A system for adjusting the orientation of a brittle material structure

Abstract

The present application relates to the technical field of mechanical manufacturing, and more particularly to a brittle material structure part posture adjusting system, which comprises three-degree-of-freedom clamping devices symmetrically arranged on both sides of the system, a single-degree-of-freedom clamping device arranged in the middle region of the three-degree-of-freedom clamping devices on both sides of the system, and auxiliary support devices for supporting the upper part of the structure part and dispersed on both sides of the system; the single-degree-of-freedom clamping device and the auxiliary support device are provided with self-adaptive clamping units on one side of the clamped and fixed structure part, and together with the self-adaptive clamping units in the three-degree-of-freedom clamping devices, form a structure part fixing region; by arranging the three-degree-of-freedom clamping devices on both sides of the part to be machined, the stability is enhanced, and when the posture is adjusted, the force is balanced, the additional rotational torque is avoided, and the posture adjusting accuracy is improved; meanwhile, the clamps which are self-adaptive at the center of the clamping surface and can be translated and rotated in the direction of each coordinate axis in the coordinate system are adopted, so that the posture is accurately and efficiently adjusted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of manufacturing, and particularly relates to a posture adjusting system for a brittle material structural part. BACKGROUND

[0002] Composite thermal insulation materials, such as inorganic phenolic aerogels (IPC), are integrally formed multi-layer composite structures, with a multi-layer gradient fiber preform as a reinforcing body, a dense anti-erosion layer on the surface, and a normal pressure dry phenolic aerogel in the core layer. The composite thermal insulation material has problems such as large brittleness, poor processability, weak material compression resistance, and poor rigidity. In the prior art, too small clamping force during rigid machining can cause loose clamping and local vibration deformation; too large clamping force can cause surface damage and deformation; flexible clamps have freedom and deformation, which can cause difficulty in positioning the clamping area, deformation under gravity after rotation, and affect the machining precision, and are difficult to apply to precision machining. In addition, in the prior art, the clamp is fixedly connected with the workpiece and the machine tool at the same time, and when the posture of the workpiece needs to be adjusted, the clamp cannot simultaneously satisfy the adjustment of the posture in all directions, which causes difficulty in adjusting the posture of the workpiece and low precision. In addition, the composite thermal insulation material has various structural shapes as a thermal protection layer, and in the prior art, various special rigid clamps need to be designed according to the structure and machining position of the thermal protection layer to increase the contact area of the clamp and prevent the thermal protection layer from being damaged due to excessive force; the rigid clamp needs to be designed according to the shape of the protection layer, and does not have universality, which increases the design and manufacturing cost of the clamp and prolongs the production cycle of the product. SUMMARY

[0003] In view of the above analysis, the present application aims to provide a posture adjusting system for a brittle material structural part to solve at least one of the problems of surface damage caused by clamping and low adjusting precision in the prior art.

[0004] The purpose of the present application is mainly achieved by the following technical solutions:

[0005] The brittle material structure adjusting system comprises three-degree-of-freedom clamping devices symmetrically arranged on both sides of the system, single-degree-of-freedom clamping devices arranged in the middle region of the three-degree-of-freedom clamping devices on both sides of the system, and auxiliary support devices arranged on both sides of the system for supporting the upper part of the structure.

[0006] Preferably, the single-degree-of-freedom clamping device is provided with a second lifting device connected with the adaptive clamping unit for lifting the adaptive clamping unit; the second lifting device comprises an external member and an internal member movably connected with the external member; the internal member is fixedly connected with the adaptive clamping unit and moves up and down relative to the external member, thereby realizing the lifting of the adaptive clamping unit.

[0007] Preferably, the external member and the internal member are provided with a screw nut at the connecting region, and the internal member is a screw rod matched with the screw nut.

[0008] Preferably, the single-degree-of-freedom clamping device is further provided with a second power device for providing power for the second lifting device; the second power device is a servo motor, which cooperates with the screw rod and the screw nut in the second lifting device to realize the lifting of the adaptive clamping unit.

[0009] Preferably, the single-degree-of-freedom clamping device is further provided with a third limiting movement device in sliding connection with the external member of the second lifting device and providing a limit for the sliding of the external member of the second lifting device.

[0010] Preferably, the third limiting movement device is a guide rail.

[0011] Preferably, the auxiliary support device is provided with a height adjusting device fixedly connected with the clamping device platform at one end, a horizontal support device fixedly connected with the other end of the height adjusting device, and a hollow connecting structure fixedly connected with the other end of the horizontal support device for connecting the adaptive clamping unit and the horizontal support device.

[0012] Preferably, the three-degree-of-freedom clamping device comprises: an adaptive clamping unit and a displacement adjusting unit connected with the adaptive clamping unit; the displacement adjusting unit is used for adjusting the spatial position of the adaptive clamping unit, and comprises: a first lifting device movably connected with the adaptive clamping unit and used for lifting the adaptive clamping unit, a first limiting movement device slidably connected with the first lifting device in a horizontal plane, and a second limiting movement device slidably connected with the first limiting movement device in the horizontal plane; the first lifting device moves horizontally in a limiting track of the first limiting movement device; the second limiting movement device is fixed to a clamping device platform, and the first limiting movement device moves horizontally in a limiting track of the second limiting movement device and is perpendicular to the moving direction of the first lifting device in the limiting track of the first limiting movement device.

