An ultra-high-speed active vibration reduction gantry and control system

Abstract

The application relates to a super-high-speed active vibration reduction gantry, which comprises a rack, a workbench arranged on the rack, shaft bodies arranged on two sides of the workbench, a group of linear sliding rails arranged on each shaft body, a Y-axis vibration reduction linear motion module arranged on the outer side of the shaft body, the Y-axis vibration reduction linear motion module comprising a Y-axis motor stator, a Y-axis motor rotor and a magnetic plate counterweight damping structure, the magnetic plate counterweight damping structure comprising a floating counterweight unit and a magnetic damping spring, the floating counterweight unit being connected with the Y-axis motor rotor, the magnetic damping spring being connected with the floating counterweight unit and the workbench respectively, and an X-axis linear motion module being slidingly arranged on the linear sliding rails at both ends. The Y-axis vibration reduction linear motion module is arranged in the gantry, the impact vibration caused by acceleration and deceleration of the Y-axis motor rotor to the equipment is reduced, the equipment can run at a speed of more than 5G without vibration, the equipment runs more stably, the transmission precision of the equipment is improved, and the dependence of the motion module on the weight of the rack during high-speed running is reduced.

Description

Technical Field

[0001] This invention relates to the field of gantry technology, and in particular to an ultra-high-speed active vibration reduction gantry and its control system. Background Technology

[0002] A linear motor module is a transmission device that directly converts electrical energy into linear motion mechanical energy without the need for an intermediate conversion mechanism. Due to its simple structure, high positioning accuracy, and fast response speed, linear motor modules are widely used in the machinery industry. In conventional applications, the stator of a linear motor is locked to the base plate of the equipment, and the mover coil is supported by a guide rail slider for reciprocating motion. In some applications with high loads, high acceleration, and short strokes, the impact during load acceleration and deceleration directly affects the equipment platform, causing vibration and limiting the platform's speed and accuracy. During operation, vibrations from the motion module are transmitted to the ground through the frame. The higher the acceleration of the motion unit, the greater the vibration on the frame itself, affecting the equipment's accuracy. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the high-speed operation of the motion unit of the gantry in the prior art causes vibration to the equipment itself, resulting in a reduction in the accuracy of the equipment. The present invention provides an ultra-high speed active vibration reduction gantry and control system. By setting a Y-axis vibration reduction linear motion module in the gantry, it can run at a high speed of 5G or above without generating vibration, thereby making the equipment run more smoothly and improving the transmission accuracy of the equipment.

[0004] In a first aspect, to solve the above-mentioned technical problems, the present invention provides an ultra-high-speed active vibration reduction gantry, comprising: frame; A worktable is mounted on the frame, and shafts are provided on both sides of the worktable. Each shaft is provided with a set of linear slide rails. A Y-axis vibration-damping linear motion module is disposed on the outside of the axis body. The Y-axis vibration-damping linear motion module includes a Y-axis motor stator, a Y-axis motor mover, and a magnetic plate counterweight damping structure. The Y-axis motor stator and Y-axis motor mover are configured to cooperate with each other. The magnetic plate counterweight damping structure includes a floating counterweight unit and a magnetic damping spring. The floating counterweight unit is connected to the Y-axis motor mover, and the magnetic damping spring is connected to both the floating counterweight unit and the worktable. The X-axis linear motion module has its two ends slidably mounted on the linear guide rail and connected to the Y-axis motor mover, which drives it to move horizontally in the Y-axis direction.

[0005] In one embodiment of the present invention, the floating counterweight unit includes a first floating counterweight block and a second floating counterweight block, wherein the first floating counterweight block is disposed at the bottom of the Y-axis motor stator and the second floating counterweight block is disposed on the side of the Y-axis motor stator.

[0006] In one embodiment of the present invention, the magnetic plate counterweight damping structure further includes a floating guide rail, which is fixedly connected to the worktable, and the bottom of the first floating counterweight is provided with a slider adapted to the floating guide rail.

