A rigid-flexible coupling mirror support device with contact interface information perception function

Abstract

The present invention discloses a rigid-flexible coupling mirror support device with a contact interface information sensing function, which belongs to the technical field of thin-walled component processing. The device includes a support base assembly, a support head, and a sensor integration module. The support base assembly is connected to the mirror processing equipment through an outer circular mounting surface, and the inner circular surface is connected to the support head, and the support cylinder provides a supporting force to ensure the stable axial movement of the support head and the adjustment of the support stiffness; the support head provides installation space and routing guides for each sensor, and a rigid and flexible ring is installed at the front end to provide reliable support for thin-walled components; the sensor integration module integrates the normal vector measurement, force measurement, and thickness measurement functions to achieve comprehensive perception of the support interface force / position information and the remaining wall thickness. The present invention has a compact layout, a large support area, good rigidity, and can achieve comprehensive perception of support interface information.

Description

Technical Field

[0001] The present invention belongs to the technical field of thin-walled parts processing, and in particular relates to a rigid-flexible coupling mirror support device with a contact interface information sensing function. Background Art

[0002] With the rapid development of my country's aerospace sector, the requirements for reliability, lightweighting, and high-load performance of high-end equipment such as large aircraft and launch vehicles are becoming increasingly stringent. Aircraft skins and rocket fuel tank panels and floors are critical large, curved, thin-walled parts that bear the load and determine aircraft safety and reliability. Mirror machining technology effectively addresses the challenge of efficiently and precisely machining these low-rigidity, large-scale parts by adding supports on the opposite side of the machining area to resist deformation, suppress vibration, and increase local stiffness. Mirror support devices are key to ensuring the stability of mirror machining.

[0003] Rigid supports have high rigidity and strong resistance to deformation, but when processing vibration is large, they are prone to failure due to disengagement or excessive support; flexible supports provide damping and can effectively suppress vibration, but the positioning reference fluctuates and cannot ensure uniform remaining wall thickness. In addition, during the mirror processing of large ultra-thin curved parts, their own stiffness changes dynamically with material removal. If the mirror support stiffness cannot dynamically match the time-varying stiffness of the workpiece, it is easy to cause vibration during the processing of thin-walled parts and even cause damage to the workpiece. Therefore, a suitable support device should adopt a rigid-flexible coupling mechanism to reduce vibration while ensuring a stable reference, and should have a support interface information perception module to monitor the key state characteristics during the mirror processing process in real time and provide information for the dynamic regulation of support stiffness.

[0004] Because the support force and local normal vector can effectively reflect the contact state between the support and the workpiece, while the residual wall thickness can reflect machining accuracy, many studies have utilized support devices that integrate sensors for force, distance, and thickness measurement. However, existing mirror support devices with sensor modules often occupy a large space and are not suitable for mirror machining in small spaces. Wall thickness measurement is primarily performed using traditional ultrasonic sensors, which require the use of coupling agents and place high demands on the surface quality of the workpiece being measured. Furthermore, the end of the rigid-flexible coupling mechanism primarily utilizes metal balls, which are relatively hard and easily scratch the support surface.

[0005] At present, many different design schemes have been proposed for mirror support devices, but the existing technical solutions cannot fully meet the requirements of mirror processing. Chinese Patent 110227954B discloses a magnetically guided pneumatic variable stiffness mirror milling flexible support mechanism, which has a compact and simple structure and can well realize tool following, but lacks the necessary support interface information perception capability, making it difficult to achieve feedback control of the support, and the end point support method is difficult to achieve scratch-free support. Chinese Patent 111299676B discloses a variable stiffness fluid-solid mixing follow-up support device, which provides sufficient support force while avoiding indentations and scratches by combining contact ball support and non-contact nozzle support, and has real-time thickness measurement and variable stiffness vibration reduction and suppression functions, but the overall structure of the support device is complex and the volume is large, and the application occasions are limited. Summary of the Invention

[0006] In response to the above-mentioned deficiencies in the prior art, the present invention invents a rigid-flexible coupling mirror support device with excellent technical effects and contact interface information perception function, which can realize comprehensive perception of support interface information and remaining wall thickness during the mirror processing process and controllable adjustment of support stiffness.

