CN114654284A - Electromagnetic drive flexible active intelligent supporting system for precision machining of rod parts - Google Patents
Electromagnetic drive flexible active intelligent supporting system for precision machining of rod parts Download PDFInfo
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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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- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/15—Devices for holding work using magnetic or electric force acting directly on the work
- B23Q3/154—Stationary devices
- B23Q3/1543—Stationary devices using electromagnets
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Abstract
The invention discloses an electromagnetic driving flexible active intelligent supporting system for precision machining of rod parts, which is characterized in that a plurality of flexible active supporting mechanisms are uniformly distributed on a central frame shell, and each flexible active supporting mechanism is internally provided with a force sensor, a displacement sensor and an electromagnetic driving unit; in the machining process of rod parts, the closed-loop control of the supporting force and displacement of the flexible active supporting mechanism is realized by independently adjusting the driving voltage of each electromagnetic driving unit according to the feedback signals of the force sensor and the displacement sensor; meanwhile, in the machining process, the driving voltage of the magnetic driving unit is adjusted in a self-adaptive mode according to the real-time machining state of the workpiece, and self-adaptive flexible active support of the flexible active support mechanism is achieved. In addition, the automatic clamping device is arranged, automatic clamping is achieved by driving the electromagnet, the clamping state of the workpiece is detected on line through the arranged contact switch, the reliability of the automatic clamping device is guaranteed, and the machining efficiency of the workpiece is further improved.
Description
Technical Field
The application relates to the field of turning precision machining, in particular to an electromagnetic drive flexible active intelligent supporting system for precision machining of rod parts.
Background
The traditional center support frame generally adopts a manual clamping mode, and the manual clamping operation is complicated, the precision is poor, the automation degree is low, so that the clamping efficiency is low, and the overall processing efficiency is reduced; in addition, the traditional central support frame usually adopts a simple mechanical fixing mode, and self-adaptive flexible active support is difficult to realize in the processing process of workpieces; meanwhile, the traditional central support frame does not have the on-line feedback of force and position, and cannot realize the closed-loop control of force and displacement; in addition, the supporting force of the traditional center supporting frame in three directions is difficult to balance. In conclusion, the existing central support frame cannot meet the current automatic processing requirement, and the processing quality and the processing efficiency of the workpiece are severely restricted.
Disclosure of Invention
Based on the problems, the application provides a self-adaptive adjustable electromagnetic driving flexible active intelligent support frame for precision machining of rod parts, which has the technical scheme that,
an electromagnetic driving flexible active intelligent supporting system for precision machining of rod parts comprises a central frame shell, a plurality of flexible active supporting mechanisms are uniformly distributed on the central frame shell, each flexible active supporting mechanism comprises a flexible shell with a hollow cylindrical structure inside, one end of the flexible shell is sequentially provided with a locking cylindrical pin, a driving magnetizer, an electromagnetic coil and an excircle magnetizer from inside to outside, the electromagnetic coil is fixed on the electromagnetic coil bracket which is fixedly connected with the flexible shell, an eddy current displacement sensor is arranged on the flexible shell, one end of the locking cylindrical pin is connected with the locking opening sleeve, the other end of the locking cylindrical pin penetrates through the lateral magnetizer and the driving magnetizer to be connected with the excircle magnetizer, the flexible shell is internally provided with a connecting shaft, the connecting shaft is provided with a sliding device, and the connecting shaft is provided with a force sensor.
Further preferably, the flexible housing comprises a flexible upper housing and a flexible lower housing; the sliding device comprises a first linear sliding bearing, a second linear sliding bearing, a third linear sliding bearing and a fourth linear sliding bearing; the connecting shaft comprises a flexible upper connecting shaft and a flexible lower connecting shaft, and a force sensor is arranged between the upper connecting shaft and the flexible lower connecting shaft; the inner wall of the flexible upper shell is provided with two annular shoulders, and a flexible upper connecting shaft is arranged in the flexible upper shell; the flexible upper connecting shaft is positioned in the first linear sliding bearing and the second linear sliding bearing,
two ends of the flexible lower shell are provided with circular grooves for mounting a third limiting end cover and a fourth limiting end cover, and two annular shoulders for limiting the third linear sliding bearing and the fourth linear sliding bearing are arranged in the flexible lower shell; the flexible lower connecting shaft is positioned inside the third linear sliding bearing and the fourth linear sliding bearing.
Preferably, the electromagnetic coil support is of a second-order circular truncated cone structure, a circular through hole is formed in the middle of the electromagnetic coil support, an annular groove is formed in the outer edge of the smaller end of the electromagnetic coil support and used for winding the electromagnetic coil, and a hole used for driving the handle is formed in the larger end of the electromagnetic coil support; the electromagnetic coil support is connected with the flexible upper shell through a connecting bolt.
Preferably, the cylindrical magnetizer is of a cylindrical structure, one end of the cylindrical magnetizer is provided with a circular groove, the bottom of the circular groove is provided with a threaded hole, and the other end of the cylindrical magnetizer is provided with a threaded column; the locking opening sleeve is of an annular structure and is provided with a rectangular opening, and a wedge-shaped notch is formed in the locking opening sleeve; the locking cylindric lock is the columnar structure, and locking cylindric lock one end is equipped with the wedge boss, and the locking cylindric lock passes through screw-thread fit to be connected with excircle magnetizer, through pretension locking opening cover, makes its wedge recess constantly extrude the wedge boss of locking cylindric lock, and locking opening cover constantly inwards extrudees side direction magnetizer, realizes the pretension effect to the drive permanent magnet.
