Flexible electrode dynamic deformation electrochemical machining method based on industrial robot

Abstract

The present application relates to a kind of flexible electrode dynamic deformation electrolytic processing method based on industrial robot, belongs to the technical field of electrolytic processing.Processing, through robot and end effector, the automatic clamping of flexible electrode is completed, and is moved to initial processing position, and end effector is connected as liquid inlet with liquid inlet pipe.Processing, according to set program control robot movement, to complete the bending deformation of flexible electrode, and along cutting direction, the processing of complex profile is completed.Processing, robot is according to set program, the retreat of electrode is completed or the next electrode is replaced according to requirement to prepare subsequent processing.The limit load that flexible electrode can withstand and the limit deformation generated have important influence on the movement of each joint of industrial robot;By calculation, the limit load and deformation of different specifications flexible electrode can be determined, to optimize the movement of joint of industrial robot.The present application introduces industrial robot, greatly improves the processing flexibility and automation degree.

Description

Technical Field

[0001] This invention relates to a dynamic deformation electrolytic machining method for flexible electrodes based on industrial robots, belonging to the field of electrolytic machining technology. Background Technology

[0002] Integral bladed disks (IBDs) are core components for achieving structural innovation and technological breakthroughs in new aero-engines. They integrate blades and disk into a single unit, significantly simplifying the engine structure, reducing weight, and dramatically improving thrust-to-weight ratio. However, IBDs are complex in structure, with ultra-thin, twisted blades and narrow inter-blade passages. They typically use difficult-to-machine materials and require extremely high precision, making manufacturing very challenging. Electrolytic machining (ECM) technology, with its high processing efficiency, good surface quality, and zero tool wear, has become one of the main manufacturing methods for IBDs.

[0003] In the patent "Integral Bladed Disk Multi-layer Progressive Composite Cathode Rotary Sleeving Electrolytic Machining Device and Method" (application number 202310601679.9, applicant: Jiangsu Jicui Precision Manufacturing Research Institute Co., Ltd., inventors: Zhao Jianshe, Yue Lei, Gao Weizheng, etc.), a multi-layer progressive cathode design is proposed, which makes the machining allowance of the bladed disk more uniform and is more conducive to meeting the actual machining needs of integral bladed disks with large distortion and cross-sectional changes.

[0004] In the patent "A method for processing annular electrodes by electrolytic grooving of integral bladed disks" (application number 201210367002.5, applicant: Shenyang Liming Aero Engine (Group) Co., Ltd., inventors: Zhu Hainan, Yang Jianshi, Yu Bing, Li Wei), the high-efficiency processing of wide chord and large twist angle blade channel grooving of integral bladed disks is achieved by using a nested electrolytic processing method.

[0005] In the patent "A Non-Uniform Speed ​​Double Rotation Variable Cutting Edge Cathode Integral Bladed Disk Electrolytic Machining Method" (Application No. 201910756930.2, Applicant: Nanjing University of Aeronautics and Astronautics, Inventors: Xu Zhengyang, Wang Jing, Zhu Di), the cathode machining edge is designed as a variable width machining edge, which is driven to rotate radially in a unidirectional variable speed according to the simulated trajectory; the blank is driven to rotate in coordination with the cathode according to the simulated optimized parameters, forming a blade channel on the blank, thereby improving the uniformity of machining allowance distribution.

[0006] Electrochemical machining (ECM) is a "copy-like" process that removes material based on the principle of electrochemical anodic dissolution and obtains the profile by designing a shaped cathode. The design and fabrication of the shaped cathode are crucial to ensuring the machining accuracy of the profile. However, with the continuous development of aero-engine technology and the increasing thrust-to-weight ratio of aero-engines, the emergence of various high-precision profile and complex integral bladed disks has brought significant challenges to the design and fabrication of ECM shaped cathodes. Therefore, many ECM methods utilizing cathodes with simple shapes have emerged.

[0007] In the patent "Electrolytic machining method for inter-blade flow channel of integral impeller with multi-electrode spiral feed" (application number 200910025834.7, applicant: Nanjing University of Aeronautics and Astronautics, inventors: Zhu Di, Xu Qing, Xu Zhengyang), the blade channel is machined by using a simple-shaped tubular electrode through the multi-dimensional interpolation motion between the tool cathode and the workpiece anode.

