Robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method and device

Abstract

A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method comprises the following steps: dissolving the anode surface of a workpiece and forming a passive film by using electrochemical reaction, enabling nano abrasive particles in an electrochemical polishing solution to generate micro jet flow to shear and remove the passive film by using an ultrasonic cavitation-shear composite effect, and then continuing to perform the electrochemical reaction. The invention discloses a robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing device which comprises a box body, an ultrasonic auxiliary assembly, a power supply auxiliary assembly, an electrochemical polishing solution circulation auxiliary assembly, a polishing assembly and a robot control assembly. The ultrasonic auxiliary assembly, the power supply auxiliary assembly, the electrochemical polishing liquid circulation auxiliary assembly and the robot control assembly are located at the outer end of the box body. According to the method, the polishing efficiency can be greatly improved, and the near-atomic-scale polishing precision of atoms can be achieved.

Description

Technical Field

[0001] The invention belongs to the field of ultra-precision grinding and polishing, and specifically relates to a robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method and device. Background Art

[0002] The integrated metal additive parts in aerospace components are usually composed of parts with complex structures such as internal flow channels and cavities. For example, key components of liquid rocket engines, such as injector housings and thrust chambers, have hundreds of cooling channels inside the parts under harsh use environments. The surface quality of these parts directly determines the overall performance and service life of the engine. Therefore, effective finishing of them is an important means to improve product quality. For complex metal additive parts, the fine processing of their internal surfaces has become a major challenge in current industrial applications, and it is also one of the main obstacles to the widespread application of metal additive manufacturing technology. Since aviation products have higher requirements for their internal structure and appearance accuracy, advanced processes are needed to perform precision processing of the internal surface to improve product quality. In the field of aerospace, products with functional flow channels can be used to transfer mass or energy, and have high requirements for the forming quality of the internal surface. However, the post-processing involves complex operating conditions, many restrictions, harsh internal working environment, and difficult processing. Therefore, the finishing of the internal flow channel becomes difficult. In the industry, the current mainstream technical means include mechanical polishing technology (such as abrasive flow processing technology), chemical polishing, and electrochemical polishing. These methods can basically meet the requirements when dealing with simple flow channels, but they still have obvious shortcomings in dealing with complex flow channels, blind holes, thin walls, variable cross-sections and complex surfaces.

[0003] Electrochemical polishing technology is a surface treatment method that dissolves the anode of a metal workpiece in a specific electrochemical polishing liquid environment to reduce its surface roughness, improve brightness and give it a metallic luster. As a means of metal surface treatment, electrochemical polishing has the following advantages: 1) It can effectively reduce surface roughness, thereby achieving excellent surface polishing effect; 2) The polishing efficiency is very high and has no direct relationship with the mechanical properties of the treated material (such as hardness, toughness, strength, etc.); 3) Compared with mechanical polishing equipment, the equipment required for polishing formed parts is simpler and more economical. During the polishing process, the workpiece will not come into contact with the tool (cathode), and there will be no cutting force, heat, burrs or tool marks.

[0004] Ultrasonic assistant abrasive flow polishing (UVAFP) combines ultrasonic vibration and abrasive flow polishing methods, and it represents a comprehensive polishing technology. When using this process to polish metal parts, tool-free grinding can be achieved, and the surface integrity after polishing can be improved. This technology is particularly suitable for processing hard and brittle, difficult-to-polish material surfaces and surfaces with complex shapes. It broadens the application scope of abrasive flow polishing technology, thereby improving polishing efficiency and workpiece surface quality. UVAFP technology can be divided into two categories according to the different action principles of ultrasonic vibration: one is part polishing based on ultrasonic energy, and the other is part polishing using the composite action mechanism of ultrasonic waves and abrasive flow. Among them, the latter mainly includes two categories: pulse ultrasonic polishing and non-contact ultrasonic polishing. Compared with traditional polishing technology, by adding ultrasonic processing capabilities based on the relative kinetic energy of abrasive particles, not only can the polishing efficiency be significantly improved, but also the polishing effect will be significantly improved.

[0005] A Chinese invention patent (CN116121842A) has been published, a small-diameter pipeline inner surface electrochemical polishing device, including a power supply system, a storage tank for storing electrochemical polishing liquid, a bracket for supporting a horizontal pipeline, a positive electrode of the power supply system electrically connected to the pipeline, a negative electrode of the power supply system electrically connected to a cathode rod extending into the pipeline, the cathode rod is connected to a reciprocating mechanism, the reciprocating mechanism drives the cathode rod to move back and forth in the pipeline, one end of the pipeline is connected to an electrochemical polishing liquid circulation device, the electrochemical polishing liquid circulation device drives the electrochemical polishing liquid to circulate in the pipeline, and the combination of the reciprocating motion of the cathode rod and the circulation of the electrochemical polishing liquid avoids the occurrence of white spots on the inner surface of the pipeline due to bubbles adhering to the inner surface of the pipeline and the accumulation of impurities leading to the contact of the cathode and the cathode causing a short circuit. However, this patent does not involve the ultrasonic-assisted abrasive rheological polishing mechanism, and the recovery and utilization of the electrochemical polishing liquid.

