Clamping and turning tooling and design method for grinding and polishing of complex curved shell parts

Abstract

The present invention relates to a clamping and flipping tooling and a design method for the grinding and polishing of complex curved shell parts, and belongs to the technical field of clamping of complex curved shell parts, and relates to a clamping and flipping tooling and a design method for the grinding and polishing of complex curved shell parts. The tooling is composed of a flexible clamping module, a rotating module, a flipping module, a lifting module, a lower end support module, and a positioning tooling ground rail. The rotating module is installed at the lower end of the flexible clamping module, the flipping module is installed on both sides of the rotating module, the lifting module is connected to the flipping module, and the positioning tooling ground rail is installed at the lower end of the lifting module. The present invention realizes stable clamping and positioning of different types of rotary and special-shaped products, and designs a flexible clamping method that matches nylon clamps and nylon molds for special-shaped products, thereby improving clamping safety and reliability, and enabling direct internal surface grinding and polishing. After clamping, the workpiece can be rotated, flipped, and lifted without manual intervention, effectively improving the automation level of workpiece clamping and displacement during the grinding and polishing of shell parts.

Description

Technical Field

[0001] The invention belongs to the technical field of complex curved surface shell clamping, and relates to a clamping and flipping tool and a design method for grinding and polishing complex curved surface shell parts. Background Art

[0002] Complex curved shells are key components of many high-end equipment, and multifunctional coating processing is a core step in achieving the shell's environmental resistance, anti-static properties, low infrared emission and other functions. Therefore, before applying putty and spraying primer, the semi-finished shells need to be subjected to high-precision grinding and polishing, and the appropriate surface roughness and material removal depth are controlled to ensure the coating bonding strength and thickness uniformity. Different models of complex curved shells have different clamping requirements, and clamping is difficult. Rotary products have characteristics such as large inner cavity depth, closure, and narrowness. The clamping area is required to be set at the open end of the shell. Due to the lack of accurate positioning reference surface and reliable clamping surface, deformation is prone to occur during the clamping process, which will affect the product processing accuracy. Irregular-shaped products are characterized by large size, weak rigidity, and heavy weight. Their internal surfaces contain complex structures such as ribs and grooves, requiring clamping areas at the left and right ends of the shell. The structures at each end vary depending on the product model, necessitating the use of various fixtures. After clamping, irregular-shaped parts have a large overhanging area in the middle, making them less resistant to external forces during grinding and polishing, requiring support at the lower end to ensure sufficient rigidity. Furthermore, due to the varying dimensions, material properties, and surface characteristics of different shell models, the clamping method must be flexible and adaptable.

[0003] Currently, specialized clamping fixtures and methods for grinding and polishing complex curved shells are primarily suitable for rotary products. Patent publication number CN112975404B, "A Semi-conical Radome Processing Apparatus and Method," designs a solution and specialized apparatus for turning the entire radome and milling the mating surfaces of half the radome, ensuring machining accuracy while significantly improving efficiency. However, the horizontal clamping scheme requires a large number of fixtures, making clamping time-consuming and labor-intensive, and preventing the automatic rotation and flipping of the shell. Patent publication number CN109227304B, "A Machining Apparatus and Method for Special-Shaped Closed Deep-Cavity Radomes," designs a milling and grinding apparatus consisting of a support and positioning fixture, a vertical milling machine, and a 90° adapter. While capable of meeting the continuous, high-precision machining requirements of rotary products, the fixture lacks versatility and cannot achieve universal clamping and flipping for both rotary and special-shaped products. Summary of the Invention

[0004] To overcome the challenges of existing technologies, a clamping and flipping tooling and design method for the grinding and polishing of complex curved shell parts have been developed. The tooling consists of a flexible fixture module, a rotation module, a flip module, a lifting module, a lower support module, and a positioning tooling rail. To address the structural characteristics of rotary products, a vertical clamping method using a dual-axis cylinder to propel a contoured silicone block was designed. To address the structural characteristics of irregular-shaped products, a flexible clamping method using a nylon fixture and a nylon mold was designed. The flexible fixture module clamps the workpiece, ensuring secure clamping and maintaining surface shape. The rotation module rotates the rotary product around its vertical axis for grinding and polishing. The flip module flips the workpiece around its horizontal axis to enter the inner surface grinding and polishing station. The lifting module drives the flexible fixture module, rotation module, and flip module up and down to adjust the vertical position of the workpiece. The lower support module conforms to the workpiece's lower surface, ensuring constant support force and minimizing deformation. The positioning tooling rail, located at the bottom of the lifting module, slides horizontally to enable universal clamping and positioning of products of varying sizes. By designing a special flexible fixture and coordinating it with the rotation module, flip module, lifting module and lower end support module, stable clamping and positioning of different types of rotary and special-shaped products can be achieved, effectively improving the clamping efficiency and stability.

[0005] The technical solution adopted by the present invention is a clamping and flipping tooling for grinding and polishing complex curved shell parts. The tooling consists of a flexible clamping module 1, a rotating module 2, a flipping module 3, a lifting module 4, a lower end support module 5 and a positioning tooling ground rail 6;

[0006] The flexible fixture module 1 is composed of a dual-axis cylinder 1.1, a contoured silicone block 1.2, a hollow support mold 1.3, a nylon mold 1.4, a nylon clamp 1.5, a mounting block 1.6, a locking nut 1.7, and a special-shaped support mold 1.8; the dual-axis cylinder 1.1 is installed on the hollow support mold 1.3, and the contoured silicone block 1.2 is installed at the front end of the dual-axis cylinder 1.1. The contoured silicone block is pushed by the dual-axis cylinder to realize flexible clamping of the rotating part A; the nylon mold 1.4, the nylon clamp 1.5 and the mounting block 1.6 are installed on the special-shaped support mold 1.8; the locking nut 1.7 is installed on the mounting block 1.6, and the stable clamping of the special-shaped part B is realized by locking the nylon clamp 1.5 and the nylon mold 1.4.