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, a semi-annular boss is arranged at one end of the main nylon mounting base, a threaded column for connection is arranged at the other end of the main nylon mounting base, the main nylon mounting base is connected with the auxiliary nylon mounting base through a connecting bolt, the auxiliary nylon mounting base is of a semi-annular structure, threaded holes for installation are formed in two sides of the auxiliary nylon mounting base, and the elastic nylon is installed between the auxiliary nylon mounting base and the main nylon mounting base.
Preferably, the center frame shell comprises a center frame upper shell and a center frame lower shell, the center frame upper shell is of a semi-annular structure, an annular round table is arranged at the upper end of the center frame upper shell, threads are arranged in the annular round table and used for mounting the flexible active supporting mechanism, a rectangular boss is arranged on one side of the center frame upper shell, a rectangular groove is formed in the rectangular boss, a switch permanent magnet is mounted in the rectangular groove, and a contact switch is mounted on one side of the rectangular groove; an annular boss is arranged on the other side of the upper shell of the center frame, and a round hole in the annular boss is used for mounting a precision bearing.
Preferably, the main body of the lower shell of the center frame is of a semi-annular structure, two annular round platforms are symmetrically arranged at the lower end of the lower shell of the center frame, threads are arranged in the annular round platforms, a rectangular boss is arranged at one side of the lower shell of the center frame, a rectangular groove is formed in the rectangular boss, a closed coil is arranged in the rectangular groove, two annular bosses are arranged at the other side of the lower shell of the center frame, a space is reserved between the two annular bosses for accommodating the annular bosses of the upper shell of the center frame, and round holes in the two annular bosses of the lower shell of the center frame are used for installing precision bearings; the mandrel for the precision bearing is a stepped shaft, the precision bearing is installed on the mandrel for the precision bearing, and a precision bearing cover plate is arranged on the outer side of the precision bearing and used for limiting the precision bearing.
The flexible active support mechanism comprises an upper computer and an electromagnetic drive flexible active support mechanism, when a lathe is used for machining weak-rigidity rod parts with large length-diameter ratio, the flexible active support frame is required to support in an auxiliary mode, the upper computer transmits a control signal to an electromagnetic drive unit, the electromagnetic drive unit controls an electromagnetic drive, a closed coil is electrified, automatic clamping of an upper shell and a lower shell of a center frame is achieved through the adsorption effect of magnetic force, a contact switch transmits the clamping state of the upper shell and the lower shell of the flexible center frame to the upper computer as a feedback signal, and the upper computer adjusts the control signal of a drive power supply of the electromagnetic drive to achieve automatic clamping of the shell of the center frame; the host computer transmits control signal to electromagnetic drive unit, electromagnetic drive unit transmits control signal to electromagnetic drive, electromagnetic drive's control signal transmits to flexible initiative supporting mechanism, and simultaneously, force transducer and eddy current displacement sensor are with force signal and displacement signal, transmit to the host computer as feedback signal, the host computer adjusts flexible initiative supporting mechanism's output power and displacement according to feedback signal, realize the closed-loop control of flexible initiative supporting mechanism's power and displacement, accomplish flexible initiative support of flexible initiative supporting mechanism.
Advantageous effects
The flexible active supporting mechanism is adopted to replace the original supporting mechanism, and each flexible active supporting mechanism is internally provided with a force sensor, a displacement sensor and an electromagnetic driving unit; in the machining process of rod parts, the closed-loop control of the supporting force and the output displacement of the flexible active supporting mechanism is realized by independently adjusting the driving voltage of each electromagnetic driving unit according to the feedback signals of the force sensor and the displacement sensor; meanwhile, in the machining process of the rod parts, the driving voltage of the magnetic driving unit is adjusted in a self-adaptive mode according to the real-time machining state of the workpiece, and self-adaptive flexible active support of the flexible active support mechanism is achieved. In addition, the automatic clamping device is arranged, automatic clamping is achieved through the driving electromagnet, the clamping state of the workpiece is detected on line through the arranged contact switch, the reliability of the automatic clamping device is guaranteed, and the machining efficiency of the workpiece is further improved.
Drawings
FIG. 1 is a schematic structural diagram of the present application;
FIG. 2 is a cross-sectional view of the present application;
FIG. 3 is a schematic view of a steady rest housing;
FIG. 4 is a cross-sectional view of a flexible active support mechanism;
FIG. 5 is a schematic view of the structure of the outer circle magnetizer;
FIG. 6 is a schematic view of a main nylon mounting base;
FIG. 7 is a schematic view of a first linear sliding bearing configuration;
FIG. 8 is a schematic view of a flexible upper housing;
FIG. 9 is a schematic view of the handle installation;
FIG. 10 is a schematic view of a secondary nylon mounting base structure;
FIG. 11 is a schematic view of an elastic nylon structure;
FIG. 12 is a cross-sectional view of a flexible lower shell construction;
FIG. 13 is a schematic view of a solenoid bracket configuration;
FIG. 14 is a schematic view of the direction of current flow for an electromagnetic actuator;
fig. 15 is a control schematic.
In the figure:
1-a center frame upper shell, 2-a center frame lower shell, 3-a contact switch, 4-a first flexible active supporting mechanism, 5-a second flexible active supporting mechanism, 6-a third flexible active supporting mechanism, 7-a processing workpiece, 8-a precision bearing cover plate, 9-a precision bearing mandrel, 10-a switch permanent magnet, 11-a closed coil supporting frame, 12-a contact switch fixing nut, 13-a closed coil, 14-a precision bearing and 15-a handle.
