CN114654284A - An electromagnetically driven flexible active intelligent support system for precision machining of rod parts - Google Patents
An electromagnetically driven flexible active intelligent support system for precision machining of rod parts Download PDFInfo
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- 230000007246 mechanism Effects 0.000 claims abstract description 76
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- 238000009434 installation Methods 0.000 claims description 16
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- 238000004804 winding Methods 0.000 claims description 3
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- 230000003044 adaptive effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- 229910000954 Medium-carbon steel Inorganic materials 0.000 description 2
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- 229920000232 polyglycine polymer Polymers 0.000 description 2
- 229910000619 316 stainless steel Inorganic materials 0.000 description 1
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
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- 238000005266 casting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
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- 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
本发明公开了一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,其特征在于,所述中心架壳体上均布多个柔性主动支撑机构,每个柔性主动支撑机构内置有力传感器、位移传感器和电磁驱动单元;在杆类零件加工过程中,根据力传感器和位移传感器的反馈信号,通过独立调节各电磁驱动单元的驱动电压,实现柔性主动支撑机构支撑力和位移的闭环控制;同时,在加工过程中,根据工件的实时加工状态,自适应调节电磁驱动单元的驱动电压,实现柔性主动支撑机构的自适应柔性主动支撑。此外,本发明设有自动装夹装置,通过驱动电磁铁实现自动化装夹,并通过设置的接触开关,在线检测工件的装夹状态,保证自动装夹装置的可靠性,进一步提高工件的加工效率。
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
技术领域technical field
本申请涉及车削精密加工领域,具体为一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统。The present application relates to the field of turning precision machining, in particular to an electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts.
背景技术Background technique
传统的中心支撑架一般采用手动装夹的方式,手动装夹操作繁琐、精度差、自动化程度低,导致装夹效率较低,降低整体的加工效率;此外,传统的中心支撑架通常采用简单的机械固定的方式,在工件的加工过程中,难以实现自适应柔性主动支撑;同时,传统的中心支撑架不具备力和位置的在线反馈,无法实现力和位移的闭环控制;此外,传统的中心支撑架三个方向的支撑力难以平衡。综上,现有的中心支撑架已无法满足当前的自动化加工需求,严重制约工件的加工质量和加工效率。The traditional center support frame generally adopts the manual clamping method. The manual clamping operation is cumbersome, the precision is poor, and the degree of automation is low, which leads to low clamping efficiency and reduces the overall processing efficiency. In addition, the traditional center support frame usually adopts a simple The mechanical fixing method makes it difficult to achieve adaptive flexible active support during the processing of the workpiece; at the same time, the traditional center support frame does not have online feedback of force and position, and cannot achieve closed-loop control of force and displacement; in addition, the traditional center support It is difficult to balance the supporting force in the three directions of the support frame. To sum up, the existing center support frame can no longer meet the current needs of automated processing, which seriously restricts the processing quality and processing efficiency of the workpiece.
发明内容SUMMARY OF THE INVENTION
基于上述问题,本申请提出一种自适应调节的杆类零件精密加工用电磁驱动柔性主动智能支撑架,其技术方案为,Based on the above problems, the present application proposes an electromagnetically driven flexible active intelligent support frame for precision machining of rod-type parts with self-adaptive adjustment, and the technical solution is:
一种杆类零件精密加工用电磁驱动柔性主动智能支撑系统,包括中心架壳体,所述中心架壳体上均布多个柔性主动支撑机构,所述柔性主动支撑机构包括内部为空心圆柱结构的柔性壳体,所述柔性壳体的一端由内至外依次设有锁紧圆柱销、驱动导磁体、电磁线圈、外圆导磁体,所述电磁线圈固定在电磁线圈支架上,所述电磁线圈支架与柔性壳体固定连接,所述柔性壳体上设有电涡流位移传感器,所述锁紧圆柱销一端与锁紧开口套连接,另一端穿过侧向导磁体、驱动导磁体与外圆导磁体连接,所述柔性壳体内部设有连接轴,所述连接轴上设有滑动装置,所述连接轴上设有力传感器。An electromagnetically driven flexible active intelligent support system for precision machining of rod-type parts, comprising a center frame shell, a plurality of flexible active support mechanisms are evenly distributed on the center frame shell, and the flexible active support mechanism includes a hollow cylindrical structure inside A flexible casing, one end of the flexible casing is sequentially provided with a locking cylinder pin, a driving magnetic conductor, an electromagnetic coil, and an outer magnetic conductor from the inside to the outside, the electromagnetic coil is fixed on the electromagnetic coil bracket, the electromagnetic The coil bracket is fixedly connected with the flexible casing, the flexible casing is provided with an eddy current displacement sensor, one end of the locking cylinder pin is connected with the locking open sleeve, and the other end passes through the lateral guide magnet, the driving magnet guide body and the outer circle The magnetic conductor is connected, a connecting shaft is arranged inside the flexible casing, a sliding device is arranged on the connecting shaft, and a force sensor is arranged on the connecting shaft.
