An intelligent reconfigurable drilling fixture for thin plate parts with spherical coordinates

Abstract

The present invention discloses a spherical coordinate type thin plate intelligent reconfigurable drilling fixture, which is composed of three major parts: mechanical, detection and control. Mechanical part: including multiple positioning clamping units, edge positioning plates, base mounting plates and connecting components with spherical coordinates as the positioning method; detection part: including vacuum pressure sensors located at the ends of the units, laser displacement sensors located at the sides of the units and the bottom mounting plates, servo motor encoders and data acquisition devices; control part: including PLC and driver. The present invention can automatically adjust the clamping layout of multiple positioning clamping units according to the changes in the drilling position of the thin plate and the real-time deformation of the workpiece with the help of the detection part and the control program, so as to reduce the deformation of the thin plate caused by its own weight and cutting load during the drilling process, and ensure the processing accuracy required by the process.

Description

Technical Field

[0001] The invention belongs to the field of mechanical manufacturing equipment, and in particular relates to a spherical coordinate type thin plate intelligent reconfigurable drilling fixture. Background Art

[0002] Thin plate parts are widely used in the automotive, shipbuilding and aerospace manufacturing industries due to their light weight and high strength. In the manufacturing industry, multiple rivet holes are often required to be processed on thin plate parts, but the rigidity of such parts is poor. When using traditional fixtures to assist drilling, it is difficult to control the deformation caused by the weight of the parts and the cutting load, and the processing accuracy is difficult to guarantee. Therefore, it is necessary to invent a spherical coordinate type thin plate intelligent reconfigurable drilling fixture to improve the rigidity of thin plate parts, thereby improving the processing quality of thin plate parts.

[0003] In order to solve the deformation problem of thin plate parts during drilling, the fixtures currently used mostly use the "N-2-1" positioning method to position the workpiece. Compared with the traditional "3-2-1" positioning principle, this method can effectively solve the low rigidity and easy deformation characteristics of thin plate parts. With the increasingly diverse size and shape requirements of thin plate parts in the manufacturing industry, most existing fixtures are unable to timely and effectively adjust the number of support units and clamping layout solutions, and both processing efficiency and part quality need to be improved.

[0004] In view of the limitations of traditional fixtures, it is necessary to design a drilling fixture that can help improve the processing accuracy and overall processing efficiency of thin plate parts. Summary of the invention

[0005] The purpose of the present invention is to provide a spherical coordinate type thin plate intelligent reconfigurable drilling fixture, which solves the problem that the thin plate is easily deformed due to its own weight and cutting load during the drilling process, and ensures the processing accuracy required by the process.

[0006] The technical solution adopted by the present invention is: a spherical coordinate type thin plate intelligent reconfigurable drilling fixture, including a mechanical part, a detection part and a control part; the mechanical part includes a plurality of positioning and clamping units, an edge positioning plate, a base mounting plate and a connecting component; the detection part includes a vacuum pressure sensor, a laser displacement sensor, a servo motor encoder and a data acquisition device, the vacuum pressure sensor is located at the end of the positioning and clamping unit to obtain the size of the adsorption force, the laser displacement sensor is located at the side and bottom mounting plate of the positioning and clamping unit, and is used to obtain the radial displacement of the spherical coordinates and the real-time deformation of the thin plate, and the servo motor encoder is used to obtain the angular displacement of the spherical coordinates; the control part includes a PLC and a driver, the PLC obtains feedback information from the data acquisition device, and after being processed by the control program, further controls the positioning and clamping unit with the help of the driver to adjust the posture and adsorption force to achieve the optimal clamping layout.

[0007] The present invention is also characterized in that:

[0008] The base mounting plate is fixed on the machine tool worktable through a connecting component. The base mounting plate is processed with a mounting hole array. Four positioning clamping units are evenly installed on the base mounting plate with the help of the mounting hole array, and two and one edge positioning plates are respectively installed on adjacent edges of the base mounting plate. The edge positioning plates are fixed to the waist-shaped holes of the base mounting plate through bolts and nuts.

