Multidirectional self-adaptive precise clamping control system and use method thereof

Abstract

The invention discloses a multidirectional self-adaptive precise clamping control system and a using method thereof. Relates to the technical field of dense manufacturing workpiece clamping control and comprises a workbench provided with a first multi-shaft synchronous driving module, a first strip-shaped hole is formed in the top of the workbench, a first fixing sleeve is arranged in the first strip-shaped hole, an extrusion block is arranged on the first fixing sleeve, and first clamping plates are arranged on the opposite side walls of the extrusion block; the first fixing sleeves are arranged on the force displacement coupling controller in a sleeving mode, the force displacement coupling controller is connected with the first multi-shaft synchronous driving module, sleeves are arranged on the two sides of the extrusion block, telescopic plates are arranged in the sleeves in a sleeving mode, screw rods are arranged on the telescopic plates, knobs are arranged at the ends, close to the extrusion block, of the screw rods, and bearing seats are arranged at the other ends of the screw rods. A second clamping plate is arranged on the bearing seat; the lateral clamping mechanism is arranged on the sides, away from each other, of the extrusion blocks. According to the multi-directional self-adaptive precise clamping control system and the using method thereof, multi-directional surrounding clamping is achieved, and the problem of uneven stress is solved.

Description

Technical Field

[0001] This invention relates to the field of precision manufacturing workpiece clamping control technology, and more specifically to a multi-directional adaptive precision clamping control system and its usage method. Background Technology

[0002] Precision machining is a core manufacturing process that uses various machine tools such as lathes, milling machines, and grinders to perform complex operations such as cutting, grinding, drilling, and reaming on blanks of metals, plastics, and ceramics, thereby obtaining parts with dimensional accuracy down to the micrometer level in batches. It is widely used in the field of equipment processing. However, in actual machining, the dynamic cutting force and vibration generated by the relative movement of the tool and the workpiece can easily cause the workpiece to shift. Therefore, the clamping structure of the system must provide a sufficiently large and evenly distributed clamping force to firmly fix the workpiece and prevent dimensional deviation, surface roughness deterioration, or even tool damage caused by workpiece displacement.

[0003] In existing technologies, both hydraulic vises and vacuum adsorption use static preset clamping forces, which cannot respond to dynamic force changes during the cutting process (such as the ±200N impact force when the milling cutter enters / exits), resulting in: 1. Micro-slippage at the workpiece edge (0.1μm is out of tolerance): a. When the cutting force changes abruptly by 50 N / ms, a slip of 0.1 μm causes the profile deviation of the aerospace blade to exceed the tolerance by 8 μm; b. Titanium alloy TC4 has a yield strength of 860MPa and allows a surface contact pressure of ≤120MPa. Traditional vises will leave indentations at 180MPa. c. Under 5Hz vibration, the probability of thread loosening is 12%, and after 24 hours of continuous operation, the clamping force drifts by 3%, resulting in a batch of scrap.

[0004] 2. Excessive clamping force can cause localized plastic indentations (especially in titanium alloy / ceramic parts); 3. The thread loosening mechanism fails under vibrations above 5Hz.

[0005] There is currently no method to balance the contradiction between "displacement prevention" and "overvoltage prevention" in real time.

[0006] Therefore, how to provide a multi-directional adaptive precision clamping control system that can achieve multi-directional surrounding clamping and solve the problem of uneven force distribution, and its usage method, are problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention provides a multi-directional adaptive precision clamping control system and its usage method, which aims to solve one of the problems in the above-mentioned background art, and can realize multi-directional surrounding clamping and solve the problem of uneven force.