[0007] The technical solution of the present invention:

[0008] A rigid-flexible coupled mirror support device with contact interface information sensing capabilities can achieve functions such as self-sensing of contact interface force / position information, online thickness measurement, and rigid-flexible coupled annular mirror support. The device primarily comprises a support base assembly 100, a support head 200, and a sensor integration module 300. The support base assembly 100 is connected to the mirror processing equipment via its outer cylindrical surface and to the support head 200 via its inner cylindrical surface. A support cylinder provides a supporting force, ensuring stable axial movement of the support head 200 and adjustment of support stiffness. The support head 200 provides installation space and routing guidance for each sensor, and is equipped with rigid and flexible rings at its front end to provide reliable support for thin-walled components. The sensor integration module 300 integrates normal vector measurement, force measurement, and thickness measurement functions to achieve comprehensive sensing of support interface force / position information and remaining wall thickness. The support base assembly 100 and support head 200 are arranged in series, with the sensor integration module 300 integrated within the support head 200, forming a rigidity-controllable mirror support capable of self-sensing support interface information and remaining wall thickness.

[0009] The support base assembly 100 includes a base 101, a support cylinder 102, an upper sleeve 103 and a lower sleeve 104; wherein, the base 101 is a cylindrical structure, and its outer cylindrical surface 101.1 is connected to the mirror processing equipment, and a keyway 101.2 for circumferential positioning is provided on the outer cylindrical surface 101.1; a square hole 101.3 is opened in the center of the base 101, and the support cylinder 102 is installed in it by bolts to ensure a stable support as a power source, and the support stiffness is adjusted by changing the working air pressure; the upper sleeve 103 and the lower sleeve 104 are both semicircular, and the bottom surface is provided with a radial stepped boss 103.1, and the two are connected to each other by bolts through the boss to form a cylindrical cavity; the upper sleeve 103 and the lower sleeve 104 are both provided with a tail flange 103.2, which is connected and fixed to the flange A101.4 at the front end of the base 101 by bolts.

[0010] The support head 200 includes a front base 201, a rear base 202, a rigid ring 203 and a flexible ring 204; wherein the front base 201 and the rear base 202 are both cylindrical structures, constituting the main part of the support head 200; a flange B202.1 is provided on the rear base 202, which is connected and fixed to the front base 201 by bolts; a radial boss 202.2 is provided on the back of the flange B202.1, which is installed in the cylindrical cavity composed of the upper and lower sliding sleeves in combination with the outer circular surface 202.3 of the rear base, and the outer circular surface 202.3 of the rear base is in contact with the inner circular surface 103.3 of the cylindrical cavity to ensure the stability of axial movement; a pin hole A is provided on the end face of the front base 201 201.1, fixedly connected to the flexible ring 204 by a short pin; a threaded center hole 201.2 is provided on the front base 201, and a circumferential array of threaded holes 201.3 is provided on the periphery of the threaded center hole 201.2; a shallow square hole 201.4 is provided at the rear end of the threaded center hole 201.2, which together with the deep square hole 202.4 at the front end of the rear base 202 forms a square cavity, providing installation space for the sensor in the sensor integrated module 300; a through square hole 202.5 is provided below the deep square hole 202.4, and a through hole 202.6 is provided on the periphery of the deep square hole 202.4. The square hole 202.5 and the through hole 202.6 are both used for the passage of cables to ensure the output of the sensor signal.