[0013] Preferably, the clamping unit is provided with a suction cup, a first movable block coaxially rotatably connected with the suction cup in a vertical direction of a suction plane of the suction cup, a second movable block coaxially rotatably connected with the first movable block in a horizontal plane, and a base coaxially rotatably connected with the second movable block in the horizontal plane.

[0014] Preferably, a side surface of the second movable block is provided with a third arc-shaped structure; a first baffle is fixedly connected to a side wall of the second movable block, and the first baffle is provided with a first sliding connection structure matching the curvature of the third arc-shaped structure.

[0015] A top portion of the base is provided with a fourth arc-shaped structure matching the curvature of the third arc-shaped structure; the third arc-shaped structure and the fourth arc-shaped structure are slidably connected in an arc plane through a second sliding connection structure, so as to realize coaxial rotation connection of the second movable block and the base in the horizontal plane.

[0016] Compared with the prior art, the present application can achieve at least one of the following beneficial effects:

[0017] (1) The present application matches the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device, and simultaneously uses the single-degree-of-freedom clamping device and the three-degree-of-freedom clamping device to participate in vertical displacement, so as to share gravity with the single-degree-of-freedom clamping device, reduce the influence of large displacement in the direction of gravity on the three-degree-of-freedom clamping device, and improve the adjustment accuracy.

[0018] (2) The present application realizes the rotation of the suction disc and its adsorption parts in any two mutually perpendicular directions in the suction disc adsorption plane and the direction perpendicular to the suction disc adsorption plane, and the normal self-adaption at the positioning point; compared with the prior art, on the one hand, the problem of large deformation and poor positioning accuracy caused by the existing flexible clamping is solved; on the other hand, compared with the rigid clamping, the influence of the small deformation of the clamping area on the positioning accuracy can be avoided, the rigid requirement for the structure to be clamped is reduced, and the application range is expanded;

[0019] (3) The present application realizes the self-adaption of the second movable block and the base in the direction of the rotation axis by setting the arc-shaped structure on the second movable block and the base and setting the first sliding connection structure matching the curvature of the arc-shaped structure between the two; at the same time, the arc-shaped structure is set on the second movable block and the first movable block in the direction perpendicular to the rotation axis of the second movable block and the base, and the second sliding connection structure matching the curvature of the arc-shaped structure is set between the two, so as to realize the self-adaption of the second movable block and the first movable block in the direction of the rotation axis; at the same time, the rotation axis of the second movable block and the base intersects with the rotation axis of the second movable block and the first movable block at the positioning point in the horizontal plane, thereby realizing the self-adaption in the horizontal plane; at the same time, the suction disc is coaxially connected with the first movable block in the direction perpendicular to the suction disc adsorption plane, and the axis line passes through the positioning point, so as to realize the self-adaption at the positioning point in the space coordinate system. Compared with the prior art, the change of the clamping surface posture caused by the posture adjustment of the part to be machined and the stress damage of the existing clamp are solved; the change base point of the clamp in the coordinate axis translation and rotation is the surface control positioning point of the part to be machined, the calculation process and control program are simplified, and the operation convenience is improved compared with the prior art;

[0020] (4) The first limiting moving device and the second limiting moving device are guide rails, so as to realize the movement of the self-adaptive clamping unit in the guide rail limiting area relative to the first limiting moving device and the movement of the first limiting moving device in the guide rail limiting area relative to the second limiting moving device; at the same time, the first power device is a servo motor, which cooperates with the lead screw and the nut in the first lifting device to realize the lifting of the self-adaptive clamping unit under accurate control; and then the self-adaptive clamping unit can freely translate in each direction of the three coordinate axes in the coordinate system.

[0021] In the present application, the above technical solutions can be combined with each other to realize more preferred combination solutions. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification or be understood by implementing the present application. The purposes and other advantages of the present application can be realized and obtained through the specific embodiments described in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. The same reference numerals in different drawings indicate the same or similar components.

[0023] Figure 1 An external structure diagram of a self-adaptive clamping unit for a brittle material structure in an embodiment of the application;

[0024] Figure 2 An internal structure diagram of a self-adaptive clamping unit for a brittle material structure in an embodiment of the application;

[0025] Figure 3 A three-degree-of-freedom clamping device connection structure diagram in an embodiment of the application;

[0026] Figure 4 A posture adjustment system structure diagram in an embodiment of the application;

[0027] Figure 5 A single-degree-of-freedom clamping device connection structure diagram in an embodiment of the application;

[0028] Figure 6 An external structure diagram of an auxiliary support device in an embodiment of the application;

[0029] Figure 7 An internal structure diagram of an auxiliary support device in an embodiment of the application.