[0007] In one embodiment of the present invention, the magnetic damping spring includes a magnetic damping A spring, a magnetic damping B spring, a first magnet, a second magnet, and a magnetic damping plate. The magnetic damping A spring and the magnetic damping B spring are arranged opposite to each other. The first magnet is disposed on the inner sidewall of the magnetic damping A spring, and the second magnet is disposed on the inner sidewall of the magnetic damping B spring. The first magnet and the second magnet have opposite magnetic properties and are arranged parallel to each other. The magnetic damping plate is inserted between the first magnet and the second magnet and can reciprocate within the cavity formed by the magnetic damping A spring and the magnetic damping B spring. The two ends of the magnetic damping plate are respectively connected to a first floating counterweight, the magnetic damping A spring is connected to a second floating counterweight, and the magnetic damping B spring is connected to a worktable.

[0008] In one embodiment of the present invention, the elastic coefficient between the magnetic damping spring A and the damping spring B is adjusted by adjusting the distance between the magnetic damping spring A and the damping spring B.

[0009] In one embodiment of the present invention, the first magnet includes multiple neodymium boron magnets NNSS, and the second magnet includes multiple neodymium boron magnets SSNN, wherein the number of neodymium boron magnets NNSS and SSNN is proportional to the stroke of the damping spring.

[0010] In one embodiment of the present invention, hydraulic dampers are provided at both ends of the linear slide rail.

[0011] In one embodiment of the present invention, both the Y-axis vibration-damping linear motion module and the X-axis linear motion module are provided with drag chain mounting brackets, and the drag chain mounting brackets are provided with drag chain shock-absorbing pads.

[0012] In one embodiment of the present invention, a frame shock-absorbing pad is provided between the frame and the workbench; the bottom of the frame is also provided with casters, and a caster shock-absorbing pad is provided between the casters and the frame.

[0013] In one embodiment of the present invention, a protective cover block is also provided on the outer side of the Y-axis vibration reduction linear motion module.

[0014] Secondly, in order to solve the above-mentioned technical problems, the present invention also provides a control system for an ultra-high-speed active vibration reduction gantry, comprising: The main encoder is connected to the Y-axis motor mover of the Y-axis vibration reduction linear motion module and is used for the position control loop to detect the relative displacement between the Y-axis motor mover and the Y-axis motor stator, thereby controlling the load position when the Y-axis motor stator floats. The secondary encoder is connected to the Y-axis motor mover of the Y-axis vibration reduction linear motion module. It is used for the motor current control loop to detect the relative displacement between the Y-axis motor mover and the worktable and to analyze and compensate for the electrical angle change when the Y-axis motor stator floats.

[0015] Compared with the prior art, the above-described technical solution of the present invention has the following advantages: The present invention discloses an ultra-high-speed active vibration-damping gantry and control system. By setting a Y-axis vibration-damping linear motion module in the gantry, when the Y-axis motor mover advances rapidly, the reverse thrust generated on the Y-axis motor stator is absorbed by a floating counterweight unit connected to the Y-axis stator. This converts the kinetic energy generated by the reaction force between the Y-axis motor mover and stator of the Y-axis vibration-damping linear motion module into the elastic potential energy of a magnetic damping spring. This actively reduces the impact vibration on the equipment during the mover's acceleration and deceleration, enabling high-speed operation above 5G without vibration. This makes the equipment run more smoothly and improves the transmission accuracy. It also reduces the dependence of the motion module on the weight of the frame itself during high-speed operation. Furthermore, the elastic force of the magnetic damping spring does not fluctuate significantly due to changes in stroke. It possesses both elastic and tensile forces and can automatically return to zero, breaking through the limitation of existing mechanical springs that can only generate unidirectional elastic or tensile forces, and has a long service life. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the structure of the ultra-high-speed active vibration reduction gantry in a preferred embodiment of the present invention; Figure 2 yes Figure 1 The diagram shows another angle of the ultra-high-speed active vibration reduction gantry. Figure 3 yes Figure 1 The diagram shows the structure of the first floating counterweight, magnetic damping spring, and floating guide rail of the ultra-high-speed active vibration reduction gantry. Figure 4 yes Figure 1 The diagram shows the structure of the magnetic damping spring in the ultra-high-speed active vibration reduction gantry. Figure 5 for Figure 1 The diagram shows the structure of the ultra-high-speed active vibration reduction gantry and the main encoder and auxiliary encoder. Explanation of reference numerals in the accompanying drawings: 1. Frame; 2. Worktable; 21. Shaft; 22. Linear slide rail; 23. Hydraulic damper; 3. Y-axis vibration reduction linear motion module; 31. Y-axis motor stator; 32. Y-axis motor mover; 33. Floating counterweight unit; 331. First floating counterweight block; 332. Second floating counterweight block; 34. Magnetic damping spring; 341. Magnetic damping A spring; 342. Magnetic damping B spring; 343. First magnet; 344. Second magnet; 345. Magnetic damping plate; 35. Floating guide rail; 4. X-axis linear module; 41. X-axis motor stator; 42. X-axis motor mover; 43. X-axis slide table; 5. Cable carrier mounting bracket; 6. Cable carrier vibration damping pad; 7. Frame vibration damping pad; 8. Caster; 9. Caster vibration damping pad; 100. Main encoder; 200. Auxiliary encoder. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention. Example 1

