WO2021185268A1 - 一种研磨用的磁流变智能夹具 - Google Patents

一种研磨用的磁流变智能夹具 Download PDF

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Publication number
WO2021185268A1
WO2021185268A1 PCT/CN2021/081257 CN2021081257W WO2021185268A1 WO 2021185268 A1 WO2021185268 A1 WO 2021185268A1 CN 2021081257 W CN2021081257 W CN 2021081257W WO 2021185268 A1 WO2021185268 A1 WO 2021185268A1
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WO
WIPO (PCT)
Prior art keywords
telescopic rod
workpiece
magnetorheological
elastic
controller
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PCT/CN2021/081257
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English (en)
French (fr)
Inventor
贺新升
郑岚鹏
蒋佳杰
周崇秋
高春甫
王冬云
鄂世举
Original Assignee
浙江师范大学
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Application filed by 浙江师范大学 filed Critical 浙江师范大学
Priority to US17/438,422 priority Critical patent/US11926015B2/en
Publication of WO2021185268A1 publication Critical patent/WO2021185268A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B37/00—Lapping machines or devices; Accessories
    • B24B37/27—Work carriers
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/38—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members using fluid bearings or fluid cushion supports

Definitions

  • the invention relates to the field of grinding, and in particular to a magnetorheological intelligent clamp for grinding.
  • the clamping force of the fixture has a greater impact on the processing quality.
  • the clamping force is small, the workpiece is easy to loosen, and the positioning is inaccurate;
  • the rheological fluid is placed inside the clamping joint to form a flexible clamping unit to clamp the workpiece, which will still cause certain damage to the surface of the workpiece. Therefore, in order to control the holding force, a smart fixture that can measure the holding force is needed to ensure that the workpiece is prevented from loosening and deforming when holding the workpiece.
  • the present invention provides the following solutions:
  • a magnetorheological intelligent fixture for grinding including: a container, a water bag, a pressure transmitter, a water pump, a first electromagnet, a controller, and an elastic telescopic rod;
  • the inside of the container contains the first magnetorheological fluid; the elastic telescopic rod is arranged at the bottom of the container; each side wall of the container is provided with the water bladder, and the water bladder The water bladder is in communication with the pressure transmitter and the water pump respectively, and the water pump is connected to the water tank; the workpiece to be clamped is arranged on the top of the elastic telescopic rod; the container is arranged on the first Above the electromagnet; the first electromagnet, the pressure transmitter and the water pump are all electrically connected to the controller; the elastic telescopic rod is used to position and support the workpiece to be clamped, the The controller is used to control the water pump to pressurize the water bag to pre-clamp the workpiece to be clamped, and the pressure transmitter is used to measure the clamping force of the water bag to the workpiece to be clamped And transmit the clamping force to the controller, and the controller is also used to control the first electromagnet to be energized according to the clamping force to solidify the first magnetorhe
  • the elastic telescopic rod includes: a telescopic rod housing, a second electromagnet, a sliding rod, and a displacement sensor; the sliding rod is arranged at the bottom end of the container; the workpiece to be clamped is arranged on the telescopic rod
  • the rod housing can slide up and down through the sliding rod, and the workpiece to be clamped will slide with the telescopic rod housing; the second electromagnet and the displacement sensor are both arranged on the telescopic rod housing, and Both the second electromagnet and the displacement sensor are electrically connected to the controller.
  • the displacement sensor is used to collect the displacement of the telescopic rod housing in real time and transmit the displacement to the controller.
  • the controller is used for controlling the energization of the second electromagnet to solidify the second magnetorheological fluid according to the displacement amount, so that the workpiece to be clamped stays at a set position.
  • the elastic telescopic rod further includes a spring, one end of the spring is connected to the top end of the sliding rod, and the other end of the spring is connected to the inner wall of the telescopic rod housing.
  • the elastic telescopic rod further includes: a spring support frame connected to the top end of the sliding rod, and the spring support frame is used to support the spring.
