An ultra-precision grinding drive platform with force sensing function and control method thereof

Abstract

The invention discloses an ultra-precision grinding drive platform with force sensing function and a control method thereof, which belongs to the field of precision machining technology. The platform comprises an output rod, a hexagonal nut, a grinding wheel, a gasket A, a support frame, a rolling bearing, an energized slip ring, a cooling fan, a pre-tightening nut, a stator end cover, a stator, a countersunk nut, a rotor end cover, an I-shaped coil skeleton, an arc-shaped permanent magnet, a rotor housing, a magnetic isolation cylinder, a magnetic yoke cylinder, a disc spring, a magnetic guide ring, a solenoid coil skeleton, a Hall sensor, a solenoid coil, a cooling water jacket, a giant magnetostrictive rod, a gasket, a base, and an adjustment rod. Six I-shaped coil skeletons are evenly arranged inside the stator to wind the coil winding, adjust the energized current and the energized time interval in the coil winding, control the rotor rotation speed, adjust the current passed into the energized solenoid coil, control the magnetostrictive deformation of the giant magnetostrictive rod, realize precise linear displacement, and simultaneously realize the precision grinding of rotation and direct motion.

Description

Technical Field

[0001] The present invention belongs to the technical field of precision machining, and in particular relates to an ultra-precision grinding drive platform with a force sensing function and a control method thereof. Background Art

[0002] Ultra-precision machining technology is one of the most important development directions of modern manufacturing industry. At present, in order to improve the precision of grinding drive platform, the general method is to directly add linear drive or rotary motor on the basis of existing equipment. This undoubtedly increases the volume and weight of precision machining equipment, reduces its machining performance, and causes a considerable waste of resources.

[0003] Therefore, a driving platform device integrating driving and grinding is invented to be used for ultra-precision grinding to improve the performance of its ultra-precision machining equipment. Summary of the invention

[0004] The purpose of the present invention is to provide an ultra-precision grinding drive platform with force sensing function and a control method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: an ultra-precision grinding drive platform with force sensing function, comprising an output rod, a hexagonal nut, a grinding wheel, a gasket A, a support frame, a rolling bearing, an energized slip ring, a cooling fan, a pre-tightening nut, a stator end cover, a stator, a countersunk nut, a rotor end cover, an I-shaped coil skeleton, an arc-shaped permanent magnet, a rotor housing, a magnetic isolation cylinder, a magnetic yoke cylinder, a disc spring, a magnetic conductive ring, a solenoid coil skeleton, a Hall sensor, a solenoid coil, a cooling water jacket, a giant magnetostrictive rod, a gasket B, a base, and an adjustment rod, characterized in that: the output rod is a stepped rod-shaped structure, and a threaded structure is evenly arranged at its top end. The grinding wheel and the gasket A are fixed to the output rod by a hexagonal nut and kept coaxial. The key shaft on the output rod is used to lock the grinding wheel and the gasket A to achieve the purpose of synchronous speed. The end of the output rod is connected to the gasket B, and two through holes are distributed at the end of the rod, which can be used to lead out the coil inside the solenoid. The stator end cover is a disc-shaped structure, with 6 through holes evenly arranged on the periphery of the end cover, which is fixed to the stator by hexagonal screws. Two through holes are arranged on the inner side of the disc for leading out the internal solenoid coil. The disc center has a through hole, which is kept concentric and coaxial with the output rod and is used to place the rolling bearing. The outer side of the bearing is fixed by a support frame, and the support frame center has a through hole for leading out the output rod. The ends of the two support angles have threaded holes and threaded holes, which are fixed to the threaded holes and threaded holes on the base by screws respectively. The center of the base has a through hole for leading out the adjustment rod and keeping it concentric and coaxial. The base has a central arc step for placing the stator. Threaded holes are opened on both sides of the outer circumference of the stator, which can be fixed to the end covers on both sides by screws. Six I-shaped coil skeletons are evenly distributed on the inner circumference, and coil windings are respectively wound. The coil windings are led out through the stator threading holes. The front section of the stator is respectively arranged with an energized slip ring and a cooling fan, which are kept concentric and coaxial with the height of the output rod.

