CN1244432C - Industrial-application type active magnetic suspension machine tool guide linear motor feeding platform - Google Patents
Industrial-application type active magnetic suspension machine tool guide linear motor feeding platform Download PDFInfo
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- CN1244432C CN1244432C CN 200310107944 CN200310107944A CN1244432C CN 1244432 C CN1244432 C CN 1244432C CN 200310107944 CN200310107944 CN 200310107944 CN 200310107944 A CN200310107944 A CN 200310107944A CN 1244432 C CN1244432 C CN 1244432C
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- guide rail
- electromagnet
- electric motors
- machine tool
- linear electric
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Abstract
The present invention relates to an industrial-application type feeding platform of a linear motor of a guide rail of an active magnetic suspension machine tool, which comprises a guide rail fixedly supported on a machine base, a movable platform sheathed on the guide rail, and a linear motor, wherein the linear motor is positioned in the central line of the guide rail, and the upper surface and the lower surface of the guide rail at both sides of the linear motor are provided with bearing electromagnets; both side surfaces of the guide rail are provided with guide electromagnets, and the bearing electromagnets and the guide electromagnets are fixedly connected with the movable platform; the displacement sensors are arranged in the middle of the bearing electromagnets and the guide electromagnets, and are connected with the position control system of the movable platform. The present invention greatly enhances the feeding speed and the precision of a platform, extends the service life, has the advantages of adjustable support stiffness damping, zero friction, no need of lubrication, no environmental pollution, etc., and ensures that a feeding system of a machine tool has high speed and high precision.
Description
Technical field
The present invention relates to a kind of high-grade, digitally controlled machine tools linear electric motors feeding platform, particularly a kind of commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform.
Background technology
Along with the reach of science and development of technology, high-speed cutting is developed rapidly at the metal manufacture field of Aero-Space, automobile and machine building industries such as motorcycle, mould, thoroughly changed the situation of metal cutting to a certain extent, the efficient and the Surface Machining precision of metal cutting have been improved greatly, realized under many circumstances with mill generation mill, with car for mill, as the hard milling of mould, hard turning as final finishing step etc.Realize high-speed cutting, except the high-speed main spindle system of lathe, high speed cutting tool system, the high-speed, high precisionization of machine tool feed system is another essential condition.Adopting the high-speed LEM technology is to realize a main path of machine tool feed plateform system high speed.
Linear electric motors are a kind ofly electric energy to be directly changed into rectilinear motion mechanical energy and need be by the novel linear drive unit of any intermediate conversion mechanism (as chain, tooth bar or leading screw etc.), compare with the non-rectilinear motor, it has advantages such as simple in structure, that noise is low, speed is fast, precision is high, combination is flexible, because it has saved the intermediate conversion device, simplified whole device, guarantee the reliability service of system, improved transmission efficiency, reduced manufacturing cost.It is the new technology with new principle, new theory that occurs in the second half in 20th century electrical field, will be as microelectric technique and computer technology, have broad application prospects in the mankind's every field.
In modern manufacturing industry, ultra-high speed and ultraprecise processing is to develop advanced manufacturing technology very rapidly in developed country over nearly 10 years, obtain the product of superhigh precision, and the location and the drive system of superhigh precision must be arranged.The highest feed speed of platform that the type of belt drive of traditional " electric rotating machine+ball-screw " can reach is 30m/min, and acceleration is 3m/s only
2, the therefore requirement of incompatibility modern manufacturing industry.The advantage that linear electric motors directly drive feeding platform and had then exactly can remedy the deficiency of traditional kind of drive, its speed is 30 times of ball wire bar pair, acceleration is 10 times of ball wire bar pair, maximum can reach 10g, rigidity has improved 7 times, positioning accuracy and repetitive positioning accuracy can reach micron order, even nanoscale.The feeding platform that the performance of all these advantages must be based upon the linear electric motors driving has on the good supporting technology basis.
