An intelligent flexible clamping system for creep aging forming of large thin-walled parts

Abstract

The present invention discloses an intelligent flexible clamping system for creep aging forming of large thin-walled parts, comprising: a base, a base is provided at the upper end of the base, and the base matrix is ​​distributed with extension holes; a lifting drive mechanism is installed on the base, and the upper end has a lifting movable end aligned with the extension hole; a flexible clamping assembly includes a base frame, a rotating table, a first rotating drive mechanism, a pitching table, a second rotating drive mechanism and a support module; the rotating table is installed on the base frame along a vertical axis, the first rotating drive mechanism is installed on the base frame and connected to the rotating table to drive the rotating table to rotate relative to the base frame along the vertical axis, the pitching table is installed on the rotating table along a horizontal axis, the second rotating drive mechanism is installed on the rotating table and connected to the pitching table; the support module is detachably installed on the upper end of the pitching table. The present invention significantly improves the flexibility, accuracy and efficiency of creep aging forming of large thin-walled parts. And it can meet the needs of multiple varieties, small batches and customization.

Description

Technical Field

[0001] The invention relates to the technical field of large-scale metal thin-walled parts processing, and in particular to an intelligent flexible clamping system for creep aging forming of large-scale thin-walled parts. Background Art

[0002] In the fields of aerospace, automobile manufacturing, precision instruments, etc., large thin-walled parts have become key load-bearing components due to their complex structures and high requirements for material properties. In the manufacturing process of these parts, creep aging forming technology is widely used. This technology can simultaneously strengthen the material during the forming process and improve the overall performance of the component. However, the traditional creep aging forming process has some limitations. The forming of large thin-walled parts often needs to meet the needs of multiple varieties, small batches, and customization, and the rigid structure of traditional tooling is difficult to adapt to such changing forming requirements. In addition, it is difficult for current equipment to ensure that the tooling can adapt to the precise fit of wall panels and ensure the molding quality. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an intelligent flexible clamping system for creep aging forming of large thin-walled parts.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] An intelligent flexible clamping system for creep aging forming of large thin-walled parts, comprising: a base, a base is provided at the upper end of the base, and the base matrix is ​​distributed with extension holes; a lifting drive mechanism is installed on the base, and the upper end has a lifting movable end aligned with the extension hole; a flexible clamping assembly, including a base frame, a rotating table, a first rotating drive mechanism, a pitching table, a second rotating drive mechanism and a supporting module; the rotating table is rotatably installed on the base frame along a vertical axis, the first rotating drive mechanism is installed on the base frame and connected to the rotating table to drive the rotating table to rotate relative to the base frame along the vertical axis, the pitching table is rotatably installed on the rotating table along a horizontal axis, the second rotating drive mechanism is installed on the rotating table and connected to the pitching table to drive the pitching table to rotate along the horizontal axis; the supporting module is detachably installed on the upper end of the pitching table.

[0006] Furthermore, a connecting flange is installed on the upper end of the pitching platform, and a linking disk is detachably installed on the upper end of the connecting flange; and the supporting module is detachably installed on the linking disk.

[0007] Furthermore, the supporting module is a suction cup; an airway opening is provided at the center of the upper end surface of the connecting disk, a transverse airway is provided on the peripheral wall of the connecting disk, and the transverse airway is connected to the bottom of the airway opening; a positioning joint embedded in the airway opening is provided at the bottom of the suction cup.

[0008] Furthermore, the outer periphery of the link disk is connected to a connector upper clamp block, the connector upper clamp block is provided with a transverse docking hole connected to the transverse airway, the connector upper clamp block is provided with a vertical connecting hole extending vertically upward from the bottom and connected to the transverse docking hole, the bottom of the vertical connecting hole is connected to a connector upper head, the peripheral wall of the connecting flange is provided with a connector lower clamp block, the connector lower clamp block is provided with a vertical through hole aligned with the vertical connecting hole, the upper end of the vertical through hole is connected to a connector lower head, and the connector lower head is docked with the connector upper head.

[0009] Furthermore, the connecting flange and the linking plate are provided with corresponding holes for being connected and fixed by screws.