[0030] Reference signs:

[0031] Self-adaptive clamping unit 5; suction cup 501; first connection structure 502; first movable block 503; second baffle 504; second movable block 505; base 506; first baffle 507; internal area 5021; external area 5022; first arc-shaped structure 5031; second sliding connection structure 5041; second arc-shaped structure 5051; third arc-shaped structure 5052; fourth arc-shaped structure 5061; first sliding connection structure 5071; self-lubricating structure 508; displacement adjustment unit 3; first limit movement device 302; second limit movement device 303; first lifting device 304; first power device 305; second power device 306; third power device 307; first lead screw 308; first lead nut 309; clamping device platform 310; adjustment unit 4; third limit movement device 401; second lifting device 402; second power device 403; height adjustment unit 6; horizontal support device 601; height adjustment device 602; hollow connection structure 603; fifth lead nut 604; fifth lead screw 605. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present application will be described in detail below with reference to the drawings, wherein the drawings constitute a part of this application, and are used to explain the principles of the application, and are not used to limit the scope of the application.

[0033] In order to clearly set forth the technical solutions of the present application, the following technical terms are further defined:

[0034] Adjusting posture: In the present application, adjusting posture refers to adjusting the posture of a structural part to the expected machining position after the structural part is fixed in the machine tool.

[0035] Normal self-adaptation: The contact plane of the clamping device and the clamped object rotates at an arbitrary angle relative to the normal direction of the plane, and the position of a certain point in the contact plane remains unchanged, which is called normal self-adaptation.

[0036] The structural part of brittle material has a certain rigidity and can be clamped by a rigid clamp, but due to the limitation of the specific volume, the clamping force is too large or locally concentrated, which can cause surface damage and deformation; the commonly used flexible clamps have freedom and deformation, which can cause positioning difficulties in the clamping area, deformation under the action of gravity after rotation, and affect the machining precision, and are difficult to apply in precision machining. In addition, the clamp needs to be adjusted to the expected position for further machining after the part is fixed in the machine tool; however, due to the limitation of the connection method, the existing clamp cannot match the posture adjustment in all directions, because the clamp and the surface of the part to be machined are in contact with a plane, and when the posture changes, not only translation in the space coordinate axis occurs, but also rotation around each coordinate axis is needed, and the existing fixed clamp cannot meet the two kinds of motion changes, thus stress and strain are easily generated, the clamp and the surface of the part to be machined are not matched, and the positioning accuracy is reduced.

[0037] Further, in order to control the posture adjustment process in the machine tool coordinate system, the clamp position adjustment change needs to be determined, and the change base point coordinate of the clamp itself and the control positioning point coordinate of the clamp on the surface of the part to be machined are determined; the traditional method is based on controlling the coordinate change of the clamp itself, and then indirectly controlling the change of the control positioning point of the clamp on the surface of the part to be machined, and the coordinate conversion process of the two points is extremely complex and is not conducive to operation.

[0038] The present application discloses a posture adjustment system for a structural part of brittle material, as shown in Figure 4As shown, it comprises: three degrees of freedom clamping devices symmetrically arranged on both sides of the system, a single degree of freedom clamping device arranged in the middle area of the three degrees of freedom clamping devices on both sides, and auxiliary support devices for supporting the upper part of the structural member on both sides of the system; the single degree of freedom clamping device and the auxiliary support device are fixed to one side of the structural member and are provided with an adaptive clamping unit 5, which constitutes a structural member fixing area with the adaptive clamping unit 5 in the three degrees of freedom clamping device. Among them, the auxiliary support device is used to provide additional clamping force to cope with the machining cutting force after the system completes the attitude adjustment of the structural member to be machined; in the three-dimensional coordinate system of the machine tool, the three degrees of freedom clamping device can realize the position adjustment of the adaptive clamping unit 5 in the three-dimensional coordinate system in each coordinate axis direction; the single degree of freedom clamping device can realize the displacement of the adaptive clamping unit 5 in the vertical coordinate axis direction. The adaptive clamping unit 5 is provided with a suction cup 501 for fixing the structural member to be machined.

[0039] Specifically, the three degrees of freedom clamping device, such as Figure 3 As shown, it comprises the above-mentioned adaptive clamping unit 5 and displacement adjusting unit 3, and the displacement adjusting unit 3 comprises: a first lifting device 304 movably connected with the adaptive clamping unit 5 for lifting the adaptive clamping unit 5, a first limiting movement device 302 slidingly connected with the first lifting device 304 in the horizontal plane, and a second limiting movement device 303 slidingly connected with the first limiting movement device 302 in the horizontal plane; the first lifting device 304 moves horizontally in the limiting track of the first limiting movement device 302; the second limiting movement device 303 is fixed to the system platform, the first limiting movement device 302 moves horizontally in the limiting track of the second limiting movement device 303, and is perpendicular to the moving direction of the first lifting device 304 in the limiting track of the first limiting movement device 302.

[0040] Specifically, the adaptive clamping unit, such as Figure 1 As shown in Figure 2 The clamping unit 5 is also provided with a first movable block 503 coaxially rotatably connected with the suction cup 501 in the vertical direction of the suction cup adsorption plane, a second movable block 505 coaxially rotatably connected with the first movable block 503 in the horizontal plane, and a base 507 coaxially rotatably connected with the second movable block 505 in the horizontal plane, wherein the rotation shafts of the first movable block 503 and the second movable block 505 are perpendicular to the rotation shafts of the second movable block 505 and the base 507, and intersect with the rotation shafts of the suction cup 501 and the first movable block 503 at a positioning point in the suction cup adsorption plane; based on the above arrangement, the suction cup 501 and its adsorption parts can be rotated in any two mutually perpendicular directions in the suction cup adsorption plane and in the vertical direction of the suction cup adsorption plane, and are adaptively normal to the positioning point.

