CN108620911B - Magnetorheological fluid follow-up supporting method - Google Patents
Magnetorheological fluid follow-up supporting method Download PDFInfo
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- CN108620911B CN108620911B CN201810440048.2A CN201810440048A CN108620911B CN 108620911 B CN108620911 B CN 108620911B CN 201810440048 A CN201810440048 A CN 201810440048A CN 108620911 B CN108620911 B CN 108620911B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/062—Work-clamping means adapted for holding workpieces having a special form or being made from a special material
- B23Q3/065—Work-clamping means adapted for holding workpieces having a special form or being made from a special material for holding workpieces being specially deformable, e.g. made from thin-walled or elastic material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
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Abstract
The invention discloses a magnetorheological fluid follow-up supporting method, belongs to the technical field of clamping, and particularly relates to a magnetorheological fluid follow-up supporting method. The method comprises the steps of firstly designing and assembling a follow-up excitation device, mounting a thin-wall part on a fixture body to form a cavity, and injecting magnetorheological fluid into the cavity. And then the intensity of the exciting magnetic field is regulated and controlled by controlling the exciting current, and the supporting rigidity of the magnetorheological fluid is controlled, so that the clamping rigidity requirements of different thin-wall parts are met. Under the condition of follow-up excitation, the magnetorheological fluid works in an extrusion mode, and higher elastic modulus can be obtained. The servo-actuated supporting and flexible clamping of the large thin-walled part are realized by implementing servo-actuated excitation curing and magnetic-relief relaxation on the magnetorheological fluid in the target area. The method has the advantages that the excitation magnetic field is accurate and controllable, the magnetorheological fluid is subjected to instantaneous liquid-solid conversion, the continuity and flexibility of the thin-wall part magnetorheological follow-up support are ensured, and the clamping reliability is good.
Description
Technical Field
The invention belongs to the technical field of clamping, and particularly relates to a magnetorheological fluid follow-up supporting method.
Background
Thin-wall parts are widely applied to key equipment in the fields of aerospace and the like, complex machining characteristics with relatively strict size and position accuracy are designed on the thin-wall parts, and the thin-wall parts often require equal residual wall thickness or variable wall thickness. However, the parts have the characteristics of thin wall, poor rigidity, complex surface shape and the like, so that the reliable clamping is difficult to realize. At present, aiming at thin-wall part clamping, optional clamping schemes in engineering mainly comprise profiling clamping, vacuum adsorption clamping, dot matrix supporting clamping, mirror image supporting clamping and the like. The profiling clamping operation is simple, and the formed thin-wall part has larger profile error (millimeter level), so that the moulding bed and the thin-wall part are difficult to completely fit, and clamping gaps are formed; the vacuum adsorption is relatively stable, but the adsorption reliability is poor for a complex surface-shaped thin-wall structure; the lattice support is suitable for open thin-walled pieces, but the gap area of the support point is always in a suspended state, so that cutting deformation and vibration are easy to occur, and the whole flexibility of the clamping system is poor; the mirror image supporting and clamping is an effective scheme for solving the processing support of large and ultra-large thin-wall structures, but a larger supporting space is needed, and the motion control is very complicated.
The magnetic rheological liquid is an intelligent material with controllable form, and can realize the solid-liquid controllable conversion rapidly, reversibly and continuously through an external magnetic field at normal temperature. Therefore, the clamping gap is flexibly filled by utilizing the fluid property of the magnetorheological fluid, the follow-up solidification support of the processing target area is realized through magnetic field regulation, and a flexible solution is provided for supporting and clamping the complex thin-wall part. In 2016, a flexible clamp for milling a complex curved surface thin-wall part is invented in Shandong university patent CN106514369A, and the suppression of machining chatter vibration can be realized. In 2017, in patent CN106881609A of university of great graduate, a thin-wall flat magnetorheological fluid flexible supporting method is invented, an array type excitation unit is designed, flexible filling of magnetorheological fluid to a gap in an initial clamping state is achieved, and however follow-up supporting cannot be achieved through the method.