[0008] In the patent "A fixture device and method for high-efficiency electrolytic grooving of integral bladed disk" (application number 202210485361.4, applicant: Nanjing University of Aeronautics and Astronautics, inventors: Zhu Di, Duan Shuanglu, Liu Jia), the rotation of the central spindle is converted into the synchronous yaw motion of multiple tube electrodes, realizing "single-axis input and multi-axis output", which greatly improves the processing efficiency.

[0009] In the patent "An Electrolytic Machining Device and Method for Bladed Disk Blade Groups" (Application No. 202210485311.6, Applicant: Nanjing University of Aeronautics and Astronautics, Inventors: Zhu Di, Duan Shuanglu, Liu Jia, Zhu Dong), the bladed disk workpiece rotates around its own axis, and under the anodic dissolution effect of the electrochemical reaction, multiple blades can be processed simultaneously in a single feed. This achieves highly efficient conformal electrolytic / radial feed electrolytic machining of integral bladed disks with twisted blades, which can significantly improve machining efficiency.

[0010] The patent "Dynamic Deformation Electrolytic Processing Method and Application of Flexible Electrode" (application number 2021126103W, applicant: Nanjing University of Aeronautics and Astronautics, inventors: Zhu Di, Xu Zhengyang, Liu Lin) proposes a flexible electrode made of high-performance rods or tubes. During the processing, a load is applied to the flexible electrode to cause it to dynamically deform, thereby completing the processing of complex surfaces.

[0011] In the dynamic deformation electrolytic machining of flexible electrodes, it is often necessary to design corresponding motion mechanisms or utilize the linkage of multi-axis machine tools to achieve the dynamic deformation of the flexible electrodes. Furthermore, to achieve specific deformations, specialized mechanisms need to be designed, which increases the manufacturing difficulty of the equipment. Industrial robots, on the other hand, are multi-jointed manipulators or multi-degree-of-freedom machines widely used in industrial fields. They possess a certain degree of automation and can perform various industrial processing and manufacturing functions based on their own power and control capabilities. For example:

[0012] In the patent "A Robot System for Steel Structure Welding" (application number 202310970866.4, applicant: Huazhong University of Science and Technology, inventors: Sun Jun, Li Weizhao, Jiang Xin, Zhou Xingyu, Han Jinyan), the disclosed robot can adapt to welding steel structures of different shapes and has high adaptability and autonomy; it can quickly and effectively perform steel structure weld operations, reducing manpower consumption and improving work efficiency and accuracy without human supervision.

[0013] In the patent "A palletizing robot" (application number 200610113034.7, applicant: Tsinghua University, inventors: Chen Ken, Yang Xiangdong, Li Jinquan, Jia Zhenzhong), the disclosed robot reduces the requirements for drive components, eliminates the need for counterweights and spring force reduction balancing devices, and reduces the robot's body weight and cost.

[0014] The patent "Robot and Method for Inspecting Air Inlet Blades of Aero-engines" (application number 202310731732.7, applicant: Xi'an Jiaotong University, inventors: Yang Laihao, Zheng Yi, Peng Yinchong, et al.) solves the problems of wasted human resources, low efficiency, human error, and space limitations in the current maintenance and repair of aero-engines. The robot provided by this invention has many advantages such as miniaturization, high thrust, and intelligence, effectively solving the problem of engine blade inspection.

[0015] Therefore, in order to improve the automation and intelligence level of dynamic deformation electrolytic processing of flexible electrodes and avoid designing complex special mechanisms, this patent combines the advantages of industrial robots in terms of processing flexibility and intelligence level with the characteristics of dynamic deformation electrolytic processing of flexible electrodes, and proposes a device and method for dynamic deformation electrolytic processing of flexible electrodes based on industrial robots. Summary of the Invention

[0016] Purpose of the invention:

[0017] The purpose of this invention is to provide a method for dynamic deformation electrolytic processing of flexible electrodes based on industrial robots, thereby improving the automation and intelligence level of dynamic deformation electrolytic processing of flexible electrodes.

