Multi-degree-of-freedom processing device and method for complex-configuration composite material pipeline

Abstract

The application belongs to the technical field of aerospace product mechanical manufacturing, and discloses a multi-degree-of-freedom processing device and method for a composite material pipeline, wherein a linear motion module is installed on the upper side of the linear motion module base in the multi-degree-of-freedom processing device for the composite material pipeline, a guide rail shield is installed on the right side of the linear motion module, and an outer protective plate is installed on the outer side of the guide rail shield; a six-degree-of-freedom motion platform base is installed on the upper side of the linear motion module, a motion electric cylinder is installed on the upper side of the six-degree-of-freedom motion platform base, a six-degree-of-freedom motion platform is installed at the end of the motion electric cylinder through a hinge, a hollow processing structure and a dust removal structure are installed on the upper side of the six-degree-of-freedom motion platform; a rotary cutter head is installed on the left side of the hollow processing structure, and a radial motion module with three different depths is installed on the upper side of the rotary cutter head. The application can effectively reduce the deflection deformation of the adiabatic pipeline caused by gravity and the like, and improve the processing stability and the processing precision.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical manufacturing of aerospace products, and particularly relates to a multi-degree-of-freedom machining device and method for a composite material pipeline. BACKGROUND

[0002] At present, for the forming machining of small-size heat-insulating pipelines, the pipeline can be directly machined by external turning to remove the pipeline simply and quickly because the pipeline has a simple rotary body structure. However, when machining medium-size or even large-size pipelines, the pipeline is difficult to meet the actual machining precision requirements due to the deflection deformation caused by the long-axis mass distribution and forced vibration in the machining process. In addition, the process mode mainly using large gantry or lathe machining equipment not only occupies a large space and is expensive, but also cannot meet the efficient machining of pipelines with 3D complex structures. In view of the above problems, the existing technologies are as follows: Patent 1, a pipeline automatic machining machine tool (CN111571330A), adopts a pipeline two-end clamping mode, drives the pipeline to rotate by a rotary motor, and continuously polishes the pipeline by combining a cantilever mechanical structure. However, as mentioned above, the equipment and machining method cannot meet the clamping precision of medium-size or large-size pipelines, and thus it is difficult to guarantee the machining precision of the pipeline. At the same time, medium-size or large-size pipelines with complex three-dimensional structures are no longer rotary bodies, and the turning machining mode of driving the pipeline to rotate by a rotary motor is no longer applicable. Patent 2, a large curved surface thin-walled part robot milling machining system and method (CN202011185354.X), invents a large curved surface thin-walled part robot milling machining system and method: the machining mode of the robot can be used to complete the machining of the pipeline with a three-dimensional complex structure, but the milling machining range is limited due to the need of a large running space for the robot milling machining system and the need to appropriately plan the axial machining process path, which greatly reduces the machining efficiency and cannot meet the one-time forming machining efficiency requirement. Based on the multi-degree-of-freedom hollow machining mode, the motion path can be planned along the axial direction of the pipeline under the premise of obtaining the three-dimensional structure characteristics of the pipeline, and the complex three-dimensional configuration and variable diameter size of the pipeline can be realized by changing the radial displacement of the cutter. Patent 3, a radial telescopic cutter head and a rectangular shield tunneling machine using the cutter head (CN201710903524.5), invents a radial telescopic cutter head and a rectangular shield tunneling machine, which can complete the radial motion of the cutter, but still cannot complete the positioning action while rotating in the actual machining process, so this method also cannot meet the requirements.

[0003] Through the above analysis, the problems and defects of the prior art are that: when facing the machining of large and even super large pipes, the existing technology adopts the machining mode of external turning of the outer circle, and the pipe is difficult to meet the actual machining precision requirement due to the deflection deformation caused by the long axial mass distribution and the forced vibration in the machining process. In addition, the process mode mainly using large gantry or lathe machining equipment not only occupies large space and is expensive, but also cannot meet the efficient machining of pipes with 3D complex structure. SUMMARY

[0004] In view of the problems existing in the prior art, the present application provides a multi-degree-of-freedom machining device and method for composite material pipes.

[0005] The present application is realized in that a multi-degree-of-freedom machining device for composite material pipes is provided with a linear motion module base; a linear motion module is installed on the upper side of the linear motion module base, a guide rail cover is installed on the right side of the linear motion module, and an outer protective plate is installed on the outer side of the guide rail cover;

[0006] A six-degree-of-freedom motion platform base is installed on the upper side of the linear motion module, a motion electric cylinder is installed on the upper side of the six-degree-of-freedom motion platform base, a six-degree-of-freedom motion platform is installed at the end of the motion electric cylinder through a hinge, and a hollow machining structure and a dust removal structure are installed on the upper side of the six-degree-of-freedom motion platform;

[0007] A rotary cutter head is installed on the left side of the hollow machining structure, and a radial motion module with three different depths is installed on the upper side of the rotary cutter head;

[0008] A workpiece clamping column is installed on the left side of the linear motion module, a column mounting base is installed on the bottom side of the workpiece clamping column, and an adiabatic pipe is installed on the end of the workpiece clamping column through a workpiece mounting and adjusting disc.

