A complex structure curved surface multi-axis linkage magnetic field auxiliary conformal polishing device and method

Abstract

The application discloses a kind of complex structure curved surface multi-axis linkage magnetic field auxiliary conformal polishing device and method, belong to complex structure curved surface precision machining field, the device includes six-axis precision machine tool, connecting clamping device, electric spindle, multi-magnetic-pole coupling polishing device, workpiece, six-dimensional force sensor, industrial control host computer, the multi-magnetic-pole coupling polishing device includes magnetic pole cover, magnetic pole, yoke, magnetic shield.The each module is controlled by industrial control host computer, realizes the six degrees of freedom motion of polishing device and workpiece, the flow channel of different shapes is opened on the magnetic shield, magnetic polishing medium is adsorbed in flow channel, multi-magnetic-pole coupling polishing device can produce coupling rotating magnetic field, cooperate magnetic shield and make medium circulate in flow channel, reduce medium loss, can better adhere to workpiece surface;While by force control, the relative pose of polishing device and workpiece is adjusted in real time, improve the polishing consistency of complex structure curved surface, realize the conformal polishing of workpiece.

Description

Technical Field

[0001] This invention provides a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces, belonging to the field of precision machining of complex curved surfaces. Background Technology

[0002] With the rapid development of high-tech fields such as wireless communication, aerospace, medical manufacturing, and precision instruments, the application standards for complex curved surface components such as optical lenses, terahertz metamaterials, satellite antenna reflective curved surface parts, turbine blades, wind turbine blades, pacemakers, artificial limbs, and human joint implants have significantly improved, making their high-efficiency and high-quality processing of significant application value. Polishing, as the final step in component processing, determines the surface quality of the components. Currently, magnetic field-assisted polishing technology, due to the advantages of the self-adaptability and controllability of free abrasives, is widely used in polishing complex curved surface components.

[0003] Patent application number 202111064044.7, entitled "A Bidirectional Cooperative Vibration Polishing Device and Method Based on Magnetic Field Coupling," proposes a bidirectional cooperative vibration polishing device and method based on magnetic field coupling. It achieves good polishing results through multi-pole coupling combined with ultrasonic vibration, but lacks feedback and adaptability to complex structural surfaces, resulting in a lack of shape preservation. Patent application number 201811136048.X, entitled "A Large Complex Curved Surface Ultrasonic Surface Finishing and Strengthening System and Its Usage Method," proposes a robot-based ultrasonic surface finishing and strengthening system, achieving good ultrasonic surface strengthening and finishing. However, the processing relies solely on the posture adjustment of the industrial robot, making it unable to process more complex structural surfaces. Patent application number 202310266877.4, entitled "A Magnetic Field Assisted Intelligent Polishing Device and Method Utilizing a Three-Dimensional Magic Ring Rotating Magnetic Field," proposes a polishing device and method utilizing a three-dimensional magic ring rotating magnetic field. It achieves efficient and intelligent polishing through the control of medium flow rate, temperature, and magnetic poles. However, this method has an excessively large polishing area, making it difficult to preserve the shape of complex workpiece surfaces.

[0004] Existing magnetic field-assisted polishing systems lack monitoring, feedback, and adaptive adjustment functions, resulting in a relatively low level of automation. Furthermore, the polishing medium tends to adhere in the polishing area, leading to poor medium flowability, which can easily damage complex curved surfaces of the workpiece and deteriorate the polishing consistency of parts. To address these issues, this invention proposes a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces, which has significant theoretical and practical value for the precision machining of complex curved surfaces. Summary of the Invention

[0005] This invention provides a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces. An industrial control host controls a six-axis precision machine tool, an electric spindle, a multi-magnetic pole coupling polishing device, and the workpiece to move in tandem. A six-dimensional force sensor collects and analyzes the normal force signal when the multi-magnetic pole coupling polishing device contacts the workpiece, adjusting the relative position and orientation of the multi-magnetic pole coupling polishing device and the workpiece in real time. This ensures that the multi-magnetic pole coupling polishing device maintains a constant normal force against the complex curved surface of the workpiece. The multi-magnetic pole coupling and spindle rotation generate a coupled rotating magnetic field. Combined with the different curved shapes of the flow channels in the magnetic shield, the magnetic polishing medium circulates within the flow channels, reducing medium loss and producing a magnetic retention effect. This allows the medium to better conform to the complex curved surface of the workpiece, achieving conformal polishing.