[0006] The rotor structure inside the stator includes a countersunk nut, a rotor end cover, an I-shaped coil frame, an arc-shaped permanent magnet, a rotor housing, a magnetic isolation cylinder, a magnetic yoke cylinder, a disc spring, a magnetic conductive ring, an energized solenoid coil frame, a Hall sensor, a solenoid coil, a heat dissipation water jacket, a giant magnetostrictive rod, a gasket, a base, and an adjustment rod. The rotor end cover is a disc-shaped structure, with 6 countersunk holes evenly arranged on the outside, fixed to the rotor housing by countersunk screws, and a circular through hole with a threaded structure arranged in the center to be fixed to the thread on the adjustment rod. The output rod is coaxial and concentric, and a rotor threading hole is provided to lead out the solenoid coil. The rotor housing includes 6 convex strips, 12 threaded holes F, a keyway A and a through hole D. The 12 threaded holes F are connected to the two rotor end covers by countersunk screws. An arc-shaped permanent magnet is inserted between every two convex strips. The magnetic isolation cylinder is installed in the through hole D of the rotor housing. The outer surface of the magnetic isolation cylinder is tightly fitted with the inner surface of the rotor housing. The key shaft C of the magnetic isolation cylinder is inserted into the keyway A of the rotor housing to maintain coaxiality. Both ends of the magnetic isolation cylinder are connected to the rotor end. The yoke tube is cylindrical, and a key shaft D is arranged on the outer surface to fit tightly with the key groove B on the inner surface of the magnetic isolation tube, and is installed in the through hole E of the magnetic isolation tube. The coil skeleton is installed inside the through hole G of the yoke tube and keeps coaxial. Key shafts E are arranged on both sides to fit and fix with the key groove D of the yoke tube. The coil skeleton is arranged with key groove E to fit with the key groove C of the yoke tube to form the threading hole of the internal solenoid coil. A through hole F is arranged at the end of the yoke tube for leading out the adjustment rod. The front end of the adjustment rod is connected to the gasket B, and the rear section has a threaded structure Matching with the through hole C on the rotor end cover, one end of the coil frame is connected to the rotor end cover, and the other end is connected to the magnetic conductive ring. The solenoid coil is wound on the coil frame. There are two gaskets B, which are respectively placed at the two ends of the giant magnetostrictive rod. The giant magnetostrictive rod is made of rare earth giant magnetostrictive material and has a positive magnetostrictive effect. It is installed in the central through hole H of the coil frame and keeps coaxial. One side of the magnetic conductive ring is close to the coil frame, and the other side is close to the disc spring. The disc spring is installed between the magnetic conductive ring and the front end cover of the rotor.

[0007] A control method for an ultra-precision grinding drive platform with a force sensing function, which is used for the above platform, comprises the following steps:

[0008] S1: Divide the coil windings on the six I-shaped coil frames in the stator into three groups, pass current through the two coil windings in the first group, and set the currents to I1 and I4, and the currents are equal in magnitude and opposite in direction, that is, I1 = -I4;

[0009] S2: After time T1, current is passed through the second set of two coil windings, and the currents are set to I2 and I5, and the two currents are kept equal and opposite in direction, that is, I1=I2=-I4=-I5;

[0010] S3: After time T2, current is passed through the two coil windings of the third group, and the currents are set to I3 and I6, keeping the two currents equal in magnitude and opposite in direction, that is, I3 = I2 = I1 = -I4 = -I5 = -I6;

[0011] S4: Repeat the above steps to achieve high-speed rotation of the rotor inside the grinding mechanism, thereby maintaining the high-speed rotation of the output rod, thereby driving the high-speed rotation of the grinding wheel mechanism. The purpose of speed regulation can be achieved by adjusting the size of T1 and T2.

