Self-adaptive regulation and control magnetic shear thickening polishing device

Abstract

The utility model discloses a self-adaptive regulation and control magnetic shear thickening polishing device. By designing the magnetic field generating device based on various magnetic pole arrays, a multi-magnetic-pole coupling magnetic field with higher gradient and strength is obtained on a working surface, the utilization rate of magnetic flux of the permanent magnet is improved, and a particle cluster layer in a magnetic shear thickening polishing medium can be adaptively regulated and controlled according to the surface appearance of a workpiece. The six-degree-of-freedom industrial robot is programmed according to complex workpieces with different surface appearances, and the self-adaptive adjustment and control capacity of the polishing device on the positions and poses of the workpieces in the machining process is improved. A force sensor installed on a robot system is used for monitoring and adjusting the polishing force in the machining process in real time, and self-adaptive control over the polishing force of magnetic shear thickening polishing is achieved. According to the magnetic shear thickening and polishing device, the magnetic shear thickening and polishing capacity on the surface of a complex workpiece is improved by combining self-adaptive regulation and control of media, poses and polishing force.

Description

Technical Field

[0001] The utility model relates to the field of magnetic field assisted polishing equipment, in particular to an adaptively controlled magnetic shear thickening polishing device. Background Art

[0002] Polishing is an important step in material processing and is widely used in the surface treatment of various materials such as metals, glass, and ceramics. Traditional polishing methods mainly include mechanical polishing, chemical polishing, and electrochemical polishing. Although these methods can achieve the expected surface quality to a certain extent, there are still many challenges and limitations when facing workpieces with complex shapes and high precision requirements. In order to overcome the limitations of traditional polishing methods, magnetic shear thickening polishing technology came into being. This technology uses a non-Newtonian fluid base liquid, magnetic particles, and high-hardness abrasives to prepare an intelligent composite magnetic shear thickening polishing medium, and uses the "enhanced flexible contoured particle clusters" formed by the dual effects of "shear thickening" and "magnetization enhancement" of the new polishing medium for efficient and high-quality polishing.

[0003] In summary, traditional polishing methods have many shortcomings when facing the surface treatment of complex workpieces, while magnetic shear thickening polishing technology has shown broad application prospects due to its high efficiency, adaptability, high precision and environmental protection. However, the existing magnetic shear thickening polishing device still has room for further improvement in terms of control of magnetic field intensity and gradient, real-time monitoring and adjustment of polishing force, etc. The China Patent Literature Library published the invention patent CN215789037U, which discloses a vibration-assisted magnetic shear thickening polishing device, which uses a rotating polishing disk and combines axial vibration to perform magnetic shear thickening polishing on the workpiece, but the single movement mode and the lack of a polishing force monitoring module limit the processing effect of magnetic shear thickening polishing. Therefore, the utility model proposes an adaptively controlled magnetic shear thickening polishing device to further improve the polishing effect and applicability of magnetic shear thickening polishing. Utility Model Content

[0004] The utility model discloses an adaptive control magnetic shear thickening polishing device, which significantly improves the magnetic field strength and gradient of the working surface by adopting a magnetic field generating device based on a plurality of permanent magnet coupling arrays, thereby enhancing the utilization rate of the permanent magnet magnetic flux and improving the adaptive control ability of the particle cluster layer in the magnetic shear thickening polishing medium on the workpiece surface; a six-degree-of-freedom industrial robot is programmed and the trajectory is optimized for complex workpieces with different surface morphologies to improve the adaptive control ability of the polishing device on the workpiece posture during the processing; a force sensor is used to monitor and adjust the polishing force in the processing process in real time to realize the adaptive control of the polishing force of the magnetic shear thickening polishing.

[0005] The beneficial effects of the present invention are as follows: 1. The present invention obtains a variety of magnetic field intensities and magnetic field gradients on the working surface by designing a magnetic field generating device based on a plurality of permanent magnet coupling arrays, thereby improving the utilization rate of the permanent magnet magnetic flux and the adaptive control capability of the particle cluster layer in the magnetic shear thickening polishing medium on the workpiece surface. 2. The six-degree-of-freedom industrial robot is programmed and the trajectory is optimized for complex workpieces with different surface morphologies, thereby improving the adaptive control capability of the polishing device on the workpiece posture during the processing. 3. The polishing force during the processing is monitored and adjusted in real time using a force sensor installed on the six-degree-of-freedom industrial robot, thereby realizing adaptive control of the polishing force of the magnetic shear thickening polishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a structural schematic diagram of an adaptively controlled magnetic shear thickening and polishing device of the present invention.

