A rapid reconfigurable CNC posture adjustment device and method

Abstract

This invention provides a rapid reconfigurable CNC posture adjustment device and method. The device comprises multiple posture adjustment units, each including a support assembly, a locking and positioning component, a CNC posture adjustment mechanism, and a control system. The method achieves rapid positioning and locking of multiple CNC posture adjustment mechanisms by quickly connecting the locking and positioning component to the support assembly. Combined with precise data on the movement of the product to be adjusted carried by the CNC posture adjustment mechanisms, the spatial relationship between the multiple CNC posture adjustment mechanisms is calculated, thereby enabling precise position and attitude adjustment of the product to be adjusted. Ultimately, this achieves rapid reconfigurability of the CNC posture adjustment device and rapid, precise posture adjustment and positioning of the product to be adjusted.

Description

Technical Field

[0001] This application relates to the field of aircraft component assembly technology, specifically a rapid reconfigurable CNC attitude adjustment device and attitude adjustment method. Background Technology

[0002] In the assembly and manufacturing of large aircraft components, due to the excessive size and mass of these components, attitude adjustment and precise positioning are difficult. Therefore, a CNC attitude adjustment system composed of multiple CNC positioners is often used for attitude adjustment and positioning. Currently, the CNC attitude adjustment systems used in production are mainly divided into two categories: fixed CNC attitude adjustment systems and reconfigurable CNC attitude adjustment systems. Fixed systems are grounded, and the relative attitude relationships of each CNC positioner can be used continuously after a single calibration without secondary calibration. However, these systems require high stability of the foundation and are only used for a specific assembly process in aircraft component assembly, lacking versatility and resulting in high manufacturing costs for large aircraft components. Reconfigurable CNC attitude adjustment systems are placed or fixed on the ground, have no special foundation requirements, and can change the relative attitudes of each CNC positioner according to assembly process requirements, allowing them to be used for multiple assembly processes in aircraft component assembly. The reconfigurable CNC attitude adjustment system is well-suited for the diverse, small-batch production needs of various domestic OEMs, offering strong versatility. However, it requires calibration of the relative pose relationships of each CNC positioner before each use. Due to the large number of CNC positioners, the calibration of multiple positioners is time-consuming, severely reducing the efficiency of large aircraft component assembly and manufacturing. Furthermore, each calibration requires multiple people working together and multiple measurements using a laser tracker, resulting in high operating costs and a short effective time for calibration results. The calibration accuracy gradually deteriorates with factory vibrations and temperature changes, potentially affecting the assembly accuracy of aircraft components. Currently, research on rapid reconfigurable CNC attitude adjustment devices and their application methods for large aircraft component assembly and manufacturing is limited, at a low level, and lacks application examples, significantly hindering the progress of large aircraft component assembly and manufacturing. Therefore, to meet production needs, it is urgent to research a rapid reconfigurable CNC attitude adjustment device and its application method. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a rapid reconfigurable CNC posture adjustment device and method.

[0004] A rapid reconfigurable CNC posture adjustment device comprises multiple posture adjustment units. Each posture adjustment unit includes a support assembly, a locking and positioning component, a CNC posture adjustment mechanism, and a control system. The support assembly is fixed in the foundation, the locking and positioning component is mounted on the support assembly, and the CNC posture adjustment mechanism is fixed on the upper surface of the locking and positioning component. The control system drives the CNC posture adjustment mechanism to move along the X, Y, and Z directions. Multiple posture adjustment units are arranged into posture adjustment unit groups according to the shape and size of the product to be posture adjusted. Each posture adjustment unit corresponds to the position of a precisely installed process ball head on the product to be posture adjusted. The product to be posture adjusted is placed on the posture adjustment unit group, and the control system links each posture adjustment unit to drive the product to be posture adjusted to the designated position.

[0005] The support assembly includes multiple fixing bolts, multiple fixing cup seats, multiple locking seats, a round hole positioning component, an oblong hole directional component, and multiple cover plates. The fixing cup seats are circular hollow cups. Multiple fixing bolts are located at the centers of the multiple fixing cup seats, and the fixing cup seats are fixed to the foundation in a matrix arrangement using nuts. The locking seats are hollow circular covers with flanges, and their upper surfaces have oblong grooves. Multiple locking seats are located at the four corners of the rectangular fixing cup seats, and each locking seat is fixed to the center of its corresponding fixing cup seat. All locking... The upper surface of the seat is level and of equal height. The round hole positioning component is a cylindrical structure with a flange and a positioning hole in the center. It is located in the center of the fixed cup seat in the middle of the edge column of the rectangle. The oblong hole directional component is a cylindrical structure with a flange and an oblong hole in the center. It is fixed in the center of the middle of the fixed cup seat in the other column of the rectangle. The center of the positioning hole of the round hole positioning component is on the center line of the oblong hole. The cover plate is an annular circular plate. Multiple cover plates are installed between multiple fixed cup seats and multiple locking seats, round hole positioning components, and oblong hole directional components.

[0006] The locking and positioning assembly includes a fixed plate, a quick-locking assembly, and a quick-positioning assembly. Multiple quick-locking assemblies are installed on the bottom surface of the fixed plate, corresponding one-to-one with the locking seats in the locking and positioning assembly. Two quick-positioning assemblies are installed on the bottom surface of the fixed plate, corresponding one-to-one with the round hole positioning component and the oblong hole directional component in the locking and positioning assembly, respectively. The quick-locking assembly includes a lower locking seat, a T-shaped pull rod, a spring, a nut, an upper fixing cover, a handwheel, and a handle. The lower locking seat is a cylinder with a flange and a central hole. It has an elongated groove at the bottom center and is fixed to the lower surface of the fixed plate. The T-shaped pull rod is an inverted T-shaped member with a threaded upper part. It passes through the lower locking seat and the fixed plate in sequence, and the horizontal part of the T-shaped pull rod matches the elongated groove at the bottom of the lower locking seat. The spring passes through the T-shaped pull rod and is placed on the upper surface of the fixed plate. The nut is installed on the threaded upper part of the T-shaped pull rod and is located on the upper surface of the spring. The upper fixing cover is a hollow round cover with a flange and a central hole on its upper surface. It passes through the T-shaped pull rod and is fixed to the upper surface of the fixed plate. The handwheel is installed on the threaded upper part of the T-shaped pull rod and is located on the upper surface of the upper fixing cover. The handle is fixed vertically to the T-shaped pull rod and is located above the handwheel. The quick positioning assembly includes a lower positioning seat, a positioning pin, a spring, a nut, an upper locking cover, a cylindrical pin, and a handle. The lower positioning seat is a cylinder with a flange and a central hole, which is fixed to the lower surface of the fixed plate. The positioning pin is a rod-shaped structure that is thicker at the bottom and thinner at the top, with a conical surface at the bottom and threads at the top. It passes through the lower positioning seat and the fixed plate in sequence and matches the central hole of the lower positioning seat. The spring passes through the positioning pin and is placed on the upper surface of the fixed plate. The nut is installed on the threads on the upper part of the positioning pin and is located on the upper surface of the spring. The upper locking cover is a hollow cylindrical cover with a flange and a central hole. It has an L-shaped groove at the top and passes through the positioning pin to be fixed to the upper surface of the fixed plate. The cylindrical pin is installed on the upper part of the positioning pin and can cooperate with the L-shaped groove at the top of the upper locking cover. The handle is fixed vertically on the positioning pin and is located above the cylindrical pin.