[0010] Furthermore, a notch is provided on the upper end surface of the connecting flange, and a positioning protrusion is detachably mounted on the bottom of the linking disk, and the positioning protrusion is embedded in the notch.

[0011] Furthermore, a positioning pin hole is provided at the upper end of the link disk.

[0012] Furthermore, a threaded hole is provided at one end of the transverse docking hole away from the linking disk, and a sealing plug is connected to the threaded hole.

[0013] Furthermore, first connecting ear plates are provided on both sides of the upper end of the rotating platform, and second connecting ear plates are provided on both sides of the bottom of the pitch platform, the two second connecting ear plates are embedded between the two first connecting ear plates, the second connecting ear plates are hinged to the first connecting ear plates on the corresponding side through a hinge shaft, the hinge shaft is connected and fixed to the second connecting ear plates so as to be able to rotate synchronously, and the second rotation drive mechanism is installed on the outside of one of the first connecting ear plates and is connected to the hinge shaft on the corresponding side.

[0014] Furthermore, it also includes a flexible clamping management system and a dynamic tracker; the flexible clamping management system is used to receive the input support positioning strategy, and analyze the positioning strategy plan to form a point support plan, and send the point support plan to the lifting drive mechanism, the first rotation drive mechanism and the second rotation drive mechanism to control the activities of the lifting drive mechanism, the first rotation drive mechanism and the second rotation drive mechanism; the point support plan includes the target position of the flexible clamping component and the corresponding position and posture of the flexible clamping component; the dynamic tracker is used to measure the position and posture of the flexible clamping component according to the target position of the flexible clamping component; the flexible clamping management system can also receive position and posture feedback adjustment information, and send the position and posture feedback adjustment information to the lifting drive mechanism, the first rotation drive mechanism and the second rotation drive mechanism to control the activities of the lifting drive mechanism, the first rotation drive mechanism and the second rotation drive mechanism to adjust the flexible clamping component to the position and posture required for workpiece support.

[0015] The present invention has the following beneficial effects:

[0016] Through the design of flexible clamping components, including base frame, rotating table, pitching table, etc., it can adapt to large thin-walled parts (workpieces) of different shapes and sizes to meet diverse forming needs; the rotating activity of the rotating table and the pitching table allows the tooling to be flexibly adjusted to adapt to thin-walled parts with complex curved surfaces. The setting of the first rotating drive mechanism and the second rotating drive mechanism enables the rotating table and the pitching table to accurately control the rotation angle to ensure the precise fit between the tooling and the thin-walled parts, thereby improving the forming quality and reducing rebound and deformation. The addition of the lifting drive mechanism enables the system to dynamically adjust the height of the tooling according to the actual needs of the forming process, further optimizing the die-sticking effect. The detachable design of the support module makes it more convenient and quick to replace or maintain, improves production efficiency and system reliability; and different support modules can be replaced according to different working conditions; significantly improving the flexibility, accuracy and efficiency of creep aging forming of large thin-walled parts.

[0017] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 A magnified view of point A;

[0021] Figure 3 is a schematic diagram of the structure of the flexible clamping assembly;

[0022] Figure 4 It is a cross-sectional view of the connecting flange, link plate and supporting module;

[0023] Figure 5 is a partial structural exploded schematic diagram of the flexible clamping assembly;

[0024] Figure 6 It is a partial view of one embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of the working principle of the flexible clamping management system and the dynamic tracker;

[0026] Figure 8 It is the control interaction architecture diagram of the intelligent flexible clamping management system;

[0027] Fig. 9 It is the system architecture diagram of the intelligent flexible clamping management system;

[0028] Fig.10 This is the automatic function interface diagram of the intelligent flexible clamping management system;

[0029] Fig.11 This is the manual function interface diagram of the intelligent flexible clamping management system;

[0030] Fig.12 This is the detailed display function interface diagram of the intelligent flexible clamping management system;

[0031] Fig.13 This is the coordinate function interface diagram of the intelligent flexible clamping management system;

[0032] Fig.14 The axis number setting function interface diagram of the intelligent flexible clamping management system;

[0033] Fig.15 This is the parameter setting function interface diagram of the intelligent flexible clamping management system;

[0034] Fig.16 This is the interface diagram of the alarm recording function of the intelligent flexible clamping management system.

