A clamping and rotating device for shearing vertical titanium sponge and a control system and method thereof

Abstract

This invention relates to the technical field of metal smelting, and more particularly to a clamping and rotating device, control system, and method for shearing vertical sponge titanium. The sponge titanium rotating device includes a support base assembly, a cylinder guide rod assembly, an Fy-direction cylinder assembly, and an Fx-direction cylinder assembly symmetrically fixed on both sides of a hydraulic press body. The fixing direction of the y-direction cylinder assembly is perpendicular to the fixing direction of the Fx-direction cylinder assembly. The control system includes hydraulic synchronization valve A and hydraulic synchronization valve B, a power supply and communication module, a PLC control system, an industrial computer, the Fy-direction cylinder assembly, the Fx-direction cylinder assembly, displacement sensor A, and displacement sensor B. The industrial computer establishes a signal connection and interacts with the PLC control system through the power supply and communication module. By controlling the sponge titanium rotating device through the control system, the beneficial effect of rapidly obtaining high-quality sponge titanium with high titanium content inside the titanium agglomerate is achieved.

Description

Technical Field

[0001] This invention relates to the technical field of metal smelting technology, and more particularly to a clamping and rotating device for shearing vertical sponge titanium, as well as its control system and method. Background Technology

[0002] The overall shape of the titanium sponge agglomerate is an irregular columnar shape, with a diameter of approximately two meters. After casting, the titanium sponge agglomerate needs to undergo steps such as slicing, crushing, mixing, screening, and sorting to obtain titanium sponge particles. Application number: CN202310608676.8, invention titled "A Multifunctional Shearing Press and Shearing Method for Shearing Titanium Sponge," discloses that the pushing device in the multifunctional shearing press can push titanium sponge ingots of different sizes into the titanium sponge shearing mechanism for slicing, and then the receiving device transports titanium sponge blocks that meet the crushing size to the transfer boxes on both sides. This achieves the beneficial effects of realizing the entire process of pushing, feeding, shearing, sorting, and loading on a single shearing press, greatly improving production efficiency and automation. However, due to the significant difference in titanium content between the surface and interior of the titanium bulge, with the outer layer having lower purity and poorer quality, while the interior has higher titanium content and superior quality, it is difficult to obtain titanium bulges with a high internal titanium content using this method. To address these technical shortcomings, this invention provides a clamping and rotating device, control system, and method for shearing vertical sponge titanium. First, the titanium bulge is placed horizontally by a shearing mechanism to flatten its end face. Then, the titanium bulge is placed vertically for shearing. After each shearing, the titanium bulge is rotated by a sponge titanium rotating device at a certain angle, and then the slicing is repeated until the surface layer of the sponge titanium bulge is completely removed. This achieves the beneficial effect of quickly obtaining sponge titanium bulges with a high internal titanium content and superior quality. Summary of the Invention

[0003] The purpose of this invention is to solve the problems existing in the prior art, and to propose a clamping and rotating device, control system and method for shearing vertical sponge titanium.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A clamping and rotating device for shearing vertical titanium sponge includes a titanium sponge shearing device mounted on a hydraulic press. The shearing device includes an upper crossbeam, a shearing cylinder, a pressing cylinder, a cutter slider, and a pressing crossbeam. The shearing cylinder and the pressing cylinder pass through the upper crossbeam and are fixedly connected to the cutter slider and the pressing crossbeam located below the upper crossbeam, respectively. The cutter slider is equipped with a cutting blade. The shearing cylinder includes a first shearing cylinder and a second shearing cylinder located on opposite sides of the pressing cylinder. The lower end of the first shearing cylinder is connected to one side of the top of the cutter slider; the lower end of the second shearing cylinder is connected to the other side of the top of the cutter slider. A titanium sponge rotating device is located below the cutter slider. The rotating device includes a support base assembly, a cylinder guide rod assembly, an Fy-direction cylinder assembly, and an Fx-direction cylinder assembly symmetrically fixed on both sides of the hydraulic press body. The fixing direction of the Fy-direction cylinder assembly is perpendicular to the fixing direction of the Fx-direction cylinder assembly.