41-locking opening sleeve I, 42-eddy current displacement sensor I, 43-electromagnetic coil support I, 44-excircle magnetizer I, 45-driving permanent magnet I, 46-locking cylindrical pin I, 47-flexible upper shell I, 48-flexible upper connecting shaft I, 49-third limiting end cover I, 410-third linear sliding bearing C, 411-flexible lower shell I, 412-fourth limiting end cover I, 413-auxiliary nylon mounting base I, 414-elastic nylon I, 415-lateral magnetizer I, 416-electromagnetic coil support I, 417-electromagnetic coil I, 418-first limiting end cover I, 419-first linear sliding bearing a, 420-second linear sliding bearing b, 421-second limiting end cover I, 422-force sensor I, 423-flexible lower connecting shaft one, 424-fourth linear sliding bearing d, 425-main nylon mounting base one.
51-locking opening sleeve II, 52-eddy current displacement sensor II, 53-electromagnetic coil support connecting bolt II, 54-excircle magnetizer II, 55-driving permanent magnet II, 56-locking cylindrical pin II, 57-flexible upper shell II, 58-flexible upper connecting shaft II, 59-third limiting end cover II, 510-third linear sliding bearing g, 511-flexible lower shell II, 512-fourth limiting end cover II, 513-auxiliary nylon mounting base II, 514-elastic nylon II, 515-lateral magnetizer II, 516-electromagnetic coil support II, 517-electromagnetic coil II, 518-first limiting end cover II, 519-first linear sliding bearing e, 520-second linear sliding bearing f, 521-second limiting end cover II and 522-force sensor II, 523-flexible lower connecting shaft II, 524-fourth linear sliding bearing h, 525-main nylon mounting base II.
61-locking opening sleeve III, 62-eddy current displacement sensor III, 63-electromagnetic coil support connecting bolt III, 64-excircle magnetizer III, 65-driving permanent magnet III, 66-locking cylindrical pin III, 67-flexible upper shell III, 68-flexible upper connecting shaft III, 69-third limiting end cover III, 610-third linear sliding bearing k, 611-flexible lower shell III, 612-fourth limiting end cover III, 613-auxiliary nylon mounting base III, 614-elastic nylon III, 615-lateral magnetizer III, 616-electromagnetic coil support III, 617-electromagnetic coil III, 618-first limiting end cover III, 619-first linear sliding bearing i, 620-second linear sliding bearing j, 621-second limiting end cover III, 622-force sensor III, 623-flexible lower connecting shaft III, 624-fourth linear sliding bearing m, 625-main nylon mounting base III.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, 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 is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application.
The invention comprises a center frame shell (a center frame upper shell 1 and a center frame lower shell 2), wherein three flexible active supporting mechanisms are uniformly distributed on the center frame shell in the circumferential direction and respectively comprise a first flexible active supporting mechanism 4, a second flexible active supporting mechanism 5 and a third flexible active supporting mechanism 6,
the main body of the shell 1 on the center frame is of a semi-annular structure, the upper end of the shell 1 on the center frame is provided with an annular round table, threads are arranged inside the annular round table and used for mounting a flexible active supporting mechanism, one side of the shell 1 on the center frame is provided with a rectangular boss, a rectangular groove (the two ends of the rectangular groove are semicircular) is formed inside the rectangular boss, a switch permanent magnet 10 is mounted inside the rectangular groove, the left side of the rectangular groove is provided with a circular hole (the two ends of the circular hole are blind holes, the middle of the circular hole is a through hole) for mounting a contact switch 3, the contact switch 3 is mounted in the circular through hole of the shell 1 on the center frame, and the two sides of the contact switch 3 are pre-tightened by fixing nuts 12; the other side of the upper shell 1 of the center frame is provided with an annular boss, and a round hole in the annular boss is used for mounting a precision bearing 14;
the main body of the lower shell 2 of the central frame is of a semi-annular structure, two annular round platforms are symmetrically arranged at the lower end of the lower shell 2 of the central frame, threads are arranged in the annular round platforms, a rectangular boss is arranged on one side of the lower shell 2 of the central frame, a rectangular groove (the two ends of the rectangular groove are semicircular) is formed in the rectangular boss, a closed coil 13 is arranged in the rectangular groove, two annular bosses are arranged on the other side of the lower shell 2 of the central frame, a space is reserved between the two annular bosses and used for accommodating the annular bosses of the upper shell 1 of the central frame, and round holes in the two annular bosses of the lower shell 2 of the central frame are used for installing precision bearings 14; the precision bearing spindle 9 is a stepped shaft, the precision bearing 14 is mounted on the precision bearing spindle 9, and a precision bearing cover plate 8 is arranged on the outer side of the precision bearing 14 and used for limiting the precision bearing 14.