[0007] Figure 2 This is a structural schematic diagram of a magnetic field generating device for an adaptively controlled magnetic shear thickening and polishing device of the present invention.

[0008] In the figure: 1- six-degree-of-freedom industrial robot, 2- force sensor, 3- electric spindle, 4- workpiece fixture, 5- magnetic field generating device, 6- three-degree-of-freedom precision displacement platform, 7- fastening bolt, 8- permanent magnet, 9- pressure plate, 10- permanent magnet slot. DETAILED DESCRIPTION

[0009] Specific implementation method 1: Combination Figure 1 and Figure 2 Description: The polishing device described in this embodiment includes a six-degree-of-freedom industrial robot 1, a force sensor 2, an electric spindle 3, a workpiece fixture 4, a magnetic field generating device 5, and a three-degree-of-freedom precision displacement platform 6. The magnetic field generating device 5 includes a fastening bolt 7, a permanent magnet 8, a pressure plate 9, and a permanent magnet slot 10. The force sensor 2 is installed on the end effector of the six-degree-of-freedom industrial robot 1. The upper end of the electric spindle 3 is fixed to the bottom of the force sensor 2 through an adapter plate, and the lower end of the electric spindle 3 clamps the part to be polished through the workpiece fixture 4. The permanent magnet slot 10 is installed on the three-degree-of-freedom precision displacement platform 6 as the main structure of the magnetic field generating device 5. The permanent magnet 8 is installed in the permanent magnet slot 10 in the configuration of NSSSN, NSNSN, NNSNN or Halbach pole permanent magnet array. The pressure plate 9 and fastening bolts 7 are respectively installed above and on the side of the permanent magnet slot 10 to fix the permanent magnet 8.

[0010] Specific implementation method 2: Combination Figure 1 and Figure 2It is explained that the pressure plate 9 described in this embodiment is fastened above the permanent magnet slot 10 by bolts, and is used to press the permanent magnet 8 array. The permanent magnet 8 is installed in the permanent magnet slot 10 in sequence through the installation groove on the side of the permanent magnet slot 10 according to the permanent magnet arrangement required by the workpiece to be polished.

[0011] Specific implementation method three: Combination Figure 1 and Figure 2 In this embodiment, the force sensor 2 is installed between the end effector of the 6-DOF industrial robot 1 and the motorized spindle 3 to monitor the polishing force during the polishing process. A polishing force threshold is set in the sensor program, and the 6-DOF industrial robot 1 is programmed and the polishing path is planned based on the shape and surface requirements of the workpiece being polished. During the polishing process, when the force sensor 2 detects that the polishing force exceeds the threshold, it sends a feedback signal to the control console. Upon receiving this feedback signal, the 6-DOF industrial robot 1 adjusts its polishing posture and brings the polishing force back within the threshold.

[0012] The above description of the present invention is provided as an example with reference to the accompanying drawings. It is apparent that the specific implementation of the present invention is not limited to the above-described method. Any non-substantial improvements made using the method concepts and technical solutions of the present invention, or the direct application of the above-described concepts and technical solutions of the present invention to other situations without any improvement, are all within the scope of protection of the present invention.

Claims

1. An adaptively controlled magnetic shear thickening polishing device, characterized by: The polishing device comprises a six-degree-of-freedom industrial robot (1), a force sensor (2), an electric spindle (3), a workpiece fixture (4), a magnetic field generating device (5), and a three-degree-of-freedom precision displacement platform (6); the magnetic field generating device (5) comprises a fastening bolt (7), a permanent magnet (8), a pressure plate (9), and a permanent magnet slot (10); the force sensor (2) is mounted on the end effector of the six-degree-of-freedom industrial robot (1); the upper end of the electric spindle (3) is fixed to the lower side of the force sensor (2) through an adapter plate The lower end of the electric spindle (3) clamps the component to be polished through a workpiece clamp (4), the permanent magnet slot (10) is installed on a three-degree-of-freedom precision displacement platform (6) as the main structure of the magnetic field generating device (5), the permanent magnet (8) is installed in the permanent magnet slot (10) in the configuration of NSSSN, NSNSN, NNSNN or Halbach magnetic pole permanent magnet array, and the pressure plate (9) and the fastening bolt (7) are respectively installed above and on the side of the permanent magnet slot (10) to fix the permanent magnet (8).

2. The adaptively controlled magnetic shear thickening polishing device according to claim 1, characterized in that: The force sensor (2) is installed between the end effector and the electric spindle (3) of the six-degree-of-freedom industrial robot (1) and is used for monitoring and feedback-adjusting the polishing force during the polishing process.

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