[0035] Legend:

[0036] Base 100, workpiece 101, base 110, extension hole 120;

[0037] A lifting drive mechanism 200 and a lifting movable end 210;

[0038] Flexible clamping assembly 300, base frame 310, rotating platform 320, first connecting ear plate 321, first rotating drive mechanism 330, pitching platform 340, second connecting ear plate 341, second rotating drive mechanism 350, connecting flange 360, notch 361, connecting plate 370, airway opening 371, transverse airway 372, positioning protrusion 373, positioning pin hole 374;

[0039] Support module 400, positioning joint 410;

[0040] Connector upper clamping block 500, transverse docking hole 510, threaded hole 511, sealing plug 512, vertical connection hole 520, connector upper head 521;

[0041] Connector lower clamping block 600, vertical through hole 610, connector lower head 611;

[0042] Flexible clamping management system 700, dynamic tracker 800. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0046] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] Please refer to Figure 1 and Figure 2 In a preferred embodiment of the present invention, an intelligent flexible clamping system for creep aging forming of large thin-walled parts includes a base 100, a lifting drive mechanism 200, and a flexible clamping assembly 300.

[0048] The base 100 is provided with a base 110 at the upper end, and the base 110 is provided with extension holes 120 arranged in a matrix, and the lifting drive mechanism 200 and the flexible clamping assembly 300 are also arranged in a corresponding matrix distribution. The lifting drive mechanism 200 is installed on the base 100, and the upper end of the lifting drive mechanism 200 has a lifting movable end 210 aligned with the extension hole 120. The lifting drive mechanism 200 can be a hydraulic cylinder, a telescopic motor, a servo motor drive with a ball screw or other drive mechanism with a telescopic drive.

[0049] The flexible clamping assembly 300 includes a base frame 310, a rotating table 320, a first rotating drive mechanism 330, a pitching table 340, a second rotating drive mechanism 350 and a supporting module 400; the rotating table 320 is installed on the base frame 310 to rotate along a vertical axis, and the first rotating drive mechanism 330 is installed on the base frame 310 and connected to the rotating table 320 to drive the rotating table 320 to rotate along a vertical axis relative to the base frame 310. Specifically, a rotating shaft is provided at the bottom of the rotating table 320, and the rotating shaft is movably installed on the base frame 310. The first rotating drive mechanism 330 is a motor, and the output shaft of the motor is connected to a reduction mechanism, and the output shaft of the reduction mechanism is connected to the rotating shaft in a transmission manner. The output shaft and the rotating shaft can be specifically driven by a gear set or a worm gear.

[0050] The pitch platform 340 is rotatably mounted on the rotating platform 320 along a horizontal axis. The second rotation drive mechanism 350 is mounted on the rotating platform 320 and connected to the pitch platform 340 to drive the pitch platform 340 to rotate along the horizontal axis. The support module 400 is detachably mounted on the upper end of the pitch platform 340.

[0051] The present invention provides an intelligent flexible clamping system for creep aging forming of large thin-walled parts. Through the design of the flexible clamping assembly 300, including a base frame 310, a rotating table 320, a pitching table 340, etc., it can adapt to large thin-walled parts of different shapes and sizes and meet diverse forming needs; the rotating activity of the rotating table 320 and the pitching table 340 allows the tooling to be flexibly adjusted to adapt to thin-walled parts with complex curved surfaces. The setting of the first rotating drive mechanism 330 and the second rotating drive mechanism 350 enables the rotating table 320 and the pitching table 340 to accurately control the rotation angle, ensuring the precise fit between the tooling and the thin-walled parts, thereby improving the forming quality and reducing rebound and deformation. The addition of the lifting drive mechanism 200 enables the system to dynamically adjust the height of the tooling according to the actual needs of the forming process, further optimizing the mold-fitting effect. The detachable design of the support module 400 makes replacement or maintenance more convenient and quick, thereby improving production efficiency and system reliability; different support modules 400 can be replaced according to different working conditions; the flexibility, accuracy and efficiency of creep aging forming of large thin-walled parts are significantly improved, and it has excellent manufacturing flexibility and control characteristics, and can meet the needs of multiple varieties, small batches and customization, with a high degree of automation and intelligence.

