Thin-walled component fixture and milling apparatus for dual-robot mirror milling

Abstract

The application relates to a thin-walled component fixing device and a milling equipment for double-robot mirror image milling. The thin-walled component fixing device for double-robot mirror image milling comprises a fixing table, a mounting module, a conveying module and a clamping module; the mounting module comprises a mounting plate, a plurality of adaptive adjusting seats and vacuum suction cups, one end of each of the adaptive adjusting seats is connected with the mounting plate, and the other end is connected with the vacuum suction cup; the vacuum suction cup can be lifted and rotated at any angle on the adaptive adjusting seat and is used for adsorbing the surface of the thin-walled component containing different curved surfaces; the conveying module comprises a conveying base, a hydraulic rod and a first motor. Through the integrated design of "mounting-conveying-clamping", the thin-walled component of large size can be fixed by being placed on the mounting module, and subsequent overturning and transferring to the clamp are automatically completed, thereby saving time and effort. Moreover, the specially designed clamp can be attached to the curved surfaces on the two sides of the thin-walled component and can provide sufficient clamping force.

Description

Technical Field

[0001] This invention relates to the field of mirror milling technology, and in particular to a thin-walled component fixing device and milling equipment for dual-robot mirror milling. Background Technology

[0002] To meet the demands for lightweight structures and increased specific strength, thin-walled components are widely used as core parts in aerospace, aviation, and marine industries. However, these parts have relatively low rigidity, making them prone to deformation and chatter during milling, which severely affects machining accuracy and surface quality. To address this issue, a mirror milling method is gradually attracting attention and research from industry and academia. The core idea of ​​this method is to mount a support head on the opposite side of the workpiece's machining surface, coordinating with the tool's movement. This effectively suppresses machining chatter and reduces workpiece deformation by counteracting axial forces and increasing the workpiece's local stiffness. However, for large thin-walled components, vertical fixation remains a challenge. Existing technologies typically use traditional clamps set vertically to hold thin-walled components. This approach is problematic because: firstly, it's difficult to move large thin-walled components, and fixing them to the clamp is even more challenging; secondly, after the thin-walled component is in a vertical position, both sides need to be clamped before machining can begin, and traditional clamps cannot accommodate thin-walled components with different boundary curvatures, easily leading to insufficient clamping force. Summary of the Invention

[0003] Therefore, it is necessary to provide a thin-walled component fixing device and milling equipment for dual-robot mirror milling, which addresses the problems of time-consuming, labor-intensive, and difficult-to-fit large-size thin-walled components in existing mirror milling processes.

[0004] A device for securing thin-walled components in dual-robot mirror milling includes:

[0005] Fixed platform;

[0006] The mounting module includes a mounting plate, multiple adaptive adjustment seats and a vacuum suction cup. One end of each adaptive adjustment seat is connected to the mounting plate, and the other end is connected to the vacuum suction cup. The vacuum suction cup can be raised, lowered and rotated at any angle on the adaptive adjustment seat to adsorb the surface of the thin-walled component with different curved surfaces.

[0007] The conveying module includes a conveying base, a hydraulic rod, and a first motor. The conveying base is slidably positioned to translate across the top of a fixed platform. The direction of translation and sliding of the conveying base is defined as direction one. A sliding table structure is provided on the conveying base, and the sliding table structure moves vertically along direction one. One side of the mounting plate is rotatably connected to the sliding table structure about direction one. One end of the hydraulic rod is rotatably connected to one side of the conveying base about direction one, and the other end is rotatably connected to the side of the mounting plate away from the adaptive adjustment seat. The first motor is connected to one side of the conveying base and is used to drive the hydraulic rod to rotate as a whole, thereby causing the mounting plate to switch between a horizontal and a vertical state.

[0008] A clamping module is mounted on a fixed platform and located near the path along which the conveying module moves in the first direction. The clamping module includes two symmetrically arranged clamping units, which are correspondingly arranged along the first direction. Each clamping unit includes a column, a drive shaft, a second motor, multiple adjustable single-sided clamps, and multiple follower clamps. The column is connected to the fixed platform. The drive shaft is parallel to and rotatably connected to the column along its length. The second motor drives the drive shaft to rotate. Multiple adjustable single-sided clamps are evenly arranged on one side of the column. Multiple follower clamps are connected to the drive shaft and correspond one-to-one with the adjustable single-sided clamps on the horizontal plane. The corresponding adjustable single-sided clamps and follower clamps are used to clamp thin-walled components with flat edges or thin-walled components with curved edges.