  • the magnetorheological smart fixture for grinding further includes: a collection card, and the controller, the pressure transmitter, and the displacement sensor are all electrically connected to the collection card; the collection card It is used to collect the clamping force measured by the pressure transmitter and the displacement measured by the displacement sensor, and transmit the clamping force and the displacement to the controller.
  • the magnetorheological smart fixture for grinding further includes a water pipe through which the water bladder communicates with the water pump and the pressure transmitter respectively.
  • the magnetorheological smart fixture for grinding further includes a valve, the valve is arranged on the water pipe, and the water pump communicates with the water pipe through the valve.
  • the elastic telescopic rod includes: an elastic support telescopic rod and an elastic positioning telescopic rod, the elastic positioning telescopic rod is used to support the workpiece positioning point of the workpiece to be clamped, so as to realize the alignment of the workpiece to be clamped.
  • the elastic support telescopic rod is used to support the part of the workpiece to be clamped except for the workpiece positioning point.
  • the number of the elastic positioning telescopic rod is one.
  • the number of the elastic support telescopic rods is 16.
  • the present invention proposes a magnetorheological intelligent fixture for grinding.
  • the first magnetorheological fluid, water bladder, pressure transmitter, controller, and elastic telescopic rod are provided, and the workpiece is preliminarily performed by using the water bladder and the elastic telescopic rod.
  • the pressure transmitter is used to measure the clamping force, and then the first magnetorheological fluid is used to solidify and wrap the workpiece, and the workpiece is clamped twice to ensure that the workpiece is not loose or deformed when the workpiece is clamped.
  • Fig. 1 is a schematic structural diagram of a magnetorheological smart fixture for grinding according to an embodiment of the present invention
  • FIG. 2 is a top view of a magnetorheological smart fixture for grinding according to an embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of an elastic telescopic rod of a magnetorheological smart clamp for grinding according to an embodiment of the present invention.
  • a magnetorheological smart fixture for grinding includes: a container 1, a water bag 2, a pressure transmitter 4, a water pump 15, a first electromagnet 8, a controller 10, and an elastic extension Rod.
  • the container 1 contains the first magnetorheological fluid 12; the elastic telescopic rod is arranged at the bottom of the container 1; each side wall of the container 1 is provided with the water bladder 2; The water bladder 2 communicates with each other, the water bladder 2 communicates with the pressure transmitter 4 and the water pump 15 respectively, and the water pump 15 is connected to the water tank 6; The top; the container 1 is arranged above the first electromagnet 8; the first electromagnet 8, the pressure transmitter 4 and the water pump 15 are all electrically connected to the controller 10; the The elastic telescopic rod is used to position and support the workpiece to be clamped, and the controller 10 is used to control the water pump 15 to pressurize the water bladder 2 to pre-clamp the workpiece to be clamped.
  • the pressure transmitter 4 is used to measure the clamping force of the water bladder 2 to the workpiece to be clamped and transmit the clamping force to the controller 10, and the controller 10 is also used to measure the clamping force according to the The clamping force controls the energization of the first electromagnet 8 to solidify the first magnetorheological fluid 12 to clamp the workpiece to be clamped.
  • the container 1 has 4 side walls, the water bladder 2 has 4, and the 4 water bladders 2 are connected internally.
  • the elastic telescopic rod includes: a telescopic rod housing, a second electromagnet 18, a sliding rod 20, and a displacement sensor 19; the sliding rod 20 is arranged in the container The bottom end of 1; the workpiece to be clamped is arranged on the top end of the telescopic rod housing; the telescopic rod housing is arranged on the top end of the sliding rod 20, and the telescopic rod housing and the sliding rod 20 form a closed space A second magnetorheological fluid 17 is provided in the enclosed space, the telescopic rod housing can slide up and down through the sliding rod 20, and the workpiece to be clamped will slide along with the telescopic rod housing;
  • the two electromagnets 18 and the displacement sensor 19 are both arranged on the telescopic rod housing, the second electromagnet 18 and the displacement sensor 19 are both electrically connected to the controller 10, and the displacement sensor 19 is used for Collect the displacement of the telescopic rod housing in real time, and transmit the displacement to the controller 10,
  • the second electromagnet 18 is arranged below the telescopic rod housing, and the second electromagnet 18 is connected to the displacement sensor 19.
