A positioning system for machining irregularly shaped aerospace parts and a discrete intelligent production line

Abstract

This invention provides a positioning system and discrete intelligent production line for machining aerospace irregular parts. It addresses the problem of complex and repetitive positioning with poor stability during the current transfer and machining of aerospace irregular parts. The system utilizes a self-positioning device, a clamping device, and a support device to form a follow-up clamping and positioning mechanism for the irregular part housing, reducing complex and repetitive positioning. The support block of the support device can conform to the inner wall of the housing. Piezoelectric plates collect the support force and adjust the thrust of the support block according to the magnitude of the cutting radial force, maintaining stable support of the support block for the housing and meeting production requirements.

Description

Technical Field

[0001] This invention relates to the field of aerospace irregular part processing, specifically to an aerospace irregular part processing positioning system and a discrete intelligent production line. Background Technology

[0002] With the development of lightweight aerospace components, irregularly shaped parts using integrated molding technology have emerged, such as combustion chamber casings and irregularly shaped cockpits. Compared with traditional aerospace components, the processing of irregularly shaped parts mainly faces the following technical challenges: (1) The structural characteristics of irregularly shaped parts are more complex, and traditional positioning and clamping methods cannot be effectively used for them; (2) The process flow of irregularly shaped parts is complex, and production cannot be completed in one processing unit; (3) The materials of irregularly shaped parts are mostly aviation aluminum alloys, and the structures are mostly thin-walled and cavitary, making them easy to deform during processing; (4) The diversification of irregularly shaped parts makes it impossible to achieve flexible production.

[0003] To address the above technical challenges, some related technologies have been disclosed. For example, Chinese patent application CN115945927A discloses a combustion chamber casing machining fixture and clamping method based on floating supports. The top support effectively improves the machining rigidity of the casing, and the floating support method allows the entire fixture to self-adjust. However, this method is only suitable for casings with small size variations. Furthermore, the supporting force of the support device on the casing is not adjustable, and the clamping and positioning of the fixture cannot be automated. Chinese patent (publication number: CN 105817929B) discloses a rotating casing fixture system and its usage method, employing an adsorption clamping method and balancing the cutting force of the tool through suction. However, this method lacks flexibility and cannot adapt to rotating casings of different sizes. Chinese patent (publication number: CN 104801935B) discloses a method for machining irregularly shaped aircraft aluminum alloy cockpits, which includes an irregularly shaped cockpit fixture. However, this fixture lacks flexibility, and excessive clamping force can easily cause deformation of the aluminum alloy.

[0004] In addition, there are various publicly available technologies related to intelligent production lines. Although some solutions can achieve discrete production parameters, their production lines have technical bottlenecks and it is difficult to realize processing and production according to the optimal process route. Their fixtures are still not suitable for processing aerospace irregular parts. Some solutions can achieve flexible clamping and positioning similar to automobile wheel hubs, but their workpiece flow cannot be controlled according to the workpiece system and cannot be used for the diversified and complex processing of aerospace irregular parts. When transferring and processing at multiple workstations, complex and repetitive positioning is required, which affects its production efficiency. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a positioning system for machining aerospace irregular parts and a discrete intelligent production line. The system uses a self-positioning device, a clamping device, and a support device to form a follow-up clamping and positioning for the irregular part housing, reducing complex and repetitive positioning. The support block of the support device can fit against the inner wall of the housing. The support force is collected by a piezoelectric sheet and the thrust of the support block is adjusted according to the magnitude of the cutting radial force to maintain stable support of the support block for the housing and meet production requirements.

[0006] The primary objective of this invention is to provide a positioning system for machining irregularly shaped aerospace parts, employing the following solution:

[0007] include:

[0008] The self-positioning device includes three ball heads connected to the base and arranged around the base axis. The ball heads are respectively connected to the rotating frame via connecting rods. The rotating frame drives the ball heads to move back and forth radially along the base to abut against the inner wall of the casing.

[0009] The clamping device is provided in multiple ways and arranged around the axis of the base. Each clamping device includes a pressure head connected to the opening and closing mechanism and a translation mechanism. The translation mechanism drives the pressure head to move radially along the base and the pressure head can abut against the outer wall of the casing.

[0010] The support device is connected to the base via a lifting device. Multiple support devices are arranged around the axis of the base. Each support device includes an actuating mechanism and a support block. The output end of the actuating mechanism is connected to the support block via a universal joint. Multiple piezoelectric sheets are attached to the side of the support block that is in contact with the inner wall of the casing.

[0011] Furthermore, the base is provided with U-shaped positioning blocks that support the housing. Three U-shaped positioning blocks are evenly arranged around the axis of the base and move upward along the ring. The ball head is located between two U-shaped positioning blocks, and multiple clamping devices are provided between adjacent U-shaped positioning blocks.

[0012] Furthermore, along the radial direction of the base, the self-positioning device is located inside the support device; along the axial direction of the base, the lifting device can drive the support device to reciprocate up and down, and the support device is mounted above the self-positioning device through the lifting device.

[0013] Furthermore, the rotating frame is triangular in shape, with its center rotatably connected to a preset optical axis on the base. A guide seat on the base maintains the direction of ball head movement, and a connecting rod is connected to the corner position of the rotating frame. The rotating frame is connected to a cylinder that drives it to rotate around the optical axis.

[0014] Furthermore, the translation mechanism includes a mounting plate, a ball screw, a slider, and a servo motor. The slider is mounted on the ball screw, and the output end of the servo motor is connected to the screw. The screw is rotatably mounted on the mounting plate so as to drive the slider to move the pressure head and the opening and closing mechanism through rotation.

[0015] Furthermore, the pressure head is mounted on the slider via a rotating seat, and the opening and closing mechanism is a cylinder, with one end of the cylinder connected to the slider and the other end connected to the pressure head.

[0016] Furthermore, the universal joint is connected to an adjusting hydraulic cylinder that drives its movement to change the orientation of the support block.

[0017] Furthermore, the plurality of piezoelectric sheets are spaced apart on the support block to obtain stress at different contact positions with the casing and adjust the support force to counteract the cutting radial force.