[0019] Reference Figure 1-2The ultra-high-speed active vibration-damping gantry shown includes: a frame 1; a worktable 2, mounted on the frame 1, with shafts 21 on both sides of the worktable 2, each shaft 21 having a set of linear guide rails 22; and a Y-axis vibration-damping linear motion module 3, mounted on the outside of the shafts 21. The Y-axis vibration-damping linear motion module 3 includes a Y-axis motor stator 31, a Y-axis motor mover 32, and a magnetic plate counterweight damping structure. The Y-axis motor stator 31 and the Y-axis motor mover 32 are configured to cooperate. The magnetic plate counterweight damping structure includes a floating counterweight unit 33 and a magnetic damping spring 34. The floating counterweight unit 33 is connected to the Y-axis motor mover 32, and the magnetic damping spring 34 is connected to both the floating counterweight unit 33 and the worktable 2. The Y-axis motor stator 31 is equipped with a magnet, and the Y-axis motor mover 32... A coil is installed on the top. When the coil is energized, an electromagnetic force is generated between the Y-axis motor stator 31 and the Y-axis motor mover 32, pushing the Y-axis motor mover 32 to move. When the Y-axis motor mover 32 accelerates or decelerates, a reaction force is generated between the Y-axis motor stator 31 and the Y-axis motor mover 32, pushing the Y-axis motor stator 31 to move. When the Y-axis motor stator 31 moves, it drives the floating counterweight unit 33 to slide. The floating counterweight unit 33 counteracts the reverse pushing force generated from the Y-axis motor mover 32. When the floating counterweight unit 33 slides, it can drive the magnetic damping spring 34 to be stretched or compressed. In this way, the kinetic energy generated by the reaction force between the Y-axis motor mover 32 and the Y-axis motor stator 31 is converted into the elastic potential energy of the magnetic damping spring 34, which actively reduces the impact vibration caused to the frame 1 when the Y-axis motor mover 32 accelerates or decelerates. The X-axis linear motion module 4 has its two ends slidably mounted on the linear slide rail 22 and connected to the Y-axis motor mover 32, which drives it to move horizontally in the Y-axis direction. The X-axis linear module 4 includes an X-axis motor stator 41, an X-axis motor mover 42, and an X-axis slide 43, with the X-axis slide 43 connected to the X-axis motor mover 42. The working principle of the X-axis motor stator 41 and the X-axis motor mover 42 is the same as that of the Y-axis motor stator 31 and the Y-axis motor mover 32.

