Flexible matrix vacuum adsorption system

Abstract

The invention provides a flexible matrix vacuum adsorption system. The flexible matrix vacuum adsorption system comprises a measuring head assembly, a reference assembly and a plurality of cross beam structures, the plurality of cross beam structures are arranged on the mounting frame in a sliding manner, and each cross beam structure is provided with a plurality of suction cup columns; the suction cup column comprises a lifting driving assembly, an adsorption assembly and a plurality of angle adjusting structures. The lifting driving assembly is arranged on the cross beam structure, the angle adjusting structures can be detachably arranged at the output end of the lifting driving assembly, and the adsorption assembly is connected with the lifting driving assembly through the angle adjusting structures; the plurality of angle adjusting structures comprise a plurality of structure types; the adsorption assembly is used for adsorbing and fixing a to-be-machined part. The reference assembly is used for being installed on the lifting driving assembly, and the measuring head assembly is used for detecting the position of the reference assembly. According to the invention, flexible adsorption is realized on a platform with suction cups distributed in a matrix manner through a vacuum system to achieve a fixing effect.

Description

Technical Field

[0001] The present invention relates to the technical field of part fixing and processing, and specifically, to a flexible matrix vacuum adsorption system. Background Art

[0002] The methods applied to the surface processing of parts mainly include lathes, milling machines, and boring machines.

[0003] Generally, in a lathe, the cutting tool does not move while the workpiece being processed rotates. Therefore, lathes are generally used for processing various rotary forming surfaces, such as inner and outer cylindrical surfaces, inner and outer threads, etc. Lathes are most suitable for manufacturing cylindrical parts. The cross-section of the part must be circular, and the same central axis must run through its entire length. However, the initial cost of using a lathe is high, and it requires skilled operators. When processing some large parts with sharp edges, there may be risks during the rotation of the lathe. Moreover, lathes need to be maintained regularly to meet the different rotational speeds of the lathe workpieces. For some workpieces with insufficient surface rigidity and flat curved surfaces, lathes are unable to fix the workpieces for processing, and the processing accuracy is not high.

[0004] A milling machine mainly refers to a machine tool that uses a milling cutter to process various surfaces of a workpiece. Usually, the rotational movement of the milling cutter is the main movement, and the movement of the workpiece and the milling cutter is the feed movement. Compared with lathes, milling machines do not need to be maintained regularly. It can process planes, grooves, and can also process various curved surfaces, gears, etc. However, the noise of a milling machine may be very loud, which may cause interference to the operator and people nearby. And a large amount of dust is generated during the processing. If there is no proper ventilation, it is harmful to the operator and people nearby. The bed surface of a milling machine is horizontal. When facing some relatively thin and easily deformed workpieces, it may be unable to fix them, affecting the accuracy of the operation.

[0005] A boring machine mainly uses a boring tool to bore the prefabricated holes of a workpiece. Usually, the rotation of the boring tool is the main movement, and the movement of the boring tool or the workpiece is the feed movement. It is mainly used for processing high-precision holes or fine machining of multiple holes in one positioning. In addition, it can also engage in the processing of other machining surfaces related to the fine machining of holes. Although a boring machine can process workpieces with prefabricated holes and has high precision, it is difficult to process and fix workpieces with curved surfaces that cannot be fixed, and it cannot well adapt to the curved surfaces of thin-walled parts. Summary of the Invention

[0006] Aiming at the defects in the prior art, the purpose of the present invention is to provide a flexible matrix vacuum adsorption system.

[0007] According to a flexible matrix vacuum adsorption system provided by the present invention, it includes: a probe assembly, a reference assembly, and a plurality of crossbeam structures; the plurality of crossbeam structures are slidably arranged on a mounting frame, and each crossbeam structure is provided with a plurality of sucker columns;

[0008] The suction cup column includes a lifting drive assembly, a suction assembly, and several angle adjustment structures; the lifting drive assembly is arranged on the crossbeam structure, several of the angle adjustment structures can be detachably arranged at the output end of the lifting drive assembly, and the suction assembly is connected to the lifting drive assembly through the angle adjustment structures; several of the angle adjustment structures include several structural types; the suction assembly is used for adsorbing and fixing the parts to be processed;

[0009] The reference assembly is used to be installed on the lifting drive assembly, and the probe assembly is used to detect the position of the reference assembly.