[0007] The CNC posture adjustment mechanism includes a Z-axis motion component, a Y-axis motion component, an X-axis motion component, a ball-and-socket assembly, and a drive device. The Z-axis motion component is fixed to the upper surface of the locking and positioning component and can move up and down in the vertical direction, with the direction of movement perpendicular to the lower surface of the locking and positioning component. The Y-axis motion component is installed on the upper surface of the Z-axis motion component, with the direction of movement perpendicular to the Z-axis motion component. The X-axis motion component has the same structure as the Y-axis motion component, is installed on the upper surface of the Y-axis motion component, and has the direction of movement perpendicular to the Y and Z-axis motion components, respectively. Driven by the drive device, the X-axis motion component, Y-axis motion component, and Z-axis motion component can move along the X, Y, and Z directions, respectively. The ball-and-socket assembly is fixed to the upper surface of the X-axis motion component.

[0008] The Y-axis motion assembly includes a Y-axis base, Y-axis guide rails, a Y-axis lead screw drive unit, a Y-axis lead screw nut, a Y-axis linear encoder, a Y-axis sliding plate, a Y-axis floating guide rail, a guide rail lock, a spring, a push rod, and a stop block. The Y-axis base is a cuboid box structure, with its bottom surface fixed to the upper surface of the Z-axis motion assembly. Two Y-axis guide rails are installed parallel to each other on the upper surface of the Y-axis base. The Y-axis lead screw drive unit is installed parallel to the Y-axis guide rails on the Y-axis base, positioned between the two guide rails. The Y-axis linear encoder is installed on the side of the Y-axis base, parallel to the Y-axis guide rails. The guide rails are parallel to each other. The Y-axis slide plate is mounted on the sliders of the two Y-axis guide rails. The Y-axis floating guide rail is parallel to the Y-axis guide rails and fixed to the lower surface of the Y-axis slide plate. The guide rail lock is mounted on the Y-axis floating guide rail. The Y-axis screw nut is mounted on the Y-axis screw drive device and connected to the guide rail lock. The stop block is a gate-shaped block structure with a round hole in the middle. The two stop blocks are fixed to the lower surface of the Y-axis slide plate and located on both sides of the guide rail lock. The two push rods pass through the springs and are installed in the round holes of the two stop blocks and are located between the stop blocks and the guide rail lock.

[0009] The ball socket assembly includes a bottom fixing plate, a force sensor, an adapter plate, a torque sensor, a ball socket block, a guide block, a locking cylinder, a sliding block, a locking block, and a spring. The bottom fixing plate is mounted on the upper surface of the X-direction slide plate. The force sensor is fixed to the center of the upper surface of the bottom fixing plate. The torque sensor is connected to the upper surface of the force sensor via the adapter plate. The ball socket block is a block-shaped structure with a hemispherical groove in the center of its upper surface and three circular holes at 120-degree angles to each other on its side. It is fixed to the upper surface of the torque sensor. The guide block is a square block with a circular hole in the center. The three sets of guide blocks are fixed to the side of the ball socket block at 120-degree angles. Corresponding to the three circular holes on the side of the ball socket, three sets of locking cylinders are respectively installed below the three sets of guide blocks. The sliding block is a cylindrical wedge block with an inclined surface on its upper part. The sliding block is installed in the circular hole on the guide block and connected to the locking cylinder. The locking block is a cylindrical structure with one end being hemispherical and the other end having a spherical recess with the same diameter as the hemispherical groove on the ball socket. A blind hole is provided in the center, and a through-elongated circular groove is opened on the side. The spring is installed in the blind hole of the locking block. The three sets of locking blocks with springs are respectively installed in the three circular holes on the side of the ball socket through cylindrical pins, with the hemispherical end facing outward.

[0010] The method for adjusting posture using this rapid reconfigurable CNC posture adjustment device includes the following steps:

[0011] 1. Establish an external product coordinate system based on the feature points on the product to be adjusted, and measure the position coordinates of the center of each process ball head in the external product coordinate system, and record the data;

[0012] 2. Place multiple CNC attitude adjustment mechanisms with locking and positioning components on the upper surface of the support assembly. The quick positioning component in the locking and positioning assembly cooperates with the round hole positioning component and the oblong hole orientation component for positioning. The quick locking component is quickly connected to the locking seat to realize the quick positioning and locking of multiple CNC attitude adjustment mechanisms.

[0013] 3. Hoist the product to be adjusted to the vicinity of the CNC attitude adjustment mechanism, so that the process ball head on the product to be adjusted is located near the ball socket assembly on the corresponding CNC attitude adjustment mechanism;

[0014] 4. Classify all CNC posture adjustment mechanisms, with the two CNC posture adjustment mechanisms furthest diagonally being the main CNC posture adjustment mechanism and the secondary CNC posture adjustment mechanism, and the other CNC posture adjustment mechanisms being the auxiliary CNC posture adjustment mechanisms, and mark them accordingly;

[0015] 5. Adjust the Z-axis motion components on all CNC posture adjustment mechanisms to the zero position using the drive device. After locking the guide rail locks in the Y-axis and X-axis motion components on the main CNC posture adjustment mechanism, adjust the X-axis and Y-axis slides to the zero position respectively. After locking the guide rail locks in the X-axis motion components on the secondary CNC posture adjustment mechanism, adjust the X-axis slide to the zero position and open the guide rail locks in the Y-axis motion components to allow them to move freely. Open the guide rail locks in the Y-axis and X-axis motion components on the auxiliary CNC posture adjustment mechanism to allow the Y-axis and X-axis slides to move along the X and Y directions under the action of external force.

