CN106909177A - High speed and precision axis system based on piezoelectric actuator on-line monitoring and control spindle bearing system pretightning force and pretension displacement - Google Patents
High speed and precision axis system based on piezoelectric actuator on-line monitoring and control spindle bearing system pretightning force and pretension displacement Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D15/00—Control of mechanical force or stress; Control of mechanical pressure
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2229/00—Setting preload
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
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Abstract
本发明公开了一种基于压电作动器在线监测与控制主轴‑轴承系统预紧力和预紧位移的高速精密主轴系统，包括主轴壳体、前套筒组件、后套筒组件、压电作动器组件和主轴，所述前套筒组件固定安装在主轴壳体内，所述后套筒组件通过球笼导向轴承沿着主轴的轴线滑动地安装在主轴壳体内，主轴通过轴承同轴固定安装在前套筒组件和后套筒组件内，在主轴壳体上沿主轴圆周均布有多个与主轴相平行的用于对后套筒施加轴向载荷的压电作动器组件。本发明同时具有在线监测与控制主轴‑轴承系统预紧力和预紧位移的功能。本发明通过压可滑动后套筒结构设计，同时结合电作动器、力传感器和位移传感器实现了定位预紧和定压预紧两种模式。
The invention discloses a high-speed precision spindle system based on piezoelectric actuators for on-line monitoring and control of the pretightening force and pretightening displacement of the spindle-bearing system, including a spindle housing, a front sleeve assembly, a rear sleeve assembly, a piezoelectric The actuator assembly and the main shaft, the front sleeve assembly is fixedly installed in the main shaft housing, the rear sleeve assembly is slidably installed in the main shaft housing along the axis of the main shaft through the ball cage guide bearing, and the main shaft is coaxially fixed by the bearing Installed in the front sleeve assembly and the rear sleeve assembly, a plurality of piezoelectric actuator assemblies parallel to the main shaft and used to apply axial loads to the rear sleeve are evenly distributed along the circumference of the main shaft on the main shaft housing. The present invention simultaneously has the functions of on-line monitoring and controlling the pretightening force and pretightening displacement of the main shaft-bearing system. The invention realizes two modes of positioning preload and constant pressure preload through the structural design of the pressure-slidable rear sleeve and combining the electric actuator, force sensor and displacement sensor.
Description
技术领域technical field
本发明涉及高速精密主轴-轴承系统预紧力在线监测与控制领域，特别是涉及一种基于压电作动器在线监测与控制主轴-轴承系统预紧力和预紧位移的高速精密主轴系统。The invention relates to the field of on-line monitoring and control of the pretightening force of a high-speed precision spindle-bearing system, in particular to a high-speed precision spindle system based on piezoelectric actuators for on-line monitoring and control of the pretightening force and pretightening displacement of the spindle-bearing system.
背景技术Background technique
主轴是机床的核心功能部件，其性能直接影响到机床整机的性能。高速精密主轴轴承的预紧是影响主轴刚度、精度和可靠性的最主要因素。高速精密轴承对预紧力的变化极其敏感。因此在主轴加工过程中根据主轴的转速、温升、负载和初始装配等工况对主轴-轴承系统的预紧力和预紧位移进行在线监测与控制，从而实现主轴在包含低速高刚度和高速低温升整个转速范围内的动态、热态特性全局兼优。The main shaft is the core functional part of the machine tool, and its performance directly affects the performance of the machine tool. The preload of high-speed precision spindle bearings is the most important factor affecting the rigidity, precision and reliability of the spindle. High-speed precision bearings are extremely sensitive to changes in preload. Therefore, during the processing of the spindle, the preload and displacement of the spindle-bearing system are monitored and controlled online according to the spindle speed, temperature rise, load, and initial assembly conditions, so as to realize the spindle at low speed, high stiffness and high speed. The dynamic and thermal characteristics of the entire speed range at low temperature rise are both excellent overall.
传统的主轴-轴承系统的预紧技术多采用定位或者定压的预紧方式，预紧力的数值大多根据经验或者实验数据确定，这种恒定预紧力技术只能适用主轴的某一种工况。为此，国内外诸多学者对主轴轴承的预紧力可控技术开展了大量的研究。目前，已有的控制装置只是基于预紧力的闭环控制或者预紧位移的闭环控制。从动力学角度来说基于预紧位移的闭环控制更能提高主轴的加工性能，然而从热力学角度来说，基于预紧力的闭环控制更能发挥主轴的高速性能。因此，为了保证高速精密主轴的动态特性和热态特性全局兼优，开发具有在线监测与控制主轴-轴承系统预紧力和预紧位移功能的高速精密主轴显得尤为迫切。The preloading technology of the traditional spindle-bearing system mostly adopts the preloading method of positioning or constant pressure, and the value of the preloading force is mostly determined according to experience or experimental data. This constant preloading force technology can only be applied to a certain kind of work of the spindle. condition. For this reason, many scholars at home and abroad have carried out a lot of research on the controllable preload technology of spindle bearings. At present, the existing control devices are only based on the closed-loop control of the pre-tightening force or the closed-loop control of the pre-tightening displacement. From a dynamic point of view, the closed-loop control based on preload displacement can improve the processing performance of the spindle, but from a thermodynamic point of view, the closed-loop control based on preload force can better exert the high-speed performance of the spindle. Therefore, in order to ensure the global optimization of the dynamic and thermal characteristics of the high-speed precision spindle, it is particularly urgent to develop a high-speed precision spindle with the functions of on-line monitoring and control of the preload and displacement of the spindle-bearing system.