[0007] The rotating module 2 is composed of a hollow rotating platform 2.1, a rotating wheel sleeve 2.2, a cam bearing follower 2.3, a rotating shaft servo motor 2.4, a rotating shaft reducer 2.5, a motor bracket 2.6, a rotating shaft driving synchronous pulley 2.7, a rotating shaft driven synchronous pulley 2.8, and a rotating shaft synchronous belt 2.9. The inner side of the hollow rotating platform 2.1 is sleeved with the rotating wheel sleeve 2.2, and the cam bearing follower 2.3 is installed on the upper and lower concave surfaces of the rotating wheel sleeve 2.2; the rotating shaft driving synchronous pulley 2.7 is connected to the rotating shaft reducer 2.5, and the rotating shaft driven synchronous pulley 2.8 is connected to the rotating shaft. Installed at the lower end of the rotating wheel sleeve 2.2, it is connected to the two pulleys via the rotating shaft synchronous belt 2.9. The rotating shaft servo motor 2.4 and the rotating shaft reducer 2.5 are supported by the motor bracket 2.6, and the lower end is connected to the rotating shaft active synchronous pulley 2.7. Six cam bearing followers 2.3 are provided in a single rotating module 2. Each pair of cam bearing followers 2.3 is symmetrically installed at an angle of 60 degrees on the upper and lower concave surfaces of the rotating wheel sleeve 2.2. The stud heads and screw parts of adjacent cam bearing followers 2.3 face opposite directions, ensuring that the rotating shaft sleeve 2.2 only rotates around the vertical axis.

[0008] The flip module 3 is composed of a flip disk 3.1, a turntable shaft 3.2, an outer spherical ball bearing 3.3, a flip flange 3.4, a flip shaft driving synchronous pulley 3.5, a flip shaft driven synchronous pulley 3.6, a flip shaft synchronous belt 3.7, a flip shaft servo motor 3.8, and a flip shaft right-angle reducer 3.9; the flip disk 3.1 is connected to the outer side of the hollow rotating platform 2.1, the turntable shaft 3.2 is coaxially connected to the flip disk 3.1, and is connected to the inner side of the flip flange 3.4 through the outer spherical ball bearing 3.3; the flip shaft driving synchronous pulley 3.5 is installed at the output end of the flip shaft right-angle reducer 3.9; the flip shaft driven synchronous pulley 3.6 is coaxially connected to the flip disk 3.1, and drives the two pulleys to rotate through the flip shaft synchronous belt 3.7; the flip shaft servo motor 3.8 is connected to the flip shaft right-angle reducer 3.9 and then installed on the outer side of the flip flange 3.4;

[0009] The lifting module 4 is composed of a fixed column 4.1, a mobile column 4.2, a mobile plate 4.3, a lifting module 4.4, a guide rail slider 4.5, a lifting axis servo motor 4.6, and a lifting axis reducer 4.7; the lower end of the fixed column 4.1 is fixedly connected to the position-changing tooling ground rail 6, and the lower end of the mobile column 4.2 is installed with a mobile plate 4.3, which drives the mobile column 4.2 to slide horizontally on the position-changing tooling ground rail 6; the lifting module 4.4 is respectively installed on the inner side of the fixed column 4.1 and the mobile column 4.2, and the lifting module 4.4 is embedded in the inner side of the guide rail slider 4.5 and connected to the outer side of the flip Flange 3.4 slides on lifting module 4.4 via guide rail slider 4.5 to adjust the workpiece's vertical position. Lifting axis servo motor 4.6 is coaxially connected to lifting axis reducer 4.7 and mounted on top of lifting module 4.4. Lifting module 4 is equipped with one fixed column 4.1, two movable columns 4.2, and two movable plates 4.3. Lifting modules 4.4 and flip flange 3.4 are mounted on both sides of the middle movable column 4.2. Two sets of rotating modules 2 and flexible fixture modules 1 are mounted between the three columns, enabling simultaneous parallel clamping and automatic grinding and polishing of two rotating parts A.

[0010] The lower end support module 5 is composed of a support block 5.1, a mounting plate 5.2, a limit switch 5.3, a switch bracket 5.4, a support bracket 5.5, a support plate 5.6, and a locking knob 5.7; the support block 5.1 is mounted on the mounting plate 5.2, and the upper surface of the support block 5.1 is tightly fitted with the lower surface of the workpiece; the limit switch 5.3 is embedded in the support block 5.1 through the switch bracket 5.4; the upper end of the support bracket 5.5 is connected to the mounting plate 5.2 and the support block 5.1, and the support plate 5.6 is mounted on the lower end of the support bracket 5.5. By horizontally moving the support plate 5.6 and locking the locking knob 5.7 Ensure that the lower support module 5 is located at the center of the bottom of the workpiece; the surface shape of the support block 5.1 in the lower support module 5 is designed based on the internal and external surfaces of the product. Each model of product is equipped with one support block 5.1. When clamping the special-shaped part B, two limit switches 5.3 are embedded in the support block 5.1 to ensure that the internal and external surfaces of the special-shaped part B are in stable contact with the surface of the support block 5.1. The rotating part A only requires lower support when the top end is facing downward after flipping. When clamping the rotating part A, a limit switch 5.3 is embedded in the support block 5.1 to ensure stable support during grinding and polishing of the internal surface of the rotating part A.

