阅读说明：本技术 一种新型混合驱动三轴快速刀具伺服装置 (Novel hybrid drive triaxial quick cutter servo device ) 是由 朱志伟 朱紫辉 陈栎 黄鹏 于 2020-04-28 设计创作，主要内容包括：本发明公开了一种新型混合驱动三轴快速刀具伺服装置,包括安装基体以及位于所述安装基体内的压电叠堆驱动部分和麦克斯韦电磁力驱动部分,所述压电叠堆驱动部分的端部安装有刀架,所述压电叠堆驱动部分能够驱动刀架实现前后运动,所述麦克斯韦电磁力驱动部分能够驱动刀架实现上下和左右运动。本发明以麦克斯韦电磁力驱动实现XY平面运动,具有力密度高、行程大的优点,以压电驱动串联于XY平面运动实现Z向垂直运动,具有体积小、高频响、亚纳米运动分辨率等优点；本发明三轴FTS切削装置,具有体积小、结构设计合理、紧凑、平面运动行程相对较大、频宽相对较宽、运动精确等优点。(The invention discloses a novel hybrid drive three-axis quick cutter servo device which comprises a mounting base body, a piezoelectric stack driving part and a maxwell electromagnetic force driving part, wherein the piezoelectric stack driving part and the maxwell electromagnetic force driving part are positioned in the mounting base body, a cutter rest is installed at the end part of the piezoelectric stack driving part, the piezoelectric stack driving part can drive the cutter rest to move back and forth, and the maxwell electromagnetic force driving part can drive the cutter rest to move up and down and left and right. The invention realizes XY plane motion by Maxwell electromagnetic force drive, has the advantages of high force density and large stroke, realizes Z-direction vertical motion by connecting piezoelectric drive in series with XY plane motion, and has the advantages of small volume, high frequency response, sub-nanometer motion resolution and the like; the three-axis FTS cutting device has the advantages of small volume, reasonable and compact structural design, relatively large planar motion stroke, relatively wide bandwidth, accurate motion and the like.)

1. The utility model provides a novel quick cutter servo of hybrid drive triaxial which characterized in that, includes the installation base body and is located piezoelectric stack drive division and maxwell electromagnetic force drive division in the installation base body, the knife rest is installed to piezoelectric stack drive division's tip, piezoelectric stack drive division can drive the knife rest and realize the seesaw, maxwell electromagnetic force drive division can drive the knife rest and realize up-and-down and side-to-side movement.

2. The novel hybrid-drive three-axis fast tool servo device as claimed in claim 1, wherein the piezoelectric stack driving part comprises a central frame (12), a piezoelectric stack (14), a front flexible guide mechanism (6) and a rear flexible guide mechanism (13), the central frame (12) is provided with an axial through hole, the piezoelectric stack (14) passes through the through hole of the central frame (12), the front flexible guide mechanism (6) is connected to the front end of the piezoelectric stack (14), the rear flexible guide mechanism (13) is connected to the rear end of the piezoelectric stack (14), and the tool rest is mounted at the end of the front flexible guide mechanism (6).

3. The new hybrid-driven three-axis fast tool servo device as claimed in claim 2, wherein the front flexible guide mechanism (6) and the rear flexible guide mechanism (13) comprise four sets of straight circular flexible hinges (601) arranged in a cross-symmetrical manner, respectively.

4. The new hybrid driven three-axis fast tool servo device as claimed in claim 2 or 3, wherein the maxwell electromagnetic force driving part comprises four electromagnetic force driving units and a planar flexible guiding mechanism (7), the planar flexible guiding mechanism (7) is located outside the central frame (12), the four electromagnetic force driving units are located around the central frame (12), each electromagnetic force driving unit comprises two sets of coils (8), two U-shaped stators (9), one permanent magnet (10) and two armatures (11), the two armatures (11) are connected with the central frame (12), one set of coils (8) is wound in the middle of each U-shaped stator (9), and the permanent magnet (10) is located between the two armatures (11) and between the two sets of coils (8).