发明内容Contents of the invention
本发明所要解决的技术问题是，提供一种基于压电作动器在线监测与控制主轴-轴承系统预紧力和预紧位移的高速精密主轴系统，该高速精密主轴系统同时具有在线监测与控制主轴-轴承系统预紧力和预紧位移的功能。The technical problem to be solved by the present invention is to provide a high-speed precision spindle system based on piezoelectric actuators for on-line monitoring and control of the pre-tightening force and pre-tightening displacement of the spindle-bearing system. Function of the preload and preload displacement of the spindle-bearing system.
本发明为解决公知技术中存在的技术问题所采取的技术方案是：The technical scheme that the present invention takes for solving the technical problem existing in known technology is:
一种基于压电作动器在线监测与控制主轴-轴承系统预紧力和预紧位移的高速精密主轴系统，包括主轴壳体、前套筒组件、后套筒组件、压电作动器组件和主轴，A high-speed precision spindle system based on piezoelectric actuators for online monitoring and control of the preload and displacement of the spindle-bearing system, including the spindle housing, front sleeve assembly, rear sleeve assembly, and piezoelectric actuator assembly and spindle,
所述前套筒组件固定安装在主轴壳体内，所述后套筒组件通过球笼导向轴承沿着主轴的轴线滑动地安装在主轴壳体内，主轴通过轴承同轴固定安装在前套筒组件和后套筒组件内，The front sleeve assembly is fixedly installed in the main shaft housing, the rear sleeve assembly is slidably installed in the main shaft housing along the axis of the main shaft through the cage guide bearing, and the main shaft is coaxially fixed and installed in the front sleeve assembly and the main shaft through the bearing. Inside the rear sleeve assembly,
在主轴壳体上沿主轴圆周均布有多个与主轴相平行的用于对后套筒施加轴向载荷的压电作动器组件，所述压电作动器组件包括压电作动器、力传感器和预紧力调节螺栓，其中，压电作动器滑动设置在绕主轴轴线均布并平行于主轴轴线的光孔中，压电作动器的与后套筒的法兰盘相对的一端固定力传感器，压电作动器的另一端与嵌设在主轴壳体上的预紧力调节螺栓连接；On the main shaft housing, there are a plurality of piezoelectric actuator assemblies parallel to the main shaft along the circumference of the main shaft, which are used to apply axial loads to the rear sleeve, and the piezoelectric actuator assemblies include piezoelectric actuators , the force sensor and the pre-tightening force adjusting bolt, wherein the piezoelectric actuator is slidably arranged in the optical hole uniformly distributed around the axis of the main shaft and parallel to the axis of the main shaft, and the piezoelectric actuator is opposite to the flange of the rear sleeve One end of the piezoelectric actuator is fixed to the force sensor, and the other end of the piezoelectric actuator is connected to the preload adjusting bolt embedded in the main shaft housing;
在前套筒和后套筒的外筒壁上沿其圆周设置有冷却水道；Cooling channels are provided on the outer cylinder walls of the front and rear sleeves along their circumferences;
在前套筒和后套筒中均嵌入设置有温度传感器，用于检测轴承的工作温度；A temperature sensor is embedded in the front sleeve and the rear sleeve to detect the working temperature of the bearing;
在主轴壳体内设有用于监测转子转速的编码器；An encoder for monitoring the rotor speed is provided in the main shaft housing;
在后套筒上设置后套筒位移传感器，用于监测后套筒的轴向位移。A rear sleeve displacement sensor is arranged on the rear sleeve to monitor the axial displacement of the rear sleeve.
在上述技术方案，所述前套筒组件包括前套筒、定位端盖、前端盖，所述前套筒通过螺栓固定安装在主轴壳体内，所述定位端盖通过螺栓连接固定于前套筒的内端，所述前端盖通过螺栓连接固定在前套筒的外端，用于压紧轴承外圈；前套筒内设置有轴承Ⅰ和轴承Ⅱ以安装主轴，通过第一锁紧螺母将轴承Ⅰ和轴承Ⅱ轴向锁紧在主轴上。In the above technical solution, the front sleeve assembly includes a front sleeve, a positioning end cover, and a front end cover, the front sleeve is fixedly installed in the main shaft housing by bolts, and the positioning end cover is fixed on the front sleeve by bolts The inner end of the front end cover is fixed on the outer end of the front sleeve through bolt connection, which is used to compress the outer ring of the bearing; the front sleeve is provided with bearing I and bearing II to install the main shaft, and the first lock nut will Bearing I and bearing II are axially locked on the main shaft.
在上述技术方案中，前套筒内嵌入设置有轴承Ⅰ温度传感器和轴承Ⅱ温度传感器，所述轴承Ⅰ温度传感器的探头位于轴承Ⅰ附近，用于检测轴承Ⅰ的工作温度，所述轴承Ⅱ温度传感器的探头位于轴承Ⅱ附近，用于检测轴承Ⅱ的工作温度。In the above technical solution, a bearing I temperature sensor and a bearing II temperature sensor are embedded in the front sleeve, and the probe of the bearing I temperature sensor is located near the bearing I for detecting the working temperature of the bearing I, and the temperature sensor of the bearing II is The probe of the sensor is located near the bearing II and is used to detect the working temperature of the bearing II.
在上述技术方案中，在主轴壳体内还设置有主轴位移传感器，主轴位移传感器通过支架固定在主轴壳体内壁上，主轴位移传感器的探头对准主轴的阶梯面，过检测探头到主轴的阶梯面的距离变化，来监测主轴的轴向位移。In the above technical solution, a spindle displacement sensor is also arranged in the spindle housing, the spindle displacement sensor is fixed on the inner wall of the spindle housing through a bracket, the probe of the spindle displacement sensor is aligned with the stepped surface of the spindle, and the detection probe reaches the stepped surface of the spindle to monitor the axial displacement of the main shaft.