[0016] 6. Move the product to be adjusted downwards so that the process ball head on the product to be adjusted matches the ball socket assembly on each CNC attitude adjustment mechanism. That is, the process ball head is guided into the hemispherical groove of the ball socket block in the ball socket assembly, driving the locking cylinder in the ball socket assembly to move and drive the locking block to move to lock the process ball head, so that the process ball head on the main CNC attitude adjustment mechanism is in the locked state, and the process ball heads on other CNC attitude adjustment mechanisms are in the unlocked state.

[0017] 7. Measure the feature points on the product to be adjusted that are consistent with the coordinate system of the product outside the frame, establish the first coordinate system of the product to be adjusted, fit the coordinate system of the product outside the frame with the coordinate system of the product to be adjusted, and obtain the position coordinate values ​​of each process ball head in the coordinate system of the product to be adjusted.

[0018] 8. Set the data of the Y-axis grating ruler and X-axis grating ruler in the Y-axis motion component and X-axis motion component of each CNC posture adjustment mechanism to the zero point of the Y-axis and X-axis, respectively;

[0019] 9. Drive the X-axis slide plate on the main CNC posture adjustment mechanism and the secondary CNC posture adjustment mechanism to move along the X-axis. At the same time, the Y-axis slide plate on the main CNC posture adjustment mechanism is fixed. The guide rail locks in the Y-axis motion components on other CNC posture adjustment mechanisms are opened, so that the product to be adjusted moves a certain distance along the X-axis of the main CNC posture adjustment mechanism itself. During the movement, drive the Y-axis slide plate on the secondary CNC posture adjustment mechanism to move along the Y-axis of the secondary CNC posture adjustment mechanism until the torque sensor reading in the main CNC posture adjustment mechanism is zero and the Y-axis component force reading of the force sensor on the secondary CNC posture adjustment mechanism is also zero. At the same time, drive the X-axis slide plate and the Y-axis slide plate on the auxiliary CNC posture adjustment mechanism to move until the X and Y-axis component force readings of the force sensor are zero.

[0020] 10. Measure the feature points on the product to be adjusted that are consistent with the coordinate system of the product outside the frame, establish a second coordinate system of the product to be adjusted, fit the coordinate system of the product outside the frame with the second coordinate system of the product to be adjusted, and obtain the position coordinate values ​​of each process ball head in the second coordinate system of the product to be adjusted.

[0021] 11. Record the data of the Y-axis motion component and the Y-axis grating ruler and X-axis grating ruler in the X-axis motion component of each CNC attitude adjustment mechanism; combine the coordinate values ​​of the process ball head in the second attitude adjustment product coordinate system to establish the self-coordinate system of each CNC attitude adjustment mechanism in the second attitude adjustment product coordinate system;

[0022] 12. Lock the guide rails in the Y-axis motion components and X-axis motion components of all CNC posture adjustment mechanisms, so that the Y-axis slide and X-axis slide can move accurately under the drive of the drive device; and control the movement of the locking cylinders in the ball socket components of all CNC posture adjustment mechanisms, so that the locking blocks can move, so that the process ball heads on all CNC posture adjustment mechanisms are in an unlocked state, and the entire system reaches the posture adjustment state.

[0023] 13. The final pose data of the product to be adjusted is converted to the second pose product coordinate system. Combined with the pose data of the product to be adjusted in the second pose product coordinate system, the motion path of each CNC pose adjustment mechanism is calculated. Each CNC pose adjustment mechanism drives its own X-axis motion component, Y-axis motion component, and Z-axis motion component to move precisely and collaboratively, so as to drive the product to be adjusted to adjust the pose accurately to the final pose, thereby realizing the rapid pose adjustment and positioning of the product to be adjusted.

[0024] 14. After the product to be adjusted is connected and fixed, release the locking cylinders in the ball socket assemblies of all CNC attitude adjustment mechanisms from locking the process ball heads, and drive the Z-axis motion components in all CNC attitude adjustment mechanisms to move downwards, so that the ball socket assemblies can quickly and safely disengage from the process ball heads on the product to be adjusted.

[0025] Beneficial Effects: This invention provides a rapid reconfigurable CNC attitude adjustment device and its usage method. The method achieves rapid positioning and locking of multiple CNC attitude adjustment mechanisms by quickly connecting a locking and positioning component to a support assembly. Combined with precise data on the movement of the CNC attitude adjustment mechanism carrying the product to be adjusted, the spatial relationship between the multiple CNC attitude adjustment mechanisms is calculated. This allows for precise position and attitude adjustment of the product, ultimately achieving rapid reconfiguration of the CNC attitude adjustment device and rapid, precise attitude adjustment and positioning of the product. The device is simple in design, safe and reliable in operation, and completes the calibration of the entire CNC attitude adjustment system during the attitude adjustment process. This significantly improves the working efficiency of the CNC attitude adjustment device and reduces its operating costs, which is of positive significance for the assembly and manufacturing of large aircraft components. It can be directly extended to the application of attitude adjustment and positioning of similar components in other industries.

[0026] The present application will be further described in detail below with reference to the accompanying drawings of the embodiments: Attached Figure Description

[0027] Figure 1 A schematic diagram of a rapidly reconfigurable CNC attitude adjustment device