[0008] To achieve the above objectives, the present invention provides a multi-directional adaptive precision clamping control system, comprising: A workbench is provided with a first multi-axis synchronous drive module on its side wall. A first strip-shaped hole is provided at the center of the top of the workbench. Two first fixed sleeves are symmetrically slidably arranged in the first strip-shaped hole. An extrusion block is provided on the first fixed sleeve. The opposite side walls of the two extrusion blocks are set as first clamping plates. Both first fixed sleeves are fitted onto a force-displacement coupling controller. The two ends of the force-displacement coupling controller are connected to the workbench. The force-displacement coupling controller is connected to the first multi-axis synchronous drive module. Each extrusion block has a sleeve on both sides. Each sleeve has a second strip-shaped hole at its bottom. Each sleeve has a telescopic plate fitted inside. Each telescopic plate has a screw at one end close to each other along the axial direction. The screw and the telescopic plate are staggered. Each screw has a knob at one end close to the extrusion block. The other end of the screw has a bearing seat. A second clamping plate is provided on the bearing seat. A lateral clamping mechanism is provided on the side of the extrusion blocks that are far apart from each other.

[0009] Furthermore, each of the lateral clamping mechanisms includes a second fixed sleeve, a second multi-axis synchronous drive module, and a shaft. Two second fixed sleeves are spaced apart along the side wall of the extrusion block. The shaft passes through the two second fixed sleeves. A first gear is provided at the middle position of the shaft, and third gears are provided at both ends of the shaft. A second gear is provided at the output end of the second multi-axis synchronous drive module. The second gear is adapted to mesh with the first gear.

[0010] Furthermore, the bottom of the telescopic plate is provided with a toothed groove, which is connected to the third gear.

[0011] Furthermore, the force-displacement coupling controller is provided with two ball bearing nut pairs spaced apart, and the ball bearing nut pairs are connected to the first fixed sleeve.

[0012] Furthermore, a first pressure sensor is provided on the opposite side of the two first clamping plates, and a second pressure sensor is provided on the opposite side of the second clamping plates on the same extrusion block.

[0013] Furthermore, each of the telescopic plates has a screw hole at one end that is close to each other, and the screw passes through the screw hole.

[0014] Furthermore, it also includes an acceleration sensor module, which includes a main sensor and an auxiliary sensor. The main sensor is located on the back of the first clamping plate and the second clamping plate, and is close to the first pressure sensor and the second pressure sensor. The auxiliary sensor is disposed on the worktable.

[0015] On the other hand, the present invention provides a method for using a multi-directional adaptive precision clamping control system, which, based on the above-described multi-directional adaptive precision clamping control system, specifically includes the following steps: Step 1: Activate the first multi-axis synchronous drive module on the working side wall, which drives the ball nut pairs on both sides and the two extrusion blocks to move towards each other. The extrusion blocks drive the first clamping plates on both sides to clamp the workpiece. Then the second multi-axis synchronous drive module is activated, driving the shaft and the third gear on the outside to rotate, thereby driving the telescopic plates on the left and right sides to move back and forth. Then, by rotating the knobs on both sides, the clamping plates on both sides are driven to clamp the other two sides of the workpiece with the cooperation of the screw, screw hole and bearing seat. Step 2: Pre-clamping stage, drive the first clamping plate to apply initial clamping force at a rate of 0.1-0.3 MPa / s until the feedback value of the first pressure sensor reaches... ×0.4; Step 3: Dynamic compensation stage. During the cutting process, the cutting force signal is sampled at a frequency of 1kHz. When a sudden change of ΔF / Δt>50N / ms is detected, the second clamping plate is activated to apply a reverse compensation force ΔF×0.8 within 5ms, with the direction perpendicular to the main cutting force. Step 4: Identify vibration components >100Hz using the accelerometer module, and adjust the clamping force amplitude to make the system damping ratio >0.7 until the vibration decays to <0.05μm amplitude; Step 5: After processing, release the clamping force at a rate gradient of 0.05 MPa / s to eliminate dimensional drift caused by elastic rebound.