[0006] Furthermore, the hydraulic cylinder guide rod assembly and the Fy hydraulic cylinder assembly are fixed in the support base assembly. The support base assembly includes support base assembly one and support base assembly two with the same structure and size. Both support base assembly one and support base assembly two include two support bases distributed vertically and vertically. The support bases are respectively fixed in front of and behind the two side beams of the hydraulic machine body.

[0007] Furthermore, the hydraulic cylinder guide rod assembly includes hydraulic cylinder guide rod assembly one and hydraulic cylinder guide rod assembly two with the same structure and size; both hydraulic cylinder guide rod assembly one and hydraulic cylinder guide rod assembly two include two hydraulic cylinder guide rods distributed vertically and vertically; the Fy direction hydraulic cylinder assembly includes Fy direction hydraulic cylinder one and Fy direction hydraulic cylinder two with the same structure and size.

[0008] Furthermore, the two hydraulic cylinder guide rods are respectively fixed in the corresponding upper and lower support seats, and a support seat connecting plate is provided between the corresponding upper and lower support seats. The Fy direction hydraulic cylinder one and the Fy direction hydraulic cylinder two are fixed on the support seat connecting plate.

[0009] Furthermore, the front ends of the hydraulic cylinder guide rod, Fy direction hydraulic cylinder one, and Fy direction hydraulic cylinder two are fixed with a connecting plate one and a clamp or chuck mounting plate; the Fx direction hydraulic cylinder assembly is fixed in the space formed by the connecting plate one and the clamp or chuck mounting plate; clamps or chucks are fixed on the clamp or chuck mounting plate for clamping or holding the vertical sponge titanium block.

[0010] A control system for a clamping and rotating device includes a clamping and rotating device for controlling the shearing of vertical sponge titanium as described above, comprising a hydraulic synchronizing valve A, a hydraulic synchronizing valve B, a power supply and communication module, a PLC control system, an industrial computer, an Fy direction cylinder assembly, an Fx direction cylinder assembly, a displacement sensor A, and a displacement sensor B; the industrial computer establishes a signal connection with the PLC control system through the power supply and communication module and interacts with it.

[0011] Furthermore, the hydraulic synchronizing valve A establishes an electromagnetic induction connection with the displacement sensor A through a power supply and communication module; the hydraulic synchronizing valve B establishes an electromagnetic induction connection with the displacement sensor B through a power supply and communication module.

[0012] Furthermore, displacement sensor A is connected to the PLC control system via a power supply and communication module to detect the hydraulic cylinder assembly in the Fy direction; displacement sensor B is connected to the PLC control system via a power supply and communication module to detect the hydraulic cylinder assembly in the Fx direction.

[0013] A control method for a clamping and rotating device control system includes placing a vertical sponge titanium agglomerate at the cutting position using the clamping and rotating device control system described in any one of the above-mentioned methods. A pressure cylinder pushes a pressure beam to press the vertical sponge titanium agglomerate in place. Shearing cylinders one and two push a cutting slider to shear the sponge titanium agglomerate. During each shearing operation, the method further includes a method for controlling the vertical sponge titanium agglomerate to rotate according to the clamping and rotating device control system. The method includes the following steps:

[0014] S1: The PLC control system controls the Fy direction hydraulic cylinder assembly and the Fx direction hydraulic cylinder assembly to simultaneously push the gripper or chuck to apply force to the vertical sponge titanium block;

[0015] S2: Based on step S1, when the Fy direction hydraulic cylinder assembly pushes the gripper or chuck, the gripper or chuck applies pressure to the sponge titanium agglomerate; when the Fx direction hydraulic cylinder assembly pushes the gripper or chuck, the gripper or chuck moves in the horizontal direction and applies a horizontal force to the sponge titanium agglomerate; wherein, the pressure of the Fy direction hydraulic cylinder assembly and the horizontal force of the Fx direction hydraulic cylinder assembly form a vertical angle;

[0016] S3: Based on step S2, when the Fy direction cylinder assembly and the Fx direction cylinder assembly move synchronously under the control of the PLC system, during the synchronous movement, when the gripper or chuck applies pressure to the sponge titanium block, the sponge titanium block moves forward; at the same time, when the gripper or chuck applies a horizontal force to the sponge titanium block, the sponge titanium block rotates.