[0011] The sensor integration module 300 includes an eddy current sensor 301, a center block 302, an electromagnetic ultrasonic sensor 303, a piezoelectric force sensor 304 and a connecting block 305; wherein, multiple eddy current sensors 301 are installed in the threaded hole 201.3 and arranged in a circular array on the front substrate 201 to realize local support normal vector solution; a pin hole B302.1 is opened on the end face of the center block 302, and the rigid ring 203 is connected by a short pin; the outer circumference of the center block 302 is provided with a thread, and is connected to the front substrate 201 through the threaded center hole 201.2; a stepped hole 302.2 is opened in the center of the center block 302, and a threaded through hole 302.3 is provided on the inner wall thereof to connect with a set screw, providing an electromagnetic ultrasonic sensor. The installation and fixation of 303 ensures that the top surface of the electromagnetic ultrasonic sensor is 1 mm lower than the rigid ring, realizing non-contact ultrasonic thickness measurement; the piezoelectric force sensor 304 is installed in the square cavity formed by the shallow square hole 201.4 and the deep square hole 202.4, and is connected and fixed to the front base 201 in the shallow square hole 201.4 by bolts; the connecting block 305 is connected to the piezoelectric force sensor 304 by bolts, so that both are connected and fixed to the rear base 202; the connecting block 305 is provided with a central threaded hole 305.1, which is threadedly connected to the end of the piston rod of the supporting cylinder 102, and finally forms a "cylinder-rear base-piezoelectric force sensor-front base" series relationship, ensuring stable dynamic measurement of the supporting force.

[0012] The present invention is applied to mirror processing equipment. During the mirror processing of thin-walled parts, the center of the mirror support device and the center of the processing tool are symmetrical about the workpiece and are in a mirror motion relationship. The mirror processing control system drives the mirror support device and the processing tool to move according to the planned support trajectory and processing trajectory. During the processing, the built-in piezoelectric force sensor 304 is used to dynamically measure the contact force of the support-workpiece interface, and the local support normal vector is calculated based on the output signal of the eddy current sensor array 301. The electromagnetic ultrasonic sensor 303 is used to perform non-contact wall thickness precision measurement to achieve comprehensive perception of support interface information and provide necessary data for support feedback control and wall thickness compensation control.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1) The present invention has a compact structure and integrates support force measurement, normal vector solution, wall thickness measurement and support force output functions in a relatively small volume, and can realize comprehensive perception of support interface information and stiffness adjustment.

[0015] 2) The present invention uses an electromagnetic ultrasonic thickness sensor for non-contact measurement of the thickness of thin-walled parts, does not require the use of coupling agents, has low requirements on the surface quality of the object being measured, and simplifies the support device structure.

[0016] 3) The present invention adopts a support ring, which reduces the support gap compared with multi-point support, avoids the indentation of the ball on the workpiece surface, and improves the quality of the processed surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall structural diagram of the mirror support device;

[0018] Figure 2(a) is an exploded structural diagram of the support base assembly;

[0019] Figure 2(b) is a schematic structural diagram of the support base assembly;

[0020] Figure 3(a) is a schematic diagram of the overall structure of the support head;

[0021] Figure 3(b) is a cross-sectional view of the support head;

[0022] Figure 3(c) is a schematic diagram of the overall distribution of the support head and the sensor integrated module;

[0023] Figure 4(a) is a schematic diagram of the structure of the central block;

[0024] Figure 4(b) is a schematic diagram of the structure of the piezoelectric force sensor and the connecting block.

[0025] In the figure: 100 support base assembly; 200 support head; 300 sensor integrated module; 101 base; 102 support cylinder; 103 upper sleeve; 104 lower sleeve; 101.1 outer cylindrical surface; 101.2 keyway; 101.3 square hole; 101.4 flange A; 103.1 stepped boss; 103.2 tail flange; 103.3 mounting surface in cylindrical cavity; 201 front base; 202 rear base; 203 rigid ring; 204 flexible ring; 201.1 pin hole A; 201 .2 Threaded center hole; 201.3 Threaded hole; 201.4 Shallow square hole; 202.1 Flange B; 202.2 Radial boss; 202.3 Outer cylindrical surface of rear base; 202.4 Deep square hole; 202.5 Through square hole; 202.6 Through hole; 301 Eddy current sensor; 302 Center block; 303 Electromagnetic ultrasonic sensor; 304 Piezoelectric force sensor; 305 Connecting block; 302.1 Pin hole B; 302.2 Stepped hole; 302.3 Threaded through hole; 305.1 Center threaded hole. DETAILED DESCRIPTION

[0026] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented based on the technical solution of the invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiment.

