴一48通过螺栓连接将力传递至力传感器一422,力传感器一422通过螺栓连接将力传递至柔性下连接轴一423;侧向导磁体一415和驱动永磁体一45带动柔性上连接轴一48、柔性上下连接轴一423沿四个直线滑动轴承(第一直线滑动轴承a、第二直线滑动轴承b、第三直线滑动轴承c、第四直线滑动轴承d)的内壁运动;柔性下连接轴一423通过螺栓连接,将力和运动传递至主尼龙安装基座一425,主尼龙安装基座一425带动弹性尼龙一414运动;第二柔性主动支撑机构5的驱动永磁体二55的N极与S级之间分布有磁场,此时电磁线圈二517得电,电流方向如图14所示,通电导线在磁场的作用下输出推力,同时产生的反作用力作用在侧向导磁体二515和驱动永磁体二55上,电磁线圈受到的力经电磁线圈支架二516,传递至柔性上壳体二57,柔性上壳体二57受到的力最终传递至车床床身;侧向导磁体二515和驱动永磁体二55受力开始运动,同时侧向导磁体二515和驱动永磁体二55受到的力通过螺栓连接,传递至柔性上连接轴二58;柔性上连接轴二58通过螺栓连接将力传递至力传感器二522,力传感器二522通过螺栓连接将力传递至柔性下连接轴二523;侧向导磁体二515和驱动永磁体二55带动柔性上连接轴、柔性下连接轴,沿四个直线滑动轴承(第一直线滑动轴承e、第二直线滑动轴承f、第三直线滑动轴承g、第四直线滑动轴承h)的内壁运动;柔性下连接轴二523通过螺栓连接,将力和运动传递至主尼龙安装基座二525,主尼龙安装基座二525带动弹性尼龙二514运动;第三柔性主动支撑机构6的驱动永磁体三65的N极与S级之间分布有磁场,此时电磁线圈三617得电,电流方向如图14所示,通电导线在磁场的作用下输出推力,同时产生的反作用力作用在侧向导磁体三615和驱动永磁体三65上,电磁线圈受到的力经电磁线圈支架三616,传递至柔性上壳体三67,柔性上壳体三67受到的力最终传递至车床床身;侧向导磁体三615和驱动永磁体三65受力开始运动,同时侧向导磁体三和驱动永磁体三65受到的力通过螺栓连接,传递至柔性上连接轴三68;柔性上连接轴三68通过螺栓连接将力传递至力传感器三622,力传感器三622通过螺栓连接将力传递至柔性下连接轴三623;侧向导磁体三615和驱动永磁体三65带动柔性上连接轴、柔性下连接轴,沿四个直线滑动轴承(第一直线滑动轴承i、第二直线滑动轴承j、第三直线滑动轴承k、第四直线滑动轴承m)的内壁运动;柔性下连接轴三623通过螺栓连接,将力和运动传递至主尼龙安装基座三625,主尼龙安装基座三625带动弹性尼龙三614运动;三个弹性尼龙输出的力用于支撑加工工件,保证工件的加工精度,完成柔性主动支撑架的受力与运动分析。The force and position flexibility compensation function of the flexible active support frame: when the lathe is processing rod parts with large aspect ratio, the flexible active support frame is required for self-adaptive auxiliary support. When the flexible active support frame is installed to the predetermined position, the coil 13 is closed. When the power is turned on, through the magnetic force between the two magnetic poles, the automatic clamping of the upper shell 1 of the center frame and the lower shell 2 of the center frame is realized. According to the feedback signal of the contact switch, the upper shell 1 of the center frame and the lower shell of the center frame are determined. After the automatic clamping of the flexible active support frame is completed, manually adjust the flexible active support mechanism through the handle 15, and adjust the driving voltage of the closed coil 13 appropriately. The scale is used for preliminary position adjustment of the flexible active support mechanism; after completing the preliminary position adjustment of the three flexible active support mechanisms, different compensation modes are selected according to the processing requirements, including the pressure flexible compensation function and the position flexible compensation function; the first flexible The electromagnetic coil-417 of the active support mechanism 4 is energized, the energized coil starts to move under the action of the magnetic field, the elastic nylon-414 is constantly approaching the workpiece, and with the continuous movement of the elastic nylon-414, the elastic nylon-414 begins to squeeze the workpiece, And apply a support force to the workpiece, when it is necessary to realize the force feedback of the first flexible active support mechanism 4, according to the pressure signal of the force sensor one 422, the driving voltage of the electromagnetic coil one 417 is adjusted online, and the driving voltage of the electromagnetic coil one 417 is adjusted online. Drive voltage, improve the output support force of the first flexible active support mechanism 4, reduce the drive voltage of the electromagnetic coil 417, reduce the output support force of the first flexible active support mechanism 4, and realize the force of the first flexible active support mechanism 4 Flexible compensation function; when it is necessary to realize the position feedback of the first flexible active support mechanism 4, according to the position signal of the eddy current displacement sensor one 42, the driving voltage of the electromagnetic coil one 417 is appropriately adjusted to realize the position of the first flexible active support mechanism 4. Flexible compensation function; the electromagnetic coil II 517 of the second flexible active support mechanism 5 is energized, the electrified coil starts to move under the action of the magnetic field, the elastic nylon II 514 is constantly approaching the workpiece, and with the continuous movement of the elastic nylon II 514, the elastic nylon