Aerospace generator maintenance polishing and adjusting tool and adjusting method

Abstract

The application provides a space generator maintenance polishing adjustment tool, which comprises a workbench, a base rotatably arranged at the center of the upper surface of the workbench, a polishing robot arranged on the upper surface of the workbench and located at one side of the base, and a clamping unit arranged above the base and used for clamping a space generator shell body. The clamping unit comprises at least eight clamping jaw assemblies, and each clamping jaw assembly is arranged in an annular array along the base. Each clamping jaw assembly comprises a cylinder fixedly arranged on the upper end surface of the base, a cylinder action rod extending from the front end of the cylinder shell, a clamping jaw connecting rod telescopically arranged at the front end of the cylinder action rod, and a clamping jaw arranged at the front end of the clamping jaw connecting rod. A magnetorheological overload protection device is arranged between the cylinder action rod and the clamping jaw connecting rod. By adjusting the elastic coefficient of the magnetorheological overload protection device, the clamping force of the space generator shell can be adjusted.

Description

Technical Field

[0001] This invention relates to the field of aerospace generator maintenance, and in particular to a grinding and adjustment tooling and method for aerospace generator maintenance. Background Technology

[0002] Aerospace generators, as high-temperature, high-speed generators, are core and critical supporting products in the aerospace field. Their power quality and capacity directly affect the performance of spacecraft, playing a vital role. These generators are characterized by high speed, high power density, small size, and thin casing. During operation, aerospace generators are susceptible to extreme acceleration and impacts, often resulting in dents, deformation, and breakage of their casings.

[0003] In the maintenance of aerospace generators, the welding or painting of the damaged generator casing and the subsequent local grinding are important steps. However, the current grinding fixtures for aerospace generators do not have the function of adjusting the clamping force, which can easily deform the casing during the clamping and grinding process. Summary of the Invention

[0004] To overcome the shortcomings mentioned above, this invention aims to provide a maintenance and grinding adjustment fixture for aerospace generators, which can adjust the clamping force of the aerospace generator in both clamping and grinding states, so that the clamping force is at the optimal value that the outer shell can withstand.

[0005] On one hand, the present invention provides a maintenance, grinding, and adjustment fixture for aerospace generators, comprising:

[0006] Workbench;

[0007] The base is rotatably mounted at the center of the upper surface of the worktable;

[0008] The polishing robot is mounted on the upper surface of the workbench and located on one side of the base;

[0009] A clamping unit, disposed above the base, is used to clamp the outer casing of the aerospace generator; the clamping unit includes at least eight gripper assemblies, and each gripper assembly is arranged in a circular array along the base;

[0010] The gripper assembly includes:

[0011] The cylinder is fixedly mounted on the upper surface of the base;

[0012] The cylinder actuating rod extends from the front end of the cylinder housing;

[0013] The gripper connecting rod is telescopically mounted at the front end of the cylinder actuating rod;

[0014] The gripper is located at the front end of the gripper connecting rod;

[0015] Among them, a magnetorheological overload protection device is installed between the cylinder actuating rod and the gripper connecting rod. By adjusting the elastic coefficient of the magnetorheological overload protection device, the bearing force on the aerospace generator shell can be adjusted.

[0016] Furthermore, a fixing plate is fixedly provided at the front end of the gripper connecting rod. The rear ends of the pair of grippers and both ends of the fixing plate are provided with openings. The openings are provided with internal threads, and the diameter of the openings is compatible with the bolts. The grippers are fixed to the front end of the gripper connecting rod by the upper and lower fixing plates and the bolts.

[0017] Furthermore, the front end of the cylinder actuating rod is provided with a receiving groove, and the inner diameter of the receiving groove matches the outer diameter of the gripper connecting rod.

[0018] Furthermore, a connecting boss is provided at the center of the front end of the receiving groove, and an installation groove is provided at the end of the gripper connecting rod opposite to the cylinder actuating rod, and the inner diameter of the installation groove matches the outer diameter of the connecting boss.