进一步优选的,所述柔性壳体包括柔性上壳体和柔性下壳体;所述滑动装置包括第一直线滑动轴承、第二直线滑动轴承、第三直线滑动轴承和第四直线滑动轴承;所述连接轴包括柔性上连接轴和柔性下连接轴,两者之间设有力传感器;所述柔性上壳体的内壁设有两个环形台肩,其内部设有柔性上连接轴;所述柔性上连接轴位于第一直线滑动轴承、第二直线滑动轴承内部,Further preferably, the flexible casing includes a flexible upper casing and a flexible lower casing; the sliding device includes a first linear sliding bearing, a second linear sliding bearing, a third linear sliding bearing and a fourth linear sliding bearing; The connecting shaft includes a flexible upper connecting shaft and a flexible lower connecting shaft, and a force sensor is arranged between them; the inner wall of the flexible upper casing is provided with two annular shoulders, and a flexible upper connecting shaft is arranged inside; The flexible upper connecting shaft is located inside the first linear sliding bearing and the second linear sliding bearing,
柔性下壳体的两端设有圆形凹槽,用于安装第三限位端盖和第四限位端盖,柔性下壳体内部设有两个环形台肩,用于第三直线滑动轴承和第四直线滑动轴承的限位;所述柔性下连接轴位于第三直线滑动轴承和第四直线滑动轴承的内部。Both ends of the flexible lower shell are provided with circular grooves for installing the third limit end cap and the fourth limit end cap, and two annular shoulders are arranged inside the flexible lower shell for the third linear sliding The limit of the bearing and the fourth linear sliding bearing; the flexible lower connecting shaft is located inside the third linear sliding bearing and the fourth linear sliding bearing.
进一步优选的,所述电磁线圈支架为二阶圆台结构,其中部设有圆形通孔,电磁线圈支架较小一端的外缘开设有环形槽,用于缠绕电磁线圈,电磁线圈支架较大一端设有用于手柄驱动的孔;电磁线圈支架通过连接螺栓与柔性上壳体连接。Further preferably, the electromagnetic coil support has a second-order circular truncated structure with a circular through hole in the middle, an annular groove is formed on the outer edge of the smaller end of the electromagnetic coil support for winding the electromagnetic coil, and the larger end of the electromagnetic coil support is provided. A hole for handle drive is provided; the electromagnetic coil bracket is connected with the flexible upper casing through connecting bolts.
进一步优选的,所述外圆导磁体为圆柱体结构,一端开设有圆形凹槽,圆形凹槽底部设有螺纹孔,外圆导磁体的另外一端设有螺纹柱;锁紧开口套为环形结构,并设有矩形开口,锁紧开口套内部设有楔形槽口;锁紧圆柱销为柱状结构,锁紧圆柱销一端设有楔形凸台,锁紧圆柱销通过螺纹配合与外圆导磁体连接,通过预紧锁紧开口套,使其楔形凹槽不断挤压锁紧圆柱销的楔形凸台,锁紧开口套不断向内挤压侧向导磁体,实现对驱动永磁体的预紧作用。Further preferably, the outer circular magnetic conductor is of a cylindrical structure, one end is provided with a circular groove, the bottom of the circular groove is provided with a threaded hole, and the other end of the outer circular magnetic conductive body is provided with a threaded column; the locking opening sleeve is: Ring-shaped structure with a rectangular opening and a wedge-shaped notch inside the locking opening sleeve; the locking cylindrical pin is a columnar structure, and one end of the locking cylindrical pin is provided with a wedge-shaped boss, and the locking cylindrical pin is threaded with the outer circular guide. The magnet is connected by pre-tightening and locking the split sleeve, so that the wedge-shaped groove continuously squeezes the wedge-shaped boss of the locking cylindrical pin, and the locking split sleeve continuously squeezes the lateral guide magnet inward to realize the pre-tightening effect on the driving permanent magnet. .
进一步优选的,柔性下连接轴通过螺纹与主尼龙安装基座连接,主尼龙安装基座主体为圆柱体,其一端设有半环形凸台,另一端设有用于连接的螺纹柱,主尼龙安装基座通过连接螺栓与与副尼龙安装基座连接,副尼龙安装基座主体为半环形结构,其两侧开设有用于安装的螺纹孔,弹性尼龙安装在副尼龙安装基座与主尼龙安装基座之间。Further preferably, the flexible lower connecting shaft is connected with the main nylon mounting base through threads, the main nylon mounting base is a cylinder, one end is provided with a semi-annular boss, the other end is provided with a threaded column for connection, and the main nylon mounting base is installed. The base is connected with the auxiliary nylon installation base through connecting bolts. The main body of the auxiliary nylon installation base is a semi-ring structure with threaded holes for installation on both sides. The elastic nylon is installed on the auxiliary nylon installation base and the main nylon installation base. between seats.