[0018] The second objective of this invention is to provide a positioning system for machining irregularly shaped aerospace parts, which employs the following solution: including:

[0019] The base includes an upper layer and a lower layer arranged at intervals, with a mounting plate located between the upper and lower layers and connected to the bottom surface of the upper layer via a telescopic mechanism;

[0020] The floating mounting plate is trapezoidal, with cylinders spaced along its top edge. The output end of the cylinders is equipped with suction cups that can abut against and adhere to the inner wall of the irregularly shaped cabin. The bottom surface of the floating mounting plate is connected to the mounting plate after passing through the upper layer of the base via a light rod.

[0021] Mounting blocks are arranged between the upper layer of the base and the floating mounting plate, and the mounting blocks are connected to support pins that abut against the irregularly shaped cockpit.

[0022] Furthermore, the support pins are arranged in multiple positions around the floating mounting plate, and the support pins abut against the inner wall of the irregular cabin and provide six-point positioning for the irregular cabin.

[0023] Furthermore, the output end of the cylinder is connected to a suction cup via a ball joint, and the telescopic mechanism drives the floating mounting plate to apply a force perpendicular to the base to the irregularly shaped cabin via the suction cup.

[0024] Furthermore, the telescopic mechanism includes a main cylinder and a telescopic component. The main cylinder connects the upper layer of the base and the mounting plate. The telescopic component is fitted with a spring. The main cylinder and the spring work together to change the distance between the mounting plate and the upper layer to adjust the relative position of the floating mounting plate and the upper layer.

[0025] A third objective of this invention is to provide a discrete intelligent production line that utilizes the aerospace irregular part processing positioning system as described in the first objective.

[0026] It also includes machining centers, with multiple machining centers arranged in a rectangular layout, and an aerospace-grade part machining and positioning system installed in the machining centers;

[0027] The ground-rail robot is installed in the middle of the machining center, and a circular conveyor is installed at one end of the ground-rail robot. A machine vision recognition device is installed at the material level on the circular conveyor. Two unloading conveyors are installed symmetrically at the end of the ground-rail robot's track. A centralized tool changer is located above the machining center area, and a centralized micro-lubrication supply system is connected to each machining center.

[0028] Furthermore, the ground-rail robot is equipped with a buffer platform that moves with it. When the workpiece to be loaded conforms to the processing route and all processing centers are in processing mode, the ground-rail robot will transport the workpiece to the buffer platform for loading.

[0029] Furthermore, the centralized tool changing system includes a three-axis conveying device, a tool changing robot, and a tool head. The tool changing robot is mounted on the support via the three-axis conveying device, and the tool head is mounted on the support via a lifting mechanism to adjust the vertical height of the tool head relative to the support. The end of the tool changing robot is connected to a dual-station tool changing arm to hold the tool to be changed and the replacement tool, respectively.

[0030] Compared with the prior art, the advantages and positive effects of this invention are:

[0031] (1) To address the problem of complex and repetitive positioning and poor positioning stability required during the transfer and processing of aerospace irregular parts, a self-positioning device, a clamping device and a support device are used to form a follow-up clamping and positioning of the irregular part casing, reducing complex and repetitive positioning. The support block of the support device can fit against the inner wall of the casing. The piezoelectric sheet is used to collect the support force and the thrust of the support block is adjusted according to the magnitude of the cutting radial force to maintain the stable support of the support block on the casing and meet the production requirements.

[0032] (2) The discrete intelligent production line includes a circular conveyor, a machine vision recognition system and a universal pallet, realizing the discrete intelligent production of diverse and complex workpieces; it includes a centralized tool changing system to realize the centralized management and replacement of tools; it includes a micro-lubrication centralized supply system to reduce the use of cutting fluid and realize the centralized supply and control of micro-lubricating oil.

[0033] (3) The casing positioning and machining system is highly flexible. The crank-slider mechanism enables self-positioning of workpieces of different diameters, and the displacement device drives the crank-slider mechanism to clamp workpieces of different diameters. The lifting device and hydraulic cylinder drive enable the support device to provide all-round support for the inner surface of the workpiece, which improves the rigidity of the workpiece at a certain height from the positioning reference surface, and realizes the measurement and feedback adjustment of the support force, so that the support force is equal to the radial cutting force.

[0034] (4) The irregular cabin processing system effectively improves the positioning and processing accuracy, and achieves workpiece positioning through the six-point positioning principle. The suction cup driven by the cylinder adsorbs the inner surface of the workpiece, and the floating mounting plate driven by the cylinder generates a frictional force perpendicular to the main positioning surface on the inner surface of the workpiece, thus realizing flexible clamping. Attached Figure Description

[0035] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0036] Figure 1 This is an isometric view of the discrete intelligent production line for aerospace irregular parts in Embodiment 3 of the present invention;

[0037] Figure 2 This is an isometric view of the loading and unloading system of the discrete intelligent production line for aerospace irregular parts in Embodiment 3 of the present invention;

[0038] Figure 3 The operation flow of the discrete intelligent production line for aerospace irregular parts in Embodiment 3 of the present invention;

[0039] Figure 4 This is a top view of the centralized tool changing system in Embodiment 3 of the present invention;

[0040] Figure 5 This is a cross-sectional view of the centralized tool changing system in Embodiment 3 of the present invention;

[0041] Figure 6 This is a partial cross-sectional view of the centralized tool changing system in Embodiment 3 of the present invention;

[0042] Figure 7 This is an isometric view of the tool changer arm in Embodiment 3 of the present invention;

[0043] Figure 8 The operation flow of the centralized tool changing system in Embodiment 3 of the present invention is as follows;

[0044] Figure 9 This is a cross-sectional view of the centralized fuel supply tank in Embodiment 3 of the present invention;

[0045] Figure 10 This is a front view of the micro-lubrication device in Embodiment 3 of the present invention;

[0046] Figure 11 This is the oil and gas circuit diagram of the centralized oil supply system in Embodiment 3 of the present invention;

[0047] Figure 12 These are isometric views of the aerospace irregular part accompanying fixtures in embodiments 1 and 3 of the present invention;