[0010] Preferably, the suction assembly includes a vacuum assembly and a vacuum cup, the vacuum cup is connected to the vacuum assembly, and the vacuum cup is arranged on the angle adjustment structure.

[0011] Preferably, several of the angle adjustment structures include the following structural types:

[0012] Structural type one: The angle adjustment structure includes a cup base; the vacuum cup is rotatably arranged on the cup base with the vertical direction as the rotation axis; the adsorption plane of the vacuum cup forms an angle with the horizontal plane;

[0013] Structural type two: The angle adjustment structure includes an angle adjustment plate and an inclined shaft; the inclined shaft is rotatably arranged on the angle adjustment plate with the vertical direction as the rotation axis, and the vacuum cup is connected to the end of the inclined shaft far away from the angle adjustment plate; the central axis of the inclined shaft forms an angle with the vertical direction, and the adsorption plane of the vacuum cup is perpendicular to the central axis of the inclined shaft.

[0014] Preferably, several of the angle adjustment structures further include the following structural types:

[0015] Structural type three: The angle adjustment structure includes an angle adjustment plate and a radially extending shaft; the radially extending shaft is rotatably arranged on the angle adjustment plate with the vertical direction as the rotation axis, and the vacuum cup is connected to the end of the radially extending shaft far away from the angle adjustment plate; the radially extending shaft includes an inclined shaft and a vertical shaft, one end of the inclined shaft is connected to the angle adjustment plate, one end of the vertical shaft is connected to the other end of the inclined shaft, and the vacuum cup is connected to the other end of the vertical shaft; the central axis of the inclined shaft forms an angle with the vertical direction, the central axis of the vertical shaft is parallel to the vertical direction, and the adsorption plane of the vacuum cup is perpendicular to the vertical direction.

[0016] Preferably, several of the angle adjustment structures further include the following structural types:

[0017] Structure type four: The angle adjustment structure includes a cup base, a radial adjustment component, and an angle adjustment plate; the radial adjustment component is rotatably arranged on the angle adjustment plate with the vertical direction as the rotation axis, the cup base is arranged on the radial adjustment component, and the vacuum cup is arranged on the cup base; the adsorption plane of the vacuum cup is perpendicular to the vertical direction, and the radial adjustment component can drive the cup base and the vacuum cup to move along the radial direction of the vacuum cup.

[0018] Preferably, the sucker column further includes a straightening machine, and the sucker column is arranged on the crossbeam structure through the straightening machine.

[0019] Preferably, the lifting drive component includes a servo motor and a drive rod, one end of the drive rod is connected to the output end of the servo motor, and the angle adjustment structure is connected to the other end of the drive rod.

[0020] Preferably, a plurality of moving drive components are arranged on the mounting frame, the moving drive components and the crossbeam structure are arranged in one-to-one correspondence, and the moving drive components and the crossbeam structure are drivingly connected.

[0021] Preferably, the reference component includes a reference point structure, a longitudinal movement component, a transverse movement component, and a mounting seat;

[0022] The mounting seat is arranged on the drive rod, the transverse movement component is arranged on the mounting seat, the longitudinal movement component is arranged on the transverse movement component, and the reference point structure is arranged on the longitudinal movement component;

[0023] The probe component is used to detect the position of the reference point structure.

[0024] Preferably, it further includes a control unit, and the control unit is used to control the lifting drive component and drive the position of the crossbeam structure.