[0052] Reference Figure 3 and Figure 4In some embodiments of the present invention, a connecting flange 360 ​​is installed on the upper end of the pitch platform 340, and a connecting disk 370 is detachably installed on the upper end of the connecting flange 360; the support module 400 is detachably installed on the connecting disk 370, so that the connecting disk 370 can be replaced according to the type or demand of the support module 400, thereby realizing the replacement of the installation base of the support module 400 and improving the application scope of the equipment.

[0053] Reference Figures 3 to 5 In a further embodiment of the present invention, the support module 400 is a suction cup, so that it can suck thin-walled parts. An airway opening 371 is provided at the center of the upper end surface of the linking disk 370, and a transverse airway 372 is provided on the peripheral wall of the linking disk 370, and the transverse airway 372 is connected to the bottom of the airway opening 371; a positioning joint 410 embedded in the airway opening 371 is provided at the bottom of the suction cup, and the positioning joint 410 is embedded in the airway opening 371 to realize the positioning and installation of the suction cup, and can also realize the connection with the transverse airway 372, so as to facilitate the negative pressure adsorption with the external negative pressure mechanism.

[0054] Reference Figures 3 to 5 In a further embodiment of the present invention, a connector upper clamping block 500 is connected to the outer periphery of the linking disk 370, and the connector upper clamping block 500 and the linking disk 370 are provided with corresponding holes to be connected and fixed by fasteners. The connector upper clamping block 500 is provided with a transverse docking hole 510 communicating with the transverse airway 372, and the connector upper clamping block 500 is provided with a vertical connection hole 520 extending vertically upward from the bottom and communicating with the transverse docking hole 510, and the bottom of the vertical connection hole 520 is connected to a connector upper head 521, and specifically, a threaded hole is provided at the bottom of the vertical connection hole 520, and the connector upper head 521 is threadedly connected to the threaded hole. The connecting flange 360 ​​is provided with a connector lower clamp block 600 on the peripheral wall thereof. The connector lower clamp block 600 is provided with a vertical through hole 610 aligned with the vertical connecting hole 520. The upper end of the vertical through hole 610 is connected with a connector lower head 611. The connector lower head 611 is docked with the connector upper head 521. The connector lower head 611 and the connector upper head 521 form a leak-proof connector. The connector lower head 611 and the connector upper head 521 are respectively the plug and the socket of the leak-proof connector. The connector upper clamp block 500 and the connector lower clamp block 600 are used to realize independent connection and fixation, so that the connector lower head 611 is sealed and docked with the connector upper head 521, and it is convenient to quickly dock with the external negative pressure pipeline.

[0055] Reference Figures 3 to 5 In a further embodiment of the present invention, the connecting flange 360 ​​and the linking disk 370 are provided with corresponding holes for being connected and fixed by screws. When disassembly is required, the screws can be removed, which is convenient for subsequent maintenance and replacement.

[0056] Reference Figures 3 to 5In a further embodiment of the present invention, a notch 361 is provided on the upper end surface of the connecting flange 360, and a positioning protrusion 373 is detachably installed on the bottom of the connecting disk 370. The positioning protrusion 373 and the connecting disk 370 are provided with corresponding holes to be connected and fixed by screws. The positioning protrusion 373 is embedded in the notch 361 to realize the circumferential positioning of the connecting flange 360 ​​and the connecting disk 370.