[0009] As a preferred example, the adaptive adjustment seat includes a piston rod, a first spring, and a universal joint; the piston rod is connected to a mounting plate, the first spring is disposed inside the piston rod to support the movable rod of the piston rod, one end of the universal joint is connected to the movable rod of the piston rod, and the other end is connected to a vacuum suction cup.

[0010] As a preferred example, multiple adaptive adjustment seats are evenly distributed in a rectangular array on the mounting plate.

[0011] As a preferred embodiment, the top of the fixed platform is connected to a first guide rail along the first direction, and a first slider is slidably connected on the first guide rail, the first slider being connected to the bottom of the conveying base.

[0012] As a preferred example, a rack is connected to one side of the conveying base along the direction, and a third motor is connected to the top of the fixed platform. The output shaft of the third motor is connected to a gear that meshes with the rack, which is used to drive the conveying base to slide horizontally on the fixed platform.

[0013] As a preferred example, the slide structure includes a second guide rail arranged perpendicular to the first direction, a second slider slidably connected on the second guide rail, and the second slider being rotatably connected to one side of the mounting plate.

[0014] As a preferred embodiment, the adjustable single-sided clamp includes a first clamp support, a sector-shaped clamping block, and a fixing pin; the first clamp support is connected to a column, the arc-shaped surface of the sector-shaped clamping block is rotatably connected to the first clamp support, the flat surface of the sector-shaped clamping block is the clamping surface, and the fixing pin is used to position and lock the sector-shaped clamping block and the first clamp support after adjusting the rotation angle of the sector-shaped clamping block.

[0015] As a preferred example, the follower clamp includes a second clamp support and a follower clamp block; the second clamp support is connected to the drive shaft, and the follower clamp block is rotatably connected to the second clamp support. The follower clamp block is used to rotate by an angle after being squeezed, so that the clamping surface of the follower clamp corresponds to the clamping surface of the fan-shaped clamp block.

[0016] As a preferred embodiment, a second spring is connected between the second clamp support and the follower clamp block, which is used to drive the follower clamp block to reset when it is not squeezed.

[0017] A dual-robot mirror milling machine includes a thin-walled component fixing device as described above and two industrial robots. The two industrial robots are located on both sides of the fixing table and are used to perform mirror milling on the thin-walled component fixed on the clamping module.

[0018] The beneficial effects of this invention are as follows: The invention utilizes an installation module, a conveying module, and a clamping module. The installation module can accommodate thin-walled components of different sizes, surface shapes, curvatures, and wall thicknesses; the conveying module can easily switch the movement of the thin-walled component from a horizontal to a vertical position; the clamping module is adaptive, able to conform to thin-walled components with different boundary curvatures, ensuring sufficient clamping force and stability during mirror milling. This thin-walled component fixing device, through its integrated "loading-conveying-clamping" design, allows for the fixing of large-sized thin-walled components simply by placing them on the installation module; subsequent flipping and transfer to the clamping device are automated, saving time and effort. Furthermore, the specially designed clamping device can conform to the curved surfaces on both sides of the thin-walled component, providing sufficient clamping force. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the thin-walled component fixing device in the embodiment;

[0020] Figure 2 This is a three-dimensional structural diagram of the adaptive adjustment seat;

[0021] Figure 3This is a schematic cross-sectional view of the adaptive adjustment seat.

[0022] Figure 4 A three-dimensional structural diagram of a thin-walled component fixing device from another perspective;

[0023] Figure 5 This is a schematic diagram of the structure when the conveying module flips the thin-walled component into a vertical position.

[0024] Figure 6 for Figure 4 Enlarged view of the structure of section A;

[0025] Figure 7 , Figure 8 This is a schematic diagram of the three-dimensional structure of the clamping unit;

[0026] Figure 9 This is a schematic diagram of the three-dimensional structure of an adjustable single-sided clamp;

[0027] Figure 10 This is a three-dimensional structural diagram of the follower fixture;

[0028] Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 The following are schematic diagrams showing the states of the thin-walled component fixing device under different processes during operation;

[0029] Figure 16 This is a three-dimensional structural diagram of a dual-robot mirror milling device in another embodiment.

