Ceramic core positioning soft core support self-adaptive machining device and method based on Stewart platform

Abstract

The invention belongs to the technical field of aircraft engine hollow turbine blade investment precision casting, and particularly relates to a ceramic core positioning soft core support self-adaptive machining device and method based on a Stewart platform, and the device comprises a numerical control machine tool, the Stewart platform, a ceramic core clamp and a control unit. The Stewart platform comprises an upper platform body, a lower platform body and six electric cylinders arranged between the upper platform body and the lower platform body, displacement sensors are arranged in the electric cylinders, the upper ends of the electric cylinders are connected with the upper platform body in a spherical hinge mode, the lower ends of the electric cylinders are hinged to the lower platform body through hooke joints, the ceramic core clamp is installed on the upper platform body, and the ceramic core clamp is installed on the lower platform body. A positioning soft core support is attached to the surface of the ceramic core; by synchronously controlling the extension lengths of the six electric cylinders, the adjustment of the spatial six-degree-of-freedom pose in the clamping process of the turbine blade ceramic core is realized, and the effect that the ceramic core soft core support reaches the specified spatial pose before machining is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of investment casting of hollow turbine blades of aircraft engines, and in particular relates to a ceramic core positioning soft core support adaptive processing device and method based on a Stewart platform. Background Art

[0002] Hollow turbine blades are the core hot end components of aircraft engines. They are generally manufactured by investment casting supplemented by machining. According to the precision casting process, the wall thickness accuracy of the blade is mainly inherited from the precision casting wax pattern and is guaranteed by the position matching relationship between the ceramic core and the mold cavity. Therefore, in order to limit the position deviation of the ceramic core during the wax pressing process, a ceramic core positioning clamping element is usually designed inside the mold. At present, common ceramic core positioning elements mainly include metal positioning elements and soft core supports. The soft core support is a wax positioning block pasted on the surface of the ceramic core. Due to its flexible layout and the ability to form a complete surface with the wax pattern after the wax pressing is completed, it has more advantages in limiting the drift of the ceramic core during the wax pressing process and improving the surface quality of the wax pattern. However, when there is a manufacturing error in the ceramic core, the fixed-size soft core support cannot correct its spatial position in the wax mold according to the ceramic core surface deviation, which will cause the individualized surface deviation of the ceramic core to be directly transmitted to the wall thickness of the wax pattern, ultimately causing the wall thickness of the wax pattern and the final casting to exceed the tolerance. To solve this problem, the commonly used method is to perform online detection of the actual ceramic core, and then complete the adaptive processing of the ceramic core surface positioning soft core support through CNC milling, that is, by changing the geometric size of the soft core support, adjusting the spatial position of the actual ceramic core in the wax mold, so that the ceramic core surface error is within the tolerance range of the wax mold wall thickness, thereby reducing the influence of the ceramic core surface manufacturing error on the wax mold and the blade casting wall thickness. However, the use of milling to process the ceramic core surface soft core support requires adjusting the CNC machining program according to the actual ceramic core surface deviation, which is time-consuming and labor-intensive, and seriously affects the batch production efficiency of the ceramic core soft core support. Summary of the invention

[0003] In view of the above problems, the present invention provides a ceramic core positioning soft core support adaptive processing device and method based on a Stewart platform.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A ceramic core positioning soft core support adaptive processing device based on a Stewart platform comprises a CNC machine tool, a Stewart platform, a ceramic core fixture and a control unit. The Stewart platform comprises an upper platform, a lower platform and six electric cylinders arranged between the upper platform and the lower platform. The electric cylinder has a built-in displacement sensor. The upper end of the electric cylinder is connected to the upper platform in a ball hinge manner, and the lower end of the electric cylinder is hinged to the lower platform through a Hooke hinge. The ceramic core fixture is installed on the upper platform and is used to clamp the ceramic core. A positioning soft core support is attached to the surface of the ceramic core. The CNC machine tool is used to process the positioning soft core support. The control unit is used to receive movement status information of the electric cylinder and the ceramic core fixture, and simultaneously control the movement of the CNC machine tool, the electric cylinder and the ceramic core fixture.