5. Novel hybrid drive triaxial fast tool servo device according to claim 4, wherein two armatures (11) are located between two U-shaped stators (9), each armature (11) having a distance d from the U-shaped stators (9) on both sides₀。

6. Novel hybrid-drive three-axis fast tool servo device according to claim 4, characterized in that the planar flexible guide mechanism (7) comprises eight arc-shaped flexible hinges (701) symmetrical two by two, forming a two-degree-of-freedom closed system.

7. Novel hybrid drive three-axis fast tool servo according to claim 4, characterized in that the front flexible guide (6) and the rear flexible guide (13) are of the same stiffness.

8. The novel hybrid-drive three-axis fast tool servo device as claimed in claim 4, wherein the mounting base body comprises a front frame (3), a rear base (5), a left side plate (4) and a right side plate (2), and a central through hole corresponding to the tool rest is formed in the front frame (3).

9. The novel hybrid-drive three-axis fast tool servo device as claimed in claim 8, wherein the front frame (3), the left side plate (4) and the rear base (5) are respectively provided with a front frame hole (3-1), a left side plate hole (4-1) and a rear base hole (5-1) for mounting the first displacement sensor (101), the second displacement sensor (102) and the third displacement sensor (103).

Technical Field

The invention belongs to the technical field of ultra-precision cutting, and particularly relates to a novel hybrid drive three-axis quick cutter servo device.

Background

The diamond turning method based on the fast tool servo (hereinafter abbreviated as FTS) technology is considered as a manufacturing method with great development prospect for complex optical curved surfaces. At present, the conventional fast knife servo system is generally driven by a single shaft, and the driving principles used in the system are piezoelectric stack driving, lorentz electromagnetic force driving and maxwell electromagnetic force driving. In recent years, with the increase of the complexity of an optical curved surface, the multi-axis tool servo technology gradually receives the attention of scholars at home and abroad, and a series of self-adaptive cutting methods are developed to improve the manufacturing capability of FTS turning on the complex curved surface.

For biaxial and triaxial drives, piezoelectric stacks are typically used as drivers, with complex flexible hinge mechanisms to effect spatial movement of the tool. Although piezoelectric drives have high force densities and fast response speeds, they are limited by the strain capability of piezoelectric materials, typically with small strokes, and are suitable for achieving small strokes of several microns to tens of microns and hundreds of hertz to thousands of hertz, high frequency motions. To increase the piezoelectric stroke, a multi-stage amplification mechanism based on a flexible hinge is used to achieve amplification of displacement, but the amplification mechanism increases the moving mass resulting in a decrease in the output stiffness at the operating frequency. Lorentz electromagnetic force drive has been used for two-axis FTS, allowing stroke of hundreds to several millimeters. However, the force density is low, the mass of the mover is large, and the working frequency which can be achieved under a large stroke is generally only tens of hertz.

Disclosure of Invention

The invention aims to provide a novel hybrid-drive three-axis quick cutter servo device with precise positioning motion and large stroke motion.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a novel quick cutter servo of hybrid drive triaxial device, includes the installation base member and is located piezoelectric stack drive division and maxwell electromagnetic force drive division in the installation base member, the knife rest is installed to piezoelectric stack drive division's tip, piezoelectric stack drive division can drive the knife rest and realize the seesaw, maxwell electromagnetic force drive division can drive the knife rest and realize up-and-down and side-to-side movement.

Further, the piezoelectric stack driving part comprises a central frame, a piezoelectric stack, a front flexible guide mechanism and a rear flexible guide mechanism, the central frame is provided with an axial through hole, the piezoelectric stack penetrates through the through hole of the central frame, the front end of the piezoelectric stack is connected with the front flexible guide mechanism, the rear end of the piezoelectric stack is connected with the rear flexible guide mechanism, and the end part of the front flexible guide mechanism is provided with the tool rest.

Furthermore, the front flexible guide mechanism and the rear flexible guide mechanism respectively comprise four straight round flexible hinges which are symmetrically arranged in a cross shape.

Furthermore, maxwell electromagnetic force drive part includes four electromagnetic force drive units and flexible guiding mechanism of plane, the flexible guiding mechanism of plane is located the outside of central frame, and four electromagnetic force drive units are located central frame is all around, and every electromagnetic force drive unit includes two sets of coils, two U type stators, a permanent magnet and two armatures, two armatures are connected with central frame, and the centre of every U type stator is around having a set of coil, the permanent magnet is located between two armatures and between two sets of coils.