[0009] The positioning clamping unit comprises a positioning component and a clamping component. The positioning component adopts three parameters of azimuth angle φ, elevation angle θ and radius r of spherical coordinates, and comprises a φ rotation component, a θ rotation component and an r translation component.

[0010] The φ-axis rotating assembly includes a φ-axis servo motor, a base, a φ-axis motor fixing frame and a φ-axis rotating platform. The base is fixed to the base mounting plate through an array of mounting holes, the φ-axis servo motor is installed on the base through the φ-axis motor fixing frame, and drives the φ-axis rotating platform to rotate through a coupling, and a thrust ball bearing is placed between the φ-axis rotating platform and the φ-axis motor fixing frame.

[0011] The θ-rotation assembly includes a θ-servo motor, a θ-motor fixing frame and a θ-rotation platform. The θ-motor fixing frame is mounted on the φ-rotation platform, the θ-servo motor is integrally mounted on the θ-motor fixing frame, and is connected to the θ-rotation platform through a coupling at the motor end, and a reflector is mounted on one side of the θ-rotation platform.

[0012] The r-axis translation assembly includes an r-axis servo electric cylinder, an electric cylinder fixing frame, an r-axis lifting platform and a laser displacement sensor. The r-axis servo electric cylinder is integrally mounted on the electric cylinder fixing frame and connected to the r-axis lifting platform through an end flange. The electric cylinder fixing frame is fixed to the θ-axis rotating platform through bolts and nuts. The laser displacement sensor is fixed to the side mounting structure of the r-axis lifting platform, and the side head of the sensor is aligned with the reflector on the θ-axis rotating platform.

[0013] The clamping assembly includes a mini air pump, an adaptive ball joint, a suction cup holder, a vacuum suction cup, a reset spring and a vacuum pressure sensor. The adaptive ball joint is fixed to the r-axis lifting platform through the bottom thread and connected to the suction cup holder through the end thread. The suction cup holder is installed with a vacuum suction cup and a vacuum pressure sensor, and a positioning ball head is processed on the top. In addition, the holder is flexibly connected to the r-axis lifting platform through a reset spring. The mini air pump is installed on the side of the base, and the negative pressure is output to the vacuum suction cup through the air path to generate adsorption force. The reset spring is used to automatically reset the adaptive ball joint so that it always points in the r direction before the vacuum suction cup fits the workpiece surface, avoiding the ball joint from getting stuck during the fitting process. The adaptive ball joint is used to adapt to the change in the curvature of the workpiece surface, so that the positioning ball head points to the normal direction of the surface when the vacuum suction cup fits the workpiece surface, ensuring the required positioning accuracy.

[0014] The edge positioning plate is fixed to the edge of the base mounting plate by bolts and nuts, and the position can be manually adjusted through the waist-shaped holes on the edge to adapt to the specifications of the workpiece. The edge positioning plate is used to provide side positioning to complete the necessary freedom restriction for workpiece positioning.

[0015] The connection assembly is used to connect the fixture to the T-slot of the machine tool to fix the fixture position. It is also used to connect and fix multiple fixtures to expand the applicable range of workpiece specifications. The connection assembly includes a shim, a pressure plate and a bolt; the upper end of the shim has a groove, and the lower end is placed on the machine tool workbench; the bolt passes through the machine tool workbench from bottom to top and slides into the T-slot of the workbench, then passes upward through the pressure plate and cooperates with the nut; one end of the pressure plate is against the groove set in the shim, and the other end is buckled on the base mounting plate. The rotation of the nut drives the pressure plate to press down, pressing the base mounting plate tightly and fixing it on the machine tool workbench.