[0012] S5: Current I is passed through the solenoid coil inside the rotor Z , so that the solenoid coil forms an energized solenoid, and an axial magnetic field H is excited inside it;

[0013] S6: By adjusting the current I Z The value can control the size of the generated magnetic field H, adjust the elongation of the giant magnetostrictive rod, realize the linear displacement of the output rod, and drive the precise linear displacement control of the grinding wheel grinding mechanism.

[0014] S7: Place a Hall sensor at a certain point of the magnetic field excited by the internal rotor solenoid coil, and lead it out through the rotor threading holes of each component. It can measure the voltage and current changes in the mechanism in real time. Through corresponding conversion, it can be used to measure the size of its pressure and rotation speed, realizing the accurate perception function of force and rotation speed.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention proposes a high-speed rotation grinding drive scheme based on the rotating magnetic field principle, and proposes a grinding drive scheme based on ultra-precision direct motion function based on the positive magnetostrictive effect of rare earth giant magnetostrictive material, and combines the high-speed rotation effect and the direct motion effect into one, realizing the coaxial integration of the two, and has the advantages of high structural integration, high direct motion precision and fast response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0018] Figure 2 is a schematic structural diagram of the output rod of the present invention;

[0019] Figure 3 It is a structural schematic diagram of the grinding wheel of the present invention;

[0020] Figure 4 It is a structural schematic diagram of the support frame of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the rolling bearing of the present invention;

[0022] Figure 6 It is a schematic diagram of the structure inside the energized slip ring of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the heat dissipation fan of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the stator end cover of the present invention;

[0025] Fig. 9 It is a structural schematic diagram of the stator housing of the present invention;

[0026] Fig.10 It is a schematic diagram of the structure of the rotor end cover of the present invention;

[0027] Fig.11 It is a structural schematic diagram of the arc-shaped permanent magnet of the present invention;

[0028] Fig.12 It is a schematic structural diagram of the rotor housing of the present invention;

[0029] Fig.13 It is a structural schematic diagram of the magnetic isolation cylinder of the present invention;

[0030] Fig.14 It is a structural schematic diagram of the magnetic yoke cylinder of the present invention;

[0031] Fig.15 It is a schematic diagram of the structure of the disc reed of the present invention;

[0032] Fig.16 It is a structural schematic diagram of the magnetic conductive ring of the present invention;

[0033] Fig.17 It is a structural schematic diagram of the solenoid skeleton and its coil of the present invention;

[0034] Fig.18 It is a structural schematic diagram of the Hall sensor of the present invention;

[0035] Fig.19 It is a structural schematic diagram of the giant magnetostrictive rod of the present invention;

[0036] Fig. 20 It is a structural schematic diagram of the gasket of the present invention;

[0037] Fig.21 It is a structural schematic diagram of the base of the present invention;

[0038] Fig. 22 It is a structural schematic diagram of the adjusting rod of the present invention;

[0039] Fig.23 Schematic diagram of the torque acting on the rotor of the present invention.