[0028] Figure 2 Schematic diagram of the support assembly

[0029] Figure 3 Schematic diagram of CNC posture adjustment mechanism

[0030] Figure 4 Locking and positioning component structure diagram

[0031] Figure 5 Quick-lock component cross-section

[0032] Figure 6 Quickly locate component cross-section view

[0033] Figure 7 Schematic diagram of the Y-axis motion component structure

[0034] Figure 8 Y-direction motion component cross-sectional view

[0035] Figure 9 Schematic diagram of the ball-and-socket assembly structure

[0036] Figure 10 Cross-sectional view of ball-and-socket assembly

[0037] Figure 11 Schematic diagram of the product structure to be adjusted

[0038] Numbering in the diagram: 1. Support assembly; 2. Locking and positioning assembly; 3. CNC posture adjustment mechanism; 4. Product to be adjusted; 5. Fixed cup holder; 6. Locking seat; 7. Round hole positioning component; 8. Long oval hole directional component; 9. Cover plate; 10. Fixing bolt; 11. Z-axis motion assembly; 12. Y-axis motion assembly; 13. X-axis motion assembly; 14. Ball socket assembly; 15. Fixed plate; 16. Quick locking assembly; 17. Quick positioning assembly; 18. Lower locking seat; 19. T-type pull rod; 20. Spring; 21. Nut; 22. Upper fixed cover; 23. Handwheel; 24. Handle. 25 Lower positioning seat, 26 Positioning pin, 27 Upper locking cover, 28 Cylindrical pin, 29 Y-axis base, 30 Y-axis guide rail, 31 Y-axis lead screw drive device, 32 Y-axis lead screw nut, 33 Y-axis grating ruler, 34 Y-axis slide plate, 35 Y-axis floating guide rail, 36 Guide rail lock, 37 Top rod, 38 Stop block, 39 Bottom fixing plate, 40 Force sensor, 41 Adapter plate, 42 Torque sensor, 43 Ball socket block, 44 Guide block, 45 Locking cylinder, 46 Slide block, 47 Locking block, 48 Process ball head, 49 Attitude adjustment product. Detailed Implementation

[0039] See Figure 1-11 As shown, a rapid reconfigurable CNC posture adjustment device comprises multiple posture adjustment units. Each posture adjustment unit includes a support assembly 1, a locking and positioning component 2, a CNC posture adjustment mechanism 3, and a control system. The support assembly 1 is fixed in the foundation, the locking and positioning component 2 is installed on the support assembly 1, and the CNC posture adjustment mechanism 3 is fixed on the upper surface of the locking and positioning component 2. The control system drives the CNC posture adjustment mechanism 3 to move along the X, Y, and Z directions. Multiple posture adjustment units are arranged into posture adjustment unit groups according to the shape and size of the product 4 to be posture adjusted. Each posture adjustment unit corresponds to the position of the process ball head 48 precisely installed on the product 4 to be posture adjusted. The product 4 to be posture adjusted is placed on the posture adjustment unit group, and the control system links each posture adjustment unit to drive the product 4 to be posture adjusted to the designated position.

[0040] The support assembly 1 includes multiple fixing bolts 10, multiple fixing cup seats 5, multiple locking seats 6, a round hole positioning component 7, an elongated hole directional component 8, and multiple cover plates 9. The fixing cup seats 5 are circular hollow cups. The multiple fixing bolts 10 are respectively located at the center of the multiple fixing cup seats 5, and the fixing cup seats 5 are fixed to the foundation by nuts 21 and are arranged in a matrix. The locking seats 6 are hollow circular covers with flanges, and their upper surfaces are provided with elongated grooves. The multiple locking seats 6 are located at the four corners of the rectangle of the fixing cup seat 5, and each locking seat 6 is fixed to the center of the corresponding fixing cup seat 5. All locking seats 6 have horizontal and equal upper surfaces. The round hole positioning component 7 is a cylindrical structure with a flange and a positioning hole in the center. It is located in the center of the fixed cup seat 5 in the middle of the edge column of the rectangle. The oblong hole directional component 8 is a cylindrical structure with a flange and an oblong hole in the center. It is fixed in the center of the middle of the fixed cup seat 5 in the other column of the rectangle. The center of the positioning hole of the round hole positioning component 7 is on the center line of the oblong hole. The cover plate 9 is an annular circular plate. Multiple cover plates 9 are installed between multiple fixed cup seats 5 and multiple locking seats 6, round hole positioning components 7, and oblong hole directional components 8.

[0041] The locking and positioning assembly 2 includes a fixed plate 15, a quick-locking assembly 16, and a quick-positioning assembly 17. Multiple quick-locking assemblies 16 are installed on the lower surface of the fixed plate 15, corresponding one-to-one with the locking seats 6 in the locking and positioning assembly 2. Two quick-positioning assemblies 17 are installed on the lower surface of the fixed plate 15, corresponding one-to-one with the round hole positioning component 7 and the oblong hole directional component 8 in the locking and positioning assembly 2. The quick-locking assembly 16 includes a lower locking seat 18, a T-shaped pull rod 19, a spring 20, a nut 21, an upper fixing cover 22, a handwheel 23, and a handle 24. The lower locking seat 18 is a cylinder with a flange, a round hole in the center, and an oblong groove in the lower center. It is fixed to the lower surface of the fixed plate 15. The T-shaped pull rod 19 is an inverted T-shaped rod with a threaded upper part. It passes through the lower locking seat 18 and the fixed plate 15 sequentially, and the horizontal part of the T-shaped pull rod 19 matches the oblong groove in the lower part of the lower locking seat 18. The spring 20 passes through the T-shaped pull rod 19 and is placed on the upper surface of the fixed plate 15. The nut 21 is installed on the thread on the upper part of the T-shaped pull rod 19 and is located on the upper surface of the spring 20. The upper fixed cover 22 is a hollow round cover with a flange and a round hole on the upper surface. It passes through the T-shaped pull rod 19 and is fixed to the upper surface of the fixed plate 15. The handwheel 23 is installed on the thread on the upper part of the T-shaped pull rod 19 and is located on the upper surface of the upper fixed cover 22. The handle 24 is fixed vertically on the T-shaped pull rod 19 and is located above the handwheel 23. The quick positioning assembly 17 includes a lower positioning seat 25, a positioning pin 26, a spring 20, a nut 21, an upper locking cover 27, a cylindrical pin 28, and a handle 24. The lower positioning seat 25 is a cylinder with a flange and a central hole, which is fixed to the lower surface of the fixed plate 15. The positioning pin 26 is a rod-shaped structure that is thicker at the bottom and thinner at the top, with a conical surface at the bottom and a thread at the top. It passes through the lower positioning seat 25 and the fixed plate 15 in sequence, and matches the central hole of the lower positioning seat 25. The spring 20 passes through the positioning pin 26. Pin 26 is placed on the upper surface of fixed plate 15. Nut 21 is installed on the thread on the upper part of positioning pin 26 and is located on the upper surface of spring 20. Upper locking cover 27 is a hollow round cover with a flange, with a round hole in the center and an L-shaped slot at the upper end. It passes through positioning pin 26 and is fixed to the upper surface of fixed plate 15. Cylindrical pin 28 is installed on the upper part of positioning pin 26 and can cooperate with the L-shaped slot at the upper end of upper locking cover 27. Handle 24 is fixed on positioning pin 26 in a vertical state and is located above cylindrical pin 28.