[0009] Further, the hollow machining structure is provided with a hollow machining structure shell, a hollow main shaft is installed inside the hollow machining structure shell through first and second angular contact bearings, and a sealing cover is installed at the right end of the hollow machining structure shell;

[0010] The hollow main shaft is installed with a conductive slip ring rotor through three screws with a difference of 120°, the hollow machining structure shell is fixed with the conductive slip ring rotor through three conductive slip ring fixing holes distributed along the axial direction, and the cable led out of the conductive slip ring rotor is led out to a stepping motor driver through an aviation plug mounting hole.

[0011] Further, the hollow machining structure shell is provided with a direct drive motor wiring hole and an aviation plug mounting hole, and the outer side of the hollow machining structure shell is provided with a bearing lock, and the bearing lock is provided with a lifting ring mounting hole;

[0012] The lower end of the hollow machining structure shell is provided with a hollow machining structure base and a balance support seat, and the left side of the hollow machining structure shell is provided with a protective end cover through bolts.

[0013] The hollow machining structure shell is internally provided with a direct drive motor stator, and the inside of the direct drive motor stator is provided with a direct drive motor rotor.

[0014] Further, there is an installation gap of 1mm between the direct drive motor stator and the direct drive motor rotor, a Glay ring is installed between the protective end cover and the rotary cutter head, and a Glay ring is installed between the sealing end rotor and the sealing end stator, and the Glay ring is sealed by contact friction.

[0015] Further, the workpiece mounting adjusting disc is provided with a workpiece mounting bottom plate, and the workpiece mounting bottom plate is provided with an upper screw position, a right screw position, a lower screw position and a left screw position.

[0016] Further, the upper screw position corresponds to 90° of polar coordinates, the right screw position corresponds to 0° of polar coordinates, the lower screw position corresponds to 270° of polar coordinates, and the left screw position corresponds to 180° of polar coordinates.

[0017] Further, the heat insulation pipeline is provided with a pipeline elbow, a first variable diameter boss and a second variable diameter boss.

[0018] The pipeline elbow is connected with the first variable diameter boss, and the first variable diameter boss is connected with the second variable diameter boss.

[0019] Further, the dust removal structure is provided with a magnetic base, a fixed knob is fixed on the magnetic base, a vertical support rod is fixed on the magnetic base, a horizontal support rod is fixed on the vertical support rod through a support rod clamp, and a dust suction nozzle is fixed on the horizontal support rod and the vertical support rod through a dust suction nozzle clamp.

[0020] Further, the radial motion module is provided with a linear guide rail, a ball screw, a stepping motor and a cutter.

[0021] Another object of the present application is to provide a multi-degree-of-freedom machining method for the composite pipeline of the multi-degree-of-freedom machining device for the composite pipeline, and the use method of the multi-degree-of-freedom machining device for the composite pipeline comprises:

[0022] The flange plate on the heat insulation pipeline is fixed on the workpiece mounting adjusting disc by bolts, and at least one end of the heat insulation pipeline is provided with a flange structure; for small-sized heat insulation pipelines with complex three-dimensional configurations, a single-end fixed clamping mode is adopted; for medium and large-sized heat insulation pipelines, a movable multi-point floating support mechanism is arranged at the middle part, and distributed support and retraction are carried out according to the shape distribution law of the heat insulation pipeline along the axis; the support mode adopts manual control or trigger retraction control based on proximity switches;

[0023] The shape of the heat insulation pipeline along the axial direction is measured, the six-degree-of-freedom motion platform is moved to a position not interfering with the heat insulation pipeline during the movement of the linear motion module, a depth vision system is installed at a fixed position on the linear motion module, the three-dimensional structure of the heat insulation pipeline in the fixed state is profiled and feature-recognized, and the spatial coordinate motion trajectory of the radial motion module and the six-degree-of-freedom motion platform along with the linear motion module is generated;

[0024] According to the generated spatial coordinate motion trajectory, actual machining is carried out; the position setting mode is that the position pulse signal and the speed signal of the industrial personal computer (IPC) and the pose information of the six-degree-of-freedom motion platform are sent to the motion control card, and then the motion control card sends signals to the motor driver, and the electrical connection between the motor driver and the radial motion module is realized by a multi-path conductive slip ring;

[0025] Before actual machining, the alignment of the axis of the hollow machining structure rotary cutter head and the axis of the outermost section of the heat insulation pipeline is completed; according to the installation position of the depth vision system and the spatial vector of the outermost axis point of the hollow machining structure rotary cutter head when the six-degree-of-freedom platform is at the initial position, the hollow machining structure is centered by the actual profiling result of the heat insulation pipeline;

[0026] After centering, the rotation speed, the rotation direction and the pose trajectory of the six-degree-of-freedom motion platform are set by the IPC, the control signals are sent to the motion control card and then to the servo drivers of the motion motors, so as to realize that the rotary cutter head is rotated by the direct drive motor, the radial motion modules where the three cutters are located generate radial linear motion by the stepping motor, the linear motion of the linear motion module is driven by the rotary servo motor, and the pose of the six-degree-of-freedom motion platform is controlled by the parallel motion cylinder; by setting the motion trajectory method of each motion axis in the IPC, the pipe machining diameter is changed during rotation, the pipe bending is adapted, and one-time forming machining is completed.