[0020] Preferably, the floating counterweight unit 33 includes a first floating counterweight block 331 and a second floating counterweight block 332. The first floating counterweight block 331 is disposed at the bottom of the Y-axis motor stator 31, and the second floating counterweight block 332 is disposed on the side of the Y-axis motor stator 31. The magnetic plate counterweight damping structure also includes a floating guide rail 35, which is fixedly connected to the worktable 2. The bottom of the first floating counterweight block 331 is provided with a slider adapted to the floating guide rail 35. When the motor is running, the stator of the motor will generate a large instantaneous reaction force when the motor mover moves forward at high acceleration. This reaction force will be transmitted to the equipment frame 1 or even the outside, affecting the accuracy and speed of the entire equipment. In this embodiment, when the Y-axis motor mover 32 moves forward quickly, the reverse thrust generated on the Y-axis motor stator 31 will be absorbed by the floating counterweight unit 33 connected to the Y-axis motor stator 31. Moreover, the floating counterweight unit 33 is floatingly installed through the floating guide rail 35 and together with the magnetic damping spring 34, it absorbs energy and provides counterweight. When the load accelerates or decelerates, the impact is converted into the kinetic energy of the magnetic plate counterweight damping structure, which can greatly reduce the impact on the overall equipment.

[0021] like Figure 4 As shown, the magnetic damping spring 34 includes a magnetic damping A spring 341, a magnetic damping B spring 342, a first magnet 343, a second magnet 344, and a magnetic damping plate 345. The magnetic damping A spring 341 and the magnetic damping B spring 342 are arranged opposite to each other. The elastic coefficient between the magnetic damping A spring 341 and the magnetic damping B spring 342 is adjusted by adjusting the distance between the magnetic damping A spring 341 and the magnetic damping B spring 342. The first magnet 343 is disposed on the inner sidewall of the magnetic damping A spring 341, and the second magnet 344 is disposed on the inner sidewall of the magnetic damping B spring 342. The first magnet 343 and the second magnet 344 have opposite magnetic properties and are arranged in parallel. The magnetic damping plate 345 is inserted between the first magnet 343 and the second magnet 344 and can reciprocate within the cavity formed by the magnetic damping A spring 341 and the magnetic damping B spring 342. The magnetic damping plate 345 is connected to the first floating counterweight 331 at both ends, the magnetic damping A spring 341 is connected to the second floating counterweight 332, and the magnetic damping B spring 342 is connected to the worktable 2.

[0022] The elastic coefficient between the magnetic damping A spring 341 and the magnetic damping B spring is adjusted by changing the distance between them.

[0023] In this embodiment, the first magnet 343 includes multiple neodymium boron magnets NNSS, and the second magnet 344 includes multiple neodymium boron magnets SSNN. The number of neodymium boron magnets NNSS and SSNN is proportional to the stroke of the magnetic damping spring 34.

[0024] Furthermore, both ends of the linear slide rail 22 are provided with hydraulic buffers 23.

[0025] Furthermore, both the Y-axis vibration damping linear motion module 3 and the X-axis linear motion module 4 are equipped with a cable chain mounting bracket 5, and the cable chain mounting bracket 5 is equipped with a cable chain vibration damping pad 6.

[0026] Furthermore, a frame shock-absorbing pad 7 is provided between the frame 1 and the workbench 2; a caster 8 is also provided at the bottom of the frame 1, and a caster shock-absorbing pad 9 is provided between the caster 8 and the frame 1.

[0027] Furthermore, a protective cover block 10 is provided on the outer side of the Y-axis vibration reduction linear motion module 3. Example 2

[0028] Based on the structure of the ultra-high-speed active vibration-damping gantry in Embodiment 1, this invention also provides a control system, including: a main encoder 100, connected to the Y-axis motor mover 32 of the Y-axis vibration-damping linear motion module 3, used for a position control loop to detect the relative displacement between the Y-axis motor mover 32 and the Y-axis motor stator 31, thereby controlling the load position when the Y-axis motor stator 31 floats; and a secondary encoder 200, connected to the Y-axis motor mover 32 of the Y-axis vibration-damping linear motion module 3, used for a motor current control loop to detect the relative displacement between the Y-axis motor mover 32 and the worktable 2, and analyze and compensate for the electrical angle change when the Y-axis motor stator floats, such as... Figure 5 As shown.

