Intelligent magneto-rheological track for robot-assisted machining and application of intelligent magneto-rheological track

Abstract

The invention discloses an intelligent magneto-rheological track for robot-assisted machining and application thereof, and the intelligent magneto-rheological track comprises a magneto-rheological unit module which is made of a magneto-rheological material, the magneto-rheological material is packaged in a flexible film, and a coil unit for generating a magnetic field is wound outside the flexible film; and the track control system can control the magnetic field size and the magnetic field distribution of each position of the magnetorheological unit module according to the corresponding relation of the appearance, the shape and the magnetic field of the magnetorheological unit module, and the magnetorheological unit module is adjusted to have the required appearance and the required shape. The magnetic field of the magneto-rheological unit module is regulated and controlled, so that the magneto-rheological unit module can have the rigidity required by operation and operation of the robot, and the magneto-rheological unit module can be regulated to be in the set shape and shape, so that the magneto-rheological unit module can adapt to working faces of various different shapes and different robots; and the robot can be used for machining in large-curvature areas such as aircraft surface skins and narrow space scenes such as air inlet channels.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot-assisted machining, and particularly relates to an intelligent magnetorheological track for robot-assisted machining and its application. Background Art

[0002] During the aircraft structure assembly process, a large number of connection holes need to be drilled. Currently, manual, machine tool, robotic arm robot, etc. are mainly used for drilling. However, there are some areas with narrow operating spaces in aircraft components (such as inside the intake duct), where machine tools and robotic arm robots cannot enter to drill holes, and only manual drilling can be carried out. However, when operators drill holes in this narrow area, there are problems such as difficult operation and difficult to guarantee the drilling quality. For drilling holes in narrow spaces of aircraft components, the application of drilling robots is becoming more and more extensive. Drilling robots need to rely on fixed tracks and use drill bushes on the fixed tracks for drilling guidance. However, fixed tracks are heavy, and the processing and installation of drill bushes are time-consuming and laborious. They can only be applied to single working conditions, and there are problems such as non-adjustable stiffness, high processing costs, and long work preparation cycles, which to a certain extent restrict the application of drilling robots.

[0003] The aircraft intake duct is a high radar reflection area, and strict requirements are imposed on the film thickness and uniformity of the radar-absorbing coating, which directly affects the stealth ability of the aircraft. The traditional spraying of aircraft intake ducts adopts manual spraying methods, which have problems such as poor quality stability, frequent rework, and low spraying efficiency, and cannot meet the production and repair requirements. Using spraying robots can solve the problem of spraying quality, but the movement of spraying robots often relies on fixed tracks and cannot be applied to the spraying processing of aircraft intake ducts, restricting the application of spraying robots in the processing of aircraft intake ducts.

[0004] Currently, the tracks applied to robot-assisted machining mainly use the following materials: Aluminum alloy; applied to application scenarios that require light weight, corrosion resistance, and certain strength. It is light in weight, has good weather resistance, and excellent processing performance, and is suitable for making flexible track systems that need to be moved frequently or have aesthetic requirements; however, each complex curved surface needs to be manufactured and processed separately, and the cost is relatively high.

[0005] Stainless steel; suitable for outdoor, humid, or corrosive gas environments; however, stainless steel is heavy in weight, bulky in structure, and has a relatively long production preparation cycle.

[0006] Composite materials; such as carbon fiber or glass fiber-reinforced composite materials, which have high strength, low weight, and good fatigue resistance, and are suitable for flexible track applications that are sensitive to weight or require extremely high strength; however, composite materials have large forming deformations and it is difficult to achieve good fitting with complex product surfaces.

[0007] Flexible metal mesh or metal strip; for tracks that require high flexibility and bendability, the metal mesh or metal strip can provide the necessary flexibility. Such materials are usually suitable for track systems that need to be arranged along complex paths, but the flexible metal mesh or metal strip has low stiffness and cannot support the robot to complete hole-making and spraying operations. Summary of the Invention

[0008] The purpose of the present invention is to provide an intelligent magnetorheological track for robot-assisted machining and its application, so as to solve the problem that robots cannot be applied to machining in scenarios such as narrow operation spaces in aircraft components.