[0016] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a multi-directional adaptive precision clamping control system and its usage method, the beneficial effects of which are: 1. Multi-directional adaptive clamping: Achieves four-way surrounding clamping for more even force distribution; 2. Dynamic force intelligent compensation: Response speed up to 5ms, effectively suppressing micro-slippage; 3. Multi-material compatibility: Suitable for titanium alloys, ceramics, composite materials, etc.; 4. High reliability and safety: It features redundant design, emergency stop protection, and power failure retention function; 5. Long-term stability: Clamping force drift <0.5% after 168 hours of continuous operation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of a multi-directional adaptive precision clamping control system provided by the present invention; Figure 2 A schematic diagram of the bottom structure of a multi-directional adaptive precision clamping control system provided by the present invention; Figure 3 A schematic diagram of the sleeve and telescopic plate provided by the present invention; Figure 4 This is a schematic diagram of the extrusion block and the lateral clamping mechanism provided by the present invention.

[0019] Wherein: 1 is the first clamping plate; 2 is the first pressure sensor; 3 is the extrusion block; 4 is the second gear; 5 is the bearing; 6 is the second fixing sleeve; 7 is the shaft; 8 is the first gear; 9 is the first multi-axis synchronous drive module; 10 is the telescopic plate; 11 is the second multi-axis synchronous drive module; 12 is the sleeve; 13 is the knob; 14 is the first strip hole; 15 is the worktable; 16 is the ball nut pair; 17 is the first fixing sleeve; 18 is the force displacement coupling controller; 19 is the second pressure sensor; 20 is the bearing seat; 21 is the screw hole; 22 is the second clamping plate; 23 is the second strip hole; 24 is the tooth groove; 25 is the screw; 26 is the third gear. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] See Figure 1-4 This invention discloses a multi-directional adaptive precision clamping control system, comprising: A workbench 15 has a first multi-axis synchronous drive module 9 on its side wall. A first strip-shaped hole 14 is located at the center of the top of the workbench 15. Two first fixing sleeves 17 are symmetrically slidably mounted within the first strip-shaped hole 14. Each first fixing sleeve 17 has an extrusion block 3. The opposite side walls of the two extrusion blocks 3 are configured as first clamping plates 1. Both first fixing sleeves 17 are fitted onto a force-displacement coupling controller 18. The two ends of the force-displacement coupling controller 18 are connected to the workbench 15 and the first multi-axis synchronous drive module 9. Each extrusion block 3 has a sleeve 12 on both sides. Each sleeve 12 has a second strip-shaped hole 23 at its bottom. Each sleeve 12 has a telescopic plate 10 fitted inside it. Each telescopic plate 10 has a screw 21 at one end close to the other along its axis. The screw 21 and the telescopic plate 10 are staggered. Each screw 21 has a knob 13 at the end close to the extrusion block 3. The other end of the screw 21 has a bearing seat 5, and the bearing seat 5 has a second clamping plate 22. The worktable 15 provides a stable mounting base, and the strip-shaped hole design facilitates the symmetrical arrangement and adaptive adjustment of the clamping mechanism, enhancing system rigidity and layout flexibility. The first fixed sleeve 17 enables symmetrical movement of the clamping mechanism, ensuring uniform distribution of clamping force and preventing unilateral overload or workpiece skewing. The extrusion block 3 acts as a force transmission intermediary, smoothly transmitting the output force of the first multi-axis synchronous drive module 9 to the first clamping plate 1, reducing force fluctuations and vibration transmission. The sleeve 12 provides a lateral clamping channel, enabling multi-directional encirclement clamping and enhancing workpiece stability under multi-directional cutting force components. The telescopic plate 10, driven by the third gear 26, achieves precise forward and backward movement, adapting to different workpiece widths and improving clamping adaptability. The first multi-axis synchronous drive module 9 enables high-precision, high-response clamping force control, real-time compensation for sudden changes in cutting force, and suppression of micro-slippage. The force-displacement coupling controller 18 enables intelligent dynamic force adjustment, preventing overpressure and slippage, and improving the stability and accuracy retention of the machining process. The drive force displacement coupling controller 18 rotates, which facilitates the movement of the ball nut pairs 16 and the extrusion blocks 3 on both sides towards each other, and clamps the workpiece through the first clamping plates 1 on both sides; with the cooperation of the screw 21, screw hole 25 and bearing seat 5, the second clamping plates 22 on both sides are driven to clamp the other two sides of the workpiece; compared with single-point force, multi-directional surrounding clamping is beneficial to solving the problem of uneven force. The lateral clamping mechanism is located on the side of the extrusion blocks 3 that are far apart from each other; it supports manual fine-tuning and mechanical locking, enhances system reliability and power failure retention capability, and is suitable for high vibration environments.