[0006] The Chinese invention patent (CN114985855A) has been published, which is an electrochemical assisted mechanical polishing processing device. It includes a grinding block, a polishing vibration trough, an exciter, a spring and a base together to form a mechanical processing component; a pulse power supply, a support plate, a partition, a cathode pipe, etc. constitute an electrochemical processing component; a support shaft, a first pulley, a second pulley, a transmission belt and a drive motor constitute a rotating drive component; a circulating pump, a valve, a filter, a circulating pipeline, a nozzle and a nozzle constitute an electrochemical polishing liquid circulation component. The electrochemical assistance in the present invention expands the processing range of mechanical processing, and can process various high-hardness and high-strength metal materials. Rolling has an all-round grinding effect on the passivation layer formed by electrochemical processing, and the processing efficiency and processing effect have been greatly improved. At the same time, for the inner wall of the tube body, which the rolling process is not good at, the electrochemical part also has a good processing effect. However, this patent cannot polish capillaries with a relatively large aspect ratio and metal tubes with complex shapes, and it is expected to further improve the expansion of parts types and performance.

[0007] The Chinese invention patent (CN116967850A) has been published, a fluid polishing device and method for the inner surface of a slender tube, including a work platform, a fluid processing unit and a magneto-controlled fluid unit; there are two fluid processing units, which are symmetrically installed on the left and right sides of the work platform; the left and right ends of the slender tube, i.e. the workpiece, are respectively connected to the fluid processing units on the left and right sides; the magneto-controlled fluid unit is located on the lower side of the workpiece, and the magnetic field applied by the magnetic pole controls the magnetic particles in the polishing liquid in the fluid processing unit to form a magnetic chain with a certain yield strength along the magnetic direction, which is adsorbed on the inner surface of the workpiece to form a local blocking block, reducing the actual flow caliber of the polishing liquid in the blocking area, thereby increasing the flow rate of the polishing liquid and improving the polishing intensity. Based on the fluidity of magnetorheological fluid, the present invention can realize the regional selective polishing of slender tubes with extremely fine caliber and extremely large aspect ratio, such as needle tubes with a length of >200mm and an inner diameter of ≤1mm. However, this patent does not involve electrochemical polishing, and there is still room for improvement in the efficient polishing of workpieces. Summary of the invention

[0008] In order to overcome the shortcomings of the prior art in polishing complex flow channels, slender pipes and small hole inner walls, low polishing efficiency and single processing type, the present invention provides a robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method and device, which can not only greatly improve the polishing efficiency, but also achieve atomic and near-atomic scale polishing accuracy.

[0009] The technical solution adopted by the present invention to solve its technical problem is:

[0010] A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method utilizes electrochemical reaction to dissolve the anode surface of the workpiece and form a passivation film. The ultrasonic cavitation-shear composite effect causes nano-abrasive particles in the electrochemical polishing liquid to generate tiny jets to shear and remove the passivation film, and then the electrochemical reaction continues.

[0011] Further, the electrochemical ultrasonic shear rheological polishing comprises the following steps:

[0012] 1) The robot automatically clamps the workpiece, places it on the limiting groove, and aligns the drainage port of the flow channel in the workpiece with the limiting groove, so that the cathode rod penetrates into the flow channel in the workpiece;

[0013] 2) The lifting table is adjusted to make the workpiece reach the set height, and the robot clamps the fixture at the infusion port of the flow channel in the workpiece;

[0014] 3) adding the electrochemical polishing liquid containing nano-abrasive particles into the electrochemical polishing liquid tank, turning on the hydraulic pump, and allowing the electrochemical polishing liquid to flow into the inner cavity of the workpiece along the infusion tube;

[0015] 4) Turn on the power supply and adjust the transformer so that an electrochemical reaction occurs on the inner surface of the workpiece, causing the anode surface of the workpiece to dissolve and form a passivation film;

[0016] 5) Turn on the ultrasonic signal generator, the signal is transmitted by the ultrasonic signal transmission line, the ultrasonic wave is focused into the rotating polishing shaft through the ultrasonic transducer and the horn, and a large number of cavitation bubbles coated by nano-abrasive particles are generated in the electrochemical polishing liquid;

[0017] 6) Under the cavitation-shear composite action of ultrasound, the cavitation bubble-shear composite mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive therein generates a tiny jet shear to remove the passivation film. At this time, the electrochemical polishing liquid continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece and nano-abrasive shear removal of the passivation film, robot-controlled electrochemical ultrasonic shear rheological polishing is achieved.