[0017] Furthermore, in S1, the process of the PLC control system controlling the Fy direction cylinder assembly includes: First, the hydraulic synchronization valve A establishes an electromagnetic induction connection with the displacement sensor A through the power supply and communication module, and transmits the synchronous motion signal command to the displacement sensor A. After receiving the synchronous motion signal command, the displacement sensor A transmits its signal command to the PLC control system, and the PLC control system detects and controls the stroke of its Fy direction cylinder assembly.

[0018] The process of the PLC control system controlling the Fx direction cylinder assembly includes: the hydraulic synchronization valve B establishes an electromagnetic induction connection with the displacement sensor B through the power supply and communication module, and transmits the synchronous motion signal command to the displacement sensor B. After receiving the synchronous motion signal command, the displacement sensor A transmits its signal command to the PLC control system, and the PLC control system detects and controls the stroke of its Fx direction cylinder assembly.

[0019] In S3, during synchronous operation, a pressure sensor A is also provided between the hydraulic synchronization valve A and the displacement sensor A to control the pressure of the Fy direction cylinder assembly on the sponge titanium block, and a pressure sensor B is also provided between the hydraulic synchronization valve B and the displacement sensor B to control the horizontal movement force of the Fx direction cylinder assembly on the sponge titanium block.

[0020] Compared with existing technologies, the advantages of this invention are:

[0021] This invention provides a clamping and rotating device, control system, and method for shearing vertical titanium sponge. The titanium blob is placed horizontally by a shearing mechanism to flatten its end face. Then, the titanium blob is placed vertically for shearing. After each shearing, the titanium sponge is rotated by a certain angle using a titanium sponge rotating device. The process continues until the surface layer is completely removed, achieving the beneficial effect of quickly obtaining high-quality titanium sponge with a high titanium content inside the titanium blob. Attached Figure Description

[0022] Figure 1 This is a perspective view of the application state of a clamping and rotating device for shearing vertical sponge titanium in the invention.

[0023] Figure 2 for Figure 1 Rear view;

[0024] Figure 3 This is a partial top view of the titanium sponge rotating device in this invention;

[0025] Figure 4 This is a partial front view of the titanium sponge rotating device in this invention;

[0026] Figure 5 This is a control flowchart of the control system in this invention;

[0027] Figure 6 This is a schematic diagram of the movement of the vertical sponge titanium block in this invention. Figure 1 ;

[0028] Figure 7 This is a schematic diagram of the movement of the vertical sponge titanium block in this invention. Figure 2 ;

[0029] Figure 8 This is a process flow diagram for processing vertical sponge titanium blocks in this invention.

[0030] In the diagram: 1-Hydraulic press; 2-Titanium sponge shearing device; 3-Upper crossbeam; 4-Pressure cylinder; 5-Cutter slider; 6-Pressure beam; 7-Shearing cylinder one; 8-Shearing cylinder two; 9-Titanium sponge rotating device; 10-Support base assembly; 11-Cylinder guide rod assembly; 12-Fy direction cylinder assembly; 13-Fx direction cylinder assembly; 14-Support base connecting plate; 15-Connecting plate one; 16-Gripper or chuck mounting plate; 17-Gripper or chuck; 18-Vertical titanium sponge lump. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1: Please refer to Figures 1-2 A clamping and rotating device for shearing vertical titanium sponge includes a titanium sponge shearing device 2 mounted on a hydraulic press 1. The titanium sponge shearing device 2 includes an upper crossbeam 3, a shearing cylinder, a pressing cylinder 4, a cutting slider 5, and a pressing crossbeam 6. The shearing cylinder and the pressing cylinder 4 are fixed to and pass through the upper crossbeam 3, with the bottom end of the shearing cylinder fixedly connected to the cutting slider 5 located below the upper crossbeam 3. The bottom end of the pressing cylinder 4 is fixedly connected to the pressing crossbeam 6. In this embodiment, the cutting slider... The cutting blade is provided on the 5 for shearing the sponge titanium agglomerate. The shearing cylinder includes a first shearing cylinder 7 and a second shearing cylinder 8, which are located on both sides of the pressing cylinder 4. The lower end of the first shearing cylinder 7 is connected to one side of the top of the cutting cylinder 5; the lower end of the second shearing cylinder 8 is connected to the other side of the top of the cutting cylinder 5. A sponge titanium rotating device is provided below the cutting cylinder 5. In this embodiment, when shearing the vertical sponge titanium agglomerate 18, the sponge titanium rotating device can rotate the vertical sponge titanium agglomerate 18 and then slice it.