Further, two armatures are positioned between the two U-shaped stators, and a distance d is formed between each armature and the U-shaped stators on the two sides₀。

Furthermore, the plane flexible guide mechanism comprises eight arc-shaped flexible hinges which are symmetrical pairwise to form a two-degree-of-freedom closed system.

Further, the rigidity of the front flexible guide mechanism and the rigidity of the rear flexible guide mechanism are the same.

Further, the installation base body comprises a front frame, a rear base, a left side plate and a right side plate, and a central through hole corresponding to the tool rest is formed in the front frame.

Furthermore, holes for mounting the first displacement sensor, the second displacement sensor and the third displacement sensor are respectively arranged on the front frame, the left side plate and the rear base.

Compared with the prior art, the invention has the remarkable advantages that:

the invention realizes XY plane motion by Maxwell electromagnetic force drive, has the advantages of high force density and large stroke, realizes Z-direction vertical motion by connecting piezoelectric drive in series with XY plane motion, and has the advantages of small volume, high frequency response, sub-nanometer motion resolution and the like; the three-axis FTS cutting device has the advantages of small volume, reasonable and compact structural design, relatively large planar motion stroke, relatively wide bandwidth, accurate motion and the like.

Drawings

Fig. 1 is an overall assembly view of the novel hybrid drive three-axis fast tool servo of the present invention.

Fig. 2 is an assembly view of the novel hybrid drive three axis fast tool servo of the present invention with the mounting base portion removed.

Fig. 3 is a schematic structural diagram of a driving part of the piezoelectric stack.

Fig. 4 is a schematic view of a center frame structure.

Figure 5 is a schematic diagram of the connections of the piezoelectric stack, the front flexible guide mechanism and the rear flexible guide mechanism.

Fig. 6 is a schematic structural view of the front flexible guide mechanism.

Fig. 7 is a schematic structural view of the rear flexible guide mechanism.

Fig. 8 is a schematic structural diagram of a maxwell electromagnetic driving part.

Fig. 9 is a schematic structural view of a planar flexible guide mechanism.

Fig. 10 is a schematic view of the front frame structure.

Fig. 11 is a schematic view of the rear base structure.

FIG. 12 is a schematic view of a left side panel structure.

Fig. 13 is a schematic diagram of a right side plate structure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following describes the implementation of the present invention in detail with reference to specific embodiments.

With reference to fig. 1-2, a novel hybrid drive three-axis fast tool servo device comprises an installation base body, a piezoelectric stack driving part and a maxwell electromagnetic force driving part, wherein the piezoelectric stack driving part and the maxwell electromagnetic force driving part are located in the installation base body, a tool rest is installed at the end part of the piezoelectric stack driving part, the piezoelectric stack driving part can drive the tool rest to move front and back, and the maxwell electromagnetic force driving part can drive the tool rest to move up and down and left and right.

Preferably, with reference to fig. 3-5, the piezoelectric stack driving part includes a central frame 12, a piezoelectric stack 14, a Z-forward flexible guide mechanism 6, and a Z-backward flexible guide mechanism 13, the central frame 12 has an axial through hole, the piezoelectric stack 14 is disposed through the through hole of the central frame 12, the front flexible guide mechanism 6 is connected to the front end of the piezoelectric stack 14, the back flexible guide mechanism 13 is connected to the back end of the piezoelectric stack 14, and the tool rest is mounted at the end of the front flexible guide mechanism 6. When voltage is applied to the piezoelectric stack 14, inverse piezoelectric effect occurs, so that axial force Fz is generated at the front and rear output ends of the piezoelectric stack 14, the tool rest in the Z-direction front flexible guide mechanism 6 is further pushed to move forwards and backwards, the displacement of the central block of the Z-direction rear flexible guide mechanism 13 is measured through the capacitance displacement sensor, and the displacement of the tool rest can be obtained by measuring the displacement of the central block of the Z-direction rear flexible guide mechanism 13 because the rigidity of the Z-direction front flexible guide mechanism 6 is the same as that of the Z-direction rear flexible guide mechanism 13 and the force of the front and rear ends is the same.