At present, in the prior art linear electric motors are driven the supporting technology of feeding platform both at home and abroad, the lathe linear electric motors feeding platform of commercial Application all adopts traditional mechanical support technology, as rolling guide and V-V type rail plate, hydrostatic slideway and pneumato-static slideway etc.Preceding two kinds of guide rails owing to impact and at a high speed, easily produce and creep and wear and tear in high acceleration and high-speed motion process.The back belongs to contactless guide rail for two kinds, and wherein the hydraulic means of hydrostatic slideway is big, auxiliary equipment is many, the maintenance of oil circuit trouble, and greasy dirt dyes seriously; Pneumato-static slideway requires the dustproof condition of super clean use, so processing difficulties.Along with the development of magnetic suspension bearing technology, be expected to resemble the magnetic suspension train magnetic suspended guide is applied in the lathe linear electric motors feeding platform and go.Yet, than magnetic suspension train cathetus motor-driven vehicle body more difficult be that the lathe linear electric motors feeding platform of magnetic suspended guide supporting also requires hi-Fix except requiring high-speed driving.It is investigated newly, also do not adopt the report of the lathe linear electric motors driving feeding platform commercial Application embodiment of magnetic suspended guide supporting at present both at home and abroad.
Summary of the invention
The object of the present invention is to provide a kind of commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform, realize the high-speed, high precisionization of machine tool feed system.
For achieving the above object, the present invention adopts following technical proposals:
A kind of commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform, comprise the guide rail that is fixedly attached on the support, be sleeved on mobile platform and linear electric motors on the guide rail, it is characterized in that linear electric motors are positioned on the center line of guide rail, and the guide rail top and bottom of its both sides are provided with the carrying electromagnet, the two sides of guide rail are provided with guiding electromagnet, the carrying electromagnet is fixedlyed connected with mobile platform with guiding electromagnet, their middle parts all are provided with displacement transducer, and connect a mobile platform position control system.
The structure of above-mentioned mobile platform position control system is: the signal of telecommunication output of displacement transducer connects the input of a controller, and the output of controller connects carrying electromagnet and guiding electromagnet through power amplifier.
The controller of above-mentioned mobile platform position control system has 6 paths, and the circuit of every paths is made up of two TL071 cake cores, a TL072 cake core, three TL074 cake cores, four adjustable resistances, 22 resistance and four electric capacity.
Between the carrying electromagnet of above-mentioned commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform and guiding electromagnet and the mobile platform adjustable plate is arranged, the electric wire of carrying electromagnet and guiding electromagnet and linear electric motors is connected to the socket that is fixed on the support by cable-pulling chain.
The present invention compared with prior art, have following conspicuous outstanding feature and remarkable advantage: adopt carrying electromagnet and guiding electromagnet that mobile platform is suspended on the guide rail among the present invention, and be provided with the mobile platform position control system, thereby platform feed speed and precision have been improved greatly, prolonged service life, and have the support stiffness Adjustable Damping, do not have friction, need not to lubricate, advantage such as non-environmental-pollution.
Description of drawings
Fig. 1 is the general structure schematic diagram of one embodiment of the invention.
Fig. 2 is Fig. 1 example electromagnet and guide rail structure control principle figure.
Fig. 3 is the mobile platform position control system block diagram in Fig. 1 example.
Fig. 4 is every paths circuit diagram of mobile platform position control system middle controller among Fig. 3.
Fig. 5 is the frame for movement schematic diagram of Fig. 1 example.
Fig. 6 is the vertical view of Fig. 5.
Fig. 7 is the left view of Fig. 5.
The specific embodiment
A preferred embodiment of the present invention is: referring to Fig. 1, Fig. 5, Fig. 6 and Fig. 7, this commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform includes the guide rail 5 that is fixedly attached on the support 7, be sleeved on mobile platform 4 and linear electric motors 3 on the guide rail 5, linear electric motors 3 are positioned on the center line of guide rail 5, and guide rail 5 top and bottom of its both sides are provided with carrying electromagnet 2, the two sides of guide rail 5 are provided with guiding electromagnet 6, carrying electromagnet 2 is fixedlyed connected with mobile platform 4 with guiding electromagnet 6, their middle parts all are provided with displacement transducer 1, and connect a mobile platform position control system.Between carrying electromagnet 2 and guiding electromagnet 6 and the mobile platform 4 adjustable plate 10 is arranged, the electric wire of carrying electromagnet 2 and guiding electromagnet 6 and linear electric motors 3 is connected to the socket 12 that is fixed on the support 7 by cable-pulling chain 11.