[0016] Laser displacement sensor, servo motor encoder and vacuum pressure sensor belong to the detection part. The φ-direction servo motor encoder is used to detect the φ-direction angular displacement of the positioning ball head, the θ-direction servo motor encoder is used to detect the θ-direction angular displacement of the positioning ball head, the laser displacement sensor located in the clamping assembly is used to detect the r-direction displacement of the positioning ball head, the laser displacement sensor located in the base mounting plate is used to detect the deformation of the workpiece, and the vacuum pressure sensor is used to detect the actual adsorption force of the vacuum suction cup. The laser displacement sensor used to detect the deformation of the workpiece is fixed to the base mounting plate through the sensor mounting bracket and the mounting hole array. The 9 laser displacement sensors located on the base mounting plate constitute a deformation detection array, which is used to reflect the real-time deformation of the workpiece during the processing process.

[0017] The beneficial effects of the present invention are:

[0018] (1) The positioning and clamping unit adopts a spherical coordinate positioning method consisting of a φ-axis rotation component, a θ-axis rotation component, and an r-axis translation component, achieving wide-range positioning through a simple structure;

[0019] (2) Multiple positioning and clamping units cooperate with each other to achieve the reconfigurability of the clamping layout;

[0020] (3) Multiple fixtures are connected to each other to achieve applicability to thin plate parts of different sizes and shapes within a certain specification;

[0021] (4) The fixture can provide real-time feedback on workpiece deformation and automatically adjust the clamping layout of the positioning clamping unit to achieve intelligent process;

[0022] (5) The fixture dynamically optimizes and adjusts to the optimal clamping layout based on the drilling position and real-time deformation of the thin plate to ensure the drilling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1This is a working principle diagram of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0024] Figure 2 This is a mechanical body diagram of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0025] Figure 3 A diagram of the connection components of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0026] Figure 4 This is a diagram of a positioning and clamping unit of a spherical coordinate type thin plate intelligent reconfigurable drilling fixture of the present invention;

[0027] Figure 5 A φ-axis rotating component diagram of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0028] Figure 6 This is a diagram of the θ-axis rotating assembly of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0029] Figure 7 This is a diagram of the r-direction translation component of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0030] FIG8( a ) is a schematic diagram of an adaptive spherical joint of an intelligent reconfigurable drilling fixture for thin plate parts of a spherical coordinate type according to the present invention;

[0031] FIG8( b ) is a diagram of a clamping assembly of a spherical coordinate thin plate intelligent reconfigurable drilling fixture according to the present invention;

[0032] Fig. 9 This is a deformation detection array diagram of a spherical coordinate thin plate intelligent reconfigurable drilling fixture of the present invention;

[0033] 10(a)-(b) are clamping scheme diagrams of thin plate parts of different sizes using a spherical coordinate type thin plate part intelligent reconfigurable drilling fixture according to the present invention;

[0034] 11(a)-(b) are diagrams showing different clamping schemes for thin plate parts of the same size at different drilling positions using a spherical coordinate type thin plate intelligent reconfigurable drilling fixture according to the present invention.

[0035] In the figure: 1. Base mounting plate, 2. Mounting hole array, 3. Edge positioning plate, 4. Waist hole, 5. Positioning clamping unit, 6. Connection assembly, 7. Washer, 8. Pressure plate, 9. Bolt, 10. φ rotation assembly, 11. θ rotation assembly, 12. r translation assembly, 13. Clamping assembly, 14. Mini air pump, 15. Thrust ball bearing, 16. Coupling, 17. φ rotation platform, 18. φ motor fixing bracket, 19. φ Servo motor, 20. Base, 21. θ-axis servo motor, 22. θ-axis motor fixing bracket, 23. θ-axis rotating platform, 24. Reflector, 25. Electric cylinder fixing bracket, 26. Laser displacement sensor, 27. R-axis lifting platform, 28. R-axis servo electric cylinder, 29. Adaptive ball joint, 30. Suction cup fixing bracket, 31. Vacuum suction cup, 32. Positioning ball head, 33. Vacuum pressure sensor, 34. Reset spring, 35. Sensor mounting bracket. DETAILED DESCRIPTION