None of the above researches mentions a magnetorheological fluid follow-up supporting method for reliable clamping of thin-wall parts.
Disclosure of Invention
The invention mainly solves the technical problem of overcoming the defects of the method and provides a magnetorheological fluid follow-up supporting method aiming at the difficult problem of reliable clamping in thin-wall part processing. The method designs and assembles a follow-up excitation device with controllable excitation and cooling functions, and adjusts and controls an excitation magnetic field by controlling excitation current so as to adjust and control the support rigidity of the magnetorheological fluid. And the excitation device is arranged on the main shaft, and the magneto-rheological follow-up support of the thin-wall part is realized through follow-up excitation curing and magnetic release relaxation of the magneto-rheological fluid in the target area. The method has the advantages that the excitation magnetic field is accurate and controllable, the magnetorheological fluid is subjected to instantaneous liquid-solid conversion, the continuity and flexibility of the thin-wall part magnetorheological follow-up support are ensured, and the clamping reliability is good.
The invention adopts the technical scheme that the magnetorheological fluid follow-up supporting method comprises the steps of firstly designing and assembling a follow-up excitation device, mounting a thin-wall part on a clamp body and forming a cavity, and injecting magnetorheological fluid into the cavity; then, the intensity of the exciting magnetic field is regulated and controlled by controlling the exciting current, and the supporting rigidity of the magnetorheological fluid is controlled, so that the clamping rigidity requirements of different thin-wall parts are met; the servo supporting and flexible clamping of the large thin-walled part are realized by implementing servo excitation curing and magnetic relief relaxation on the magnetorheological fluid in the target area; the method comprises the following specific steps:
first step design and assembly of follow-up excitation device
The follow-up excitation device I consists of an inner shell 1, an outer shell 2 and an excitation coil 3; the inner shell 1 is in a step shape, so that the inner shell is compatible with the profiles of the milling cutter 6, the cutter handle 7 and the main shaft 8; winding the excitation coil 3 on the inner shell 1 to form an excitation inner core; then, the outer shell 2 and the inner shell 1 are connected together by utilizing the outer shell upper bolt assembly 4 and the outer shell lower bolt assembly 5, and cooling liquid enters the excitation coil 3 through the inflow channel 1a on the inner shell 1 and flows out of the outflow channel 2a on the outer shell 2, so that the excitation coil 3 is cooled;
second step filled magneto-rheological fluid
Placing the thin-wall part 12 on the clamp body 14, and completing clamping by using the thin-wall part bolt assembly 13, so that a cavity is formed between the thin-wall part 12 and the clamp body 14; the magnetorheological fluid 15 is injected into the cavity through the valve 18 and the inlet channel 14 a; the transparent observation tube 16 is communicated with the cavity through the outflow channel 14 b; the transparent observation tube 16 is provided with a filling line 16a and a warning line 16b, the filling line 16a is slightly higher than the lower surface of the thin-wall part 12, and the warning line 16b is flush with the upper surface of the thin-wall part 12; when the liquid level of the magnetorheological fluid 15 reaches the filling line 16a, the valve 18 is closed, the filling is stopped, and the sealing is completed by the sealing ring 17; finally realizing the reliable filling of the magnetorheological fluid;
third step of excitation field regulation
Firstly, inversely calculating the yield stress tau required by the magnetorheological fluid according to the supporting force F1，
Wherein R is the radius of the milling cutter, h is the thickness of the magnetorheological fluid, and tau1For yield stress, η is the viscosity coefficient, v is the extrusion speed;
using yield stress tau1The strength H of the exciting magnetic field is back-calculated,
τ1＝271700CΦ1.5239Tanh(6.33×10-6H) (2)
in the formula, Tanh is a hyperbolic tangent function, C is a coefficient of the magnetorheological fluid, and phi is the volume fraction of the magnetic particles. Then, the exciting current I is calculated by using the exciting magnetic field intensity H,