[0009] The present invention is realized through the following technical solutions: An intelligent magnetorheological track for robot-assisted machining, comprising: A magnetorheological unit module, using magnetorheological materials, the magnetorheological materials are encapsulated in a flexible film, and a coil unit for generating a magnetic field is wound outside the flexible film; A track control system, which can control the magnetic field magnitude and magnetic field distribution at each position of the magnetorheological unit module according to the correspondence between the shape, form and magnetic field of the magnetorheological unit module, and adjust the magnetorheological unit module to have the required shape, form.

[0010] In some embodiments, the track control system can generate control parameters for adjusting the shape of each magnetorheological unit module according to the shape data of the working surface of the machined part, so that the shape of the magnetorheological unit module can be adjusted to match the working surface.

[0011] In some embodiments, the track control system can generate control parameters for adjusting the shape of each magnetorheological unit module according to the driving wheel parameters of the robot, so that the shape of the magnetorheological unit module can be adjusted to match the driving wheel.

[0012] In some embodiments, the track control system can adjust the magnetic field magnitude of the magnetorheological unit modules at different working positions according to the requirements of the robot for the track stiffness at different working positions.

[0013] In some embodiments, the magnetorheological unit module includes a control unit, and the control unit is used to receive the control instructions of the track control system, control the magnitude and direction of the current of the coil unit, and control the magnetic field magnitude and magnetic field distribution at each position of the magnetorheological unit module.

[0014] In some embodiments, a protective film is coated outside the coil unit.

[0015] In some embodiments, the magnetorheological unit module includes a connecting unit, and the connecting unit is used to fixedly connect the magnetorheological unit module to the working surface.

[0016] On the other hand, the present invention also relates to the application of the intelligent magnetorheological track in robot-assisted machining.

[0017] In some embodiments, the steps of the application of the intelligent magnetorheological track in robot-assisted machining include: Obtain the contour data of the working surface of the machining part and the driving wheel parameters of the robot; Generate control parameters for adjusting the shape and form of each magnetorheological unit module according to the contour data of the working surface and the driving wheel parameters; Lay the magnetorheological unit modules along the running track of the robot on the part to be machined, and adjust each magnetorheological unit module to have the required shape and form according to the generated control parameters; Fix the magnetorheological unit modules to the machining part.

[0018] In some embodiments, obtain the requirements of the robot for the track stiffness at different working positions, and adjust the magnetic field magnitude of the magnetorheological unit modules at different positions.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1) By utilizing the characteristics of the magnetorheological material, the present invention regulates the magnetic field of the magnetorheological unit modules, enabling the magnetorheological unit modules to have the stiffness required for the operation of the robot, and can adjust the magnetorheological unit modules to the set shape and form, enabling them to adapt to various working surfaces with different shapes and different robots, so that the robot can be used for machining in large curvature regions such as the aircraft skin and narrow space scenarios such as the air intake duct, expanding the application range of the robot.

[0020] 2) The track uses magnetorheological materials, realizing the lightweight design of the track and avoiding the impact of the track setting on the body structure. Using magnetorheological materials, the track has a low cost, can adapt to different machining working conditions and scenarios, has strong versatility, and reduces the machining cost.

[0021] 3) The intelligent magnetorheological track can be adjusted conformally according to the contour of the working surface, enabling the track to better adapt to the contour of the working surface, so as to adapt to the laying on various working surfaces with different shapes, ensuring that the track has a certain laying accuracy on different working surfaces to facilitate the machining operation of the robot.