[0036] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0037] The present invention provides a spherical coordinate type thin plate intelligent reconfigurable drilling fixture, and its working principle is as follows Figure 1 As shown, the "N-2-1" over-positioning method is used to position and clamp the thin plate, and the position of the positioning ball head 32 of the fixture and the suction force of the vacuum suction cup 31 can be dynamically optimized and adjusted according to the actual working conditions. During the adjustment process, the displacement of the positioning ball head 32 in the radial direction of the spherical coordinates is detected by the laser displacement sensor 26, and the corresponding spherical coordinate angular displacement is detected by the servo motor encoder. The vacuum pressure sensor 33 installed on the suction cup bracket is used to detect the suction force; the acquired positioning coordinate parameters and suction force parameters are transmitted to the PLC through the data acquisition device. The PLC analyzes and calculates the detection data with the help of the control program, determines the motor rotation amount, outputs the control instruction to the driver, and drives the servo motor and the mini air pump 14 to work, adjust the position of the positioning ball head 32 and the actual suction force of the vacuum suction cup 31, and realize the optimal clamping layout. The edge positioning plate 3 is fixed to the edge of the base mounting plate 1 by bolts and nuts, and the position can be manually adjusted through the waist-shaped hole 4 on the edge to adapt to the specifications of the workpiece. The edge positioning plate 3 is used to provide the necessary freedom limit for workpiece positioning.

[0038] The present invention provides a spherical coordinate type thin plate intelligent reconfigurable drilling fixture, such as Figure 2 As shown, the mechanical part is based on a base mounting plate 1, on which a mounting hole array 2 is arranged. The base mounting plate 1 is evenly arranged with four positioning clamping units 5 by means of the mounting hole array 2, and three edge positioning plates 3 are arranged at adjacent edges of the base mounting plate 1. The three edge positioning plates 3 are distributed at different edges. The fixture realizes the clamping of thin plate parts under the "N-2-1" over-positioning principle through the positioning clamping units 5 and the edge positioning plates 3.

[0039] like Figure 3 As shown, the connection component 6 is used for the connection between the fixture and the T-slot of the machine tool to fix the position of the fixture, and is also used for the connection and fixation between multiple fixtures to expand the applicable range of workpiece specifications. The connection component 6 includes a washer 7, a pressure plate 8 and a bolt 9; the washer 7 has a groove on the upper end and the lower end is placed on the machine tool workbench; the bolt 9 passes through the machine tool workbench from bottom to top and then slides into the T-slot of the workbench, and then passes upward through the pressure plate 8 and cooperates with the nut; one end of the pressure plate 8 is against the groove set in the washer 7, and the other end is buckled on the base mounting plate 1. The rotation of the nut drives the pressure plate 8 to press down, and the base mounting plate 1 is pressed and fixed on the machine tool workbench. The connection components 6 of the present invention are all independent assembly parts, which are easy to assemble and disassemble and have wide applicability.

[0040] like Figure 4-5 As shown, the positioning clamping unit 5 includes a positioning component and a clamping component 13. The positioning component adopts spherical coordinate parameters, including a φ rotation component 10, a θ rotation component 11 and an r translation component 12. The φ direction, θ direction and r direction in the present invention correspond to the three orientations of the spherical coordinate system respectively.

[0041] The φ-rotating assembly 10 includes a φ-rotating servo motor 19, a base 20, a φ-rotating motor fixing frame 18 and a φ-rotating platform 17. The base 20 is fixed to the base mounting plate 1 through the mounting hole array 2, the φ-rotating servo motor 19 is installed on the base 20 through the φ-rotating motor fixing frame 18, and drives the φ-rotating platform 17 to rotate through the coupling 16, and a thrust ball bearing 15 is arranged between the φ-rotating platform 17 and the φ-rotating motor fixing frame 18 to prevent the motor shaft from being subjected to the overturning moment caused by other components and external loads.

[0042] A mini air pump 14 is installed on the side of the base 20 , and the mini air pump 14 belongs to the clamping component 13 .