[0030] In the diagram: 1. Fixed platform; 2. Mounting module; 21. Mounting plate; 22. Adaptive adjustment seat; 221. Piston rod; 222. First spring; 223. Universal joint; 23. Vacuum suction cup; 3. Conveying module; 3. Conveying base; 31. Hydraulic rod; 32. First motor; 33. Limiting block; 34. Rack; 35. Third motor; 36. Clamping module; 4. Column; 41. Drive shaft; 42. Second motor; 43. Adjustable single-sided clamp; 44. First clamp support; 441. Fan-shaped clamp; 442. Fixing pin; 443. Follower clamp; 45. Second clamp support; 451. Follower clamp; 452. Second spring; 453. Thin-walled component; 5. Industrial robot; 6. 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] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] Thin-walled components require a vertical position for mirror machining. For larger thin-walled parts, a specialized flipping module is needed to facilitate the transition from a horizontal to a vertical position (without collision or interference with the robot during this movement). The flipping module also needs to accommodate a mounting module to hold components of different sizes, surface shapes, curvatures, and wall thicknesses, while ensuring stable mounting and adsorption. Once the thin-walled component is in a vertical position, it needs to be clamped on both sides for machining. The challenge here is to ensure the clamping device is self-adaptive, conforming to components with varying boundary curvatures, while providing sufficient clamping force.

[0036] Based on the above difficulties, please refer to Figure 1This embodiment provides a fixing device for a thin-walled component 5 used in dual-robot mirror milling, which includes a fixing table 1, a mounting module 2, a conveying module 3, and a clamping module 4. The fixing table 1 is the worktable of the fixing device, and all other components are set based on the fixing table 1. The fixing table 1 can be fixed to the ground or connected to other automated process equipment. The mounting module 2 includes a mounting plate 21, multiple adaptive adjustment seats 22, and vacuum suction cups 23. One end of each adaptive adjustment seat 22 is connected to the same side of the mounting plate 21, and they are evenly distributed in a rectangular array. The other end of each adaptive adjustment seat 22 is connected to a vacuum suction cup 23. The vacuum suction cup 23 can rise and fall and rotate at any angle on the adaptive adjustment seat 22, used to adsorb the surface of the thin-walled component 5 containing different curved surfaces. Specifically, as shown... Figure 2 , Figure 3 As shown, Figure 3 for Figure 2 A cross-sectional view. The adaptive adjustment seat 22 in this embodiment includes a piston rod 221, a first spring 222, and a universal joint 223. The piston rod 221 includes a sleeve and a movable rod. The movable rod slides within the sleeve to achieve a telescopic function. The sleeve is connected to the mounting. The first spring 222 is disposed inside the sleeve, with one end abutting against the inner wall of the sleeve and the other end similar to the end of the movable rod located inside the sleeve, supporting the movable rod and enabling its elastic telescopic movement. One end of the universal joint 223 is fixedly connected to the end of the movable rod located outside the sleeve, and the other end is fixedly connected to the vacuum suction cup 23. The vacuum suction cup 23 can adsorb the surface of the thin-walled component 5, preventing the thin-walled component 5 from shaking or falling off during subsequent transport. The middle universal joint 223 can flexibly adjust the support angle, and the lower piston rod 221 can flexibly adjust the support height. Multiple adaptive adjustment seats 22 and vacuum suction cups 23 are used in conjunction to adapt to and fix thin-walled components 5 with different curvatures and wall thicknesses.