[0022] In this embodiment, each lateral clamping mechanism includes a second fixed sleeve 6, a second multi-axis synchronous drive module 11, and a shaft 7. Two second fixed sleeves 6 are spaced apart along the side wall of the extrusion block 3. The shaft 7 passes through the two second fixed sleeves 6. A first gear 8 is provided in the middle of the shaft 7, and third gears 26 are provided at both ends of the shaft 7. A second gear 4 is provided at the output end of the second multi-axis synchronous drive module 11. The second gear 4 is adapted to mesh with the first gear 8. When the second multi-axis synchronous drive module 11 is turned on, the shaft 7 and the outer third gear 26 are driven to rotate. With the cooperation of the third gear 26 and the tooth groove, the telescopic plates 10 on the left and right sides can be moved back and forth. A bearing 5 is provided on the shaft 7 corresponding to the second fixed sleeve 6. By setting up the multi-axis synchronous drive module, the electric control of lateral clamping is realized, improving the automation level and operation efficiency of the system. The gear transmission provides smooth and precise mechanical transmission, reduces backlash and vibration, and improves the position repeatability of lateral clamping.

[0023] In this embodiment, the bottom of the telescopic plate 10 is provided with a toothed groove 24, which meshes with the third gear 26.

[0024] In this embodiment, two ball nut pairs 16 are spaced apart on the force displacement coupling controller 18, and the ball nut pairs 16 are connected to the first fixed sleeve 17.

[0025] In this embodiment, a first pressure sensor is provided on the opposite side of the two first clamping plates 1, and a second pressure sensor is provided on the opposite side of the second clamping plates 22 on the same extrusion block 3; the clamping force is monitored in real time to realize closed-loop control, and an emergency stop is triggered in case of abnormality to prevent workpiece damage or system overload.

[0026] In this embodiment, each telescopic plate 10 has a screw hole 25 at one end that is close to each other, and the screw 21 passes through the screw hole 25.

[0027] In this embodiment, an acceleration sensor module is also included. The acceleration sensor module includes a main sensor and an auxiliary sensor. The main sensor is located on the back of the first clamping plate 1 and the second clamping plate 22, and is close to the first pressure sensor 2 and the second pressure sensor 19. The auxiliary sensor is set on the worktable 15. The main sensor is used to directly feed back the workpiece vibration, and the auxiliary sensor is used to distinguish the workpiece vibration from external interference vibration.

[0028] In addition, in this embodiment, the hardware of the force-displacement coupling controller 18 includes: a. 1kHz sampling A / D; b. 5ms response current loop; c. 0.1μm grating feedback. The algorithm is: when ΔF / Δt>50N / ms, the reverse compensation force ΔF×0.8 is applied, with the direction perpendicular to the main cutting force vector.

[0029] Both the first pressure sensor 2 and the second pressure sensor 19 are thin-film strain gauge sensors with ranges of 0-500N and 0-300N respectively, a resolution of 0.01N, and a response frequency ≥2kHz. Their output signals are processed by an instrumentation amplifier and a low-pass filter and then fed back to the force-displacement coupling controller 18 at a frequency of 1kHz. When the difference between the readings of the first pressure sensor 2 and the second pressure sensor 19 exceeds 3% of the full scale, the system triggers an emergency stop and alarm to prevent workpiece loosening or overpressure damage caused by single-point failure.