[0022] 4) The intelligent magnetorheological track can adjust the stiffness at different positions of the track according to the working position of the robot and the working state of the robot, effectively improving the running stability of the robot and ensuring the machining accuracy of the robot. Description of the Drawings

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 This is the principle block diagram of the intelligent magnetorheological track in the embodiment of the present invention.

[0025] Figure 2 This is the schematic structural diagram of the magnetorheological unit module in the embodiment of the present invention.

[0026] Figure 3 This is the schematic structural diagram of the intelligent magnetorheological track in Embodiment 1 of the present invention.

[0027] Figure 4 This is the schematic structural diagram of the hole-making robot in Embodiment 1 of the present invention.

[0028] Figure 5 This is the schematic diagram of the working state of the hole-making robot on the track in Embodiment 1 of the present invention.

[0029] Figure 6 For Figure 5 the partial schematic diagram at A in

[0030] Figure 7 This is the schematic structural diagram of the intelligent magnetorheological track in Embodiment 2 of the present invention.

[0031] Figure 8 This is the schematic structural diagram of another perspective of the intelligent magnetorheological track in Embodiment 2 of the present invention.

[0032] Figure 9 This is the schematic structural diagram of the spraying robot in Embodiment 2 of the present invention.

[0033] Figure 10 This is the schematic diagram of the working state of the spraying robot on the track in Embodiment 2 of the present invention.

[0034] Wherein: 10. Track, 11. Magnetorheological unit module, 12. Coil unit, 13. Control unit, 14. Connection unit, 15. Protective film; 20. Driving wheel, 21. Hole-making robot, 22. Spraying robot; 30. Outer skin; 40. Air inlet duct. Detailed implementation manners

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention.

[0036] Magnetorheological materials are composed of micron-sized ferromagnetic or paramagnetic particles suspended in a base fluid (such as mineral oil). In the absence of a magnetic field, the particles are randomly distributed and the fluid is in a low-viscosity state; when a magnetic field is applied, the particles align along the magnetic field direction to form a chain-like structure, causing the fluid viscosity to increase sharply.

[0037] Depending on the particle type and size, base fluid properties, and additives, magnetorheological materials have different formulations to meet the requirements of specific applications. Their main properties include: 1. Strong responsiveness; the viscosity change under a magnetic field is rapid and significant; 2. Precise control; the flow characteristics of the fluid can be precisely controlled by changing the magnetic field strength; 3. Durability; compared with electro-rheological fluids, magnetorheological fluids are more stable under long-term use.

[0038] The magnetorheological fluid made of magnetorheological materials can rapidly change its fluid characteristics when a magnetic field is applied. Compared with electro-rheological fluids, the magnetic field is easier to control and has stronger penetration, making the magnetorheological fluid more suitable for applications in large or complex-shaped structures, and can rapidly return to the fluid state when the magnetic field is turned off, suitable for applications in scenarios with complex and frequently changing structures.

[0039] Currently, magnetorheological fluids have been successfully applied to automotive shock absorption systems, and they have obvious advantages in aspects such as dynamic adjustment of support or damping. Therefore, tracks using magnetorheological materials can better adapt to different load conditions, different track laying conditions, and different processing operation spaces, and can freely adjust the stiffness and shape of the track to meet the usage requirements in different application scenarios.

[0040] In some embodiments of the present invention, an intelligent magnetorheological track for robot-assisted machining is provided. Referring to Figure 1 、 Figure 2 and Figure 3 , it includes: A magnetorheological unit module 11. Referring to Figure 2 , the magnetorheological unit module 11 uses magnetorheological materials, and the magnetorheological materials are encapsulated in a flexible film, and a coil unit 12 for generating a magnetic field is wound outside the flexible film; A track control system that can control the magnetic field magnitude and magnetic field distribution at each position of the magnetorheological unit module according to the correspondence between the shape and magnetic field of the magnetorheological unit module, and adjust the magnetorheological unit module to have the required shape and form.