[0042] The CNC posture adjustment mechanism 3 includes a Z-axis motion component 11, a Y-axis motion component 12, an X-axis motion component 13, a ball-and-socket assembly 14, and a drive device. The Z-axis motion component 11 is fixed to the upper surface of the locking and positioning component 2 and can move up and down in the vertical direction, with the direction of movement perpendicular to the lower surface of the locking and positioning component 2. The Y-axis motion component 12 is installed on the upper surface of the Z-axis motion component 11, with the direction of movement perpendicular to the Z-axis motion component 11. The X-axis motion component 13 has the same structure as the Y-axis motion component 12 and is installed on the upper surface of the Y-axis motion component 12, with the direction of movement perpendicular to the Y and Z-axis motion components 11, respectively. Driven by the drive device, the X-axis motion component 13, the Y-axis motion component 12, and the Z-axis motion component 11 can move in the X, Y, and Z directions, respectively. The ball-and-socket assembly 14 is fixed to the upper surface of the X-axis motion component 13.

[0043] The Y-axis motion assembly 12 includes a Y-axis base 29, Y-axis guide rails 30, a Y-axis lead screw drive device 31, a Y-axis lead screw nut 32, a Y-axis grating ruler 33, a Y-axis slide plate 34, a Y-axis floating guide rail 35, a guide rail lock 36, a spring 20, a push rod 37, and a stop block 38. The Y-axis base 29 is a cuboid box structure, with its bottom surface fixed to the upper surface of the Z-axis motion assembly 11. Two Y-axis guide rails 30 are installed parallel to each other on the upper surface of the Y-axis base 29. The Y-axis lead screw drive device 31 is installed parallel to the Y-axis guide rails 30 on the Y-axis base 29 and is located between the two guide rails. The Y-axis grating ruler 33 is installed on the side of the Y-axis base 29 and is parallel to the Y-axis guide rails 30. The guide rails 30 are parallel to each other. The Y-axis slide plate 34 is installed on the sliders of the two Y-axis guide rails 30. The Y-axis floating guide rail 35 is parallel to the Y-axis guide rails 30 and fixed to the lower surface of the Y-axis slide plate 34. The guide rail lock 36 is installed on the Y-axis floating guide rail 35. The Y-axis screw nut 32 is installed on the Y-axis screw drive device 31 and connected to the guide rail lock 36. The stop block 38 is a gate-shaped block structure with a round hole in the middle. The two stop blocks 38 are fixed to the lower surface of the Y-axis slide plate 34 and are located on both sides of the guide rail lock 36. The two push rods 37 pass through the spring 20 and are installed in the round holes of the two stop blocks 38 and are located between the stop blocks 38 and the guide rail lock 36.

[0044] The ball socket assembly 14 includes a bottom fixing plate 39, a force sensor 40, an adapter plate 41, a torque sensor 42, a ball socket block 43, a guide block 44, a locking cylinder 45, a sliding block 46, a locking block 47, and a spring 20. The bottom fixing plate 39 is mounted on the upper surface of the X-direction sliding plate. The force sensor 40 is fixed to the middle of the upper surface of the bottom fixing plate 39. The torque sensor 42 is connected to the upper surface of the force sensor 40 through the adapter plate 41. The ball socket block 43 is a block structure with a hemispherical groove in the center of the upper surface and three circular holes at 120 degrees to each other on the side. It is fixed to the upper surface of the torque sensor 42. The guide block 44 is a square block with a circular hole in the middle. The three sets of guide blocks 44 are fixed at 120 degrees to the upper surface of the torque sensor 42. On the side of the ball socket 43, corresponding to the positions of the three round holes on the side of the ball socket 43, three sets of locking cylinders 45 are respectively installed below the three sets of guide blocks 44. The sliding block 46 is a cylindrical wedge block with an inclined surface on its upper part. The sliding block 46 is installed in the round hole on the guide block 44 and connected to the locking cylinder 45. The locking block 47 is a cylindrical structure with one end being hemispherical and the other end having a spherical recess with the same diameter as the hemispherical groove on the ball socket 43. A blind hole is provided in the center, and a through elongated groove is opened on the side. The spring 20 is installed in the blind hole of the locking block 47. The three sets of locking blocks 47 with springs 20 are respectively installed in the three round holes on the side of the ball socket 43 through cylindrical pins 28, with the hemispherical end facing outward.

[0045] The method for adjusting posture using this rapid reconfigurable CNC posture adjustment device includes the following steps:

[0046] 1. Establish an external product coordinate system based on the feature points on the product 4 to be adjusted, and measure the position coordinates of the center of each process ball 48 in the external product coordinate system, and record the data;

[0047] 2. Place multiple CNC posture adjustment mechanisms 3 with locking and positioning components 2 on the upper surface of the support assembly 1. The quick positioning component 17 in the locking and positioning component 2 cooperates with the round hole positioning component 7 and the elongated hole orientation component 8 for positioning. The quick locking component 16 is quickly connected to the locking seat 6 to realize the quick positioning and locking of multiple CNC posture adjustment mechanisms 3.

[0048] 3. Hoist the product 4 to be adjusted to the vicinity of the CNC attitude adjustment mechanism 3, and place the process ball head 48 on the product 4 to be adjusted near the ball socket assembly 14 on the corresponding CNC attitude adjustment mechanism 3.

[0049] 4. Classify all CNC posture adjustment mechanisms 3. The two CNC posture adjustment mechanisms 3 that are furthest apart diagonally are the main CNC posture adjustment mechanism 3 and the secondary CNC posture adjustment mechanism 3, respectively. The other CNC posture adjustment mechanisms 3 are auxiliary CNC posture adjustment mechanisms 3, and mark them.

[0050] 5. Using the drive device, adjust the Z-axis motion components 11 on all CNC posture adjustment mechanisms 3 to the zero position. After locking the guide rail locks 36 in the Y-axis motion components 12 and X-axis motion components 13 on the main CNC posture adjustment mechanism 3, adjust their X-axis slide plates and Y-axis slide plates 34 to the zero position respectively. After locking the guide rail locks 36 in the X-axis motion components 13 on the secondary CNC posture adjustment mechanism 3, adjust its X-axis slide plate to the zero position, and open the guide rail locks 36 in the Y-axis motion components 12 to allow it to move freely. Open the guide rail locks 36 in the Y-axis motion components 12 and X-axis motion components 13 on the auxiliary CNC posture adjustment mechanism 3 so that its Y-axis slide plates 34 and X-axis slide plates can move along the X and Y directions under the action of external force.