[0048] Figure 13These are cross-sectional views of the aerospace irregular part accompanying fixtures in Embodiments 1 and 3 of the present invention;

[0049] Figure 14 These are isometric views of the aerospace irregular part accompanying fixture base in embodiments 1 and 3 of the present invention;

[0050] Figure 15 These are isometric views of the self-positioning device for the aerospace irregular part accompanying fixture in embodiments 1 and 3 of the present invention;

[0051] Figure 16 These are isometric views of the lifting device for the aerospace irregular part accompanying fixture in embodiments 1 and 3 of the present invention;

[0052] Figure 17 These are isometric views of the aerospace irregular part accompanying fixture clamping device in embodiments 1 and 3 of the present invention;

[0053] Figure 18 These are cross-sectional views of the aerospace irregular part accompanying fixture clamping device in embodiments 1 and 3 of the present invention;

[0054] Figure 19 These are isometric views of the aerospace irregular part accompanying fixture support device in embodiments 1 and 3 of the present invention;

[0055] Figure 20 These are cross-sectional views of the aerospace irregular part accompanying fixture support device in embodiments 1 and 3 of the present invention;

[0056] Figure 21 The following are simplified diagrams of the clamping device mechanism for the aerospace irregular part accompanying fixture in Embodiments 1 and 3 of the present invention;

[0057] Figure 22 These are isometric views of the irregularly shaped cockpit accompanying fixture in embodiments 2 and 3 of the present invention;

[0058] Figure 23 This is a top view of the irregularly shaped cockpit accompanying clamp in embodiments 2 and 3 of the present invention;

[0059] Figure 24 These are cross-sectional views of the irregularly shaped cockpit accompanying fixtures in embodiments 2 and 3 of the present invention.

[0060] Among them, there are machining positioning system I, machining center II, circular conveyor III, ground rail robot IV, unloading conveyor V, machine vision recognition device VI, centralized tool changing system VII, and micro-lubrication centralized supply system VIII.

[0061] Casing IX-1, Universal Tray I-3, Base I-1-1, U-shaped Positioning Block I-1-2, Clamping Device I-1-3, Self-positioning Device I-1-4, Support Device I-1-5, Lifting Device I-1-6; Groove I-1-1-1; Cylinder I-1-4-1, Rotating Frame I-1-4-2, Connector I-1-4-3, Connecting Rod I-1-4-4, Guide Seat I-1-4-5, Ball Head I-1-4-6; Bottom Mounting Platform I-1-6-1, Lifting Platform I-1-6-2, Top Mounting Platform I-1-6-3, Ball Screw I-1-6-4, Servo Motor I-1-6-5, Guide... Rod I-1-6-6; Servo motor I-1-3-1, Mounting plate I-1-3-2, Slider I-1-3-3, Pressure head I-1-3-4, Cylinder I-1-3-5, Ball screw I-1-3-6; Piezoelectric sheet I-1-5-1, Flange I-1-5-2, Top hydraulic cylinder I-1-5-3, Guide seat I-1-5-4, Top rod I-1-5-5, Main hydraulic cylinder I-1-5-6, Servo motor I-1-5-7, Slider I-1-5-8, Ball screw I-1-5-9, Mounting plate I-1-5-10, Side hydraulic cylinder I-1-11, Support block I-1-5-12.

[0062] Irregular cockpit IX-2, irregular cockpit accompanying clamp I-2, universal pallet I-3, base I-2-1, floating mounting plate I-2-2, mounting block I-2-3, support pin I-2-4, cylinder I-2-5, suction cup I-2-6, spring I-2-7, mounting plate I-2-8, main cylinder I-2-9, flange I-2-10, bushing I-2-11.

[0063] Support VII-1, crossbeam mounting plate VII-2, cutter head VII-3, X-axis conveyor VII-4, Y-axis conveyor VII-5, Z-axis conveyor VII-6, tool changer robot VII-7, hydraulic cylinder VII-8, servo motor VII-9, linear guide VII-10, rack VII-11, floating mounting plate VII-12, gear VII-13, rolling bearing VII-14, rack mounting plate VII-15, slider VII-16.

[0064] Box body VIII-1-1, box cover VIII-1-2, solenoid valve VIII-1-3, liquid level controller VIII-1-6, hydraulic oil pump dedicated motor VIII-1-4, hydraulic oil pump VIII-1-5; pneumatic frequency generator VIII-2-2, solenoid valve VIII-2-3, three-way valve VIII-2-4, micro pneumatic pump VIII-2-5, oil cup VIII-2-6, liquid level sensor VIII-2-7, box body VIII-2-8. Detailed Implementation

[0065] Example 1

[0066] In a typical embodiment of the present invention, such as Figures 12-21 As shown, a positioning system for machining aerospace irregular parts is presented.

[0067] To address the problem of complex and repetitive positioning with poor stability during the transfer and machining of irregularly shaped aerospace parts, a positioning system for machining irregularly shaped aerospace parts is provided, particularly for the positioning of casings. A detailed description is provided below with reference to the accompanying drawings.

[0068] like Figure 12 , Figure 13 The image shows a machining and positioning system for an aerospace engine combustion chamber casing. Casing VIII-1 is a typical thin-walled disc-shaped part, which requires one clamping operation to achieve both rough and finish machining of the outer cylindrical end face.

[0069] A machining positioning system for an aerospace engine combustor casing mainly consists of a zero-point positioning system and a casing-following fixture. The zero-point positioning system is installed in machining center II to ensure that the part remains constant relative to the zero point during transportation and is used for clamping the part in the following fixture I-1. A universal pallet ensures that the part transportation and positioning clamping methods are consistent.

[0070] The casing-following fixture includes: a universal tray I-3, a base I-1-1, U-shaped positioning blocks I-1-2, a clamping device I-1-3, a self-positioning device I-1-4, a support device I-1-5, and a lifting device I-1-6. Three U-shaped blocks I-1-2 are circumferentially distributed on the base I-1-1, with the angle between the line connecting any two U-shaped blocks I-1-2 and the center of the base I-1-1 being 120°, thus restricting the workpiece's degrees of freedom. There are nine (but not limited to) clamping devices I-1-3, circumferentially distributed on the base, used to clamp the workpiece. The self-positioning device I-1-4 is located at the center of the base I-1-1, further restricting the workpiece's degrees of freedom. The lifting device I-1-6 is located at the center of the base I-1-1, enabling height adjustment of the support device I-1-5. Support device I-1-5 is installed on the lifting platform of lifting device I-1-6 to increase the rigidity of the workpiece at a certain height above the positioning reference surface and prevent deformation of the workpiece during processing.