[0006] Furthermore, the ceramic core fixture includes support seats symmetrically arranged on the upper platform, connecting seats are rotatably installed on the two support seats, a connecting beam is fixedly arranged between the two connecting seats to achieve the fixation of the two connecting seats, a driving motor and an encoder are respectively arranged on the outer sides of the two support seats, the driving motor is used to drive the connecting seat to rotate, and the encoder is used to detect the motion state information of the connecting seat, a fixed clamping seat and an adjustable clamping seat are respectively arranged on the inner sides of the two connecting seats, and a No. 1 clamp is fixedly arranged on the inner side of the fixed clamping seat The adjustable clamping seat comprises a seat body and a No. 3 clamping element and a No. 4 clamping element which are horizontally slidably arranged inside the seat body. The inner ends of the No. 3 clamping element and the No. 4 clamping element are both provided with adjusting inclined surfaces. The seat body is also threadedly connected with two adjusting screws which correspond to the No. 3 clamping element and the No. 4 clamping element respectively. The lower end of the adjusting screw is a round head which matches the adjusting inclined surface. A measuring circular hole is opened on the connecting seat for determining the measuring coordinate origin and tool setting. A support platform is fixed to the lower part of the inner side surface of the seat body.

[0007] A method for adaptively processing a ceramic core positioning soft core support based on a Stewart platform comprises the following steps:

[0008] S1, CNC programming, write the CNC machining program for the positioning soft core support on the ceramic core basin surface and back side according to the position of the theoretical ceramic core model in the ceramic core fixture;

[0009] S2, attaching and clamping: attaching and positioning the soft core support processing blank block at the corresponding positions on the surface and back of the ceramic core basin, and then clamping the ceramic core in the ceramic core clamp;

[0010] S3, determination of measurement coordinate system: installing the lower platform of the Stewart platform in the machine tool, and determining the measurement coordinate system by using the three-coordinate probe head of the CNC machine tool and the measurement circular hole on the ceramic core fixture;

[0011] S4, detection transformation: select a section on the left, middle and right side of the actual ceramic core as the key section, and use the machine tool three-coordinate side head to perform three-coordinate detection on the three key sections. First, measure the basin surface detection point coordinates P of the three key sections. j , j = 1, ..., M, M is the number of detection points of the three key cross sections on the ceramic core basin surface, and then the ceramic core fixture drives the actual ceramic core to flip 180°, and the measurement coordinates P of the back detection points of the three key cross sections are measured k ′, k = 1, ..., N, N is the number of detection points on the back of the ceramic core at the three key sections, and the actual coordinates of the back detection points B k Calculated by the following formula:

[0012] B k =R b (P k ′-T b )+T b

[0013] In the formula, R b ∈R 3×3 P k 'Rotation matrix for 180° rotation around the X axis, T b ∈R 3×1 is the coordinate of the ceramic core rotation center axis in the measurement coordinate system;

[0014] The coordinates of the basin surface detection point P j and the actual coordinates of the back detection point B k Transform the actual ceramic core detection point coordinate X to the upper platform coordinate system i , because the directions of the X, Y, and Z axes of the two coordinate systems are consistent, the transformation formula is as follows:

[0015] X i =[P j B k ]+T d

[0016] Where, T d ∈R 3×1 is the translation vector from the origin of the coordinate system to the origin of the upper platform coordinate system, i=1,...,S, S=M+N, S is the total number of detection points of the three key cross sections of the actual ceramic core;

[0017] S5, Registration: Using the ICP registration algorithm based on weight constraints, the actual ceramic core detection point coordinates X i It is aligned with the theoretical ceramic core model to calculate the coordinates X of the actual ceramic core detection point when the actual ceramic core with profile deviation reaches the optimal spatial position. i The optimal rotation matrix R m And the optimal translation matrix T m, the ICP registration calculation formula based on weight constraint is:

[0018]

[0019] In the formula, w i is the coordinate X of the actual ceramic core detection point i The corresponding weight factor, Y i is the actual ceramic core detection point coordinate X i The projection point on the theoretical ceramic core model, R m With T m Obtained through SVD solution and iterative calculation;