II The second 514 starts to squeeze the workpiece, and applies a support force to the workpiece. When the second flexible active support mechanism 5 needs to perform force feedback, according to the pressure signal of the force sensor 2 522, the driving voltage of the electromagnetic coil 2 517 is adjusted online. Increasing the driving voltage of the electromagnetic coil 2 517 increases the output supporting force of the second flexible active support mechanism 5 , and reducing the driving voltage of the electromagnetic coil 2 517 and reducing the output supporting force of the second flexible active supporting mechanism 5 to achieve the second The force flexibility compensation function of the flexible active support mechanism 5; when the second flexible active support mechanism 5 needs to perform position feedback, according to the position signal of the second eddy current displacement sensor 52, the driving voltage of the second electromagnetic coil 517 is appropriately adjusted to realize the second The position flexibility compensation function of the flexible active support mechanism 5; the electromagnetic coil 617 of the third flexible active support mechanism 6 is energized, and the coil is energized Under the action of the magnetic field, the elastic nylon 3 614 starts to move, and the elastic nylon 3 614 keeps approaching the workpiece. With the continuous movement of the elastic nylon 3 614, the elastic nylon 3 614 begins to squeeze the workpiece and applies a supporting force to the workpiece. When the third flexibility is required When the active support mechanism 6 performs force feedback, the driving voltage of the electromagnetic coil three 617 is adjusted online according to the pressure signal of the force sensor three 622, and the output support of the third flexible active support mechanism 6 is improved by increasing the driving voltage of the electromagnetic coil three 617. By reducing the driving voltage of the electromagnetic coil 3 617, the output support force of the third flexible active support mechanism 6 is reduced, and the force flexibility compensation function of the third flexible active support mechanism 6 is realized; when the first flexible active support mechanism 6 needs to be realized When performing position feedback, according to the position signal of the eddy current displacement sensor 3 62, the driving voltage of the electromagnetic coil 3 617 is appropriately adjusted to realize the position flexible compensation function of the third flexible active support mechanism 6; The force and position flexibility compensation function of the flexible active support frame. The force and motion analysis of the flexible active support frame: The force state and motion state of the three flexible active support mechanisms are as follows, the first flexible active support mechanism 4 is driven by the permanent magnet 45 The distribution between the N pole and the S stage There is a magnetic field, and the electromagnetic coil 1 417 is energized at this time, and the current direction is shown in Figure 14. The energized wire outputs thrust under the action of the magnetic field, and the reaction force generated at the same time acts on the magnet conducting body and the driving permanent magnet 1 45, and the electromagnetic coil is subjected to The force is transmitted to the upper shell 47 of the flexible active support frame through the electromagnetic coil bracket 1 416, and the force received by the upper shell 47 of the flexible active support frame is finally transmitted to the lathe bed; the lateral guide magnet 1 415 and the driving permanent The magnet one 45 starts to move under the force, and the force received by the lateral guide magnet one 415 and the driving permanent magnet one 45 is connected by bolts and transmitted to the flexible upper connecting shaft one 48; the flexible upper connecting shaft one 48 transmits the force to the force through the bolt connection. Sensor one 422, force sensor one 422 transmits force to flexible lower connecting shaft one 423 through bolt connection; lateral guide magnet one 415 and driving permanent magnet one 45 drive flexible