[0071] like Figure 14 As shown, the base I-1-1 is generally circular, with mounting holes for fixed connection with the universal tray I-3. A specially shaped groove I-1-1-1 is located in the center of the base I-1-1 for mounting the self-positioning device I-1-4. Multiple clamping device mounting holes are provided on the surface of the base I-1-1.

[0072] like Figure 15As shown, the self-positioning device I-1-4 includes a cylinder I-1-4-1, a rotating frame I-1-4-2, a connecting piece I-1-4-3, a connecting rod I-1-4-4, a guide seat I-1-4-5, and a ball head I-1-4-6. The rotating frame I-1-4-2 can rotate along an optical axis installed at the center of the base I-1-1. The ball head I-1-4-6 is connected to the rotating frame via the connecting rod I-1-4-4 and extends linearly via the guide seat I-1-4-5 installed on the base I-1-1. The cylinder I-1-4-1 is installed in a groove in the base I-1-1, and the piston rod of the cylinder I-1-4-1 is fixedly connected to the ball head I-1-4-6 via the connecting piece I-1-4-3. At this time, cylinder I-1-4-1, ball head I-1-4-6, connecting rod I-1-4-4, and rotating frame I-1-4-2 form a crank-slider mechanism. The extension and retraction of a single ball head I-1-4-6 driven by cylinder I-1-4-1 can realize the synchronous extension and retraction control of the three ball heads I-1-4-6.

[0073] The positioning of the housing-following fixture consists of a U-shaped block I-1-2 and a self-positioning device I-1-4. Specifically, the large-diameter end face of housing V-1 serves as the primary positioning datum. The U-shaped block restricts the workpiece's movement along the Z-axis and its rotation along the X and Y axes. The three ball joints I-1-4-6 of the housing can be equivalent to a short mandrel with adaptively changing diameter, restricting the workpiece's movement along the X and Y axes. Thus, five degrees of freedom of the workpiece are restricted, constraining the positioning method.

[0074] like Figure 16 As shown, the lifting device includes: a bottom mounting platform I-1-6-1, a lifting platform I-1-6-2, a top mounting platform I-1-6-3, a ball screw I-1-6-4, a servo motor I-1-6-5, and a guide rod I-1-6-6. The bottom mounting platform I-1-6-1 is fixedly installed in the groove of the base I-1-1 along the central axis of the base. The top mounting platform I-1-6-3 and the bottom mounting platform I-1-6-1 are fixedly connected by the guide rod I-1-6-6. The servo motor I-1-6-5 is installed on the upper end of the top mounting platform I-1-6-3 to drive the ball screw I-1-6-4 between the bottom mounting platform I-1-6-1 and the top mounting platform I-1-6-3. The lifting platform I-1-6-2 is installed on the slider of the ball screw I-1-6-4 and is linearly guided by the guide rod I-1-6-6, thus moving up and down.

[0075] like Figure 17 , 18As shown, the clamping device I-1-3 includes a servo motor I-1-3-1, a mounting plate I-1-3-2, a slider I-1-3-3, a pressure head I-1-3-4, a cylinder I-1-3-5, and a ball screw I-1-3-6. The servo motor I-1-3-1 and the ball screw I-1-3-6 are mounted on the mounting plate I-1-3-2. The cylinder I-1-3-4 and the pressure head I-1-3-4 are mounted on the slider I-1-3-3 of the ball screw I-1-3-6. The cylinder body of the cylinder I-1-3-4 is connected to the slider I-1-3-3 via a hinge, and the piston rod of the cylinder I-1-3-4 is connected to the pressure head I-1-3-4 via a hinge. Similarly, the pressure head I-1-3-4 is hinged to the slider. Servo motor I-1-3-1 drives ball screw I-1-3-6 to adjust the clamping range of pressure head I-1-3-4 to accommodate workpieces of different diameters.

[0076] like Figure 19 , 20 As shown, the support device I-1-5 includes: a piezoelectric sheet I-1-5-1, a flange I-1-5-2, a top hydraulic cylinder I-1-5-3, a guide seat I-1-5-4, a push rod I-1-5-5, a main hydraulic cylinder I-1-5-6, a servo motor I-1-5-7, a slider I-1-5-8, a ball screw I-1-5-9, a mounting plate I-1-5-10, a side hydraulic cylinder I-1-11, and a support block I-1-5-12. Among these, the mounting plate I-1-5-10, the servo motor I-1-5-7, and the ball screw I-1-5-9 are included. The slider I-1-5-8 is connected in the same way as the clamping device I-1-4. The main hydraulic cylinder I-1-5-6 is fixedly connected to the slider I-1-5-8, and the central axis of the main hydraulic cylinder I-1-5-6 is at a certain angle to the upper surface of the slider. The piston rod of the main hydraulic cylinder I-1-5-6 is fixedly connected to the push rod I-1-5-5, and the guide seat I-1-5-4 causes the push rod I-1-5-5 to move linearly. The push rod I-1-5-6 is hinged to the flange I-1-5-2, and the top hydraulic cylinder I-1-5-3 is mounted on the upper end face of the flange I-1-5-2. The cylinder body of the top hydraulic cylinder I-1-5-3 is hinged to the push rod I-1-5-5, and the piston rod is hinged to the flange I-1-5-2. The flange I-1-5-2 is hinged to the support block I-1-5-12, and the hydraulic cylinder I-1-5-11 is mounted on the side of the flange I-1-5-2. The cylinder body of the hydraulic cylinder I-1-5-11 is hinged to the flange I-1-5-2, and the piston rod is hinged to the support block I-1-5-12.