[0018] Technical solution:

[0019] A flexible electrode dynamic deformation electrolytic processing device based on an industrial robot, characterized in that:

[0020] The electrolytic processing device consists of an electrolyte circulation and filtration device, a computer control platform, a power supply, a working platform, a workpiece, a flexible electrode, and two six-degree-of-freedom industrial robots and their end effectors (VIII).

[0021] The two six-degree-of-freedom industrial robots mentioned above have the same structure and are symmetrically arranged on the left and right sides of the work platform;

[0022] A six-degree-of-freedom industrial robot consists of a body, a first-level robotic arm, a second-level robotic arm, a third-level robotic arm, a fourth-level robotic arm, and a fifth-level robotic arm connected in sequence. The fifth-level robotic arm is connected to an end effector. The joints are arranged in sequence: joint A corresponds to the Z-axis rotation of the first-level robotic arm, joint B corresponds to the Y-axis swing of the second-level robotic arm, joint C corresponds to the Y-axis swing of the third-level robotic arm, joint D corresponds to the X-axis rotation of the fourth-level robotic arm, joint E corresponds to the Z-axis swing of the fifth-level robotic arm, and joint F corresponds to the X-axis rotation of the end effector.

[0023] The workpiece is mounted on the work platform and connected to the positive terminal of the power supply. The work platform has a return tank and is connected to the return pipe of the electrolyte circulation filter device.

[0024] The aforementioned flexible electrode is made of a highly elastic metal and has a structure that is either a hollow tubular electrode with an array of holes and slits on its sidewalls, or a slender sheet electrode. Both ends of the flexible electrode are clamped by end effectors and connected to the negative terminal of a power supply.

[0025] The aforementioned computer control platform mainly integrates the control system of the industrial robot, the control system of the electrolyte circulation and filtration device, and the power supply control system; the computer control platform simultaneously controls the movement of the industrial robot, the circulation and filtration of the electrolyte, and the on / off state of the current.

[0026] The aforementioned flexible electrode dynamic deformation electrolytic processing device based on industrial robots is characterized by:

[0027] The aforementioned end effector consists of an inlet pipe and a clamping device;

[0028] Its inlet pipe serves as the electrolyte inlet and is connected to the inlet pipe of the electrolyte circulation filtration device;

[0029] Its clamping device is used to clamp the flexible electrode;

[0030] The end effector is installed and connected to the fifth robotic arm of the industrial robot. Through the cooperation between the industrial robot and the end effector, the flexible electrode can be automatically clamped, dynamically deformed and moved.

[0031] The aforementioned flexible electrode dynamic deformation electrolytic processing device based on industrial robots is characterized by:

[0032] The above-mentioned electrolyte circulation filtration device consists of a turbid liquid tank, a clear liquid tank, an inlet valve, a pressure gauge, a water pump, a return valve, and a plate and frame filter.

[0033] The electrolytic processing method using the above-mentioned flexible electrode dynamic deformation electrolytic processing device based on industrial robot is characterized by the following: Preparation stage: The industrial robot and the end effector are controlled by a computer control platform to automatically clamp the flexible electrode and move it to the initial processing position. The end effector is connected to the inlet pipe of the electrolyte circulation and filtration device as the electrolyte inlet.

[0034] Processing stage: The industrial robot, electrolyte circulation and filtration device, and power supply are operated simultaneously by the computer control platform. The multi-degree-of-freedom movement of the industrial robot is controlled according to the set program to complete the bending deformation of the flexible electrode and to complete the processing of complex surfaces along the cutting direction. When the processing is completed, the industrial robot, electrolyte circulation and filtration device, and power supply are stopped simultaneously by the computer control platform.

[0035] Retraction phase: The industrial robot and end effector are controlled by a computer control platform to retract the flexible electrode according to the set program or replace it with the next type of flexible electrode as needed for subsequent processing.