  • the elastic telescopic rod further includes a spring 22, one end of the spring 22 is connected to the top end of the sliding rod 20, and the other end of the spring 22 is connected to the telescopic rod housing.
  • the inner wall is connected.
  • the elastic telescopic rod further includes: a spring support frame 21 connected to the top end of the sliding rod 20, and the spring support frame 21 is used to support the spring twenty two.
  • the magnetorheological smart fixture for grinding further includes a capture card 11, and the controller 10, the pressure transmitter 4, and the displacement sensor 19 are all compatible with the The acquisition card 11 is electrically connected; the acquisition card 11 is used to collect the clamping force measured by the pressure transmitter 4 and the displacement measured by the displacement sensor 19, and combine the clamping force with the displacement The displacement amount is transmitted to the controller 10.
  • the magnetorheological smart fixture for grinding further includes: a water pipe 3 through which the water bladder 2 is respectively connected to the water pump 15 and the pressure transmitter .
  • the magnetorheological smart fixture for grinding further includes: a valve 5, the valve 5 is arranged on the water pipe 3, and the water pump 15 communicates with the water through the valve 5
  • the water pipe 3 is in communication
  • the controller 10 is electrically connected to the valve 5, and the controller 10 is used to control the opening and closing of the valve 5.
  • the elastic telescopic rod includes: an elastic support telescopic rod 13 and an elastic positioning telescopic rod 14.
  • the elastic positioning telescopic rod 14 is used to support the workpiece positioning point of the workpiece to be clamped to To realize the positioning of the workpiece to be clamped, the elastic support telescopic rod 13 is used to support the part of the workpiece to be clamped except for the positioning point of the workpiece.
  • the number of the elastic positioning telescopic rod 14 is one, and it is installed at the center position of the bottom end of the container 1.
  • the number of the elastic support telescopic rods 13 is 16, arranged in a 4 ⁇ 4 format.
  • it further includes: a base 7, and the first electromagnet 8 is arranged above the base 7.
  • the first electromagnet 8 and the second electromagnet 18 are both iron cores wound with coils.
  • the coils are connected to a DC power supply 9, which is electrically connected to the controller 10, and the control
  • the device 10 is used to control the DC power supply 9 to supply power to the first electromagnet 8 and the second electromagnet 18.
  • the working principle of the elastic telescopic rod is:
  • the second electromagnet When the second electromagnet is not energized, the second magnetorheological fluid is in a liquid state.
  • the spring When the elastic telescopic rod is not under force, the spring will support the telescopic rod shell in the default position. When the upper end of the telescopic rod shell is pressed, it can go up and down according to the force condition.
  • the elastic telescopic rod has a locking function; when the telescopic rod shell slides, the displacement sensor fixedly connected to the telescopic rod shell can follow and slide together. The displacement sensor detects the displacement of the telescopic rod shell in real time and feeds it back to the capture card.
  • the number of elastic support telescopic rods and elastic positioning telescopic rods can be freely selected.
  • the 16 elastic support telescopic rods and one positioning telescopic rod in the present invention are not specifically defined.
  • the specific use process of the magnetorheological smart fixture for grinding when grinding the workpiece to be processed is as follows:
  • Step 1 The preset workpiece positioning point of the workpiece to be processed is set on the elastic positioning telescopic rod in the inner center of the container, and other positions except the workpiece positioning point are set on the elastic supporting telescopic rod.
  • Step 2 Manually press the workpiece to be processed to lower it to a suitable position, so that about half of the workpiece to be processed is inside the container, and then energize the second magnetorheological fluid of the elastic telescopic rod to lock the elastic telescopic rod, and the displacement sensor passes through the capture card Feedback the position and posture of the workpiece to the controller.
  • Step 3 Set the clamping force in the controller, start the water pump and open the valve to pressurize the water bag.