[0019] The outer periphery of the mounting groove of the gripper connecting rod forms a tubular section;

[0020] A portion of the tubular part is located in the space formed between the connecting boss and the inner wall of the cylinder actuating rod, and the end face of the tubular part is clearance-fitted with the bottom surface of the receiving groove; the magnetorheological overload protection device is installed in the mounting groove, and one end of it is fixedly connected to the bottom surface of the mounting groove, and the other end is fixedly connected to the upper end face of the connecting boss.

[0021] Furthermore, the magnetorheological overload protection device includes a cylinder, a slotted coil frame, a magnetorheological transformer, a coil, a sliding plate, a piezoresistive pressure sensor, and a support member. The front end of the cylinder is open, and two slotted coil frames are fixedly installed inside it. A magnetorheological transformer is installed between the slotted coil frames, and a coil is installed in the groove of the slotted coil frame. The sliding plate is installed inside the front opening of the cylinder and is slidably configured with respect to the inner surface of the cylinder. The support member is fixedly connected to the left end face of the sliding plate, and a piezoresistive pressure sensor is installed between the left end face of the sliding plate and the support member. The support member is fixedly installed on the bottom surface of the mounting groove, and the cylinder is fixedly installed on the upper end face of the connecting boss.

[0022] Furthermore, regarding the clamping state of the outer casing of a certain type of aerospace generator:

[0023]

[0024] In the formula, K is the target elastic coefficient of the magnetorheological body when it is clamped by the outer shell, N / m; K0 is the elastic coefficient of the magnetorheological body when it is not energized, N / m; μ is the permeability; N is the number of turns of the coil; I is the current intensity in the coil, A; and S is the cross-sectional area of ​​the magnetorheological body, m². 2 ; l is the length of the magnetorheological body, in meters.

[0025] Furthermore, when the outer casing of a certain type of aerospace generator is in a polishing state, the elastic modulus of the magnetorheological substance and the current in the coil should be:

[0026]

[0027]

[0028] In the formula, K1 is the target elastic coefficient of the magnetohydrodynamic variant in a certain gripper assembly during the grinding state, N / m; H is the vertical height difference between the grinding head and the gripping point, m; h is the vertical distance between the gripping point and the worktable surface, m; P0 is the gripping force of the gripper assembly in the gripping state before grinding, N; F d θ is the pressure exerted by the grinding head on the outer shell of the aerospace generator, in N; θ is the angle between the direction of the pressure exerted by the grinding head on the outer shell of the aerospace generator and the direction of the clamping force of a certain gripper assembly, in degrees; E0 is the elastic modulus of the magnetorheological substance when it is not energized, in MPa;

[0029] I1 is the adjustment value of the coil in a certain gripper assembly during the grinding process, in A.

[0030] On the other hand, the present invention also provides a method for maintenance, grinding, and adjustment of aerospace generators, used in the aerospace generator maintenance, grinding, and adjustment fixture as described in any one of claims 1 to 7, comprising the following steps:

[0031] S1. Determine the optimal value of the clamping force that a certain type of aerospace generator housing can withstand, and set the alarm value of the piezoresistive pressure sensor based on the optimal value.

[0032] S2. Determine the target value K of the elastic coefficient of the magnetorheological body corresponding to the optimal value of the clamping force borne by the outer shell through experiments, and then determine the required current flow of the coil.

[0033] in,

[0034]

[0035] In the formula, K is the target elastic coefficient of the magnetorheological body when it is clamped by the outer shell, N / m; K0 is the elastic coefficient of the magnetorheological body when it is not energized, N / m; μ is the permeability; N is the number of turns of the coil; I is the current intensity in the coil, A; and S is the cross-sectional area of ​​the magnetorheological body, m². 2 ; l is the length of the magnetorheological body, in meters;

[0036] S3. When the aerospace generator maintenance, grinding and adjustment fixture is working, the control system control coil is energized and controls each gripper assembly to extend, so that the aerospace generator housing is in a clamping state.

[0037] S4. If the clamping force exceeds the optimal value during the clamping process, the piezoresistive pressure sensor will detect this signal and trigger an alarm, reduce the current of the coil, and return to S2.