[0077] Specifically, the support block has four degrees of freedom. The sliding block I-1-5-8 moves according to the cross-sectional radius of the workpiece at a certain height from the positioning reference surface. The main hydraulic cylinder I-1-5-6 pushes the push rod I-1-5-4 to make the support block I-1-5-12 fit against the inner surface of the workpiece. A piezoelectric plate I-1-5-1 is installed on the surface of the support block I-1-5-12 to collect the supporting force. The thrust of the main hydraulic cylinder I-1-5-6 is adjusted according to the magnitude of the cutting radial force, thereby adjusting the supporting force to equal the cutting radial force. Furthermore, since the curvature of the support block may not be equal to the curvature of the inner surface of the workpiece, some areas of the workpiece may not be effectively supported. Therefore, the support angle of the support block can be adjusted according to the cutting range of the tool using the top hydraulic cylinder I-1-5-3 and the side hydraulic cylinder I-1-5-11, ensuring that all parts of the support block provide support to the workpiece surface.

[0078] Clamping reliability analysis:

[0079] like Figure 21 The diagram shows a simplified representation of clamping device I-1-4 and its force analysis. It is assumed that the tangential contact force between the workpiece and the clamping elements does not slip relative to each other during milling. M If the position of the workpiece relative to the fixture does not change during the machining process, then:

[0080] (1)

[0081] In the formula, Minimum clamping force, N; M max The maximum tangential contact force is N; G The workpiece weight is N; μ is the coefficient of friction.

[0082] According to the torque balance at point O2, we know that:

[0083] (2)

[0084] In the formula, P 1y Let N be the force, perpendicular to the rod direction, applied by component 2 to component 3; L 2 represents the distance between O1 and O2, in mm; P 2x Let N be the force, perpendicular to the rod direction, applied by the workpiece to component 3; L 1 represents the distance between point O2 and point A, in mm.

[0085] Based on the force and geometric relationships, the minimum thrust applied by cylinder I-1-4-5 can be determined. P 1,min It should satisfy:

[0086] (3)

[0087] In the formula, θ 1 represents the angle between component 1 and component 3, in degrees. θ 2 is the angle between component 2 and the vertical direction, in degrees; N is the number of clamping devices.

[0088] Example 2

[0089] In another typical embodiment of the present invention, such as Figures 22-24 As shown, a positioning system for machining aerospace irregular parts is presented.

[0090] Unlike the machining and positioning system for the casing IX-1 of the aerospace engine combustion chamber in Embodiment 1, this embodiment uses discrete intelligent manufacturing for the irregularly shaped aerospace cockpit IX-2, and correspondingly sets up an aerospace irregularly shaped cockpit machining and positioning system, such as... Figure 21 As shown, it consists of a zero-point positioning system and a non-standard cabin-mounted clamping fixture I-2. The zero-point positioning system is installed in machining center II to ensure that the part remains constant relative to the zero point during transportation and is used for clamping by the clamping fixture I-2. A universal pallet ensures that the part transportation and positioning clamping methods are consistent.

[0091] like Figure 23 and Figure 24 As shown, the irregular cockpit accompanying fixture I-2 includes: a universal tray I-3, a base I-2-1, a floating mounting plate I-2-2, mounting blocks I-2-3, support pins I-2-4, a cylinder I-2-5, a suction cup I-2-6, a spring I-2-7, a mounting plate I-2-8, a main cylinder I-2-9, a flange I-2-10, and a bushing I-2-11. The base I-2-1 has two layers; the lower layer is fixedly installed to the universal tray I-3, and the three mounting blocks I-2-3 are arranged in a triangular pattern and fixedly installed on the upper surface of the upper layer of the base I-2-1. Mounting block I-2-3 is equipped with support pins I-2-4 for six-point positioning of the workpiece. Specifically, three support pins I-2-4 restrict the rotation of the workpiece along the X and Y axes and the movement along the Z axis, two support pins I-2-4 restrict the movement of the workpiece along the X axis and the rotation along the Z axis, and one support pin I-2-4 restricts the movement of the workpiece along the Y axis.

[0092] The floating mounting plate I-2-2 is trapezoidal in shape and smaller in size than the irregular cockpit IX-2. Several cylinders I-2-5 are fixedly installed along the outer contour of the upper surface of the floating mounting plate I-2-2. The cylinders I-2-5 are connected to the suction cups I-2-6 through ball joints. The suction cups I-2-6 can adaptively fit to the inner surface of the irregular cockpit IX-2 by the push of the cylinders. A light rod is installed on the lower surface of the floating mounting plate I-2-2. The light rod passes through the through hole in the upper layer of the base I-2-1 and is fixedly connected to the mounting plate I-2-8. The mounting plate I-2-8 is located in the middle between the upper and lower layers of the base I-2-1. A flange I-2-10, a bushing I-2-11, and a spring I-2-7 are installed between the upper and lower surfaces of the mounting plate I-2-8 and the base plate I-2-1. The flange I-2-10 is fixedly mounted on the lower surface of the base I-2-1, and the bushing I-2-11 is fixedly mounted on the upper surface of the mounting plate I-2-8. The bushing I-2-11 can move along the optical axis of the flange I-2-10. Both ends of the spring I-2-7 are fixedly connected to the flange I-2-10 and the bushing I-2-11, respectively. A main cylinder I-2-9 is fixedly mounted in the middle of the lower surface of the base I-2-1. The piston rod of the main cylinder I-2-9 is fixedly connected to the mounting plate I-2-8. The main cylinder I-2-9 pushes the mounting plate I-2-9 downwards, thereby causing the floating mounting plate I-2-2 to move downwards and return to its original position under the spring force.

[0093] The main positioning and clamping method of the irregularly shaped cockpit accompanying fixture I-2 is as follows: Based on the six-point positioning principle, the support pins I-2-4 restrict the workpiece in six degrees of freedom. Cylinder I-2-5 drives the suction cup I-2-6 to adhere to the irregularly shaped cockpit IX-2. Due to the ball joint mechanism between the piston rod of cylinder I-2-5 and the suction cup I-2-6, the suction cup can adapt to the inner surface of the irregularly shaped cockpit IX-2. After the suction cup is pressed against the inner surface of the irregularly shaped cockpit IX-2, it adheres to the inner surface of the irregularly shaped cockpit IX-2 through suction. The main cylinder I-2-9 drives the mounting plate I-2-8, causing the floating mounting plate I-2-2 to move downwards. At this time, the irregularly shaped cockpit IX-2 is subjected to a vertically downward frictional force applied by the suction cup I-2-6, perpendicular to the main positioning surface, thus pressing the irregularly shaped cockpit tightly.