[0011] The displacement tooling ground rail 6 is composed of a foundation plate 6.1, a frame 6.2, an expansion bolt 6.3, a horizontal axis servo motor 6.4, a horizontal axis reducer 6.5, a limit switch 6.6, and an accordion protective cover 6.7; the foundation plate 6.1 is arranged at the lower end of the frame 6.2 and is fixed to the ground with an expansion bolt 6.3; the horizontal axis servo motor 6.4 and the horizontal axis reducer 6.5 are connected and installed on the movable plate 4.3, the limit switch 6.6 is installed at the end position of the frame 6.2; the accordion protective cover 6.7 is installed on the upper end surface of the frame 6.2.

[0012] A method for designing a clamping and flipping tooling for the grinding and polishing of complex curved shell parts is characterized in that, based on the structural characteristics of rotary products, a vertical clamping method is designed in which a dual-axis cylinder pushes a contoured silicone block. When a flexible fixture module 1 is used to clamp a rotary part A, three dual-axis cylinders 1.1 are provided, with each two dual-axis cylinders 1.1 symmetrically mounted at an angle of 120° on a hollow support mold 1.3. The hollow support mold 1.3 is designed with an inward tilt angle of 6°-10° at the installation position of the dual-axis cylinder 1.1 to ensure that the force applied by the dual-axis cylinder 1.1 is directed toward the inclined contact surface of the rotary part A. Each model of rotary product corresponds to a corresponding hollow support mold 1.3.

[0013] At the same time, in view of the structural characteristics of special-shaped products, a flexible clamping method that cooperates with the nylon fixture and the nylon mold is designed. When a special-shaped part B is clamped with the flexible fixture module 1, two sets of nylon mold 1.4, nylon fixture 1.5, mounting block 1.6 and special-shaped support mold 1.8 are provided, respectively installed at the clamping positions at both ends of the special-shaped part B. A lower-end support module 5 is also designed, and the surface shape of the support block 5.1 is designed according to the internal and external surfaces of the product. The material of the support block 5.1 is flexible EVA plastic or other soft materials to ensure that the upper surface of the support block 5.1 fits tightly with the lower surface of the workpiece, thereby achieving stable clamping of the special-shaped part B. Each model of special-shaped product corresponds to two sets of special-shaped support mold 1.8, nylon mold 1.4, nylon fixture 1.5 and mounting block 1.6.

[0014] The movement of each axis of the positioner is controlled by a high-precision servo motor, realizing full closed-loop automatic control of the positioner.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The present invention provides a clamping and flipping tooling and design method for the grinding and polishing of complex curved shell parts. This tooling achieves stable clamping, rotation, flipping, and lifting functions for different types of rotary and special-shaped products, meeting the requirements for grinding and polishing the internal and external surfaces of complex curved shell parts. It simplifies the operational procedures for product clamping, rotation, flipping, and lifting, effectively reducing surface damage and deformation. The entire tooling has a simple structure and is easy to debug.

[0017] (2) In view of the structural characteristics of rotary products, the present invention designs a vertical clamping method in which a double-axis cylinder pushes the contoured silicone block, thereby realizing rapid clamping and positioning of the rotary parts. This changes the current situation of traditional horizontal clamping with a large number of fixtures, many lifting actions, and a long clamping time, and effectively improves the clamping efficiency and stability of rotary products.

[0018] (3) In view of the structural characteristics of special-shaped products, the present invention has developed a flexible clamping method in which the nylon clamp and the nylon mold cooperate with each other. The full-surface support of the traditional shape-preserving tooling is abandoned, and the two ends of the workpiece are clamped by a contour-like clamp. After the workpiece is flipped, the inner surface can be directly ground and polished, which simplifies the clamping and flipping operation process and greatly improves the clamping safety and reliability of special-shaped products.

[0019] (4) The present invention designs a lower end support module with supporting and positioning functions based on the structural characteristics of rotary and special-shaped products. The surface shape of the support block is designed according to the internal and external surfaces of the product to ensure that the upper surface of the support block fits tightly with the lower surface of the workpiece. The support block material is selected from flexible EVA plastic or other soft materials to avoid damage and deformation of the product surface caused by rigid clamping.

[0020] (5) This invention addresses the structural characteristics of rotary and special-shaped products and uses high-precision servo motors to drive and control the movement of each axis, achieving fully closed-loop automatic control. After the workpiece is clamped, no manual intervention is required for rotation, flipping, and lifting of the workpiece, reducing operator requirements and simplifying operator training and assessment processes. This effectively improves the automation level of workpiece clamping and flipping during shell grinding and polishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the fixture structure for clamping and flipping rotary products. 1 - Flexible fixture module, 2 - Rotation module, 3 - Flip module, 4 - Lift module, 5 - Lower support module, 6 - Positioning fixture floor rail, and A - Rotating component.

[0022] Figure 2 This is a schematic diagram of the fixture structure for clamping and flipping special-shaped products. 1 - flexible fixture module, 3 - flip module, 4 - lifting module, 5 - lower support module, 6 - flipping fixture floor rail, B - special-shaped part.

[0023] Figure 3 Schematic diagram of the flexible fixture module 1 structure for clamping rotary products. 1.1 - dual-axis cylinder, 1.2 - contoured silicone block, 1.3 - hollow support mold, A - rotating part.

[0024] Figure 4Schematic diagram of the flexible fixture module 1 structure for clamping special-shaped products. 1.4 - nylon mold, 1.5 - nylon clamp, 1.6 - mounting block, 1.7 - locking nut, 1.8 - special-shaped support mold, and B - special-shaped part.

[0025] Figure 5 This is a schematic diagram of the structure of the rotating module 2. Among them, 2.1 is the hollow rotating platform, 2.2 is the rotating wheel sleeve, 2.3 is the cam bearing follower, 2.4 is the rotating axis servo motor, 2.5 is the rotating axis reducer, 2.6 is the motor bracket, 2.7 is the rotating axis driving synchronous pulley, 2.8 is the rotating axis driven synchronous pulley, and 2.9 is the rotating axis synchronous belt.