[0027] In combination with the above technical solutions and the technical problems solved, the technical solutions to be protected by the present application have the following advantages and positive effects:

[0028] The application is suitable for one-time forming high-efficiency adaptive processing of (ultra) large size three-dimensional complex configuration heat insulation pipeline, in particular to design a multi-degree of freedom processing equipment and method for one-time forming processing of complex structure composite pipeline heat insulation layer. Under the background of processing technology problems in the field of aerospace, in the face of the high-efficiency and high-precision processing demand of three-dimensional complex structure composite heat insulation pipeline with non-rotating body characteristics, the traditional turning processing method (for rotating body) or robot milling processing method (low efficiency and vibration) cannot be used, the application has very significant beneficial effects, mainly including: (1) it can realize one-time forming processing of large removal of heat insulation pipeline outer circle, and can also adapt to rapid processing of heat insulation pipeline with variable diameter, multi-diameter and other configurations, eliminating the cost consumption of stopping feeding motion and adjusting tool position by using traditional hollow processing method; (2) it can realize adaptive processing of complex three-dimensional configuration (such as elbow) composite heat insulation pipeline, and the stability and vibration suppression performance in the processing process are also significantly improved; (3) for composite materials and other materials with significant brittleness characteristics, dust pollution generated in large amount of rapid removal, mechanical seal is used to protect the service performance and service life of internal components of the forming processing device; (4) through the depth vision system, the pipeline features and the clamping state of the pipeline can be effectively identified, and through calculation, rapid centering, accurate adjustment of parallelism and planning of processing track can be realized, which has great advantages in equipment processing adaptability and processing precision; (5) through the integrated dust removal device, the dust generated in the processing process is removed, and the dust accumulation on the surface of the clamped pipeline is inhibited, which significantly improves the space environment and improves the processing surface quality, reduces the tool wear and other advantages. The processing method of the application is suitable for one-time forming processing of three-dimensional complex structure composite pipeline, which has obvious processing efficiency and processing quality improvement effect, and has high adaptability to three-dimensional complex structure, clear operation process, simple and practical method, which is beneficial to rapidly improve the production capacity of large complex heat insulation pipeline processing in the field of aerospace, and realizes application and popularization.

[0029] The present application takes the processing of adiabatic pipeline used by aerospace rockets as the main object, and the pipeline of this type has complex three-dimensional structural features such as small-angle bending, 45° angle bending, variable diameter, etc., and contains different size specifications such as small and medium, large and super large. Under the premise of ensuring the feasibility of pipeline processing, the pipeline features need to be quickly obtained, the processing path of complex pipeline features needs to be planned, and the radial precise positioning of the tool needs to be ensured, so as to realize the efficient and accurate processing of the pipeline. In addition, the cover of the special adiabatic pipeline is easy to produce a large amount of dust during processing, so the strict sealing requirement of the device is a necessary condition for the use of high reliability of the processing device. In actual processing application, the present application can adopt single-end clamping (short-size pipeline), single-end clamping combined with a few-point floating support clamping (short-medium-size pipeline) or double-end fixed clamping combined with multi-point floating support clamping (long-size pipeline) clamping mode to reduce the deflection deformation of the adiabatic pipeline caused by its own weight as much as possible, improve the processing stability and processing accuracy; a deep vision method is adopted to reconstruct the 3D configuration of the pipeline in the clamped state and the clamped state; a multi-degree-of-freedom hollow multi-stage processing mode can be used to realize the autonomous adaptation of the pipeline in the processing process according to the 3D configuration of the pipeline, complete one-time forming processing, and greatly improve the processing efficiency and clamping error caused by multiple clamping. The present application is suitable for one-time efficient forming processing of adiabatic pipelines with three-dimensional complex configuration of various size specifications, and has obvious improvement effect in reducing human participation and improving processing efficiency. At the same time, it has strong processing adaptability and fast and convenient execution for 3D complex structure pipeline, especially solves the problem of high artificial participation in medium and large and super large size pipeline processing, is convenient and practical, helps to enhance the productivity and reduce cost and increase efficiency of (super) large complex composite material adiabatic pipeline processing in the field of aerospace, and has good application and promotion prospect.

[0030] The expected income and commercial value of the technical scheme of the present application after transformation are: the present application is a real application in the field of aerospace, and is a scientific research result generated in the process of research and development project, and has practical application value.

[0031] The technical scheme of the present application fills the technical blank at home and abroad: the present application is a real application in the field of aerospace, and is a scientific research result generated in the process of research and development project. The present application has strong pertinence, overcomes the problem that the complex configuration adiabatic pipeline in the field of aerospace greatly depends on manual processing. The present application improves the adaptability of complex configuration pipeline processing, completely solves the problems of high artificial participation and difficult control of processing precision, and further improves the productivity. In addition, the consistency of processing quality can be ensured, and the processing process can be optimized through controllable process. Experiments show that compared with the traditional process, the processing efficiency of the present application is improved by more than 85%. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1Is the composite material pipeline multi-degree of freedom processing device structure schematic diagram provided by the embodiment of the application;

[0033] Figure 2 Is the hollow processing structure schematic diagram provided by the embodiment of the application;

[0034] Figure 3 Is the hollow processing structure side sectional view provided by the embodiment of the application;