wherein N is the number of turns of the coil, LeThe distance from the lower surface of the electromagnet to the upper surface of the magnetorheological fluid;
changing the intensity H of the exciting magnetic field by regulating and controlling the exciting current I so as to meet the requirement of required supporting force F;
fourth step magnetorheological fluid follow-up support control
Connecting a follow-up excitation device I to a spindle box 9 by using a spindle box bolt assembly 10 through a switching tool 11; the servo excitation device I is driven to a station 1 above the thin-wall part 12 in a numerical control mode; the excitation coil 3 generates an excitation magnetic field after being electrified, the local magnetorheological fluid in the cavity corresponding to the station 1 is excited and solidified, and the solidified magnetorheological fluid 15a supports the station 1 of the thin-wall part 12; the follow-up excitation device I is driven to a station 2 above the thin-wall part 12 in a numerical control mode, and the excitation coil 3 is electrified during the numerical control driving, so that the excitation magnetic field follows the station 2; as the excitation magnetic field at the station 1 disappears, the local magnetorheological fluid in the corresponding cavity is demagnetized and relaxed, and the local magnetorheological fluid in the corresponding cavity at the station 2 is excited and solidified, so that the follow-up supporting control of the thin-wall part 12 is realized.
The invention has the advantages that the follow-up excitation device with controllable excitation and cooling functions is designed and assembled, the excitation magnetic field is accurate and controllable, the magnetorheological fluid is instantaneously subjected to liquid-solid conversion, and the continuity and flexibility of the thin-wall part magnetorheological follow-up support are ensured. The device also has controllable excitation and cooling functions, and the follow-up excitation device has a compact structure. Under the condition of follow-up excitation, the magnetorheological fluid works in an extrusion mode, and higher elastic modulus can be obtained; the supporting rigidity of the magnetorheological fluid is controlled by adjusting the excitation strength so as to meet the clamping rigidity requirements of different thin-wall parts; the servo excitation curing and the magnetic relief loosening are carried out on the magnetorheological fluid in the target area, so that the servo support and the flexible clamping of the large thin-walled part are realized, and the clamping reliability is good.
Drawings
Fig. 1-follow excitation device perspective view, fig. 2-follow excitation device cross-sectional view. The device comprises an I-follow-up excitation device, a 1-inner shell, a 1 a-cooling liquid inflow channel, a 2-outer shell, a 2 a-cooling liquid outflow channel, a 3-excitation coil, a 4-outer shell upper bolt component, a 5-outer shell lower bolt component, a 6-milling cutter, a 7-cutter handle, an 8-spindle, a 9-spindle box, a 10-spindle box bolt component and an 11-switching tool.
Fig. 3-follow-up support diagram, wherein, I-follow-up excitation device, 12-thin wall part, 13-thin wall part bolt component, 14-fixture body, 14 a-inlet channel, 14 b-outlet channel, 15-magnetorheological fluid, 15 a-solidified magnetorheological fluid, 16-transparent observation tube, 16 a-filling line, 16 b-warning line, 17-sealing ring, 18-valve.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings and technical solutions.
In this embodiment, the radius R of the milling cutter is 16mm, the number of turns of the coil is 800, and the wire diameter is 2.76 mm. The current density is set to be 4A/mm2, the current I passing through a single copper wire is 6mm2 multiplied by 4A/mm2 is 24A, and the cooling liquid is oil-based cooling liquid.
First step design and assembly of follow-up excitation device
The follow-up excitation device I consists of an inner shell 1, an outer shell 2 and an excitation coil 3; the inner housing 1 is stepped so that it is compatible with the profile of the milling cutter 6, the shank 7 and the spindle 8. Firstly, winding an excitation coil 3 on an inner shell 1 to form an excitation core; the outer shell 2 and the inner shell 1 are connected together by utilizing an outer shell upper bolt assembly 4 and an outer shell lower bolt assembly 5; the cooling liquid enters the exciting coil 3 through the inflow channel 1a on the inner shell 1 and flows out from the outflow channel 2a on the outer shell 2, so as to cool the exciting coil 3, as shown in fig. 1 and 2.