[0026] Figure 6 This is a schematic diagram of the structure of the flip module 3. Among them, 3.1 is the flip disk, 3.2 is the turntable shaft, 3.3 is the outer spherical ball bearing, 3.4 is the flip flange, 3.5 is the flip axis driving synchronous pulley, 3.6 is the flip axis driven synchronous pulley, 3.7 is the flip axis synchronous belt, 3.8 is the flip axis servo motor, and 3.9 is the flip axis right-angle reducer.

[0027] Figure 7 This is a schematic diagram of the structure of the lifting module 4. Among them, 4-lifting module, 4.1-fixed column, 4.2-moving column, 4.3-moving plate, 4.4-lifting module, 4.5-guide rail slider, 4.6-lifting axis servo motor, 4.7-lifting axis reducer.

[0028] Figure 8 Schematic diagram of the lower support module 5. (a) shows the clamping mechanism for rotating products, and (b) shows the clamping mechanism for special-shaped products. 5.1 - Support block, 5.2 - Mounting plate, 5.3 - Limit switch, 5.4 - Switch bracket, 5.5 - Support bracket, 5.6 - Support plate, and 5.7 - Locking knob.

[0029] Figure 9 This is a schematic diagram of the structure of the positioner fixture ground rail 6. Among them, 6.1 is the anchor plate, 6.2 is the frame, 6.3 is the expansion bolt, 6.4 is the horizontal axis servo motor, 6.5 is the horizontal axis reducer, 6.6 is the travel switch, and 6.7 is the accordion protective cover. DETAILED DESCRIPTION

[0030] The specific implementation of the present invention is described in detail below in conjunction with the technical solutions and drawings.

[0031] The present invention provides a clamping and turning tool for grinding and polishing complex curved shell parts, such as Figure 1 、 Figure 2As shown in the figure, the tooling consists of a flexible fixture module 1, a rotation module 2, a flip module 3, a lifting module 4, a lower support module 5, and a position-shifting tooling track 6. The flexible fixture module 1 is used to clamp the workpiece, ensuring stable clamping and maintaining surface shape. The rotation module 2 is located at the bottom of the flexible fixture module 1 and is used to drive the rotating product around the vertical axis for grinding and polishing. The flip module 3 is connected to the rotation module 2 and is used to flip the workpiece around the horizontal axis to enter the inner surface grinding and polishing station. The lifting module 4 can drive the flexible fixture module 1, rotation module 2, and flip module 3 to move up and down together to adjust the vertical position of the workpiece. The lower support module 5 is in contact with the lower surface of the workpiece to ensure constant support force and reduce stress deformation. The position-shifting tooling track 6 is located at the bottom of the lifting module 4 and achieves universal clamping and positioning of products of different sizes through horizontal sliding.

[0032] Clamping and turning tooling for rotary products Figure 1 As shown, when clamping the rotating part A, the workpiece is installed on the upper end of the flexible clamp module 1, and the rotating module 2 is fixedly installed on the lower end; the outer sides of the two ends of the rotating module 2 are respectively connected to the flip module 3, and the outer end of the flip module 3 is fixedly connected to the lifting module 4; the bottom of the lifting module 4 and the lower end support module 5 are installed with a displacement tooling ground rail 6.

[0033] Special-shaped product clamping and turning tooling such as Figure 2 As shown, when clamping the special-shaped part B, the rotating module 2 is removed, and the flexible clamp module 1 and the lower end support module 5 that match the clamping of the special-shaped part B are designed. The installation method and functional composition of the remaining flipping module 3, lifting module 4 and the position-changing tooling ground rail 6 are exactly the same as those of the rotary product clamping and flipping and position-changing tooling.

[0034] When clamping rotary products, the flexible fixture module 1 is composed of a double-axis cylinder 1.1, a contoured silicone block 1.2, and a hollow support mold 1.3; when clamping a rotating part A, the double-axis cylinder 1.1 is installed on the hollow support mold 1.3, and the contoured silicone block 1.2 is installed at the front end of the double-axis cylinder 1.1. There are three double-axis cylinders 1.1 in total, and every two double-axis cylinders 1.1 are symmetrically installed on the hollow support mold 1.3 at an angle of 120°; the hollow support mold 1.3 is designed to be tilted inward at an angle of 6° to 10° at the installation position of the double-axis cylinder 1.1 to ensure that the force direction of the double-axis cylinder 1.1 is the contact surface inclined surface of the rotating part A; each model of rotary product corresponds to a hollow support mold 1.3, and the double-axis cylinder 1.1 pushes the contoured silicone block 1.2 to achieve flexible clamping of the rotating part A, such as Figure 3 shown.

[0035] When clamping special-shaped products, the flexible fixture module 1 is composed of a nylon mold 1.4, a nylon clamp 1.5, a mounting block 1.6, a locking nut 1.7, and a special-shaped support mold 1.8; when clamping a special-shaped part B, two sets of nylon mold 1.4, nylon clamp 1.5, mounting block 1.6 and special-shaped support mold 1.8 are provided, which are respectively installed at the clamping positions at both ends of the workpiece; the special-shaped support mold 1.8 is fixedly installed with the flip module 3, the nylon mold 1.4, nylon clamp 1.5 and mounting block 1.6 are installed on the special-shaped support mold 1.8, and the locking nut 1.7 is set on the mounting block 1.6; each model of special-shaped product corresponds to a set of special-shaped support mold 1.8, nylon mold 1.4, nylon clamp 1.5 and mounting block 1.6, and the stable clamping of the special-shaped part B is completed by locking the nylon clamp 1.5 and nylon mold 1.4 at both ends of the workpiece, such as Figure 4 shown.