[0041] It should be noted that the center of the suction plate adsorption plane is taken as the positioning point, and the control point of the structure surface; in the machine tool processing program control, the control point needs to be selected to adjust the posture, position and process of the structure.

[0042] The normal self-adaptation has important significance in the field of flexible clamping: on the one hand, the clamping plane of the clamp changes relative to the posture of the part to be processed during the posture adjustment process, and the suction cup and the adsorbed part are self-adjusted by rotating in any two perpendicular directions in the suction plate adsorption plane and the direction perpendicular to the suction plate adsorption plane, so as to avoid stress and mismatch of the adsorption plane, solve the stress damage caused by the change of the clamping surface posture of the existing clamp due to the posture adjustment of the part to be processed; on the other hand, the change base point of the clamp in the coordinate axis translation and rotation is the surface control positioning point of the part to be processed, so it is not necessary to calculate the change of the clamp change base point to the positioning point, which simplifies the calculation process and control program and improves the operation convenience.

[0043] In addition, the flexible clamping clamp has a certain degree of freedom and deformation amount relative to the rigid clamping, which avoids damage to the clamped part; however, the degree of freedom and deformation amount will lead to difficult positioning of the clamping area, which is also the reason why flexible clamping is difficult to apply in precision machining; the present application realizes self-adaptation of the positioning point in the adsorption plane by adjusting the position of the three-direction rotating shaft of the suction cup, and no deformation amount is left, so as to ensure the positioning accuracy. In addition, the present application uses suction cup adsorption, uniform pressure by vacuum, and uniform force by rigid clamp; for local force production

[0044] deformation, the adaptive structure of the present application can greatly offset the change of the positioning point coordinates, which can avoid the influence of the small deformation of the clamping area on the positioning accuracy, reduce the rigidity requirement of the structure to be clamped, and expand the application range.

[0045] Specifically, the first lifting device 304 comprises an external member in sliding connection with the first limiting moving device 302 and an internal member in movable connection with the external member; the internal member is fixedly connected with the self-adaptive clamping unit 5 and moves up and down relative to the external member, thereby realizing the lifting of the self-adaptive clamping unit 5.

[0046] Specifically, the connection area between the external member and the internal member is provided with a screw nut, and the internal member is a screw rod matched with the screw nut.

[0047] Specifically, in order to realize the adsorption of the suction cup to the surface of the structure and complete the clamping and fixing of the structure, the bottom surface of the suction cup is provided with a vacuum hole and a flexible sealing structure around the bottom surface; when vacuumizing, the air between the sealing structure and the surface of the structure is discharged, and the sealing structure tightly adheres to the surface of the structure under the action of atmospheric pressure to complete the adsorption and fixing of the suction cup to the surface of the structure.

[0048] air is discharged, and the sealing structure tightly adheres to the surface of the structure under the action of atmospheric pressure to complete the adsorption and fixing of the suction cup to the surface of the structure.

[0049] Specifically, the flexible sealing structure is selected from nitrile rubber and silicone rubber.

[0050] Preferably, the flexible sealing structure is nitrile rubber.

[0051] Specifically, to achieve coaxial rotation connection of the suction cup 501 in the vertical direction of the suction cup adsorption plane and the first movable block 503, the first movable block 503 is provided with a first connection structure 502; the first connection structure 502 is provided with an inner region 5021 and an outer region 5022 that can rotate coaxially, the suction cup 501 is fixedly connected with the inner region 5021, and the outer region 5022 is fixedly connected with the first movable block 503, so as to realize rotation of the suction cup 501 relative to the first movable block 503 in the suction cup adsorption plane.

[0052] To ensure that the positioning point in the suction cup adsorption plane does not change relative to the rotation axis position of the suction cup 501 and the first movable block 503 when they rotate coaxially, the rotation axis of the suction cup 501 and the first movable block 503 needs to pass through the positioning point, so as to realize self-adaptation in the rotation direction of the coordinate axis.

[0053] It should be noted that the relative position of the suction cup 501 and the first movable block 503 does not change when they rotate coaxially in the horizontal plane, which is of great significance to the self-adaptation of the clamping unit, for example, the rotation axis of the suction cup 501 and the first movable block 503 is

[0054] For a coordinate axis in the coordinate system, the structure rotates around the coordinate axis, and the posture of the suction cup 501 changes with the clamped structure, while the positioning point coordinate remains unchanged, so as to realize self-adaptation in the rotation direction of the coordinate axis.

[0055] Specifically, the first connection structure 502 is selected from a rolling bearing.

[0056] Specifically, to achieve coaxial rotation connection of the first movable block 503 and the second movable block 505 in the horizontal plane, the first movable block 503 is provided with a first arc-shaped structure 5031 curved in the vertical direction of the suction cup adsorption plane at the bottom thereof; the second

[0057] The second movable block 505 is fixedly connected with a second baffle 504 on the side wall, and the second baffle 504 is provided with a second sliding connection structure 5041 matching the curvature of the first arc-shaped structure 5031; the second movable block 505 is provided with a second arc-shaped structure 5051 matching the curvature of the first arc-shaped structure 5031 at the top thereof; the first arc-shaped structure 5031 and the second arc-shaped structure 5051 are connected through the second sliding connection structure 5041 to realize sliding connection in the arc-shaped plane, and then realize coaxial rotation connection of the first movable block 503 and the second movable block 505 in the horizontal plane.