The flexible active supporting mechanism has the same structure, and only the flexible active supporting mechanism 4 is taken as an example for illustration, and the specific structure is as follows, the main body of the flexible upper shell 47 is a hollow cylinder, and one end of the flexible upper shell 47 is provided with a circular blind hole with a larger size for accommodating the electromagnetic driving unit; the other end of the flexible upper shell 47 is provided with a blind hole with a smaller size, and the inner wall of the blind hole is provided with connecting threads for installing the flexible lower shell 411; two annular shoulders are arranged inside the flexible upper shell 47 and used for limiting the first linear sliding bearing 419 and the second linear sliding bearing 420; the outer wall of the flexible upper shell 47 is marked with scale marks for primary position adjustment of the flexible active supporting mechanism 4; the main body structure of the electromagnetic coil support 416 is a second-order truncated cone structure, a circular through hole is formed in the middle of the electromagnetic coil support 416, an annular groove is formed in the smaller end of the electromagnetic coil support 416 and used for winding the electromagnetic coil 417, blind holes are formed in the two sides of the larger end of the electromagnetic coil support 416, holes for connection are uniformly distributed in the circumferential direction of the blind holes, and holes for driving a handle are formed in the circumferential direction of the blind holes; the eddy current displacement sensor 42 is mounted at the larger end of the electromagnetic coil bracket 416 and is fixed by a nut; the solenoid bracket 416 is connected with the flexible upper housing 47 through the solenoid bracket by a connecting bolt 43; the main body of the outer circle magnetizer 44 is of a cylindrical structure, one end of the outer circle magnetizer 44 is provided with a circular groove, the bottom of the circular groove is provided with a threaded hole for connection and used for installing a locking cylindrical pin 46, and the other end of the outer circle magnetizer 44 is provided with a threaded column for connection; the main body of the driving permanent magnet 45 is of a columnar structure, and a circular hole is formed in the main body; the main body of the locking opening sleeve 41 is of an annular structure and is provided with a rectangular opening, two ends of the rectangular opening are provided with threaded holes for connection, and a wedge-shaped notch is formed in the locking opening sleeve 41; the locking cylindrical pin 46 is of a cylindrical structure, a wedge-shaped boss is arranged at one end of the locking cylindrical pin 46, and connecting threads are arranged at the other end of the locking cylindrical pin 46; the locking cylindrical pin 46 is connected with the excircle magnetizer 44 through thread matching; the main body of the lateral magnetizer 415 is a hollow cylinder structure; the driving permanent magnet 45 and the lateral magnetizer 415 are installed on the locking cylindrical pin 46 through internal circular holes, the locking opening sleeve 41 is pre-tightened, a wedge-shaped groove of the locking opening sleeve 41 continuously extrudes a wedge-shaped boss of the locking cylindrical pin 46, the locking opening sleeve 41 continuously extrudes the outer magnetizer 415, and pre-tightening effect on the driving permanent magnet 45 is realized; a first linear sliding bearing 419 is arranged inside the flexible upper shell 47, one end of the first linear sliding bearing 419 is limited by an annular groove inside the flexible upper shell 47, and the other end of the first linear sliding bearing 419 is provided with a first limiting end cover 418; the second linear sliding bearing 420 is installed inside the flexible upper shell 47, one end of the second linear sliding bearing 420 is limited by an annular groove inside the flexible upper shell 47, and the other end of the second linear sliding bearing 420 is provided with a second limiting end cover 421; the main body of the flexible upper connecting shaft 48 is a cylinder, two ends of the flexible upper connecting shaft 48 are respectively provided with a threaded hole for connection, one end of the flexible upper connecting shaft 48 is connected with the excircle magnetizer 44 through threads, and the flexible upper connecting shaft 48 is arranged inside the first linear sliding bearing 419 and the second linear sliding bearing 420; the two ends of the cylinder of the main body of the force sensor 422 are provided with threaded columns for connection, and one end of the force sensor 422 is connected with the flexible upper connecting shaft 48 through threads;
the main body of the flexible lower shell 411 is a second-order annular structure, and a connecting thread is arranged at the smaller end of the flexible lower shell; the two ends of the linear sliding bearing are provided with circular grooves for installing a limiting end cover, and two annular shoulders for limiting the linear sliding bearing are arranged in the linear sliding bearing; the outer side of the flexible lower shell 411 is provided with threads; the flexible upper shell 47 is connected with the flexible lower shell 411 through threads; the third linear sliding bearing 410 is installed inside the flexible lower shell 411, one end of the third linear sliding bearing 410 is limited by an annular groove inside the flexible lower shell 411, and the other end of the third linear sliding bearing 410 is installed with a third limiting end cover 49; a fourth linear sliding bearing 424 is installed inside the flexible lower shell 411, one end of the fourth linear sliding bearing 424 is limited by an annular groove inside the flexible lower shell 411, and the other end of the fourth linear sliding bearing 424 is provided with a fourth limiting end cover 412; two ends of a cylinder of the main body of the flexible lower connecting shaft 423 are respectively provided with a threaded hole for connection, and one end of the flexible lower connecting shaft 423 is connected with the force sensor 422 through threads; a flexible lower connection shaft 423 is installed inside the third and fourth linear sliding bearings 410 and 424; the main body of the main nylon mounting base 425 is a cylinder, one end of the main nylon mounting base is provided with a semi-annular boss, the other end of the main nylon mounting base is provided with a threaded column for connection, and the other end of the flexible lower connecting shaft 423 is connected with the main nylon mounting base 425 through threads; the main body of the auxiliary nylon mounting base 413 is of a semi-annular structure, threaded holes for mounting are formed in two sides of the main body, and the auxiliary nylon mounting base 413 is connected with the main nylon mounting base 425 through a connecting bolt; the resilient nylon 414 is mounted between the secondary nylon mounting base 413 and the primary nylon mounting base 425.