在上述技术方案中，所述后套筒组件包括后套筒、预紧端盖、后端盖，所述预紧端盖通过螺栓连接固定于后套筒的内端，所述后端盖通过螺栓连接固定在后套筒的外端，用于压紧轴承外圈；后套筒内设置有轴承Ⅲ和轴承Ⅳ以安装主轴，通过第二锁紧螺母将轴承Ⅲ和轴承Ⅳ轴向锁紧在主轴上。In the above technical solution, the rear sleeve assembly includes a rear sleeve, a pre-tightening end cap, and a rear end cap, and the pre-tightening end cap is fixed to the inner end of the rear sleeve through bolt connection, and the rear end cap is The bolts are fixed on the outer end of the rear sleeve to compress the outer ring of the bearing; the rear sleeve is equipped with bearing III and bearing IV to install the main shaft, and the bearing III and bearing IV are axially locked by the second lock nut on the spindle.
在上述技术方案中，后套筒内嵌入设置有轴承Ⅲ温度传感器和轴承Ⅳ温度传感器，所述轴承Ⅲ温度传感器的探头位于轴承Ⅲ附近，用于检测轴承Ⅲ的工作温度，所述轴承Ⅳ温度传感器的探头位于轴承Ⅳ附近，用于检测轴承Ⅳ的工作温度；所述后套筒的外端面为法兰盘结构，在后套筒外端面法兰盘上嵌入设置有后套筒位移传感器，后套筒位移传感器的探头贯穿法兰盘且正对着主轴壳体的与法兰盘相对的端面，通过测量探头与该端面的距离变化来监测后套筒的轴向位移。In the above technical solution, a bearing III temperature sensor and a bearing IV temperature sensor are embedded in the rear sleeve, and the probe of the bearing III temperature sensor is located near the bearing III to detect the working temperature of the bearing III. The probe of the sensor is located near the bearing IV and is used to detect the working temperature of the bearing IV; the outer end surface of the rear sleeve is a flange structure, and a rear sleeve displacement sensor is embedded on the flange plate on the outer end surface of the rear sleeve. The probe of the rear sleeve displacement sensor runs through the flange and faces the end face of the main shaft housing opposite to the flange, and monitors the axial displacement of the rear sleeve by measuring the distance between the probe and the end face.
在上述技术方案中，在后套筒外端面法兰盘上还设置有6个绕主轴轴线均布的紧定螺钉，所述紧定螺钉贯穿设置在后套筒外端面法兰盘上，紧定螺钉的顶端用于顶紧主轴壳体的与法兰盘相对的端面。In the above technical solution, 6 set screws evenly distributed around the axis of the main shaft are arranged on the flange plate on the outer end face of the rear sleeve. The top of the set screw is used to tighten the end face of the main shaft housing opposite to the flange.
在上述技术方案中，在主轴壳体的外壁上沿其圆周设置有一圈凹槽，所述预紧力调节螺栓的一端露出在凹槽中，以便调节预紧力调节螺栓的旋入量。In the above technical solution, a groove is provided on the outer wall of the main shaft housing along its circumference, and one end of the pre-tightening force adjusting bolt is exposed in the groove, so as to adjust the screw-in amount of the pre-tightening force adjusting bolt.
在上述技术方案中，所述数据采集与控制系统包括控制器、A/D转换器、D/A转换器，所述力传感器、主轴位移传感器、后套筒位移传感器分别通过A/D转换器连接至控制器，控制器依次通过D/A转换器、电压放大器连接各个压电作动器。In the above technical solution, the data collection and control system includes a controller, an A/D converter, and a D/A converter, and the force sensor, the spindle displacement sensor, and the rear sleeve displacement sensor are respectively It is connected to the controller, and the controller is connected to each piezoelectric actuator through a D/A converter and a voltage amplifier in turn.
本发明通过主轴位移传感器、后套筒位移传感器测得的预紧位移值和力传感器测得的预紧力值，并根据主轴的转速和轴承的温升分别控制三个压电作动器的电压，能够实现主轴-轴承系统预紧力和预紧位移的监测与控制，具体控制方法如下：The present invention uses the pre-tightening displacement value measured by the main shaft displacement sensor and the rear sleeve displacement sensor and the pre-tightening force value measured by the force sensor, and controls the three piezoelectric actuators respectively according to the rotating speed of the main shaft and the temperature rise of the bearing. Voltage can realize the monitoring and control of the preload force and preload displacement of the spindle-bearing system. The specific control method is as follows:
首先根据基于主轴转速和温升确定的既定转速和温升下的最佳预紧位移(即定位预紧)和预紧力(即定压预紧)数据库，分别对主轴低速和高速工况下进行最佳预紧位移的闭环控制和最佳预紧力的闭环控制：在低速工况下(主轴转速小于12000rpm)，通过主轴位移传感器或者后套筒位移传感器测得的预紧位移电压信号经过A/D转换器将预紧位移的模拟电压信号转化为预紧位移的数字电压信号，并将数字电压信号输入到控制器中并与设定的目标预紧位移值进行比较(主轴位移传感器的值理论上为后套筒位移传感器的一半，所述的对主轴的预紧位移值既可以是后套筒位移传感器测定的位移值，亦可以是主轴位移传感器测定的位移值，由使用者自己定义，本实施例中，将后套筒位移传感器测定的位移值定义为对主轴的预紧位移)，控制器的输出电压信号通过D/A转换器将数字电压信号转为模拟电压信号，由电压放大器分别输出到各个压电作动器，使其分别输出所对应的位移，从而实现了低速工况下的最佳预紧位移闭环控制；高速工况下(主轴转速大于12000rpm，小于24000rpm)，可以通过力传感器测得的预紧力电压信号经过A/D转换器将预紧力的模拟电压信号转化为预紧力的数字电压信号，将数字电压信号输入到控制器中并与设定的目标预紧力值进行比较，控制器的输出信号通过D/A转换器将数字电压信号转为模拟电压信号，由电压放大器分别输出到各个压电作动器，使其分别输出所对应的预紧力，从而实现了高速工况下的最佳预紧力的闭环控制。