[0058] Specifically, to realize coaxial rotation connection of the first movable block 503 and the second movable block 505 in the horizontal plane, two first arc-shaped structures 5031 are arranged symmetrically on the bottom surface of the first movable block 503; the second baffle 504, the second sliding connection structure 5041 and the second arc-shaped structure 5051 are all matched with two.

[0059] To ensure that the positioning point in the suction plane does not change relative to the rotation axis of the first movable block 503 and the second movable block 505 when they rotate coaxially in the horizontal plane, the first arc-shaped structure 5031, the second arc-shaped structure 5051 and the second sliding connection structure 5041 arranged on the two sides of the bottom surface of the first movable block 503 need to pass through the 0 positioning point.

[0060] Similarly, the relative position of the first movable block 503 and the second movable block 505 to the rotation axis does not change when they rotate coaxially in the horizontal plane, which is of great significance to the self-adaptation of the clamping unit. For example, when the rotation axis of the first movable block 503 and the second movable block 505 is taken as a coordinate axis in the coordinate system, the structure rotates around the coordinate axis, the suction cup 501 changes with the posture of the clamped structure, and the positioning point coordinate does not change, thereby realizing self-adaptation in the rotation direction of the coordinate axis.

[0061] 5Specifically, the second sliding connection structure 5041 is a rotating wheel perpendicular to the suction plane; the rotating wheel is provided with a plurality of rotating wheels, and the rotating wheel shaft is matched with the curvature of the first arc-shaped structure 5031.

[0062] In implementation, the first arc-shaped structure 5031, the second sliding connection structure 5041 and the second arc-shaped structure 5051 are stacked in sequence, the second sliding connection structure 5041 slides in the arc-shaped track between the first arc-shaped structure 5031 and the second arc-shaped structure 5051, so that the second baffle 504 and the first movable block 503 fixedly connected with the second baffle 504 rotate relative to the second movable block 505. Specifically, to realize coaxial rotation connection of the second movable block 505 and the base 506 in the horizontal plane, the second movable block 505 is provided with a third arc-shaped structure 5052 curved perpendicular to the direction of the suction plane on the side perpendicular to the rotation axis of the first movable block 503 and the second movable block 505; the second movable block 505 is fixedly connected with a first baffle 507 on the side wall, and the first baffle 507 is provided with a first sliding connection structure 5071 matched with the curvature of the third arc-shaped structure 5052; the base 506 is provided with a fourth arc-shaped structure 5061 matched with the curvature of the third arc-shaped structure 5052 on the top on the same side as the second movable block 505; the third arc-shaped structure 5052 and the fourth arc-shaped structure 5061 are connected through the first sliding connection structure 5071 to realize sliding connection in the arc-shaped plane, thereby realizing coaxial rotation connection of the second movable block 505 and the base 506 in the horizontal plane, and the rotation axis of the second movable block 505 is perpendicular to the rotation axis of the first movable block 503.

[0063] Specifically, to realize the coaxial rotation connection of the second movable block 505 and the base 506 in the horizontal plane, two third arc-shaped structures 5052 are arranged symmetrically on the two side surfaces of the second movable block 505; and the first baffle 507, the first sliding connection structure 5071 and the fourth arc-shaped structure 5061 are all matched with two.

[0064] Similarly, to ensure that the positioning point in the suction plane of the suction cup does not change relative to the rotation axis position of the second movable block 505 and the base 506 when they rotate coaxially in the horizontal plane, the third arc-shaped structure 5052, the fourth arc-shaped structure 5061 and the first sliding connection structure 5071 arranged on the two side surfaces of the second movable block 505 need to pass through the positioning point along the center line of the corresponding two arc-shaped structures, so as to realize self-adaptation in the rotation direction of the coordinate axis.

[0065] Specifically, the first sliding connection structure 5071 is a rotating wheel perpendicular to the suction plane of the suction cup; and a plurality of rotating wheels are arranged, and the shafts of the rotating wheels are arranged to match the curvature of the third arc-shaped structure 5052.

[0066] In implementation, the third arc-shaped structure 5052, the first sliding connection structure 5071 and the fourth arc-shaped structure 5061 are stacked in sequence, the first sliding connection structure 5071 slides in the arc-shaped track between the third arc-shaped structure 5052 and the fourth arc-shaped structure 5061, so that the first baffle 507 and the second movable block 505 fixedly connected with the first baffle 507 rotate relative to the base 506, and self-adaptation in the rotation direction of the second movable block 505 and the base 506 is realized.