[0094] Clamping reliability analysis:

[0095] (4)

[0096] In the formula, F c The suction cup's adhesive force is expressed in N. F P The cylinder thrust is expressed in N. F n,min Minimum clamping force, N; N This refers to the number of suction cups. μ coefficient of friction

[0097] (5)

[0098] In the formula, f For safety reasons, A The suction area of ​​the suction cup is in cm². 2 ; P The vacuum pressure is -KPa.

[0099] Example 3

[0100] In another typical embodiment of the present invention, such as Figures 1-24 As shown, a discrete intelligent production line is presented.

[0101] like Figure 1 As shown, the discrete intelligent production line includes: machining center II, circular conveyor III, ground rail robot IV, unloading conveyor V, machine vision recognition device VI, centralized tool changing system VII, micro-lubrication centralized supply system VIII, and aerospace irregular part processing and positioning system I as in Examples 1 and 2.

[0102] The four machining centers II are arranged in a rectangle. Machining positioning system I is installed within machining centers II. A ground-rail robot IV is installed along the centerline of the rectangle formed by the four machining centers. A circular conveyor III is installed at the end of ground-rail robot IV. A machine vision recognition device VI is installed at the loading position of the circular conveyor III. Similarly, an unloading conveyor V is installed at the end of the ground rail of ground-rail robot IV, and they are arranged symmetrically. A centralized tool changer VII is located above machining centers II, and a micro-lubrication centralized supply system VIII is connected to each machining center II.

[0103] The machining positioning system I consists of a zero-point positioning device and a traveling fixture. The zero-point positioning device, installed in machining center II, ensures that the workpiece remains relatively constant during transport. The traveling fixture ensures the positioning, processing, and transport of diverse and complex irregularly shaped parts. Machining center II is mainly used for parts processing and production. A three-axis, four-axis, or five-axis machining center can be selected according to specific processing requirements, or it can be replaced by a CNC lathe. The circular conveyor III is used for parts transport and production cycle adjustment. Equipped with a machine vision inspection system VI, it is mainly used for parts identification. The system can adjust the transport speed and machine tool processing program based on the identified parts, selecting workpieces that conform to the optimal processing route for loading, thereby achieving discrete production of various irregularly shaped parts. The ground-rail robot IV is used for transporting parts between the circular conveyor III and machining center II. The ground-rail robot IV is equipped with a buffer platform that moves along the ground rail with the robot, temporarily storing parts to be processed and buffering the production cycle.

[0104] like Figure 2As shown, the circular conveyor III, the ground-rail robot IV, the unloading conveyor V, and the machine vision recognition device VI together constitute the material conveying system of the production line.

[0105] like Figure 2 , Figure 3 As shown, the working method of a discrete intelligent production line is as follows:

[0106] The circular conveyor III feeds the workpiece, which is then inspected by machine vision device VI. Industrial camera VI-1 captures images of the workpiece and uploads them to the system to identify the workpiece type. When the workpiece is conveyed to loading station III-1, the system determines the working status of machining center II.

[0107] (1) If machining center II is completely unloaded, the ground rail robot IV will transport the workpiece to machining center II and start processing.

[0108] (2) If machining center II is not fully in an idle or processing state, the system determines whether the current workpiece conforms to the optimal processing route. If it does not conform to the optimal processing route, the ring conveyor III continues to rotate until the workpiece at the loading position conforms to the optimal processing route. If the current workpiece conforms to the optimal processing route, the ground rail robot IV will transport the workpiece to machining center II and start processing.

[0109] (3) All machining centers II are in the machining state. If the workpiece at the loading position conforms to the optimal machining route, and if the buffer platform of the ground rail robot IV is in an unloaded state, then the ground rail robot IV will move the workpiece to the buffer platform to be loaded, and the loading priority is the highest.

[0110] If the buffer station of the ground-rail robot IV is not in an idle state, the circular conveyor III will stop operating until the workpiece at the loading position is transported. After the workpiece is processed, it is transported by the ground-rail robot to the unloading conveyor V for unloading.

[0111] like Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the centralized tool changing system VII includes a bracket VII-1, a crossbeam mounting plate VII-2, a tool head VII-3, an X-axis conveyor VII-4, a Y-axis conveyor VII-5, a Z-axis conveyor VII-6, a tool changing robot VII-7, a hydraulic cylinder VII-8, a servo motor VII-9, a linear guide VII-10, a rack VII-11, a floating mounting plate VII-12, a gear VII-13, a rolling bearing VII-14, a rack mounting plate VII-15, and a slider VII-16.

[0112] The bracket VII-1 has a certain height, so that the device installed on the bracket is at a certain height above the ground. The X-axis conveying device VII-4 is installed on the slider VII-16 and is driven by the gear and rack mechanism VII-11 by the motor VII-9 to move in the X direction along the guide rail VII-10.

[0113] Similarly, the Y-axis conveyor VII-5 moves along the guide rail VII-10 mounted on the X-axis conveyor using the same drive and transmission method in the Y-axis direction. The guide rod VII-17 of the Z-axis conveyor VII-6 passes through the Y-axis conveyor VII-5, and the floating mounting plate VII-12 at the bottom of the guide rod VII-17 of the Z-axis conveyor VII-6 is driven up and down by the hydraulic cylinder VII-8 mounted on the Y-axis conveyor.

[0114] The tool changer robot VII-7 is mounted on the floating mounting plate VII-12, enabling it to move as a whole along the X, Y, and Z axes. A servo motor VII-9 is mounted on the floating mounting plate VII-12. The spindle of the servo motor VII-9 passes through the floating mounting plate VII-12 and drives the gear VII-13, which in turn rotates the rolling support VII-14. The tool changer robot VII-7 is fixedly mounted on the rolling support VII-14 via a mounting base.