[0036] The rotating module is composed of a hollow rotating platform 2.1, a rotating wheel sleeve 2.2, a cam bearing follower 2.3, a rotating shaft servo motor 2.4, a rotating shaft reducer 2.5, a motor bracket 2.6, a rotating shaft driving synchronous pulley 2.7, a rotating shaft driven synchronous pulley 2.8, and a rotating shaft synchronous belt 2.9; the outer diameter of the rotating wheel sleeve 2.2 is slightly smaller than the inner diameter of the hollow rotating platform 2.1 to ensure that it can be completely sleeved on the inner side of the hollow rotating platform 2.1; there are six cam bearing followers 2.3, which are evenly installed in a circular array on the upper and lower concave surfaces of the rotating wheel sleeve 2.2, and the stud heads and screw parts of two adjacent cam bearing followers 2.3 face opposite directions, limiting The movement of the rotating wheel sleeve 2.2 in other directions is controlled to ensure that it only performs rotational movement around the vertical axis; the rotating axis active synchronous pulley 2.7 is coaxially connected to the rotating axis reducer 2.5, and the rotating axis driven synchronous pulley 2.8 is set at the lower end of the rotating wheel sleeve 2.2, and the two pulleys are connected by the rotating axis synchronous belt 2.9; the rotating axis servo motor 2.4 and the rotating axis reducer 2.5 are supported by the motor bracket 2.6, and the lower end is connected to the rotating axis active synchronous pulley 2.7, which is driven by the rotating axis servo motor 2.4 to drive the rotating axis active synchronous pulley 2.7, and the rotating axis synchronous belt 2.9 drives the flexible clamp module 1 and the rotating part A to perform rotational movement around the vertical axis, such as Figure 5 shown.

[0037] The flip module is composed of a flip disk 3.1, a turntable shaft 3.2, an outer spherical ball bearing 3.3, a flip flange 3.4, a flip shaft active synchronous pulley 3.5, a flip shaft driven synchronous pulley 3.6, a flip shaft synchronous belt 3.7, a flip shaft servo motor 3.8, and a flip shaft right-angle reducer 3.9; the outer sides of both ends of the hollow rotating platform 2.1 are respectively connected to the flip disk 3.1, the turntable shaft 3.2 and the flip disk 3.1 fit together, and are connected to the inner side of the flip flange 3.4 through the outer spherical ball bearing 3.3; the flip shaft active synchronous pulley 3.5, the flip shaft driven synchronous pulley 3.6, the flip shaft synchronous belt 3.7, the flip shaft servo motor 3.8, and the flip shaft right-angle reducer 3.9; The synchronous pulley 3.5 is connected to the output end of the flip axis right-angle reducer 3.9. The flip axis driven synchronous pulley 3.6 is coaxially connected to the flip disk 3.1. The two pulleys are connected by the flip axis synchronous belt 3.7. The flip axis servo motor 3.8 is connected to the flip axis right-angle reducer 3.9 and is fixedly installed on the outside of the flip flange 3.4. The flip axis servo motor 3.8 drives the turntable shaft 3.2 and the flip disk 3.1 to rotate, thereby driving the flexible clamp module 1, the rotation module 2 and the workpiece to perform flipping motion around the horizontal axis. Figure 6 As shown. The synchronous belt drive on the flip module 3 positions the flip axis at the horizontal center of the width of the shifting fixture rail 6. This prevents a shift in center of gravity from creating a tipping moment on the fixed column 4.1, the movable column 4.2, the lower support module 5, and the shifting fixture rail 6, potentially damaging components on these modules. The flip axis's driving and driven synchronous pulleys 3.5 and 3.6 are identical models and have no deceleration effect; they only serve to change the position of the output shaft.

[0038] The lifting module is composed of a fixed column 4.1, a mobile column 4.2, a mobile plate 4.3, a lifting module 4.4, a guide rail slider 4.5, a lifting shaft servo motor 4.6, and a lifting shaft reducer 4.7; the lower end of the fixed column 4.1 is directly fixedly installed on the position-changing tooling ground rail 6, and the lower end of the mobile column 4.2 is installed with a mobile plate 4.3, which drives the mobile column 4.2 to slide horizontally on the position-changing tooling ground rail 6; one fixed column 4.1 is provided, and two mobile columns 4.2 and two mobile plates 4.3 are provided, wherein both sides of the middle mobile column 4.2 are fixed. Install the lifting module 4.4, and connect the flip flange 3.4 with the guide rail slider 4.5. Set two sets of flexible clamp modules 1 and rotation module 2 between the three columns to realize the parallel clamping of two rotary products. The lifting axis servo motor 4.6 is coaxially connected with the lifting axis reducer 4.7 and is jointly arranged at the top of the lifting module 4.4. The lifting axis servo motor 4.6 drives the guide rail slider 4.5 on the lifting module 4.4 to move up and down, thereby driving the flip module 3, rotation module 2, flexible clamp module 1 and the workpiece to complete the lifting and lowering action of the vertical axis. Figure 7 shown.

[0039] The lower end support module 5 is composed of a support block 5.1, a mounting plate 5.2, a limit switch 5.3, a switch bracket 5.4, a support bracket 5.5, a support plate 5.6, and a locking knob 5.7; the support block 5.1 is set on the mounting plate 5.2, the upper surface of the support block 5.1 is tightly fitted with the lower surface of the workpiece, and the surface shape of the support block 5.1 is designed according to the internal and external surfaces of the product. Each model of product is equipped with a support block 5.1; when clamping the special-shaped part B, two limit switches 5.3 embedded in the support block 5.1 are set to ensure that the internal and external surfaces of the special-shaped part B are stably fitted with the surface of the support block 5.1 ; Rotary products only need lower end support when the top end faces downward after flipping. When clamping the rotating part A, a limit switch 5.3 is embedded in the support block 5.1 to ensure stable support during the grinding and polishing of the inner surface of the rotating part A. The upper end of the support bracket 5.5 is connected to the mounting plate 5.2 and the support block 5.1, and the lower end is installed with the support plate 5.6. The support plate 5.6 can drive the lower end support module 5 to move horizontally as a whole. When it moves to the center position of the bottom of the workpiece, the locking knob 5.7 is locked. The lifting module 4 lowers the workpiece until it touches the limit switch 5.3 and stops, ensuring stable support force without crushing the workpiece. When clamping rotary products, the lower end support module is as follows Figure 8 As shown in a), when clamping special-shaped products, the lower end support module is as follows Figure 8 b).