[0067] Compared with the prior art, the present application realizes self-adaptation in the rotation direction of the second movable block and the base by arranging arc-shaped structures on the second movable block and the base and arranging a first sliding connection structure matching the curvature of the arc-shaped structures between the second movable block and the base; meanwhile, self-adaptation in the rotation direction of the second movable block and the first movable block is realized by arranging arc-shaped structures on the second movable block and the first movable block in the direction perpendicular to the rotation direction of the second movable block and the base and arranging a second sliding connection structure matching the curvature of the arc-shaped structures between the second movable block and the first movable block; meanwhile, the rotation axis of the second movable block and the base intersects with the rotation axis of the second movable block and the first movable block in the horizontal plane at the positioning point, so that self-adaptation in the horizontal plane is realized; meanwhile, the suction cup is coaxially connected with the first movable block in the direction perpendicular to the suction plane of the suction cup, and the axis passes through the positioning point, so that self-adaptation at the positioning point in the spatial coordinate system is realized. Compared with the prior art, the present application solves the problems of the change of the clamping surface posture and stress damage caused by the posture adjustment of the workpiece in the prior art; and realizes that the change base point of the clamp in the translation and rotation of the coordinate axis is the surface control positioning point of the workpiece, so that the calculation process and the control program are simplified, and the operation convenience is improved.

[0068] In order to further improve the lubricity between the first sliding connection structure, the second sliding connection structure and the arc-shaped structure connected therewith, a self-lubricating structure 508 is arranged between the first sliding connection structure, the second sliding connection structure and the arc-shaped structure connected therewith.

[0069] Specifically, the self-lubricating structure 508 is made of a self-lubricating material and has a curvature matching the first sliding connection structure, the second sliding connection structure and the arc-shaped structure connected therewith.

[0070] The clamping device further comprises a first power device 305 for providing power for the first lifting device 304; the first power device 305 comprises a first device body and a power unit movably connected to the first device body; the power unit is connected to the internal member of the first lifting device 304 through power connection, and the first device body is fixedly connected to the external member of the first lifting device 304; under the action of the power unit, the internal member of the first lifting device 304 moves up and down relative to the external member, thereby realizing the lifting of the self-adaptive clamping unit 5 under the control of the power unit.

[0071] Preferably, the first power device 305 is a servo motor, which cooperates with the lead screw and the nut in the first lifting device 304 to realize the lifting of the self-adaptive clamping unit 5 under precise control.

[0072] Preferably, the first limiting movement device 302 and the second limiting movement device 303 are guide rails, which realize the movement of the self-adaptive clamping unit 5 relative to the first limiting movement device 302 within the guide rail limiting area and the movement of the first limiting movement device 302 relative to the second limiting movement device 303 within the guide rail limiting area.

[0073] Specifically, in order to realize the precise control of the movement of the self-adaptive clamping unit 5 relative to the first limiting movement device 302 and the movement of the first limiting movement device 302 relative to the second limiting movement device 303, the clamping device further comprises the second limiting movement device 303, a second power device 306 for providing power for the movement of the first limiting movement device 302 relative to the second limiting movement device 303, and a third power device 307 for providing power for the movement of the self-adaptive clamping unit 5 relative to the first limiting movement device 302; the second power device 306 and the third power device 307 are fixedly connected to the clamping device platform 310; a wall plate fixedly connected to one side of the first limiting movement device 302 and the first lifting device 304 are fixedly connected with a first nut 309; a first lead screw 308 is connected to the power unit of the second power device 306 and the third power device 307, the first lead screw 308 is threadedly matched with the first nut 309, and the first lead screw 308 is rotatably connected to the clamping device platform 310 after being arranged through the first nut 309.

[0074] In implementation, the power unit of the third power device 307 drives the first screw rod 308 to rotate, the first nut 309 and the first limiting movement device 302 fixedly connected therewith translate along the second limiting movement device 303, and the adaptive clamping unit 5 translates along the second limiting movement device 303 with the first limiting movement device 302, thereby achieving the limiting translation of the adaptive clamping unit 5 along the second limiting movement device 303.

[0075] In implementation, the power unit of the second power device 306 drives the first screw rod 308 to rotate, the first nut 309 and the first lifting device 304 fixedly connected therewith translate along the first limiting movement device 302, and the adaptive clamping unit 5 translates along the first limiting movement device 302 with the first lifting device 304, thereby achieving the limiting translation of the adaptive clamping unit 5 along the first limiting movement device 302.

[0076] Preferably, the first screw rod 309 is connected to the clamping device platform 310 through a bearing.

[0077] Compared with the prior art, the first limiting movement device and the second limiting movement device are guide rails, the adaptive clamping unit moves in the limiting area of the guide rails relative to the first limiting movement device, and the first limiting movement device moves in the limiting area of the guide rails relative to the second limiting movement device; the first power device is a servo motor, which cooperates with the screw rod and the nut in the first lifting device to realize the lifting of the adaptive clamping unit under precise control; and the adaptive clamping unit is freely translated in each direction of the three coordinate axes in the coordinate system.

[0078] Specifically, as shown in Figure 5 The single-degree-of-freedom clamping device is provided with an adjusting unit 4 connected to the adaptive clamping unit 5 for adjusting the displacement of the adaptive clamping unit 5; the adjusting unit 4 is provided with a second lifting device 402 connected to the adaptive clamping unit 5 for lifting the adaptive clamping unit 5; the second lifting device 402 comprises an external member and an internal member movably connected to the external member; the internal member is fixedly connected to the adaptive clamping unit 5 and moves up and down relative to the external member, thereby realizing the lifting of the adaptive clamping unit 5.