[0029] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A high-speed active vibration reduction gantry crane, characterized in that: include: frame; A worktable is mounted on the frame, and shafts are provided on both sides of the worktable. Each shaft is provided with a set of linear slide rails. A Y-axis vibration-damping linear motion module is disposed on the outside of the axis body. The Y-axis vibration-damping linear motion module includes a Y-axis motor stator, a Y-axis motor mover, and a magnetic plate counterweight damping structure. The Y-axis motor stator and Y-axis motor mover are configured to cooperate with each other. The magnetic plate counterweight damping structure includes a floating counterweight unit and a magnetic damping spring. The floating counterweight unit is connected to the Y-axis motor mover, and the magnetic damping spring is connected to both the floating counterweight unit and the worktable. The X-axis linear motion module has its two ends slidably mounted on the linear slide rail and connected to the Y-axis motor mover, which drives it to move horizontally in the Y-axis direction. The floating counterweight unit includes a first floating counterweight block and a second floating counterweight block. The first floating counterweight block is disposed at the bottom of the Y-axis motor stator, and the second floating counterweight block is disposed on the side of the Y-axis motor stator. The magnetic plate counterweight damping structure also includes a floating guide rail, which is fixedly connected to the worktable. The bottom of the first floating counterweight is provided with a slider that is adapted to the floating guide rail. The magnetic damping spring includes a magnetic damping A spring, a magnetic damping B spring, a first magnet, a second magnet, and a magnetic damping plate. The magnetic damping A spring and the magnetic damping B spring are arranged opposite to each other. The first magnet is disposed on the inner sidewall of the magnetic damping A spring, and the second magnet is disposed on the inner sidewall of the magnetic damping B spring. The first magnet and the second magnet have opposite magnetic properties and are arranged parallel to each other. The magnetic damping plate is inserted between the first magnet and the second magnet and can reciprocate within the cavity formed by the magnetic damping A spring and the magnetic damping B spring. The two ends of the magnetic damping plate are respectively connected to a first floating counterweight, the magnetic damping A spring is connected to a second floating counterweight, and the magnetic damping B spring is connected to a worktable.

2. The ultra-high-speed active vibration reduction gantry according to claim 1, characterized in that: The elastic coefficient between the magnetic damping spring A and the magnetic damping spring B is achieved by adjusting the distance between them.

3. The ultra-high-speed active vibration reduction gantry according to claim 1, characterized in that: The first magnet includes multiple neodymium boron magnets NNSS, and the second magnet includes multiple neodymium boron magnets SSNN. The number of neodymium boron magnets NNSS and SSNN is proportional to the stroke of the damping spring. Both ends of the linear slide rail are provided with hydraulic buffers.

4. The ultra-high-speed active vibration reduction gantry according to claim 1, characterized in that: Both the Y-axis vibration-damping linear motion module and the X-axis linear motion module are equipped with cable chain mounting brackets, and the cable chain mounting brackets are equipped with cable chain vibration damping pads.

5. The ultra-high-speed active vibration reduction gantry according to claim 1, characterized in that: A frame shock-absorbing pad is provided between the frame and the workbench; the bottom of the frame is also provided with casters, and a caster shock-absorbing pad is provided between the casters and the frame.

6. The ultra-high-speed active vibration reduction gantry according to claim 1, characterized in that: The outer side of the Y-axis vibration reduction linear motion module is also equipped with a protective cover block.

7. A control system for an ultra-high-speed active vibration reduction gantry as described in any one of claims 1-6, characterized in that: include: The main encoder is connected to the Y-axis motor mover of the Y-axis vibration reduction linear motion module and is used for the position control loop to detect the relative displacement between the Y-axis motor mover and the Y-axis motor stator, thereby controlling the load position when the Y-axis motor stator floats. The secondary encoder is connected to the Y-axis motor mover of the Y-axis vibration reduction linear motion module. It is used for the motor current control loop to detect the relative displacement between the Y-axis motor mover and the worktable and to analyze and compensate for the electrical angle change when the Y-axis motor stator floats.

Images