[0041] The outer shape of the magnetorheological unit module refers to the linear profile presented along its length direction, such as bending deformation, torsional deformation, etc. occurring along the length direction to match the curved surface shapes of different skins; the shape of the magnetorheological unit module refers to the shape of its cross-section to be able to adapt to the driving wheel walking requirements of different robots.

[0042] Referring to Figure 1 , the magnetorheological unit module is the basic unit for forming the track, and the track usually can be composed of multiple magnetorheological unit modules. The magnetorheological material encapsulated in the flexible film can change the viscosity, stiffness and morphology of the material with the change of the magnetic field, so as to adapt to the requirements of different working scenarios and robots for the track.

[0043] The coil of the coil unit is wound around the magnetorheological unit module. By controlling the magnitude of the current in the coil, different magnetic field magnitudes and magnetic field distributions are generated at different positions of the magnetorheological unit module, so that the magnetorheological unit module has different stiffnesses and morphologies.

[0044] A protective film 15 is coated outside the coil to prevent the wear of the coil and the damage to the coil caused by collision.

[0045] The magnetorheological unit module includes a control unit, which is used to receive the control instructions of the track control system, control the magnitude and direction of the current of the coil unit, and control the magnetic field magnitude and magnetic field distribution at each position of the magnetorheological unit module.

[0046] The magnetorheological unit module includes a connecting unit 14, which is used to fixedly connect the magnetorheological unit module to the working surface. The connecting unit can adopt, for example, a suction cup, a magnet or a bolt, and the suction cup, the magnet or the bolt is installed on the flexible film. Of course, in some application scenarios, the magnetorheological unit can be directly controlled to be fixedly connected to the working surface of the machine body.

[0047] The track is composed of multiple magnetorheological unit modules, and its positioning and installation on the skin and the stiffness it has provide a basis for the operation of the robot on the skin and the operation of the robot.

[0048] The intelligent magnetorheological track of this embodiment is fixedly connected to the working surface through a suction cup, a magnet or a bolt, etc. When in use, according to the measured outer shape of the outer skin and the air inlet duct, the magnetorheological unit module is installed at the accurate position, so that the magnetorheological unit module is roughly matched with the curved surface of the outer skin. The operation accuracy of the robot during hole making and spraying operations can be guaranteed by the position sensor on the robot. Therefore, the accuracy requirements for the outer shape and shape of the track are not high, and the outer shape and shape of the magnetorheological unit module do not need to be precisely controlled, as long as it can adapt to different curved surface shapes and the driving wheels of the robot. Thus, the control of the coil unit can be used to adjust the outer shape and shape of the magnetorheological unit module.

[0049] Each coil in the coil unit is independent, and the control unit can control the current magnitude of each coil to form a gradient magnetic field in the magnetorheological unit module. The magnetorheological material of the magnetorheological unit module is subjected to the action of uneven magnetic forces, and different stress distributions are formed at different positions inside the material, causing the magnetorheological unit module to generate bending deformation and torsional deformation, adjusting the shape of the magnetorheological unit module so that it can adapt to the working surfaces of different curved shapes of the skin. At the same time, the magnetorheological unit module can be made to have a fixed cross-sectional shape so that it can meet the requirements for the robot drive wheel to walk on the guide rail.

[0050] For a robot drive wheel with special requirements, in order to better meet the requirements for the robot to run stably on the guide rail, the coil unit can be energized to generate a small magnetic field, so that the magnetorheological unit module has a small hardness. Then, the robot guide wheel is used to shape the magnetorheological unit module until the cross-section of the magnetorheological unit module can fit the robot drive wheel. Then, the magnetic field magnitude is adjusted through the coil unit to adjust the magnetorheological unit module to the required stiffness. At this time, more precise control of the shape of the magnetorheological unit module can be achieved.