进一步优选的,所述中心架壳体包括中心架上壳体和中心架下壳体,中心架上壳体为半环形结构,中心架上壳体的上端设有环形圆台,环形圆台内部设有螺纹,用于安装柔性主动支撑机构,中心架上壳体的一侧设有矩形凸台,矩形凸台内部开有矩形槽,矩形槽内部安装有开关永磁体,矩形槽的一侧安装接触开关;中心架上壳体的另外一侧设有环形凸台,环形凸台内部的圆孔用于安装精密轴承。Further preferably, the center frame shell includes a center frame upper shell and a center frame lower shell, the center frame upper shell is a semi-annular structure, the upper end of the center frame upper shell is provided with an annular round table, and the inside of the annular round table is provided with Threads are used to install the flexible active support mechanism. There is a rectangular boss on one side of the shell on the center frame, a rectangular groove is opened inside the rectangular boss, a switch permanent magnet is installed in the rectangular groove, and a contact switch is installed on one side of the rectangular groove. ; The other side of the shell on the center frame is provided with an annular boss, and the circular hole inside the annular boss is used to install the precision bearing.
进一步优选的,中心架下壳体主体为半环形结构,中心架下壳体下端对称布置有两个环形圆台,环形圆台内部设有螺纹,中心架下壳体的一侧设有矩形凸台,矩形凸台内部开有矩形槽,矩形槽内部安装有闭合线圈,中心架下壳体的另外一侧设有两个环形凸台,两个环形凸台中间留有空间用于容纳中心架上壳体的环形凸台,中心架下壳体的两个环形凸台内部的圆孔用于安装精密轴承;精密轴承用心轴为阶梯轴,精密轴承安装在精密轴承用心轴上,精密轴承外侧设有精密轴承盖板,用于精密轴承的限位。Further preferably, the main body of the lower shell of the center frame is a semi-ring structure, the lower end of the lower shell of the center frame is symmetrically arranged with two annular circular platforms, the inside of the annular circular platforms is provided with threads, and one side of the lower shell of the center frame is provided with a rectangular boss, There is a rectangular groove inside the rectangular boss, a closed coil is installed inside the rectangular groove, two annular bosses are arranged on the other side of the lower shell of the center frame, and a space is left between the two annular bosses for accommodating the upper shell of the center frame The annular boss of the main frame, the circular holes inside the two annular bosses of the lower shell of the center frame are used to install the precision bearing; the mandrel for the precision bearing is a stepped shaft, the precision bearing is installed on the mandrel for the precision bearing, and the outside of the precision bearing is provided with The precision bearing cover plate is used for the limit of precision bearings.
进一步优选的,包括上位机、电磁驱动柔性主动支撑机构,当车床加工大长径比的弱刚性杆类零件时,需要柔性主动支撑架辅助支撑,上位机将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元控制电磁驱动器,此时闭合线圈得电,通过磁力的吸附作用,实现中心架上壳体、中心架下壳体的自动化装夹,接触开关将柔性中心架上壳体、中心架下壳体的装夹状态作为反馈信号传递至上位机,用于上位机调整电磁驱动器驱动电源的控制信号,完成中心架壳体的自动化装夹;上位机将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元将控制信号传递至电磁驱动器,电磁驱动器的控制信号传递至柔性主动支撑机构,同时,力传感器与电涡流位移传感器将力信号和位移信号,作为反馈信号传递至上位机,上位机根据反馈信号调节柔性主动支撑机构的输出力和位移,实现柔性主动支撑机构的力和位移的闭环控制,完成柔性主动支撑机构的柔性主动支撑。It is further preferred to include a host computer and an electromagnetically driven flexible active support mechanism. When the lathe processes weakly rigid rod-like parts with a large aspect ratio, a flexible active support frame is required for auxiliary support, and the host computer transmits the control signal to the electromagnetic drive drive unit. The electromagnetic driver drive unit controls the electromagnetic driver. At this time, the closed coil is energized. Through the adsorption of magnetic force, the automatic clamping of the upper shell of the center frame and the lower shell of the center frame is realized. The contact switch connects the flexible center frame to the upper shell and the center frame The clamping state of the lower shell is transmitted to the upper computer as a feedback signal, which is used for the upper computer to adjust the control signal of the driving power of the electromagnetic drive, and complete the automatic clamping of the center frame shell; the upper computer transmits the control signal to the electromagnetic drive drive unit, The electromagnetic driver drive unit transmits the control signal to the electromagnetic driver, and the control signal of the electromagnetic driver is transmitted to the flexible active support mechanism. At the same time, the force sensor and the eddy current displacement sensor transmit the force signal and displacement signal as feedback signals to the host computer. Adjust the output force and displacement of the flexible active support mechanism according to the feedback signal, realize the closed-loop control of the force and displacement of the flexible active support mechanism, and complete the flexible active support of the flexible active support mechanism.