[0043] like Figure 6 As shown, the θ-rotating assembly 11 includes a θ-rotating servo motor 21, a θ-rotating motor fixing frame 22 and a θ-rotating platform 23. The θ-rotating motor fixing frame 22 is mounted on the φ-rotating platform 17, and the θ-rotating servo motor 21 is integrally mounted on the θ-rotating motor fixing frame 22, and the θ-rotating platform 23 is driven to rotate by the coupling 16 at the motor end, and a reflector 24 is mounted on one side of the θ-rotating platform 23.

[0044] like Figure 7As shown, the r-direction translation assembly 12 includes an r-direction servo electric cylinder 28, an electric cylinder fixing frame 25, an r-direction lifting platform 27, and a laser displacement sensor 26. The r-direction servo electric cylinder 28 is integrally mounted on the electric cylinder fixing frame 25, and is connected to the r-direction lifting platform 27 through an end flange, driving the platform to complete the lifting action. The electric cylinder fixing frame 25 is fixed to the θ-direction rotating platform 23 by bolts and nuts, and the laser displacement sensor 26 is fixed to the side mounting structure of the r-direction lifting platform 27, and the side head of the sensor is aligned with the reflector 24 on the θ-direction rotating platform 23, so as to ensure the feedback accuracy of the r-direction displacement.

[0045] As shown in Fig. 8(a)-(b), the clamping assembly 13 includes a mini air pump 14, an adaptive ball joint 29, a suction cup fixing frame 30, a vacuum suction cup 31, a reset spring 34 and a vacuum pressure sensor 33. The adaptive ball joint 29 is fixed to the r-direction lifting platform 27 through the bottom thread, and is connected to the suction cup fixing frame 30 through the end thread. The suction cup fixing frame 30 is installed with a vacuum suction cup 31 and a vacuum pressure sensor 33, and a positioning ball head 32 is processed on the top. In addition, the fixing frame is flexibly connected to the r-direction lifting platform 27 through the reset spring 34. The mini air pump 14 is installed on the side of the base 20, and outputs negative pressure to the vacuum suction cup 31 through the air path to generate adsorption force to complete the clamping of the workpiece. The reset spring 34 is used to automatically reset the adaptive ball joint 29 so that it always points along the r direction before the vacuum suction cup 31 is attached to the workpiece surface, so as to avoid the ball joint from getting stuck during the bonding process. The adaptive ball joint 29 is used to adapt to the change of the curvature of the workpiece surface, so that the positioning ball head 32 points to the normal direction of the surface when the vacuum suction cup 31 is attached to the workpiece surface, thereby ensuring the required positioning accuracy.

[0046] The positioning and clamping unit 5 adjusts the unit posture through the positioning component, completes the positioning of the thin plate in combination with the edge positioning plate 3, and adjusts the adsorption force through the clamping component 13 to complete the clamping of the thin plate.

[0047] The laser displacement sensor 26, the servo motor encoder and the vacuum pressure sensor 33 belong to the detection part, which is used to provide feedback on the clamping parameters of the unit during the positioning and clamping process. Among them, the encoder of the φ-direction servo motor 19 is used to detect the φ-direction angular displacement of the positioning ball head 32, the encoder of the θ-direction servo motor 21 is used to detect the θ-direction angular displacement of the positioning ball head 32, the laser displacement sensor 26 located in the clamping assembly 13 is used to detect the r-direction displacement of the positioning ball head 32, the laser displacement sensor 26 located in the base mounting plate 1 is used to detect the deformation of the workpiece, and the vacuum pressure sensor 33 is used to detect the actual adsorption force of the vacuum suction cup 31.

[0048] like Fig. 9As shown, the laser displacement sensor 26 for detecting the deformation of the workpiece is fixed to the base mounting plate 1 through the sensor mounting bracket 35 and the mounting hole array 2. A single laser displacement sensor 26 detects a single point displacement caused by the deformation of the workpiece. Nine laser displacement sensors 26 located on the base mounting plate 1 constitute a deformation detection array, which is used to reflect the real-time deformation of the entire workpiece during the processing process.