[0051] The coil unit is fixed on the magnetorheological unit module through an adhesive, and a protective film is coated on the outside of the magnetorheological unit module to ensure that when the shape of the magnetorheological unit module changes, the coils of the coil unit can always be attached to the surface of the magnetorheological unit module. In addition, the track is composed of a combination of multiple magnetorheological unit modules, and the deformation required for each magnetorheological unit module is small, which can ensure that the coils do not become debonded.

[0052] In some embodiments, the track control system is configured to be able to generate control parameters for adjusting the shape of each magnetorheological unit module according to the contour data of the working surface of the processed part, so that the shape of the magnetorheological unit module can be adjusted to match the working surface, and the track can be suitable for laying on working surfaces of different shapes.

[0053] In some embodiments, the track control system is configured to be able to generate control parameters for adjusting the shape of each magnetorheological unit module according to the drive wheel parameters of the robot, so that the shape of the magnetorheological unit module can be adjusted to match the drive wheel, and the track can be suitable for the operation of different robots.

[0054] In some embodiments, the track control system is configured to be able to adjust the magnetic field magnitude of the magnetorheological unit modules at different working positions according to the requirements of the robot for the track stiffness at different working positions, so as to meet the different requirements of the robot for the track stiffness in different working states.

[0055] Robots have different requirements for the stiffness of the track at different working stages and states. For example, during the movement stage of the robot, the requirement for the track stiffness is not high, while during the working stage of the robot, the track is required to have a higher stiffness to ensure the stability and machining accuracy of the robot operation process. Based on this requirement, the track control system is configured to be able to adjust the magnitude of the magnetic field of the magnetorheological unit module at the operation position of the robot and control the stiffness at different positions of the track according to the operation position of the robot.

[0056] On the other hand, some embodiments of the present invention also provide an application of the intelligent magnetorheological track in robot-assisted machining.

[0057] Specifically, it includes the following processes: 1) Determine the working content, working conditions of the robot and the requirements of the robot for the track The working content of the robot includes drilling holes, spraying, etc. on the processed parts.

[0058] The working conditions include the working space state, such as narrow or open space; the working surface state, such as the curvature of the working surface, etc.; and the material of the processed parts, such as composite material-aluminum alloy, titanium alloy-aluminum alloy or composite material-composite material, etc.

[0059] Determine the requirements for the track according to the robot adopted, such as the size of the track and the shape of the guide rail on the track for matching with the driving wheel of the robot, etc.

[0060] 2) Measure the outer shape of the working surface of the processed part The intelligent magnetorheological track is laid on the working surface of the processed part. Due to the influence of part manufacturing and assembly deviations, there may be a large deviation between the geometric shape of the working surface of the processed part and the theoretical digital model data. To make the track better match the working surface and ensure the installation accuracy of the track on the working surface, it is necessary to measure the outer shape of the working surface.

[0061] Establish a measurement coordinate system according to the ERS points and the part process holes, and use equipment such as a laser tracker and a laser scanner to measure the outer shape data of the working surface.

[0062] 3) Shape the magnetorheological unit module Input the outer shape data of the working surface of the processed part and the parameters of the robot driving wheel into the track control system. The track control system generates control instructions according to the corresponding relationship between the outer shape and shape of the magnetorheological unit module and the magnetic field, the outer shape data of the working surface, and the parameters of the robot driving wheel, and transmits the control instructions to the control unit. The control unit outputs currents of different magnitudes and directions according to the control instructions to control the magnetic field of the coil and adjust the outer shape and shape of the magnetorheological unit to match the working surface and the driving wheel.

[0063] 4) Assembly and fixation of the track Adopt the geometric structure of a suction cup, magnet, bolt or magnetorheological unit module to fix the magnetorheological unit module on the working surface to form a track.

[0064] 5) Demolition of the track After the robot completes the machining operation, disconnect the connection between the magnetorheological unit module and the working surface, cut off the power supply to the coil, and the magnetorheological fluid returns to the soft state, then the track can be removed.

[0065] The following combines specific embodiments to elaborate in detail on the application of the intelligent magnetorheological track of the present invention in robot-assisted machining.