upper connecting shaft one 48, flexible upper and lower connecting shaft one 423 along four The inner wall of the linear sliding bearing (the first linear sliding bearing a, the second linear sliding bearing b, the third linear sliding bearing c, and the fourth linear sliding bearing d) moves; the flexible lower connecting shaft-423 is connected by bolts, and the force and The movement is transmitted to the main nylon installation base 1 425, and the main nylon installation base 1 425 drives the elastic nylon 1 414 to move; the second flexible active support mechanism 5 drives the permanent magnet 2 55 The magnetic field is distributed between the N pole and the S stage, At this time, the electromagnetic coil 2 517 is energized, and the current direction is shown in Figure 14. The energized wire outputs thrust under the action of the magnetic field, and the reaction force generated at the same time acts on the lateral guide magnet 2 515 and the driving permanent magnet 2 55, and the electromagnetic coil is subjected to The force is transmitted to the second flexible upper casing 57 through the electromagnetic coil bracket 2 516, and the force received by the flexible upper casing 2 57 is finally transmitted to the lathe bed; At the same time, the force received by the second lateral guide magnet 515 and the second driving permanent magnet 55 is connected by bolts and transmitted to the second flexible upper connecting shaft 58; The force is transmitted to the second flexible lower connecting shaft 523 through the bolt connection; the second lateral guide magnet 515 and the second driving permanent magnet 55 drive the flexible upper connecting shaft and the flexible lower connecting shaft, along the four linear sliding bearings (the first linear sliding bearing e , the inner wall of the second linear sliding bearing f, the third linear sliding bearing g, the fourth linear sliding bearing h); the flexible lower connecting shaft two 523 is connected by bolts, and the force and motion are transmitted to the main nylon mounting base two 525, The main nylon mounting base 2 525 drives the elastic nylon 2 514 to move; a magnetic field is distributed between the N pole and the S stage of the driving permanent magnet 3 65 of the third flexible active support mechanism 6. At this time, the electromagnetic coil 3 617 is energized, and the current direction As shown in Figure 14, the action of the energized wire in the magnetic field With the lower output thrust, the reaction force generated at the same time acts on the lateral guide magnet 3 615 and the driving permanent magnet 3 65, and the force received by the electromagnetic coil is transmitted to the flexible upper casing 67 through the electromagnetic coil bracket 3 616, and the flexible upper casing The force received by the third 67 is finally transmitted to the lathe bed; the lateral guide magnet 3 615 and the driving permanent magnet 3 65 begin to move under force, and the force received by the lateral guide magnet 3 and the driving permanent magnet 3 65 is connected by bolts and transmitted to the flexible The connecting shaft three 68; the flexible upper connecting shaft three 68 transmits the force to the force sensor three 622 through the bolt connection, and the force sensor three 622 transmits the force to the flexible lower connecting shaft three 623 through the bolt connection; the lateral guide magnet three 615 and the driving permanent magnet The three 65 drives the flexible upper connecting shaft and the flexible lower connecting shaft along the four linear sliding bearings (the first linear sliding bearing i, the second linear sliding bearing j, the third linear sliding bearing k, and the fourth linear sliding bearing m). The inner wall moves; the flexible lower connecting shaft 3623 is connected by bolts to transmit the force and motion to the main nylon mounting base 3625, and the main nylon mounting base 3625 drives the elastic nylon 3614 to move; the output force of the three elastic nylons is used for Support the workpiece, ensure the machining accuracy of the workpiece, and complete the force and motion analysis of the flexible active support frame.