[0057] Reference Figure 5 In a further embodiment of the present invention, a positioning pin hole 374 is provided at the upper end of the link plate 370 to position the support module 400 through the pin hole. Figure 6 As shown, the support module 400 is a V-shaped block, the bottom of the V-shaped block is fixed by vacuum adsorption of the airway port 371, and the V-shaped block is provided with a positioning hole aligned with the positioning pin hole 374, and the pin hole and the positioning hole are inserted with a pin to achieve positioning, thereby realizing the positioning and fixing installation of the V-shaped block, and it is easy to disassemble and replace different types of support modules 400. Of course, the support module 400 can also be a positioning pin, an L-shaped block, a ejector module, a mechanical clamp, etc., which can be vacuum adsorbed on the upper end surface of the link disk 370 and positioned by a pin, and the corresponding type of support module 400 can be selected according to the workpiece structure and positioning requirements.

[0058] Reference Figure 5 In a further embodiment of the present invention, a threaded hole 511 is provided at one end of the transverse docking hole 510 away from the connecting plate 370, and a sealing plug 512 is connected to the threaded hole 511. When the transverse airway 372 needs to be depressurized to facilitate the disassembly of the support module 400, the sealing plug 512 can be loosened, which is simple and convenient to operate.

[0059] Reference Figure 3In a further embodiment of the present invention, first connecting ear plates 321 are provided on both sides of the upper end of the rotating platform 320, and second connecting ear plates 341 are provided on both sides of the bottom of the pitching platform 340. The two second connecting ear plates 341 are embedded between the two first connecting ear plates 321. The second connecting ear plates 341 are hinged with the first connecting ear plates 321 on the corresponding side through a hinge shaft, that is, the second connecting ear plate 341 on the left side is hinged with the first connecting ear plate 321 on the left side through a hinge shaft, and the second connecting ear plate 341 on the right side is hinged with the first connecting ear plate 321 on the right side through a hinge shaft; the hinge shaft is connected and fixed with the second connecting ear plate 341 so as to be able to rotate synchronously. Specifically, the hinge shaft passes through the center hole of the second connecting ear plate 341 and is provided with a connecting flange plate. The connecting flange plate and the second connecting ear plate 341 are provided with corresponding holes to be connected and fixed by fasteners. The second rotation drive mechanism 350 is installed on the outside of one of the first connecting ear plates 321 and is connected with the hinge shaft on the corresponding side. Specifically, the second rotation drive mechanism 350 is a motor, and the output shaft of the motor is connected to a reduction mechanism. The output shaft of the reduction mechanism is connected to the corresponding articulated shaft to drive the articulated shaft, the second connecting ear plate 341 and the pitch platform 340 to rotate along the horizontal axis relative to the rotating table 320 to achieve pitch angle adjustment to adapt to the support of the surface contour of the workpiece.

[0060] Reference Figure 7 In some embodiments of the present invention, a flexible clamping management system 700 and a dynamic tracker 800 are also included.

[0061] The flexible clamping management system 700 is used to receive the input support positioning strategy, which can be manually input or automatically generated by the analysis software through the input workpiece 3D map analysis. The flexible clamping management system 700 analyzes the positioning strategy scheme to form a point support scheme, and then the flexible clamping management system 700 sends the point support scheme to the lifting drive mechanism 200, the first rotation drive mechanism 330 and the second rotation drive mechanism 350 to control the lifting drive mechanism 200, the first rotation drive mechanism 330 and the second rotation drive mechanism 350 activities; the point support scheme includes the target position of the flexible clamping component 300 and the corresponding position and posture of the flexible clamping component 300. The point support scheme includes the target position of the flexible clamping component 300 and the corresponding lifting parameters, rotation angles, and pitch angles, that is, the corresponding position, lifting parameters, rotation angles, and pitch angles of each flexible clamping component 300, and the lifting parameters, rotation angles, and pitch angles are used to control the lifting drive mechanism 200, the first rotation drive mechanism 330, and the second rotation drive mechanism 350 respectively to control the activity direction and activity amount of each drive mechanism.

[0062] The dynamic tracker 800 is used to measure the position and posture of the flexible clamping assembly 300 according to the target position of the flexible clamping assembly 300. The dynamic tracker 800 measures each flexible clamping assembly 300, that is, obtains the lifting parameters, rotation angle, and pitch angle of the support module 400. The manual or analysis system compares the actual measurement with the set target quantity, generates position and posture feedback adjustment information, and inputs it to the flexible clamping management system.