[0030] Fault-safe / redundancy design: Add a pneumatic spring-mechanical locking composite unit to maintain ≥80% clamping force for ≥30 minutes after power failure; when |P1-P2|>3%, trigger an emergency stop and alarm to prevent single-point failure; enhance system safety to prevent workpiece detachment or processing interruption due to sudden power failure, suitable for continuous production scenarios.

[0031] Dust-proof brushes are symmetrically installed on both sides of the inner wall of the workbench 15 near the first strip hole 14 to prevent dust from entering the workbench 15 through the first strip hole 14.

[0032] The first clamping plate 1 directly contacts the workpiece and uses an adaptive padding material (such as polyurethane) to prevent surface damage. It is suitable for a variety of materials.

[0033] On the other hand, the present invention provides a method for using a multi-directional adaptive precision clamping control system, which specifically includes the following steps based on the above-mentioned multi-directional adaptive precision clamping control system: Step 1: Activate the first multi-axis synchronous drive module 9 on the working side wall, which drives the ball nut pair 16 on both sides and the two extrusion blocks 3 to move towards each other, and the extrusion blocks 3 drive the first clamping plates 1 on both sides to clamp the workpiece. Then the second multi-axis synchronous drive module 11 is activated, driving the shaft 7 and the outer third gear 26 to rotate, thereby driving the telescopic plates 10 on the left and right sides to move back and forth. Then the knobs 13 on both sides are rotated, and with the cooperation of the screw 21, screw hole 25 and bearing seat 5, the clamping plates on both sides are driven to clamp the other two sides of the workpiece. Step 2: Pre-clamping stage, drive the first clamping plate 1 to apply an initial clamping force at a rate of 0.1-0.3 MPa / s until the feedback value of the first pressure sensor 2 reaches the target value. ×0.4; Step 3: Dynamic compensation stage. During the cutting process, the cutting force signal is sampled at a frequency of 1kHz. When a sudden change of ΔF / Δt>50N / ms is detected, the second clamping plate 22 is activated to apply a reverse compensation force ΔF×0.8 within 5ms, with the direction perpendicular to the main cutting force. Step 4: Identify vibration components >100Hz using the accelerometer module, and adjust the clamping force amplitude to make the system damping ratio >0.7 until the vibration decays to <0.05μm amplitude; Step 5: After processing, release the clamping force at a rate gradient of 0.05 MPa / s to eliminate dimensional drift caused by elastic rebound.

[0034] 1. Milling Verification Experiment of Titanium Alloy TC4

[0035] Workpiece dimensions: 50mm×50mm×10mm (annealed TC4, yield strength 860MPa)

[0036] Cutting parameters: axial depth of cut ap = 0.1 mm, radial depth of cut ae = 2 mm, feed rate vf = 500 mm / min, spindle speed n = 8000 rpm (high-speed milling); Dynamic force load: The impact load ΔF = ±200N during the entry / exit of the milling cutter was collected using a Kistler 9257B force gauge (frequency 5Hz, simulating the machining conditions of aerospace blades).

[0037] 2. Multi-material adaptability experiment

[0038] Test material: ceramic (A) (Hardness HV1800), aluminum alloy (7075-T6), carbon fiber composite material (CFRP)

[0039] Test results:

[0040] 3. Long-term stability test

[0041] Continuous processing test: Running time: 168 hours (7 days of uninterrupted simulation of aircraft blade processing); Clamping force drift: <0.5% (initial setting 200N, termination 19.1N, better than the hydraulic system ±3% drift standard); Rubber liner wear: 0.02mm (polyurethane liner, 500,000 clamping cycles, Shore A80 hardness tester).