[0006] This invention provides a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces, and the technical solution provided is as follows:

[0007] 1. The aforementioned method for multi-axis linkage magnetic field-assisted conformal polishing of complex curved surfaces can be achieved through the following steps:

[0008] (1) The platform is built. The complex structure curved surface multi-axis linkage magnetic field assisted conformal polishing device includes a six-axis precision machine tool, a connecting clamping device, an electric spindle, a multi-magnetic pole coupling polishing device, a workpiece, a six-dimensional force sensor, and an industrial control host; the multi-magnetic pole coupling polishing device includes a magnetic pole sleeve, a spring, a magnetic pole, a magnetic yoke, and a magnetic cover.

[0009] (2) The complex curved surface workpiece to be processed is clamped on the C-axis rotary table of a six-axis precision machine tool. The appropriate multi-pole coupling polishing device, magnetic cover and polishing medium are selected according to the surface processing requirements of the workpiece.

[0010] (3) Based on the surface shape characteristics and surface processing requirements of the complex structure curved surface workpiece, plan the processing path, spindle speed, feed speed and working clearance parameters, input the parameters into the integrated control system of the industrial control host, and set the magnitude and adjustment range of the normal force on the multi-magnetic pole coupling polishing device during processing.

[0011] (4) According to the set processing parameters, the integrated control system controls the six-axis precision machine tool, electric spindle, multi-magnetic pole coupling polishing device and workpiece to move together and start processing according to the planned processing path;

[0012] (5) During the processing, the multi-magnetic pole coupling polishing device is used in conjunction with a six-dimensional force sensor to achieve position and posture control. By collecting and analyzing the normal force signal when the multi-magnetic pole coupling polishing device is in contact with the workpiece in real time, the actual normal force is compared with the preset threshold. If the normal force is not within the threshold range, the industrial control host controls and adjusts the relative position and posture of the multi-magnetic pole coupling polishing device and the workpiece until the normal force reaches the threshold range, so that the multi-magnetic pole coupling polishing device always adheres to the workpiece surface with a certain normal force, thereby achieving conformal polishing of complex curved surface workpieces.

[0013] 2. The six-axis precision machine tool adopts a gantry structure, including three moving axes (X, Y, Z) and three rotating axes (A, B, C). The six-dimensional force sensor is fixedly installed on the A-axis indexing table of the six-axis precision machine tool. The connecting clamping device is fixedly installed on the six-dimensional force sensor. The electric spindle is clamped on the connecting clamping device. The multi-magnetic pole coupling polishing device is installed at the end of the electric spindle. The workpiece is clamped on the C-axis rotary table of the six-axis precision machine tool. The magnetic poles are connected by springs and installed inside the magnetic pole sleeve. A magnetic yoke is installed on the magnetic pole. The magnetic protection cover is installed outside the magnetic pole sleeve.

[0014] 3. The multi-pole coupling polishing device is divided into permanent magnet pole polishing device, electromagnetic pole polishing device and hybrid pole polishing device according to the type of magnetic pole. The electromagnetic pole polishing device includes a magnetic pole sleeve, an electromagnetic coil, an iron core and a magnetic shield. The hybrid pole polishing device includes a magnetic pole sleeve, an electromagnetic coil, a magnetic pole, a magnetic yoke, an iron core and a magnetic shield.

[0015] 4. The magnetic shield has flow channels of different shapes, including Archimedes spiral and four-leaf rose. Magnetic polishing media are adsorbed in the flow channels. Different flow channel shapes and different polishing media can be selected according to specific processing requirements.

[0016] 5. The multi-pole coupled polishing device is driven to rotate by an electric spindle, generating a coupled rotating magnetic field. Combined with the different curved shapes of the flow channels of the magnetic shield, the magnetic polishing medium circulates within the flow channels, reducing medium loss and producing a magnetic retention effect. This allows the medium to better conform to the complex curved surface of the workpiece, achieving conformal polishing.

[0017] The present invention has the following significant advantages: 1. The multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces described in this invention generates a coupled rotating magnetic field through multi-pole coupling. Combined with a magnetic shield, this allows the magnetic polishing medium to circulate within the flow channel, reducing medium loss and achieving a better magnetic retention effect, thus enabling the medium to better adhere to the workpiece surface. 2. The multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces described in this invention collects and analyzes the normal force signal when the polishing device contacts the workpiece using a six-dimensional force sensor. Real-time adjustment of the relative position and posture of the multi-pole coupled polishing device and the workpiece helps reduce damage to complex curved surfaces and achieves conformal polishing of complex curved surface workpieces. 3. The multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces described in this invention controls the coordinated movement of various modules through an industrial control host, enabling different path processing of complex curved surface workpieces. This results in a high degree of automation, strong processing adaptability, and effectively shortened processing cycles. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces according to the present invention.