[0040] The position-shifting fixture floor rail 6 is composed of a foundation plate 6.1, a frame 6.2, an expansion bolt 6.3, a horizontal axis servo motor 6.4, a horizontal axis reducer 6.5, a travel switch 6.6, and an organ protective cover 6.7; the foundation plate 6.1 is arranged at the lower end of the frame 6.2 and is fixed to the ground with an expansion bolt 6.3; the horizontal axis servo motor 6.4 and the horizontal axis reducer 6.5 are installed on the mobile plate 4.3, and the travel switch 6.6 is arranged at the end position of the frame 6.2; the organ protective cover 6.7 is installed at the upper end of the frame 6.2 and is contactlessly connected to the frame 6.2. The movable column 4.2 slides horizontally on the position-shifting fixture floor rail 6 to achieve versatility in clamping and flipping and shifting of different models of products. The structure of the position-shifting fixture floor rail is as follows Figure 9 shown.

[0041] A clamping and turning tooling design method for the grinding and polishing of complex curved shell parts was developed. This design method first addresses the structural characteristics of rotary products and designs a vertical clamping method using dual-axis cylinders to push contoured silicone blocks. When a flexible fixture module 1 is used to clamp a rotating part A, three dual-axis cylinders 1.1 are installed, with each pair symmetrically mounted at a 120° angle on a hollow support mold 1.3. The hollow support mold 1.3 is tilted inward at a 6°-10° angle at the mounting location of the dual-axis cylinders 1.1, ensuring that the force applied by the dual-axis cylinders 1.1 is directed toward the inclined contact surface of the rotating part A. Each model of rotary product corresponds to a corresponding hollow support mold 1.3.

[0042] At the same time, a flexible clamping method was designed to address the structural characteristics of irregular-shaped products, integrating nylon fixtures and nylon molds. When using flexible fixture module 1 to clamp a irregular-shaped part B, two sets of nylon mold 1.4, nylon fixture 1.5, mounting block 1.6, and irregular-shaped support mold 1.8 are installed at the clamping locations at both ends of irregular-shaped part B. A lower-end support module 5 is also designed, with the surface shape of support block 5.1 contoured to the product's internal and external surfaces. Flexible EVA plastic or other soft materials are used to ensure a close fit between the upper surface of support block 5.1 and the lower surface of the workpiece, ensuring stable clamping of irregular-shaped part B. Each model of irregular-shaped product corresponds to two sets of irregular-shaped support mold 1.8, nylon mold 1.4, nylon fixture 1.5, and mounting block 1.6. High-precision servo motors control the movement of each axis of the positioner, enabling fully closed-loop automatic control of the positioner.

[0043] When processing rotary products or special-shaped products, the specific steps of the tooling processing are as follows:

[0044] (1) When processing rotary products:

[0045] The first step is workpiece clamping:

[0046] When clamping rotating parts, first install the rotating module and hollow support mold, then install the dual-axis cylinder on the three outer ring edges of the hollow support mold respectively, then place the workpiece in the center of the hollow support mold, and finally use the dual-axis cylinder to push the contoured silicone block to achieve flexible clamping of the rotating part.

[0047] The second step is workpiece rotation:

[0048] When the rotating part rotates, the dual-axis cylinder first pushes the contoured silicone block to continuously apply clamping force to the workpiece. Then the rotating axis servo motor starts working, and the output power is transmitted to the rotating axis active synchronous pulley through the rotating axis reducer. Then, the flexible clamp module connected to the runner sleeve is driven by the synchronous belt to rotate around the vertical axis together with the rotating part. After rotating 180°, the movement stops, thus completing the rotation.

[0049] The third step is to flip the workpiece:

[0050] When a rotating part is flipped, the flexible fixture module first clamps the workpiece to keep it stationary. The flip axis servo motor starts, and the output power is transmitted to the flip axis active synchronous pulley through the flip axis right-angle reducer. The power is then transmitted to the turntable shaft and the flip disk through the flip axis synchronous belt. The flip disk drives the workpiece to flip around the horizontal axis and stops after flipping 180 degrees. The flip is complete.

[0051] Step 4: Workpiece lifting:

[0052] When the rotating part is lifted or lowered, the flexible clamp module first clamps the workpiece, and the two lifting axis servo motors respectively drive the guide rail sliders on the two lifting modules inside the column to move up and down synchronously. The two guide rail sliders are respectively fixedly connected to the flip flange, thereby completing the lifting movement of the workpiece in the vertical axis direction;

[0053] Step 5: Fit the workpiece to the lower support:

[0054] When the rotating part is in contact with the lower support, the flexible clamp module first continuously applies clamping force to the workpiece, and the support plate moves horizontally to ensure that the lower support module is located in the center of the two columns. Then, the lifting module lowers the workpiece to the contact support block. When the top of the lower surface of the workpiece touches the limit switch, the workpiece stops descending, thus completing the stable support of the lower end of the workpiece.