有益效果beneficial effect
本发明采用柔性主动支撑机构代替原有的支撑机构,每个柔性主动支撑机构内置有力传感器、位移传感器和电磁驱动单元;在杆类零件加工过程中,根据力传感器和位移传感器的反馈信号,通过独立调节各电磁驱动单元的驱动电压,实现柔性主动支撑机构支撑力和输出位移的闭环控制;同时,在杆类零件的加工过程中,根据工件的实时加工状态,自适应调节电磁驱单元的驱动电压,实现柔性主动支撑机构的自适应柔性主动支撑。此外,本发明设有自动装夹装置,通过驱动电磁铁实现自动化装夹,并通过设置的接触开关,在线检测工件的装夹状态,保证自动装夹装置的可靠性,进一步提高工件的加工效率。The invention adopts a flexible active support mechanism to replace the original support mechanism, and each flexible active support mechanism has a built-in force sensor, a displacement sensor and an electromagnetic drive unit; Independently adjust the drive voltage of each electromagnetic drive unit to achieve closed-loop control of the support force and output displacement of the flexible active support mechanism; at the same time, during the processing of rod parts, the drive of the electromagnetic drive unit is adaptively adjusted according to the real-time processing state of the workpiece voltage to realize the adaptive flexible active support of the flexible active support mechanism. In addition, the present invention is provided with an automatic clamping device, which realizes automatic clamping by driving the electromagnet, and detects the clamping state of the workpiece online through the set contact switch, so as to ensure the reliability of the automatic clamping device and further improve the processing efficiency of the workpiece. .
附图说明Description of drawings
图1为本申请结构示意图;1 is a schematic structural diagram of the application;
图2为本申请剖视图;Fig. 2 is a sectional view of the application;
图3为中心架壳体示意图;Figure 3 is a schematic diagram of the center frame shell;
图4为柔性主动支撑机构剖视图;4 is a cross-sectional view of a flexible active support mechanism;
图5为外圆导磁体结构示意图;Fig. 5 is a schematic diagram of the structure of an outer circular magnetic conductor;
图6为主尼龙安装基座示意图;Figure 6 is a schematic diagram of the main nylon mounting base;
图7为第一直线滑动轴承结构示意图;7 is a schematic structural diagram of a first linear sliding bearing;
图8为柔性上壳体结构示意图;8 is a schematic structural diagram of a flexible upper casing;
图9手柄安装示意图;Figure 9 Schematic diagram of handle installation;
图10为副尼龙安装基座结构示意图;Figure 10 is a schematic structural diagram of a secondary nylon mounting base;
图11为弹性尼龙结构示意图;Figure 11 is a schematic diagram of the elastic nylon structure;
图12为柔性下壳体结构剖视图;Figure 12 is a sectional view of the flexible lower casing structure;
图13为电磁线圈支架一结构示意图;13 is a schematic structural diagram of an electromagnetic coil support;
图14为电磁驱动器电流方向示意图;14 is a schematic diagram of the current direction of the electromagnetic driver;
图15为控制原理图。Fig. 15 is a control principle diagram.
图中:In the picture:
1-中心架上壳体,2-中心架下壳体,3-接触开关,4-第一柔性主动支撑机构,5-第二柔性主动支撑机构,6-第三柔性主动支撑机构,7-加工工件,8-精密轴承盖板,9-精密轴承用心轴,10-开关永磁体,11-闭合线圈支撑架,12-接触开关用固定螺母,13-闭合线圈,14-精密轴承,15-手柄。1- Center frame upper shell, 2- Center frame lower shell, 3- Contact switch, 4- First flexible active support mechanism, 5- Second flexible active support mechanism, 6- Third flexible active support mechanism, 7- Machining workpiece, 8-precision bearing cover plate, 9-precision bearing mandrel, 10-switch permanent magnet, 11-close coil support frame, 12-contact switch fixing nut, 13-close coil, 14-precision bearing, 15- handle.