[0018] A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing device comprises a box body and an ultrasonic auxiliary component, a power supply auxiliary component, an electrochemical polishing liquid circulation auxiliary component, a polishing component and a robot control component, wherein the polishing component is located inside the box body, and the ultrasonic auxiliary component, the power supply auxiliary component, the electrochemical polishing liquid circulation auxiliary component and the robot control component are located at the outer end of the box body; the inlet side of the electrochemical polishing liquid circulation auxiliary component is connected to the discharge port of the box body, and the outlet side of the electrochemical polishing liquid circulation auxiliary component is an infusion tube; the polishing component comprises an anode connector, a telescopic Tube, clamp, limiting groove, cathode rod, polishing workbench, insulating layer and lifting workbench, the upper end of the telescopic tube is connected to the outlet of the infusion tube through the anode connector, the ultrasonic auxiliary component is connected to the infusion tube, the lower end of the telescopic tube is provided with a clamp, the clamp is located above the workstation where the workpiece to be polished is placed, the lower end of the workstation is provided with a limiting groove for fixing the workpiece, the limiting groove contains a cathode rod, the power supply auxiliary component is connected to the anode connector and the cathode rod, the limiting groove is connected to the polishing workbench tightly together, and the lower end of the polishing workbench is the insulating layer and the lifting workbench in turn.

[0019] Furthermore, the limiting groove is fixed at the upper end of the polishing workbench and arranged in a circular array; the internal opening of the limiting groove can discharge the electrochemical polishing liquid; at the same time, a cathode rod is stored inside the limiting groove, which can better perform electrochemical reactions inside the workpiece.

[0020] Furthermore, an adjustment gasket is provided between the box body and the telescopic tube.

[0021] Preferably, the workpiece is an internal flow channel of a high-energy beam laser additive product, a component of a cavity structure, a slender capillary or a standard tube.

[0022] The ultrasonic auxiliary component is located at the upper right end of the box and is connected to the infusion tube; the power supply auxiliary component is located at the left end of the box; and the electrochemical polishing liquid circulation auxiliary component is located at the right end of the box.

[0023] The robot control component includes a base, a first joint, a main arm, a second joint, a secondary arm, a third joint, a forearm and a mechanical gripper. The first joint connects the base and the main arm, the second joint connects the main arm and the secondary arm, the third joint connects the secondary arm and the forearm, and a mechanical gripper is provided at the end of the forearm.

[0024] The ultrasonic auxiliary component includes an ultrasonic signal generator, an ultrasonic signal transmission line, an ultrasonic transducer, a heat sink and a horn from top to bottom. The ultrasonic signal generator is connected to the ultrasonic transducer through the ultrasonic signal transmission line, the ultrasonic transducer is wrapped by the heat sink, the lower end of the ultrasonic transducer is connected to the horn, and the lower end of the horn converges with the two infusion tubes.

[0025] The power supply auxiliary component includes a DC power supply, a circuit protection device, a transformer, a voltmeter and an ammeter. The power supply auxiliary component is located at the left end of the box. The anode of the DC power supply is connected to the anode connector through the circuit protection device, and the cathode of the power supply is connected to the cathode rod through the transformer. The voltmeter measures the output voltage, and the ammeter measures the output current.

[0026] The DC power supply is a silicon rectifier power supply and a thyristor rectifier power supply. The circuit protection device effectively prevents damage caused by circuit short circuit or excessive load.

[0027] The electrochemical polishing liquid circulation auxiliary component includes an infusion tube, a hydraulic pump, a filter, an electrochemical polishing liquid tank and a drain port. The electrochemical polishing liquid circulation auxiliary component is located at the right end of the box. The electrochemical polishing liquid flows through the infusion tube through the filter, the hydraulic pump, and the ultrasonic auxiliary device in sequence to reach the inner cavity of the workpiece, and then flows back to the electrochemical polishing liquid tank through the drain port to complete the electrochemical polishing liquid circulation.

[0028] The filter is divided into physical filtration and chemical filtration. Physical filtration mainly filters out the passivation film and workpiece debris in the electrochemical polishing liquid, and chemical filtration removes metal cations in the electrochemical polishing liquid.

[0029] The electrochemical polishing liquid contains nano-abrasive particles, which include one or a mixture of two or more of nano-diamond, cubic boron oxide, boron carbide, silicon carbide, silicon nitride, silicon oxide, gallium oxide, iron oxide, magnesium oxide, lithium fluoride, graphite and Al2O3.

[0030] The electrochemical polishing liquid usually includes acidic, neutral and alkaline polishing liquids. For processing titanium alloy materials and stainless steel materials, acidic electrochemical polishing liquids are mainly used, including phosphoric acid, sulfuric acid, perchloric acid, phosphoric acid-sulfuric acid and electrochemical polishing liquids with various additives. The acidic polishing liquid with better versatility is phosphoric acid-sulfuric acid electrochemical polishing liquid. The additives mainly include corrosion inhibitors, leveling agents and brighteners. The corrosion inhibitors include ethanol, butanol, ethylene glycol, acetic acid, oxalic acid, etc., the leveling agents include triethanolamine, urea, thiourea, etc., and the brighteners include glucose, saccharin, starch, sucrose, etc.

[0031] The beneficial effects of the present invention are mainly manifested in:

[0032] 1. A wide variety of workpieces can be processed. The device of the present invention can process different types of workpieces, and can process slender tubes of different thicknesses at the same time, and can also process complex internal flow channels, which can greatly improve the processing efficiency.

[0033] 2. The important role of ultrasound. Ultrasonic waves not only promote and physically strengthen the electrochemical process (mainly in the form of strengthening the diffusion and mass transfer process in electrochemical polishing), accelerate the oxidation and reduction of the electrode surface, but also assist nano-abrasive particles in efficiently shearing and removing the anode workpiece surface.