[0063] The flexible clamping management system can also receive position and attitude feedback adjustment information, which can be information manually input based on the information measured by the dynamic tracker 800, or information automatically generated by the feedback system based on the information measured by the dynamic tracker 800, or a combination of the two. The flexible clamping management system will send the position and attitude feedback adjustment information to the lifting drive mechanism 200, the first rotary drive mechanism 330 and the second rotary drive mechanism 350 to control the activities of the lifting drive mechanism 200, the first rotary drive mechanism 330 and the second rotary drive mechanism 350 to adjust the flexible clamping assembly 300 to the position and attitude required by the workpiece support. The position and attitude feedback adjustment information includes the position of the flexible clamping assembly 300 and its corresponding lifting parameters, rotation angle, and pitch angle. Of course, after the adjustment, the dynamic tracker 800 will continue to measure to monitor the information of each flexible clamping assembly 300 in real time to ensure processing accuracy. The flexible clamping management system controls, stores, manages and analyzes the collected data in a modular manner, and interprets the support positioning strategy defined by the user, so that the actuator of the flexible clamping component automatically adjusts the support height and suction cup position to meet the support requirements of large and complex thin-walled components.

[0064] Of course Figure 8 As shown, the flexible clamping management system 700 serves as the processing center of the entire system and interacts with other systems to achieve deployment, management and control of the entire system.

[0065] The intelligent flexible clamping management system uses the host computer as the core control unit and adopts bus communication to realize the control functions of actuators such as servo motors and high-temperature suction cups to meet the real-time and reliability requirements on site; it adopts the standard Ethernet TCP / IP protocol to realize communication with the host computer; it adopts a safety control unit combined with safety gratings, safety door locks, emergency stop and other safety products to realize the safety protection function of the flexible clamping unit; it adopts remote I / O modules to realize on-site photoelectric switches, proximity switches, buttons and other I / O inputs, and modular distribution saves on-site manual layout and wiring, keeping the on-site layout simple and beautiful; it uses a touch screen HMI to display and monitor the operating status of the flexible clamping system, which is simple to operate and intuitive to observe.

[0066] The intelligent flexible clamping management system adopts a host computer + HNC8 controller + mobile handheld terminal and operation setting display screen + 4 distributed controllers, which are connected through the EtherCAT field bus. The host computer gives the support point information coordinates or real-time control instructions through digital analog analysis, and plans the motion of the support unit according to the information obtained, and sends the motion control information to the HNC8 controller. The motion instructions are sent to the distributed controller through the control system. The distributed controller moves the axis to the specified position and obtains the status information of the execution unit column at the same time, and feeds back to the host computer for real-time monitoring. The communication method adopts the EtherCAT field bus connection arrangement. Compared with other bus methods, EtherCAT is one of the fastest Ethernet technologies at present. At the same time, its synchronization cycle can reach the microsecond level. Compared with other industrial buses with the same cycle, the EtherCAT bus can reduce 25%-30% of the CPU load. EtherCAT can realize a variety of topological structures such as linear, bus, tree, and star. The HNC8 controller is used to establish the EtherCAT master station, and the distributed controller is used to establish the EtherCAT slave station. The EtherCAT bus protocol is used as the communication standard. The master station sends position information to the slave station, and the controller moves to the specified position. The control modules of the four distributed controllers are used to perform interpolation calculations (linear interpolation, circular interpolation, helical interpolation, etc.). In order to realize the function of the master control system, the system architecture of the master control system of the designed intelligent flexible clamping system is as follows: Fig. 9 shown.

[0067] The functions of the flexible clamping management system are as follows:

[0068] (1) Automatic function: such as Fig.10 As shown, the automatic function receives data based on the coordinates sent by the host computer. Click Get Z, A, and C axis coordinates to obtain coordinates. Click Download Coordinates to send coordinate data. This page has functions such as cycle start, feed hold, and reset.