[0066] Embodiment 1 Application of the intelligent magnetorheological track in the hole-making machining of the outer skin by a robot.

[0067] In the assembly of the aircraft body structure, a large number of connection holes need to be drilled. The curvature of the outer skin on the body surface is relatively large. Due to the limitation of reachability, machine tools and robotic arms cannot be used for the hole-making machining of the outer skin. Currently, manual hole-making is mainly used, resulting in high work intensity and difficult to guarantee the hole-making quality.

[0068] By adopting the intelligent magnetorheological track and laying it conformally on the outer skin, a hole-making robot can be used to perform hole-making machining on the outer skin.

[0069] Refer to Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , the specific implementation steps are as follows: 1) Determine the working content, working conditions of the hole-making robot and the requirements of the robot for the track The working content is the hole-making machining of the outer skin on the body surface; the working conditions are an open space and a working surface with a large curvature; the material of the machining object is a titanium alloy-aluminum alloy laminate.

[0070] The guiding section of the driving wheel 20 of the hole-making robot 21 is triangular, and other track matching parameters such as the distance between the driving wheels are determined.

[0071] The length of the machining area on the outer skin 30 is about 1500 mm, and the length of a single magnetorheological unit module is about 400 mm. Therefore, it is determined that 4 magnetorheological unit modules are required to form the track 10.

[0072] 2) Measurement of the outer skin working surface shape Establish a measurement coordinate system based on the process holes on the outer skin, and use equipment such as a laser tracker and a laser scanner to obtain the outer skin shape data.

[0073] 3) Shaping of the magnetorheological unit module Adjust the shape and form of the magnetorheological unit module through the track control system so that the shape of the magnetorheological unit module fits the working surface of its laying position on the outer skin; and the shape of the magnetorheological unit module can match the parameters of the driving wheels of the hole-making robot.

[0074] 4) Assembly and fixation of the track Compare the external dimensions of the magnetorheological unit module with the processing drawing to determine the serial number of each magnetorheological unit module, and use a marker pen to mark the drill template for hole-making processing.

[0075] Determine the orientation of each magnetorheological unit module with reference to the digital mock-up, and arrange the drill templates in ascending order of the serial number of the magnetorheological unit module.

[0076] Fix the magnetorheological unit module on the outer skin to be hole-made by bolts or large suction magnets, and install each magnetorheological unit in turn to form a guide rail.

[0077] During the installation process of the magnetorheological unit module, check whether the installation of the guide rail is qualified; use a feeler gauge to detect the gap between the magnetorheological unit module and the outer skin, and the maximum gap value is required to be less than 0.4 mm. If the inspection is unqualified, the pre-tightening force of the bolt or the suction force of the magnet needs to be adjusted.

[0078] 5) Install the hole-making robot and carry out hole-making processing Check whether the motor lines of each axis of the hole-making robot are in good condition to ensure that the connections of each motor are not loose or fallen off.

[0079] Use a screwdriver to screw out the 4 screws installed near the hole-making spindle, slowly take out the hole-making spindle by hand, and install the hole-making tool on the spindle. After the tool is installed, insert the spindle back into its original position and tighten it with screws.

[0080] Check whether there are foreign objects in the installed track and its surroundings to ensure that there will be no interference and collision during the subsequent operation of the robot. Fit the driving wheels of the robot onto the track to ensure normal contact and cooperation between the driving wheels and the track. Connect the air source required for the hole-making spindle and the power supply required for the movement of the robot, and connect the signal line of the robot to the controller. Power on and check the functions of each system of the hole-making robot to ensure normal operation.

[0081] Determine the hole-making positions according to the assembly digital mock-up, input the hole-making information into the robot control system through programming, and control the hole-making robot to walk on the track and carry out hole-making processing.