Firstly, according to the database of optimal preload displacement (positioning preload) and preload force (constant pressure preload) at a given speed and temperature rise determined based on the spindle speed and temperature rise, the low-speed and high-speed conditions of the spindle are analyzed respectively. Perform closed-loop control of optimal preload displacement and closed-loop control of optimal preload force: under low-speed conditions (spindle speed less than 12000rpm), the preload displacement voltage signal measured by the spindle displacement sensor or the rear sleeve displacement sensor passes through The A/D converter converts the analog voltage signal of the pre-tightening displacement into a digital voltage signal of the pre-tightening displacement, and inputs the digital voltage signal into the controller and compares it with the set target pre-tightening displacement value (the spindle displacement sensor’s The value is theoretically half of the displacement sensor of the rear sleeve. The preload displacement value of the spindle can be the displacement value measured by the displacement sensor of the rear sleeve or the displacement value measured by the displacement sensor of the spindle. Definition, in the present embodiment, the displacement value measured by the rear sleeve displacement sensor is defined as the pre-tightening displacement of the main shaft), the output voltage signal of the controller converts the digital voltage signal into an analog voltage signal through the D/A converter, by The voltage amplifiers are respectively output to each piezoelectric actuator, so that they can output the corresponding displacements respectively, thus realizing the best closed-loop control of pre-tightening displacement under low-speed conditions; , the pre-tightening force voltage signal measured by the force sensor can be converted into a pre-tightening digital voltage signal through the A/D converter, and the digital voltage signal is input into the controller and compared with the setting Compared with the target pretightening force value, the output signal of the controller converts the digital voltage signal into an analog voltage signal through the D/A converter, and the voltage amplifier outputs to each piezoelectric actuator respectively, so that it outputs the corresponding Preload, thus realizing the closed-loop control of the best preload under high-speed working conditions.
本发明设置主轴初始预紧力/初始预紧位移的方法如下：The method for setting the initial preload force/initial preload displacement of the main shaft in the present invention is as follows:
本发明装配完成后通冷却液和油气润滑，根据主轴的最高转速和冷却、润滑条件设定转子的初始预紧力；通过力矩扳手依次循环调节三个预紧力调节螺栓，预紧力调节螺栓推动压电作动器在光孔内向后套筒一侧滑动，使压电作动器端部的力传感器向后套筒加载轴向预紧力，后套筒受力后，后套筒依次带动轴承、锁紧螺母对主轴加载轴向预紧力，加载过程中通过力传感器测量对主轴的轴向预紧力大小，使三个力传感器的显示值相等并且显示值之和等于设定的主轴的初始预紧力，此时的预紧位移定义为零点位移量。After the assembly of the present invention is completed, the cooling liquid and oil-air lubrication are passed through, and the initial pre-tightening force of the rotor is set according to the maximum rotational speed of the main shaft and the cooling and lubrication conditions; Push the piezoelectric actuator to slide toward the side of the rear sleeve in the light hole, so that the force sensor at the end of the piezoelectric actuator loads the axial pretightening force on the rear sleeve. After the rear sleeve is stressed, the rear sleeve sequentially Drive the bearing and lock nut to load the axial pretightening force on the main shaft. During the loading process, measure the axial pretightening force on the main shaft through the force sensor, so that the display values of the three force sensors are equal and the sum of the display values is equal to the set value. The initial pre-tightening force of the spindle, and the pre-tightening displacement at this time is defined as the zero point displacement.
本发明通过后套筒位移传感器和紧定螺钉可以实现既定预紧力下的定压预紧模式切换为定位预紧模式：The present invention can switch from the constant pressure preload mode to the positioning preload mode under the predetermined preload force through the rear sleeve displacement sensor and the set screw:
先利用压电作动器推动力传感器对主轴施加目标轴向预紧力(利用三个压电作动器同时推动力传感器对主轴施加期望的预紧力，使三个力传感器的显示值相等并且显示值之和等于设定的对主轴的期望预紧力值即可)，然后通过力矩扳手依次循环调节六个紧定螺钉，依次循环卸压电作动器施加的轴向预紧力，使三个力传感器的显示值逐渐趋于零，从而主轴-轴承系统达到轴向的力平衡状态，可以实现既定预紧力下的定压预紧模式切换为定位预紧模式。First, use the piezoelectric actuator to push the force sensor to apply the target axial preload to the spindle (use three piezoelectric actuators to push the force sensor to apply the desired preload to the spindle at the same time, so that the display values of the three force sensors are equal And the sum of the displayed values is equal to the expected pretightening force value set for the main shaft), and then use the torque wrench to adjust the six set screws in turn, and release the axial pretightening force applied by the piezoelectric actuator in turn, Make the display values of the three force sensors tend to zero gradually, so that the spindle-bearing system reaches the axial force balance state, and the constant pressure preload mode under the predetermined preload force can be switched to the positioning preload mode.
此外，在某一转速下，可以通过改变主轴冷却液的温度和流速从而改变或者调节轴承的预紧力。In addition, at a certain speed, the preload of the bearing can be changed or adjusted by changing the temperature and flow rate of the spindle coolant.