[0115] The tool-changing robot VII-7 is a 6-axis robot. Each stage of the robotic arm is driven by a servo motor. The robot VII-7 is fixedly equipped with a dual-station tool-changing arm VII-7-1. A crossbeam mounting plate VII-2 is fixedly mounted on one side of the bracket VII-1. A Z-axis conveyor device VII-6 is also installed in its middle position. The guide rod VII-17 of the Z-axis conveyor device VII-6 passes through the crossbeam mounting plate VII-2, and a hydraulic cylinder VII-8 drives a floating mounting plate VII-12 to move along the Z-axis below the crossbeam mounting plate VII-2. The tool disc is fixedly mounted on the floating mounting plate VII-12 and can be moved along the Z-axis by the hydraulic cylinder VII-8.

[0116] Specifically, the X, Y, and Z conveying devices enable the tool changing robot VII-7 to move along the X, Y, and Z directions, and the tool head can move up and down in the Z-axis direction to change the tools inside the tool head.

[0117] like Figure 8 As shown, the centralized tool changer VII is used as follows:

[0118] Machining center II issues a tool change command. The system sends electrical signals to the servo motors VII-9 of the X and Y axis conveying devices and the hydraulic cylinders VII-8 of the Z axis conveying device on the centralized tool changer VII, so that the tool changer robot VII-7 can reach the designated position.

[0119] The tool turret VII-3 rotates the target tool to the tool changing position, the tool changing robot VII-7 picks up the tool, and it reaches the target machine tool through the X, Y, and Z axis conveying device;

[0120] The tool changing robot VII-7 and the tool changing arm VII-7-1 at the idle station remove the tool from the machining center and install the tool to be replaced on the tool changing arm VII-7-1 into the machining center;

[0121] After installation, the tool changer robot VII-7 is reset.

[0122] When the cutting tools in the cutter head VII-3 need to be replaced, they can be replaced uniformly by lowering the height of the cutter head VII-3.

[0123] like Figure 9 , 10 As shown, machining center II is equipped with a micro-lubrication centralized supply system VIII, which includes a centralized oil supply tank and a micro-lubrication device. The micro-lubrication oil supply tank consists of a tank body VIII-1-1, a tank cover VIII-1-2, a solenoid valve VIII-1-3, a level controller VIII-1-6, a dedicated motor for the hydraulic oil pump VIII-1-4, and a hydraulic oil pump VIII-1-5. The hydraulic oil pump VIII-1-5 is installed inside the tank body VIII-1-1. The dedicated motor VIII-1-4 for the hydraulic oil pump VIII-1-5 is installed on the tank cover VIII-1-2 and connected to the hydraulic oil pump VIII-1-5. The oil outlet of the hydraulic oil pump VIII-1-5 is connected to a four-way connector, and then three separate lines are connected to the solenoid valve VIII-1-3 and finally to the oil cup VIII-2-6 of the micro-lubrication device VIII-2.

[0124] The micro-lubrication device VIII-2 includes a nozzle, a pneumatic frequency generator VIII-2-2, a solenoid valve VIII-2-3, a three-way valve VIII-2-4, a micro-pneumatic pump VIII-2-5, an oil cup VIII-2-6, a liquid level sensor VIII-2-7, and a housing VIII-2-8. The pipeline is divided into two paths through the solenoid valve VIII-2-3 and the three-way valve VIII-2-4. One path goes directly into the nozzle, and the other path goes through the pneumatic frequency generator VIII-2-2 and then into the micro-pneumatic pump VIII-2-5.

[0125] Solenoid valve VIII-2-3 controls the opening or closing of the air circuit. Micro-pneumatic pump VIII-2-5 pumps out a small amount of lubricating oil. Pneumatic frequency generator VIII-2-2 generates an electrical signal to control the opening and closing of micro-pneumatic pump VIII-2-5. Liquid level sensor VIII-2-7 is installed in oil cup VI-2-6 to detect the oil level. If the liquid level in oil cup VIII-2-6 is too low, the computer controls the micro-lubrication supply tank VIII-2 to add oil to oil cup VIII-2-6.

[0126] like Figure 11 The diagram shows the micro-lubrication device and the oil-air circuit of the centralized oil supply tank. Actuators 1, 2, 3, and 4 are nozzles installed in machining center II. Compressed gas, after being filtered by the air source triplet, passes through solenoid valves and air source distributors to enter the four micro-lubrication devices VIII-2. The compressed gas is then split into two paths by solenoid valve VIII-2-3; one part reaches the nozzle, and the other part passes through the starting frequency generator VIII-2-2, thereby controlling the micro-pneumatic pump VI-2-5 to pump a small amount of lubricating oil to the nozzle. The compressed gas and the small amount of lubricating oil mix at the nozzle to form an oil mist, which is then sprayed out at high speed. The lubricating oil pumped by hydraulic pump VIII-1-5 from housing VIII-1-1 passes through three solenoid valves VI-1-3 and enters the oil cups VIII-2-6 in the four micro-lubrication devices VIII-2.

[0127] in, Figures 12-21 The diagram illustrates a machining positioning system I corresponding to the casing IX-1 of an aerospace engine combustion chamber. System I, applicable to casing IX-1, consists of a zero-point positioning system and a casing-accompanying fixture. The zero-point positioning system is installed in machining center II to ensure the part remains constant relative to the zero point during transport and is used for clamping the accompanying fixture I-1. A universal pallet ensures uniformity in part transport and positioning clamping methods. For details, please refer to Example 1, which will not be repeated here.

[0128] In this embodiment, in addition to the casing IX-1 of the aerospace engine combustion chamber, the aerospace irregular-shaped cockpit IX-2 can also be discretized and intelligently manufactured. Therefore, a corresponding aerospace irregular-shaped cockpit processing and positioning system is provided, such as... Figures 22-24 As shown, it consists of a zero-point positioning system and a non-standard cabin accompanying fixture I-2. The zero-point positioning system is installed in machining center II to ensure that the part remains constant relative to the zero point during transportation and is used for clamping by the accompanying fixture I-2. A universal pallet ensures that the part transportation and positioning clamping methods are consistent. For details, please refer to Example 2, which will not be repeated here.