Description of system component materials: the upper shell 1 of the center frame, the lower shell 2 of the center frame are cast parts, and the main body of the center frame is made of cast iron, such as T200; the precision bearing cover plate 8 is made of medium carbon steel; the mandrel 9 for the precision bearing is made of structural steel, so that good performance of each part is guaranteed; the electromagnetic coil adopts a copper wire; the closed coil support frame 11 is made of magnetic conductive materials such as pure iron and silicon steel sheets; the handle 15 is made of medium carbon steel; the driving permanent magnet adopts neodymium iron boron; the outer circle magnetizer 44 is made of magnetic 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 shell 47 and the flexible lower shell 411 are made of non-magnetic materials or weak magnetic materials, such as titanium alloy, 316 stainless steel and the like; the auxiliary nylon mounting base 413 and the main nylon mounting base 425 are made of stainless steel materials; the elastic nylon 414 is made of nylon material.
The overall control process of the flexible active support frame is as follows: when a lathe processes weak-rigidity rod parts with a large length-diameter ratio, the flexible active support frame is required to support in an auxiliary mode, the upper computer transmits a control signal to the electromagnetic driver driving unit through a control circuit, the electromagnetic driver driving unit controls the electromagnetic driver, the closed coil is electrified, automatic clamping of the upper shell and the lower shell of the flexible active support frame is achieved through the adsorption effect of magnetic force, the clamping state of the flexible upper shell and the flexible lower shell is transmitted to the upper computer as a feedback signal through the contact switch, the control signal of the electromagnetic driver driving power supply is adjusted through the upper computer, and automatic clamping of the flexible upper shell and the flexible lower shell is achieved; the upper computer transmits a control signal to the electromagnetic driver driving unit through a control circuit, the electromagnetic driver driving unit transmits the control signal to the first electromagnetic driver, the second electromagnetic driver and the third electromagnetic driver respectively, the control signal of the first electromagnetic driver is transmitted to the third flexible active supporting mechanism through the control circuit, meanwhile, the first force sensor and the first eddy current displacement sensor transmit a force signal and a displacement signal to the upper computer as feedback signals, and the third flexible active supporting mechanism is adjusted according to the feedback signals, so that closed-loop control of the force and the displacement of the third flexible active supporting mechanism is realized, and flexible active supporting of the third flexible active supporting mechanism is completed; a control signal of the second electromagnetic driver is transmitted to a second flexible active supporting mechanism based on electromagnetic driving through a control circuit, meanwhile, a force signal and a displacement signal are transmitted to an upper computer as feedback signals by a second force sensor and a second eddy current displacement sensor, and the second flexible active supporting mechanism is adjusted according to the feedback signals, so that closed-loop control of the force and the displacement of the second flexible active supporting mechanism is realized, and flexible active supporting of the second flexible active supporting mechanism is completed; a control signal of the electromagnetic driver III is transmitted to the first flexible active supporting mechanism based on electromagnetic driving through a control circuit, meanwhile, a force signal and a displacement signal are transmitted to an upper computer as feedback signals by the force sensor III and the eddy current displacement sensor III, the first flexible active supporting mechanism is adjusted according to the feedback signals, closed-loop control of the force and the displacement of the first flexible active supporting mechanism is achieved, and flexible active supporting of the first flexible active supporting mechanism is completed; the overall control of the flexible active support frame is realized through four independent closed-loop control loops.
The force and position flexible compensation function of the flexible active support frame is as follows: when a lathe is used for processing rod parts with a large length-diameter ratio, a flexible active support frame is required to carry out self-adaptive auxiliary support, after the flexible active support frame is installed to a preset position, a closed coil 13 is electrified, automatic clamping of an upper shell 1 of a center frame and a lower shell 2 of the center frame is realized through the magnetic force action between two magnetic poles, the clamping state between the upper shell 1 of the center frame and the lower shell 2 of the center frame is determined according to a feedback signal of a contact switch, and the driving voltage of the closed coil 13 is properly adjusted; after the flexible active support frame is automatically clamped, the flexible active support mechanism is manually adjusted through the handle 15, and preliminary position adjustment is performed on the flexible active support mechanism according to a graduated scale on the upper shell of the flexible active support frame; after the primary position adjustment of the three flexible active supporting mechanisms is completed, different compensation modes are selected according to the processing requirements, wherein the compensation modes comprise a pressure flexible compensation function and a position flexible compensation function; the first electromagnetic coil 417 of the first flexible active supporting mechanism 4 is electrified, the electrified coil starts to move under the action of a magnetic field, the first elastic nylon 414 is continuously close to a workpiece to be processed, along with the continuous movement of the first elastic nylon 414, the first elastic nylon 414 starts to extrude the workpiece and apply a supporting force to the workpiece, when force feedback of the first flexible active supporting mechanism 4 is needed, the driving voltage of the first electromagnetic coil 417 is adjusted on line according to a pressure signal of the first force sensor 422, the output supporting force of the first flexible active supporting mechanism 4 is improved by increasing the driving voltage of the first electromagnetic coil 417, the output supporting force of the first flexible active supporting mechanism 4 is reduced by reducing the driving voltage of the first electromagnetic coil 417, and the force flexible compensation function of the first flexible active supporting mechanism 4 is realized; when position feedback of the first flexible active supporting mechanism 4 is required to be achieved, the driving voltage