[0079] Specifically, the connecting area of the external member and the internal member is provided with a nut, and the internal member is a screw rod matched with the nut.

[0080] The single-degree-of-freedom clamping device is further provided with a second power device 403 for providing power for the second lifting device 402; the second power device 403 is provided with a second lifting device body and a power unit movably connected with the second device body; the power unit is connected with the internal member of the second lifting device 402 through power connection, and the second lifting device body is fixedly connected with the external member of the second lifting device 402; under the action of the power unit, the internal member of the second lifting device 402 is displaced up and down relative to the external member, thereby realizing the lifting of the self-adaptive clamping unit 5 under the control of the power unit.

[0081] Preferably, the second power device 403 is a servo motor, which cooperates with the lead screw and the nut in the second lifting device 402 to realize the lifting of the self-adaptive clamping unit 5 under accurate control.

[0082] The single-degree-of-freedom clamping device is further provided with a third limiting movement device 401 slidably connected with the external member of the second lifting device 402 and limiting the sliding of the external member of the second lifting device 402.

[0083] Specifically, the third limiting movement device 401 is a guide rail, which can realize the translation of the external member of the second lifting device 402 in the limiting direction of the guide rail.

[0084] It should be noted that the single-degree-of-freedom clamping device is used for supporting the structure to be adjusted in posture and participating in the translation and posture adjustment of the structure in the vertical direction.

[0085] In order to further improve the stability of the support of the structure to be machined during posture adjustment, the single-degree-of-freedom clamping device is provided with a three-degree-of-freedom clamping device matched on both sides of the self-adaptive clamping unit 5, as shown in Figure 4 The three-degree-of-freedom clamping device is provided with a suction cup 501, and the openings of the suction cups 501 of the single-degree-of-freedom clamping device and the three-degree-of-freedom clamping device are arranged in a ring shape around the structure, and the ring plane is perpendicular to the limiting movement direction of the third limiting movement device 401.

[0086] Specifically, as shown in Figure 6 The auxiliary support device is provided with a height adjusting device 602 fixedly connected with the clamping device platform 310 at one end, a horizontal support device 601 fixedly connected with the height adjusting device 602 at the other end, and a hollow connecting structure 603 fixedly connected with the other end of the horizontal support device 601 for connecting the self-adaptive clamping unit 5 and the horizontal support device 601.

[0087] In implementation, the application adsorbs and clamps the structural member to be processed by the single-degree-of-freedom clamping device and provides support from below; at the same time, the three-degree-of-freedom clamping device adsorbs and clamps the structural member to be processed and provides stable support from both sides to prevent the structural member to be processed from rolling and tilting; further, the machine tool coordinate system is used, the vertical direction is taken as the z-axis, the direction parallel to the third limiting movement device 401 in the horizontal plane is taken as the y-axis, and the x-axis is arranged in the direction perpendicular to the z-axis and the y-axis.

[0088] Compared with the prior art, the application matches the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device, the single-degree-of-freedom clamping device and the three-degree-of-freedom clamping device are simultaneously involved in vertical direction displacement, the single-degree-of-freedom clamping device shares the gravity, and the influence of large displacement in the direction of gravity on the three-degree-of-freedom clamping device is reduced.

[0089] Compared with the prior art, the application sets the three-degree-of-freedom clamping device on both sides of the structural member to be processed, which not only enhances stability but also helps to balance the force when adjusting the posture, avoids generating additional rotational torque, and improves the accuracy of adjusting the posture.

[0090] The application further discloses a method for adjusting the posture of a brittle material structural member, which uses the above-mentioned posture adjusting system and specifically comprises the following steps.

[0091] S1: preliminarily clamping and fixing the structural member to be processed by the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device;

[0092] S2: moving the structural member to be processed in the z-axis direction by the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device;

[0093] S3: releasing the clamping and fixing of the structural member to be processed by the single-degree-of-freedom clamping device, and adjusting the structural member to be processed to a target position by the three-degree-of-freedom clamping device in terms of translation change in each coordinate axis and rotation change around each coordinate axis.

[0094] S4: assisting in clamping the structural member after the posture adjustment by the auxiliary support device, so that the subsequent processing is more stable.

[0095] It should be noted that any position change of the space structure can be decomposed into translation change in the three coordinate axes of the coordinate system and rotation change around the three coordinate axes.

[0096] In order to further realize the radial rotation of the suction cup 501 in the adsorption plane direction, as shown in Figure 7 The auxiliary support device is provided with a height adjusting unit 6 for self-adapting to the height adjustment of the clamping unit 5; the height adjusting unit 6 comprises a fifth nut 604 and a fifth screw rod 605 threadedly matched with the fifth nut 604; one end of the fifth screw rod 605 is fixedly connected with the suction cup 501 in a coaxial manner, and the other end is rotationally connected with the height adjusting device 602 in a coaxial manner.

[0097] Specifically, the fifth screw rod 604 is connected with the height adjusting device 602 through a bearing.