本发明的优点和有益效果为：Advantage of the present invention and beneficial effect are:
本发明的基于压电作动器在线监测与控制主轴-轴承系统预紧力和预紧位移的高速精密主轴系统，同时具有在线监测与控制主轴-轴承系统预紧力和预紧位移的功能。本发明采用压电作动器组件作为主轴预紧力的加载装置，具有高刚度、高定位精度、响应快的优势。通过压可滑动后套筒结构设计，同时结合电作动器、力传感器和位移传感器实现了定位预紧和定压预紧两种模式；同时实现了基于预紧位移的闭环控制、基于预紧力的闭环控制。此外，在某一转速下，可以通过改变主轴冷却液的温度和流速从而改变或者调节轴承的预紧力。有效的保证高速精密主轴的动态特性和热态特性全局兼优。The high-speed precision spindle system of the present invention based on the online monitoring and control of the preload force and displacement of the spindle-bearing system based on the piezoelectric actuator has the functions of online monitoring and control of the preload force and displacement of the spindle-bearing system. The present invention adopts the piezoelectric actuator assembly as the loading device of the pretightening force of the main shaft, and has the advantages of high rigidity, high positioning accuracy and fast response. Through the structural design of the slidable rear sleeve, combined with electric actuators, force sensors and displacement sensors, two modes of positioning preload and constant pressure preload are realized; at the same time, closed-loop control based on preload displacement and preload based Force closed-loop control. In addition, at a certain speed, the preload of the bearing can be changed or adjusted by changing the temperature and flow rate of the spindle coolant. Effectively ensure that the dynamic characteristics and thermal characteristics of the high-speed precision spindle are globally excellent.
附图说明Description of drawings
图1是本发明的三维等轴测图；Fig. 1 is a three-dimensional isometric view of the present invention;
图2是本发明主视图；Fig. 2 is a front view of the present invention;
图3是本发明的左视图；Fig. 3 is the left view of the present invention;
图4是本发明的A-A剖视图；Fig. 4 is A-A sectional view of the present invention;
图5是本发明的数据采集与控制系统结构示意图；Fig. 5 is the structural representation of data acquisition and control system of the present invention;
图6是本发明的控制方法流程图。Fig. 6 is a flowchart of the control method of the present invention.
图中标号名称：1.调节螺栓，2.预紧端盖，3.压电作动器，4.力传感器，5.后套筒，5-1.法兰盘，6.紧定螺钉，7.后套筒位移传感器，8.后端盖，10.主轴，11.球笼导向轴承，12.轴承Ⅳ，13.轴承Ⅲ，14.轴承Ⅱ，15.轴承Ⅰ，16.第一锁紧螺母，17.前端盖，18.前套筒，19.定位端盖，20主轴位移传感器，21.主轴壳体，22.第二锁紧螺母，23.第一冷却水道，24.第二冷却水道，25.凹槽。Label names in the figure: 1. Adjusting bolt, 2. Pre-tightened end cover, 3. Piezoelectric actuator, 4. Force sensor, 5. Rear sleeve, 5-1. Flange, 6. Set screw, 7. Rear sleeve displacement sensor, 8. Rear end cover, 10. Main shaft, 11. Ball cage guide bearing, 12. Bearing IV, 13. Bearing III, 14. Bearing II, 15. Bearing I, 16. First lock Tight nut, 17. Front end cover, 18. Front sleeve, 19. Positioning end cover, 20 Spindle displacement sensor, 21. Spindle housing, 22. Second lock nut, 23. First cooling channel, 24. Second Cooling channel, 25. Groove.
具体实施方式detailed description
为能进一步了解本发明的发明内容、特点及功效，兹例举以下实施例，并配合附图详细说明如下：In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:
请参阅图1至图5，一种基于压电作动器在线监测与控制主轴-轴承系统预紧力和预紧位移的高速精密主轴系统，包括主轴壳体21、主轴10、前套筒组件、后套筒组件、压电作动器组件和数据采集与控制系统；Please refer to Figures 1 to 5, a high-speed precision spindle system based on piezoelectric actuators for online monitoring and control of the preload and displacement of the spindle-bearing system, including the spindle housing 21, the spindle 10, and the front sleeve assembly , rear sleeve assembly, piezoelectric actuator assembly and data acquisition and control system;
所述主轴壳体21为带用安装内腔的圆柱体结构,主轴壳体21内部设置有用于安装前套筒组件、后套筒组件、以及主轴的安装内腔；The main shaft housing 21 is a cylindrical structure with an inner cavity for installation, and the main shaft housing 21 is provided with an installation inner cavity for installing the front sleeve assembly, the rear sleeve assembly, and the main shaft;
所述前套筒组件包括前套筒18、定位端盖19、前端盖17，所述前套筒18通过螺栓固定安装在主轴壳体21内，所述定位端盖19通过螺栓连接固定于前套筒的内端，所述前端盖17通过螺栓连接固定在前套筒的外端，用于压紧轴承外圈；前套筒内设置有轴承Ⅰ15和轴承Ⅱ14以安装主轴10，通过第一锁紧螺母16将轴承Ⅰ和轴承Ⅱ轴向锁紧在主轴10上；在前套筒18的外筒壁上沿其圆周设置有第一冷却水道23；前套筒4内嵌入设置有轴承Ⅰ温度传感器(图中未标出)和轴承Ⅱ温度传感器(图中未标出)，所述轴承Ⅰ温度传感器的探头位于轴承Ⅰ15附近，用于检测轴承Ⅰ的工作温度，所述轴承Ⅱ温度传感器的探头位于轴承Ⅱ14附近，用于检测轴承Ⅱ的工作温度；在主轴壳体21内还设置有主轴位移传感器20，主轴位移传感器20通过支架固定在主轴壳体21内壁上，主轴位移传感器20的探头对准主轴的阶梯面，过检测探头到主轴的阶梯面的距离变化，来监测主轴的轴向位移；The front sleeve assembly includes a front sleeve 18, a positioning end cover 19, and a front end cover 17. The front sleeve 18 is fixedly installed in the main shaft housing 21 by bolts, and the positioning end cover 19 is fixed on the front end by bolts. The inner end of the sleeve, the front end cover 17 is fixed on the outer end of the front sleeve by bolts, which is used to compress the outer ring of the bearing; the front sleeve is provided with a bearing I15 and a bearing II14 to install the main shaft 10, through the first The lock nut 16 axially locks the bearing I and the bearing II on the main shaft 10; on the outer cylinder wall of the