[0033] Example 2, based on Example 1 above, please refer to... Figures 3-4In the sponge titanium rotating device 9, there are support base assemblies 10, cylinder guide rod assemblies 11, Fy direction cylinder assemblies 12 and Fx direction cylinder assemblies 13, which are symmetrically fixed on both sides of the hydraulic press body. In this embodiment, the cylinder guide rod assembly 11 and the Fy direction cylinder assembly 12 are fixed in the support base assembly 10. The support base assembly 10 includes support base assembly one and support base assembly two with the same structure and size. Both support base assembly one and support base assembly two include two support bases distributed vertically. The support bases are respectively fixed in front of and behind the two side beams of the hydraulic press body. Support base assembly one includes support base one and support base two; support base assembly two includes support base three and support base four. In this embodiment, the left and right side beams each include four support bases for fixing the Fy direction cylinder assemblies 12 on both sides of the side beam.

[0034] Example 3, based on Example 2 above, includes two cylinder guide rod assemblies 1 and 2 with the same structure and size in the cylinder guide rod assembly 11. Both cylinder guide rod assemblies 1 and 2 include two cylinder guide rods distributed vertically. Cylinder guide rod assembly 1 includes cylinder guide rod 1 and cylinder guide rod 2, and cylinder guide rod assembly 2 includes cylinder guide rod 3 and cylinder guide rod 4. In this example, four cylinder guide rods are fixed to the support base on both the left and right side beams. For details, please refer to... Figures 3-4 In the middle, the first hydraulic cylinder guide rod is fixed on the first support base, the second hydraulic cylinder guide rod is fixed on the second support base, the third hydraulic cylinder guide rod is fixed on the third support base, and the fourth hydraulic cylinder guide rod is fixed on the fourth support base. The first, second, third, and fourth hydraulic cylinder guide rods pass through the first, second, third, and fourth support bases respectively and are then fixed to the connecting plate 15 located on the front side of the first, second, third, and fourth support bases.

[0035] Example 4, continuing from Examples 2 and 3 above, includes two Fy directional cylinders of the same structure and size, Fy directional cylinder one and Fy directional cylinder two, in this example. In this example, Fy directional cylinder one and Fy directional cylinder two are fixed to the support base connecting plate 14, so that the front ends of cylinder guide rod one, cylinder guide rod two, cylinder guide rod three, cylinder guide rod four, Fy directional cylinder one, and Fy directional cylinder two are all fixed to the connecting plate one 15. A gripper or chuck mounting plate 16 is also provided on one side of the front of the connecting plate one 15, forming a space between the connecting plate one 15 and the gripper or chuck mounting plate 16. The Fx directional cylinder assembly 13 from Example 2 is fixed within this space. The Fx directional cylinder assembly 13 includes two cylinders, which are vertically distributed and fixed to the connecting plate one 15. In the space formed by the gripper or chuck mounting plate 16, based on the above embodiment, the direction in which Fy direction cylinder one and Fy direction cylinder two are fixed is perpendicular to the direction of the two cylinders in the Fx direction cylinder assembly; based on the above embodiment, grippers or chucks 17 are fixed on the gripper or chuck mounting plate 16 for gripping or clamping the vertical sponge titanium block 18.