[0036] The electrolytic processing method is characterized in that:

[0037] The flexible electrode is dynamically deformed by applying torque to both ends of the flexible electrode through the coordinated action of its joints. The ultimate load and ultimate deformation that the flexible electrode can withstand have a significant impact on the movement of the joints of the industrial robot. The calculations are performed through the following process:

[0038] Step 1: For the dynamic deformation of the flexible electrode, the following assumptions are made:

[0039] (1) Within the longitudinal plane of symmetry of the flexible electrode, a pair of forces of equal magnitude but opposite direction cause the flexible electrode to bend completely.

[0040] (2) The cross-section of the flexible electrode has only normal stress and no shear stress;

[0041] (3) There is no normal stress between the longitudinal segments of the flexible electrode;

[0042] Step 2: Based on the above assumptions, the strain of any longitudinal line segment can be obtained. :

[0043]

[0044] in, The radius of curvature of the neutral layer, The distance from the vertical line segment to the neutral layer;

[0045] Step 3: Because there is no normal stress between the longitudinal segments, each segment is under unidirectional tension or compression; when the stress is less than the proportional limit, according to Hooke's Law, the normal stress of any longitudinal segment is... :

[0046]

[0047] in, The elastic modulus of the flexible electrode material;

[0048] Step 4: By performing a stress analysis on the cross-section of the flexible electrode, the bending moment can be obtained. :

[0049]

[0050] in, The area of ​​the cross-section. It is the moment of inertia;

[0051] Step 5: By solving the above equations simultaneously, the bending normal stress on the cross-section of the flexible electrode during pure bending can be obtained;

[0052]

[0053] Step 6: Since it is a pure bending motion, the moment M is the same at each cross-section. Therefore, the maximum normal stress at each cross-section should occur at the furthest point from the neutral layer.

[0054]

[0055] in, For the maximum normal stress, This represents the farthest distance from the longitudinal line segment to the neutral layer.

[0056] Step 7: During the bending deformation process, when the maximum normal stress of the flexible electrode is less than the elastic limit of the material... At this time, it can be ensured that the deformation of the flexible electrode remains in the elastic stage; when the load is removed, the deformation of the flexible electrode can be restored; that is:

[0057] Step 8: Therefore, the maximum load that the flexible electrode can withstand. :

[0058]

[0059] This allows us to determine the ultimate load and deformation of flexible electrodes of different specifications, thereby optimizing the movement of industrial robot joints.

[0060] Beneficial effects:

[0061] Compared with the prior art, the present invention has the following significant advantages.

[0062] (1) A flexible electrode dynamic deformation electrolytic processing device and method based on an industrial robot are provided. The device consists of an industrial robot with six degrees of freedom, a multifunctional end effector, a flexible electrode, a workpiece, and a working platform. The automatic clamping, dynamic deformation, and displacement of the flexible electrode are achieved through the multi-degree-of-freedom motion of the industrial robot.

[0063] (2) Improved the automation and intelligence level of dynamic deformation electrolytic processing of flexible electrodes. On the one hand, the present invention combines the advantages of industrial robots in processing with high flexibility and intelligence level with the characteristics of dynamic deformation electrolytic processing of flexible electrodes; on the other hand, it integrates the control system of industrial robots, electrolyte circulation and filtration device and power supply, and realizes the simultaneous operation of the three through computer control platform, thereby improving processing efficiency and reducing labor costs.

[0064] (3) Using industrial robots to achieve dynamic deformation of flexible electrodes avoids the need to design complex special deformation mechanisms and improves versatility. On the other hand, industrial robots have more degrees of freedom and can achieve larger and more complex deformation of flexible electrodes, thus broadening their application range. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of a flexible electrode dynamic deformation electrolytic processing device based on an industrial robot.

[0066] Figure 2 This is a schematic diagram of an industrial robot structure;

[0067] Figure 3 This is a schematic diagram of the end effector structure;

[0068] Figure 4 This is a schematic diagram of an electrolyte circulation filtration device;

[0069] Figure 5 This is a schematic diagram of the multi-degree-of-freedom deformation of an industrial robot.