[0042] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0043] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-directional adaptive precision clamping control system, characterized in that, include: A workbench is provided with a first multi-axis synchronous drive module on its side wall. A first strip-shaped hole is provided at the center of the top of the workbench. Two first fixed sleeves are symmetrically slidably arranged in the first strip-shaped hole. An extrusion block is provided on the first fixed sleeve. The opposite side walls of the two extrusion blocks are set as first clamping plates. Both first fixed sleeves are fitted onto a force-displacement coupling controller. The two ends of the force-displacement coupling controller are connected to the workbench. The force-displacement coupling controller is connected to the first multi-axis synchronous drive module. Each extrusion block has a sleeve on both sides. Each sleeve has a second strip-shaped hole at its bottom. Each sleeve has a telescopic plate fitted inside. Each telescopic plate has a screw at one end close to each other along the axial direction. The screw and the telescopic plate are staggered. Each screw has a knob at one end close to the extrusion block. The other end of the screw has a bearing seat. A second clamping plate is provided on the bearing seat. A lateral clamping mechanism is provided on the side of the extrusion blocks that are far apart from each other.

2. The multi-directional adaptive precision clamping control system according to claim 1, characterized in that, Each of the lateral clamping mechanisms includes a second fixed sleeve, a second multi-axis synchronous drive module, and a shaft. Two second fixed sleeves are spaced apart along the side wall of the extrusion block. The shaft passes through the two second fixed sleeves. A first gear is provided at the middle position of the shaft, and third gears are provided at both ends of the shaft. A second gear is provided at the output end of the second multi-axis synchronous drive module. The second gear is adapted to mesh with the first gear.

3. The multi-directional adaptive precision clamping control system according to claim 2, characterized in that, The bottom of the telescopic plate is provided with a toothed groove, which is connected to the third gear.

4. The multi-directional adaptive precision clamping control system according to claim 1, characterized in that, The force-displacement coupling controller is fitted with two ball bearing nut pairs at intervals, and the ball bearing nut pairs are connected to the first fixed sleeve.

5. The multi-directional adaptive precision clamping control system according to claim 1, characterized in that, A first pressure sensor is provided on the opposite side of the two first clamping plates, and a second pressure sensor is provided on the opposite side of the second clamping plates on the same extrusion block.

6. The multi-directional adaptive precision clamping control system according to claim 1, characterized in that, Each of the telescopic plates has a screw hole at one end that is close to the other, and the screw passes through the screw hole.

7. A multi-directional adaptive precision clamping control system according to claim 5, characterized in that, It also includes an acceleration sensor module, which includes a main sensor and an auxiliary sensor. The main sensor is located on the back of the first clamping plate and the second clamping plate, and is close to the first pressure sensor and the second pressure sensor. The auxiliary sensor is disposed on the worktable.

8. A method of using a multi-directional adaptive precision clamping control system, comprising the multi-directional adaptive precision clamping control system described in any one of claims 1-7, characterized in that, Specifically, the following steps are included: Step 1: Activate the first multi-axis synchronous drive module on the working side wall, which drives the ball nut pairs on both sides and the two extrusion blocks to move towards each other. The extrusion blocks drive the first clamping plates on both sides to clamp the workpiece. Then the second multi-axis synchronous drive module is activated, driving the shaft and the third gear on the outside to rotate, thereby driving the telescopic plates on the left and right sides to move back and forth. Then, by rotating the knobs on both sides, the clamping plates on both sides are driven to clamp the other two sides of the workpiece with the cooperation of the screw, screw hole and bearing seat. Step 2: Pre-clamping stage, drive the first clamping plate to apply initial clamping force at a rate of 0.1-0.3 MPa / s until the feedback value of the first pressure sensor reaches... ×0.4; Step 3: Dynamic compensation stage. During the cutting process, the cutting force signal is sampled at a frequency of 1kHz. When a sudden change of ΔF / Δt>50N / ms is detected, the second clamping plate is activated to apply a reverse compensation force ΔF×0.8 within 5ms, with the direction perpendicular to the main cutting force. Step 4: Identify vibration components >100Hz using the accelerometer module, and adjust the clamping force amplitude to make the system damping ratio >0.7 until the vibration decays to <0.05μm amplitude; Step 5: After processing, release the clamping force at a rate gradient of 0.05 MPa / s to eliminate dimensional drift caused by elastic rebound.

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