Fig. 2 is the electromagnet and the guide rail structure control principle figure of present embodiment.Perturbed force f outside one
xDo the time spent, produce relative displacement x between guide rail and electromagnet, changed the original distance c between guide rail and upper and lower electromagnet
0, the distance between guide rail and last electromagnet I becomes c
0+ x, and the distance between lower electromagnet II becomes c
0-x, because square being inversely proportional to of the suction of electromagnet and this clearance distance, along with the increase of x, the suction F of last electromagnet I
1Reduce the suction F of lower electromagnet II rapidly
2Increase sharply, guide rail can be met lower electromagnet II very soon.Therefore, out-of-control guide rail and electromagnet system are born unsettled systems.In order to make guide rail perturbed force f outside
xElectromagnet II is not met in effect down, must implement ACTIVE CONTROL to this system.Adopt the relative distance (promptly exporting displacement) between a non-contact sensor probe detection guide rail and electromagnet, this distance is converted to voltage signal by the sensing fore-lying device, this signal and set-point U
rCompare back input controller, controller sends one and adjusts control current signal i
c, the electric current that makes electromagnet I behind power amplifier is at original bias current I
0The basis on increase to I
0+ i
c, the electric current of lower electromagnet II is at original bias current I
0The basis on be reduced to I
0-i
c, because square being directly proportional of the suction of electromagnet and this electric current, like this, the suction F of last electromagnet I
1Increase sharply the suction F of lower electromagnet II
2Reduce rapidly, make relative displacement x between guide rail and electromagnet be reduced to and be approximately zero, system reaches new balance.
Referring to Fig. 5, Fig. 6 and Fig. 7, the architectural feature and the operation principle of present embodiment are: feeding platform 4 adopts 4 pairs of carrying electromagnet 2 and control system thereof contactlessly to be bearing on the guide rail 5 in vertical direction, fixing the vertically opposite distance that 4 sensor probes 1 are surveyed between electromagnet and guide rail on electromagnet or the lower electromagnet on 4, adopting 2 pairs of guiding electromagnets 6 and control system thereof contactlessly to be bearing on the guide rail 5 in horizontal cross leads, on 2 left electromagnet or right electromagnet, fix the horizontal relative distance of 5 on 2 sensor probes, 1 detection electromagnet 6 and guide rail, on level vertically adopts 1 pair, following linear electric motors 3 symmetries are contactlessly utilized the linear thrust that produces between the secondary and electric motor primary of guide rail to carry out feeding and are driven, guide rail 5 is bearing on the pedestal 7,8 carrying electromagnet 2 and 4 guiding electromagnets 6 are fixed on the upper plate of feeding platform 4 respectively by 12 adjustable plates 10, lower plate and 2 left sides, on the right plate, adjustable plate 10 can be used to finely tune electromagnet 2,6 and the gap of 5 on guide rail, 2 linear electric motors 3 are separately fixed on the upper plate and lower plate of feeding platform 4, on, lower plate respectively with a left side, right plate is fixed into a rectangular frame platform 4, and with 2 left sides, right floor increases the rigidity of rectangular frame platform 4, electromagnet 2,6 leadedly link to each other with 2 aviation sockets 12 that are fixed on support 7 outsides by 2 cable-pulling chains 11 in the outside, the lead-in wire of sensor probe 1 also links to each other with corresponding sensing fore-lying device by 2 cable-pulling chains 11 in the outside, on, the lead-in wire of following linear electric motors links to each other with 2 aviation sockets 12 that are fixed on support 7 inboards by inboard 2 cable-pulling chains 11.Aviation socket 12 is connected with the linear electric motors control system with magnetic suspension mobile platform position control system again.
Referring to Fig. 3, the structure of above-mentioned mobile platform position control system is: the signal of telecommunication output of displacement transducer 1 connects the input of controller 9, and the output of controller 9 connects carrying electromagnet 2 and guiding electromagnet 6 through power amplifier 8.
Referring to Fig. 4, the circuit of above-mentioned controller 9 every passages is by two TL071 cake core IC1, IC6, TL072 cake core IC3, three TL074 cake core IC2, IC4, IC5, four adjustable resistance R
s, P
p, R
l, R
d, 22 resistance R and four capacitor C
1, C
2, C
i, C
dForm.In the circuit of this controller, adopt linear Integrated operational amplifier composition integral differential controlling unit, be called for short the PID controlling unit, by regulating adjustable resistance R
s, R
p, R
i, R
dResistance, dynamic performance and the stability that can regulate guide track system.