[0034] 3. Easy chip removal. During the polishing process, chips will be generated, which will affect the surface processing accuracy through continuous accumulation. The present invention adopts abrasive flow rheology technology to remove the chips. During the processing, the polishing liquid can effectively remove the chips in time, so that the workpiece surface is kept clean, thereby ensuring the polishing process.

[0035] 4. Fast heat dissipation. The workpiece and the removal tool remove materials by mutual friction, which generates a lot of heat in the removal process, thereby affecting the polishing accuracy of the workpiece surface and causing burns on the workpiece surface. The present invention adopts the cavitation effect, which can not only accelerate the mechanical damage to the workpiece surface, but also fully play a cooling and lubricating effect, thereby reducing or avoiding the burn problem on the workpiece surface caused by traditional polishing.

[0036] 5. Higher material removal. The electrochemical ultrasonic shear rheological polishing technology adopted by the present invention is as follows: after power is turned on, under the action of electrochemical reaction, a large number of protrusions on the anode surface of the workpiece are first dissolved and a passivation film is formed; under the cavitation-shear compound action of the ultrasonic wave, the cavitation bubble-shear compound mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive particles therein generate tiny jets to shear and remove the passivation film, and the electrochemical polishing liquid at this time continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece and nano-abrasive particles shearing and removing the passivation film, a new method of robot-controlled electrochemical ultrasonic shear rheological polishing is realized.

[0037] 6. Automated device. The device of the present invention adds a robot control system, which can clamp or disassemble the workpiece in a timely manner, adjust the optimal polishing position of the workbench according to the workpieces of different sizes, simplify the manual operation process, and greatly improve the processing efficiency.

[0038] 7. The present invention has relatively low requirements on polishing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the electrochemical ultrasonic shear rheological polishing device (the robot is not marked).

[0040] Figure 2 Schematic diagram of the polishing parts of the electrochemical ultrasonic shear rheological polishing device (the workpiece and fixture are not marked).

[0041] Figure 3 Schematic diagram of the inner flow channel (single flow channel, multi-flow channel).

[0042] Figure 4 It is a schematic diagram of the limiting groove component.

[0043] Figure 5 A schematic diagram of the robot.

[0044] Figure 6 Schematic diagram of the polishing method of the electrochemical ultrasonic shear rheological polishing device (a part of the inner flow channel is cut off).

[0045] Figure 7 This is a microscopic diagram of material removal by abrasive shearing (a portion of the inner flow channel is captured).

[0046] Among them, 1. box; 2. ultrasonic signal generator; 3. ultrasonic signal transmission line; 4. ultrasonic transducer; 5. heat sink; 6. amplitude rod; 7. infusion tube; 8. hydraulic pump; 9. filter; 10. electrochemical polishing liquid tank; 11. drain port; 12. limit groove; 13. polishing workbench; 14. insulation layer; 15. lifting workbench; 16. cathode rod; 17. ammeter; 18. transformer; 19. DC power supply; 20. voltmeter; 21. circuit protection device; 22. fixture; 23. adjustment gasket; 24. telescopic tube; 2 5. Anode connector; 26. Workpiece; 27. Base; 28. First joint; 29. ​​Main arm; 30. Second joint; 31. Secondary arm; 32. Third joint; 33. Forearm; 34. Mechanical grasping; 201. Ultrasonic wave; 202. Chemical substance; 203. Nano-abrasive; 204. Cavitation bubbles; 501. Inner wall of anode workpiece; 502. Electrochemical reaction; 503. Abrasive shearing to remove passivation film; 504. After multiple composite processing; 505. Anode dissolution; 506. Passivation film; 507. Abrasive shearing; 601. Fine jetting. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings.

[0048] Reference Figure 1 to Figure 7A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing device comprises a box 1 and an ultrasonic auxiliary component, a power supply auxiliary component, an electrochemical polishing liquid circulation auxiliary component, a polishing component and a robot control component, wherein the ultrasonic auxiliary component comprises an ultrasonic signal generator 2, an ultrasonic signal transmission line 3, an ultrasonic transducer 4, a heat sink 5 and an amplitude transformer 6 from top to bottom, and the ultrasonic auxiliary component is located at the upper right end of the box 1 and is connected to the infusion tube 7; the power supply auxiliary component comprises a DC power supply 19, a circuit protection device 21, a transformer 18, a voltmeter 20 and an ammeter 17, and the power supply auxiliary component is located at the left end of the box 1; the electrochemical polishing liquid circulation auxiliary component The components include an infusion tube 7, a hydraulic pump 8, a filter 9, an electrochemical polishing liquid tank 10 and a drain port 11, and the electrochemical polishing liquid circulation auxiliary device is located at the right end of the box 1; the polishing component includes an anode connector 25, a telescopic tube 24, a clamp 22, an adjustment gasket 23, a workpiece 26, a limiting groove 12, a cathode rod 16, a polishing workbench 13, an insulating layer 14 and a lifting workbench 15, and the polishing component is located inside the box 1; the robot control component includes a base 27, a first joint 28, a main arm 29, a second joint 30, a secondary arm 31, a third joint 32, a forearm 33 and a mechanical gripper 34, and the robot control component is located directly in front of the box 1.