[0069] (2) Manual function: Fig.11 As shown, the manual function does not require repeated input of 1-50 axis numbers. The current pit position has an axis enabled, and the current pit position changes color. The indicator lights up according to the different conditions of the Z, A, and C axes. For example, if the current pit position has a Z axis, the third light will light up, which is green for operation and red for alarm. If the current pit position has no axis, the current pit position will be displayed in gray, and the 1-16 axes and 17-50 axes will be distinguished by color. Axis + and axis - can be used for fine-tuning of the axis. Click an axis to view the details of the axis.

[0070] (3) Detailed display function: Fig.12As shown, the details display page can display the current axis number, coordinate position, vacuum suction cup display and zero point positioning display and setting functions. It can display the current pit temperature, the current suction cup Z, A, C pressure values, and display whether the fan is working normally according to the running status of the fan. The proportional threshold can be entered to display the value of the vacuum pump.

[0071] (4) Coordinate function: such as Fig.13 As shown, the coordinate function interface can display the current coordinate position and current status of each axis respectively. If there are several axes, the current values ​​of the coordinates of the axes will be displayed, and if there are none, it will be displayed as 0. The current page can move the axis according to the axis + and -, and the coordinate display is more complete and more observable.

[0072] (5) Axis number setting function: Fig.14 As shown, in the axis number setting interface, you can enter the corresponding axis number in different positions according to your needs, click the axis number setting to set and send it. If the axis number input needs to be modified, you can reset the axis number to clear the data before clicking the axis number setting button.

[0073] (6) Parameter setting function: such as Fig.15 As shown in the figure, the zero point setting and speed setting can be performed through the parameter setting page. This page has four buttons for emergency stop, Z, A, and C settings respectively.

[0074] (7) Alarm recording function: such as Fig.16 As shown, in this module users can view detailed information of alarm records, accurately find fault problems based on alarms, and shorten the time for troubleshooting.

[0075] The working process of this device is as follows:

[0076] Step 1: Loading stage: Personnel move the workpiece 101 to the flexible platform and load the workpiece according to feature information such as the hole position and edge of the workpiece.

[0077] Step 2: Preparation stage: The personnel enter the support positioning strategy into the flexible clamping management system (lifting parameters, rotation angle, pitch angle), and the flexible clamping component intelligent management system analyzes the positioning strategy plan to form a point support plan.

[0078] Step 3: Flexible support adjustment stage: According to the support scheme information, the flexible clamping assembly 300 automatically adjusts the support posture to achieve the posture required for the workpiece support.

[0079] Step 4: Flexible support correction: The dynamic tracker 800 measures the support posture of the flexible clamping assembly 300, and manual adjustments are made based on the measurement results to form position and posture feedback adjustment information and input it into the flexible management system. The flexible clamping assembly 300 automatically adjusts the support posture to achieve the posture required for the workpiece support.

[0080] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent flexible clamping system for creep aging forming of large thin-walled parts, characterized in that: include: A base (100), wherein a base platform (110) is provided at an upper end of the base (100), and the base platform (110) is provided with extension holes (120) distributed in a matrix; A lifting drive mechanism (200) is mounted on the base (100), and has an upper end having a lifting movable end (210) aligned with the extension hole (120); The flexible clamping assembly (300) comprises a base frame (310), a rotating platform (320), a first rotating drive mechanism (330), a pitching platform (340), a second rotating drive mechanism (350) and a supporting module (400); the rotating platform (320) is mounted on the base frame (310) so as to be rotatable along a vertical axis; the first rotating drive mechanism (330) is mounted on the base frame (310) and connected to the rotating platform (320) so as to drive the rotating platform (320) to be rotatable along a vertical axis relative to the base frame (310); the pitching platform (340) is mounted on the rotating platform (320) so as to be rotatable along a horizontal axis; the second rotating drive mechanism (350) is mounted on the rotating platform (320) and connected to the pitching platform (340) so as to drive the pitching platform (340) to be rotatable along a horizontal axis; and the supporting module (400) is detachably mounted on the upper end of the pitching platform (340); A connecting flange (360) is mounted on the upper end of the pitching platform (340); a linking plate (370) is detachably mounted on the upper end of the connecting flange (360); and the supporting module (400) is detachably mounted on the linking plate (370). The support module (400) is a suction cup; an airway opening (371) is provided at the center of the upper end surface of the linking disc (370); a transverse airway (372) is provided on the peripheral wall of the linking disc (370); the transverse airway (372) is communicated with the bottom of the airway opening (371); a positioning joint (410) embedded in the airway opening (371) is provided at the bottom of the suction cup; The outer periphery of the link disk (370) is connected to a connector upper clamp block (500), the connector upper clamp block (500) is provided with a transverse docking hole (510) connected to the transverse airway (372), the connector upper clamp block (500) is provided with a vertical connection hole (520) extending vertically upward from the bottom and connected to the transverse docking hole (510), the bottom of the vertical connection hole (520) is connected to a connector upper head (521), the peripheral wall of the connecting flange (360) is provided with a connector lower clamp block (600), the connector lower clamp block (600) is provided with a vertical through hole (610) aligned with the vertical connection hole (520), the upper end of the vertical through hole (610) is connected to a connector lower head (611), and the connector lower head (611) is docked with the connector upper head (521).