[0098] In order to further improve the support stability of the structure to be machined during cutting, such as Figure 6 As shown, the suction cups 501 in the auxiliary support device and the suction cups 501 in the two-side three-degree-of-freedom clamping device are arranged in a ring shape, and the ring plane is perpendicular to the limiting movement direction of the third limiting movement device 401 and matches the curvature of the ring in which the suction cups 501 in the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device are located.

[0099] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A system for adjusting the orientation of a brittle material structure, comprising: The system comprises: three degrees of freedom clamping devices symmetrically arranged on both sides of the system, a single degree of freedom clamping device arranged in the middle region of the three degrees of freedom clamping devices on both sides of the system, and auxiliary support devices for supporting the upper part of the structural member symmetrically arranged on both sides of the system; the single degree of freedom clamping device and the auxiliary support device are provided with self-adaptive clamping units on one side of the clamped and fixed structural member, and the self-adaptive clamping units and the self-adaptive clamping units in the three degrees of freedom clamping devices constitute a structural member fixing region; wherein the auxiliary support device is used to provide additional clamping force to cope with machining cutting force; in the three-dimensional coordinate system of the machine tool, the three degrees of freedom clamping device can realize the position adjustment of the self-adaptive clamping unit in each coordinate axis direction of the three-dimensional coordinate system; the single degree of freedom clamping device can realize the displacement of the self-adaptive clamping unit in the parallel vertical coordinate axis direction; the self-adaptive clamping unit is provided with a suction cup, a first movable block coaxially connected with the suction cup in the vertical direction of the suction cup adsorption plane, a second movable block coaxially connected with the first movable block in the horizontal plane, and a base coaxially connected with the second movable block in the horizontal plane; the rotation axis of the first movable block relative to the second movable block is perpendicular to the rotation axis of the second movable block relative to the base, and intersects with the rotation axis of the suction cup relative to the first movable block at a positioning point in the suction cup adsorption plane; the rotation axis of the second movable block relative to the base intersects with the rotation axis of the first movable block relative to the second movable block at the positioning point in the horizontal plane, thereby realizing self-adaptation in the horizontal plane; at the same time, the suction cup is coaxially connected with the first movable block in the vertical direction of the suction cup adsorption plane, and the axis line passes through the positioning point, realizing self-adaptation at the positioning point in the space coordinate system; the bottom surface of the suction cup is provided with a vacuum hole, and the periphery of the bottom surface of the suction cup is provided with a flexible sealing structure.

2. The pose tuning system of claim 1, wherein, the single degree of freedom clamping device is provided with a second lifting device connected with the self-adaptive clamping unit for lifting the self-adaptive clamping unit; the second lifting device comprises an external member and an internal member movably connected with the external member; the internal member is fixedly connected with the self-adaptive clamping unit and moves up and down relative to the external member, thereby realizing the lifting of the self-adaptive clamping unit.

3. The pose tuning system of claim 2, wherein, the connection area between the external member and the internal member is provided with a screw nut, and the internal member is a screw rod matched with the screw nut.

4. The pose tuning system of claim 3, wherein, the single degree of freedom clamping device is further provided with a second power device for providing power for the second lifting device; the second power device is a servo motor, which cooperates with the screw rod and the screw nut in the second lifting device to realize the lifting of the self-adaptive clamping unit.

5. The pose tuning system of claim 4, wherein, the single degree of freedom clamping device is further provided with a third limiting movement device in sliding connection with the external member of the second lifting device and limiting the sliding of the external member of the second lifting device.

6. The pose tuning system of claim 5, wherein, the third limiting movement device is a guide rail.

7. The pose tuning system of claim 6, wherein, the auxiliary support device is provided with a height adjusting device fixedly connected with the clamping device platform at one end, a horizontal support device fixedly connected with the height adjusting device at the other end, and a hollow connecting structure fixedly connected with the other end of the horizontal support device for connecting the self-adaptive clamping unit and the horizontal support device.

8. The pose tuning system of claim 7, wherein, The three-degree-of-freedom clamping device comprises an adaptive clamping unit and a displacement adjusting unit connected with the adaptive clamping unit; the displacement adjusting unit is used for adjusting the spatial position of the adaptive clamping unit, and comprises a first lifting device movably connected with the adaptive clamping unit and used for lifting the adaptive clamping unit, a first limiting moving device slidably connected with the first lifting device in a horizontal plane, and a second limiting moving device slidably connected with the first limiting moving device in the horizontal plane; the first lifting device moves horizontally in a limiting track of the first limiting moving device; the second limiting moving device is fixed to a clamping device platform, and the first limiting moving device moves horizontally in a limiting track of the second limiting moving device and is perpendicular to the moving direction of the first lifting device in the limiting track of the first limiting moving device.

9. The pose tuning system of claim 1, wherein, The side surface of the second movable block is provided with a third arc-shaped structure; the first baffle is fixedly connected to the side wall of the second movable block, and the first baffle is provided with a first sliding connection structure matched with the curvature of the third arc-shaped structure; The top of the base is provided with a fourth arc-shaped structure matched with the curvature of the third arc-shaped structure; the third arc-shaped structure and the fourth arc-shaped structure are slidably connected in an arc-shaped plane through the first sliding connection structure, so as to realize the coaxial rotating connection of the second movable block and the base in the horizontal plane.

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