[0049] The polishing assembly includes an anode connector 25, a telescopic tube 24, a fixture 22, an adjustment gasket 23, a workpiece 26, a limiting groove 12, a cathode rod 16, a polishing workbench 13, an insulating layer 14 and a lifting workbench 15. The polishing assembly is located inside the box 1. The upper end of the telescopic tube 24 is connected to the outlet of the infusion tube through the anode connector 25. The fixture 22 is set at the lower end of the telescopic tube 24. An adjustment gasket 23 is stored between the box 1 and the telescopic tube 24. The lower end of the workpiece 26 is fixed on the limiting groove 12. The cathode rod 16 is stored in the limiting groove 12. The limiting groove 12 is tightly connected to the polishing workbench 13. The lower end of the polishing workbench 13 is the insulating layer 14 and the lifting workbench 15 in sequence.

[0050] Optionally, the anode connector 25 can not only play a connecting role, but also provide current for the electrochemical polishing liquid.

[0051] The limiting groove 12 is fixed at the upper end of the polishing workbench and arranged in a circular array; the internal opening of the limiting groove 12 can discharge the electrochemical polishing liquid; at the same time, a cathode rod 16 is stored inside the limiting groove 12, which can better perform electrochemical reactions inside the workpiece 26.

[0052] The height of the lifting platform is adjusted according to the length of the workpiece 26 so that the workpiece 26 reaches a suitable clamping position.

[0053] Workpiece 26 is a high-energy beam laser additive product with internal flow channels (single flow channel, multi-flow channels), cavities and other complex structure components, slender capillaries and standard tubes, and its materials are mainly titanium alloy materials and stainless steel materials, among which titanium alloy materials include Ti-6Al-4V, Ti-6Al-2Sn-4Zr-6Mo, etc., and stainless steel materials include 304, 316L, 17-4PH, etc.

[0054] The ultrasonic auxiliary component includes, from top to bottom, an ultrasonic signal generator 2, an ultrasonic signal transmission line 3, an ultrasonic transducer 4, a heat sink 5 and an horn 6. The ultrasonic signal generator 2 is connected to the ultrasonic transducer 4 through the ultrasonic signal transmission line 3. The ultrasonic transducer 4 is wrapped by the heat sink 5. The lower end of the ultrasonic transducer 4 is connected to the horn 6. The lower end of the horn 6 converges with two infusion tubes 7.

[0055] The ultrasonic transducer 4 is made of giant magnetostrictive material, which has the advantages of greater energy density, higher conversion efficiency and response speed compared with traditional materials.

[0056] Under ultrasonic frequency, the transducer made of giant magnetostrictive material has a serious heating phenomenon, and heat sinks 5 are arranged around the transducer to alleviate the overheating of the transducer to a certain extent.

[0057] The power supply auxiliary component includes a DC power supply 19, a circuit protection device 21, a transformer 18, a voltmeter 20 and an ammeter 17. The power supply auxiliary component is located at the left end of the box 1. The anode of the DC power supply 19 is connected to the anode connector 25 through the circuit protection device 21, and the cathode of the power supply is connected to the cathode rod 16 through the transformer 18. The voltmeter 20 measures the output voltage, and the ammeter 17 measures the output current.

[0058] The DC power supply 19 is a silicon rectifier power supply and a thyristor rectifier power supply. The circuit protection device 21 is effective to prevent damage caused by short circuit or excessive load.

[0059] The robot control component includes a base 27, a first joint 28, a main arm 29, a second joint 30, a secondary arm 31, a third joint 32, a forearm 33 and a mechanical gripper 34. The first joint 28 connects the base 27 and the main arm 29, the second joint 30 connects the main arm 29 and the secondary arm 31, the third joint 32 connects the secondary arm 31 and the forearm 33, and a mechanical gripper 34 is provided at the end of the forearm 33. The robot control component is located directly in front of the box 1.

[0060] The electrochemical polishing liquid circulation auxiliary component includes an infusion tube 7, a hydraulic pump 8, a filter 9, an electrochemical polishing liquid tank 10 and a drain port 11. The electrochemical polishing liquid circulation auxiliary component is located at the right end of the box body 1. The electrochemical polishing liquid flows through the infusion tube 7, the filter 9, the hydraulic pump 8, and the ultrasonic auxiliary device in sequence to reach the inner cavity of the workpiece 26, and then flows back to the electrochemical polishing liquid tank 10 through the drain port 11 to complete the electrochemical polishing liquid circulation.

[0061] The filter 9 is divided into physical filtration and chemical filtration. The physical filtration mainly filters out the passivation film and workpiece 26 debris in the electrochemical polishing liquid, and the chemical filtration mainly filters out the metal cations in the electrochemical polishing liquid.

[0062] The electrochemical polishing liquid contains nano-abrasive particles, which include one or a mixture of two or more of nano-diamond, cubic boron oxide, boron carbide, silicon carbide, silicon nitride, silicon oxide, gallium oxide, iron oxide, magnesium oxide, lithium fluoride, graphite and Al2O3.