The operation principle of whole magnetic suspended guide position control system is: by the dynamic performance of the electromechanical Coupled Dynamics theory analysis system of active magnetic suspension support rails-plateform system, the optimization control parameter (R that obtains
s, R
p, R
i, R
dResistance) initiatively input to controller 9, system provides the relative reference zero-bit set-point of guide rail 5 and platform 4 when work, vertical suspension direction and horizontally-guided direction all have sensor probe 1 to measure the relative displacement signal of guide rail 5 and platform 4.When the external applied load generation interference variations on a certain direction, act on guide rail 5 and electromagnet 2,6 power is with disequilibrium, thereby make guide rail 5 and electromagnet 2,6 relative these direction generation relative displacements, sensor 1 feeds back to controller 9 with this relative displacement signal, 9 pairs of these signals of controller compare processing, according to guide rail 5 and electromagnet 2, the variation of 6 relative displacements, send one and adjust signal, behind power amplifier 8, export electromagnet 2 to, 6 coils, thereby the electric parameter in the change coil, make the electromagnet pull that produces on all directions that guide rail 5 and platform 4 are returned to the relative reference zero-bit again, guide rail 5 and platform 4 are issued to new balance in new system force effect.The operating frequency because the optimization control parameter that has adopted the electromechanical Coupled Dynamics theory analysis by active magnetic suspension support rails-plateform system to obtain, guide rail-plateform system can arrive safe and sound can obtain high positioning accuracy.Like this, magnetic suspended guide 5 just can steadily contactlessly support feeding platform 4, and linear electric motors 3 and control system thereof can drive the operation of feeding platform 4 high-speed, high precision ground, has realized the high-speed, high precisionization of machine tool feed plateform system.
For example, for the magnetic suspension machine tool guideway linear electric motors feeding platform of concrete development, by finding the solution the electromechanical Coupled Dynamics vibration equation of active magnetic suspension support rails-plateform system:
MQ″+CQ′+KQ＝0
Can calculate the best ACTIVE CONTROL parameter of a group shown in the table 1, table 2 is best power source performance under this group control parameter.
One group of optimization control parameter of table 1
| Passage | R s(kΩ) | R p(kΩ) | R i(kΩ) | R d(kΩ) |
| 1 | 6.79 | 0.750 | 3.94 | 4.72 |
| 2 | 4.34 | 0.692 | 1.73 | 5.18 |
| 3 | 3.80 | 0.690 | 3.87 | 4.37 |
| 4 | 6.56 | 0.950 | 4.79 | 3.13 |
| 5 | 3.60 | 0.780 | 6.12 | 6.18 |
| 6 | 3.65 | 0.760 | 6.32 | 6.18 |
The dynamic performance of table 2 correspondence table 1 control parameter
| No threshold vibration frequency | |
| Unstability frequency (Hz) | 1400 |
As can be seen from Table 2, system is under optimization control parameter control, and there is not threshold vibration in the linear electric motors feeding platform, and operating ratio is more steady in the course of the work, can not cause machining accuracy to descend its dynamic performance the best because of resonance.Because the optimization control parameter that has adopted the electromechanical Coupled Dynamics theory analysis by active magnetic suspension support rails-plateform system to obtain, the feeding platform system can trouble free service in the stabilized frequency scope, can obtain high positioning accuracy.Like this, magnetic suspended guide just can steadily contactlessly support feeding platform, and linear electric motors and control system thereof can drive the operation of feeding platform high-speed, high precision ground, has realized the high-speed, high precisionization of machine tool feed system.
Claims (4)
1. commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform, include the guide rail (5) that is fixedly attached on the support (7), be sleeved on mobile platform (4) and linear electric motors (3) on the guide rail (5), it is characterized in that linear electric motors (3) are positioned on the center line of guide rail (5), and the guide rail of its both sides (5) top and bottom are provided with carrying electromagnet (2), the two sides of guide rail (5) are provided with guiding electromagnet (6), carrying electromagnet (2) is fixedlyed connected with mobile platform (4) with guiding electromagnet (6), their middle parts all are provided with displacement transducer (1), and connect a mobile platform position control system.
2. commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform according to claim 1, the structure that it is characterized in that the mobile platform position control system is: the signal of telecommunication output of displacement transducer (1) connects the input of controller (9), and the output of controller (9) connects carrying electromagnet (2) and guiding electromagnet (6) through power amplifier (8).
3. commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform according to claim 2, the controller (9) that it is characterized in that position control system has 6 paths, and the circuit of every paths is by two TL071 cake cores (IC1, IC6), a TL072 cake core (IC3), three TL074 cake cores (IC2, IC4, IC5), four adjustable resistance (R
s, R
p, R
i, R
d), 22 resistance (R) and four electric capacity (C
1, C
2, C
i, C
d) form.
4. commercial Application type active magnetic suspension machine tool guideway linear electric motors feeding platform according to claim 1, it is characterized in that carrying between electromagnet (2) and guiding electromagnet (6) and the mobile platform (4) adjustable plate (10) is arranged, the electric wire of carrying electromagnet (2) and guiding electromagnet (6) and linear electric motors (3) is connected to the socket (12) that is fixed on the support (7) by cable-pulling chain (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310107944 CN1244432C (en) | 2003-10-16 | 2003-10-16 | Industrial-application type active magnetic suspension machine tool guide linear motor feeding platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310107944 CN1244432C (en) | 2003-10-16 | 2003-10-16 | Industrial-application type active magnetic suspension machine tool guide linear motor feeding platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1528559A CN1528559A (en) | 2004-09-15 |
| CN1244432C true CN1244432C (en) | 2006-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310107944 Expired - Fee Related CN1244432C (en) | 2003-10-16 | 2003-10-16 | Industrial-application type active magnetic suspension machine tool guide linear motor feeding platform |
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Families Citing this family (15)
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| CN101753067B (en) * | 2010-01-11 | 2011-09-21 | 南通大学 | Magnetic field decoupling structure for direct-driven type magnetic suspension linear feed unit |
| CN101976989B (en) * | 2010-10-08 | 2012-12-19 | 中南大学 | Active magnetic bearing cylindrical linear motor |
| CN103286614A (en) * | 2012-02-27 | 2013-09-11 | 沈阳工业大学 | Contactless guide device |
| CN103286615A (en) * | 2012-02-27 | 2013-09-11 | 沈阳工业大学 | Contactless guide method |
| CN103057284B (en) * | 2013-01-15 | 2015-12-09 | 深圳德康威尔科技有限公司 | A kind of for driving the drive unit of printhead |
| CN103909427B (en) * | 2014-04-17 | 2016-05-04 | 电子科技大学 | A kind of composite excitation magnetic suspension feeding platform |
| CN104889951A (en) * | 2015-06-08 | 2015-09-09 | 广东工业大学 | Dynamic characteristic adjustable macro-micro integrated composite platform |
| CN105522400B (en) * | 2016-01-22 | 2019-05-21 | 江苏赐福科技有限公司 | A kind of permanent magnet suspension Miniature machine tool guide rail |
| CN105563140A (en) * | 2016-01-22 | 2016-05-11 | 缪雪峰 | Control system for permanent magnet suspension guide rails of micro-machine tool |
| CN105540533A (en) * | 2016-01-22 | 2016-05-04 | 缪雪峰 | Permanent magnet force regulator |
| CN106180523B (en) * | 2016-07-10 | 2018-05-01 | 上海大学 | Cold headers magnetic suspension clamp transfer device |
| CN108032096B (en) * | 2017-12-20 | 2019-12-27 | 舒能数控机床有限公司 | Numerical control machine tool workbench with higher stability |
| CN109268421A (en) * | 2018-11-20 | 2019-01-25 | 常州工学院 | A kind of magnetic damping control method applied in active magnetic system |
| CN111123834B (en) * | 2019-12-26 | 2021-07-13 | 西安交通大学 | Method for evaluating electromechanical coupling strength of linear motor feeding system |
| CN115340043B (en) * | 2022-08-10 | 2023-08-15 | 汉维科技发展有限公司 | Quick installation positioning adjustment device of electromechanical device |
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2003
- 2003-10-16 CN CN 200310107944 patent/CN1244432C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1528559A (en) | 2004-09-15 |
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