  • Step 4 When the water bladder expands and gradually clamps the workpiece, the clamping force can be read through the pressure transmitter. After the clamping is completed, the DC power supply is turned on to energize the first electromagnet, solidify the first magnetorheological fluid, and clamp the workpiece for a second time, which better ensures that the workpiece does not move in other directions during processing.
  • Step 5 When the water bladder reaches the set pressure value, release the hands pressing on the workpiece. At this time, the water bladder transfers pressure to the solidified second magnetorheological fluid to complete the clamping of the workpiece.
  • Step 6 Wipe and clean the upper surface of the workpiece.
  • Step 7 Start grinding process.
  • Step 8 After grinding and processing a surface of the workpiece, the controller controls the water pump to stop and release the pressure and the first electromagnet to cut off the power.
  • Step 9 The second electromagnet of the elastic telescopic rod is controlled by the controller to power off, and the telescopic rod shell is reset.
  • Step 10 Take out the workpiece.
  • the clamping force can be adjusted by adjusting the water pressure of the water bladder to ensure that the workpiece is not loose or deformed when the workpiece is clamped.
  • the voltage of the first electromagnet can be controlled by adjusting the magnetic field strength, and the magnetic field generated by the first electromagnet can be changed.
  • the degree of solidification of the first magnetorheological fluid is different under different magnetic fields.
  • the clamping of the workpiece by the first magnetorheological fluid The friction is also different.