[0063] The electrochemical polishing liquid usually includes acidic, neutral and alkaline polishing liquids. For processing titanium alloy materials and stainless steel materials, acidic electrochemical polishing liquids are mainly used, including phosphoric acid, sulfuric acid, perchloric acid, phosphoric acid-sulfuric acid and electrochemical polishing liquids with various additives. The acidic polishing liquid with better versatility is phosphoric acid-sulfuric acid electrochemical polishing liquid. The additives mainly include corrosion inhibitors, leveling agents and brighteners. The corrosion inhibitors include ethanol, butanol, ethylene glycol, acetic acid, oxalic acid, etc., the leveling agents include triethanolamine, urea, thiourea, etc., and the brighteners include glucose, saccharin, starch, sucrose, etc.

[0064] A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method utilizes electrochemical reaction to dissolve the anode surface of the workpiece and form a passivation film. The ultrasonic cavitation-shear composite effect causes nano-abrasive particles in the electrochemical polishing liquid to generate tiny jets to shear and remove the passivation film, and then the electrochemical reaction continues.

[0065] Further, the electrochemical ultrasonic shear rheological polishing comprises the following steps:

[0066] 1) The robot automatically clamps the workpiece 26, places it on the limiting groove 12, and aligns the drainage port of the flow channel in the workpiece 26 with the limiting groove 12, so that the cathode rod penetrates into the flow channel in the workpiece 26;

[0067] 2) The lifting table 15 is adjusted to make the workpiece 26 reach a suitable height, and the robot clamps the fixture 22 at the infusion port of the flow channel in the workpiece 26;

[0068] 3) adding the electrochemical polishing liquid containing nano-abrasive particles into the electrochemical polishing liquid tank 10, turning on the hydraulic pump 8, and allowing the electrochemical polishing liquid to flow into the inner cavity of the workpiece 26 along the infusion tube 7;

[0069] 4) Turn on the power supply and adjust the transformer 18 so that an electrochemical reaction occurs on the inner surface of the workpiece 26, so that the anode surface of the workpiece 26 dissolves and forms a passivation film;

[0070] 5) Turn on the ultrasonic signal generator 2, the signal is transmitted by the ultrasonic signal transmission line 3, the ultrasonic wave is focused into the rotating polishing shaft through the ultrasonic transducer 4 and the horn 6, and a large number of cavitation bubbles coated by nano-abrasive particles are generated in the electrochemical polishing liquid;

[0071] 6) Under the cavitation-shear composite action of ultrasound, the cavitation bubble-shear composite mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive therein generates a tiny jet shear to remove the passivation film. At this time, the electrochemical polishing liquid continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece 26 and nano-abrasive shear removal of the passivation film, the robot-controlled electrochemical ultrasonic shear rheological polishing is realized.

[0072] Example 1

[0073] The present invention is used for processing an additively manufactured slender tube (mainly made of titanium alloy material and stainless steel material) with dimensions of: an outer diameter of 2 mm, an inner diameter of 1 mm, and a length of 1000 mm.

[0074] The polishing method comprises the following steps:

[0075] 1) The robot automatically clamps an additively manufactured slender tube workpiece 26 with an outer diameter of 2 mm, an inner diameter of 1 mm, and a length of about 1000 mm, and places it on the limiting groove 12 so that the cathode rod penetrates into the workpiece 26;

[0076] 2) The lifting table 15 is adjusted so that the workpiece 26 reaches a suitable height, and the robot clamps the fixture 22 on the upper end of the slender tube;

[0077] 3) adding the electrochemical polishing liquid containing nano-abrasive particles into the electrochemical polishing liquid tank 10, turning on the hydraulic pump 8, and allowing the electrochemical polishing liquid to flow into the inner cavity of the workpiece 26 along the infusion tube 7;

[0078] 4) Turn on the power supply and adjust the transformer 18 so that an electrochemical reaction occurs on the inner surface of the workpiece 26, so that the anode surface of the workpiece 26 dissolves and forms a passivation film;

[0079] 5) Turn on the ultrasonic signal generator 2, the signal is transmitted by the ultrasonic signal transmission line 3, the ultrasonic wave is focused into the rotating polishing shaft through the ultrasonic transducer 4 and the horn 6, and a large number of cavitation bubbles coated by nano-abrasive particles are generated in the electrochemical polishing liquid;

[0080] 6) Under the cavitation-shear composite action of ultrasound, the cavitation bubble-shear composite mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive therein generates a tiny jet shear to remove the passivation film. At this time, the electrochemical polishing liquid continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece 26 and nano-abrasive shear removal of the passivation film, the robot-controlled electrochemical ultrasonic shear rheological polishing is realized.

[0081] Example 2

[0082] The invention is used for processing a stainless steel single flow channel with dimensions of 100 mm in length, 80 mm in width and 60 mm in height.