[0082] The rigidity requirements for the track of the hole-making robot vary at different working stages. During the movement stage of the hole-making robot, the requirement for the track stiffness is not high; when the robot stops moving and starts the hole-making operation, the track needs to have a relatively high stiffness to ensure the stability of hole-making and the accuracy of the hole diameter. Therefore, the track control system needs to adjust the track stiffness according to different working stages of the robot to ensure the hole-making processing accuracy of the robot.

[0083] 6) Demolition of the track When the hole-making robot completes the hole-making process, remove the bolts of the magnetorheological unit module, cut off the power supply to the coil unit, soften the magnetorheological unit module, and remove the magnetorheological unit module from the outer skin.

[0084] Embodiment 2 Application of the intelligent magnetorheological track in the spraying operation of the air intake duct by a robot.

[0085] The aircraft air intake duct is a high radar reflection area. The film thickness and uniformity of the radar-absorbing coating are strictly required, which directly affects the stealth ability of the aircraft. Traditional manual spraying methods have problems such as poor quality stability, frequent rework, and low spraying efficiency, and cannot meet the production and repair requirements. Due to the narrow space and complex curvature changes in the air intake duct, conventional automatic spraying methods cannot meet the requirements. Currently, manual spraying is used for aircraft air intake ducts. Spraying operations are carried out in the narrow space of the air intake duct for a long time, and the spraying quality is difficult to guarantee, which also has a great impact on the health of the operators.

[0086] By using the intelligent magnetorheological track and laying it conformally inside the air intake duct, the automatic spraying of the functional coating of the air intake duct can be carried out by a spraying robot, realizing the precision coating of the functional coating on the inner surface of the air intake duct.

[0087] Refer to Figure 7 、 Figure 8 、 Figure 9 and Figure 10 , the specific implementation steps are as follows: 1) Determine the working content, working conditions of the spraying robot and the requirements of the robot for the track The working content is the spraying of the inner surface of the air intake duct; the working conditions are narrow space and large-curvature working surface; the material of the processing object is composite material.

[0088] The guiding section of the driving wheel 20 of the spraying robot 22 is rectangular, and other track matching parameters such as the distance between the driving wheels are determined.

[0089] The length of the working area on the air intake duct 40 is about 2600 mm, and the length of a single magnetorheological unit module is about 400 mm. Therefore, it is determined that 7 magnetorheological unit modules are needed to form the track.

[0090] 2) Measurement of the shape of the air intake working surface A measurement coordinate system is established according to the process holes of the air intake duct, and the shape data of the air intake duct is obtained using equipment such as a laser tracker and a laser scanner.

[0091] 3) Magnetorheological unit module shaping The shape and form of the magnetorheological unit module are adjusted through the track control system so that the shape of the magnetorheological unit module fits the working surface where it is laid on the air inlet duct; and the shape of the magnetorheological unit module can match the parameters of the driving wheels of the spraying robot.

[0092] 4) Assembly and fixing of tracks A suction cup is used to fix the magnetorheological unit module on the working surface of the air inlet duct, and each magnetorheological unit is installed in sequence to form a guide rail.

[0093] 5) Install the spraying robot and perform spraying operations Preparation for spraying process: According to the actual spraying planning needs, the robot model, mobile platform model, spray workpiece model, spray gun and other models are imported into the offline software. In the offline system, based on the actual position relationship, a simulation platform is built, the relevant coordinate system is established, and the robot trajectory planning is carried out.

[0094] Determine the robotic arm control plan, initialize the robotic arm control library, initialize global motion properties, then set the maximum acceleration and maximum velocity for articulated motion, the maximum linear acceleration and maximum velocity for terminal motion, and finally, set the collision level. Set an empirical flow rate (moderate flow rate), adjust the spray pattern by adjusting the mist pressure and fan pressure, and adjust the flow rate through test pieces. Computer simulation ensures maximum safety and accuracy of program operation.