Second step filled magneto-rheological fluid
As shown in fig. 3, the thin-walled member 12 is made of aluminum alloy and has a thickness of 1 mm. Placing the thin-wall part 12 on the clamp body 14, and completing clamping by using a thin-wall part bolt assembly 13 to form a cavity between the thin-wall part 12 and the clamp body 14; the magnetorheological fluid 15 is injected into the cavity through the valve 18 and the inlet channel 14 a. Wherein, the magnetorheological fluid 15 is prepared by carbonyl iron powder with volume fraction of 40 percent and silicone oil with volume fraction of 60 percent, and the density is 3.55 g/ml; the transparent observation tube 16 is communicated with the cavity through the outflow channel 14 b; the transparent observation tube 16 is provided with a filling line 16a and a warning line 16b, the filling line 16a is slightly higher than the lower surface of the thin-wall part 12, and the warning line 16b is flush with the upper surface of the thin-wall part 12; when the surface of the magnetorheological fluid 15 reaches the filling line 16a, the magnetorheological fluid is completely filled in the cavity, the valve 18 is closed to stop filling, and the sealing is completed by the sealing ring 17; and finally realizing the reliable filling of the magnetorheological fluid.
Third step of excitation field regulation
The supporting force F is 100N, the radius R of the milling cutter is 16mm, the thickness h of the magnetorheological fluid is 4mm, the viscosity coefficient η is 203Pa s, the extrusion speed v is 2 mu m/s, the volume fraction phi of the magnetic particles is 40%, the coefficient C of the magnetorheological fluid is 0.95, the number of turns N of the coil is 800, and the distance L from the lower surface of the electromagnet to the upper surface of the magnetorheological fluid e3 cm. The yield stress tau needed by the magnetorheological fluid is inversely calculated by using the formula (1)146.6 kPa; using equation (2), from the yield stress τ1Back-calculating the excitation magnetic field strength H as 115 kA/m; using equation (3), excitation current I is solved from excitation magnetic field strength H to be 4.3A. And finally, changing the intensity H of the exciting magnetic field by regulating and controlling the exciting current I so as to meet the requirement of the required supporting force F.
Fourth step follow-up support motion control
Connecting a follow-up excitation device I to a spindle box 9 by using a spindle box bolt assembly 10 through a switching tool 11; the servo excitation device I is driven to a station 1 above the thin-wall part 12 in a numerical control mode; the excitation coil 3 generates an excitation magnetic field after being electrified, the local magnetorheological fluid in the cavity corresponding to the station 1 is excited and solidified, and the solidified magnetorheological fluid 15a supports the station 1 of the thin-wall part 12; the follow-up excitation device I is driven to a station 2 above the thin-wall part 12 in a numerical control mode, and the excitation coil 3 is electrified during the numerical control driving, so that the excitation magnetic field follows the station 2; because the excitation magnetic field at the station 1 disappears, the local magnetorheological fluid in the corresponding cavity is demagnetized and relaxed, and the local magnetorheological fluid in the cavity corresponding to the station 2 is excited and solidified, so that the follow-up supporting control of the thin-wall part 12 is realized, as shown in fig. 3. Different stations are processed in sequence to form a follow-up mirror image supporting mode of magnetorheological fluid solidification all the time around the lower part of the main shaft.
The magnetorheological fluid follow-up supporting method realizes flexible clamping of a large thin-wall part and has good clamping reliability.