of the electromagnetic coil I417 is properly adjusted according to the position signal of the eddy current displacement sensor I42, and the position flexible compensation function of the first flexible active supporting mechanism 4 is achieved; the second electromagnetic coil 517 of the second flexible active supporting mechanism 5 is electrified, the electrified coil starts to move under the action of the magnetic field, the second elastic nylon 514 is continuously close to the workpiece to be processed, the second elastic nylon 514 starts to extrude the workpiece along with the continuous movement of the second elastic nylon 514, and applies a supporting force to the workpiece, when force feedback of the second flexible active supporting mechanism 5 is needed, the driving voltage of the second electromagnetic coil 517 is adjusted on line according to the pressure signal of the second force sensor 522, the output supporting force of the second flexible active supporting mechanism 5 is improved by increasing the driving voltage of the second electromagnetic coil 517, the output supporting force of the second flexible active supporting mechanism 5 is reduced by reducing the driving voltage of the second electromagnetic coil 517, and the force flexible compensation function of the second flexible active supporting mechanism 5 is realized; when position feedback of the second flexible active supporting mechanism 5 needs to be realized, the driving voltage of the second electromagnetic coil 517 is properly adjusted according to the position signal of the second eddy current displacement sensor 52, and the position flexible compensation function of the second flexible active supporting mechanism 5 is realized; the third electromagnetic coil 617 of the third flexible active supporting mechanism 6 is powered on, the electrified coil starts to move under the action of the magnetic field, the third elastic nylon 614 continuously approaches the workpiece to be processed, the third elastic nylon 614 starts to extrude the workpiece along with the continuous movement of the third elastic nylon 614 and applies a supporting force to the workpiece, when force feedback of the third flexible active supporting mechanism 6 is needed, the driving voltage of the third electromagnetic coil 617 is adjusted on line according to the pressure signal of the third force sensor 622, the output supporting force of the third flexible active supporting mechanism 6 is improved by increasing the driving voltage of the third electromagnetic coil 617, the output supporting force of the third flexible active supporting mechanism 6 is reduced by reducing the driving voltage of the third electromagnetic coil 617, and the force flexible compensation function of the third flexible active supporting mechanism 6 is realized; when position feedback of the first flexible active supporting mechanism 6 is required to be realized, the driving voltage of the electromagnetic coil III 617 is properly adjusted according to the position signal of the eddy current displacement sensor III 62, so that the position flexible compensation function of the third flexible active supporting mechanism 6 is realized; the force and position flexible compensation functions of the flexible active support frame are realized by independently adjusting the three flexible compensation mechanisms. And (3) analyzing the stress and the motion of the flexible active support frame: the stress state and the motion state of the three flexible driving support mechanisms are described as follows, a magnetic field is distributed between the N pole and the S pole of a first driving permanent magnet 45 of a first flexible driving support mechanism 4, at the moment, a first electromagnetic coil 417 is electrified, the current direction is shown in figure 14, an electrified lead outputs thrust under the action of the magnetic field, simultaneously, the generated reaction force acts on a magnetizer and the first driving permanent magnet 45, the force borne by the electromagnetic coil is transmitted to a first shell 47 of the flexible driving support frame through a first electromagnetic coil bracket 416, and the force borne by the first shell 47 of the flexible driving support frame is finally transmitted to the lathe body of the lathe; the first lateral magnetizer 415 and the first driving permanent magnet 45 start to move under stress, and meanwhile, the force borne by the first lateral magnetizer 415 and the first driving permanent magnet 45 is transmitted to the first flexible upper connecting shaft 48 through bolt connection; the first flexible upper connecting shaft 48 transmits force to the first force sensor 422 through bolt connection, and the first force sensor 422 transmits force to the first flexible lower connecting shaft 423 through bolt connection; the lateral magnetizer I415 and the driving permanent magnet I45 drive the flexible upper connecting shaft I48 and the flexible upper and lower connecting shaft I423 to move along the inner walls of four linear sliding bearings (a first linear sliding bearing a, a second linear sliding bearing b, a third linear sliding bearing c and a fourth linear sliding bearing d); the first flexible lower connecting shaft 423 is connected through a bolt, force and motion are transmitted to the first main nylon mounting base 425, and the first main nylon mounting base 425 drives the first elastic nylon 414 to move; a magnetic field is distributed between the N pole and the S pole of the second driving permanent magnet 55 of the second flexible driving supporting mechanism 5, the second electromagnetic coil 517 is electrified, the current direction is as shown in fig. 14, an electrified lead outputs thrust under the action of the magnetic field, meanwhile, the generated reaction force acts on the second lateral magnetizer 515 and the second driving permanent magnet 55, the force borne by the electromagnetic coil is transmitted to the second flexible upper shell 57 through the second electromagnetic coil bracket 516, and the force borne by the second flexible upper shell 57 is finally transmitted to the lathe bed; the second lateral magnetizer 515 and the second driving permanent magnet 55 start to move under stress, and meanwhile, the force borne by the second lateral magnetizer 515 and the second driving permanent magnet 55 is transmitted to the second flexible upper connecting shaft 58 through bolt connection; the second flexible upper connecting shaft 58 transmits force to the second force sensor 522 through bolt connection, and the second force sensor 522 transmits force to the second flexible lower connecting shaft 523 through bolt connection; the lateral magnetizer II 515 and the driving permanent magnet II 55 drive the flexible upper connecting shaft and the flexible lower connecting shaft to move along the inner walls of the four linear sliding bearings (a first linear sliding bearing e, a second linear sliding bearing f, a third linear sliding bearing g and a fourth linear sliding bearing h); the flexible lower connecting shaft II 523 is connected