  • the position and posture of the workpiece can be accurately measured by the displacement sensor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

一种研磨用的磁流变智能夹具，包括容器（1）、水囊（2）、压力变送器（4）、水泵（15）、第一电磁铁（8）、控制器（10）和弹性伸缩杆；容器（1）的内部盛有第一磁流变液（12）；弹性伸缩杆设置在容器（1）的底部；容器（1）的各个侧壁上均设置有水囊（2），各水囊（2）之间相互连通，水囊（2）分别与压力变送器（4）和水泵（15）连通，水泵（15）连接水箱（6）；待夹持工件设置在弹性伸缩杆的顶部；容器（1）设置在第一电磁铁（8）的上方；第一电磁铁（8）、压力变送器（4）和水泵（15）均与控制器（10）电连接。如此设置利用水囊以及弹性伸缩杆对工件进行初步定位夹持，利用压力变送器测量夹持力，再利用第一磁流变液固化包裹住工件，对工件进行二次夹持，确保夹持工件时工件不松动和不变形，适用于各种面型。

Description

一种研磨用的磁流变智能夹具
本申请要求于2020年03月18日提交中国专利局、申请号为202010191693.2、发明名称为“一种研磨用的磁流变智能夹具”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及研磨领域，特别是涉及一种研磨用的磁流变智能夹具。
背景技术
自由曲面工件研磨加工时，需要夹具对工件进行固定及定位，由于工件种类多而且面型多变，如果针对每种工件都设计专用夹具会导致成本高、效率低并且给研磨加工带来很大的不便，所以需要一种通用的研磨夹具。
研磨加工工件时，夹具夹持力度的大小对加工质量影响较大，夹持力小，工件容易松动，定位不准；夹持力大，则工件容易变形，而且传统磁流变夹具多数将磁流变液放置在夹持关节的内部，形成柔性夹持单元对工件进行夹持，还是会对工件表面造成一定损伤。因此，为了控制加持力度，需要一种能够测量夹持力的智能夹具，确保夹持工件时防止工件松动和变形。
发明内容
基于此，有必要提供一种研磨用的磁流变智能夹具，不但可以控制夹持力度，确保工件的不松动、不变形，还可以适用各种面型。
为实现上述目的，本发明提供了如下方案：
一种研磨用的磁流变智能夹具，包括：容器、水囊、压力变送器、水泵、第一电磁铁、控制器和弹性伸缩杆；
所述容器的内部盛有第一磁流变液；所述弹性伸缩杆设置在所述容器的底部；所述容器的各个侧壁上均设置有所述水囊，各所述水囊之间相互 连通，所述水囊分别与所述压力变送器和所述水泵连通，所述水泵连接水箱；待夹持工件设置在所述弹性伸缩杆的顶部；所述容器设置在所述第一电磁铁的上方；所述第一电磁铁、所述压力变送器和所述水泵均与所述控制器电连接；所述弹性伸缩杆用于定位和支撑所述待夹持工件，所述控制器用于控制所述水泵向所述水囊加压以对所述待夹持工件进行预夹持，所述压力变送器用于测量所述水囊对所述待夹持工件的夹持力并将所述夹持力传送给所述控制器，所述控制器还用于根据所述夹持力控制所述第一电磁铁通电以使所述第一磁流变液固化对所述待夹持工件进行夹持。
可选的，所述弹性伸缩杆包括：伸缩杆外壳、第二电磁铁、滑动杆和位移传感器；所述滑动杆设置在所述容器的底端；所述待夹持工件设置在所述伸缩杆外壳的顶端；所述伸缩杆外壳设置在所述滑动杆的顶端，所述伸缩杆外壳和所述滑动杆形成封闭空间，所述封闭空间内设置有第二磁流变液，所述伸缩杆外壳可通过所述滑动杆上下滑动，所述待夹持工件会随着所述伸缩杆外壳滑动；所述第二电磁铁和所述位移传感器均设置在所述伸缩杆外壳上，所述第二电磁铁和所述位移传感器均与所述控制器电连接，所述位移传感器用于实时采集所述伸缩杆外壳的位移量，并将所述位移量传送给所述控制器，所述控制器用于根据所述位移量控制所述第二电磁铁通电使所述第二磁流变液固化，使所述待夹持工件停留在设定的位置。
可选的，所述弹性伸缩杆还包括：弹簧，所述弹簧的一端与所述滑动杆的顶端连接，所述弹簧的另一端与所述伸缩杆外壳的内壁连接。