front sleeve 18, a first cooling channel 23 is arranged along its circumference; the front sleeve 4 is embedded with a bearing I A temperature sensor (not shown in the figure) and a bearing II temperature sensor (not shown in the figure), the probe of the bearing I temperature sensor is located near the bearing I15 for detecting the working temperature of the bearing I, the bearing II temperature sensor The probe is located near the bearing II 14 and is used to detect the working temperature of the bearing II; a spindle displacement sensor 20 is also arranged in the spindle housing 21, and the spindle displacement sensor 20 is fixed on the inner wall of the spindle housing 21 through a bracket, and the spindle displacement sensor 20 The probe is aligned with the stepped surface of the main shaft, and the axial displacement of the main shaft is monitored by detecting the change of the distance between the probe and the stepped surface of the main shaft;
所述后套筒组件包括后套筒5、预紧端盖2、后端盖8，所述预紧端盖2通过螺栓连接固定于后套筒的内端，所述后端盖8通过螺栓连接固定在后套筒的外端，用于压紧轴承外圈；所述后套筒5通过球笼导向轴承11滑动安装在主轴壳体内，以使后套筒组件可以沿着主轴10的轴线滑动；后套筒5内设置有轴承Ⅲ13和轴承Ⅳ12以安装主轴10，通过第二锁紧螺母22将轴承Ⅲ和轴承Ⅳ轴向锁紧在主轴上；在后套筒的外筒壁上沿其圆周设置有设有第二冷却水道24；后套筒5内嵌入设置有轴承Ⅲ温度传感器(图中未标出)和轴承Ⅳ温度传感器(图中未标出)，所述轴承Ⅲ温度传感器的探头位于轴承Ⅲ13附近，用于检测轴承Ⅲ的工作温度，所述轴承Ⅳ温度传感器的探头位于轴承Ⅳ12附近，用于检测轴承Ⅳ的工作温度；所述后套筒的外端面为法兰盘5-1结构，在后套筒外端面法兰盘5-1上嵌入设置有后套筒位移传感器7，后套筒位移传感器7的探头贯穿法兰盘5-1且正对着主轴壳体的与法兰盘相对的端面，通过测量探头与该端面的距离变化来监测后套筒5的轴向位移；在后套筒外端面法兰盘5-1上还设置有6个绕主轴轴线均布的紧定螺钉6，所述紧定螺钉6贯穿设置在后套筒外端面法兰盘5-1上，紧定螺钉6的顶端用于顶紧主轴壳体的与法兰盘相对的端面；The rear sleeve assembly includes a rear sleeve 5, a pre-tightened end cover 2, and a rear end cover 8. The pre-tightened end cover 2 is fixed to the inner end of the rear sleeve through bolt connections, and the rear end cover 8 is connected by bolts. It is connected and fixed on the outer end of the rear sleeve, which is used to press the outer ring of the bearing; the rear sleeve 5 is slidably installed in the main shaft housing through the ball cage guide bearing 11, so that the rear sleeve assembly can move along the axis of the main shaft 10 Sliding; the rear sleeve 5 is provided with bearing III13 and bearing IV12 to install the main shaft 10, and the bearing III and bearing IV are axially locked on the main shaft through the second lock nut 22; Its circumference is provided with a second cooling channel 24; the rear sleeve 5 is embedded with a bearing III temperature sensor (not shown in the figure) and a bearing IV temperature sensor (not shown in the figure), and the bearing III temperature sensor The probe of the bearing is located near the bearing III13 for detecting the working temperature of the bearing III, and the probe of the bearing IV temperature sensor is located near the bearing IV12 for detecting the working temperature of the bearing IV; the outer end surface of the rear sleeve is a flange 5-1 structure, a rear sleeve displacement sensor 7 is embedded on the flange 5-1 on the outer end face of the rear sleeve, and the probe of the rear sleeve displacement sensor 7 penetrates the flange 5-1 and faces the main shaft housing The end face opposite to the flange, the axial displacement of the rear sleeve 5 is monitored by measuring the distance change between the probe and the end face; there are also 6 rings around the axis of the main shaft on the flange 5-1 on the outer end face of the rear sleeve. Uniformly distributed set screws 6, the set screws 6 are arranged through the flange plate 5-1 on the outer end surface of the rear sleeve, and the top ends of the set screws 6 are used to tighten the main shaft housing opposite to the flange plate end face;
在后套筒处的主轴壳体2内设有三个绕主轴10轴线均布并平行于主轴轴线的光孔，用于安装所述压电作动器组件，所述压电作动器组件的作用是推动后套筒，为后套筒施加轴向载荷(即载轴向预紧力)；压电作动器组件包括压电作动器3、力传感器4和预紧力调节螺栓1，其中，三个压电作动器3分别滑动设置在三个光孔中，压电作动器的与后套筒的法兰盘5-1相对的一端固定力传感器4，压电作动器3的另一端与嵌设在主轴壳体21上的预紧力调节螺栓1连接(在主轴壳体21的外壁上沿其圆周设置有一圈凹槽25，所述预紧力调节螺栓1的一端露出在凹槽25中，以便调节预紧力调节螺栓1的旋入量)，通过调节预紧力调节螺栓1推动压电作动器3在光孔内向后套筒5一侧滑动，使压电作动器3端部的力传感器4接触后套筒的法兰盘5-1，向后套筒5加载初始轴向预紧力(由于后套筒5滑动设置在主轴壳体上，所以后套筒5受力后，依次带动轴承Ⅲ13、轴承Ⅳ12、第二锁紧螺母22对主轴加载轴向预紧力)，并通过控制压电作动器3的伸长量对主轴进一步加载轴向预紧力，加载过程中通过力传感器4测量对主轴的轴向预紧力大小；There are three light holes uniformly distributed around the axis of the main shaft 10 and parallel to the axis of the main shaft in the main shaft housing 2 at the rear sleeve, for installing the piezoelectric actuator assembly, the piezoelectric actuator assembly The function is to push the rear sleeve to apply an axial load to the rear sleeve (that is, to carry an axial pretightening force); the piezoelectric actuator assembly includes a piezoelectric actuator 3, a force sensor 4 and a pretightening force adjustment bolt 1, Wherein, the three piezoelectric actuators 3 are slidingly arranged in the three optical holes respectively, and the end of the piezoelectric actuator