[0040] In the figure: 1- output rod; 2- hexagonal nut; 3- grinding wheel; 4- gasket A; 5- support frame; 6- rolling bearing; 7- powered slip ring; 8- cooling fan; 9- preload screw; 10- stator end cover; 11- stator housing; 12- countersunk screw; 13- rotor end cover; 14- I-shaped coil skeleton; 15- arc permanent magnet; 16- rotor housing; 17- magnetic isolation cylinder; 18- magnetic yoke cylinder; 19- disc spring; 20- magnetic guide ring; 21- solenoid coil skeleton; 22- Hall sensor; 23- solenoid coil; 24- cooling water jacket; 25- giant magnetostrictive rod; 26- gasket B; 27- base; 28- adjustment rod; 101- threaded shaft A; 102- key shaft A; 103- threading hole A; 501- threaded hole A; 502- threaded hole B; 503- through hole A; 100 1-threaded hole C; 1002-through hole B; 1003-threading hole B; 1101-threading hole C; 1102-threaded hole D; 1301-through hole C; 1302-threaded hole E; 1303-threading hole D; 1601-key shaft B; 1602-threaded hole F; 1603-keyway A; 1604-through hole D; 1701-key shaft C; 1702-through hole E; 1703- Keyway B; 1801-key shaft D; 1802-keyway C; 1803-through hole F; 1804-keyway D; 1805-through hole G; 2101-keyway E; 2102-through hole H; 2103-key shaft E; 2701-threaded hole G; 2702-threaded hole H; 2703-contact table; 2704-through hole I; 2801-front end face of adjustment rod; 2802-threaded shaft B. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] See also Figure 1-23The present invention provides a technical solution: an ultra-precision grinding drive platform with force sensing function, comprising an output rod 1, a hexagonal nut 2, a grinding wheel 3, a gasket A 4, a support frame 5, a rolling bearing 6, an energized slip ring 7, a cooling fan 8, a pre-tightening nut 9, a stator end cover 10, a stator 11, a countersunk nut 12, a rotor end cover 13, an I-shaped coil skeleton 14, an arc-shaped permanent magnet 15, a rotor housing 16, a magnetic isolation cylinder 17, a yoke cylinder 18, a disc spring 19, a magnetic guide ring 20, a solenoid coil skeleton 21, a Hall sensor 22, a solenoid coil 23, a cooling water jacket 24, a giant magnetostrictive rod 25, a gasket B 26, a base 27, and an adjustment rod 28, characterized in that: the output rod 1 is a stepped rod structure, and threads 101 are evenly arranged on the top thereof, the grinding wheel 3 and the gasket A 4 are fixed to the output rod 1 through the hexagonal nut 2, and the grinding wheel 3 and the gasket A 4 are kept coaxial, and the key shaft A on the rod is connected to the output rod 1. 102 is used to lock the grinding wheel 3 and the gasket A4 to achieve the purpose of synchronous speed. The end of the output rod 1 is connected to the gasket B 26. The end of the rod is provided with a threading hole A 103, which can be used to lead out the solenoid coil 23. The stator end cover 10 is a disc-shaped structure. Six threaded holes C 1001 are evenly arranged on the outer periphery of the end cover. It is fixed to the stator 11 by pre-tightening screws 9. The inner side of the disc is provided with a threading hole B 1003, which is used to lead out the internal solenoid coil 23. The center of the disc has a through hole B 1002, which is kept concentric and coaxial with the output rod 1 and is used to place the rolling bearing 6. The outer side of the rolling bearing 6 is fixed by the support frame 5. The center of the support frame 5 has a through hole A 503, which is used to lead out the output rod 1. The ends of the two support angles have threaded holes A 501 and threaded holes B 502, which are respectively fixed to the threaded holes G 2701 and threaded holes H 2702 on the base 27. The center of the base 27 has a through hole I 2704 is used to lead out the adjustment rod 28 and keep it concentric and coaxial. The base 27 has a central arc step 2703 for placing the stator 11. The stator 11 is provided with threaded holes D 1102 on both sides of the outer circumference to fix the stator end cover 10. Six I-shaped coil skeletons are evenly distributed on the inner circumference, and coil windings are wound respectively. The coil windings are led out through the stator threading hole C1101. The front section of the stator 11 is respectively arranged with a powered slip ring 7 and a cooling fan 8, which are kept concentric and coaxial with the height of the output rod 1.