Claims (1)
1. A magnetorheological fluid follow-up supporting method is characterized in that a follow-up excitation device is designed and assembled firstly, a thin-wall part is installed on a fixture body to form a cavity, and magnetorheological fluid is injected into the cavity; then, the intensity of the exciting magnetic field is regulated and controlled by controlling the exciting current, and the supporting rigidity of the magnetorheological fluid is controlled, so that the clamping rigidity requirements of different thin-wall parts are met; the servo supporting and flexible clamping of the large thin-walled part are realized by implementing servo excitation curing and magnetic relief relaxation on the magnetorheological fluid in the target area; the method comprises the following specific steps:
first step design and assembly of follow-up excitation device
The follow-up excitation device (I) consists of an inner shell (1), an outer shell (2) and an excitation coil (3); the inner shell (1) is designed into a step shape, so that the inner shell is compatible with the profiles of the milling cutter (6), the cutter handle (7) and the main shaft (8); winding the excitation coil (3) on the inner shell (1) to form an excitation inner core; then the outer shell (2) is connected with the inner shell (1) by utilizing an outer shell upper bolt component (4) and an outer shell lower bolt component (5); the cooling liquid enters the magnet exciting coil (3) through an inflow channel (1a) on the inner shell (1) and flows out of an outflow channel (2a) on the outer shell (2), so that the magnet exciting coil (3) is cooled;
second step filled magneto-rheological fluid
Placing the thin-wall part (12) on the clamp body (14), and completing clamping by using a thin-wall part bolt assembly (13), so that a cavity is formed between the thin-wall part (12) and the clamp body (14); magnetorheological fluid (15) is injected into the cavity through the valve (18) and the inlet channel (14 a); the transparent observation tube (16) is communicated with the cavity through the outflow channel (14b), the transparent observation tube (16) is provided with a filling line (16a) and a warning line (16b), the filling line (16a) is slightly higher than the lower surface of the thin-wall part (12), and the warning line (16b) is flush with the upper surface of the thin-wall part (12); when the liquid level of the magnetorheological fluid (15) reaches a filling line (16a), closing the valve (18) to stop filling, and completing sealing by using the sealing ring (17); finally realizing the reliable filling of the magnetorheological fluid;
third step of excitation field regulation
Firstly, inversely calculating the yield stress tau required by the magnetorheological fluid according to the supporting force F1，
Wherein R is the radius of the milling cutter, h is the thickness of the magnetorheological fluid, and tau1For yield stress, η is the viscosity coefficient, v is the extrusion speed;
using yield stress tau1The strength H of the exciting magnetic field is back-calculated,
τ1＝271700CΦ1.5239Tanh(6.33×10-6H) (2)
in the formula, Tanh is a hyperbolic tangent function, C is a coefficient of the magnetorheological fluid, and phi is the volume fraction of the magnetic particles;
then, the exciting current I is calculated by using the exciting magnetic field intensity H,
wherein N is the number of turns of the coil, LeThe distance from the lower surface of the electromagnet to the upper surface of the magnetorheological fluid;
changing the intensity H of the exciting magnetic field by regulating and controlling the exciting current I so as to meet the requirement of required supporting force F;
fourth step magnetorheological fluid follow-up support control
Connecting a follow-up excitation device (I) to a main spindle box (9) by using a main spindle box bolt assembly (10) through a switching tool (11); the servo excitation device (I) is driven to a station 1 above the thin-wall part (12) in a numerical control manner; the excitation coil (3) generates an excitation magnetic field after being electrified, the local magnetorheological fluid in the cavity corresponding to the station 1 is excited and solidified, and the solidified magnetorheological fluid (15a) supports the station 1 of the thin-wall part (12); the follow-up excitation device (I) is driven to a station 2 above the thin-wall part (12) in a numerical control mode, and an excitation coil (3) is electrified during the numerical control driving process, so that an excitation magnetic field follows up to the station 2; as the excitation magnetic field at the station 1 disappears, the local magnetorheological fluid in the corresponding cavity is demagnetized and relaxed, and the local magnetorheological fluid in the corresponding cavity at the station 2 is excited and solidified, thereby realizing the follow-up supporting control of the thin-wall part (12).
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