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

Abstract

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. .

Description

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

technical field

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.

Background technique

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.

SUMMARY OF THE INVENTION

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:

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.

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,

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.

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.

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. .

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.

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.

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.

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.

beneficial effect

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. .

Description of drawings

1 is a schematic structural diagram of the application;

Fig. 2 is a sectional view of the application;

Figure 3 is a schematic diagram of the center frame shell;

4 is a cross-sectional view of a flexible active support mechanism;

Fig. 5 is a schematic diagram of the structure of an outer circular magnetic conductor;

Figure 6 is a schematic diagram of the main nylon mounting base;

7 is a schematic structural diagram of a first linear sliding bearing;

8 is a schematic structural diagram of a flexible upper casing;

Figure 9 Schematic diagram of handle installation;

Figure 10 is a schematic structural diagram of a secondary nylon mounting base;

Figure 11 is a schematic diagram of the elastic nylon structure;

Figure 12 is a sectional view of the flexible lower casing structure;

13 is a schematic structural diagram of an electromagnetic coil support;

14 is a schematic diagram of the current direction of the electromagnetic driver;

Fig. 15 is a control principle diagram.

In the picture:

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-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- 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-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.

Detailed ways

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.

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,

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;

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 .

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;

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 .

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.

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.

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.

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. 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 . 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; 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, 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. 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. 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. 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 . 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. 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 . 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 . 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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