[0035] Figure 4 Is the six-degree of freedom motion platform, linear motion module, pipeline clamping system structure schematic diagram provided by the embodiment of the application;

[0036] Figure 5 Is the pipeline clamping structure schematic diagram provided by the embodiment of the application;

[0037] Figure 6 Is the workpiece installation adjustment disc scale schematic diagram provided by the embodiment of the application;

[0038] Figure 7 Is the processing process dust removal structure schematic diagram provided by the embodiment of the application;

[0039] Figure 8 Is the entire equipment motion system control hardware structure schematic diagram provided by the embodiment of the application;

[0040] Figure 9 Is the multi-degree of freedom motion platform motion and processing process schematic diagram provided by the embodiment of the application;

[0041] Figure 10 Is the hollow processing device each component motion and processing process schematic diagram provided by the embodiment of the application;

[0042] Figure 11 Is the to-be-processed heat insulation pipeline structure with complex three-dimensional configuration schematic diagram provided by the embodiment of the application;

[0043] Figure 12 Is the processing result comparison diagram provided by the embodiment of the application;

[0044] In the figure: 1, hollow processing structure; 1-1, direct drive motor wiring hole; 1-2, aviation plug mounting hole; 1-3, bearing locking; 1-4, lifting ring mounting hole; 1-5, hollow processing structure base; 1-6, balance support seat; 1-7, protective end cover; 1-8, hollow main shaft; 1-9, conductive slip ring fixing hole; 1-10, conductive slip ring rotor; 1-11, conductive slip ring rotor; 1-12, direct drive motor stator; 1-13, direct drive motor rotor; 1-14, sealed end rotor; 1-15, sealed end stator; 1-16, first angular contact bearing; 1-17, hollow processing structure shell; 1-18, second angular contact bearing; 1-19, sealing cover; 2, six-degree-of-freedom motion platform; 2-1, hinge; 3, motion cylinder; 4, six-degree-of-freedom motion platform base; 5, linear motion module; 6, guide rail shield; 6-1, outer protective plate; 7, linear motion module base; 8, workpiece clamping column; 8-1, column mounting base; 9, workpiece mounting adjustment disc; 9-1, workpiece mounting bottom plate; 9-2, upper screw position; 9-3, right screw position; 9-4, lower screw position; 9-5, left screw position; 10, heat insulation pipeline; 10-1, pipeline elbow; 10-2, first variable diameter boss; 10-3, second variable diameter boss; 11, dust removal structure; 11-1, dust suction nozzle; 11-2, support rod chuck; 11-3, transverse support rod; 11-4, dust suction nozzle chuck; 11-5, magnetic base; 11-6, fixed knob; 12, rotary cutter head; 13, radial motion module; 13-1, linear guide rail; 13-2, ball screw; 13-3, stepper motor; 13-4, tool. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0046] In order to enable those skilled in the art to fully understand how the present application is specifically implemented, this part is an explanation and description of the examples of the technical scheme of the claims.

[0047] As Figure 1As shown, the multi-degree-of-freedom processing device of the composite material pipeline provided by the embodiment of the application comprises: a hollow processing structure 1, a six-degree-of-freedom motion platform 2, a motion electric cylinder 3, a six-degree-of-freedom motion platform base 4, a linear motion module 5, a guide rail cover 6, a linear motion module base 7, a workpiece clamping column 8, a workpiece mounting adjusting disc 9, an adiabatic pipeline 10, a dust removal structure 11, a rotary cutter head 12, a radial motion module 13; the linear motion module 5 is provided with the linear motion module base 7 on the bottom side, the linear motion module 5 is provided with the guide rail cover 6 on the right side, and the guide rail cover 6 is provided with an outer protective plate 6-1 on the outer side; the linear motion module 5 is provided with the six-degree-of-freedom motion platform base 4 on the upper side, the six-degree-of-freedom motion platform base 4 is provided with the motion electric cylinder 3 on the upper side, the motion electric cylinder 3 is provided with the six-degree-of-freedom motion platform 2 at the end through a hinge 2-1, and the six-degree-of-freedom motion platform 2 is provided with the hollow processing structure 1 and the dust removal structure 11 on the upper side. The rotary cutter head 12 is provided on the left side of the hollow processing structure 1, and the rotary cutter head 12 is provided with the radial motion module 13 with three different depths on the upper side; the linear motion module 5 is provided with the workpiece clamping column 8 on the left side, and the workpiece clamping column 8 is provided with a column mounting base 8-1 on the bottom side; the workpiece clamping column 8 is provided with the adiabatic pipeline 10 at the end through the workpiece mounting adjusting disc 9. The motion electric cylinder 3 is six, the linkage of the six-degree-of-freedom motion platform 2 and the linear motion module 5 is controlled, the axis direction multi-degree-of-freedom self-adaptation of the hollow processing structure 1 to the composite material adiabatic pipeline processing is realized, and the high-precision and high-efficiency processing of the complex three-dimensional configuration pipeline is realized.