可选的，所述弹性伸缩杆还包括：弹簧支撑架，所述弹簧支撑架与所述滑动杆的顶端连接，所述弹簧支撑架用于支撑所述弹簧。
可选的，所述研磨用的磁流变智能夹具，还包括：采集卡，所述控制器、所述压力变送器和所述位移传感器均与所述采集卡电连接；所述采集卡用于采集所述压力变送器测量的所述夹持力和所述位移传感器测量的所述位移量，并将所述夹持力和所述位移量传送给所述控制器。
可选的，所述研磨用的磁流变智能夹具，还包括：水管，所述水囊通过所述水管分别与所述水泵和所述压力变送器连通。
可选的，所述研磨用的磁流变智能夹具，还包括：阀门，所述阀门设置在所述水管上，所述水泵通过所述阀门与所述水管连通。
可选的，所述弹性伸缩杆包括：弹性支撑伸缩杆和弹性定位伸缩杆，所述弹性定位伸缩杆用于支撑所述待夹持工件的工件定位点，以实现对所述待夹持工件的定位，所述弹性支撑伸缩杆用于支撑所述待夹持工件中除所述工件定位点之外的部分。
可选的，所述弹性定位伸缩杆的数量为1根。
可选的，所述弹性支撑伸缩杆的数量为16根。
与现有技术相比，本发明的有益效果是：
本发明提出了一种研磨用的磁流变智能夹具，通过设置第一磁流变液、水囊、压力变送器、控制器和弹性伸缩杆，利用水囊以及弹性伸缩杆对工件进行初步定位夹持，利用压力变送器测量夹持力，再利用第一磁流变液固化包裹住工件，对工件进行二次夹持，确保夹持工件时工件不松动和不变形。
说明书附图
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一种研磨用的磁流变智能夹具的结构示意图；
图2为本发明实施例一种研磨用的磁流变智能夹具的俯视图；
图3为本发明实施例一种研磨用的磁流变智能夹具的弹性伸缩杆的结构示意图。
符号说明：
1-容器、2-水囊、3-水管、4-压力变送器、5-阀门、6-水箱、7-底座、8-第一电磁铁、9-直流电源、10-控制器、11-采集卡、12-第一磁流变液、13-弹性支撑伸缩杆、14-弹性定位伸缩杆、15-水泵、16-伸缩杆外壳、17- 第二磁流变液、18-第二电磁铁、19-位移传感器、20-滑动杆、21-弹簧支撑架、22-弹簧。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
如图1-图2所示，一种研磨用的磁流变智能夹具，包括：容器1、水囊2、压力变送器4、水泵15、第一电磁铁8、控制器10和弹性伸缩杆。
所述容器1的内部盛有第一磁流变液12；所述弹性伸缩杆设置在所述容器1的底部；所述容器1的各个侧壁上均设置有所述水囊2，各所述水囊2之间相互连通，所述水囊2分别与所述压力变送器4和所述水泵15连通，所述水泵15连接水箱6；待夹持工件设置在所述弹性伸缩杆的顶部；所述容器1设置在所述第一电磁铁8的上方；所述第一电磁铁8、所述压力变送器4和所述水泵15均与所述控制器10电连接；所述弹性伸缩杆用于定位和支撑所述待夹持工件，所述控制器10用于控制所述水泵15向所述水囊2加压以对所述待夹持工件进行预夹持，所述压力变送器4用于测量所述水囊2对所述待夹持工件的夹持力并将所述夹持力传送给所述控制器10，所述控制器10还用于根据所述夹持力控制所述第一电磁铁8通电以使所述第一磁流变液12固化对所述待夹持工件进行夹持。
作为一种可选的实施方式，所述容器1有4个侧壁，所述水囊2有4个，4个水囊2内部连通。
如图3所示，作为一种可选的实施方式，所述弹性伸缩杆包括：伸缩杆外壳、第二电磁铁18、滑动杆20和位移传感器19；所述滑动杆20设置在所述容器1的底端；所述待夹持工件设置在所述伸缩杆外壳的顶端； 所述伸缩杆外壳设置在所述滑动杆20的顶端，所述伸缩杆外壳和所述滑动杆20形成封闭空间，所述封闭空间内设置有第二磁流变液17，所述伸缩杆外壳可通过所述滑动杆20上下滑动，所述待夹持工件会随着所述伸缩杆外壳滑动；所述第二电磁铁18和所述位移传感器19均设置在所述伸缩杆外壳上，所述第二电磁铁18和所述位移传感器19均与所述控制器10电连接，所述位移传感器19用于实时采集所述伸缩杆外壳的位移量，并将所述位移量传送给所述控制器10，所述控制器10用于根据所述位移量控制所述第二电磁铁18通电使所述第二磁流变液17固化，使所述待夹持工件停留在设定的位置。