[0027] Example 1

[0028] like Figure 1As shown in FIG4 , this embodiment provides a rigid-flexible coupled mirror support device with a contact interface information sensing function, comprising a support base assembly 100, a support head 200, and a sensor integration module 300. The support base assembly 100 is mounted on the mirror processing equipment via its outer cylindrical surface, and its inner cylindrical surface is connected to the support head 200. A support cylinder provides a supporting force to ensure stable axial movement of the support head 200 and adjustment of the support stiffness. The support head 200 provides installation space and routing guidance for each sensor, and is equipped with rigid and flexible rings at the front end to provide reliable support for thin-walled components. The sensor integration module 300 integrates the functions of measuring normal vectors, force, and thickness, achieving comprehensive perception of support interface force / position information and remaining wall thickness. The support base assembly 100 and the support head 200 are arranged in series, and the sensor integration module 300 is integrated into the support head 200, forming a rigidity-controllable mirror support with "self-perception of support interface information and remaining wall thickness."

[0029] The support base assembly 100 includes a base 101, a support cylinder 102, an upper sleeve 103 and a lower sleeve 104; wherein the base 101 is a cylindrical structure, and its outer cylindrical surface 101.1 is connected to the mirror processing equipment, and a keyway 101.2 for circumferential positioning is provided on the outer cylindrical surface 101.1; a square hole 101.3 is opened in the center of the base 101, and a light hole is opened at the end of the square hole, and the support cylinder 102 is fixed by bolts to ensure a stable support as a power source, and the support stiffness is adjusted by changing the working air pressure; the upper sleeve 103 and the lower sleeve 104 are both semicircular, and the bottom surface is provided with a radial stepped boss 103.1, and the two are connected to each other by bolts through the boss to form a cylindrical cavity; the upper sleeve 103 and the lower sleeve 104 are both provided with a tail flange 103.2, which is connected and fixed to the flange A101.4 at the front end of the base 101 by bolts.

[0030] The support head 200 includes a front base 201, a rear base 202, a rigid ring 203 and a flexible ring 204; wherein the front base 201 and the rear base 202 are both cylindrical structures, constituting the main part of the support head 200; the rigid ring 203 is made of high-rigidity hard plastic, and the flexible ring 204 is made of flexible wear-resistant material, which reduces the scratches on the workpiece and realizes rigid-flexible coupling support; a flange B202.1 is provided on the rear base 202, which is connected and fixed to the front base 201 by bolts; a radial boss 202.2 is provided on the back of the flange B202.1, which is installed in the cylindrical cavity formed by the upper and lower sliding sleeves in combination with the outer circular surface 202.3 of the rear base, and the inner circular surface 10 3.3 Fitting to ensure the stability of axial movement; a pin hole A201.1 is provided on the end face of the front base 201, which is fixedly connected to the flexible ring 204 by a short pin; a threaded center hole 201.2 is provided on the front base 201, and a circumferential array of threaded holes 201.3 is provided on the outer periphery of the threaded center hole 201.2; a shallow square hole 201.4 is provided at the rear end of the threaded center hole 201.2, which together with the deep square hole 202.4 at the front end of the rear base 202 forms a square cavity, providing installation space for the sensor in the sensor integrated module 300; a through square hole 202.5 is provided below the deep square hole 202.4, and a through hole 202.6 is provided on the outer periphery of the deep square hole 202.4, both of which are used for cables to pass through to ensure the output of the sensor signal.