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

[0026] 1. The present invention is a system that realizes flexible adsorption through a vacuum system on a platform with a sucker matrix distribution to achieve a fixing effect;

[0027] 2. The present invention solves the problem of inability to flexibly adapt to the curved surfaces of different processed products by adopting different types of additional partial suckers;

[0028] 3. The present invention solves the problem of difficult connection and movement between crossbeam structures by adopting a cylinder drive method;

[0029] 4. The present invention solves the problem of difficult detection of the fixed position of irregular curved surface processed products by adopting a probe detection method.

[0030] 5. The present invention adopts the method of adsorbing and fixing with a ball - head suction cup, which is more suitable for processing thin - wall parts with less rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent by reading the following detailed description of non - restrictive embodiments with reference to the accompanying drawings:

[0032] Figure 1 is a schematic diagram of the overall structure of the flexible matrix vacuum adsorption system;

[0033] Figure 2 is a schematic diagram of the structure of the suction cup column;

[0034] Figure 3 is a schematic diagram of Structure Type 1 of the angle - adjusting structure;

[0035] Figure 4 is a schematic diagram of Structure Type 2 of the angle - adjusting structure;

[0036] Figure 5 is a schematic diagram of Structure Type 3 of the angle - adjusting structure;

[0037] Figure 6 is a schematic diagram of Structure Type 4 of the angle - adjusting structure;

[0038] Figure 7 is a schematic diagram of the reference component;

[0039] Figure 8 is a flowchart of the fixing method for the part to be processed.

[0040] As shown in the figure:

[0041] Control unit 1 Radial adjustment component 2056

[0042] Suction cup column 2 Vertical axis 2057

[0043] Servo motor 201 Moving drive component 3

[0044] Vacuum system 202 Probe component 4

[0045] Straightening machine 203 Reference component 5

[0046] Drive rod 204 Reference point structure 501

[0047] Angle - adjusting structure 205 Longitudinal movement component 502

[0048] Cup - piece base 2051 Transverse movement component 503

[0049] Vacuum cup 2052 Mounting seat 504

[0050] Angle adjustment plate 2053 Crossbeam structure 6

[0051] Tilt axis 2054 Cover plate 7

[0052] Radially extending axis 2055 Part to be machined 8 Specific embodiments

[0053] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0054] Example 1:

[0055] As Figures 1 to 8 shown, this embodiment provides a flexible matrix vacuum adsorption system, including: a probe assembly 4, a reference assembly 5, and a plurality of crossbeam structures 6. The plurality of crossbeam structures 6 are slidably arranged on the mounting frame. Each crossbeam structure 6 is provided with a plurality of suction cup columns 2. The suction cup column 2 includes a lifting drive assembly, an adsorption assembly, and a plurality of angle adjustment structures 205. The lifting drive assembly is arranged on the crossbeam structure 6. The plurality of angle adjustment structures 205 can be respectively detachably arranged at the output end of the lifting drive assembly. The adsorption assembly is connected to the lifting drive assembly through the angle adjustment structure 205. The plurality of angle adjustment structures 205 include several structural types. The adsorption assembly is used for adsorbing and fixing the part to be machined 8. The reference assembly 5 is used for being mounted on the lifting drive assembly. The probe assembly 4 is used for detecting the position of the reference assembly 5.

[0056] A plurality of moving drive assemblies 3 are arranged on the mounting frame. The moving drive assemblies 3 and the crossbeam structures 6 are arranged in one-to-one correspondence. The moving drive assemblies 3 and the crossbeam structures 6 are drivingly connected.

[0057] The suction cup column 2 further includes a straightening machine 203. The suction cup column 2 is arranged on the crossbeam structure 6 through the straightening machine 203. The lifting drive assembly includes a servo motor 201 and a drive rod 204. One end of the drive rod 204 is connected to the output end of the servo motor 201. The angle adjustment structure 205 is connected to the other end of the drive rod 204.

[0058] The adsorption assembly includes a vacuum assembly 202 and a vacuum cup 2052. The vacuum cup 2052 is connected to the vacuum assembly 202. The vacuum cup 2052 is arranged on the angle adjustment structure 205.