作为一种可选的实施方式，所述第二电磁铁18设置在所述伸缩杆外壳的下方，所述第二电磁铁18与所述位移传感器19相连。
作为一种可选的实施方式，所述弹性伸缩杆还包括：弹簧22，所述弹簧22的一端与所述滑动杆20的顶端连接，所述弹簧22的另一端与所述伸缩杆外壳的内壁连接。
作为一种可选的实施方式，所述弹性伸缩杆还包括：弹簧支撑架21，所述弹簧支撑架21与所述滑动杆20的顶端连接，所述弹簧支撑架21用于支撑所述弹簧22。
作为一种可选的实施方式，所述研磨用的磁流变智能夹具，还包括：采集卡11，所述控制器10、所述压力变送器4和所述位移传感器19均与所述采集卡11电连接；所述采集卡11用于采集所述压力变送器4测量的所述夹持力和所述位移传感器19测量的所述位移量，并将所述夹持力和所述位移量传送给所述控制器10。
作为一种可选的实施方式，所述研磨用的磁流变智能夹具，还包括：水管3，所述水囊2通过所述水管3分别与所述水泵15和所述压力变送器连通。
作为一种可选的实施方式，所述研磨用的磁流变智能夹具，还包括：阀门5，所述阀门5设置在所述水管3上，所述水泵15通过所述阀门5与所述水管3连通，所述控制器10与所述阀门5电连接，所述控制器10用于控制所述阀门5的开启和关闭。
作为一种可选的实施方式，所述弹性伸缩杆包括：弹性支撑伸缩杆13和弹性定位伸缩杆14，所述弹性定位伸缩杆14用于支撑所述待夹持工件的工件定位点，以实现对所述待夹持工件的定位，所述弹性支撑伸缩杆13用于支撑所述待夹持工件中除所述工件定位点之外的部分。
作为一种可选的实施方式，所述弹性定位伸缩杆14的数量为1根，安装在所述容器1底端的中心位置。
作为一种可选的实施方式，所述弹性支撑伸缩杆13的数量为16根，按照4×4的形式排列。
作为一种可选的实施方式，还包括：底座7，所述第一电磁铁8设置在所述底座7的上方。
所述第一电磁铁8和所述第二电磁铁18均为缠绕有线圈的铁芯，所述线圈与直流电源9连接，所述直流电源9与所述控制器10电连接，所述控制器10用于控制所述直流电源9为所述第一电磁铁8和所述第二电磁铁18供电。
弹性伸缩杆的工作原理为：
当第二电磁铁未通电时，第二磁流变液处于液体状态，弹性伸缩杆未受力时弹簧将伸缩杆外壳支撑在默认位置，当伸缩杆外壳上端受压后可根据受力状况上下滑动；当弹性伸缩杆上端工件位置摆正时，给第二电磁铁通电，第二电磁铁产生的磁场穿过第二磁流变液，第二磁流变液固化，伸缩杆外壳固定不动，弹性伸缩杆起到锁紧功能；伸缩杆外壳滑动时，与伸缩杆外壳固连的位移传感器可跟随着一起滑动，位移传感器实时检测伸缩杆外壳的位移量并反馈给采集卡。
根据所设计的结构与大小因素，可以自由选择弹性支撑伸缩杆与弹性定位伸缩杆的数量。本发明中16个弹性支撑伸缩杆与1个定位伸缩杆并非特指规定。
所述研磨用的磁流变智能夹具在研磨加工待加工工件时的具体使用过程为：
步骤1：待加工工件预先设定的工件定位点设置在容器内部中心的弹性定位伸缩杆，除工件定位点的其他位置设置在弹性支撑伸缩杆上。
步骤2：手压待加工工件，使其降到合适位置，使得待加工工件一半左右在容器内部，然后将弹性伸缩杆的第二磁流变液通电锁死弹性伸缩杆，位移传感器通过采集卡向控制器反馈工件的位置及姿态。
步骤3：在控制器中设定好夹持力，启动水泵并开启阀门，对水囊加压。
步骤4：当水囊膨胀，逐渐夹紧工件时，可通过压力变送器读取到夹持力。夹紧完毕后，直流电源打开，使第一电磁铁通电，使第一磁流变液固化，对工件进行二次夹持，更好地保证了在加工时工件不发生其他方向的移动。
步骤5：水囊到达设定压力值时，松开压在工件上的双手，此时水囊传递压力给固化的第二磁流变液，完成对工件的夹持。
步骤6：擦拭清洁工件上表面。
步骤7：开始研磨加工。
步骤8：研磨加工完工件一个表面后，控制器控制水泵停转泄压和第一电磁铁断电。
步骤9：由控制器控制弹性伸缩杆的第二电磁铁断电，伸缩杆外壳复位。
步骤10：取出工件。