[0043] The internal rotor structure of the stator includes a countersunk nut 12, a rotor end cover 13, an I-shaped coil frame 14, an arc-shaped permanent magnet 15, a rotor housing 16, a magnetic isolation tube 17, a magnetic yoke tube 18, a disc spring 19, a magnetic guide ring 20, a solenoid coil frame 21, a Hall sensor 22, a solenoid coil 23, a heat dissipation water jacket 24, a giant magnetostrictive rod 25, a gasket 26, a base 27, and an adjustment rod 28. The rotor end cover 13 is a disc-shaped structure, and 6 threaded holes E 1302 are evenly arranged on the outside. It is fixed to the rotor housing 16 by countersunk screws 12. A circular through hole C 1301 with a threaded structure is arranged at the center and is fixed to the threaded shaft B 2802 on the adjustment rod 28. It is concentric and coaxial with the output rod. In addition, a rotor threading hole D 1303 is provided to lead out the solenoid coil 23. The rotor housing 16 includes 6 convex strips, 12 threaded holes F, a keyway A 1603 and a through hole D 1604, 12 threaded holes F are connected to the two rotor end covers 13 through countersunk screws 12, and an arc-shaped permanent magnet 15 is inserted between each two convex strips. The magnetic isolation tube 17 is installed in the through hole D 1604 of the rotor housing 16. The outer surface of the magnetic isolation tube 17 is tightly fitted with the inner surface of the rotor housing 16. The key shaft C 1701 of the magnetic isolation tube 17 is inserted into the key groove A 1603 of the rotor housing 16 to maintain coaxiality. Both ends of the magnetic isolation tube 17 are connected to the rotor end cover (13). The yoke tube 18 is cylindrical, and the outer surface is provided with a key shaft D 1801, which is tightly fitted with the key groove B 1703 on the inner surface of the magnetic isolation tube 17. It is installed in the through hole E 1702 of the magnetic isolation tube 17. The coil skeleton 21 is installed inside the through hole G 1805 of the yoke tube 18 and maintains coaxiality. The key shaft E 2103 is provided on both sides to maintain coaxiality with the key groove D 1703 of the yoke tube 18. 1804 is fitted and fixed, the coil skeleton 21 is arranged with a keyway E 2101 which fits with the keyway C 1802 of the yoke tube 18 to form a threading hole for the internal solenoid coil, the end of the yoke tube 18 is arranged with a through hole F 1803 for leading out the adjusting rod 28, the front end 2801 of the adjusting rod is connected to the gasket B, and the rear section is provided with a threaded shaft 2802 which cooperates with the through hole C 1301 on the rotor end cover 13, one end of the coil skeleton 21 is connected to the rotor end cover 13, and the other end is connected to the magnetic conductive ring 20, the solenoid coil 23 is wound on the coil skeleton 21, one end of the disc spring 19 is connected to the rotor end cover 13, and the other end is connected to the magnetic conductive ring 20. The gasket B 26 is placed at both ends of the giant magnetostrictive rod 25. The giant magnetostrictive rod 25 is made of rare earth giant magnetostrictive material and has a positive magnetostrictive effect. It is installed in the central through hole H 2102 of the coil skeleton 21 and keeps coaxial. One side of the magnetic ring 20 is close to the coil skeleton and the other side is close to the disc spring 19. The disc spring 19 is installed between the magnetic ring 20 and the rotor front end cover 13.

[0044] Implementation process:

[0045] Rotation part operation steps:

[0046] (1) For the convenience of description, the six I-shaped coil skeletons 14 are named 1401, 1402, 1403, 1404, 1405 and 1406 in clockwise order. First, current is simultaneously passed through the coil windings on the I-shaped coil skeletons 1401 and 1404 in the stator 11, and the current of the coil winding on the I-shaped coil skeleton 1401 is set to I1 and the current of the coil winding on the I-shaped coil skeleton 1404 is set to I4, and the two currents are equal in magnitude and opposite in direction, that is, I1 = -I4;

[0047] (2) After time T1, current is simultaneously passed through the coil windings on the I-shaped coil frame 1402 and 1405, wherein the current of the coil winding on the I-shaped coil frame 1402 is I2 and the current of the coil winding on the I-shaped coil frame 1405 is I5, and the two currents are kept equal and opposite in direction, that is, I1=I2=-I4=-I5;

[0048] (3) After time T2, current is simultaneously passed through the windings on the I-shaped coil frame 1403 and 1406, wherein the current passed through the coil winding on the I-shaped coil frame 1403 is I3 and the current passed through the coil winding on the I-shaped coil frame 1406 is I6, and the two currents are kept equal in magnitude and opposite in direction, that is, I3 = I2 = I1 = -I4 = -I5 = -I6;

[0049] (4) Finally, the above steps are repeatedly performed to realize high-speed rotation of the rotor inside the grinding mechanism, thereby maintaining the high-speed rotation of the output rod 1, thereby driving the high-speed rotation of the grinding wheel mechanism. The purpose of speed regulation can be achieved by adjusting the size of T1 and T2.