以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (8)

1.一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,包括中心架壳体,所述中心架壳体上均布多个柔性主动支撑机构,所述柔性主动支撑机构包括内部为空心圆柱结构的柔性壳体,所述柔性壳体的一端由内至外依次设有锁紧圆柱销、驱动导磁体、电磁线圈、外圆导磁体,所述电磁线圈固定在电磁线圈支架上,所述电磁线圈支架与柔性壳体固定连接,所述柔性壳体上设有电涡流位移传感器,所述锁紧圆柱销一端与锁紧开口套连接,另一端穿过侧向导磁体、驱动导磁体与外圆导磁体连接,所述柔性壳体内部设有连接轴,所述连接轴上设有滑动装置,所述连接轴上设有力传感器。1. An electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts, characterized in that it comprises a center frame shell, and a plurality of flexible active support mechanisms are evenly distributed on the center frame shell, and the flexible active support mechanism It includes a flexible shell with a hollow cylindrical structure inside, one end of the flexible shell is sequentially provided with a locking cylinder pin, a driving magnet conductor, an electromagnetic coil, and an outer circular magnet conductor from the inside to the outside, and the electromagnetic coil is fixed on the electromagnetic coil. On the bracket, the electromagnetic coil bracket is fixedly connected with the flexible casing, an eddy current displacement sensor is arranged on the flexible casing, one end of the locking cylinder pin is connected with the locking opening sleeve, and the other end passes through the lateral guide magnet, The driving magnet conducting body is connected with the outer circular magnet conducting body, a connecting shaft is arranged inside the flexible casing, a sliding device is arranged on the connecting shaft, and a force sensor is arranged on the connecting shaft. 2.根据权利要求1所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,所述柔性壳体包括柔性上壳体和柔性下壳体,所述连接轴包括柔性上连接轴和柔性下连接轴;所述滑动装置包括第一直线滑动轴承、第二直线滑动轴承、第三直线滑动轴承和第四直线滑动轴承;所述连接轴包括柔性上连接轴和柔性下连接轴,两者之间设有力传感器;2 . The electromagnetically driven flexible active intelligent support system for precision machining of rod parts according to claim 1 , wherein the flexible casing comprises a flexible upper casing and a flexible lower casing, and the connecting shaft includes a flexible upper casing and a flexible lower casing. 3 . a flexible upper connecting shaft and a flexible lower connecting shaft; the sliding device includes a first linear sliding bearing, a second linear sliding bearing, a third linear sliding bearing and a fourth linear sliding bearing; the connecting shaft includes a flexible upper connecting shaft and The flexible lower connecting shaft is provided with a force sensor between the two; 所述柔性上壳体的内壁设有两个环形台肩,其内部设有上连接轴;所述上连接轴位于第一直线滑动轴承、第二直线滑动轴承内部,The inner wall of the flexible upper casing is provided with two annular shoulders, and an upper connecting shaft is arranged inside the upper connecting shaft; the upper connecting shaft is located inside the first linear sliding bearing and the second linear sliding bearing, 柔性下壳体的两端设有圆形凹槽,用于安装第三限位端盖和第四限位端盖,柔性下壳体内部设有两个环形台肩,用于第三直线滑动轴承和第四直线滑动轴承的限位;所述下连接轴位于第三直线滑动轴承和第四直线滑动轴承的内部。Both ends of the flexible lower shell are provided with circular grooves for installing the third limit end cap and the fourth limit end cap, and two annular shoulders are arranged inside the flexible lower shell for the third linear sliding The limit of the bearing and the fourth linear sliding bearing; the lower connecting shaft is located inside the third linear sliding bearing and the fourth linear sliding bearing. 3.根据权利要求1所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,所述电磁线圈支架为二阶圆台结构,其中部设有圆形通孔,电磁线圈支架较小一端的外缘开设有环形槽,用于缠绕电磁线圈,电磁线圈支架较大一端设有用于手柄驱动的孔;电磁线圈支架通过连接螺栓与柔性上壳体连接。