[0070] Figure 6 Schematic diagram of the principle of dynamic deformation electrolytic machining of flexible electrodes

[0071] The labels in the diagram are as follows: Ⅰ, Industrial Robot; Ⅱ, Electrolyte Circulation Filtration Device; Ⅲ, Computer Control Platform; Ⅳ, Power Supply; Ⅴ, Working Platform; Ⅵ, Workpiece; Ⅶ, Flexible Electrode; Ⅷ, End Actuator; Ⅰ-0, Body; Ⅰ-1, First-Level Robotic Arm; Ⅰ-2, Second-Level Robotic Arm; Ⅰ-3, Third-Level Robotic Arm; Ⅰ-4, Fourth-Level Robotic Arm; Ⅰ-5, Fifth-Level Robotic Arm; A, Joint A; B, Joint B; C, Joint C; D, Joint D; E, Joint E; F, Joint F; Ⅱ-1, Turbid Liquid Tank; Ⅱ-2, Clear Liquid Tank; Ⅱ-3, Inlet Valve; Ⅱ-4, Pressure Gauge; Ⅱ-5, Water Pump; Ⅱ-6, Return Valve; Ⅱ-7, Plate and Frame Filter; Ⅷ-1, Inlet Pipe; Ⅷ-2, Clamping Device. Detailed Implementation

[0072] The specific implementation process of the present invention will be described in detail below with reference to the accompanying drawings.

[0073] like Figure 1As shown, the electrolytic processing device consists of an electrolyte circulation and filtration device II, a computer control platform III, a power supply IV, a working platform V, a workpiece VI, a flexible electrode VII, and two six-degree-of-freedom industrial robots I and their end effectors VIII; the two six-degree-of-freedom industrial robots I have the same structure and are symmetrically arranged on the left and right sides of the working platform V.

[0074] like Figure 2 As shown, the six-degree-of-freedom industrial robot I is composed of a body I-0, a first-level robotic arm I-1, a second-level robotic arm I-2, a third-level robotic arm I-3, a fourth-level robotic arm I-4, and a fifth-level robotic arm I-5 connected in sequence. The fifth-level robotic arm I-5 is connected to the end effector VIII. The joints are arranged in sequence as follows: joint A corresponds to the Z-axis rotation of the first-level robotic arm, joint B corresponds to the Y-axis swing of the second-level robotic arm I-2, joint C corresponds to the Y-axis swing of the third-level robotic arm I-3, joint D corresponds to the X-axis rotation of the fourth-level robotic arm I-4, joint E corresponds to the Z-axis swing of the fifth-level robotic arm I-5, and joint F corresponds to the X-axis rotation of the end effector VIII.

[0075] The aforementioned workpiece VI is mounted on the working platform V and connected to the positive terminal of the power supply IV. The working platform V has a return liquid tank and is connected to the return liquid pipe of the electrolyte circulation filtration device II.

[0076] The aforementioned flexible electrode VII is made of a metal with good elasticity. Its structure is a hollow tubular electrode with an array of holes and slits on the sidewall, or a slender sheet electrode. The two ends of the flexible electrode VII are clamped by the end effector VIII and connected to the negative terminal of the power supply IV.

[0077] The aforementioned computer control platform Ⅲ mainly integrates the control system of industrial robot Ⅰ, the control system of electrolyte circulation and filtration device Ⅱ, and the control system of power supply Ⅳ; the computer control platform Ⅲ simultaneously controls the movement of industrial robot Ⅰ, the circulation and filtration of electrolyte, and the on / off state of current.

[0078] like Figure 3 As shown, the end effector VIII consists of an inlet pipe VIII-1 and a clamping device VIII-2. The end effector VIII is installed and connected to the five-stage robotic arm I-5 of the industrial robot I. Its inlet pipe VIII-1 is connected to the inlet pipe of the electrolyte circulation filter device II. The clamping device VIII-2 is used to clamp the flexible electrode VII.

[0079] like Figure 4 As shown, the electrolyte circulation filtration device II consists of a turbid liquid tank II-1, a clear liquid tank II-2, an inlet valve II-3, a pressure gauge II-4, a water pump II-5, a return valve II-6, and a plate and frame filter II-7; its main purpose is to realize the circulation of electrolyte and the filtration of electrolysis products.

[0080] like Figure 5 As shown, the aforementioned industrial robot I can achieve multi-degree-of-freedom motion. Figure 6 The deformation simulation of flexible electrode VII under the motion of industrial robot I was performed, and the simulation proved the effectiveness of the device.