[0019] Figure 2 This is a schematic diagram of the permanent magnet pole polishing device in a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces according to the present invention.

[0020] Figure 3 This is a schematic diagram of the electromagnetic pole polishing device in the multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces of the present invention.

[0021] Figure 4 This is a schematic diagram of the mixed magnetic pole polishing device in the multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces of the present invention.

[0022] Figure 5 is a schematic diagram of the magnetic cover structure in a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces according to the present invention.

[0023] Figure 6 is a schematic diagram of the coupling magnetic field of the permanent magnet polishing device in the multi-axis linkage magnetic field assisted conformal polishing device and method for complex curved surfaces of the present invention.

[0024] Figure 7 is a schematic diagram of the electromagnetic pole polishing device coupled with the magnetic field in a multi-axis linkage magnetic field assisted conformal polishing device and method for complex curved surfaces according to the present invention.

[0025] Figure 8 is a schematic diagram of the coupled magnetic field of the mixed magnetic pole polishing device in the multi-axis linkage magnetic field assisted conformal polishing device and method for complex curved surfaces of the present invention.

[0026] Figure 9 is a schematic diagram of the machining of complex curved surface parts in different positions in a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces according to the present invention.

[0027] Figure 10 This is a schematic diagram of the processing of complex surface structure parts in a multi-axis linkage magnetic field-assisted conformal polishing device and method for complex curved surfaces according to the present invention. Detailed Implementation

[0028] Example 1: Combining Figure 1 , Figure 2 Explanation of Figures 5, 6 and 9:

[0029] (1) For processing complex curved workpieces, the multi-magnetic pole coupling polishing device (1-4) is a permanent magnet magnetic pole polishing device, including magnetic pole sleeve (2-1), spring (2-2), magnetic pole (2-3), magnetic yoke (2-4), and magnetic shield (2-5). The magnetic shield (2-5) is an Archimedes spiral type.

[0030] (2) The complex curved surface workpiece (1-5) to be processed is clamped on the C-axis rotary table of the six-axis precision machine tool (1-1). According to the surface shape characteristics and surface processing requirements of the complex curved surface workpiece (1-5), the processing path, spindle speed, feed speed, working clearance and other processing parameters are planned. The processing parameters are input into the integrated control system of the industrial control host (1-7), and the magnitude and adjustment range of the normal force on the multi-magnetic pole coupling polishing device (1-4) during processing are set.

[0031] (3) According to the set processing parameters, the integrated control system controls the six-axis precision machine tool (1-1), electric spindle (1-3), multi-magnetic pole coupling polishing device (1-4) and workpiece (1-5) to move together and start processing according to the planned processing path;

[0032] (4) The multi-pole coupled polishing device (1-4) is driven to rotate by the electric spindle (1-3) to generate a coupled rotating magnetic field. Together with the magnetic shield (2-5), the magnetic polishing medium circulates in the flow channel, reducing medium loss and producing a magnetic effect, so that the medium can better fit the complex curved surface of the workpiece.

[0033] (5) During the processing, the multi-magnetic pole coupling polishing device (1-4) is used in conjunction with the six-dimensional force sensor (1-6) to achieve position control. By collecting and analyzing the normal force signal when the multi-magnetic pole coupling polishing device (1-4) contacts the workpiece (1-5) in real time, the actual normal force is compared with the preset threshold. If the normal force is not within the threshold range, the industrial control host (1-7) controls and adjusts the relative position of the multi-magnetic pole coupling polishing device (1-4) and the workpiece (1-5) until the normal force reaches the threshold range, so that the multi-magnetic pole coupling polishing device (1-4) always adheres to the surface of the workpiece (1-5) with a certain normal force, thereby achieving conformal polishing of complex curved workpieces.

[0034] Example 2: Combination Figure 1 , Figure 3 Figures 5 and 7 Figure 10 illustrate:

[0035] (1) To process the workpiece with curved surface, the multi-pole coupling polishing device (1-4) is an electromagnetic pole polishing device, including a magnetic pole sleeve (3-1), an electromagnetic coil (3-2), an iron core (3-3), and a magnetic shield (3-4). The magnetic shield (3-4) is a four-leaf rose type.