2. The intelligent flexible clamping system for creep aging forming of large thin-walled parts according to claim 1 is characterized in that: The connecting flange (360) and the linking plate (370) are provided with corresponding holes for being connected and fixed by screws.

3. The intelligent flexible clamping system for creep aging forming of large thin-walled parts according to claim 2 is characterized in that: The upper end surface of the connecting flange (360) is provided with a notch (361), and a positioning protrusion (373) is detachably mounted on the bottom of the linking disk (370), and the positioning protrusion (373) is embedded in the notch (361).

4. The intelligent flexible clamping system for creep aging forming of large thin-walled parts according to claim 1 is characterized in that: A positioning pin hole (374) is provided at the upper end of the linking disk (370).

5. The intelligent flexible clamping system for creep aging forming of large thin-walled parts according to claim 1 is characterized in that: A threaded hole (511) is provided at one end of the transverse docking hole (510) facing away from the linking plate (370), and a sealing plug (512) is connected to the threaded hole (511).

6. The intelligent flexible clamping system for creep aging forming of large thin-walled parts according to claim 1 is characterized in that: First connecting ear plates (321) are provided on both sides of the upper end of the rotating platform (320), and second connecting ear plates (341) are provided on both sides of the bottom of the pitching platform (340), and the two second connecting ear plates (341) are embedded between the two first connecting ear plates (321), and the second connecting ear plates (341) are hinged to the first connecting ear plates (321) on the corresponding side through a hinge shaft, and the hinge shaft is connected and fixed to the second connecting ear plates (341) so as to be able to rotate synchronously, and the second rotating drive mechanism (350) is installed on the outside of one of the first connecting ear plates (321) and is connected to the hinge shaft on the corresponding side.

7. The intelligent flexible clamping system for creep aging forming of large thin-walled parts according to claim 1 is characterized in that: Also included is a flexible clamping management system (700) and a dynamic tracker (800); The flexible clamping management system (700) is used to receive an input support positioning strategy, analyze the positioning strategy solution, form a point support solution, and send the point support solution to the lifting drive mechanism (200), the first rotation drive mechanism (330) and the second rotation drive mechanism (350) to control the activities of the lifting drive mechanism (200), the first rotation drive mechanism (330) and the second rotation drive mechanism (350); the point support solution includes a target position of the flexible clamping component (300) and a corresponding position posture of the flexible clamping component (300); A dynamic tracker (800) is used to measure the position and posture of the flexible clamping component (300) according to the target position of the flexible clamping component (300); The flexible clamping management system (700) can also receive position and posture feedback adjustment information, and send the position and posture feedback adjustment information to the lifting drive mechanism (200), the first rotation drive mechanism (330) and the second rotation drive mechanism (350) to control the activities of the lifting drive mechanism (200), the first rotation drive mechanism (330) and the second rotation drive mechanism (350) to adjust the flexible clamping assembly (300) to the position and posture required for workpiece support.

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