[0129] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning system for machining irregularly shaped aerospace parts, characterized in that, include: The self-positioning device includes three ball heads connected to the base and arranged around the base axis. The ball heads are respectively connected to the rotating frame via connecting rods. The rotating frame drives the ball heads to move back and forth radially along the base to abut against the inner wall of the casing. The clamping device is provided in multiple ways and arranged around the axis of the base. Each clamping device includes a pressure head connected to the opening and closing mechanism and a translation mechanism. The translation mechanism drives the pressure head to move radially along the base and the pressure head can abut against the outer wall of the casing. A support device is connected to the base via a lifting device. Multiple support devices are arranged around the axis of the base. Each support device includes an actuating mechanism and a support block. The output end of the actuating mechanism is connected to the support block via a universal joint. Multiple piezoelectric plates are attached to the side of the support block that is in contact with the inner wall of the casing. The universal joint is connected to an adjusting hydraulic cylinder that drives its movement to change the orientation of the support block. The multiple piezoelectric plates are spaced apart on the support block to obtain stress at different contact positions with the casing and adjust the support force to counteract the cutting radial force.

2. The aerospace irregular part machining positioning system as described in claim 1, characterized in that, The base is provided with U-shaped positioning blocks that support the housing. Three U-shaped positioning blocks are evenly arranged around the axis of the base and move upward along the ring. The ball head is located between two U-shaped positioning blocks, and multiple clamping devices are provided between adjacent U-shaped positioning blocks.

3. The aerospace irregular part machining positioning system as described in claim 2, characterized in that, Along the radial direction of the base, the self-positioning device is located inside the support device; along the axial direction of the base, the lifting device can drive the support device to reciprocate up and down, and the support device is erected above the self-positioning device through the lifting device.

4. The aerospace irregular part machining positioning system as described in claim 1, characterized in that, The rotating frame is triangular in shape, with its center rotatably connected to a preset optical axis on the base. A guide seat on the base maintains the direction of ball head movement. A connecting rod is connected to the corner position of the rotating frame, and the rotating frame is connected to a cylinder that drives it to rotate around the optical axis.

5. The aerospace irregular part machining positioning system as described in claim 1, characterized in that, The translation mechanism includes a mounting plate, a ball screw, a slider, and a servo motor. The slider is mounted on the ball screw, and the output end of the servo motor is connected to the screw. The screw is rotatably mounted on the mounting plate so as to drive the slider to move the pressure head and the opening and closing mechanism through rotation.

6. The aerospace irregular part machining positioning system as described in claim 5, characterized in that, The pressure head is mounted on the slider via a rotating base. The opening and closing mechanism is a cylinder, with one end of the cylinder connected to the slider and the other end connected to the pressure head.

7. A discrete intelligent production line, characterized in that, Includes the aerospace irregular part machining positioning system as described in any one of claims 1-6, the aerospace irregular part machining positioning system being used for machining a casing; further includes an aerospace irregular part machining positioning system for machining irregular cockpits, comprising: The base includes an upper layer and a lower layer arranged at intervals, with a mounting plate located between the upper and lower layers and connected to the bottom surface of the upper layer via a telescopic mechanism; The floating mounting plate is trapezoidal, with cylinders spaced along its top edge. The output end of the cylinders is equipped with suction cups that can abut against and adhere to the inner wall of the irregularly shaped cabin. The bottom surface of the floating mounting plate is connected to the mounting plate after passing through the upper layer of the base via a light rod. Mounting blocks are arranged between the upper layer of the base and the floating mounting plate, and the mounting blocks are connected to support pins that abut against the irregularly shaped cockpit.

8. A discrete intelligent production line as described in claim 7, characterized in that, In the aerospace irregular part processing and positioning system for processing irregular cockpits, the support pins are arranged in multiple positions around the floating mounting plate, and the support pins abut against the inner wall of the irregular cockpit and perform six-point positioning of the irregular cockpit.

9. A discrete intelligent production line as described in claim 8, characterized in that, In the aerospace irregular part processing and positioning system for processing irregular cockpits, the output end of the cylinder is connected to the suction cup via a ball joint, and the telescopic mechanism drives the floating mounting plate to apply a force perpendicular to the base to the irregular cockpit through the suction cup.

10. A discrete intelligent production line as described in claim 9, characterized in that, In the aerospace irregular part processing and positioning system for processing irregular cockpits, the telescopic mechanism includes a main cylinder and a telescopic component. The main cylinder connects the upper layer of the base and the mounting plate. The telescopic component is fitted with a spring. The main cylinder and the spring work together to change the distance between the mounting plate and the upper layer to adjust the relative position of the floating mounting plate and the upper layer.

11. A discrete intelligent production line as described in claim 7, characterized in that, It also includes machining centers, with multiple machining centers arranged in a rectangular layout, and an aerospace-grade part machining and positioning system installed in the machining centers; The ground-rail robot is installed in the middle of the machining center, and the circular conveyor is installed at one end of the ground-rail robot. The machine vision recognition device is installed on the material position of the circular conveyor. The unloading conveyor is installed at the end of the ground-rail robot and two are arranged symmetrically. The centralized tool changing system is located above the machining center area, and the micro-lubrication centralized supply system is connected to each machining center.

12. A discrete intelligent production line as described in claim 11, characterized in that, The ground-rail robot is equipped with a buffer platform that moves with it. When the workpiece to be loaded conforms to the processing route and all processing centers are in processing mode, the ground-rail robot will move the workpiece to the buffer platform for loading.

13. A discrete intelligent production line as described in claim 11, characterized in that, The centralized tool changing system includes a three-axis conveyor, a tool changing robot, and a tool head. The tool changing robot is mounted on a support via the three-axis conveyor, and the tool head is mounted on the support via a lifting mechanism to adjust the vertical height of the tool head relative to the support. The end of the tool changing robot is connected to a dual-station tool changing arm to hold the tool to be changed and the replacement tool, respectively.

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