[0083] The polishing method comprises the following steps:

[0084] 1) The robot automatically clamps a stainless steel single-channel workpiece 26 with a length, width and height of 100 mm, 80 mm and 60 mm, places it on the limiting groove 12, and aligns the drainage port of the inner channel of the workpiece 26 with the limiting groove 12, so that the cathode rod penetrates into the inner channel of the workpiece 26;

[0085] 2) The lifting table 15 is adjusted to make the workpiece 26 reach a suitable height, and the robot clamps the fixture 22 at the infusion port of the flow channel in the workpiece 26;

[0086] 3) adding the electrochemical polishing liquid containing nano-abrasive particles into the electrochemical polishing liquid tank 10, turning on the hydraulic pump 8, and allowing the electrochemical polishing liquid to flow into the inner cavity of the workpiece 26 along the infusion tube 7;

[0087] 4) Turn on the power supply and adjust the transformer 18 so that an electrochemical reaction occurs on the inner surface of the workpiece 26, so that the anode surface of the workpiece 26 dissolves and forms a passivation film;

[0088] 5) Turn on the ultrasonic signal generator 2, the signal is transmitted by the ultrasonic signal transmission line 3, the ultrasonic wave is focused into the rotating polishing shaft through the ultrasonic transducer 4 and the horn 6, and a large number of cavitation bubbles coated by nano-abrasive particles are generated in the electrochemical polishing liquid;

[0089] 6) Under the cavitation-shear composite action of ultrasound, the cavitation bubble-shear composite mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive therein generates a tiny jet shear to remove the passivation film. At this time, the electrochemical polishing liquid continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece 26 and nano-abrasive shear removal of the passivation film, the robot-controlled electrochemical ultrasonic shear rheological polishing is realized.

[0090] Example 3

[0091] The invention is used for processing titanium alloy multi-flow channels with the dimensions of 110 mm in length, 85 mm in width and 60 mm in height.

[0092] The polishing method comprises the following steps:

[0093] 1) The robot automatically clamps a titanium alloy multi-channel workpiece 26 with a length, width and height of 110 mm, 85 mm and 60 mm, places it on the limiting groove 12, and aligns the drainage port of the inner channel of the workpiece 26 with the limiting groove 12, so that the cathode rod penetrates into the inner channel of the workpiece 26;

[0094] 2) The lifting table 15 is adjusted to make the workpiece 26 reach a suitable height, and the robot clamps the fixture 22 at the infusion port of the flow channel in the workpiece 26;

[0095] 3) adding the electrochemical polishing liquid containing nano-abrasive particles into the electrochemical polishing liquid tank 10, turning on the hydraulic pump 8, and allowing the electrochemical polishing liquid to flow into the inner cavity of the workpiece 26 along the infusion tube 7;

[0096] 4) Turn on the power supply and adjust the transformer 18 so that an electrochemical reaction occurs on the inner surface of the workpiece 26, so that the anode surface of the workpiece 26 dissolves and forms a passivation film;

[0097] 5) Turn on the ultrasonic signal generator 2, the signal is transmitted by the ultrasonic signal transmission line 3, the ultrasonic wave is focused into the rotating polishing shaft through the ultrasonic transducer 4 and the horn 6, and a large number of cavitation bubbles coated by nano-abrasive particles are generated in the electrochemical polishing liquid;

[0098] 6) Under the cavitation-shear composite action of ultrasound, the cavitation bubble-shear composite mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive therein generates a tiny jet shear to remove the passivation film. At this time, the electrochemical polishing liquid continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece 26 and nano-abrasive shear removal of the passivation film, the robot-controlled electrochemical ultrasonic shear rheological polishing is realized.

[0099] The contents described in the embodiments of this specification are merely enumerations of implementation forms of the inventive concept and are for illustrative purposes only. The protection scope of the present invention should not be considered to be limited to the specific forms described in this embodiment, and the protection scope of the present invention also extends to equivalent technical means that can be thought of by ordinary technicians in this field based on the inventive concept.

Claims

1. A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method, characterized in that: The electrochemical reaction is used to dissolve the anode surface of the workpiece and form a passivation film. The ultrasonic cavitation-shearing composite effect causes the nano-abrasive particles in the electrochemical polishing liquid to produce a tiny jet to shear and remove the passivation film, and then the electrochemical reaction continues.

2. A robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method as claimed in claim 1, characterized in that: The electrochemical ultrasonic shear rheological polishing comprises the following steps: 1) The robot automatically clamps the workpiece, places it on the limiting groove, and aligns the drainage port of the flow channel in the workpiece with the limiting groove, so that the cathode rod penetrates into the flow channel in the workpiece; 2) The lifting table is adjusted to make the workpiece reach the set height, and the robot clamps the fixture at the infusion port of the flow channel in the workpiece; 3) adding the electrochemical polishing liquid containing nano-abrasive particles into the electrochemical polishing liquid tank, turning on the hydraulic pump, and allowing the electrochemical polishing liquid to flow into the inner cavity of the workpiece along the infusion tube; 4) Turn on the power supply and adjust the transformer so that an electrochemical reaction occurs on the inner surface of the workpiece, causing the anode surface of the workpiece to dissolve and form a passivation film; 5) Turn on the ultrasonic signal generator, the signal is transmitted by the ultrasonic signal transmission line, the ultrasonic wave is focused into the rotating polishing shaft through the ultrasonic transducer and the horn, and a large number of cavitation bubbles coated by nano-abrasive particles are generated in the electrochemical polishing liquid; 6) Under the cavitation-shear composite action of ultrasound, the cavitation bubble-shear composite mechanism formed in the electrochemical polishing liquid has a thickening rheological effect on the electrochemical polishing liquid, and the nano-abrasive therein generates a tiny jet shear to remove the passivation film. At this time, the electrochemical polishing liquid continues to dissolve the exposed fresh surface; through the repeated action of electrochemical dissolution of the anode workpiece and nano-abrasive shear removal of the passivation film, robot-controlled electrochemical ultrasonic shear rheological polishing is achieved.