41-锁紧开口套一,42-电涡流位移传感器一,43-电磁线圈支架用连接螺栓一,44-外圆导磁体一,45-驱动永磁体一,46-锁紧圆柱销一,47-柔性上壳体一,48-柔性上连接轴一,49-第三限位端盖一,410-第三直线滑动轴承c,411-柔性下壳体一,412-第四限位端盖一,413-副尼龙安装基座一,414-弹性尼龙一,415-侧向导磁体一,416-电磁线圈支架一,417-电磁线圈一,418-第一限位端盖一,419-第一直线滑动轴承a,420-第二直线滑动轴承b,421-第二限位端盖一,422-力传感器一,423-柔性下连接轴一,424-第四直线滑动轴承d,425-主尼龙安装基座一。41-Locking
51-锁紧开口套二,52-电涡流位移传感器二,53-电磁线圈支架用连接螺栓二,54-外圆导磁体二,55-驱动永磁体二,56-锁紧圆柱销二,57-柔性上壳体二,58-柔性上连接轴二,59-第三限位端盖二,510-第三直线滑动轴承g,511-柔性下壳体二,512-第四限位端盖二,513-副尼龙安装基座二,514-弹性尼龙二,515-侧向导磁体二,516-电磁线圈支架二,517-电磁线圈二,518-第一限位端盖二,519-第一直线滑动轴承e,520-第二直线滑动轴承f,521-第二限位端盖二,522-力传感器二,523-柔性下连接轴二,524-第四直线滑动轴承h,525-主尼龙安装基座二。51- Locking
61-锁紧开口套三,62-电涡流位移传感器三,63-电磁线圈支架用连接螺栓三,64-外圆导磁体三,65-驱动永磁体三,66-锁紧圆柱销三,67-柔性上壳体三,68-柔性上连接轴三,69-第三限位端盖三,610-第三直线滑动轴承k,611-柔性下壳体三,612-第四限位端盖三,613-副尼龙安装基座三,614-弹性尼龙三,615-侧向导磁体三,616-电磁线圈支架三,617-电磁线圈三,618-第一限位端盖三,619-第一直线滑动轴承i,620-第二直线滑动轴承j,621-第二限位端盖三,622-力传感器三,623-柔性下连接轴三,624-第四直线滑动轴承m,625-主尼龙安装基座三。61-Locking
具体实施方式Detailed ways
以下详细说明都是例示性的,旨在对本申请提供进一步的说明。除非另有指明,本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。需要注意的是,这里所使用的术语仅是为了描述具体实施方式,而非意图限制根据本申请的示例性实施方式。The following detailed description is exemplary and intended to provide further explanation of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application.
本发明包括中心架壳体(中心架上壳体1,中心架下壳体2),所述中心架壳体上周向均布有三个柔性主动支撑机构,分别为第一柔性主动支撑机构4,第二柔性主动支撑机构5,第三柔性主动支撑机构6,The present invention includes a center frame shell (a center frame
中心架上壳体1主体为半环形结构,中心架上壳体1的上端设有环形圆台,环形圆台内部设有螺纹,用于安装柔性主动支撑机构,中心架上壳体1的一侧设有矩形凸台,矩形凸台内部开有矩形槽(矩形槽两端为半圆形),矩形槽内部安装有开关永磁体10,矩形槽左侧设有用于安装接触开关3的圆形孔(圆孔两端为盲孔,中间为通孔),接触开关3安装与中心架上壳体1的圆形通孔内,接触开关3的两侧用固定螺母12进行预紧;中心架上壳体1的另外一侧设有环形凸台,环形凸台内部的圆孔用于安装精密轴承14;The main body of the
中心架下壳体2主体为半环形结构,中心架下壳体2下端对称布置有两个环形圆台,环形圆台内部设有螺纹,中心架下壳体2的一侧设有矩形凸台,矩形凸台内部开有矩形槽(矩形槽两端为半圆形),矩形槽内部安装有闭合线圈13,中心架下壳体2的另外一侧设有两个环形凸台,两个环形凸台中间留有空间用于容纳中心架上壳体1的环形凸台,中心架下壳体2的两个环形凸台内部的圆孔用于安装精密轴承14;精密轴承用心轴9为阶梯轴,精密轴承14安装在精密轴承用心轴9上,精密轴承14外侧设有精密轴承盖板8,用于精密轴承14的限位。The main body of the