[0050] Working principle:

[0051] When three-phase current is passed through the coil winding on the I-shaped coil frame in the stator 11, a rotating magnetic field will be formed in the stator 11 winding. Since six arc-shaped permanent magnets 15 are installed on the rotor housing 16, the magnetic poles of the permanent magnets are fixed. According to the principle that like poles attract and opposite poles repel, the rotor will be subjected to a torque, and the torque is the product of F and the rotor diameter D, where F is the attraction of the rotor to the rotating magnetic field. The rotating magnetic field generated in the stator 11 will drive the internal rotor to rotate, and finally the rotation speed of the rotor will be equal to the rotation speed of the rotating magnetic poles generated in the stator. Since the power-on time of the coil winding has a certain time interval, it can ensure that the rotor continues to rotate at a certain speed, and the rotation speed of the rotor can be changed by adjusting the power-on time interval, so as to realize the high-speed rotation and speed regulation of the grinding mechanism.

[0052] Direct-acting part operation steps and working principle:

[0053] A current I is passed through the solenoid coil 23 inside the rotor. Z , so that the solenoid coil 23 forms an energized solenoid, and an axial magnetic field H is excited inside it. Due to the positive magnetostrictive effect of the giant magnetostrictive rod 25, under the action of the magnetic field intensity H, the giant magnetostrictive rod 25 will be elongated and deformed, pushing the output rod 1 to compress the disc spring 19, so that the output rod 1 produces an output displacement, forming a linear motion. By adjusting the current I Z The value of φ can control the size of the generated magnetic field H, and the elongation of the giant magnetostrictive rod 25 can be adjusted to achieve the linear displacement of the output rod 1, thereby driving the precise linear displacement control of the grinding wheel grinding mechanism.

[0054] Force sensing principle:

[0055] A Hall sensor 22 is placed at a certain point of the magnetic field excited by the internal rotor solenoid coil 23 and led out through the rotor threading holes of each component. It can measure the voltage and current changes in the mechanism in real time. Through corresponding conversion and transformation, it can be used to measure the size of its pressure and rotation speed, thereby realizing the precise perception function of force and rotation speed.