[0048] The hollow processing structure 1 includes a direct drive motor wiring hole 1-1, an aviation plug mounting hole 1-2, a bearing locking 1-3, a lifting ring mounting hole 1-4, a hollow processing structure base 1-5, a balance support seat 1-6, a protective end cover 1-7, a hollow main shaft 1-8, a conductive slip ring fixing hole 1-9, a conductive slip ring rotor 1-10, a conductive slip ring rotor 1-11, a direct drive motor stator 1-12, a direct drive motor rotor 1-13, a sealed end rotor 1-14, a sealed end stator 1-15, a first angular contact bearing 1-16, a hollow processing structure shell 1-17, a second angular contact bearing 1-18, and a sealing cover 1-19. The hollow processing structure 1 is provided with a hollow processing structure shell 1-17, and the hollow main shaft 1-8 is mounted in the hollow processing structure shell 1-17 through the first angular contact bearing 1-16 and the second angular contact bearing 1-18. The sealing cover 1-19 is mounted at the right end of the hollow processing structure shell 1-17. The hollow main shaft 1-8 is mounted with the conductive slip ring rotor 1-11 through three screws with a phase difference of 120°. The hollow processing structure shell 1-17 is fixed with the conductive slip ring rotor 1-10 through three conductive slip ring fixing holes 1-9 distributed along the axial direction. The cable led out of the conductive slip ring rotor 1-10 is led out of the aviation plug mounting hole 1-2 to the stepper motor driver. The hollow processing structure shell 1-17 is provided with the direct drive motor wiring hole 1-1 and the aviation plug mounting hole 1-2. The outside of the hollow processing structure shell 1-17 is provided with the bearing locking 1-3, and the bearing locking 1-3 is provided with the lifting ring mounting hole 1-4. The lower end of the hollow processing structure shell 1-17 is mounted with the hollow processing structure base 1-5 and the balance support seat 1-6. The left side of the hollow processing structure shell 1-17 is mounted with the protective end cover 1-7 through a bolt. The hollow processing structure shell 1-17 is internally mounted with the direct drive motor stator 1-12, and the inside of the direct drive motor stator 1-12 is mounted with the direct drive motor rotor 1-13. The left side of the hollow processing structure shell 1-17 is provided with the sealed end stator 1-15, and the inside of the sealed end stator 1-15 is mounted with the sealed end rotor 1-14. The material of the hollow main shaft 1-8 is carbon steel, and the surface hardness is better than 55HRC. The hollow structure design is convenient for the heat insulation pipeline to pass through directly. The rotary cutter head 12 is driven by the rotation of the hollow main shaft 1-8. The servo positioning and rotation of the hollow main shaft 1-8 are realized by the direct drive motor rotor 1-13, the sealed end rotor 1-14, and the circular sensing system (such as a grating system, a magnetic grating system, etc.). There is an installation gap of about 1mm between the direct drive motor stator 1-12 and the direct drive motor rotor 1-13, and there is no friction during rotation. The rotation support and fixation of the hollow main shaft 1-8 are completed by the first angular contact bearing 1-16 and the second angular contact bearing 1-18 mounted at both ends. The two ends of the hollow main shaft 1-8 are supported by the single-row first angular contact bearing 1-16 and the second angular contact bearing 1-18. The angular contact bearing has good radial, axial, and combined load capacity, can meet the high-speed operation requirement, and the selected installation method is back-to-back form without fixed end and free end distinction.

[0049] The space composite material adiabatic pipeline has typical brittle failure characteristics, and a large amount of dust-shaped cutting chips will be generated in the processing process. Therefore, the inside of the entire device needs to be gas sealed to ensure the service performance and service life of the device. The gas seal is adopted between the entire rotating part and the hollow processing structure shell. The specific way is mechanical seal: Gley ring is installed between the sealing end rotor 1-14 and the sealing end stator 1-15, and between the protective end cover 1-7 and the rotating cutter 12. The Gley ring is gas sealed by contact friction.

[0050] The workpiece mounting adjusting disc 9 comprises a workpiece mounting bottom plate 9-1, an upper screw position 9-2, a right screw position 9-3, a lower screw position 9-4, and a left screw position 9-5. The workpiece mounting bottom plate 9-1 is provided with the upper screw position 9-2, the right screw position 9-3, the lower screw position 9-4, and the left screw position 9-5. Among them, the upper screw position 9-2 corresponds to the polar coordinate 90°, the right screw position 9-3 corresponds to the polar coordinate 0°, the lower screw position 9-4 corresponds to the polar coordinate 270°, and the left screw position 9-5 corresponds to the polar coordinate 180°.

[0051] The adiabatic pipeline 10 comprises a pipeline bend 10-1, a first variable-diameter boss 10-2, and a second variable-diameter boss 10-3. The pipeline bend 10-1 is connected with the first variable-diameter boss 10-2, and the first variable-diameter boss 10-2 is connected with the second variable-diameter boss 10-3.

[0052] The dust removal structure 11 comprises a dust suction nozzle 11-1, a support rod clamp 11-2, a transverse support rod 11-3, a dust suction nozzle clamp 11-4, a magnetic base 11-5, and a fixing knob 11-6. The fixing knob 11-6 is fixed on the magnetic base 11-5, vertical support rods are fixed on the magnetic base 11-5, the vertical support rods are fixed with the transverse support rod 11-3 through the support rod clamp 11-2, and the transverse support rod 11-3 and the vertical support rods are fixed with the dust suction nozzle 11-1 through the dust suction nozzle clamp 11-4. The dust removal structure 11 is simple and convenient to install and disassemble. The suction end of the dust suction nozzle 11-1 can be distributed in multiple points by adjusting the position of the dust suction nozzle clamp 11-4. The discharge end of the dust suction nozzle 11-1 can be connected through an air pipe to connect the other end of the negative pressure dust removal device, and complete the collection of processing dust. The composite material pipeline is in a fixed state, and the dust generated in the processing process is easy to accumulate on the surface, especially the upper surface, which seriously affects the surface quality of the processing. Therefore, the dust removal structure 11 is a necessary part of the entire processing equipment and method.