[0031] The sensor integration module 300 includes an eddy current sensor 301, a center block 302, an electromagnetic ultrasonic sensor 303, a piezoelectric force sensor 304 and a connecting block 305; wherein, four eddy current sensors 301 are installed in threaded holes 201.3 and arranged in a circular array on the front substrate 201 to realize local support normal vector solution; a pin hole B302.1 is opened on the end face of the center block 302, and the rigid ring 203 is connected by a short pin; a stepped hole 302.2 is opened in the center of the center block 302, and a threaded through hole 302.3 is provided on the inner wall thereof to connect the set screw, providing installation and fixation of the electromagnetic ultrasonic sensor 303, ensuring the electromagnetic ultrasonic sensor The top surface of the sensor is 1 mm lower than the rigid ring, realizing non-contact ultrasonic thickness measurement; the piezoelectric force sensor 304 is installed in the square cavity formed by the shallow square hole 201.5 and the deep square hole 202.4, and is fixed to the front base 201 in the shallow square hole 201.5 by bolts; the connecting block 305 is connected to the piezoelectric force sensor 304 by bolts, so that both are connected and fixed to the rear base 202; the connecting block 305 is provided with a central threaded hole 305.1, which is threadedly connected to the end of the piston rod of the supporting cylinder 102, and finally forms a "cylinder-rear base-piezoelectric force sensor-front base" series relationship, to ensure stable dynamic measurement of the supporting force.

[0032] The working process of the rigid-flexible coupling mirror support device is as follows:

[0033] When mirroring a thin-walled workpiece, the support cylinder 102 is ventilated and the support head 200 is extended as a whole. The support-side motion mechanism of the mirror processing equipment transports the support head 200 to the cutting area. The outer flexible ring 204 first contacts the surface of the thin-walled workpiece. The support head 200 continues to feed, and the flexible ring 204 is compressed until the central rigid ring 203 contacts the workpiece surface and provides sufficient support force. The magnitude of this support force is measured by the piezoelectric force sensor 304. The support head 200 then follows the movement of the cutting area. The piezoelectric force sensor 304 provides real-time feedback of the dynamic support force signal under the milling action. The eddy current sensor 301 calculates the local normal vector of the support to monitor the support posture. The electromagnetic ultrasonic sensor 303 measures and outputs the remaining wall thickness value in real time. During the mirror processing process, the rigid ring 203 and the flexible ring 204 respectively provide rigid and flexible support to the milling area of ​​the thin-walled part to suppress vibration and deformation during the processing of the thin-walled part; the rigid ring 203 and the flexible ring 204 provide self-lubricating sliding friction during the processing to achieve scratch-free support; by adjusting the input air pressure of the support cylinder 102, the gas spring stiffness and support force in the cylinder are changed to meet the requirements of thin-walled parts for different support stiffness.