[0049] As shown in FIG. 10 (a)-(b), the clamping device completes the positioning and clamping of thin plate parts of different sizes by adjusting the posture of the positioning and clamping unit 5 and the position of the edge positioning plate 3.

[0050] As shown in Fig. 11(a)-(b), the clamping device positions and clamps different positions of the same thin plate. The clamp obtains the clamping parameters and workpiece deformation in real time with the help of the detection part, dynamically optimizes and adjusts the position of the positioning ball head 32 of the positioning clamping unit 5 and the actual adsorption force of the vacuum suction cup 31, and forms the optimal clamping layout corresponding to the next drilling position.

[0051] The specific working principle of the present invention is:

[0052] 1. The fixture is fixed on the T-slot of the cutting machine table through a connecting component. Multiple fixtures can also be connected and fixed through the component to expand the applicable range of thin plate specifications.

[0053] 2. The adjacent sides of the thin plate are positioned by two edge positioning plates and one edge positioning plate respectively. The edge positioning plate can be adjusted through the waist-shaped holes on the edge of the base mounting plate to adapt to the specifications of the workpiece; the bottom surface of the thin plate is clamped by four positioning and clamping units. Each positioning and clamping unit adopts spherical coordinate parameters, including two rotating components, one translation component and one clamping component, which can clamp the same thin plate at different positions within a certain range.

[0054] 3. Before the fixture is clamped, the spherical coordinate parameters of the target positioning point are obtained by an external algorithm according to the process requirements; during the clamping process, based on the spherical coordinates (r, θ, φ) of the target positioning point, the φ, θ and r displacements of the positioning clamping unit are first adjusted in sequence to complete the positioning, and then the adsorption force at the vacuum suction cup is adjusted to achieve clamping. In the positioning component, the laser displacement sensor located in the r-axis translation component detects the displacement of the positioning ball head in the radial direction of the spherical coordinates. The servo motor encoder located in the φ-axis rotation component and the θ-axis rotation component detects the spherical coordinate angular displacement corresponding to the positioning ball head. In the clamping component, the vacuum pressure sensor located on the suction cup bracket detects the actual adsorption force of the vacuum suction cup. The acquired positioning parameters and adsorption force parameters are transmitted to the PLC via the data acquisition device. The PLC analyzes and calculates the detection data with the help of the control program, determines the motor rotation amount, outputs the control command to the driver, and drives the servo motor and the mini air pump to work, adjust the position of the positioning ball head and the actual adsorption force of the vacuum suction cup, and realize the optimal clamping layout. During the clamping layout adjustment process, the positioning clamping unit that has not been moved can maintain the accurate position of the thin plate parts, avoid the loading and unloading operations of the thin plate parts, and improve the processing efficiency.

[0055] 4. The deformation detection array located on the fixture base mounting plate is composed of 9 laser displacement sensors arranged in a "cross" shape. The displacement matrix is ​​composed of 9 single-point deformation displacements on the bottom surface of the workpiece, which serves as a reference for the next adjustment of the clamping layout of the fixture.