[0036] Example 5, please refer to Figure 5 The control system for a clamping and rotating device includes a clamping and rotating device for controlling the shearing of vertical sponge titanium as described above. The control system includes hydraulic synchronization valve A and hydraulic synchronization valve B. Hydraulic synchronization valve A ensures synchronous movement of the Fy-direction cylinder; hydraulic synchronization valve B ensures synchronous movement of the Fx-direction cylinder. It also includes a power supply and communication module to provide power and signal transmission to the control system during the control process. Furthermore, it includes a PLC control system, which can be independently installed in the device or separately installed in an electrical control cabinet. The PLC control system is used to control the clamping and rotating device of the vertical sponge titanium. It also includes an industrial computer, Fy-direction cylinder assembly 12, Fx-direction cylinder assembly 13, displacement sensor A, and displacement sensor B. The industrial computer establishes a signal connection with the PLC control system through the power supply and communication module and interacts with it, enabling remote viewing or operation of the control system in this embodiment.

[0037] Example 6: Based on the above examples, please continue to refer to... Figure 5 In this system, hydraulic synchronizing valve A establishes an electromagnetic induction connection with displacement sensor A through a power supply and communication module; hydraulic synchronizing valve B establishes an electromagnetic induction connection with displacement sensor B through a power supply and communication module; displacement sensor A is connected to the PLC control system through a power supply and communication module to detect the Fy direction cylinder assembly 12; displacement sensor B is connected to the PLC control system through a power supply and communication module to detect the Fx direction cylinder assembly 13.

[0038] Example 7, based on Example 6 above, provides a control method for a clamping and rotating device control system, including its use in a control system for a clamping and rotating device as described above. Please refer to... Figure 8 First, the bottom of the horizontal sponge titanium is flattened by the cutting slider 5 driven by shearing cylinder 7 and shearing cylinder 8. Then, the sponge titanium 18 is placed upright on the cutting position. The pressing beam 6 is pushed by the pressing cylinder 4 to press the vertical sponge titanium 18 down. Then, the cutting slider 5 is driven by shearing cylinder 7 and shearing cylinder 8 to cut the sponge titanium 18. During the cutting process, the vertical sponge titanium 17 is rotated by the control system of the clamping and rotating device after each cut. After rotation, the edge is cut again until the inner core size of the titanium 17 is reached. The rotation method includes the following steps, please refer to Figure 5 Combination Figures 6-7 middle:

[0039] 1: The PLC control system controls the Fy direction hydraulic cylinder assembly 12 and the Fx direction hydraulic cylinder assembly 13 respectively to simultaneously push the gripper or chuck 16 to apply force to the vertical sponge titanium block 18;

[0040] 2: Based on step 1, when the Fy direction hydraulic cylinder assembly 12 pushes the gripper or chuck 17, the gripper or chuck 17 applies a forward pressure to the sponge titanium block 18; when the Fx direction hydraulic cylinder assembly 13 pushes the gripper or chuck 17, the gripper or chuck 17 moves in the horizontal direction and applies a horizontal force to the sponge titanium block 18; wherein, the pressure of the Fy direction hydraulic cylinder assembly 12 and the horizontal force of the Fx direction hydraulic cylinder assembly 13 form a perpendicular angle;

[0041] 3: Based on step 2, when the Fy direction hydraulic cylinder assembly 12 and the Fx direction hydraulic cylinder assembly 13 move synchronously under the control of the PLC system, during the synchronous movement, when the gripper or chuck 17 applies pressure to the sponge titanium block 18, the sponge titanium block 18 moves forward; at the same time, when the gripper or chuck 17 applies a horizontal force to the sponge titanium block 18, their respective displacements will merge into a curve, causing the sponge titanium block 18 to rotate during the synchronization process.

[0042] Example 8, based on Example 7 above, in step 1, the process of the PLC control system controlling the Fy direction cylinder assembly 12 includes: First, the hydraulic synchronization valve A establishes an electromagnetic induction connection with the displacement sensor A through the power supply and communication module, and transmits the synchronous motion signal command to the displacement sensor A. After receiving the synchronous motion signal command, the displacement sensor A transmits its signal command to the PLC control system. The PLC control system detects and controls the stroke of the Fy direction cylinder assembly 12. In this example, during synchronous operation, a pressure sensor A is also provided between the hydraulic synchronization valve A and the displacement sensor A to control the pressure of the Fy direction cylinder assembly 12 on the sponge titanium block 18.