Claims

1. A rigid-flexible coupling mirror support device with contact interface information sensing function, characterized in that: The device comprises a support base assembly (100), a support head (200), and a sensor integration module (300); The support base assembly (100) comprises a base (101), a support cylinder (102), an upper sliding sleeve (103) and a lower sliding sleeve (104); wherein the base (101) is a cylindrical structure, and its outer cylindrical surface (101.1) is connected to the mirror processing equipment; the support cylinder (102) is installed at the center of the base (101) to ensure a stable support as a power source, and the support stiffness is adjusted by changing the working air pressure; the upper sliding sleeve (103) and the lower sliding sleeve (104) are both semicircular, and the two are connected to form a cylindrical cavity for installing the support head; the tail ends of the upper sliding sleeve (103) and the lower sliding sleeve (104) are connected to the front end of the base (101); The support head (200) comprises a front base (201), a rear base (202), a rigid ring (203) and a flexible ring (204); wherein the front base (201) and the rear base (202) are both cylindrical structures and constitute the main part of the support head (200); the rear base (202) is connected and fixed to the front base (201); the outer circular surface (202.3) of the rear base is installed in a cylindrical cavity formed by upper and lower sliding sleeves; the outer circular surface (202.3) of the rear base is fitted with the inner circular surface (103.3) of the cylindrical cavity to ensure the stability of axial movement; the end face of the front base (201) is fixedly connected to the flexible ring (204); The sensor integration module (300) comprises an eddy current sensor (301), a central block (302), an electromagnetic ultrasonic sensor (303), a piezoelectric force sensor (304) and a connecting block (305); wherein, a plurality of eddy current sensors (301) are mounted on a front substrate (201) and arranged in a circular array on the end face of the front substrate (201) to achieve local support normal vector solution; the central block (302) is mounted at the center of the front substrate (201), the end face of the central block (302) is connected to a rigid ring (203), the electromagnetic ultrasonic sensor (303) is mounted at the center of the central block (302), and the connection block (305) is secured. The top surface of the electromagnetic ultrasonic sensor is 1 mm lower than the rigid ring, thereby realizing non-contact ultrasonic thickness measurement; the piezoelectric force sensor (304) is installed in the square cavity formed between the front substrate (201) and the rear substrate (202), and is fixedly connected to the front substrate (201); the connecting block (305) is connected to the piezoelectric force sensor (304), and both are fixedly connected to the rear substrate (202); the center of the connecting block (305) is connected to the end of the piston rod of the supporting cylinder (102) through a threaded connection, and finally a cylinder-rear substrate-piezoelectric force sensor-front substrate series relationship is formed, thereby ensuring stable dynamic measurement of the supporting force; The front base (201) is provided with a threaded center hole (201.2), and a circumferential array of threaded holes (201.3) is provided on the periphery of the threaded center hole (201.2); a shallow square hole (201.4) is provided at the rear end of the threaded center hole (201.2), which together with the deep square hole (202.4) at the front end of the rear base (202) forms a square cavity, providing installation space for the sensor in the sensor integrated module (300); a through square hole (202.5) is provided below the deep square hole (202.4), and a through hole (202.6) is provided on the periphery of the deep square hole (202.4); the square hole (202.5) and the through hole (202.6) are both used for allowing cables to pass through, thereby ensuring the output of the sensor signal; The eddy current sensor (301) is mounted on the threaded hole (201.3); the outer circumferential surface of the center block (302) is provided with a thread and is connected to the front base (201) through the threaded center hole (201.2); the end surface of the center block (302) is provided with a pin hole for connecting to the rigid ring (203); the center of the center block (302) is provided with a stepped hole (302.2), the inner wall of which is provided with a threaded through hole (302.3) for connecting to a set screw, providing installation and fixation for the electromagnetic ultrasonic sensor (303); the piezoelectric force sensor (304) is mounted in a square cavity formed by the shallow square hole (201.4) and the deep square hole (202.4), and is connected and fixed to the front base (201) in the shallow square hole (201.4).

2. The rigid-flexible coupling mirror support device with contact interface information sensing function according to claim 1, characterized in that: A keyway (101.2) for circumferential positioning is provided on the outer cylindrical surface (101.1) of the base (101).

3. A rigid-flexible coupling mirror support device with contact interface information sensing function according to claim 1 or 2, characterized in that: The bottom surfaces of the upper sliding sleeve (103) and the lower sliding sleeve (104) are both provided with radial stepped bosses (103.1), and the two are connected to each other via the bosses to form a cylindrical cavity; the upper sliding sleeve (103) and the lower sliding sleeve (104) are both provided with tail flanges (103.2), which are connected and fixed to the flange A (101.4) at the front end of the base (101).

4. A rigid-flexible coupling mirror support device with contact interface information sensing function according to claim 1 or 2, characterized in that: The rear base (202) is provided with a flange B (202.1) and is connected to the front base (201) via the flange B (202.1); a radial boss (202.2) is provided on the back of the flange B (202.1).

5. The rigid-flexible coupling mirror support device with contact interface information sensing function according to claim 3, characterized in that: The rear base (202) is provided with a flange B (202.1) and is connected to the front base (201) via the flange B (202.1); a radial boss (202.2) is provided on the back of the flange B (202.1).

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