[0038] If the piezoresistive pressure sensor does not trigger an alarm, proceed to the next step;

[0039] S5. After the aerospace generator housing is clamped, the grinding robot is started to grind the areas of the housing that need to be ground. At this time, the control system adjusts the current of the coils of each gripper assembly according to the grinding point and the pressure value of the grinding point, so that the aerospace generator housing is in the optimal clamping force state.

[0040] Furthermore, when the outer casing of a certain type of aerospace generator is in a polishing state, the elastic modulus of the magnetorheological substance and the current in the coil should be:

[0041]

[0042]

[0043] In the formula, K1 is the target elastic coefficient of the magnetohydrodynamic variant in a certain gripper assembly during the grinding state, N / m; H is the vertical height difference between the grinding head and the gripping point, m; h is the vertical distance between the gripping point and the worktable surface, m; P0 is the gripping force of the gripper assembly in the gripping state before grinding, N; F d θ is the pressure of the grinding head on the aerospace generator housing, in N; θ is the angle between the direction of the pressure of the grinding head on the aerospace generator housing and the direction of the clamping force of a certain gripper assembly, in degrees; E0 is the elastic modulus of the magnetorheological substance when it is not energized, in MPa; I1 is the adjustment value of the coil in a certain gripper assembly during the grinding state, in A.

[0044] The beneficial effects of this invention are:

[0045] (i) When the housing of the aerospace generator is in a clamped state before it is polished, in the early test stage, under the premise of ensuring that the housing of the aerospace generator is not deformed by clamping, determine the optimal value of the clamping force on the housing of a specific model of aerospace generator so that the housing of the generator is in a stable clamped state without being deformed by clamping.

[0046] (ii) During the grinding process, the grinding head of the grinding robot applies a force to a certain position on the outer shell of the aerospace generator. The clamping force of each gripper component in the clamping unit on the outer shell will change accordingly to avoid the outer shell being deformed or damaged during the grinding process.

[0047] (III) For the grinding state, a method for calculating the elastic coefficient and coil current of a magnetorheological overload protection device is provided. It can accurately and quickly respond to and adjust different models of aerospace generator housings, different grinding positions and grinding forces.

[0048] Attached Description

[0049] Figure 1 Overall drawing of the maintenance, grinding, and adjustment fixture for aerospace generators;

[0050] Figure 2 Top view of the clamping unit;

[0051] Figure 3 A 3D view of the gripper assembly;

[0052] Figure 4 This is a partial sectional view of the gripper assembly;

[0053] Figure 5 for Figure 4 Enlarged view of a portion of point A in the middle.

[0054] 1-Workbench, 2-Base, 3-Grinding robot, 4-Clamping unit, 41-Cylinder, 42-Gripper, 43-Fixing plate, 44-Cylinder housing, 45-Gripper connecting rod, 46-Cylinder actuating rod, 461-Accommodation groove, 462-Connecting boss, 451-Mounting groove, 452-Tube section, 48-Magnetorheological overload protection device, 49-Gripper assembly, 481-Cylinder body, 482-Slotted coil frame, 483-Magnetorheological component, 484-Coil, 486-Sliding plate, 487-Pierre resistance pressure sensor, 488-Support component. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] like Figure 1-5 As shown, this embodiment provides a maintenance and grinding adjustment fixture for aerospace generators, including a workbench 1, a base 2, a grinding robot 3, and a clamping unit 4; the workbench 1 is provided with 4 guide wheels at the bottom, the guide wheels are equipped with a braking function, the base 2 is rotatably mounted at the center of the upper surface of the workbench 1, the clamping unit 4 is provided on the upper part of the base 2, and the grinding robot 3 is also provided on the upper surface of the workbench 1.

[0057] It is understood that the workbench 1 is equipped with four guide wheels at the bottom to facilitate the movement and repositioning of the grinding fixture. The workbench 1 is equipped with the base 2 and the clamping unit 4 on its upper surface, which is used to clamp the aerospace generator housing. The workbench 1 is also equipped with a grinding robot 3, which has a mechanical arm and can perform maintenance grinding on the aerospace generator housing clamped by the clamping unit 4.