[0020] S6, mapping: according to the optimal rotation matrix R m And the optimal translation matrix T m , mapped to the telescopic change of the six electric cylinders of the Stewart platform, and the telescopic change ΔL of the six electric cylinders was solved by kinematics, and calculated by the following formula:

[0021] ΔL=||R m Q+T m -H||-||QH||

[0022] Among them, H∈R 3×6 is the center coordinate of the Hooke joint at the lower end of the six electric cylinders, Q∈R 3×6 are the center coordinates of the ball joints at the upper ends of the six electric cylinders;

[0023] S7, CNC machining: The tool is aligned with the measurement coordinate origin on the CNC machine tool, and the six electric cylinders are controlled by the control unit to extend and retract to reach the specified position, and then the CNC machining program is started to process the positioning soft core support;

[0024] S8, coring: After the positioning soft core support is processed and the Stewart platform returns to its initial position, the CNC processing of the positioning soft core support is completed, the CNC machine tool is turned off, the ceramic core is taken out from the ceramic core fixture, and then the positioning soft core support is removed from the ceramic core to obtain a finished positioning soft core support.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. The present invention synchronously controls the extension length of six electric cylinders to adjust the spatial six-degree-of-freedom posture of the turbine blade ceramic core during the clamping process, ensuring that the ceramic core soft core support reaches the specified spatial posture before processing and is processed into a soft core support of a desired size, thereby correcting the spatial posture of the ceramic core with a profile deviation in the wax mold and improving the accuracy of the wall thickness of the turbine blade wax mold;

[0027] 2. The connection seats at both ends of the ceramic core clamp of the present invention can be rotated, thereby realizing 360° rotation of the ceramic core when being clamped, and while improving the working range of the platform, ensuring the integrity of the processing of the ceramic core basin surface positioning soft core support and the back side positioning soft core support, further improving the processing efficiency;

[0028] 3. The present invention adopts the Stewart platform to quickly adjust the spatial position of the ceramic core during the processing of the soft core support. Compared with the prior art that uses milling to process the soft core support on the ceramic core surface, the soft core support CNC processing program written by the theoretical ceramic core model can continue to be used, and the spatial position of the ceramic core can be adjusted according to the actual ceramic core surface deviation, and there is no need to repeatedly write the CNC processing program. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the Stewart platform in the present invention;

[0031] Figure 3 It is a structural schematic diagram of the ceramic core clamp in the present invention;

[0032] Figure 4 is a cross-sectional view of the adjustable clamping seat in the present invention;

[0033] Figure 5 It is a schematic diagram of the measurement coordinate system, upper platform coordinate system and rotation center axis of the present invention;

[0034] In the figure, Stewart platform 1, ceramic core clamp 2, positioning soft core support 3, upper platform 101, lower platform 102, electric cylinder 103, support seat 201, connecting seat 202, connecting beam 203, drive motor 204, encoder 205, fixed clamping seat 206, adjustable clamping seat 207, No. 1 clamping element 208, measuring circular hole 209, No. 2 clamping element 210, seat body 2071, No. 3 clamping element 2072, adjusting inclined surface 2073, adjusting screw 2074, round head 2075, No. 4 clamping element 2076, support platform 2077. DETAILED DESCRIPTION

[0035] In order to further illustrate the technical solution of the present invention, the present invention is further described below through embodiments.

[0036] like Figures 1 to 4As shown, a ceramic core positioning soft core support adaptive processing device based on a Stewart platform includes a CNC machine tool, a Stewart platform 1, a ceramic core fixture 2 and a control unit. The Stewart platform 1 includes an upper platform 101, a lower platform 102 and six electric cylinders 103 arranged between the upper platform 101 and the lower platform 102. The electric cylinder 103 has a built-in displacement sensor. The upper end of the electric cylinder 103 is connected to the upper platform 101 by a ball hinge, and the lower end of the electric cylinder 103 is hinged to the lower platform 102 by a Hooke hinge. The ceramic core fixture 2 is installed on the upper platform 101 and is used to clamp the ceramic core. A positioning soft core support 3 is attached to the surface of the ceramic core. The CNC machine tool is used to process the positioning soft core support 3. The control unit is used to receive the motion state information of the electric cylinder 103 and the ceramic core fixture 2, and simultaneously control the motion of the CNC machine tool, the electric cylinder 103 and the ceramic core fixture 2.