[0037] Please refer to Figure 4 and Figure 5 . Figure 5 This is a schematic diagram showing the mounting plate 21 in a vertical position. The conveying module 3 includes a conveying base 31, a hydraulic rod 32, and a first motor 33 (to ensure sufficient torque, the motor generally includes a reducer; this is a common practice among those skilled in the art and therefore will not be described in detail). In this embodiment, the conveying base 31 is slidably positioned relative to the top of the fixed platform 1. Let the sliding direction of the conveying base 31 be direction one. Specifically, the top of the fixed platform 1 is fixedly connected to two parallel first guide rails along direction one. First sliders are slidably connected to both first guide rails. Both first sliders are fixedly connected to the bottom of the conveying base 31. Figure 6As shown, a rack 35 is fixedly connected to one side of the transmission base 31 along direction one. A third motor 36 is fixedly connected to the top of the fixed platform 1. The output shaft of the third motor 36 is fixedly sleeved with a gear that meshes with the rack 35. By controlling the forward and reverse rotation, rotation speed, and rotation time of the third motor 36, the moving direction and moving distance of the transmission base 31 on the fixed platform 1 are controlled. A slide structure is provided on the top of the transmission base 31. The slide structure includes two parallel second guide rails arranged perpendicular to direction one. Second sliders are slidably connected to both second guide rails. The two second sliders are rotatably connected to one side of the mounting plate 21 through a rotating shaft. This allows the mounting plate 21 to rotate on the transmission base while also sliding through the slide structure. The hydraulic rod 32 is a commercially available ordinary hydraulic telescopic rod, one end of which is rotatably connected to one side of the transmission base 31 about direction one, and the other end is rotatably connected to the side of the mounting plate 21 away from the adaptive adjustment seat 22. The first motor 33 is also fixedly connected to the conveyor base 31 and can move with the conveyor base 31. Simultaneously, the output shaft of the first motor 33 transmits power to the hinge shaft between the hydraulic rod 32 and the conveyor base 31, driving the hydraulic rod 32 to rotate as a whole, thereby causing the mounting plate 21 to flip between horizontal and vertical states. Furthermore, to ensure the mounting plate 21 remains in a vertical position, a rectangular limiting block 34 is provided. This limiting block 34 is fixedly connected to the rotating shaft between the mounting plate 21 and the second slider and can rotate with the rotating shaft. A limiting groove matching the limiting block 34 is provided on the conveyor base 31. When the hydraulic rod 32 drives the mounting plate 21 to a vertical position, one side of the limiting block 34 abuts against the bottom of the limiting groove, preventing the mounting plate 21 from continuing to rotate and ensuring that the mounting plate 21 ultimately remains in a vertical position. As the hydraulic rod 32 continues to rotate, the angle change of the mounting plate 21 is blocked by the limiting block 34, so only the vertical mounting plate 21 can be pushed to continue to move horizontally along the second guide rail.

[0038] The clamping module 4 is also mounted on the fixed platform 1 and is located near the path along which the conveying base 31 moves in direction one. The clamping module 4 includes two symmetrically arranged clamping units. The two clamping units are fixedly connected to the fixed platform 1 along direction one, and the distance between the two clamping units is adjustable. In this embodiment, as... Figure 7 , Figure 8As shown, the clamping unit includes a column 41, a drive shaft 42, a second motor 43, multiple adjustable single-sided clamps 44, and multiple follower clamps 45. A clamp base is fixedly connected to the bottom of the column 41. The clamp base is detachably fixed to the fixed platform 1 by bolts, thus allowing the distance between the two columns 41 to be adjusted. The drive shaft 42 is also vertically oriented, parallel to the length direction of the column 41, and rotatably connected to it. The second motor 43 is fixed to the top of the column 41, and its output shaft is used to drive the drive shaft 42 to rotate. Multiple adjustable single-sided clamps 44 are evenly arranged on one side of the column 41. Multiple follower clamps 45 are all connected to the drive shaft 42 and correspond one-to-one with the adjustable single-sided clamps 44 on the horizontal plane. The corresponding adjustable single-sided clamps 44 and follower clamps 45 are used to clamp thin-walled components 5 with flat edges or with curved edges. Specifically, as shown... Figure 9 As shown, the adjustable single-sided clamp 44 includes a first clamp support 441, a sector-shaped clamping block 442, and a fixing pin 443. A T-slot is formed on the side of the two columns 41 that are close to each other. The first clamp support 441 is fixedly connected in the T-slot. The end of the first clamp support 441 away from the column 41 has a mounting groove and a fixing hole 1 communicating with the mounting groove. The sector-shaped clamping block 442 can be a semi-circular clamping block. The arc-shaped surface of the sector-shaped clamping block 442 is rotatably connected to the first clamp support 441. The end of the sector-shaped clamping block 442 near the arc-shaped surface has multiple fixing holes 2 distributed along its arc. At the same time, the end of the sector-shaped clamping block 442 near the arc-shaped surface is located in the mounting groove. The flat surface of the sector-shaped clamping block 442 is located outside the mounting groove. This flat surface is the clamping surface. The sector-shaped clamping block 442 is horizontally connected and rotatably connected in the mounting groove. When the sector-shaped clamping block 442 is adjusted and rotated to an angle that matches the edge curvature of the thin-walled component 5, the fixing pin 443 passes through fixing hole one and fixing hole two to position and lock the angle of the sector-shaped clamping block 442. For thin-walled components 5 with flat edges, the sector-shaped clamping device can be locked while remaining parallel to direction one. Figure 10 As shown, the follower clamp 45 includes a second clamp support 451 and a follower clamp block 452. The second clamp support 451 is fixedly connected to the drive shaft 42. The follower clamp block 452 is rotatably connected to the second clamp support 451 via a rotating shaft and corresponds to the sector-shaped clamp block 442. The second motor 43 drives the drive shaft 42 to rotate, causing the follower clamp block 452 to contact the side of the thin-walled member 5 away from the sector-shaped clamp block 442, and adjusts the angle through contact compression, ultimately cooperating with the sector-shaped clamp block 442 to achieve clamping. Furthermore, a second spring 453 can be connected between the second clamp support 451 and the follower clamp block 452. The second spring 453 ensures that the follower clamp block 452 is in close contact with the second clamp support 451 when not clamped, preventing interference when the thin-walled member 5 enters the clamping module 4. The second spring 453 also maintains the parallelism of the two clamps when clamped.