through a bolt, force and motion are transmitted to the main nylon mounting base II 525, and the main nylon mounting base II 525 drives the elastic nylon II 514 to move; a magnetic field is distributed between the N pole and the S pole of the driving permanent magnet III 65 of the third flexible driving supporting mechanism 6, at the moment, the electromagnetic coil III 617 is electrified, the current direction is as shown in fig. 14, an electrified lead outputs thrust under the action of the magnetic field, meanwhile, the generated reaction force acts on the lateral magnetizer III 615 and the driving permanent magnet III 65, the force borne by the electromagnetic coil is transmitted to the flexible upper shell III 67 through the electromagnetic coil bracket III 616, and the force borne by the flexible upper shell III 67 is finally transmitted to the lathe bed; the lateral magnetizer III 615 and the driving permanent magnet III 65 start to move under stress, and meanwhile, the force borne by the lateral magnetizer III and the driving permanent magnet III 65 is transmitted to the flexible upper connecting shaft III 68 through the bolt connection; the flexible upper connecting shaft III 68 transmits force to the force sensor III 622 through bolt connection, and the force sensor III 622 transmits force to the flexible lower connecting shaft III 623 through bolt connection; the lateral magnetizer III 615 and the driving permanent magnet III 65 drive the flexible upper connecting shaft and the flexible lower connecting shaft to move along the inner walls of 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 flexible lower connecting shaft III 623 is connected through a bolt, force and motion are transmitted to the main nylon mounting base III 625, and the main nylon mounting base III 625 drives the elastic nylon III 614 to move; the force output by the three elastic nylons is used for supporting the workpiece to be machined, so that the machining precision of the workpiece is ensured, and the stress and motion analysis of the flexible active support frame is completed.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. An electromagnetic driving flexible active intelligent supporting system for precision machining of rod parts is characterized by comprising a central frame shell, a plurality of flexible active supporting mechanisms are uniformly distributed on the central frame shell, each flexible active supporting mechanism comprises a flexible shell with a hollow cylindrical structure inside, one end of the flexible shell is sequentially provided with a locking cylindrical pin, a driving magnetizer, an electromagnetic coil and an excircle magnetizer from inside to outside, the electromagnetic coil is fixed on the electromagnetic coil bracket which is fixedly connected with the flexible shell, an eddy current displacement sensor is arranged on the flexible shell, one end of the locking cylindrical pin is connected with the locking opening sleeve, the other end of the locking cylindrical pin penetrates through the lateral magnetizer and the driving magnetizer to be connected with the excircle magnetizer, the flexible shell is internally provided with a connecting shaft, the connecting shaft is provided with a sliding device, and the connecting shaft is provided with a force sensor.
2. The electromagnetically-driven flexible active intelligent supporting system for precision machining of rod parts as claimed in claim 1, wherein the flexible housing comprises a flexible upper housing and a flexible lower housing, and the connecting shaft comprises a flexible upper connecting shaft and a flexible lower connecting shaft; the sliding device comprises a first linear sliding bearing, a second linear sliding bearing, a third linear sliding bearing and a fourth linear sliding bearing; the connecting shaft comprises a flexible upper connecting shaft and a flexible lower connecting shaft, and a force sensor is arranged between the upper connecting shaft and the flexible lower connecting shaft;
the inner wall of the flexible upper shell is provided with two annular shoulders, and an upper connecting shaft is arranged in the flexible upper shell; the upper connecting shaft is positioned in the first linear sliding bearing and the second linear sliding bearing,
two ends of the flexible lower shell are provided with circular grooves for mounting a third limiting end cover and a fourth limiting end cover, and two annular shoulders for limiting the third linear sliding bearing and the fourth linear sliding bearing are arranged in the flexible lower shell; the lower connecting shaft is positioned inside the third linear sliding bearing and the fourth linear sliding bearing.
3. The electromagnetic driving flexible active intelligent supporting system for the precision machining of the rod parts as claimed in claim 1, wherein the electromagnetic coil support is of a second-order truncated cone structure, a circular through hole is formed in the middle of the electromagnetic coil support, an annular groove is formed in the outer edge of the smaller end of the electromagnetic coil support and used for winding the electromagnetic coil, and a hole used for driving a handle is formed in the larger end of the electromagnetic coil support; the electromagnetic coil support is connected with the flexible upper shell through a connecting bolt.
4. The electromagnetic driving flexible active intelligent supporting system for the precision machining of the rod-like part as claimed in claim 1, wherein the outer cylindrical magnetizer has a cylindrical structure, one end of which 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 cylindrical magnetizer is provided with a threaded column; the locking opening sleeve is of an annular structure and is provided with a rectangular opening, and a wedge-shaped notch is formed in the locking opening sleeve; the locking cylindric lock is the columnar structure, and locking cylindric lock one end is equipped with the wedge boss, and the locking cylindric lock passes through screw-thread fit to be connected with excircle magnetizer, and through pretension locking opening cover, the wedge boss of locking cylindric lock is constantly extruded to its wedge recess, and the side direction magnetizer is constantly inwards extruded to the locking opening cover, realizes the pretension effect to the drive permanent magnet.
5. The electromagnetically driven flexible active intelligent support system for precision machining of rod parts as claimed in claim 2, wherein the flexible lower connecting shaft is connected to the main nylon mounting base through a screw thread, the main nylon mounting base is a cylinder with a semi-annular boss at one end and a threaded post at the other end for connection, the main nylon mounting base is connected to the auxiliary nylon mounting base through a connecting bolt, the auxiliary nylon mounting base is a semi-annular structure with threaded holes at both sides for mounting, and the elastic nylon is mounted between the auxiliary nylon mounting base and the main nylon mounting base.