[0081] Figure 6 This is a schematic diagram of the principle of dynamic deformation electrolytic machining of flexible electrodes. The flexible electrode VII uses its sidewall as the machining surface and generates corresponding bending deformation along the cutting direction to complete the machining of complex surfaces.

[0082] The process of realizing dynamic deformation electrolytic processing of flexible electrodes according to the present invention requires the following steps.

[0083] Step 1: Install workpiece VI on work platform V and connect it to the positive terminal of power supply IV;

[0084] Step 2: The industrial robot I and the end effector VIII are controlled by the computer control platform III to automatically clamp the flexible electrode VII and move it to the initial processing position;

[0085] Step 3: The end effector VIII is connected to the inlet pipe of the electrolyte circulation and filtration device II as the electrolyte inlet, and the flexible electrode VII is connected to the negative terminal of the power supply IV;

[0086] Step 4: Control the industrial robot I, electrolyte circulation and filtration device II, and power supply IV simultaneously through computer control platform III. Control the multi-degree-of-freedom movement of industrial robot I according to the set program to complete the bending deformation of flexible electrode VII and complete the processing of complex surfaces along the cutting direction.

[0087] Step 5: Upon completion of processing, the industrial robot I, electrolyte circulation and filtration device II, and power supply IV are simultaneously stopped by the computer control platform III.

[0088] Step Six: Control the industrial robot I and the end effector VIII through the computer control platform III to complete the retraction of the flexible electrode VII according to the set program, or replace it with the next type of flexible electrode VII as needed for subsequent processing.