[0058] See Figure 2-3 The clamping unit 4 includes at least eight gripper assemblies 49 arranged in a circular array along the base 2.

[0059] Among them, see Figure 3-4 The gripper assembly 49 includes a cylinder 41, a gripper 42, a fixing plate 43, a cylinder housing 44, a cylinder actuating rod 46, a gripper connecting rod 45, and a magnetorheological overload protection device 48. The cylinder 41 is fixedly mounted on the upper end face of the base 2. The gripper 42 is located at the front end of the cylinder 41. The rear end of the gripper 42 and both ends of the fixing plate 43 are provided with openings. The openings are provided with internal threads, and the diameter of the openings is compatible with the bolts. The gripper 42 is fixed to the front end of the gripper connecting rod 45 by the upper and lower fixing plates 43 and the bolts.

[0060] Therefore, when the aerospace generator maintenance and grinding adjustment tooling of this embodiment needs to grind different models of generators, the angle between the clamp 42 and the fixing plate 43 can be adjusted according to the requirements, and then the bolts can be tightened, or the clamp 42 of different sizes can be replaced to improve the applicability of the clamping unit 4.

[0061] The cylinder actuating rod 46 extends from the front end of the cylinder housing 4 and can extend and retract at a certain speed under the action of the control system. The front end of the cylinder actuating rod 46 is provided with a gripper connecting rod 45, and the magnetorheological overload protection device 48 is provided between the cylinder actuating rod 46 and the gripper connecting rod 45.

[0062] Understandably, under the control signal indication of the control system, the cylinder actuating rod 46 and the gripper connecting rod 45 move forward, thereby pushing the gripper 42 forward to clamp the aerospace generator housing. Simultaneously, a magnetorheological overload protection device 48 is installed between the cylinder actuating rod 46 and the gripper connecting rod 45. By adjusting the elastic coefficient of the magnetorheological overload protection device 48, the clamping force on the aerospace generator housing can be adjusted.

[0063] In this embodiment, the front end of the cylinder actuating rod 46 is provided with a receiving groove 461, and the inner diameter of the receiving groove 461 matches the outer diameter of the gripper connecting rod 45, so that the gripper connecting rod 45 can slide in the receiving groove 461 to realize the telescopic connection between the gripper connecting rod 45 and the cylinder actuating rod 46.

[0064] A connecting boss 462 is provided at the center of the front end of the receiving groove 461. A mounting groove 451 is provided at the end of the gripper connecting rod 45 opposite to the cylinder actuating rod 46, and the inner diameter of the mounting groove 451 matches the outer diameter of the connecting boss 462.

[0065] It is understandable that a tubular portion 452 is formed on the outer periphery of the mounting groove 451 of the gripper connecting rod 45;

[0066] A portion of the tubular portion 452 is located in the space formed between the connecting boss 462 and the inner wall of the cylinder actuating rod 46, and the end face of the tubular portion 452 is clearance-fitted with the bottom surface of the receiving groove 461; the magnetorheological overload protection device 48 is installed in the mounting groove 451, and one end of it is fixedly connected to the bottom surface of the mounting groove 451, and the other end is fixedly connected to the upper end face of the connecting boss 462.

[0067] With the above arrangement, the tubular part 452 is at least partially located in the annular groove formed between the connecting boss 462 and the inner wall of the cylinder actuating rod 46, which makes the telescopic movement between the gripper connecting rod 45 and the cylinder actuating rod 46 more stable and facilitates the installation of the magnetorheological overload protection device 48; and there is a certain distance between the bottom surface of the annular groove at the front end of the tubular part 452, which provides space for the telescopic movement of the gripper connecting rod 45 relative to the cylinder actuating rod 46.

[0068] It is understood that the tubular part 452 and the rod wall at the front end of the cylinder actuating rod 46 are provided with wire holes (not shown) so as to facilitate the connection of the wires from the outside into the mounting groove 451 and connecting them to the magnetorheological overload protection device 48.