[0051] 6. Move the product 4 to be adjusted downwards so that the process ball head 48 on the product 4 to be adjusted cooperates with the ball socket assembly 14 on each CNC attitude adjustment mechanism 3. That is, the process ball head 48 is guided into the hemispherical groove of the ball socket block 43 in the ball socket assembly 14, and the locking cylinder 45 in the ball socket assembly 14 is driven to move, which drives the locking block 47 to move and lock the process ball head 48, so that the process ball head 48 on the main CNC attitude adjustment mechanism 3 is in the locked state, and the process ball head 48 on other CNC attitude adjustment mechanisms 3 is in the unlocked state.

[0052] 7. Measure the feature points on the product to be adjusted 4 that are consistent with the coordinate system of the product outside the frame, establish the first coordinate system of the product to be adjusted, fit the coordinate system of the product outside the frame with the coordinate system of the product to be adjusted, and obtain the position coordinate values ​​of each process ball head 48 in the coordinate system of the product to be adjusted.

[0053] 8. Set the data of the Y-axis grating ruler 33 and X-axis grating ruler in the Y-axis motion component 12 and X-axis motion component 13 on each CNC posture adjustment mechanism 3 to the zero points of the Y-axis and X-axis;

[0054] 9. Drive the X-axis slide plate on the main CNC posture adjustment mechanism 3 and the secondary CNC posture adjustment mechanism 3 to move along the X-axis. At the same time, the Y-axis slide plate 34 on the main CNC posture adjustment mechanism 3 is fixed. The guide rail lock 36 in the Y-axis motion component 12 on other CNC posture adjustment mechanisms 3 is opened, so that the product 4 to be postured moves a distance along the X-axis of the main CNC posture adjustment mechanism 3 itself. During the movement, drive the Y-axis slide plate 34 on the secondary CNC posture adjustment mechanism 3 to move along the Y-axis of the secondary CNC posture adjustment mechanism 3 until the torque sensor 42 in the main CNC posture adjustment mechanism 3 reads zero and the Y-axis component force reading of the force sensor 40 on the secondary CNC posture adjustment mechanism 3 also reads zero. At the same time, drive the X-axis slide plate and the Y-axis slide plate 34 on the auxiliary CNC posture adjustment mechanism 3 to move until the X and Y-axis component force readings of the force sensor 40 read zero.

[0055] 10. Measure the feature points on the product to be adjusted 4 that are consistent with the coordinate system of the product outside the frame, establish the second coordinate system of the product to be adjusted, fit the coordinate system of the product outside the frame with the second coordinate system of the product to be adjusted, and obtain the position coordinate values ​​of each process ball head 48 in the second coordinate system of the product to be adjusted.

[0056] 11. Record the data of the Y-axis grating ruler 33 and X-axis grating ruler in the Y-axis motion component 12 and X-axis motion component 13 on each CNC attitude adjustment mechanism 3; Combine the coordinate values ​​of the process ball head 48 in the second attitude adjustment product coordinate system to establish the self-coordinate system of each CNC attitude adjustment mechanism 3 in the second attitude adjustment product coordinate system.

[0057] 12 locks the guide rail locks 36 in the Y-axis motion component 12 and X-axis motion component 13 of all CNC posture adjustment mechanisms 3, so that the Y-axis slide plate 34 and X-axis slide plate move precisely under the drive of the drive device; and controls the movement of the locking cylinder 45 in the ball socket component 14 of all CNC posture adjustment mechanisms 3, driving the locking block 47 to move, so that the process ball head 48 on all CNC posture adjustment mechanisms 3 is in an unlocked state, and the entire system reaches the posture adjustment state;

[0058] 13. The final pose data of the product 4 to be adjusted is converted to the second pose adjustment product coordinate system. Combined with the pose data of the product 4 to be adjusted in the second pose adjustment product coordinate system, the motion path of each CNC pose adjustment mechanism 3 is calculated. Each CNC pose adjustment mechanism 3 drives its respective X-axis motion component 13, Y-axis motion component 12, and Z-axis motion component 11 to move precisely and collaboratively, so as to drive the product 4 to be adjusted to adjust precisely to the final pose, thereby realizing the rapid pose adjustment and positioning of the product 4 to be adjusted.

[0059] 14 After the product 4 to be adjusted is connected and fixed, release the locking cylinder 45 in the ball socket assembly 14 of all CNC attitude adjustment mechanisms 3 from locking the process ball head 48, drive the Z-axis motion assembly 11 in all CNC attitude adjustment mechanisms 3 to move downward, so that the ball socket assembly 14 can quickly and safely disengage from the process ball head 48 on the product 4 to be adjusted.

Claims

1. A rapidly reconfigurable numerical control attitude adjustment device, characterized in that... It comprises multiple attitude adjustment units. Each attitude adjustment unit includes a support assembly, a locking and positioning component, a CNC attitude adjustment mechanism, and a control system. The support assembly is fixed in the foundation, the locking and positioning component is mounted on the support assembly, and the CNC attitude adjustment mechanism is fixed on the upper surface of the locking and positioning component. The control system drives the CNC attitude adjustment mechanism to move along the X, Y, and Z directions. Multiple attitude adjustment units are arranged into an attitude adjustment unit group according to the shape and size of the product to be adjusted. Each attitude adjustment unit corresponds to the position of a precisely installed process ball head on the product to be adjusted. The product to be adjusted is placed on the attitude adjustment unit group, and the control system links each attitude adjustment unit to move. Once the product to be adjusted reaches the designated position, the support assembly includes multiple fixing bolts, multiple fixing cup holders, multiple locking seats, a round hole positioning component, an oblong hole directional component, and multiple cover plates. The fixing cup holders are circular hollow cups. Multiple fixing bolts are located at the centers of the multiple fixing cup holders, and the fixing cup holders are fixed to the foundation using nuts, arranged in a matrix. The locking seats are hollow circular covers with flanges, and their upper surfaces have oblong grooves. Multiple locking seats are located at the four corners of the rectangular fixing cup holders, and each locking seat is fixed to the center of its corresponding fixing cup holder. The upper surfaces of all locking seats are horizontal and at the same height. The round hole positioning component is a cylindrical structure with a flange and a positioning hole in the center. It is located in the center of the fixed cup seat in the middle of the edge column of the rectangle. The oblong hole directional component is a cylindrical structure with a flange and an oblong hole in the center. It is fixed in the center of the middle of the fixed cup seat in the other column of the rectangle. The center of the positioning hole of the round hole positioning component is on the center line of the oblong hole. The cover plate is an annular circular plate. Multiple cover plates are installed between multiple fixed cup seats and multiple locking seats, round hole positioning components, and oblong hole directional components.