opposite to the flange plate 5-1 of the rear sleeve is fixed to the force sensor 4, and the piezoelectric actuator The other end of 3 is connected with the preload adjusting bolt 1 embedded in the main shaft housing 21 (a circle of grooves 25 is arranged on the outer wall of the main shaft housing 21 along its circumference, and one end of the preload adjusting bolt 1 exposed in the groove 25, so as to adjust the screw-in amount of the pre-tightening force adjusting bolt 1), by adjusting the pre-tightening force adjusting bolt 1, push the piezoelectric actuator 3 to slide toward the side of the rear sleeve 5 in the light hole, so that the pressure The force sensor 4 at the end of the electric actuator 3 contacts the flange 5-1 of the rear sleeve, and the initial axial pretightening force is applied to the rear sleeve 5 (since the rear sleeve 5 is slidably arranged on the main shaft housing, so After the rear sleeve 5 is stressed, it sequentially drives bearing III13, bearing IV12, and the second lock nut 22 to load the main shaft with axial pretightening force), and further loads the main shaft by controlling the elongation of the piezoelectric actuator 3 In the loading process, the force sensor 4 is used to measure the axial preload to the main shaft;
在主轴壳体内还设有用于监测转子转速的编码器(图中未标出)；An encoder (not shown in the figure) for monitoring the rotor speed is also provided in the main shaft housing;
所述数据采集与控制系统包括控制器、A/D转换器、D/A转换器。参见附图5，所述力传感器4、主轴位移传感器20、后套筒位移传感器7分别通过A/D转换器连接至控制器，控制器依次通过D/A转换器、电压放大器连接各个压电作动器3。The data acquisition and control system includes a controller, an A/D converter and a D/A converter. Referring to accompanying drawing 5, described force sensor 4, main shaft displacement sensor 20, rear sleeve displacement sensor 7 are respectively connected to controller through A/D converter, and controller is connected with each piezoelectricity through D/A converter, voltage amplifier successively. Actuator 3.
本发明通过主轴位移传感器20、后套筒位移传感器7测得的预紧位移值和力传感器测得的预紧力值，并根据主轴的转速和轴承的温升分别控制三个压电作动器的电压，能够实现主轴-轴承系统预紧力和预紧位移的监测与控制，具体控制方法如下：The present invention uses the pre-tightening displacement value measured by the main shaft displacement sensor 20 and the rear sleeve displacement sensor 7 and the pre-tightening force value measured by the force sensor, and controls three piezoelectric actuators respectively according to the rotating speed of the main shaft and the temperature rise of the bearing. The voltage of the device can realize the monitoring and control of the preload force and preload displacement of the spindle-bearing system. The specific control method is as follows:
参见附图5，首先根据基于主轴转速和温升确定的既定转速和温升下的最佳预紧位移(即定位预紧)和预紧力(即定压预紧)数据库，分别对主轴低速和高速工况下进行最佳预紧位移的闭环控制和最佳预紧力的闭环控制：在低速工况下(主轴转速小于12000rpm)，通过主轴位移传感器20或者后套筒位移传感器7测得的预紧位移电压信号经过A/D转换器将预紧位移的模拟电压信号转化为预紧位移的数字电压信号，并将数字电压信号输入到控制器中并与设定的目标预紧位移值进行比较(主轴位移传感器20的值理论上为后套筒位移传感器7的一半，所述的对主轴的预紧位移值既可以是后套筒位移传感器7测定的位移值，亦可以是主轴位移传感器20测定的位移值，由使用者自己定义，本实施例中，将后套筒位移传感器7测定的位移值定义为对主轴的预紧位移)，控制器的输出电压信号通过D/A转换器将数字电压信号转为模拟电压信号，由电压放大器分别输出到各个压电作动器，使其分别输出所对应的位移，从而实现了低速工况下的最佳预紧位移闭环控制；高速工况下(主轴转速大于12000rpm，小于24000rpm)，可以通过力传感器测得的预紧力电压信号经过A/D转换器将预紧力的模拟电压信号转化为预紧力的数字电压信号，将数字电压信号输入到控制器中并与设定的目标预紧力值进行比较，控制器的输出信号通过D/A转换器将数字电压信号转为模拟电压信号，由电压放大器分别输出到各个压电作动器，使其分别输出所对应的预紧力，从而实现了高速工况下的最佳预紧力的闭环控制。Referring to Figure 5, firstly, according to the database of the optimal preload displacement (ie positioning preload) and preload force (ie constant pressure preload) at a given speed and temperature rise determined based on the spindle speed and temperature rise, the low-speed Closed-loop control of optimal preload displacement and closed-loop control of optimal preload under high-speed conditions: under low-speed conditions (spindle speed less than 12000rpm), measured by the spindle displacement sensor 20 or the rear sleeve displacement sensor 7 The pre-tightening displacement voltage signal of the pre-tightening displacement is converted into a digital voltage signal of the pre-tightening displacement through the A/D converter, and the digital voltage signal is input into the controller and compared with the set target pre-tightening displacement value Compare (the value of the main shaft displacement sensor 20 is half of the rear sleeve displacement sensor 7 in theory, and the described preload displacement value to the main shaft can be the displacement value measured by the rear sleeve displacement sensor 7, or the main shaft displacement The displacement value measured by the sensor 20 is defined by the user himself. In the present embodiment, the displacement value measured by the rear sleeve displacement sensor 7 is defined as the pre-tightening displacement to the main shaft), and the output voltage signal of the controller is converted by D/A The converter converts the digital