3. The electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts according to claim 1, wherein the electromagnetic coil support is a second-order circular truncated structure, wherein a circular through hole is provided in the middle, and the electromagnetic coil support is The outer edge of the smaller end of the coil bracket is provided with an annular groove for winding the electromagnetic coil, and the larger end of the electromagnetic coil bracket is provided with a hole for handle driving; the electromagnetic coil bracket is connected with the flexible upper casing through connecting bolts. 4.根据权利要求1所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,所述外圆导磁体为圆柱体结构,一端开设有圆形凹槽,圆形凹槽底部设有螺纹孔,外圆导磁体的另外一端设有螺纹柱;锁紧开口套为环形结构,并设有矩形开口,锁紧开口套内部设有楔形槽口;锁紧圆柱销为柱状结构,锁紧圆柱销一端设有楔形凸台,锁紧圆柱销通过螺纹配合与外圆导磁体连接,通过预紧锁紧开口套,其楔形凹槽不断挤压锁紧圆柱销的楔形凸台,锁紧开口套不断向内挤压侧向导磁体,实现对驱动永磁体的预紧作用。4. The electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts according to claim 1, wherein the outer circular magnet conducting body is a cylindrical structure, one end is provided with a circular groove, and the circular A threaded hole is arranged at the bottom of the groove, and a threaded column is arranged at the other end of the outer circular magnet conducting body; Columnar structure, one end of the locking cylindrical pin is provided with a wedge-shaped boss, the locking cylindrical pin is connected with the outer circular magnetic conductor through threaded fitting, and the wedge-shaped groove of the locking cylindrical pin is continuously squeezed by pre-tightening the open sleeve. The locking opening sleeve continuously squeezes the lateral guide magnet inward to realize the pre-tightening effect on the driving permanent magnet. 5.根据权利要求2所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,柔性下连接轴通过螺纹与主尼龙安装基座连接,主尼龙安装基座主体为圆柱体,其一端设有半环形凸台,另一端设有用于连接的螺纹柱,主尼龙安装基座通过连接螺栓与与副尼龙安装基座连接,副尼龙安装基座主体为半环形结构,其两侧开设有用于安装的螺纹孔,弹性尼龙安装在副尼龙安装基座与主尼龙安装基座之间。5. The electromagnetically driven flexible active intelligent support system for precision machining of rod parts according to claim 2, wherein the flexible lower connecting shaft is connected with the main nylon mounting base through threads, and the main nylon mounting base body is The cylindrical body is provided with a semi-annular boss at one end and a threaded column at the other end for connection. The main nylon mounting base is connected with the auxiliary nylon mounting base through connecting bolts, and the main body of the auxiliary nylon mounting base is a semi-ring structure. The two sides are provided with threaded holes for installation, and the elastic nylon is installed between the auxiliary nylon installation base and the main nylon installation base. 6.根据权利要求1所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,所述中心架壳体包括中心架上壳体和中心架下壳体,中心架上壳体为半环形结构,中心架上壳体的上端设有环形圆台,环形圆台内部设有螺纹,用于安装柔性主动支撑机构,中心架上壳体的一侧设有矩形凸台,矩形凸台内部开有矩形槽,矩形槽内部安装有开关永磁体,矩形槽的一侧安装接触开关;中心架上壳体的另外一侧设有环形凸台,环形凸台内部的圆孔用于安装精密轴承。6 . The electromagnetically driven flexible active intelligent support system for precision machining of rod parts according to claim 1 , wherein the center frame shell comprises a center frame upper shell and a center frame lower shell, and the center frame The upper shell is a semi-ring structure, the upper end of the upper shell of the center frame is provided with an annular round table, and the inside of the annular round table is provided with threads for installing the flexible active support mechanism. There is a rectangular slot inside the boss, a switch permanent magnet is installed inside the rectangular slot, and a contact switch is installed on one side of the rectangular slot; the other side of the shell on the center frame is provided with an annular boss, and the circular hole inside the annular boss is used for Install precision bearings. 7.