[0039] Working principle of the invention:

[0040] 1. Place the thin-walled component 5 on the mounting module 2, and use the adaptive adjustment seat 22 to make the vacuum suction cup 23 conform to the curved surface of the thin-walled component 5. Then activate the vacuum suction to firmly fix the thin-walled component 5 in place with the vacuum suction cup 23. Figure 11 As shown. When placing the thin-walled component 5, it is necessary to perform benchmark positioning on the mounting plate 21. In this embodiment, a laser measuring instrument can be used. The two positioning points on the right side of the mounting plate 21 are determined according to the position of the laser beam. Aligning the upper and lower corners of the right side of the thin-walled component 5 with the two positioning points can achieve benchmark positioning when the thin-walled component 5 is adsorbed and fixed, so as to facilitate subsequent processes;

[0041] 2. Turn on the first motor 33, and in conjunction with the hydraulic rod 32, flip the thin-walled component 5 from a horizontal state to a vertical state, as follows. Figure 12 As shown;

[0042] 3. Turn on the third motor 36, and move the thin-walled component 5 to the corresponding position in front of the clamping module 4 via the conveyor base 31, such as... Figure 13 As shown. The movement position of the conveyor base 31 can be controlled by the program of the third motor 36. For example, a servo motor can be used for automated control;

[0043] 4. After the thin-walled component 5 reaches the preset position, the first motor 33 continues to rotate, causing the thin-walled component 5 to feed towards the clamping unit. After the thin-walled component 5 comes into contact with the fan-shaped clamping block 442 (which can be monitored by sensors such as limit switches and photoelectric sensors), the second motor 43 drives the follower clamping block 452 to rotate and clamp the thin-walled component 5, as shown. Figure 14 As shown;

[0044] 5. After the thin-walled component 5 is clamped, the vacuum suction cup 23 breaks the vacuum, and the conveying module 3 returns along the original path, waiting for the next process. Figure 15 As shown.

[0045] In another embodiment, the present invention also proposes a dual-robot mirror milling device, such as... Figure 16 As shown, it includes the thin-walled component 5 fixing device as described above and two industrial robots 6. The two industrial robots 6 are respectively located on both sides of the fixing table 1, and are used to perform mirror milling on the thin-walled component 5 fixed on the clamping module 4. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification.