voltage signal into an analog voltage signal, which is output to each piezoelectric actuator by the voltage amplifier, so that it can output the corresponding displacement respectively, thus realizing the best closed-loop control of the pre-tightening displacement under low-speed working conditions; high-speed Under working conditions (the spindle speed is greater than 12000rpm and less than 24000rpm), the pretightening force voltage signal measured by the force sensor can be converted into a pretightening force digital voltage signal through the A/D converter, and the The digital voltage signal is input into the controller and compared with the set target pre-tightening force value. The output signal of the controller converts the digital voltage signal into an analog voltage signal through the D/A converter, and is output to each voltage by the voltage amplifier. The electric actuator makes it output the corresponding pre-tightening force respectively, thus realizing the closed-loop control of the optimal pre-tightening force under high-speed working conditions.
本发明设置主轴初始预紧力/初始预紧位移的方法如下：The method for setting the initial preload force/initial preload displacement of the main shaft in the present invention is as follows:
本发明装配完成后通冷却液和油气润滑，根据主轴的最高转速和冷却、润滑条件设定转子的初始预紧力；通过力矩扳手依次循环调节三个预紧力调节螺栓，预紧力调节螺栓推动压电作动器在光孔内向后套筒一侧滑动，使压电作动器端部的力传感器向后套筒加载轴向预紧力，后套筒受力后，后套筒依次带动轴承、锁紧螺母对主轴加载轴向预紧力，加载过程中通过力传感器测量对主轴的轴向预紧力大小，使三个力传感器的显示值相等并且显示值之和等于设定的主轴的初始预紧力，此时的预紧位移定义为零点位移量。After the assembly of the present invention is completed, the cooling liquid and oil-air lubrication are passed through, and the initial pre-tightening force of the rotor is set according to the maximum rotational speed of the main shaft and the cooling and lubrication conditions; Push the piezoelectric actuator to slide toward the side of the rear sleeve in the light hole, so that the force sensor at the end of the piezoelectric actuator loads the axial pretightening force on the rear sleeve. After the rear sleeve is stressed, the rear sleeve sequentially Drive the bearing and lock nut to load the axial pretightening force on the main shaft. During the loading process, measure the axial pretightening force on the main shaft through the force sensor, so that the display values of the three force sensors are equal and the sum of the display values is equal to the set value. The initial pre-tightening force of the spindle, and the pre-tightening displacement at this time is defined as the zero point displacement.
本发明通过后套筒位移传感器7和紧定螺钉6可以实现既定预紧力下的定压预紧模式切换为定位预紧模式：The present invention can switch from the constant pressure preload mode to the positioning preload mode under the predetermined preload force through the rear sleeve displacement sensor 7 and the set screw 6:
先利用压电作动器推动力传感器对主轴施加目标轴向预紧力(利用三个压电作动器同时推动力传感器对主轴施加期望的预紧力，使三个力传感器的显示值相等并且显示值之和等于设定的对主轴的期望预紧力值即可)，然后通过力矩扳手依次循环调节六个紧定螺钉6，依次循环卸压电作动器施加的轴向预紧力，使三个力传感器的显示值逐渐趋于零，从而主轴-轴承系统达到轴向的力平衡状态，可以实现既定预紧力下的定压预紧模式切换为定位预紧模式。First, use the piezoelectric actuator to push the force sensor to apply the target axial preload to the spindle (use three piezoelectric actuators to push the force sensor to apply the desired preload to the spindle at the same time, so that the display values of the three force sensors are equal And the sum of the displayed values is equal to the expected pretightening force value set for the main shaft), and then the six set screws 6 are cyclically adjusted in turn by the torque wrench, and the axial pretightening force applied by the piezoelectric actuator is cyclically released in turn , so that the display values of the three force sensors gradually tend to zero, so that the spindle-bearing system reaches the axial force balance state, and the constant pressure preload mode under the predetermined preload force can be switched to the positioning preload mode.
此外，在某一转速下，可以通过改变主轴冷却液的温度和流速从而改变或者调节轴承的预紧力。In addition, at a certain speed, the preload of the bearing can be changed or adjusted by changing the temperature and flow rate of the spindle coolant.
以上显示和描述，描述了本发明的基本原理和主要特征以及本发明的优点，本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中的描述的只是本说明书的发明原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内，本发明要求保护范围由所附的权利要求书及其等效物界定。The above shows and descriptions have described the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The invention principle of the description, under the premise of not departing from the spirit and scope of the present invention, the present invention also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed invention, and the protected scope of the present invention is defined by the claimed scope of the present invention. The appended claims and their equivalents are defined.
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