根据权利要求6所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,中心架下壳体主体为半环形结构,中心架下壳体下端对称布置有两个环形圆台,环形圆台内部设有螺纹,中心架下壳体的一侧设有矩形凸台,矩形凸台内部开有矩形槽,矩形槽内部安装有闭合线圈,中心架下壳体的另外一侧设有两个环形凸台,两个环形凸台中间留有空间用于容纳中心架上壳体的环形凸台,中心架下壳体的两个环形凸台内部的圆孔用于安装精密轴承;精密轴承用心轴为阶梯轴,精密轴承安装在精密轴承用心轴上,精密轴承外侧设有精密轴承盖板,用于精密轴承的限位。7. The electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts according to claim 6, wherein the main body of the lower shell of the center frame is a semi-ring structure, and the lower end of the lower shell of the center frame is symmetrically arranged with two There is an annular round table with threads inside the annular round table, a rectangular boss on one side of the lower shell of the center frame, a rectangular groove inside the rectangular boss, a closed coil installed in the rectangular groove, and the other side of the lower shell of the center frame. There are two annular bosses on the side, there is a space in the middle of the two annular bosses to accommodate the annular bosses of the upper shell of the center frame, and the circular holes inside the two annular bosses of the lower shell of the center frame are used to install precision Bearings: The mandrel for precision bearings is a stepped shaft, the precision bearings are installed on the mandrels for precision bearings, and there is a precision bearing cover plate on the outside of the precision bearing to limit the position of the precision bearing. 8.根据权利要求7所述的一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,包括上位机、电磁驱动柔性主动支撑机构。8 . The electromagnetically driven flexible active intelligent support system for precision machining of rod parts according to claim 7 , characterized in that it comprises a host computer and an electromagnetically driven flexible active support mechanism. 9 . 当车床加工大长径比的弱刚性杆类零件时,需要柔性主动支撑架辅助支撑,上位机将控制信号传递至电磁驱动器驱动电源,电磁驱动器驱动电源控制电磁驱动器,此时闭合线圈得电,通过磁力的吸附作用,实现中心架上壳体、中心架下壳体的自动化装夹,接触开关将中心架上壳体、中心架下壳体的装夹状态作为反馈信号传递至上位机,用于上位机调整电磁驱动器驱动电源的控制信号,完成中心架壳体的自动化装夹;上位机将控制信号传递至电磁驱动器驱动电源,电磁驱动器驱动电源将控制信号传递至电磁驱动器,电磁驱动器驱动柔性主动支撑机构,同时,力传感器与电涡流位移传感器将力信号和位移信号,作为反馈信号传递至上位机,上位机根据反馈信号调节柔性主动支撑机构的输出力和位移,实现柔性主动支撑机构的输出力和位移闭环控制,完成柔性主动支撑机构的柔性主动支撑。When the lathe is processing weakly rigid rod parts with a large aspect ratio, a flexible active support frame is required for auxiliary support. The upper computer transmits the control signal to the electromagnetic driver driving power supply, and the electromagnetic driver driving power supply controls the electromagnetic driver. At this time, the closed coil is energized. Through the adsorption of magnetic force, the automatic clamping of the upper shell of the center frame and the lower shell of the center frame is realized. The upper computer adjusts the control signal of the electromagnetic driver driving power supply to complete the automatic clamping of the center frame shell; the upper computer transmits the control signal to the electromagnetic driver driving power supply, the electromagnetic driver driving power supply transmits the control signal to the electromagnetic driver, and the electromagnetic driver drives the flexible Active support mechanism, at the same time, the force sensor and eddy current displacement sensor transmit the force signal and displacement signal to the host computer as a feedback signal, and the host computer adjusts the output force and displacement of the flexible active support mechanism according to the feedback signal to realize the flexible active support mechanism. The output force and displacement closed-loop control completes the flexible active support of the flexible active support mechanism.
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