[0095] Before officially applying the program, conduct a test run to ensure collision-free operation. Automatically purge the painting area within a closed area to remove any dust, depending on the surface condition of the part. Mix the paint as needed. Before painting, check the compressed air pressure and cleanliness. The compressed air pressure at the air source must meet the pressure requirements of the painting equipment.

[0096] During the robot spraying process, the robot is in motion on the track, and the stiffness requirements at each position of the track remain unchanged. Therefore, in the spraying scenario, it is only necessary to keep the track stiffness constant.

[0097] 6) Track removal After the spraying robot completes the spraying operation, the bolts of the magnetorheological unit module are removed, the power supply to the coil unit is disconnected, the magnetorheological unit module is softened, and the magnetorheological unit module is removed from the outer skin.

[0098] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is customarily placed. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0099] In addition, when terms such as "horizontal" and "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0100] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, if the terms "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific situations.

[0101] The above are only the preferred embodiments of the present invention, and do not impose any formal limitations on the present invention. Any simple modifications and equivalent changes made to the above embodiments based on the technical essence of the present invention all fall within the protection scope of the present invention.

Claims

1. An intelligent magnetorheological track for robot-assisted machining, characterized in that Comprising: A magnetorheological unit module, using magnetorheological materials encapsulated within a flexible film, with a coil unit for generating a magnetic field wound around the outside of the flexible film; An orbit control system capable of controlling the magnetic field magnitude and magnetic field distribution at various positions of the magnetorheological unit module according to the correspondence between the shape and form of the magnetorheological unit module and the magnetic field, and adjusting the magnetorheological unit module to have the desired shape and form.

2. The intelligent magnetorheological track for robot-assisted machining according to claim 1, wherein The orbit control system can generate control parameters for adjusting the shape of each magnetorheological unit module according to the shape data of the working surface of the processed part, so that the shape of the magnetorheological unit module can be adjusted to match the working surface.

3. The intelligent magnetorheological track for robot-assisted machining according to claim 1, wherein The orbit control system can generate control parameters for adjusting the shape of each magnetorheological unit module according to the driving wheel parameters of the robot, so that the shape of the magnetorheological unit module can be adjusted to match the driving wheel.

4. The intelligent magnetorheological track for robot-assisted machining according to claim 1, wherein The orbit control system can adjust the magnetic field magnitude of the magnetorheological unit modules at different working positions according to the requirements of the robot for the track stiffness at different working positions.

5. The intelligent magnetorheological track for robot-assisted machining according to any one of claims 1-4, characterized in that, The magnetorheological unit module includes a control unit for receiving control instructions from the orbit control system, controlling the magnitude and direction of the current in the coil unit, and controlling the magnetic field magnitude and magnetic field distribution at various positions of the magnetorheological unit module.

6. The intelligent magnetorheological track for robot-assisted machining according to claim 1, wherein, A protective film is coated and arranged outside the coil unit.

7. The intelligent magnetorheological track for robot-assisted machining according to claim 1, wherein The magnetorheological unit module includes a connection unit for fixedly connecting the magnetorheological unit module to the working surface.

8. Application of the intelligent magnetorheological orbit described in claims 1 - 7 in robot-assisted machining.

9. The application of the intelligent magnetorheological track according to claim 8 in robot-assisted machining, characterized in that, Comprising: Obtaining the shape data of the working surface of the processed part and the driving wheel parameters of the robot; Generating control parameters for adjusting the shape and form of each magnetorheological unit module according to the shape data of the working surface and the driving wheel parameters; Laying the magnetorheological unit modules along the running track of the robot onto the part to be processed, and adjusting each magnetorheological unit module to have the desired shape and form according to the generated control parameters; Fixing and connecting the magnetorheological unit modules to the processed part.

10. The application of the intelligent magnetorheological track according to claim 9 in robot-assisted machining, characterized in that, Obtaining the requirements of the robot for the track stiffness at different working positions, and adjusting the magnetic field magnitude of the magnetorheological unit modules located at different positions.

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