Claims

1. A spherical coordinate thin plate intelligent reconfigurable drilling fixture, characterized in that: The invention comprises a mechanical part, a detection part and a control part; the mechanical part comprises a positioning clamping unit (5), an edge positioning plate (3), a base mounting plate (1) and a connecting assembly (6); the detection part comprises a vacuum pressure sensor (33), a laser displacement sensor (26), a servo motor encoder and a data acquisition device, wherein the vacuum pressure sensor (33) is located at the end of the positioning clamping unit (5) and is used to obtain the magnitude of the adsorption force; the laser displacement sensor (26) is located at the side of the positioning clamping unit (5) and the base mounting plate (1) and is used to obtain the displacement in the radial direction of the spherical coordinates and the real-time deformation of the thin plate; the servo motor encoder is used to obtain the angular displacement in the spherical coordinates; the control part comprises a PLC and a driver, the PLC obtains feedback information from the data acquisition device, processes it through a control program operation, and further uses the driver to control the positioning clamping unit to adjust the posture and adsorption force to achieve an optimal clamping layout; The base mounting plate (1) is fixed on the machine tool workbench via a connecting assembly (6); a mounting hole array (2) is machined on the base mounting plate (1); four positioning clamping units (5) are evenly mounted and arranged on the base mounting plate (1) by means of the mounting hole array (2); and two and one edge positioning plates (3) are respectively mounted on two adjacent edges of the mounting plate; the edge positioning plates (3) are fixed to the waist-shaped holes (4) of the base mounting plate (1) via bolts and nuts; The positioning and clamping unit (5) comprises a positioning component and a clamping component (13); the positioning component adopts the azimuth angle of spherical coordinates φ , Elevation θ and radius r Three parameters, including φ To the rotating assembly (10), θ The rotating assembly (11) and r Towards translation component (12); Said φ The rotating assembly (10) includes φ To the rotating platform (17), φ To the motor mounting bracket (18), φ The servo motor (19) and the base (20) are fixed to the base mounting plate (1) through the mounting hole array (2). φ To the servo motor (19) through φ The motor fixing frame (18) is mounted on the base (20) and driven by the coupling (16). φ Rotate toward the rotating platform (17), the φ To the rotating platform (17) and φ A thrust ball bearing (15) is installed between the motor fixing frame (18); Said θ The rotating assembly (11) includes θ To the servo motor (21), θ To the motor bracket (22) and θ To the rotating platform (23); θ Install the motor bracket (22) on φ Onto the rotating platform (17), θ The servo motor (21) is integrally mounted on θ To the motor mounting bracket (22), connect to the motor through the coupling (16) θ To the rotating platform (23), the θ A reflector (24) is mounted on one side of the rotating platform (23); Said r The translation component (12) includes r To the servo electric cylinder (28), the electric cylinder fixing bracket (25), r Towards the lifting platform (27) and the laser displacement sensor (26); r The servo electric cylinder (28) is integrally mounted on the electric cylinder fixing frame (25) and connected to the electric cylinder by the end flange. r The electric cylinder fixing frame (25) is connected to the lifting platform (27), and the electric cylinder fixing frame (25) is fixed to the lifting platform (27) by bolts and nuts. θ On the rotating platform (23), the laser displacement sensor (26) is fixed r The sensor head is aligned with the side mounting structure of the lifting platform (27). θ A reflector (24) on the rotating platform (23); The clamping assembly (13) comprises a mini air pump (14), an adaptive ball joint (29), a suction cup fixing frame (30), and a return spring (34); the adaptive ball joint (29) is fixed to the r The suction cup fixing frame (30) is connected to the lifting platform (27) through the end thread. The suction cup fixing frame (30) is installed with a vacuum suction cup (31) and a vacuum pressure sensor (33). A positioning ball head (32) is processed on the top. The suction cup fixing frame (30) is connected to the lifting platform (27) through a reset spring (34). r The mini air pump (14) is flexibly connected to the lifting platform (27), and is installed on the side of the base (20), and outputs negative pressure to the vacuum suction cup (31) through the air path to generate adsorption force; The connection assembly (6) comprises a washer (7), a pressure plate (8) and a bolt (9); the washer (7) has a groove at its upper end and its lower end is placed on a machine tool workbench; the bolt (9) passes through the machine tool workbench from bottom to top and is slidably connected in a T-shaped groove of the workbench, then passes through the pressure plate (8) upward and is engaged with a nut; one end of the pressure plate (8) is against the groove provided in the washer (7) and the other end is buckled on the base mounting plate (1); the nut rotates to drive the pressure plate downward, thereby pressing and fixing the base mounting plate (1) on the machine tool workbench.

2. The spherical coordinate thin plate intelligent reconfigurable drilling fixture according to claim 1 is characterized in that: The edge positioning plate (3) is fixed to the edge of the base mounting plate (1) by means of bolts and nuts, and can be adjusted in position through waist-shaped holes (4) on the edge to adapt to the specifications of the workpiece, thereby completing side positioning.

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