柔性主动支撑机构具有相同结构,此处仅以柔性主动支撑机构4为例说明,具体结构如下,柔性上壳体47主体为空心圆柱体,柔性上壳体47的一端设有较大尺寸的圆形盲孔,用于容纳电磁驱动单元;柔性上壳体47的另一端设有较小尺寸的盲孔,盲孔内壁设有连接用螺纹用于安装柔性下壳体411;柔性上壳体47的内部设有两个环形台肩,用于第一直线滑动轴承419、第二直线滑动轴承420的限位;柔性上壳体47外壁刻有刻度线,用于柔性主动支撑机构4的初级位置调节;电磁线圈支架416主体结构为二阶圆台结构,其中部设有圆形通孔,电磁线圈支架416较小的一端开设有环形槽,用于缠绕电磁线圈417,电磁线圈支架416较大一端的两侧设有盲孔,其周向均布用于连接的孔,此外,其周向设有用于手柄驱动的孔;电涡流位移传感器42安装于电磁线圈支架416的较大的一端,并通过螺母固定;电磁线圈支架416通过电磁线圈支架用连接螺栓43与柔性上壳体47连接;外圆导磁体44主体为圆柱体结构,外圆导磁体44一端开设有圆形凹槽,圆形凹槽底部设有用于连接的螺纹孔,用于安装锁紧圆柱销46,外圆导磁体44的另外一端设有用于连接的螺纹柱;驱动永磁体45主体为柱状结构,其内部设有圆孔;锁紧开口套41主体为环形结构,并设有矩形开口,矩形开口的两端设有用于连接的螺纹孔,锁紧开口套41内部设有楔形槽口;锁紧圆柱销46为柱状结构,锁紧圆柱销46一端设有楔形凸台,锁紧圆柱销46另一端设有连接用螺纹;锁紧圆柱销46通过螺纹配合与外圆导磁体44连接;侧向导磁体415主体为空心圆柱体结构;驱动永磁体45与侧向导磁体415通过其内部圆形孔安装在锁紧圆柱销46上,通过预紧锁紧开口套41,锁紧开口套41的楔形凹槽不断挤压锁紧圆柱销46的楔形凸台,锁紧开口套41不断挤压外侧导磁体415,实现对驱动永磁体45的预紧作用;第一直线滑动轴承419安装在柔性上壳体47的内部,第一直线滑动轴承419的一端由柔性上壳体47内部的环形凹槽限位,第一直线滑动轴承419的另一端安装有第一限位端盖418;第二直线滑动轴承420安装在柔性上壳体47的内部,第二直线滑动轴承420的一端由柔性上壳体47内部的环形凹槽限位,第二直线滑动轴承420的另一端安装有第二限位端盖421;柔性上连接轴48主体为圆柱体,其两端分别设有用于连接的螺纹孔,柔性上连接轴48的一端通过螺纹与外圆导磁体44连接,柔性上连接轴48安装于第一直线滑动轴承419和第二直线滑动轴承420的内部;力传感器422主体的圆柱体,其两端设有用于连接的螺纹柱,力传感器422的一端通过螺纹与柔性上连接轴48连接;The flexible active support mechanism has the same structure. Here, only the flexible
柔性下壳体411主体为二阶环形结构,其较小的一端设有连接螺纹;其两端设有圆形凹槽,用于安装限位端盖,其内部设有两个环形台肩,用于直线滑动轴承的限位;柔性下壳体411外侧设有螺纹;柔性上壳体47与柔性下壳体411之间通过螺纹连接;第三直线滑动轴承410安装在柔性下壳体411的内部,第三直线滑动轴承410的一端由柔性下壳体411内部的环形凹槽限位,第三直线滑动轴承410的另一端安装有第三限位端盖49;第四直线滑动轴承424安装在柔性下壳体411的内部,第四直线滑动轴承424的一端由柔性下壳体411内部的环形凹槽限位,第四直线滑动轴承424的另一端安装有第四限位端盖412;柔性下连接轴423主体的圆柱体,其两端分别设有用于连接的螺纹孔,柔性下连接轴423的一端通过螺纹与力传感器422连接;柔性下连接轴423安装在第三直线滑动轴承410与第四直线滑动轴承424内部;主尼龙安装基座425主体为圆柱体,其一端设有半环形凸台,另一端设有用于连接的螺纹柱,柔性下连接轴423的另一端通过螺纹与主尼龙安装基座425连接;副尼龙安装基座413主体为半环形结构,其两侧开设有用于安装的螺纹孔,副尼龙安装基座413通过连接螺栓与主尼龙安装基座425连接;弹性尼龙414安装在副尼龙安装基座413与主尼龙安装基座425之间。The main body of the flexible
系统部件材料说明:中心架上壳体1,中心架下壳体2为铸造件,主体采用铸铁,如T200等;精密轴承盖板8采用中碳钢;精密轴承用心轴9采用结构钢,保证各部件具有良好的性能;电磁线圈采用铜导线;闭合线圈支撑架11采用导磁材料,如纯铁、硅钢片等;手柄15采用中碳钢;驱动永磁体采用钕铁硼;外圆导磁体44为导磁材料,如纯铁、硅钢片等;锁紧开口套41、锁紧圆柱销46、柔性上连接轴48、柔性下连接轴423、柔性上壳体47和柔性下壳体411采用不导磁材料或弱导磁材料,如钛合金、316不锈钢等;副尼龙安装基座413和主尼龙安装基座425采用不锈钢材料;弹性尼龙414采用尼龙材料。Material description of system components: the