[0069] See Figure 5 In this embodiment, the magnetorheological overload protection device 48 includes a cylindrical body 481, a slotted coil frame 482, a magnetorheological transformer 483, a coil 484, a sliding plate 486, a piezoresistive pressure sensor 487, and a support member 488. The front end of the cylindrical body 481 is open, and two slotted coil frames 482 are fixedly installed inside it. The magnetorheological transformer 483 is arranged between the slotted coil frames 482, and the coil 484 is arranged in the groove of the slotted coil frame 482. The sliding plate 486 is arranged inside the front opening of the cylindrical body 481 and is slidably configured with respect to the inner surface of the cylindrical body 481. The support member 488 is fixedly connected to the left end face of the sliding plate 486, and the piezoresistive pressure sensor 487 is arranged between the left end face of the sliding plate 486 and the support member 488. The support member 488 is fixedly installed on the bottom surface of the mounting groove 451, and the cylindrical body 481 is fixedly installed on the upper end face of the connecting boss 462.

[0070] It is understandable that magnetorheological elements 483 are arranged between the slotted coil frames 482, and coils 484 are arranged in the grooves of the slotted coil frames 482. When the coils 482 are energized, the magnetorheological elements 483 between the slotted coil frames 482 are affected by the magnetic field, and the elastic coefficient of the magnetorheological elements 483 will change. A piezoresistive pressure sensor 487 is arranged between the left end face of the sliding plate 486 and the support member 488. The piezoresistive pressure sensor 487 can capture the pressure value of the gripper connecting rod 45.

[0071] With this setting, when the housing of the aerospace generator is in a clamped and unpolished state, during the early testing phase, the optimal clamping force for a specific model of aerospace generator is determined while ensuring that the housing of the aerospace generator is not deformed by clamping, so that the generator housing is in a stable clamped state without being deformed by clamping.

[0072] During the test, when the above-mentioned optimal value is exceeded during the clamping process, the piezoresistive pressure sensor 487 captures this signal and triggers an alarm. At this time, the current intensity of the coil 482 should be adjusted. The change in current causes a change in the magnetic field. At this time, the elastic coefficient of the magnetorheological variable 483 decreases, which in turn reduces the clamping force transmitted from the gripper connecting rod 45 to the aerospace generator housing through the gripper 42, thus preventing the aerospace generator housing from being deformed or damaged during the clamping process.

[0073] Specifically, regarding the clamping state of the outer casing of a certain type of aerospace generator:

[0074]

[0075] In the formula, K is the target elastic coefficient of the magnetorheological body when it is clamped by the outer shell, N / m; K0 is the elastic coefficient of the magnetorheological body when it is not energized, N / m; μ is the permeability; N is the number of turns of the coil; I is the current intensity in the coil, A; and S is the cross-sectional area of ​​the magnetorheological body, m². 2 ; l is the length of the magnetorheological body, in meters.

[0076] Therefore, through preliminary experiments, the optimal clamping state of a certain type of aerospace generator shell was determined, and the elastic coefficient of magnetorheological 483 was determined, thereby determining the current flow during clamping.

[0077] Understandably, when the aerospace generator housing is being polished, the housing is clamped onto the worktable 1 under clamping force. The polishing head of the polishing robot 3 applies a force to the housing. At this time, the clamping force of each gripper assembly 49 in the clamping unit 4 on the housing will change. In particular, the clamping force of the gripper assembly 49 on the side opposite to the polishing head will increase. At this time, it is necessary to adjust the clamping force of each gripper assembly 49 on the housing to avoid deformation or damage to the housing during the clamping process.

[0078] Therefore, in this embodiment, when the outer casing of a certain type of aerospace generator is in a polishing state, the elastic coefficient of the magnetorheological variable 483 and the current of the coil should be:

[0079]

[0080]

[0081] In the formula, K1 is the target elastic coefficient of the magnetohydrodynamic variant 483 in a certain gripper assembly 49 during the grinding state, N / m; H is the vertical height difference between the grinding head and the gripping point, m; h is the vertical distance between the gripping point and the worktable surface, m; is the gripping force of the gripper assembly during the grinding state, in N; P0 is the gripping force of the gripper assembly in the gripping state before grinding, N; F d θ is the pressure of the grinding head on the outer shell of the aerospace generator, in N; θ is the angle between the direction of the pressure of the grinding head on the outer shell of the aerospace generator and the direction of the clamping force of a certain gripper assembly 49, in degrees; E0 is the elastic modulus of the magnetorheological substance when it is not energized, in MPa; I1 is the adjustment value of the coil 484 in a certain gripper assembly 49 in the grinding state, in A.