[0036] (2) The workpiece (1-5) to be processed is clamped on the C-axis rotary table of the six-axis precision machine tool (1-1). According to the surface shape characteristics and surface processing requirements of the workpiece (1-5), the processing path, spindle speed, feed speed, working clearance and other processing parameters are planned. The processing parameters are input into the integrated control system of the industrial control host (1-7), and the magnitude and adjustment range of the normal force on the multi-magnetic pole coupling polishing device (1-4) during processing are set.

[0037] (3) According to the set processing parameters, the integrated control system controls the six-axis precision machine tool (1-1), electric spindle (1-3), multi-magnetic pole coupling polishing device (1-4) and workpiece (1-5) to move together and start processing according to the planned processing path;

[0038] (4) The multi-pole coupled polishing device (1-4) is driven to rotate by the electric spindle (1-3) to generate a coupled rotating magnetic field. Together with the magnetic shield (3-4), the magnetic polishing medium circulates in the flow channel, reducing medium loss and producing a magnetic effect, so that the medium can better fit the structural surface of the workpiece.

[0039] (5) During the processing, the multi-magnetic pole coupling polishing device (1-4) is used in conjunction with the six-dimensional force sensor (1-6) to achieve position control. The normal force signal when the multi-magnetic pole coupling polishing device (1-4) contacts the workpiece (1-5) is collected in real time and analyzed. The actual normal force is compared with the preset threshold. If the normal force is not within the threshold range, the industrial control host (1-7) controls and adjusts the relative position of the multi-magnetic pole coupling polishing device (1-4) and the workpiece (1-5) until the normal force reaches the threshold range. This allows the multi-magnetic pole coupling polishing device (1-4) to always adhere to the surface of the workpiece (1-5) with a certain normal force, thereby achieving conformal polishing of the structural curved surface workpiece.

[0040] Example 3: Combination Figure 1 , Figure 4 Explanation of Figures 5, 8, and 9:

[0041] (1) For processing complex curved workpieces, the multi-magnetic pole coupling polishing device (1-4) is a mixed magnetic pole polishing device, including magnetic pole sleeve (4-1), electromagnetic coil (4-2), magnetic pole (4-3), magnetic yoke (4-4), iron core (4-5), and magnetic shield (4-6). The magnetic shield (4-6) is an Archimedes spiral type.

[0042] (2) The complex curved surface workpiece (1-5) to be processed is clamped on the C-axis rotary table of the six-axis precision machine tool (1-1). According to the surface shape characteristics and surface processing requirements of the complex curved surface workpiece (1-5), the processing path, spindle speed, feed speed, working clearance and other processing parameters are planned. The processing parameters are input into the integrated control system of the industrial control host (1-7), and the magnitude and adjustment range of the normal force on the multi-magnetic pole coupling polishing device (1-4) during processing are set.

[0043] (3) According to the set processing parameters, the integrated control system controls the six-axis precision machine tool (1-1), electric spindle (1-3), multi-magnetic pole coupling polishing device (1-4) and workpiece (1-5) to move together and start processing according to the planned processing path;

[0044] (4) The multi-pole coupled polishing device (1-4) is driven to rotate by the electric spindle (1-3) to generate a coupled rotating magnetic field. Together with the magnetic shield (4-6), the magnetic polishing medium circulates in the flow channel, reducing medium loss and producing a magnetic effect, so that the medium can better fit the complex curved surface of the workpiece.

[0045] (5) During the processing, the multi-magnetic pole coupling polishing device (1-4) is used in conjunction with the six-dimensional force sensor (1-6) to achieve position control. By collecting and analyzing the normal force signal when the multi-magnetic pole coupling polishing device (1-4) contacts the workpiece (1-5) in real time, the actual normal force is compared with the preset threshold. If the normal force is not within the threshold range, the industrial control host (1-7) controls and adjusts the relative position of the multi-magnetic pole coupling polishing device (1-4) and the workpiece (1-5) until the normal force reaches the threshold range, so that the multi-magnetic pole coupling polishing device (1-4) always adheres to the surface of the workpiece (1-5) with a certain normal force, thereby achieving conformal polishing of complex curved workpieces.

[0046] The specific embodiments described above are merely illustrative or explanatory of the principles of the present invention and do not constitute a limitation on the scope of protection of the present invention. Therefore, any modifications, alterations, equivalent substitutions, equivalent structures, and equivalent process changes made to the present invention without departing from the principles and scope of protection described herein should be covered within the scope of protection of the present invention.