[0055] Step 6: After the workpiece is polished, restore the workstation:

[0056] After the grinding and polishing of the rotating parts are completed, the workpiece is first disassembled, the dual-axis cylinder, the contoured silicone block and the hollow support mold are removed, and then the flip module is rotated 180° to the position where the workpiece outer surface faces upward. Then the rotation module and flip module are adjusted to a safe height and wait for the clamping and processing of the next rotary product.

[0057] (2) When processing special-shaped products:

[0058] The first step is clamping of special-shaped parts:

[0059] When clamping special-shaped parts, first remove the dual-axis cylinder, contoured silicone block, hollow support mold, and rotating module used for processing rotary products; turn on the horizontal axis servo motor to control the two movable columns connected to the lifting module and the flip module to move horizontally outward, leaving an effective installation length for the special-shaped part and then stop the movement. Then place the special-shaped part on the special-shaped support mold, install the nylon mold and nylon clamp at the clamping parts at both ends of the workpiece, and finally tighten the locking nuts on the outside of the two ends of the mounting block to achieve flexible clamping of the special-shaped part.

[0060] The second step of workpiece flipping, the third step of workpiece lifting, and the fourth step of workpiece fitting the lower end support are respectively the same as the third step of workpiece flipping, the fourth step of workpiece lifting, and the fifth step of workpiece fitting the lower end support when processing rotary products.

[0061] Step 5: After the workpiece is polished, restore the workstation:

[0062] After the grinding and polishing of the special-shaped parts are completed, the workpiece is first disassembled, and then the nylon mold, nylon fixture and special-shaped support mold are disassembled. The flip module is flipped 180° to the position where the workpiece outer surface faces upward, and then the flip module and movable column are adjusted to a safe position, waiting for the clamping and processing of the next special-shaped product.

[0063] The present invention provides a clamping and flipping tooling and design method for the grinding and polishing of complex curved shell parts. This tooling achieves stable clamping, rotation, flipping, and lifting functions for different types of rotary and special-shaped products. Flexible clamping schemes adapted to rotary and special-shaped products are designed, significantly improving product clamping efficiency and reliability, effectively reducing surface damage and deformation, and simplifying the operational procedures for product clamping, rotation, flipping, and lifting. The entire tooling has a simple structure and is easy to debug. It uses high-precision servo motors to drive and control the movement of each axis, achieving fully closed-loop automatic control. After clamping, workpiece rotation, flipping, and lifting require no human intervention, playing an important role in improving the automation level of clamping and flipping tooling for complex curved shell parts.