柔性主动支撑架的总体控制过程:当车床加工大长径比的弱刚性杆类零件时,需要柔性主动支撑架辅助支撑,上位机通过控制线路将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元控制电磁驱动器四,此时闭合线圈得电,通过磁力的吸附作用,实现柔性主动支撑架上下壳体的自动化装夹,接触开关将柔性上壳体、柔性下壳体的装夹状态,作为反馈信号传递至上位机,用于上位机调整电磁驱动器驱动电源的控制信号,完成柔性上壳体、柔性下壳体的自动化装夹;上位机通过控制线路将控制信号传递至电磁驱动器驱动单元,电磁驱动器驱动单元分别将控制信号传递至电磁驱动器一、电磁驱动器二和电磁驱动器三,电磁驱动器一的控制信号经控制线路传递至柔性主动支撑机构三,同时,力传感器一与电涡流位移传感器一将力信号和位移信号,作为反馈信号传递至上位机,并根据反馈信号调节柔性主动支撑机构三,实现柔性主动支撑机构三的力和位移的闭环控制,完成柔性主动支撑机构三的柔性主动支撑;电磁驱动器二的控制信号经控制线路传递至基于电磁驱动的柔性主动支撑机构二,同时,力传感器二与电涡流位移传感器二将力信号和位移信号,作为反馈信号传递至上位机,并根据反馈信号调节柔性主动支撑机构二,实现柔性主动支撑机构二的力和位移的闭环控制,完成柔性主动支撑机构二的柔性主动支撑;电磁驱动器三的控制信号经控制线路传递至基于电磁驱动的柔性主动支撑机构一,同时,力传感器三与电涡流位移传感器三将力信号和位移信号,作为反馈信号传递至上位机,并根据反馈信号调节柔性主动支撑机构一,实现柔性主动支撑机构一的力和位移的闭环控制,完成柔性主动支撑机构一的柔性主动支撑;通过四个独立的闭环控制回路,实现柔性主动支撑架的总体控制。The overall control process of the flexible active support frame: when the lathe processes weakly rigid rod parts with large aspect ratios, the flexible active support frame is required for auxiliary support. The upper computer transmits the control signal to the electromagnetic drive drive unit through the control circuit, and the electromagnetic drive The unit controls the
柔性主动支撑架的力与位置柔性补偿功能:车床在加工大长径比的杆类零件时,需要柔性主动支撑架进行自适应辅助支撑,当柔性主动支撑架安装至预定位置后,闭合线圈13得电,通过两个磁极间的磁力作用,实现中心架上壳体1与中心架下壳体2的自动装夹,根据接触开关的反馈信号,确定中心架上壳体1与中心架下壳体2之间的装夹状态,并适当调整闭合线圈13的驱动电压;完成柔性主动支撑架的自动装夹后,通过手柄15手动调节柔性主动支撑机构,根据柔性主动支撑架上壳体上的刻度尺,对柔性主动支撑机构进行初步的位置调节;完成三个柔性主动支撑机构的初步位置调节后,根据加工要求选择不同的补偿模式,包括压力柔性补偿功能与位置柔性补偿功能;第一柔性主动支撑机构4的电磁线圈一417得电,通电线圈在磁场的作用下开始运动,弹性尼龙一414不断靠近加工工件,随着弹性尼龙一414的不断运动,弹性尼龙一414开始挤压工件,并施加工件一个支撑力,当需要实现第一柔性主动支撑机构4进行力反馈时,根据力传感器一422的压力信号,在线调整电磁线圈一417的驱动电压,通过增大电磁线圈一417的驱动电压,提高第一柔性主动支撑机构4的输出支撑力,通过减小电磁线圈一417的驱动电压,降低第一柔性主动支撑机构4的输出支撑力,实现第一柔性主动支撑机构4的力柔性补偿功能;当需要实现第一柔性主动支撑机构4进行位置反馈时,根据电涡流位移传感器一42的位置信号,适当调整电磁线圈一417的驱动电压,实现第一柔性主动支撑机构4的位置柔性补偿功能;第二柔性主动支撑机构5的电磁线圈二517得电,通电线圈在磁场的作用下开始运动,弹性尼龙二514不断靠近加工工件,随着弹性尼龙二514的不断运动,弹性尼龙二514开始挤压工件,并施加工件一个支撑力,当需要实现第二柔性主动支撑机构5进行力反馈时,根据力传感器二522的压力信号,在线调整电磁线圈二517的驱动电压,通过增大电磁线圈二517的驱动电压,提高第二柔性主动支撑机构5的输出支撑力,通过减小电磁线圈二517的驱动电压,降低第二柔性主动支撑机构5的输出支撑力,实现第二柔性主动支撑机构5的力柔性补偿功能;当需要实现第二柔性主动支撑机构5进行位置反馈时,根据电涡流位移传感器二52的位置信号,适当调整电磁线圈二517的驱动电压,实现第二柔性主动支撑机构5的位置柔性补偿功能;第三柔性主动支撑机构6的电磁线圈三617得电,通电线圈在磁场的作用下开始运动,弹性尼龙三614不断靠近加工工件,随着弹性尼龙三614的不断运动,弹性尼龙三614开始挤压工件,并施加工件一个支撑力,当需要实现第三柔性主动支撑机构6进行力反馈时,根据力传感器三622的压力信号,在线调整电磁线圈三617的驱动电压,通过增大电磁线圈三617的驱动电压,提高第三柔性主动支撑机构6的输出支撑力,通过减小电磁线圈三617的驱动电压,降低第三柔性主动支撑机构6的输出支撑力,实现第三柔性主动支撑机构6的力柔性补偿功能;当需要实现第一柔性主动支撑机构6进行位置反馈时,根据电涡流位移传感器三62的位置信号,适当调整电磁线圈三617的驱动电压,实现第三柔性主动支撑机构6的位置柔性补偿功能;通过独立调节三个柔性补偿机构,实现柔性主动支撑架的力与位置柔性补偿功能。