6. The electromagnetic driving flexible active intelligent supporting system for the precision machining of the rod parts, according to claim 1, is characterized in that the center frame shell comprises a center frame upper shell and a center frame lower shell, the center frame upper shell is of a semi-annular structure, an annular round table is arranged at the upper end of the center frame upper shell, threads are arranged inside the annular round table and used for mounting the flexible active supporting mechanism, a rectangular boss is arranged on one side of the center frame upper shell, a rectangular groove is formed inside the rectangular boss, a switch permanent magnet is mounted inside the rectangular groove, and a contact switch is mounted on one side of the rectangular groove; the other side of the shell on the center frame is provided with an annular boss, and a round hole in the annular boss is used for mounting a precision bearing.
7. The electromagnetic driving flexible active intelligent supporting system for the precision machining of the rod parts, as recited in claim 6, is characterized in that the main body of the lower shell of the center frame is of a semi-annular structure, two annular truncated cones are symmetrically arranged at the lower end of the lower shell of the center frame, threads are arranged inside the annular truncated cones, a rectangular boss is arranged at one side of the lower shell of the center frame, a rectangular groove is formed inside the rectangular boss, a closed coil is arranged inside the rectangular groove, two annular bosses are arranged at the other side of the lower shell of the center frame, a space is left between the two annular bosses for accommodating the annular bosses of the upper shell of the center frame, and round holes inside the two annular bosses of the lower shell of the center frame are used for installing precision bearings; the mandrel for the precision bearing is a stepped shaft, the precision bearing is installed on the mandrel for the precision bearing, and a precision bearing cover plate is arranged on the outer side of the precision bearing and used for limiting the precision bearing.
8. The electromagnetically-driven flexible active intelligent supporting system for precision machining of rod parts as claimed in claim 7, comprising an upper computer and an electromagnetically-driven flexible active supporting mechanism.
When a lathe is used for processing weak-rigidity rod parts with a large length-diameter ratio, a flexible active support frame is required for auxiliary support, an upper computer transmits a control signal to an electromagnetic driver driving power supply, the electromagnetic driver driving power supply controls an electromagnetic driver, the closed coil is electrified at the moment, automatic clamping of the upper shell and the lower shell of the center frame is realized through the adsorption effect of magnetic force, a contact switch transmits the clamping state of the upper shell and the lower shell of the center frame to the upper computer as a feedback signal, and the contact switch is used for adjusting the control signal of the electromagnetic driver driving power supply by the upper computer to finish automatic clamping of the shell of the center frame; the host computer transmits control signal to electromagnetic drive power supply, electromagnetic drive power supply transmits control signal to electromagnetic drive, the flexible initiative supporting mechanism of electromagnetic drive, and simultaneously, force transducer and electric eddy current displacement sensor are with force signal and displacement signal, transmit to the host computer as feedback signal, the host computer adjusts the output power and the displacement of flexible initiative supporting mechanism according to feedback signal, realize the output power and the displacement closed-loop control of flexible initiative supporting mechanism, accomplish the flexible initiative support of flexible initiative supporting mechanism.
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| CN202210440529.XA CN114654284B (en) | 2022-04-25 | 2022-04-25 | Electromagnetic drive flexible active intelligent supporting system for precision machining of rod parts |
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| CN202210440529.XA CN114654284B (en) | 2022-04-25 | 2022-04-25 | Electromagnetic drive flexible active intelligent supporting system for precision machining of rod parts |
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|---|---|---|---|---|
| JPH06284670A (en) * | 1993-03-30 | 1994-10-07 | Sumitomo Special Metals Co Ltd | Linear actuator |
| CN103047352A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Two-dimensional flexible hinge angle decoupling eddy current damping zero-rigidity vibration isolator |
| US20180029137A1 (en) * | 2016-07-29 | 2018-02-01 | Jtekt Corporation | Work holder and work machining method |
| US20200141763A1 (en) * | 2018-11-07 | 2020-05-07 | Shanghai University | Electromagnetic type quasi-zero stiffness absolute displacement sensor |
| CN111390620A (en) * | 2020-04-14 | 2020-07-10 | 合肥工业大学 | Structure for supporting low-speed large-torque electric spindle machine tool fixture by magnetic suspension |
| CN112377561A (en) * | 2020-10-30 | 2021-02-19 | 哈尔滨工业大学 | Three-degree-of-freedom micro-vibration isolation device based on active electromagnetic negative stiffness structure |
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2022
- 2022-04-25 CN CN202210440529.XA patent/CN114654284B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06284670A (en) * | 1993-03-30 | 1994-10-07 | Sumitomo Special Metals Co Ltd | Linear actuator |
| CN103047352A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Two-dimensional flexible hinge angle decoupling eddy current damping zero-rigidity vibration isolator |
| US20180029137A1 (en) * | 2016-07-29 | 2018-02-01 | Jtekt Corporation | Work holder and work machining method |
| US20200141763A1 (en) * | 2018-11-07 | 2020-05-07 | Shanghai University | Electromagnetic type quasi-zero stiffness absolute displacement sensor |
| CN111390620A (en) * | 2020-04-14 | 2020-07-10 | 合肥工业大学 | Structure for supporting low-speed large-torque electric spindle machine tool fixture by magnetic suspension |
| CN112377561A (en) * | 2020-10-30 | 2021-02-19 | 哈尔滨工业大学 | Three-degree-of-freedom micro-vibration isolation device based on active electromagnetic negative stiffness structure |
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