[0043] Example 9, continuing from Examples 7 and 8, includes the following process in which the PLC control system controls the Fx direction cylinder assembly 13: the hydraulic synchronization valve B establishes an electromagnetic induction connection with the displacement sensor B through a power supply and communication module, and transmits the synchronous motion signal command to the displacement sensor B. After receiving the synchronous motion signal command, the displacement sensor A transmits its signal command to the PLC control system, and the PLC control system detects and controls the stroke of the Fx direction cylinder assembly 13. In this example, a pressure sensor B is also provided between the hydraulic synchronization valve B and the displacement sensor B to control the horizontal movement force of the Fx direction cylinder assembly 13 on the sponge titanium block 18.

[0044] Example 10: Based on Examples 8 and 9 above, please continue to refer to... Figure 6 and Figure 7 It can be seen that when the sponge titanium agglomerate is rotated by external forces in two directions, namely the Fy-direction hydraulic cylinder assembly 12 and the Fx-direction hydraulic cylinder assembly 13, the magnitude of the pushing force of the hydraulic cylinders in the Fy and Fx directions needs to be controlled to a certain extent by the pressure sensor A and pressure sensor B in this embodiment. If the force applied by one side is too large or too small, the sponge titanium agglomerate may not be able to rotate. The magnitude of the force applied by the Fy-direction hydraulic cylinder assembly 12 and the Fx-direction hydraulic cylinder assembly 13 to the sponge titanium agglomerate 18 can be adjusted by the pressure sensor A and pressure sensor B according to actual needs.

[0045] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A clamping and rotating device for shearing vertical sponge titanium, comprising a sponge titanium shearing device (2) mounted on a hydraulic press (1), the sponge titanium shearing device (2) comprising an upper crossbeam (3), a shearing cylinder, a pressing cylinder (4), a cutter slider (5), and a pressing crossbeam (6), the shearing cylinder and the pressing cylinder (4) passing through the upper crossbeam (3) and respectively fixedly connected to the cutter slider (5) and the pressing crossbeam (6) located below the upper crossbeam (3), the cutter slider (5) being provided with a cutting blade, the shearing cylinder comprising a shearing cylinder one (7) and a shearing cylinder two (8) respectively located on both sides of the pressing cylinder (4); the lower end of the shearing cylinder one (7) being connected to one side of the top of the cutter slider (5); the lower end of the shearing cylinder two (8) being connected to the other side of the top of the cutter slider (5), characterized in that: A sponge titanium rotating device (9) is provided below the cutter slider (5); the sponge titanium rotating device (9) includes a support base assembly (10), a cylinder guide rod assembly (11), an Fy direction cylinder assembly (12), and an Fx direction cylinder assembly (13) respectively symmetrically fixed on both sides of the hydraulic body; the fixing direction of the Fy direction cylinder assembly (12) is perpendicular to the fixing direction of the Fx direction cylinder assembly (13); The hydraulic cylinder guide rod assembly (11) and the Fy direction hydraulic cylinder assembly (12) are fixed in the support seat assembly (10). The support seat assembly (10) includes a support seat assembly one and a support seat assembly two with the same structure and size. Both support seat assembly one and support seat assembly two include two support seats that are distributed vertically and vertically. The support seats are respectively fixed in front of and behind the two side beams of the hydraulic press (1). The hydraulic cylinder guide rod assembly (11) includes hydraulic cylinder guide rod assembly one and hydraulic cylinder guide rod assembly two with the same structure and size; both hydraulic cylinder guide rod assembly one and hydraulic cylinder guide rod assembly two include two hydraulic cylinder guide rods distributed vertically and vertically; the Fy direction hydraulic cylinder assembly (12) includes Fy direction hydraulic cylinder one and Fy direction hydraulic cylinder two with the same structure and size. The two hydraulic cylinder guide rods are respectively fixed in the corresponding upper and lower support seats. A support seat connecting plate (14) is provided between the corresponding upper and lower support seats. The Fy direction hydraulic cylinder one and the Fy direction hydraulic cylinder two are fixed on the support seat connecting plate (14). The front ends of the hydraulic cylinder guide rod, Fy direction hydraulic cylinder one and Fy direction hydraulic cylinder two are fixed with a connecting plate one (15) and a gripper mounting plate (16); the Fx direction hydraulic cylinder assembly (13) is fixed in the space formed by the connecting plate one (15) and the gripper mounting plate (16); a gripper (17) is fixed on the gripper mounting plate (16) for clamping or holding the vertical sponge titanium block (18).