柔性主动支撑架的受力与运动分析:三个柔性主动支撑机构的受力状态和运动状态如下所述,第一柔性主动支撑机构4的驱动永磁体一45的N极与S级之间分布有磁场,此时电磁线圈一417得电,电流方向如图14所示,通电导线在磁场的作用下输出推力,同时产生的反作用力作用在导磁体和驱动永磁体一45上,电磁线圈受到的力经电磁线圈支架一416,传递至柔性主动支撑架上壳体一47,传递至柔性主动支撑架上壳体一47受到的力最终传递至车床床身;侧向导磁体一415和驱动永磁体一45受力开始运动,同时侧向导磁体一415和驱动永磁体一45受到的力通过螺栓连接,传递至柔性上连接轴一48;柔性上连接轴一48通过螺栓连接将力传递至力传感器一422,力传感器一422通过螺栓连接将力传递至柔性下连接轴一423;侧向导磁体一415和驱动永磁体一45带动柔性上连接轴一48、柔性上下连接轴一423沿四个直线滑动轴承(第一直线滑动轴承a、第二直线滑动轴承b、第三直线滑动轴承c、第四直线滑动轴承d)的内壁运动;柔性下连接轴一423通过螺栓连接,将力和运动传递至主尼龙安装基座一425,主尼龙安装基座一425带动弹性尼龙一414运动;第二柔性主动支撑机构5的驱动永磁体二55的N极与S级之间分布有磁场,此时电磁线圈二517得电,电流方向如图14所示,通电导线在磁场的作用下输出推力,同时产生的反作用力作用在侧向导磁体二515和驱动永磁体二55上,电磁线圈受到的力经电磁线圈支架二516,传递至柔性上壳体二57,柔性上壳体二57受到的力最终传递至车床床身;侧向导磁体二515和驱动永磁体二55受力开始运动,同时侧向导磁体二515和驱动永磁体二55受到的力通过螺栓连接,传递至柔性上连接轴二58;柔性上连接轴二58通过螺栓连接将力传递至力传感器二522,力传感器二522通过螺栓连接将力传递至柔性下连接轴二523;侧向导磁体二515和驱动永磁体二55带动柔性上连接轴、柔性下连接轴,沿四个直线滑动轴承(第一直线滑动轴承e、第二直线滑动轴承f、第三直线滑动轴承g、第四直线滑动轴承h)的内壁运动;柔性下连接轴二523通过螺栓连接,将力和运动传递至主尼龙安装基座二525,主尼龙安装基座二525带动弹性尼龙二514运动;第三柔性主动支撑机构6的驱动永磁体三65的N极与S级之间分布有磁场,此时电磁线圈三617得电,电流方向如图14所示,通电导线在磁场的作用下输出推力,同时产生的反作用力作用在侧向导磁体三615和驱动永磁体三65上,电磁线圈受到的力经电磁线圈支架三616,传递至柔性上壳体三67,柔性上壳体三67受到的力最终传递至车床床身;侧向导磁体三615和驱动永磁体三65受力开始运动,同时侧向导磁体三和驱动永磁体三65受到的力通过螺栓连接,传递至柔性上连接轴三68;柔性上连接轴三68通过螺栓连接将力传递至力传感器三622,力传感器三622通过螺栓连接将力传递至柔性下连接轴三623;侧向导磁体三615和驱动永磁体三65带动柔性上连接轴、柔性下连接轴,沿四个直线滑动轴承(第一直线滑动轴承i、第二直线滑动轴承j、第三直线滑动轴承k、第四直线滑动轴承m)的内壁运动;柔性下连接轴三623通过螺栓连接,将力和运动传递至主尼龙安装基座三625,主尼龙安装基座三625带动弹性尼龙三614运动;三个弹性尼龙输出的力用于支撑加工工件,保证工件的加工精度,完成柔性主动支撑架的受力与运动分析。The force and position flexibility compensation function of the flexible active support frame: when the lathe is processing rod parts with large aspect ratio, the flexible active support frame is required for self-adaptive auxiliary support. When the flexible active support frame is installed to the predetermined position, the
以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.
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