2. The rapidly reconfigurable numerical control attitude adjustment device according to claim 1, characterized in that... The locking and positioning assembly includes a fixed plate, a quick locking assembly, and a quick positioning assembly. Multiple quick locking assemblies are installed on the bottom surface of the fixed plate, corresponding one-to-one with the locking seats in the support assembly. Two quick positioning assemblies are installed on the bottom surface of the fixed plate, corresponding one-to-one with the round hole positioning component and the oblong hole orientation component in the support assembly, respectively.

3. The rapidly reconfigurable numerical control attitude adjustment device according to claim 2, characterized in that... The quick-locking assembly includes a lower locking seat, a T-shaped pull rod, a spring, a nut, an upper fixing cover, a handwheel, and a handle. The lower locking seat is a cylinder with a flange, a central hole, and an elongated groove at the lower center. It is fixed to the lower surface of the fixed plate. The T-shaped pull rod is an inverted T-shaped member with a threaded upper part. It passes through the lower locking seat and the fixed plate in sequence, and the horizontal part of the T-shaped pull rod matches the elongated groove at the lower part of the lower locking seat. The spring passes through the T-shaped pull rod and is placed on the upper surface of the fixed plate. The nut is installed on the threaded upper part of the T-shaped pull rod and is located on the upper surface of the spring. The upper fixing cover is a hollow round cover with a flange and a central hole on its upper surface. It passes through the T-shaped pull rod and is fixed to the upper surface of the fixed plate. The handwheel is installed on the threaded upper part of the T-shaped pull rod and is located on the upper surface of the upper fixing cover. The handle is fixed vertically to the T-shaped pull rod and is located above the handwheel.

4. The rapid reconfigurable numerical control attitude adjustment device according to claim 3, characterized in that... The quick positioning assembly includes a lower positioning seat, a positioning pin, a spring, a nut, an upper locking cover, a cylindrical pin, and a handle. The lower positioning seat is a cylinder with a flange and a central hole, which is fixed to the lower surface of the fixed plate. The positioning pin is a rod-shaped structure that is thicker at the bottom and thinner at the top, with a conical surface at the bottom and a thread at the top. It passes through the lower positioning seat and the fixed plate in sequence and matches the central hole of the lower positioning seat. The spring passes through the positioning pin and is placed on the upper surface of the fixed plate. The nut is installed on the thread on the upper part of the positioning pin and is located on the upper surface of the spring. The upper locking cover is a hollow cylindrical cover with a flange and a central hole. It has an L-shaped groove at the top and passes through the positioning pin to be fixed to the upper surface of the fixed plate. The cylindrical pin is installed on the upper part of the positioning pin and can cooperate with the L-shaped groove at the top of the upper locking cover. The handle is fixed vertically on the positioning pin and is located above the cylindrical pin.

5. A rapidly reconfigurable numerical control attitude adjustment device according to claim 4, characterized in that... The CNC posture adjustment mechanism includes a Z-axis motion component, a Y-axis motion component, an X-axis motion component, a ball-and-socket assembly, and a drive device. The Z-axis motion component is fixed to the upper surface of the locking and positioning component and can move up and down in the vertical direction, with the direction of movement perpendicular to the lower surface of the locking and positioning component. The Y-axis motion component is installed on the upper surface of the Z-axis motion component, with the direction of movement perpendicular to the Z-axis motion component. The X-axis motion component has the same structure as the Y-axis motion component, is installed on the upper surface of the Y-axis motion component, and has the direction of movement perpendicular to the Y and Z-axis motion components, respectively. Driven by the drive device, the X-axis motion component, Y-axis motion component, and Z-axis motion component can move along the X, Y, and Z directions, respectively. The ball-and-socket assembly is fixed to the upper surface of the X-axis motion component.

6. A rapid reconfigurable CNC posture adjustment device according to claim 5, characterized in that... The Y-axis motion assembly includes a Y-axis base, Y-axis guide rails, a Y-axis lead screw drive device, a Y-axis lead screw nut, a Y-axis grating ruler, a Y-axis sliding plate, a Y-axis floating guide rail, a guide rail lock, a spring, a push rod, and a stop block. The Y-axis base is a cuboid box structure with its bottom surface fixed to the upper surface of the Z-axis motion assembly. Two Y-axis guide rails are installed parallel to each other on the upper surface of the Y-axis base. The Y-axis lead screw drive device is installed parallel to the Y-axis guide rails on the Y-axis base and positioned between the two guide rails. The Y-axis grating ruler is installed on the side of the Y-axis base, parallel to the Y-axis guide rail. The Y-axis slide plate is installed on the slider of the two Y-axis guide rails. The Y-axis floating guide rail is parallel to the Y-axis guide rail and fixed to the lower surface of the Y-axis slide plate. The guide rail lock is installed on the Y-axis floating guide rail. The Y-axis screw nut is installed on the Y-axis screw drive device and connected to the guide rail lock. The stop block is a gate-shaped block structure with a round hole in the middle. The two stop blocks are fixed to the lower surface of the Y-axis slide plate and located on both sides of the guide rail lock. The two push rods pass through the spring and are installed in the round holes of the two stop blocks, and are located between the stop blocks and the guide rail lock.

7. A rapid reconfigurable numerical control attitude adjustment device according to claim 6, characterized in that... The ball socket assembly includes a bottom fixing plate, a force sensor, an adapter plate, a torque sensor, a ball socket block, a guide block, a locking cylinder, a sliding block, a locking block, and a spring. The bottom fixing plate is mounted on the upper surface of the X-axis sliding plate. The force sensor is fixed to the middle of the upper surface of the bottom fixing plate. The torque sensor is connected to the upper surface of the force sensor through the adapter plate. The ball socket block is a block-shaped structure with a hemispherical groove in the center of its upper surface and three circular holes at 120 degrees to each other on its side. It is fixed to the upper surface of the torque sensor. The guide block is a square block with a circular hole in the center. The three sets of guide blocks are fixed to the sides of the ball socket block at 120 degrees. The three sets of locking cylinders are respectively installed below the three sets of guide blocks, corresponding to the three circular holes on the side of the ball socket block. The sliding block is a cylindrical wedge block with an inclined surface on its upper part. The sliding block is installed in the circular hole on the guide block and connected to the locking cylinder. The locking block is a cylindrical structure with one end being hemispherical and the other end having a spherical recess with the same diameter as the hemispherical groove on the ball socket block. It has a blind hole in the center and a through-elongated circular groove on the side. The spring is installed in the blind hole of the locking block. The three sets of locking blocks with springs are respectively installed in the three circular holes on the side of the ball socket block through cylindrical pins, with the hemispherical end facing outward.