将工件翻转后，再次重复步骤1到步骤9，完成另一面研磨加工，完成所有表面加工后，一个工件加工结束。
本发明的优点：
1.适用于各种面型工件的夹持。
2.可通过调节水囊的水压，调节夹持力，确保夹持工件时工件不松动和不变形。
3.可通过调整磁场强度即控制第一电磁铁的电压，改变第一电磁铁产生的磁场，第一磁流变液在不同磁场下固化程度不同，第一磁流变液对工件的夹持摩擦力也不同。
4.可通过位移传感器，对工件的放置位姿进行准确测量。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种研磨用的磁流变智能夹具，其特征在于，包括：容器、水囊、压力变送器、水泵、第一电磁铁、控制器和弹性伸缩杆；
    所述容器的内部盛有第一磁流变液；所述弹性伸缩杆设置在所述容器的底部；所述容器的各个侧壁上均设置有所述水囊，各所述水囊之间相互连通，所述水囊分别与所述压力变送器和所述水泵连通，所述水泵连接水箱；待夹持工件设置在所述弹性伸缩杆的顶部；所述容器设置在所述第一电磁铁的上方；所述第一电磁铁、所述压力变送器和所述水泵均与所述控制器电连接；所述弹性伸缩杆用于定位和支撑所述待夹持工件，所述控制器用于控制所述水泵向所述水囊加压以对所述待夹持工件进行预夹持，所述压力变送器用于测量所述水囊对所述待夹持工件的夹持力并将所述夹持力传送给所述控制器，所述控制器还用于根据所述夹持力控制所述第一电磁铁通电以使所述第一磁流变液固化对所述待夹持工件进行夹持。
  2. 根据权利要求1所述的一种研磨用的磁流变智能夹具，其特征在于，所述弹性伸缩杆包括：伸缩杆外壳、第二电磁铁、滑动杆和位移传感器；所述滑动杆设置在所述容器的底端；所述待夹持工件设置在所述伸缩杆外壳的顶端；所述伸缩杆外壳设置在所述滑动杆的顶端，所述伸缩杆外壳和所述滑动杆形成封闭空间，所述封闭空间内设置有第二磁流变液，所述伸缩杆外壳可通过所述滑动杆上下滑动，所述待夹持工件会随着所述伸缩杆外壳滑动；所述第二电磁铁和所述位移传感器均设置在所述伸缩杆外壳上，所述第二电磁铁和所述位移传感器均与所述控制器电连接，所述位移传感器用于实时采集所述伸缩杆外壳的位移量，并将所述位移量传送给所述控制器，所述控制器用于根据所述位移量控制所述第二电磁铁通电使所述第二磁流变液固化，使所述待夹持工件停留在设定的位置。
  3. 根据权利要求2所述的一种研磨用的磁流变智能夹具，其特征在于，所述弹性伸缩杆还包括：弹簧，所述弹簧的一端与所述滑动杆的顶端连接，所述弹簧的另一端与所述伸缩杆外壳的内壁连接。
  4. 根据权利要求3所述的一种研磨用的磁流变智能夹具，其特征在于，所述弹性伸缩杆还包括：弹簧支撑架，所述弹簧支撑架与所述滑动杆的顶端连接，所述弹簧支撑架用于支撑所述弹簧。
  5. 根据权利要求2所述的一种研磨用的磁流变智能夹具，其特征在于，还包括：采集卡，所述控制器、所述压力变送器和所述位移传感器均与所述采集卡电连接；所述采集卡用于采集所述压力变送器测量的所述夹持力和所述位移传感器测量的所述位移量，并将所述夹持力和所述位移量传送给所述控制器。
  6. 根据权利要求1所述的一种研磨用的磁流变智能夹具，其特征在于，还包括：水管，所述水囊通过所述水管分别与所述水泵和所述压力变送器连通。
  7. 根据权利要求6所述的一种研磨用的磁流变智能夹具，其特征在于，还包括：阀门，所述阀门设置在所述水管上，所述水泵通过所述阀门与所述水管连通。
  8. 根据权利要求1所述的一种研磨用的磁流变智能夹具，其特征在于，所述弹性伸缩杆包括：弹性支撑伸缩杆和弹性定位伸缩杆，所述弹性定位伸缩杆用于支撑所述待夹持工件的工件定位点，以实现对所述待夹持工件的定位，所述弹性支撑伸缩杆用于支撑所述待夹持工件中除所述工件定位点之外的部分。
  9. 根据权利要求8所述的一种研磨用的磁流变智能夹具，其特征在于，所述弹性定位伸缩杆的数量为1根。
  10. 根据权利要求8所述的一种研磨用的磁流变智能夹具，其特征在于，所述弹性支撑伸缩杆的数量为16根。
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