[0053] The radial motion module 13 includes a linear guide 13-1, a ball screw 13-2, a stepper motor 13-3, and a cutting tool 13-4. The ball screw 13-2, stepper motor 13-3, and cutting tool 13-4 are mounted on the linear guide 13-1. By sequentially increasing the radial depth of the outer diameter of the composite material pipe during the feed process, a large and continuous removal amount can be achieved, ensuring rapid pipe forming. The stepper motor on the radial motion module 13 has A± and B± phase lines, and communication with the stepper motor driver is achieved through conductive slip ring movers 1-10 and 1-11. Using conductive slip ring movers 1-10 and 1-11, conductive slip ring mover 1-11 can rotate with the rotating cutter head 12. Conductive slip ring mover 1-10 is a fixed end, from which a cable is led out. The cutting tool 13-4 is mounted on the radial feed module 13, and through the radial movement of the radial motion module 13, it can perform adaptive machining on the pipe with a variable diameter.

[0054] The workpiece clamping column 8 is installed on one side of the linear motion module 5. The workpiece clamping column 8 is equipped with a column mounting base 8-1, a workpiece mounting adjustment plate 9, and a workpiece mounting base plate 9-1. The workpiece mounting base plate 9-1 has a spherical part with a central protrusion (see...). Figure 5 The sphere is tangent to the inner surface of the workpiece mounting and adjusting plate 9. The outer surface of the workpiece mounting and adjusting plate 9 has a polar coordinate scale, such as... Figure 6 As shown, the parallelism deviation between the workpiece mounting adjustment plate 9 and the rotating cutter head 12 surface is adjusted by rotating the precision screws at the four corners (top, bottom, left, and right). The adjustment is based on the surface parallelism measured by the depth vision system, and then adjusted according to the following formula using the relationship between the precision screw rotation angle and the screw pitch p, and the position d of the screw from the center. Taking the workpiece mounting adjustment plate 9 deviating inward by D° (positive inward and negative outward) along the direction C°∈[0°, 90°] on its outer surface as an example, we have:

[0055]

[0056] In this diagram, the subscripts for E2 and E3 indicate the required rotation angle for adjusting the locking screws at the upper screw position 9-2 and the right screw position 9-3. While adjusting E2 and E3, E4 and E5 need to be loosened by adjusting the corresponding angles based on the rotation angles of their symmetrical locking screws. Simultaneously, based on angle C (divided into 90° intervals), adjust combinations E2 and E3, E3 and E4, E4 and E5, or E5 and E2; rotations in opposite directions will adjust the remaining precision screws for the corresponding combinations.

[0057] The entire equipment's motion system, such as Figure 8As shown, the IPC sends motion control signals to the multi-axis motion control card, PLC, six-degree-of-freedom motion control card, etc., and then the various types of drivers, such as spindle servo driver, stepper motor driver, electric cylinder driver, etc., send pulse signals to the motors / cylinders, thereby controlling the motion of the entire equipment. Figure 9 Based on the above motion control system, the multi-degree-of-freedom machining equipment for one-step forming of complex structure composite heat insulation pipeline can realize linear motion and lifting, forward and backward and left and right deviation, roll, pitch and yaw, etc. Figure 10

[0058] The working principle of the present application is as follows: according to actual needs, the heat insulation pipeline 10 with complex three-dimensional configuration is machined, and the flange plate on the heat insulation pipeline 10 is fixed on the workpiece mounting and adjusting disc 9 by bolts. The heat insulation pipeline 10 is provided with a flange structure at least at one end. For small-sized heat insulation pipelines 10 with relatively complex three-dimensional configuration (such as bent corners, variable diameters, etc.), a single-end fixed clamping method is adopted; for medium and large-sized heat insulation pipelines 10, a movable multi-point floating support mechanism is arranged at the middle part, which can be distributedly supported and retracted according to the shape distribution law of the heat insulation pipeline 10 along the axis; the support method can be manually controlled or triggered and retracted based on proximity switches.

[0059] The shape of the heat insulation pipeline 10 along the axial direction is measured, the six-degree-of-freedom motion platform 2 is moved to a position where it does not interfere with the heat insulation pipeline 10 during the movement of the linear motion module 5, a depth vision system is installed at a fixed position on the linear motion module 5, the three-dimensional structure of the heat insulation pipeline 10 in the fixed state is profiled and feature-recognized, and the spatial coordinate motion trajectory of the radial motion module 13 and the six-degree-of-freedom motion platform 2 along with the linear motion module 5 is generated.