[0037] The ceramic core fixture 2 includes support seats 201 symmetrically arranged on the upper platform 101, and connecting seats 202 are rotatably installed on the two support seats 201. A connecting beam 203 is fixedly arranged between the two connecting seats 202 to achieve the fixation of the two connecting seats 202. A driving motor 204 and an encoder 205 are respectively arranged on the outer sides of the two support seats 201. The driving motor 204 is used to drive the connecting seat 202 to rotate, and the encoder 205 is used to detect the motion state information of the connecting seat 202. A fixed clamping seat 206 and an adjustable clamping seat 207 are respectively arranged on the inner sides of the two connecting seats 202. A No. 1 clamping element 208 and a No. 2 clamping element 207 are fixedly arranged on the inner side of the fixed clamping seat 206. 10. The adjustable clamping seat 207 includes a seat body 2071 and a No. 3 clamping element 2072 and a No. 4 clamping element 2076 which are horizontally slidably arranged inside the seat body 2071. The inner ends of the No. 3 clamping element 2072 and the No. 4 clamping element 2076 are both provided with an adjusting inclined surface 2073. Two adjusting screws 2074 corresponding to the No. 3 clamping element 2072 and the No. 4 clamping element 2076 are also threadedly connected to the seat body 2071. The lower end of the adjusting screw 2074 is a round head 2075 which matches the adjusting inclined surface 2073. A measuring circular hole 209 is opened on the connecting seat 202 for determining the measurement coordinate origin and tool setting. A support platform 2077 is fixed to the lower part of the inner side surface of the seat body 2071.

[0038] A method for adaptively processing a ceramic core positioning soft core support based on a Stewart platform comprises the following steps:

[0039] S1, CNC programming, compile the CNC machining program of the ceramic core basin surface and back side positioning soft core support 3 according to the position of the theoretical ceramic core model in the ceramic core fixture 2;

[0040] S2, attaching and clamping: attaching and positioning the soft core support 3 to the corresponding positions on the surface and back of the ceramic core basin to process the blank block, and then clamping the ceramic core in the ceramic core clamp 2;

[0041] S3, determination of the measurement coordinate system: installing the lower platform 102 of the Stewart platform 1 in a machine tool, and determining the measurement coordinate system using a three-coordinate probe head of a CNC machine tool and a measurement circular hole 209 on the ceramic core fixture 2;

[0042] S4, detection transformation: select a section on the left, middle and right side of the actual ceramic core as the key section, and use the machine tool three-coordinate side head to perform three-coordinate detection on the three key sections. First, measure the basin surface detection point coordinates P of the three key sections. j , j = 1, ..., M, M is the number of detection points of the three key cross sections on the ceramic core basin surface, and then the ceramic core fixture 2 drives the actual ceramic core to flip 180°, and the measurement coordinates P of the back detection points of the three key cross sections are measured. k ′, k = 1, ..., N, N is the number of detection points on the back of the ceramic core at the three key sections, and the actual coordinates of the back detection points B k Calculated by the following formula:

[0043] B k =R b (P k ′-T b )+T b

[0044] In the formula, R b ∈R 3×3 P k 'Rotation matrix for 180° rotation around the X axis, T b ∈R 3×1 is the coordinate of the ceramic core rotation center axis in the measurement coordinate system;

[0045] The coordinates of the basin surface detection point P j and the actual coordinates of the back detection point B k Transform to the actual ceramic core detection point coordinate X on the upper platform 101 coordinate system i , because the directions of the X, Y, and Z axes of the two coordinate systems are consistent, the transformation formula is as follows:

[0046] X i =[P j B k ]+T d

[0047] Where, T d ∈R 3×1 is the translation vector from the coordinate origin to the origin of the coordinate system of the upper platform 101, i=1,...,S, S=M+N, S is the total number of detection points of the three key cross sections of the actual ceramic core;

[0048] S5, Registration: Using the ICP registration algorithm based on weight constraints, the actual ceramic core detection point coordinates X i It is aligned with the theoretical ceramic core model to calculate the coordinates X of the actual ceramic core detection point when the actual ceramic core with profile deviation reaches the optimal spatial position. i The optimal rotation matrix R m And the optimal translation matrix T m , the ICP registration calculation formula based on weight constraint is:

[0049]

[0050] In the formula, w i is the coordinate X of the actual ceramic core detection point i The corresponding weight factor, Y i is the actual ceramic core detection point coordinate X i The projection point on the theoretical ceramic core model, R m With T m Obtained through SVD solution and iterative calculation;

[0051] S6, mapping: according to the optimal rotation matrix R m And the optimal translation matrix T m , mapped to the telescopic change of the six electric cylinders 103 of the Stewart platform 1, and the telescopic change ΔL of the six electric cylinders 103 is solved by kinematics, and calculated by the following formula:

[0052] ΔL=||R m Q+T m -H||-||QH||

[0053] Among them, H∈R 3×6 is the center coordinate of the Hooke's joint at the lower end of the six electric cylinders 103, Q∈R 3×6 are the center coordinates of the ball joints at the upper ends of the six electric cylinders 103;

[0054] S7, CNC machining: completing the alignment of the tool and the measurement coordinate origin on the CNC machine tool, controlling the six electric cylinders 103 to extend and retract to reach the specified position through the control unit, and then starting the CNC machining program to machine the positioning soft core support 3;

[0055] S8, coring: after the positioning soft core support 3 is processed and the Stewart platform 1 returns to its initial position, the CNC processing of the positioning soft core support 3 is completed, the CNC machine tool is turned off, the ceramic core is taken out from the ceramic core fixture 2, and then the positioning soft core support 3 is removed from the ceramic core to obtain the finished positioning soft core support 3.

[0056] The above shows and describes the main features and advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention.

[0057] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A ceramic core positioning soft core support adaptive processing device based on Stewart platform, characterized by: The invention comprises a numerical control machine tool, a Stewart platform (1), a ceramic core fixture (2) and a control unit. The Stewart platform (1) comprises an upper platform (101), a lower platform (102) and six electric cylinders (103) arranged between the upper platform (101) and the lower platform (102). The electric cylinder (103) has a built-in displacement sensor. The upper end of the electric cylinder (103) is connected to the upper platform (101) by a ball hinge. The lower end of the electric cylinder (103) is hinged to the lower platform (102) by a Hooke hinge. The ceramic core fixture (2) is installed on the upper platform (101) and is used to clamp the ceramic core. A positioning soft core support (3) is attached to the surface of the ceramic core. The numerical control machine tool is used to process the positioning soft core support (3). The control unit is used to receive movement status information of the electric cylinder (103) and the ceramic core fixture (2), and simultaneously control the movement of the numerical control machine tool, the electric cylinder (103) and the ceramic core fixture (2).

2. According to claim 1, a ceramic core positioning soft core support adaptive processing device based on Stewart platform is characterized in that: The ceramic core fixture (2) comprises support seats (201) symmetrically arranged on the upper platform (101), connecting seats (202) are rotatably mounted on the two support seats (201), a connecting beam (203) is fixedly arranged between the two connecting seats (202) to achieve the fixation of the two connecting seats (202), a driving motor (204) and an encoder (205) are respectively arranged on the outer sides of the two support seats (201), the driving motor (204) is used to drive the connecting seat (202) to rotate, and the encoder (205) is used to detect the motion state information of the connecting seat (202), a fixed clamping seat (206) and an adjustable clamping seat (207) are respectively arranged on the inner sides of the two connecting seats (202), and a first clamping element (208) and a second clamping element (209) are fixedly arranged on the inner sides of the fixed clamping seat (206). 210), the adjustable clamping seat (207) comprises a seat body (2071) and a third clamping element (2072) and a fourth clamping element (2076) horizontally slidably arranged inside the seat body (2071), the inner side ends of the third clamping element (2072) and the fourth clamping element (2076) are both provided with an adjusting inclined surface (2073), and a threaded connection with the third clamping element is also provided on the seat body (2071). (2072) and the fourth clamping element (2076) respectively correspond to two adjusting screws (2074), the lower end of the adjusting screw (2074) is a round head (2075) matched with the adjusting inclined surface (2073), a measuring circular hole (209) is opened on the connecting seat (202) for determining the measurement coordinate origin and tool setting, and a support platform (2077) is fixed at the lower part of the inner side of the seat body (2071).