[0082] Therefore, this embodiment also provides an adjustment method for the maintenance and grinding adjustment fixture of aerospace generators:

[0083] First, through preliminary tests, the optimal value of the clamping force that a certain type of aerospace generator shell can withstand was determined;

[0084] When the aerospace generator maintenance, grinding, and adjustment fixture is in operation, the control system energizes the control coil 484 and controls the extension of each gripper assembly 49, so that the aerospace generator housing is in a clamping state. If the clamping force exceeds the optimal value during the clamping process, the piezoresistive pressure sensor 487 detects this signal and triggers an alarm. At this time, the current of the coil 482 should be reduced, thereby reducing the clamping force, and the previous test results should be verified.

[0085] After the aerospace generator housing is clamped, the grinding robot 3 is started to grind the areas of the housing that need to be ground. At this time, the control system adjusts the current of the coils 484 of each gripper assembly 49 according to the grinding point and the pressure value of the grinding point, so that the aerospace generator housing is in the optimal clamping force state.

Claims

1. A maintenance, grinding, and adjustment fixture for aerospace generators, comprising: Workbench; The base is rotatably mounted at the center of the upper surface of the worktable; The polishing robot is mounted on the upper surface of the workbench and located on one side of the base; A clamping unit, disposed above the base, is used to clamp the outer casing of the aerospace generator; the clamping unit includes at least eight gripper assemblies, and each gripper assembly is arranged in a circular array along the base; The gripper assembly is characterized in that it comprises: The cylinder is fixedly mounted on the upper surface of the base; The cylinder actuating rod extends from the front end of the cylinder housing; The gripper connecting rod is telescopically mounted at the front end of the cylinder actuating rod; The gripper is located at the front end of the gripper connecting rod; Among them, a magnetorheological overload protection device is installed between the cylinder actuating rod and the gripper connecting rod. By adjusting the elastic coefficient of the magnetorheological overload protection device, the bearing force on the aerospace generator shell can be adjusted. A fixing plate is fixedly installed at the front end of the gripper connecting rod. The rear ends of the pair of grippers and both ends of the fixing plate are provided with openings. The openings are provided with internal threads, and the diameter of the openings is compatible with the bolts. The grippers are fixed to the front end of the gripper connecting rod by the upper and lower fixing plates and bolts. The cylinder actuating rod has a receiving groove at its front end, and the inner diameter of the receiving groove matches the outer diameter of the gripper connecting rod. A connecting boss is provided at the center of the front end of the receiving groove, and an installation groove is provided at the end of the gripper connecting rod opposite to the cylinder actuating rod, and the inner diameter of the installation groove matches the outer diameter of the connecting boss. The outer periphery of the mounting groove of the gripper connecting rod forms a tubular section; A portion of the tubular part is located in the space formed between the connecting boss and the inner wall of the cylinder actuating rod, and the end face of the tubular part is clearance-fitted with the bottom surface of the receiving groove; the magnetorheological overload protection device is installed in the mounting groove, and one end of it is fixedly connected to the bottom surface of the mounting groove, and the other end is fixedly connected to the upper end face of the connecting boss. The magnetorheological overload protection device includes a cylindrical body, a slotted coil frame, a magnetorheological transformer, a coil, a sliding plate, a piezoresistive pressure sensor, and a support component. The front end of the cylindrical body is open, and two slotted coil frames are fixedly installed inside. A magnetorheological transformer is installed between the slotted coil frames, and a coil is installed in the groove of the slotted coil frame. The sliding plate is installed inside the front opening of the cylindrical body and is slidably configured with respect to the inner surface of the cylindrical body. The support component is fixedly connected to the left end face of the sliding plate, and a piezoresistive pressure sensor is installed between the left end face of the sliding plate and the support component. The support component is fixedly installed on the bottom surface of the mounting groove, and the cylindrical body is fixedly installed on the upper end face of the connecting boss. When the outer casing of a certain type of aerospace generator is clamped: ； In the formula, The target elastic coefficient of the magnetorheological form when the outer shell is clamped. ; The elastic modulus of the magnetorheological body when no current is applied. ; Permeability; The number of turns of the coil; The current intensity in the coil, A ; Let be the cross-sectional area of ​​the magnetorheological substance. m 2 ; The length of the magnetorheological substance, m .