2. A control system for a clamping and rotating device, comprising the clamping and rotating device for shearing vertical sponge titanium as described in claim 1, characterized in that: The system includes hydraulic synchronizing valve A, hydraulic synchronizing valve B, a power supply and communication module, a PLC control system, an industrial computer, an Fy directional cylinder assembly (12), an Fx directional cylinder assembly (13), displacement sensor A, and displacement sensor B. The industrial computer establishes a signal connection with the PLC control system through the power supply and communication module and interacts with it. The hydraulic synchronizing valve A establishes an electromagnetic induction connection with the displacement sensor A through the power supply and communication module. The hydraulic synchronizing valve B establishes an electromagnetic induction connection with the displacement sensor B through the power supply and communication module. The displacement sensor A is connected to the PLC control system through the power supply and communication module to detect the Fy directional cylinder assembly (12). The displacement sensor B is connected to the PLC control system through the power supply and communication module to detect the Fx directional cylinder assembly (13).

3. A control method for a clamping and rotating device control system, comprising using the clamping and rotating device control system as described in claim 2, wherein a vertical sponge titanium block (18) is placed at the position to be cut, and the clamping cylinder (4) pushes the clamping beam (6) to press the sponge titanium block (18), and the shearing cylinder one (7) and the shearing cylinder two (8) push the cutter slider (5) to shear the vertical sponge titanium block (18), wherein during each shearing operation, the method further comprises a method of controlling the vertical sponge titanium block (18) to rotate according to the clamping and rotating device control system, characterized in that, The method includes the following steps: S1: The PLC control system controls the Fy direction hydraulic cylinder assembly (12) and the Fx direction hydraulic cylinder assembly (13) to simultaneously push the gripper (17) to apply force to the vertical sponge titanium block (18); S2: Based on step S1, when the Fy direction cylinder assembly (12) pushes the gripper (17), the gripper (17) applies pressure to the vertical sponge titanium block (18); when the Fx direction cylinder assembly (13) pushes the gripper (17), the gripper (17) moves in the horizontal direction and applies a horizontal force to the vertical sponge titanium block (18); wherein, the pressure of the Fy direction cylinder assembly (12) and the horizontal force of the Fx direction cylinder assembly (13) form a vertical angle; S3: Based on step S2, when the Fy direction hydraulic cylinder assembly (12) and the Fx direction hydraulic cylinder assembly (13) The vertical sponge titanium block (18) moves forward when the gripper (17) applies pressure to it. At the same time, the vertical sponge titanium block (18) rotates when the gripper (17) applies a horizontal force to it.

4. The control method of the clamping and rotating device control system according to claim 3, characterized in that: In S1, the process of the PLC control system controlling the Fy direction cylinder assembly (12) includes: First, the hydraulic synchronization valve A establishes an electromagnetic induction connection with the displacement sensor A through the power supply and communication module, and transmits the synchronous motion signal command to the displacement sensor A. After receiving the synchronous motion signal command, the displacement sensor A transmits its signal command to the PLC control system, and the PLC control system detects and controls the stroke of its Fy direction cylinder assembly (12). The process of the PLC control system controlling the Fx direction cylinder assembly (13) includes: the hydraulic synchronization valve B establishes an electromagnetic induction connection with the displacement sensor B through the power supply and communication module, and transmits the synchronous motion signal command to the displacement sensor B. After receiving the synchronous motion signal command, the displacement sensor A transmits its signal command to the PLC control system, and the PLC control system detects and controls the stroke of its Fx direction cylinder assembly (13). In the S3, during the synchronous operation, a pressure sensor A is also provided between the hydraulic synchronization valve A and the displacement sensor A to control the pressure of the Fy direction cylinder assembly (12) on the vertical sponge titanium block (18), and a pressure sensor B is also provided between the hydraulic synchronization valve B and the displacement sensor B to control the horizontal movement force of the Fx direction cylinder assembly (13) on the vertical sponge titanium block (18).

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