[0046] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A device for fixing thin-walled components in dual-robot mirror milling, characterized in that, include: Fixed platform (1); The mounting module (2) includes a mounting plate (21), multiple adaptive adjustment seats (22) and a vacuum suction cup (23). One end of each adaptive adjustment seat (22) is connected to the mounting plate (21), and the other end is connected to the vacuum suction cup (23). The vacuum suction cup (23) can be raised, lowered and rotated at any angle on the adaptive adjustment seat (22) to adsorb the surface of the thin-walled component (5) with different curved surfaces. The conveying module (3) includes a conveying base (31), a hydraulic rod (32), and a first motor (33). The conveying base (31) is slidably connected to the top of the fixed platform (1). The sliding direction of the conveying base (31) is set as direction one. A sliding table structure is provided on the conveying base (31). The sliding table structure moves along the vertical direction of direction one. One side of the mounting plate (21) is rotatably connected to the sliding table structure about direction one. One end of the hydraulic rod (32) is rotatably connected to one side of the conveying base (31) about direction one, and the other end is rotatably connected to the side of the mounting plate (21) away from the adaptive adjustment seat (22). The first motor (33) is connected to one side of the conveying base (31) and is used to drive the hydraulic rod (32) to rotate as a whole, thereby driving the mounting plate (21) to switch between horizontal and vertical states. A clamping module (4) is mounted on a fixed platform (1) and located near the path along which the conveying module (3) moves in the first direction. The clamping module (4) includes two symmetrically arranged clamping units, which are arranged correspondingly along the first direction. Each clamping unit includes a column (41), a drive shaft (42), a second motor (43), multiple adjustable single-sided clamps (44), and multiple follower clamps (45). The column (41) is connected to the fixed platform (1). The drive shaft (42) is connected to the column. (41) The length direction is parallel and rotatably connected. The second motor (43) is used to drive the transmission shaft (42) to rotate. Multiple adjustable single-sided clamps (44) are evenly arranged on one side of the column (41). Multiple follower clamps (45) are connected to the transmission shaft (42) and correspond one-to-one with the adjustable single-sided clamps (44) on the horizontal plane. The corresponding adjustable single-sided clamps (44) and follower clamps (45) are used to clamp the thin-walled component (5) with flat edge or clamp the thin-walled component (5) with curved edge.

2. The thin-walled component fixing device according to claim 1, characterized in that, The adaptive adjustment seat (22) includes a piston rod (221), a first spring (222), and a universal joint (223); the piston rod (221) is connected to the mounting plate (21), the first spring (222) is disposed inside the piston rod (221) to support the movable rod of the piston rod (221), one end of the universal joint (223) is connected to the movable rod of the piston rod (221), and the other end is connected to the vacuum suction cup (23).

3. The thin-walled component fixing device according to claim 1, characterized in that, Multiple adaptive adjustment seats (22) are evenly distributed in a rectangular array on the mounting plate (21).

4. The thin-walled component fixing device according to claim 1, characterized in that, The top of the fixed platform (1) is connected to a first guide rail along the first direction, and a first slider is slidably connected on the first guide rail. The first slider is connected to the bottom of the conveying base (31).

5. The thin-walled component fixing device according to claim 4, characterized in that, A rack (35) is connected to one side of the conveying base (31) along the direction, and a third motor (36) is connected to the top of the fixed platform (1). The output shaft of the third motor (36) is connected to a gear that meshes with the rack (35) to drive the conveying base (31) to slide horizontally on the fixed platform (1).

6. The thin-walled component fixing device according to claim 1, characterized in that, The slide structure includes a second guide rail arranged perpendicular to the first direction, a second slider slidably connected on the second guide rail, and the second slider being rotatably connected to one side of the mounting plate (21).

7. The thin-walled component fixing device according to claim 1, characterized in that, The adjustable single-sided clamp (44) includes a first clamp support (441), a fan-shaped clamp (442), and a fixing pin (443); the first clamp support (441) is connected to the column (41), the arc surface of the fan-shaped clamp (442) is rotatably connected to the first clamp support (441), the flat surface of the fan-shaped clamp (442) is the clamping surface, and the fixing pin (443) is used to position and lock the fan-shaped clamp (442) and the first clamp support (441) after adjusting the rotation angle of the fan-shaped clamp (442).

8. The thin-walled component fixing device according to claim 7, characterized in that, The follower clamp (45) includes a second clamp support (451) and a follower clamp block (452); the second clamp support (451) is connected to the transmission shaft (42), and the follower clamp block (452) is rotatably connected to the second clamp support (451). The follower clamp block (452) is used to rotate by an angle after being squeezed, so that the clamping surface of the follower clamp (45) corresponds to the clamping surface of the fan-shaped clamp block (442).

9. The thin-walled component fixing device according to claim 8, characterized in that, A second spring (453) is connected between the second clamp support (451) and the follower clamp (452), which is used to drive the follower clamp (452) to reset when it is not squeezed.

10. A dual-robot mirror milling machine, characterized in that, Includes a thin-walled component fixing device as described in any one of claims 1 to 9 and two industrial robots (6), the two industrial robots (6) being located on both sides of the fixing table (1) for mirror milling of the thin-walled component (5) fixed on the clamping module (4).

Images