[0056] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An ultra-precision grinding drive platform with force sensing function, comprising an output rod (1), a hexagonal nut (2), a grinding wheel (3), a gasket A (4), a support frame (5), a rolling bearing (6), an energized slip ring (7), a cooling fan (8), a pre-tightening screw (9), a stator end cover (10), a stator (11), a countersunk screw (12), a rotor end cover (13), an I-shaped coil skeleton (14), an arc-shaped permanent magnet (15), a rotor housing (16), a magnetic isolation cylinder (17), a magnetic yoke cylinder (18), a disc spring (19), a magnetic conductive ring (20), a solenoid coil skeleton (21), a Hall sensor (22), a solenoid coil (23), a cooling water jacket (24), a giant magnetostrictive rod (25), a gasket B (26), a base (27), and an adjustment rod (28), characterized in that: The output rod (1) is in the form of a stepped rod, with a threaded shaft A (101) evenly arranged at the top thereof. The grinding wheel (3) and the gasket A (4) are fixed to the output rod (1) by a hexagonal nut (2) and kept coaxial. The key shaft A (102) on the output rod (1) is used to lock the grinding wheel (3) and the gasket A (4) to achieve the purpose of synchronous speed. The stator end cover (10) is in the form of a disc, with 6 threaded holes C evenly arranged on the periphery of the stator end cover (10), which is fixed to the stator (11) by a pre-tightening screw (9). A threading hole B (1003) is arranged on the inner side of the disc for leading out the solenoid coil (23). The disc has a through hole B (1002) at the center, which is kept coaxial with the output rod (1). The invention is used for placing a rolling bearing (6); the internal rotor structure of the stator (11) comprises a countersunk screw (12), a rotor end cover (13), an I-shaped coil frame (14), an arc-shaped permanent magnet (15), a rotor housing (16), a magnetic isolation cylinder (17), a magnetic yoke cylinder (18), a disc spring (19), a magnetic conductive ring (20), a solenoid coil frame (21), a Hall sensor (22), a solenoid coil (23), a heat dissipation water jacket (24), a giant magnetostrictive rod (25), a gasket B (26), a base (27), and an adjustment rod (28); the rotor housing (16) comprises 6 convex strips, 12 threaded holes F, a keyway A (1603), and a through hole D (1604); the 12 threaded holes F are connected by countersunk screws (12), a keyway A (1603), and a through hole D (1604); The head screw (12) is connected to the rotor end cover (13), and an arc-shaped permanent magnet (15) is inserted between every two convex strips; the magnetic isolation tube (17) is installed in the through hole D (1604) of the rotor housing (16), the outer surface of the magnetic isolation tube (17) is tightly fitted with the inner surface of the rotor housing (16), and the key shaft C (1701) of the magnetic isolation tube (17) is inserted into the key groove A (1603) of the rotor housing (16) to maintain coaxiality; the solenoid coil skeleton (21) is installed in the through hole G (1805) of the yoke tube (18) and maintains coaxiality, and key shafts E (2103) are provided on both sides to fit and fix with the key groove D (1804) of the yoke tube (18), and the key groove E ( 2101) is fitted with a keyway C (1802) of a yoke tube (18) to form a threading hole for a solenoid coil. A through hole F (1803) is arranged at the end of the yoke tube (18) for leading out an adjustment rod (28). The front end (2801) of the adjustment rod is connected to a gasket B (26). The rear end is provided with a threaded shaft B (2802) which is matched with a through hole C (1301) on a rotor end cover (13). One end of the solenoid coil skeleton (21) is connected to the rotor end cover (13), and the other end is connected to a magnetic conductive ring (20). The giant magnetostrictive rod (25) is made of a rare earth giant magnetostrictive material and has a positive magnetostrictive effect. It is installed in the central through hole H (2102) of the solenoid coil skeleton (21) and is kept coaxial.

2. A control method for an ultra-precision grinding drive platform with force sensing function, the control method being applied to the platform of claim 1, comprising the following steps: S1: Divide the coil windings on the six I-shaped coil frames in the stator into three groups evenly, pass current through the two coil windings in the first group, and set the currents to I1 and I4, and the currents of the two are equal in magnitude and opposite in direction, that is, I1 = -I4; S2: After time T1, current is passed through the second set of two coil windings, and the currents are set to I2 and I5, and the two currents are kept equal and opposite in direction, that is, I1=I2=-I4=-I5; S3: After time T2, current is passed through the two coil windings of the third group, and the currents are set to I3 and I6, keeping the two currents equal in magnitude and opposite in direction, that is, I3 = I2 = I1 = -I4 = -I5 = -I6; S4: Repeat the above steps to realize the high-speed rotation of the rotor inside the grinding mechanism, thereby maintaining the high-speed rotation of the output rod, thereby driving the high-speed rotation of the grinding wheel mechanism, and achieving the purpose of speed regulation by adjusting the values ​​of T1 and T2; S5: Current I is passed through the solenoid coil inside the rotor Z , so that the solenoid coil forms an energized solenoid, and an axial magnetic field H is excited inside it; S6: By adjusting the current I Z The value controls the size of the generated magnetic field H, which can adjust the elongation of the giant magnetostrictive rod, realize the linear displacement of the output rod, and drive the precise linear displacement control of the grinding wheel grinding mechanism; S7: Place a Hall sensor at a certain point in the magnetic field excited by the solenoid coil inside the rotor, lead it out through the rotor threading hole of the component, and measure the voltage and current changes in the mechanism in real time. Through corresponding conversion, it can be used to measure the size of its pressure and rotation speed, thereby realizing the precise perception function of force and rotation speed.

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