8. A method for attitude adjustment using the rapid reconfigurable CNC attitude adjustment device as described in claim 7, characterized in that... The following steps are involved: 8-1 Establish an external product coordinate system based on the feature points on the product to be adjusted, and measure the position coordinates of the center of each process ball head in the external product coordinate system, and record the data; 8-2 Multiple CNC attitude adjustment mechanisms with locking and positioning components are placed on the upper surface of the support assembly. The quick positioning component in the locking and positioning assembly cooperates with the round hole positioning component and the oblong hole orientation component for positioning. The quick locking component is quickly connected to the locking seat to realize the quick positioning and locking of multiple CNC attitude adjustment mechanisms. 8-3 Hoist the product to be adjusted to the vicinity of the CNC attitude adjustment mechanism, with the process ball head on the product to be adjusted positioned near the ball socket assembly on the corresponding CNC attitude adjustment mechanism; 8-4 Classify all CNC posture adjustment mechanisms, with the two CNC posture adjustment mechanisms furthest diagonally being the main CNC posture adjustment mechanism and the secondary CNC posture adjustment mechanism, and the other CNC posture adjustment mechanisms being the auxiliary CNC posture adjustment mechanisms, and mark them accordingly; 8-5. Using the drive device, adjust the Z-axis motion components on all CNC posture adjustment mechanisms to the zero position. After locking the guide rail locks in the Y-axis and X-axis motion components on the main CNC posture adjustment mechanism, adjust the X-axis and Y-axis slides to the zero position respectively. After locking the guide rail locks in the X-axis motion components on the secondary CNC posture adjustment mechanism, adjust the X-axis slide to the zero position and open the guide rail locks in the Y-axis motion components to allow them to move freely. Open the guide rail locks in the Y-axis and X-axis motion components on the auxiliary CNC posture adjustment mechanism to allow the Y-axis and X-axis slides to move along the X and Y directions under the action of external force. 8-6 Move the product to be adjusted downwards so that the process ball head on the product to be adjusted matches the ball socket assembly on each CNC attitude adjustment mechanism. That is, the process ball head is guided into the hemispherical groove of the ball socket block in the ball socket assembly, driving the locking cylinder in the ball socket assembly to move and drive the locking block to move to lock the process ball head, so that the process ball head on the main CNC attitude adjustment mechanism is in the locked state, and the process ball heads on other CNC attitude adjustment mechanisms are in the unlocked state. 8-7 Measure the feature points on the product to be adjusted that are consistent with the coordinate system of the product outside the frame, establish the first coordinate system of the product to be adjusted, fit the coordinate system of the product outside the frame with the coordinate system of the product to be adjusted, and obtain the position coordinate values ​​of each process ball head in the coordinate system of the product to be adjusted. 8-8 Set the data of the Y-axis grating ruler and X-axis grating ruler in the Y-axis motion component and X-axis motion component of each CNC posture adjustment mechanism to the zero point of the Y-axis and X-axis; 8-9 Drive the X-axis slide on the main CNC posture adjustment mechanism and the secondary CNC posture adjustment mechanism to move along the X-axis. At the same time, the Y-axis slide on the main CNC posture adjustment mechanism is fixed. The guide rail locks in the Y-axis motion components of other CNC posture adjustment mechanisms are opened, so that the product to be adjusted moves a certain distance along the X-axis of the main CNC posture adjustment mechanism itself. During the movement, drive the Y-axis slide on the secondary CNC posture adjustment mechanism to move along the Y-axis of the secondary CNC posture adjustment mechanism until the torque sensor reading in the main CNC posture adjustment mechanism is zero and the Y-axis component force reading of the force sensor on the secondary CNC posture adjustment mechanism is also zero. At the same time, drive the X-axis slide and Y-axis slide on the auxiliary CNC posture adjustment mechanism to move until the X and Y-axis component force readings of the force sensor are zero. 8-10 Measure the feature points on the product to be adjusted that are consistent with the coordinate system of the product outside the frame, establish the second coordinate system of the product to be adjusted, fit the coordinate system of the product outside the frame with the second coordinate system of the product to be adjusted, and obtain the position coordinate values ​​of each process ball head in the second coordinate system of the product to be adjusted. 8-11 Record the data of the Y-axis motion component and the Y-axis grating ruler and X-axis grating ruler in the X-axis motion component of each CNC attitude adjustment mechanism; Combine the coordinate values ​​of the process ball head in the second attitude adjustment product coordinate system to establish the self-coordinate system of each CNC attitude adjustment mechanism in the second attitude adjustment product coordinate system; 8-12 Lock the guide rails in the Y-axis and X-axis motion components of all CNC posture adjustment mechanisms, so that the Y-axis and X-axis slides can move precisely under the drive of the drive device; and control the movement of the locking cylinders in the ball socket components of all CNC posture adjustment mechanisms, so that the locking blocks can move, so that the process ball heads on all CNC posture adjustment mechanisms are in an unlocked state, and the entire system reaches the posture adjustment state; 8-13 The final pose data of the product to be adjusted is converted to the second pose adjustment product coordinate system. Combined with the pose data of the current product to be adjusted in the second pose adjustment product coordinate system, the motion path of each CNC pose adjustment mechanism is calculated. Each CNC pose adjustment mechanism drives its own X-axis motion component, Y-axis motion component, and Z-axis motion component to move precisely and collaboratively, so as to drive the product to be adjusted to adjust the pose accurately to the final pose, thereby realizing the rapid pose adjustment and positioning of the product to be adjusted. 8-14 After the product to be adjusted is connected and fixed, release the locking cylinders in the ball socket assembly of all CNC attitude adjustment mechanisms from locking the process ball head, and drive the Z-axis motion components in all CNC attitude adjustment mechanisms to move downward, so that the ball socket assembly can quickly and safely disengage from the process ball head on the product to be adjusted.

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