3. A method for adaptively processing a ceramic core positioning soft core support based on a Stewart platform based on the processing device of claim 1, characterized in that: The following steps are included: S1, CNC programming, compiling the CNC machining program for positioning the soft core support (3) on the ceramic core basin surface and back side according to the position of the theoretical ceramic core model in the ceramic core fixture (2); S2, attaching and clamping: attaching and positioning the soft core support (3) at corresponding positions on the surface and back of the ceramic core basin to process the blank block, and then clamping the ceramic core in the ceramic core clamp (2); S3, determination of the measurement coordinate system: installing the lower platform (102) of the Stewart platform (1) in a machine tool, and determining the measurement coordinate system using a three-coordinate probe head of a CNC machine tool and a measurement circular hole (209) on the ceramic core fixture (2); S4, detection transformation: select a section on the left, middle and right side of the actual ceramic core as the key section, and use the machine tool three-coordinate side head to perform three-coordinate detection on the three key sections. First, measure the basin surface detection point coordinates P of the three key sections. j , j=1,...,M, M is the number of detection points of the three key cross sections on the ceramic core basin surface, and then the ceramic core fixture (2) drives the actual ceramic core to flip 180°, and the measurement coordinates P of the back detection points of the three key cross sections are measured. k ′, k = 1, ..., N, N is the number of detection points on the back of the ceramic core at the three key sections, and the actual coordinates of the back detection points B k Calculated by the following formula: B k =R b (P k ′-T b )+T b In the formula, R b ∈R 3×3 P k 'Rotation matrix for 180° rotation around the X axis, T b ∈R 3×1 is the coordinate of the ceramic core rotation center axis in the measurement coordinate system; The coordinates of the basin surface detection point P j and the actual coordinates of the back detection point B k The actual ceramic core detection point coordinates X are transformed to the upper platform (101) coordinate system. i , because the directions of the X, Y, and Z axes of the two coordinate systems are consistent, the transformation formula is as follows: X i =[P j B k ]+T d Where, T d ∈R 3×1 is the translation vector from the measurement coordinate origin to the origin of the coordinate system of the upper platform (101), i=1,...,S, S=M+N, S is the total number of detection points of the three key cross sections of the actual ceramic core; S5, Registration: Using the ICP registration algorithm based on weight constraints, the actual ceramic core detection point coordinates X i It is aligned with the theoretical ceramic core model to calculate the coordinates X of the actual ceramic core detection point when the actual ceramic core with profile deviation reaches the optimal spatial position. i The optimal rotation matrix R m And the optimal translation matrix T m , the ICP registration calculation formula based on weight constraint is: In the formula, w i is the coordinate X of the actual ceramic core detection point i The corresponding weight factor, Y i is the actual ceramic core detection point coordinate X i The projection point on the theoretical ceramic core model, R m With T m Obtained through SVD solution and iterative calculation; S6, mapping: according to the optimal rotation matrix R m And the optimal translation matrix T m , mapped to the telescopic change of the six electric cylinders (103) of the Stewart platform (1), and the telescopic change ΔL of the six electric cylinders (103) is solved by kinematics, and calculated by the following formula: ΔL=||R m Q+T m -H||-||QH|| Among them, H∈R 3×6 is the center coordinate of the Hooke's joint at the lower end of the six electric cylinders (103), Q∈R 3×6 are the center coordinates of the ball joints at the upper ends of the six electric cylinders (103); S7, CNC machining: completing the alignment of the tool and the measurement coordinate origin on the CNC machine tool, controlling the six electric cylinders (103) to extend and retract to reach a specified position through the control unit, and then starting the CNC machining program to machine the positioning soft core support (3); S8, coring: After the positioning soft core support (3) is processed and the Stewart platform (1) returns to its initial position, the CNC processing of the positioning soft core support (3) is completed, the CNC machine tool is turned off, the ceramic core is taken out from the ceramic core fixture (2), and then the positioning soft core support (3) is removed from the ceramic core to obtain a finished positioning soft core support (3).

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