Preferably, in conjunction with fig. 6-7, the front flexible guide mechanism 6 and the rear flexible guide mechanism 13 respectively comprise four sets of right circular flexible hinges 601 arranged in a cross symmetry to form a single degree of freedom closed system, and when the piezoelectric stack 14 generates a driving force, the flexible hinges are deformed, and the lateral crosstalk is restrained due to the symmetry of the structure.

Preferably, in conjunction with fig. 8, the maxwell electromagnetic force driving part, which is intended to drive the entire piezoelectric driving part, thereby driving the tool post to perform xy-plane motion, includes four electromagnetic force driving units and an xy-plane flexible guiding mechanism 7, the planar flexible guiding mechanism 7 is located outside a central frame 12, the four electromagnetic force driving units are located around the central frame 12, each electromagnetic force driving unit includes two sets of coils 8, two U-shaped stators 9, one permanent magnet 10, and two armatures 11, and the two electromagnetic force driving units include two sets of coils 8, two U-shaped stators 9, one permanent magnet 10, and twoTwo armatures 11 are connected with a central frame 12, a group of coils 8 are wound in the middle of each U-shaped stator 9, and the permanent magnets 10 are positioned between the two armatures 11 and between the two groups of coils 8. The principle of Maxwell electromagnetic force generation is as follows: the magnetic field generated by the permanent magnet 10 flows to the left and right sides through the armature 11 to generate a DC magnetic field B₁And B₂When current is applied to the coil 8, an alternating magnetic field is generatedThe magnetic fields on the left and right sides of the armature 11 are respectivelyAndthe difference between the magnetic fields generated at the two sides of the armature 11 will make the armature 11 generate maxwell electromagnetic force F, and the middle permanent magnet 10 has linear maxwell electromagnetic force, so that the magnitude of the driving force is proportional to the magnitude of the current.

Preferably, two armatures 11 are positioned between the two U-shaped stators 9, and each armature 11 has a distance d with the U-shaped stators 9 on both sides₀(typically a few tenths of a millimeter) stator 9 is screwed around Z-back flexible guide 13.

Preferably, the Z-forward flexible guide mechanism 6 and the Z-backward flexible guide mechanism 13 are connected with the rigid center frame 12 and the armature 11 into a whole through screws.

Preferably, referring to fig. 9, the planar flexible guiding mechanism 7 includes eight arc-shaped flexible hinges 701 that are symmetric in pairs, forming a two-degree-of-freedom closed system, and the flexible hinges deform when there is driving force in the x and y directions.

Preferably, with reference to fig. 1, the mounting base includes a front frame 3, a rear base 5, a left side plate 4 and a right side plate 2, the front frame 3 is provided with a central through hole corresponding to the tool rest, the rear base 5 and the front frame 3 are used for fixing the piezoelectric stack driving part and the maxwell electromagnetic force driving part, and the left side plate 4 and the right side plate 2 are used for being fixedly connected with a machine tool or a test bed.

Preferably, with reference to fig. 10-13, the front frame 3, the left side plate 4 and the rear base 5 are respectively provided with a front frame hole 3-1, a left side plate hole 4-1 and a rear base hole 5-1 for mounting the first displacement sensor 101, the second displacement sensor 102 and the third displacement sensor 103.

The novel hybrid-driven three-axis quick cutter servo device has the advantages of high force density and large stroke due to Maxwell electromagnetic force driving, high frequency response and sub-nanometer motion resolution due to piezoelectric stack driving and the like, and further realizes the efficient cutting capability of an FTS (fiber to the home) system, wherein the piezoelectric stack 14 is driven to realize precise positioning motion, and the Maxwell electromagnetic force is driven to have large stroke motion.

The working mode of the device of the invention is as follows:

when the upper coil 8 and the lower coil 8 are energized by current, the generated Maxwell electromagnetic force drives the tool post to move left and right, when the left coil 8 and the right coil 8 are energized by current, the generated Maxwell electromagnetic force drives the tool post to move up and down, and when the piezoelectric stack voltage is energized, the piezoelectric drives the tool post to move back and forth in a Z direction.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.