2. The aerospace generator maintenance, grinding, and adjustment fixture according to claim 1, characterized in that, When the outer casing of a certain type of aerospace generator is being polished, the elastic modulus of the magnetorheological fluid and the current in the coil should be: ； ； In the formula, K 1 The target elastic coefficient of the magnetohydrodynamic variant in a certain gripper assembly during the grinding process. N / m ; The vertical height difference between the grinding head and the clamping point. m ; h This is the vertical distance between the clamping point and the worktable surface. m ; The clamping force of the gripper assembly in the clamping state before polishing. N ; To reduce the pressure of the grinding head on the aerospace generator housing, N ; The angle, in degrees, is the angle between the direction of the pressure exerted by the grinding head on the outer shell of the aerospace generator and the direction of the clamping force of a certain gripper assembly; The elastic modulus of the magnetorheological body when no current is applied, in units of . MP a; I 1 This refers to the adjustment value of the coil in a certain gripper assembly during the grinding process. A .

3. A method for maintenance, grinding, and adjustment of an aerospace generator, used with the aerospace generator maintenance, grinding, and adjustment fixture as described in any one of claims 1 to 2, characterized in that, The steps include the following: S1. Determine the optimal value of the clamping force that a certain type of aerospace generator housing can withstand, and set the alarm value of the piezoresistive pressure sensor based on the optimal value. S2. Determine the target value of the elastic coefficient of the magnetorheological body corresponding to the optimal value of the clamping force borne by the outer shell through experiments. K This allows us to determine the amount of current required to pass through the coil. in, ； In the formula, The target elastic coefficient of the magnetorheological form when the outer shell is clamped. ; The elastic modulus of the magnetorheological body when no current is applied. ; Permeability; The number of turns of the coil; The current intensity in the coil, A ; m is the cross-sectional area of ​​the magnetorheological substance. 2 ; The length of the magnetorheological substance, m ; S3. When the aerospace generator maintenance, grinding and adjustment fixture is working, the control system control coil is energized and controls each gripper assembly to extend, so that the aerospace generator housing is in a clamping state. S4. If the clamping force exceeds the optimal value during the clamping process, the piezoresistive pressure sensor will detect this signal and trigger an alarm, reduce the current of the coil, and return to S2. If the piezoresistive pressure sensor does not trigger an alarm, proceed to the next step; S5. After the aerospace generator housing is clamped, the grinding robot is started to grind the areas of the housing that need to be ground. At this time, the control system adjusts the current of the coils of each gripper assembly according to the grinding point and the pressure value of the grinding point, so that the aerospace generator housing is in the optimal clamping force state.

4. The aerospace generator maintenance, grinding, and adjustment method according to claim 3, characterized in that, When the outer casing of a certain type of aerospace generator is being polished, the elastic modulus of the magnetorheological fluid and the current in the coil should be: ； ； In the formula, K 1 The target elastic coefficient of the magnetohydrodynamic variant in a certain gripper assembly during the grinding process. N / m ; The vertical height difference between the grinding head and the clamping point. m ; h This is the vertical distance between the clamping point and the worktable surface. m ; The clamping force of the gripper assembly in the clamping state before polishing. N ; To reduce the pressure of the grinding head on the aerospace generator housing, N ; The angle, in degrees, is the angle between the direction of the pressure exerted by the grinding head on the outer shell of the aerospace generator and the direction of the clamping force of a certain gripper assembly; The elastic modulus of the magnetorheological body when no current is applied, in units of . MPa ; I 1 This refers to the adjustment value of the coil in a certain gripper assembly during the grinding process. A .

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