Claims

1. A method for dynamic deformation electrolytic processing of flexible electrodes based on industrial robots, characterized in that: The electrolytic machining apparatus consists of an electrolyte circulation and filtration device (II), a computer control platform (III), a power supply (IV), a work platform (V), a workpiece (VI), a flexible electrode (VII), and two six-degree-of-freedom industrial robots (I) and their end effectors (VIII). The two six-degree-of-freedom industrial robots (Ⅰ) mentioned above have the same structure and are symmetrically arranged on the left and right sides of the work platform (Ⅴ); The six-degree-of-freedom industrial robot (I) is composed of a body (I-0), a first-level robotic arm (I-1), a second-level robotic arm (I-2), a third-level robotic arm (I-3), a fourth-level robotic arm (I-4), and a fifth-level robotic arm (I-5) connected in sequence. The fifth-level robotic arm (I-5) is connected to the end effector (VIII). The joints are arranged in sequence as follows: joint A corresponds to the Z-axis rotation of the first-level robotic arm, joint B corresponds to the Y-axis swing of the second-level robotic arm (I-2), joint C corresponds to the Y-axis swing of the third-level robotic arm (I-3), joint D corresponds to the X-axis rotation of the fourth-level robotic arm (I-4), joint E corresponds to the Z-axis swing of the fifth-level robotic arm (I-5), and joint F corresponds to the X-axis rotation of the end effector (VIII). The workpiece (VI) is mounted on the work platform (V) and connected to the positive terminal of the power supply (IV). The work platform (V) has a return tank and is connected to the return pipe of the electrolyte circulation filter device (II). The aforementioned flexible electrode (Ⅶ) is made of a metal with good elasticity. Its structure is a hollow tubular electrode with an array of holes and slits on the sidewall, or a slender sheet electrode. The two ends of the flexible electrode (Ⅶ) are clamped by an end effector (Ⅷ) and connected to the negative terminal of the power supply (Ⅳ). The aforementioned computer control platform (Ⅲ) mainly integrates the control system of the industrial robot (Ⅰ), the control system of the electrolyte circulation and filtration device (Ⅱ), and the control system of the power supply (Ⅳ); the computer control platform (Ⅲ) simultaneously controls the movement of the industrial robot (Ⅰ), the circulation and filtration of the electrolyte, and the on / off state of the current. The electrolytic machining method includes the following: Preparation stage: The computer control platform (III) controls the industrial robot (I) and the end effector (VIII) to automatically clamp the flexible electrode (VII) and move it to the initial machining position. The end effector (VIII) is connected to the electrolyte inlet and the inlet pipe of the electrolyte circulation filter device (II); Machining stage: The computer control platform (III) controls the industrial robot (I), the electrolyte circulation filter device (II), and the power supply (IV) to operate simultaneously. The computer control platform (III) controls the multi-degree-of-freedom movement of the industrial robot (I) according to the set program, thereby completing the bending deformation of the flexible electrode (VII) and machining the complex surface along the cutting direction; When machining is completed, the computer control platform (III) controls the industrial robot (I), the electrolyte circulation filter device (II), and the power supply (IV) to stop working simultaneously; Retraction stage: The computer control platform (III) controls the industrial robot (I) and the end effector (VIII) to retract the flexible electrode (VII) according to the set program or replace it with the next type of flexible electrode (VII) as needed for subsequent machining; The electrolytic machining method described above applies torque to both ends of a flexible electrode through the coordinated action of the joints of an industrial robot, thereby achieving dynamic deformation of the flexible electrode. The ultimate load that the flexible electrode can withstand and the ultimate deformation it produces have a significant impact on the movement of the joints of the industrial robot. The calculation is completed through the following process: Step 1: For the dynamic deformation of the flexible electrode, the following assumptions are made: (1) Within the longitudinal plane of symmetry of the flexible electrode, a pair of forces of equal magnitude but opposite direction cause the flexible electrode to bend completely. (2) The cross-section of the flexible electrode has only normal stress and no shear stress; (3) There is no normal stress between the longitudinal segments of the flexible electrode; Step 2: Based on the above assumptions, the strain of any longitudinal line segment can be obtained. : ； in, The radius of curvature of the neutral layer, The distance from the vertical line segment to the neutral layer; Step 3: Because there is no normal stress between the longitudinal segments, each segment is under unidirectional tension or compression; when the stress is less than the proportional limit, according to Hooke's Law, the normal stress of any longitudinal segment is... : ； in, The elastic modulus of the flexible electrode material; Step 4: By performing a stress analysis on the cross-section of the flexible electrode, the bending moment can be obtained. : ； in, The area of ​​the cross-section. It is the moment of inertia; Step 5: By solving the above equations simultaneously, the bending normal stress on the cross-section of the flexible electrode during pure bending can be obtained; ； Step 6: Since it is a pure bending motion, the moment M is the same at each cross-section. Therefore, the maximum normal stress at each cross-section should occur at the furthest point from the neutral layer. ； in, For the maximum normal stress, This represents the farthest distance from the longitudinal line segment to the neutral layer. Step 7: During the bending deformation process, when the maximum normal stress of the flexible electrode is less than the elastic limit of the material... At this time, it can be ensured that the deformation of the flexible electrode remains in the elastic stage; when the load is removed, the deformation of the flexible electrode can be restored; that is: ; Step 8: Therefore, the maximum load that the flexible electrode can withstand. : ； This allows us to determine the ultimate load and deformation of flexible electrodes of different specifications, thereby optimizing the movement of industrial robot joints.

2. The method for dynamic deformation electrolytic processing of flexible electrodes based on industrial robots according to claim 1, characterized in that: The end effector (VIII) of the above-mentioned electrolytic machining apparatus consists of an inlet pipe (VIII-1) and a clamping device (VIII-2); Its inlet pipe (VIII-1) is connected to the inlet pipe of the electrolyte circulation filter device (Ⅱ) as the electrolyte inlet; Its clamping device (VIII-2) is used to clamp the flexible electrode (VII); The end effector (VIII) is installed and connected to the five-stage robotic arm (I-5) of the industrial robot (I). Through the cooperation between the industrial robot (I) and the end effector (VIII), the flexible electrode (VII) is automatically clamped, dynamically deformed and moved.

3. The method for dynamic deformation electrolytic processing of flexible electrodes based on industrial robots according to claim 1, characterized in that: The electrolyte circulation filtration device (II) of the above-mentioned electrolytic processing apparatus consists of a turbid liquid tank (II-1), a clear liquid tank (II-2), an inlet valve (II-3), a pressure gauge (II-4), a water pump (II-5), a return valve (II-6), and a plate and frame filter (II-7).

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