[0060] According to the generated spatial coordinate motion trajectory, actual machining is prepared. The position setting method is to set the position pulse signal and the speed signal of the IPC (industrial personal computer) and the pose information of the six-degree-of-freedom motion platform, and send them to the motion control card, and then the motion control card sends signals to the motor driver. The electrical communication between the motor driver and the radial motion module 13 is realized by a multi-way conductive slip ring.

[0061] ​Before actual machining, the alignment of the axis of the rotating cutter head 12 of the hollow machining structure and the axis of the outermost section of the heat insulation pipeline 10 needs to be completed. Since the spatial vector of the installation position of the depth vision system and the outermost axis point of the rotating cutter head 12 of the hollow machining structure on the six-degree-of-freedom platform at the initial position is a given value, the centering operation of the hollow machining structure can be performed by the actual result of profiling the heat insulation pipeline 10. After centering, the rotation speed, rotation direction and pose trajectory of the six-degree-of-freedom motion platform 2 are set by the IPC, control signals are sent to the motion control card and then to the servo drivers of each motion motor, so as to realize that the rotating cutter head 12 is rotated by the direct drive motor, the radial motion module 13 where the three cutters are located generates linear motion in the radial direction by the stepping motor, the linear motion of the linear motion module 5 is driven by the rotary servo motor, and the pose of the six-degree-of-freedom motion platform 2 is controlled by the parallel motion cylinder 3. Thus, by setting the motion trajectory of each motion axis in the IPC, the diameter of the pipeline during rotation is changed, the pipeline bending is adapted, and one-time forming machining is completed.

[0062] In order to prove the creativity and technical value of the technical scheme of the present application, this part is an application embodiment of the technical scheme of the claim on a specific product or related technology.

[0063] A machining experiment is performed on a complex composite material pipeline. First, the composite material pipeline is installed on the workpiece installation and adjustment disc 9 and fixed by screws. Then, the workpiece axis is adjusted to coincide with the linear motion direction of the machining device by adjusting different screw positions such as the right screw position 9-3 and the lower screw position 9-4, so as to ensure that the linear segment coincides with the feeding direction of the machining device.

[0064] The depth vision system measures the three-dimensional configuration of the pipeline and obtains the distribution rule of the pipeline axis in space. The motion of the six-degree-of-freedom motion platform 2 and the linear motion module 5 is calculated and trajectory planned by the machining software, including the initial position alignment of the pipeline machining. At the same time, the distribution rule of the machining pipeline size in space obtained by the vision system is combined with the motion of the linear motion module 5 to determine the motion trajectory of the radial motion module 13 during machining, so as to realize variable diameter machining. After the above work is completed, the parameters such as the removal amount, the feeding speed and the spindle speed are set in the software, and the machining is started according to the pre-planned motion trajectory.

[0065] The embodiment of the present application has achieved some positive effects during research and development or use, and indeed has great advantages compared with the prior art. The following content is described in combination with data, charts and the like during the test process.

[0066] Based on the above application embodiment, the composite material pipeline is machined. Figure 12As shown in the figure, the actual machining result comparison chart. It can be seen from the figure that the surface machining quality of the machining area adopting the optimized process parameter of the device is better than that of the manual machining area, and the surface machining defects such as pits and protrusions are reduced. The machining edge of the device is very neat; the surface quality of the large machining parameter machining area processed by the device is relatively poor, and the surface appears residual and pit and other machining defects. This shows that through the optimization of the process, the machining surface quality can be optimized and has good consistency. In addition, the manual processing time is about 4 hours, and the processing time of the device is about 30 minutes, and the processing efficiency is increased by more than 85%.

[0067] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any modification, equivalent replacement and improvement within the technical range disclosed by the present application and within the spirit and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A multi-degree-of-freedom processing device for composite material pipelines, characterized in that, The multi-degree-of-freedom processing device for the composite material pipeline is equipped with: Linear motion module base; A linear motion module is installed on the upper side of the linear motion module base, a guide rail cover is installed on the right side of the linear motion module, and an outer protective plate is installed on the outside of the guide rail cover. A six-degree-of-freedom motion platform base is installed on the upper side of the linear motion module. A motion cylinder is installed on the upper side of the six-degree-of-freedom motion platform base. The end of the motion cylinder is connected to the six-degree-of-freedom motion platform via a hinge. A hollow processing structure and a dust removal structure are installed on the upper side of the six-degree-of-freedom motion platform. A rotary cutter head is installed on the left side of the hollow machining structure, and a radial motion module with three different depths is installed on the upper side of the rotary cutter head; A workpiece clamping column is installed on the left side of the linear motion module. A column mounting base is installed on the bottom side of the workpiece clamping column. An insulated pipe is installed at the end of the workpiece clamping column through the workpiece mounting adjustment plate.

2. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 1, characterized in that, The hollow machining structure is provided with a hollow machining structure shell. Inside the hollow machining structure shell, a hollow spindle is installed through a first angular contact bearing and a second angular contact bearing. A sealing cover is installed at the right end of the hollow machining structure shell. The hollow spindle is equipped with conductive slip ring movers by three screws that are 120° apart. The hollow machining structure housing is fixed with conductive slip ring movers by three axially distributed conductive slip ring fixing holes. The cables leading out from the conductive slip ring movers are led out to the stepper motor driver through the aviation plug mounting holes.

3. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 2, characterized in that, The hollow processing structure shell is provided with a direct drive motor wiring hole and an aviation plug mounting hole. The outer side of the hollow processing structure shell is provided with a bearing lock, and the bearing lock is provided with a lifting ring mounting hole. The lower end of the hollow processing structure shell is equipped with a hollow processing structure base and a balance support seat, and a protective end cap is installed on the left side of the hollow processing structure shell by bolts; The hollow machining structure shell houses a direct drive motor stator, and the direct drive motor mover is installed inside the stator. A sealed end stator is located on the left side of the hollow machining structure shell, and a sealed end mover is installed inside the sealed end stator.

4. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 3, characterized in that, There is a 1mm installation gap between the stator and the mover of the direct drive motor. A Glyd ring is installed between the protective end cover and the rotating cutter head. A Glyd ring is installed between the sealing end mover and the sealing end stator. The Glyd ring provides gas sealing through contact friction.

5. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 1, characterized in that, The workpiece mounting adjustment plate is provided with a workpiece mounting base plate, which has upper screw position, right screw position, lower screw position and left screw position.

6. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 5, characterized in that, The upper screw position corresponds to 90° in polar coordinates, the right screw position corresponds to 0° in polar coordinates, the lower screw position corresponds to 270° in polar coordinates, and the left screw position corresponds to 180° in polar coordinates. The spatial orientation of the workpiece can be adjusted by adjusting the rotation angle and depth of the four screws to meet processing requirements.

7. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 1, characterized in that, The composite material pipeline is provided with a pipeline bend, a first diameter changing boss, and a second diameter changing boss; The pipe bend is connected to the first reducing boss, and the first reducing boss is connected to the second reducing boss.

8. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 1, characterized in that, The dust removal structure is equipped with a magnetic base, on which a fixing knob is fixed. A vertical support rod is fixed on the magnetic base, and a horizontal support rod is fixed to the vertical support rod through a support rod clamp. A dust suction nozzle is fixed to the horizontal and vertical support rods through a dust suction nozzle clamp. The number of dust suction nozzles is greater than or equal to three. Considering the fixed state of the workpiece and the generation of static electricity during the processing, it is required that one dust suction nozzle is located directly above the pipeline, and the other two dust suction nozzles are separated from the dust suction nozzle directly above by ±60°, and the spatial orientation is from top to bottom, which results in better dust removal effect.

9. The multi-degree-of-freedom processing device for composite material pipelines as described in claim 1, characterized in that, The radial motion module is equipped with a linear guide rail, a ball screw, a stepper motor, and a cutting tool; the ball screw, stepper motor, and cutting tool are mounted on the linear guide rail.

10. A method for processing composite material pipelines using a multi-degree-of-freedom processing apparatus as described in any one of claims 1 to 9, characterized in that, The method of using the multi-degree-of-freedom processing device for composite material pipelines includes: The flange on the insulated pipeline is fixed to the workpiece mounting and adjusting plate by bolts, and the insulated pipeline has a flange structure at at least one end; for small-sized insulated pipelines with relatively complex three-dimensional configurations, the clamping method is single-end fixed clamping; for medium and large-sized insulated pipelines, a movable multi-point floating support mechanism is provided in the middle, which provides distributed support and retraction according to the shape distribution law of the insulated pipeline along the axis; the support method adopts manual control or retraction control based on proximity switch triggering. The shape of the insulated pipeline along the axial direction is measured. The six-degree-of-freedom motion platform is moved to a position where it does not interfere with the insulated pipeline during the movement of the linear motion module. A depth vision system is installed at a fixed position on the linear motion module to perform contouring and feature recognition on the three-dimensional structure of the insulated pipeline in a fixed state, and to generate the spatial coordinate motion trajectory of the radial motion module and the six-degree-of-freedom motion platform as they move with the linear motion module. Based on the generated spatial coordinate motion trajectory, actual processing is carried out; the position is set by the industrial control computer setting the position pulse signal and speed signal, as well as the pose information of the six-degree-of-freedom motion platform, and sending them to the motion control card, which then sends signals to the motor driver. The electrical connection between the motor driver and the radial motion module is achieved by a multi-channel conductive slip ring. Before actual processing, the alignment of the rotary cutter head axis of the hollow processing structure with the outermost section axis of the composite material pipeline is completed. Based on the installation position of the depth vision system and the spatial vector of the outermost axis point of the rotary cutter head of the hollow processing structure at the initial position on the six-degree-of-freedom platform, the hollow processing structure is aligned by the actual results of the thermal insulation pipeline contouring. The alignment adjustment of the straight section of the pipeline is made by adjusting the four directional bolts on the mounting base plate. After centering, the IPC sets the rotation speed, rotation direction, and pose trajectory of the six-degree-of-freedom motion platform, and sends the control signals to the motion control card, and then to the servo drivers of each motion motor, thereby realizing: the rotary cutter head is driven to rotate by a direct drive motor, the radial motion module containing the three tools is driven by a stepper motor to generate radial linear motion; the linear motion of the linear motion module is driven by a rotary servo motor; the pose of the six-degree-of-freedom motion platform is controlled by a parallel motion cylinder; by setting the motion trajectory of each motion axis in the IPC, the pipe processing diameter can be changed during rotation, adapting to pipe bending, and completing one-time forming processing.

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