Claims

1. A clamping and turning tool for grinding and polishing complex curved shell parts, characterized in that: The tooling consists of a flexible fixture module (1), a rotation module (2), a flip module (3), a lifting module (4), a lower end support module (5), and a position-shifting tooling ground rail (6); The flexible fixture module (1) is composed of a biaxial cylinder (1.1), a profiled silicone block (1.2), a hollow support mold (1.3), a nylon mold (1.4), a nylon fixture (1.5), a mounting block (1.6), a locking nut (1.7), and a special-shaped support mold (1.8); the biaxial cylinder (1.1) is mounted on the hollow support mold (1.3), the profiled silicone block (1.2) is mounted at the front end of the biaxial cylinder (1.1), and the biaxial cylinder (1.1) pushes the profiled silicone block (1.2) to achieve flexible clamping of the rotating part (A); the nylon mold (1.4), the nylon fixture (1.5), and the mounting block (1.6) are mounted on the special-shaped support mold (1.8); The locking nut (1.7) is mounted on the mounting block (1.6), and the special-shaped part (B) is stably clamped by locking the nylon clamp (1.5) and the nylon mold (1.4); The rotating module (2) is composed of a hollow rotating platform (2.1), a rotating wheel sleeve (2.2), a cam bearing follower (2.3), a rotating shaft servo motor (2.4), a rotating shaft reducer (2.5), a motor bracket (2.6), a rotating shaft driving synchronous pulley (2.7), a rotating shaft driven synchronous pulley (2.8), and a rotating shaft synchronous belt (2.9); the rotating wheel sleeve (2.2) is sleeved on the inner side of the hollow rotating platform (2.1), and the cam bearing follower (2.3) is installed on the upper and lower concave surfaces of the rotating wheel sleeve (2.2); the rotating shaft driving synchronous pulley (2.7) is connected to the rotating shaft reducer (2.5), and the rotating shaft driven synchronous pulley (2.9) is connected to the rotating shaft reducer (2.5). (2.8) is installed at the lower end of the rotating wheel sleeve (2.2) and is connected to the two pulleys through the rotating shaft synchronous belt (2.9); the rotating shaft servo motor (2.4) and the rotating shaft reducer (2.5) are supported by the motor bracket (2.6), and the lower end is connected to the rotating shaft active synchronous pulley (2.7); six cam bearing followers (2.3) are provided in a single rotating module (2), and every two cam bearing followers (2.3) are symmetrically installed at the upper and lower concave surfaces of the rotating wheel sleeve (2.2) at an angle of 60 degrees, and the stud heads and screw parts of two adjacent cam bearing followers (2.3) face opposite directions, so as to ensure that the rotating wheel sleeve (2.2) only performs rotational movement around the vertical axis; The flip module (3) is composed of a flip disk (3.1), a turntable shaft (3.2), an outer spherical ball bearing (3.3), a flip flange (3.4), a flip shaft driving synchronous pulley (3.5), a flip shaft driven synchronous pulley (3.6), a flip shaft synchronous belt (3.7), a flip shaft servo motor (3.8), and a flip shaft right-angle reducer (3.9); the flip disk (3.1) is connected to the outside of the hollow rotating platform (2.1), the turntable shaft (3.2) is connected to the flip disk (3.1), The turning shaft is coaxially connected and connected to the inner side of the turning flange (3.4) through an outer spherical ball bearing (3.3); the turning shaft driving synchronous pulley (3.5) is installed at the output end of the turning shaft right-angle reducer (3.9); the turning shaft driven synchronous pulley (3.6) is coaxially connected to the turning disc (3.1), and drives the two pulleys to rotate through the turning shaft synchronous belt (3.7); the turning shaft servo motor (3.8) is connected to the turning shaft right-angle reducer (3.9) and then installed on the outer side of the turning flange (3.4); The lifting module (4) is composed of a fixed column (4.1), a movable column (4.2), a movable plate (4.3), a lifting module (4.4), a guide rail slider (4.5), a lifting axis servo motor (4.6), and a lifting axis reducer (4.7); the lower end of the fixed column (4.1) is fixedly connected to the position-changing tooling ground rail (6); the movable plate (4.3) is installed at the lower end of the movable column (4.2); the movable column (4.2) is driven by the movable plate (4.3) to slide horizontally on the position-changing tooling ground rail (6); the lifting module (4.4) is respectively installed on the inner side of the fixed column (4.1) and the movable column (4.2); the lifting module (4.4) is embedded in the inner side of the guide rail slider (4.5), and the outer side thereof is fixedly connected to the lifting module (4.4). The turning flange (3.4) is connected and slides on the lifting module (4.4) via a guide rail slider (4.5) to achieve the up and down position adjustment of the workpiece; the lifting axis servo motor (4.6) is coaxially connected to the lifting axis reducer (4.7) and is installed on the top of the lifting module (4.4); one fixed column (4.1) is provided in the lifting module (4), and two movable columns (4.2) and two movable plates (4.3) are provided respectively; wherein, the lifting module (4.4) and the turning flange (3.4) are installed on both sides of the middle movable column (4.2), and two sets of rotating modules (2) and flexible clamping modules (1) are installed between the three columns respectively, so as to synchronously achieve the parallel clamping and automatic grinding and polishing of the two rotating parts (A); The lower end support module (5) is composed of a support block (5.1), a mounting plate (5.2), a limit switch (5.3), a switch bracket (5.4), a support bracket (5.5), a support plate (5.6), and a locking knob (5.7); the support block (5.1) is mounted on the mounting plate (5.2), and the upper surface of the support block (5.1) is tightly fitted with the lower surface of the workpiece; the limit switch (5.3) is embedded in the support block (5.1) through the switch bracket (5.4); the upper end of the support bracket (5.5) is connected to the mounting plate (5.2) and the support block (5.1), and the lower end of the support bracket (5.5) is mounted with a support plate (5.6), and the support plate (5.6) is moved horizontally. The locking knob (5.7) is locked to ensure that the lower end support module (5) is located at the center of the bottom of the workpiece; the surface shape of the support block (5.1) is designed according to the internal and external surfaces of the product, and each model of product is equipped with a support block (5.1), wherein two limit switches (5.3) are embedded in the support block (5.1) when clamping the special-shaped part (B) to ensure that the internal and external surfaces of the special-shaped part (B) and the surface of the support block (5.1) are stably fitted; the rotating part (A) needs lower end support only when the top end faces downward after turning over, and a limit switch (5.3) is embedded in the support block (5.1) when clamping the rotating part (A) to ensure stable support of the internal surface of the rotating part (A) during grinding and polishing; The displacement tooling ground rail (6) is composed of a foundation plate (6.1), a frame (6.2), expansion bolts (6.3), a horizontal axis servo motor (6.4), a horizontal axis reducer (6.5), a travel switch (6.6), and an organ protective cover (6.7); the foundation plate (6.1) is arranged at the lower end of the frame (6.2) and is fixed to the ground using expansion bolts (6.3); the horizontal axis servo motor (6.4) and the horizontal axis reducer (6.5) are connected and then installed on the movable plate (4.3); the travel switch (6.6) is installed at the end position of the frame (6.2); and the organ protective cover (6.7) is installed on the upper end surface of the frame (6.2).

2. A clamping and turning tooling design method for grinding and polishing complex curved shell parts, characterized by: The design method firstly designs a vertical clamping method in which a double-axis cylinder (1.1) pushes a contoured silicone block (1.2) based on the structural characteristics of rotary products; when a flexible clamp module (1) is used to clamp a rotary part (A), three double-axis cylinders (1.1) are provided, and every two double-axis cylinders (1.1) are symmetrically installed on a hollow support mold (1.3) at an angle of 120 degrees. The hollow support mold (1.3) is designed to be tilted inward at an angle of 6° to 10° at the installation position of the double-axis cylinder (1.1) to ensure that the force applied by the double-axis cylinder (1.1) is directed to the inclined surface of the contact surface of the rotating part (A). Each type of rotary product corresponds to a hollow support mold (1.3); At the same time, in view of the structural characteristics of special-shaped products, a flexible clamping method is designed in which a nylon fixture (1.5) and a nylon mold (1.4) cooperate with each other. When a special-shaped part (B) is clamped by a flexible fixture module (1), two sets of nylon mold (1.4), nylon fixture (1.5), mounting block (1.6) and special-shaped support mold (1.8) are provided, and are respectively installed at the clamping positions at both ends of the special-shaped part (B); and a lower end support module (5) is designed. The surface shape of the support block (5.1) is designed according to the internal and external surfaces of the product. The material of the support block (5.1) is selected from flexible EVA plastic or other soft materials to ensure that the upper surface of the support block (5.1) is closely fitted with the lower surface of the workpiece, thereby achieving stable clamping of the special-shaped part (B); each type of special-shaped product corresponds to two sets of special-shaped support molds (1.8), nylon molds (1.4), nylon fixtures (1.5) and mounting blocks (1.6); The movement of each axis of the positioner is controlled by a high-precision servo motor, realizing full closed-loop automatic control of the positioner.

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