Claims

1. A method for conformal polishing of complex curved surfaces using multi-axis linkage magnetic field assistance, characterized in that, The method is implemented through the following steps: (1) The platform is built. The complex structure curved surface multi-axis linkage magnetic field assisted conformal polishing device includes a six-axis precision machine tool (1-1), a connecting clamping device, an electric spindle (1-3), a multi-magnetic pole coupling polishing device (1-4), a workpiece (1-5), a six-dimensional force sensor (1-6), and an industrial control host (1-7); the multi-magnetic pole coupling polishing device (1-4) includes a magnetic pole sleeve (2-1), a spring (2-2), a magnetic pole (2-3), a magnetic yoke (2-4), and a magnetic shield (2-5); the magnetic shield (2-5) has flow channels of different shapes, including Archimedes spiral and four-leaf rose, and magnetic polishing media are adsorbed in the flow channels. Different shapes of flow channels and different polishing media can be selected according to specific processing requirements. (2) The complex curved surface workpiece (1-5) to be processed is clamped on the C-axis rotary table of the six-axis precision machine tool (1-1). According to the surface processing requirements of the workpiece, a suitable multi-pole coupling polishing device (1-4), magnetic cover (2-5) and polishing medium are selected. (3) Based on the surface shape characteristics and surface processing requirements of the complex structure curved surface workpiece (1-5), plan the processing path, spindle speed, feed speed and working clearance parameters, input the parameters into the integrated control system of the industrial control host (1-7), and set the magnitude and adjustment range of the normal force on the multi-magnetic pole coupling polishing device (1-4) during processing; (4) According to the set processing parameters, the integrated control system controls the six-axis precision machine tool (1-1), electric spindle (1-3), multi-magnetic pole coupling polishing device (1-4) and workpiece (1-5) to move together and start processing according to the planned processing path; (5) During the processing, the multi-magnetic pole coupling polishing device (1-4) is used in conjunction with the six-dimensional force sensor (1-6) to achieve position control. By collecting and analyzing the normal force signal when the multi-magnetic pole coupling polishing device (1-4) contacts the workpiece (1-5) in real time, the actual normal force is compared with the preset threshold. If the normal force is not within the threshold range, the industrial control host (1-7) controls and adjusts the relative position of the multi-magnetic pole coupling polishing device (1-4) and the workpiece (1-5) until the normal force reaches the threshold range, so that the multi-magnetic pole coupling polishing device (1-4) always adheres to the surface of the workpiece (1-5) with a certain normal force, thereby achieving conformal polishing of complex curved surface workpieces; (6) The multi-pole coupled polishing device (1-4) is driven to rotate by the electric spindle (1-3) to generate a coupled rotating magnetic field. With the different curved flow channels of the magnetic shield (2-5), the magnetic polishing medium circulates in the flow channel, reducing medium loss and producing a magnetic effect. This allows the medium to better fit the complex curved surface of the workpiece and achieve conformal polishing.

2. The method for multi-axis linkage magnetic field-assisted conformal polishing of complex curved surfaces according to claim 1, characterized in that: The six-axis precision machine tool (1-1) adopts a gantry structure, including three moving axes (X, Y, Z) and three rotating axes (A, B, C). The six-dimensional force sensor (1-6) is fixedly installed on the A-axis indexing table of the six-axis precision machine tool (1-1). The connecting clamping device is fixedly installed on the six-dimensional force sensor (1-6). The electric spindle (1-3) is clamped on the connecting clamping device. The multi-magnetic pole coupling polishing device (1-4) is installed at the end of the electric spindle (1-3). The workpiece (1-5) is clamped on the C-axis rotary table of the six-axis precision machine tool (1-1). The magnetic pole (2-3) is connected and installed inside the magnetic pole sleeve (2-1) by a spring (2-2). A magnetic yoke (2-4) is installed on the magnetic pole (2-3). The magnetic shield (2-5) is installed outside the magnetic pole sleeve (2-1).

3. The method for conformal polishing of complex curved surfaces assisted by multi-axis linkage magnetic field according to claim 1, characterized in that: According to the type of magnetic pole, the multi-pole coupling polishing device (1-4) is divided into permanent magnet pole polishing device, electromagnetic pole polishing device and hybrid pole polishing device. The electromagnetic pole polishing device includes a magnetic pole sleeve (3-1), an electromagnetic coil (3-2), an iron core (3-3), and a magnetic shield (3-4). The hybrid pole polishing device includes a magnetic pole sleeve (4-1), an electromagnetic coil (4-2), a magnetic pole (4-3), a magnetic yoke (4-4), an iron core (4-5), and a magnetic shield (4-6).

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