3. A device for implementing the robot-controlled electrochemical ultrasonic shear rheological polishing manufacturing method as claimed in claim 1, characterized in that: The device includes a box body and an ultrasonic auxiliary component, a power supply auxiliary component, an electrochemical polishing liquid circulation auxiliary component, a polishing component and a robot control component. The polishing component is located inside the box body, and the ultrasonic auxiliary component, the power supply auxiliary component, the electrochemical polishing liquid circulation auxiliary component and the robot control component are located at the outer end of the box body; the inlet side of the electrochemical polishing liquid circulation auxiliary component is connected to the discharge port of the box body, and the outlet side of the electrochemical polishing liquid circulation auxiliary component is an infusion tube. The polishing component includes an anode connector, a telescopic tube, a clamp, a limit groove, a cathode rod, a polishing workbench, an insulating layer and a lifting workbench. The upper end of the telescopic tube is connected to the outlet of the infusion tube through the anode connector, the ultrasonic auxiliary component is connected to the infusion tube, and a clamp is arranged at the lower end of the telescopic tube. The clamp is located above the workstation where the workpiece to be polished is placed. A limit groove for fixing the workpiece is arranged at the lower end of the workstation, and a cathode rod is stored in the limit groove. The power supply auxiliary component is connected to the anode connector and the cathode rod, and the limit groove is connected to the polishing workbench tightly together. The lower end of the polishing workbench is an insulating layer and a lifting workbench.

4. The device according to claim 3, characterized in that The limiting grooves are fixed at the upper end of the polishing workbench and arranged in a circular array; the internal opening of the limiting grooves can discharge the electrochemical polishing liquid; at the same time, a cathode rod is stored inside the limiting grooves, which can better perform electrochemical reactions inside the workpiece.

5. The device according to claim 3 or 4, characterized in that An adjusting gasket is arranged between the box body and the telescopic tube.

6. The device according to claim 3 or 4, characterized in that The robot control component includes a base, a first joint, a main arm, a second joint, a secondary arm, a third joint, a forearm and a mechanical gripper. The first joint connects the base and the main arm, the second joint connects the main arm and the secondary arm, the third joint connects the secondary arm and the forearm, and a mechanical gripper is provided at the end of the forearm.

7. The device according to claim 3 or 4, characterized in that The ultrasonic auxiliary component includes an ultrasonic signal generator, an ultrasonic signal transmission line, an ultrasonic transducer, a heat sink and a horn from top to bottom. The ultrasonic signal generator is connected to the ultrasonic transducer through the ultrasonic signal transmission line, the ultrasonic transducer is wrapped by the heat sink, the lower end of the ultrasonic transducer is connected to the horn, and the lower end of the horn converges with the two infusion tubes.

8. The device according to claim 3 or 4, characterized in that The power supply auxiliary component includes a DC power supply, a circuit protection device, a transformer, a voltmeter and an ammeter. The power supply auxiliary component is located at the left end of the box. The anode of the DC power supply is connected to the anode connector through the circuit protection device, and the cathode of the power supply is connected to the cathode rod through the transformer. The voltmeter measures the output voltage, and the ammeter measures the output current.

9. The device according to claim 3 or 4, characterized in that The electrochemical polishing liquid circulation auxiliary component includes an infusion tube, a hydraulic pump, a filter, an electrochemical polishing liquid tank and a drain port. The electrochemical polishing liquid circulation auxiliary component is located at the right end of the box. The electrochemical polishing liquid flows through the infusion tube through the filter, the hydraulic pump, and the ultrasonic auxiliary device in sequence to reach the inner cavity of the workpiece, and then flows back to the electrochemical polishing liquid tank through the drain port to complete the electrochemical polishing liquid circulation.

10. The device according to claim 9, characterized in that The electrochemical polishing liquid contains nano-abrasive particles, and the nano-abrasive particles include one or a mixture of two or more of nano-diamond, cubic boron oxide, boron carbide, silicon carbide, silicon nitride, silicon oxide, gallium oxide, iron oxide, magnesium oxide, lithium fluoride, graphite and Al2O3; For processing titanium alloy materials and stainless steel materials, acidic electrochemical polishing liquid is used, including phosphoric acid, sulfuric acid, perchloric acid, phosphoric acid-sulfuric acid and various additives to form electrochemical polishing liquid, wherein the additives include corrosion inhibitors, leveling agents and brighteners. The corrosion inhibitors include ethanol, butanol, ethylene glycol, acetic acid or oxalic acid, the leveling agents include triethanolamine, urea or thiourea, and the brighteners include glucose, saccharin, starch or sucrose.

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