[0059] The plurality of angle adjustment structures 205 include the following structural types:

[0060] Structure type 1: The angle adjustment structure 205 includes a cup piece base 2051; a vacuum cup 2052 is rotatably arranged on the cup piece base 2051 with the vertical direction as the rotation axis; there is an angle between the adsorption plane of the vacuum cup 2052 and the horizontal plane.

[0061] Structure type 2: The angle adjustment structure 205 includes an angle adjustment plate 2053 and an inclined shaft 2054; the inclined shaft 2054 is rotatably arranged on the angle adjustment plate 2053 with the vertical direction as the rotation axis, and the vacuum cup 2052 is connected to the end of the inclined shaft 2054 away from the angle adjustment plate 2053; there is an angle between the central axis of the inclined shaft 2054 and the vertical direction, and the adsorption plane of the vacuum cup 2052 is perpendicular to the central axis of the inclined shaft 2054.

[0062] Several angle adjustment structures 205 also include the following structure types:

[0063] Structure type 3: The angle adjustment structure 205 includes an angle adjustment plate 2053 and a radially extending shaft 2055; the radially extending shaft 2055 is rotatably arranged on the angle adjustment plate 2053 with the vertical direction as the rotation axis, and the vacuum cup 2052 is connected to the end of the radially extending shaft 2055 away from the angle adjustment plate 2053; the radially extending shaft 2055 includes an inclined shaft 2054 and a vertical shaft 2057, one end of the inclined shaft 2054 is connected to the angle adjustment plate 2053, one end of the vertical shaft is connected to the other end of the inclined shaft 2054, and the vacuum cup 2052 is connected to the other end of the vertical shaft 2057; there is an angle between the central axis of the inclined shaft 2054 and the vertical direction, the central axis of the vertical shaft 2057 is parallel to the vertical direction, and the adsorption plane of the vacuum cup 2052 is perpendicular to the vertical direction.

[0064] Several angle adjustment structures 205 also include the following structure types:

[0065] Structure type 4: The angle adjustment structure 205 includes a cup piece base 2051, a radial adjustment component 2056 and an angle adjustment plate 2053; the radial adjustment component 2056 is rotatably arranged on the angle adjustment plate 2053 with the vertical direction as the rotation axis, the cup piece base 2051 is arranged on the radial adjustment component 2056, and the vacuum cup 2052 is arranged on the cup piece base 2051; the adsorption plane of the vacuum cup 2052 is perpendicular to the vertical direction, and the radial adjustment component 2056 can drive the cup piece base 2051 and the vacuum cup 2052 to move along the radial direction of the vacuum cup 2052.

[0066] The reference component 5 includes a reference point structure 501, a longitudinal movement component 502, a lateral movement component 503, and a mounting base 504. The mounting base 504 is arranged on the driving rod 204. The lateral movement component 503 is arranged on the mounting base 504. The longitudinal movement component 502 is arranged on the lateral movement component 503. The reference point structure 501 is arranged on the longitudinal movement component 502. The probe component 4 is used to detect the position of the reference point structure 501.

[0067] The flexible matrix vacuum adsorption system further includes a control unit 1 which is used to control the positions of the lifting drive component and the driving crossbeam structure 6.

[0068] This embodiment also provides a fixing method for a part to be machined, which uses the above flexible matrix vacuum adsorption system and includes the following steps:

[0069] Step 1: Input the 3D mathematical modeling data of the flexible matrix vacuum adsorption system and the part to be machined 8 into an offline programming system to generate an ISO report.

[0070] The specific content of Step 1 is: Input the 3D mathematical modeling data of the flexible matrix vacuum adsorption system and the part to be machined 8 into an offline programming system. Through the offline programming system, configure the different sucker post 2 matrices of the part to be machined 8 and the flexible matrix vacuum adsorption system to obtain a preset sucker post 2 matrix, and generate an ISO report.

[0071] In Step 1, the offline programming system includes a macro which allows loading the model of the part to be machined 8 on the sucker post 2 matrix, and the macro contains a library including all structural types of the angle adjustment structure 205.

[0072] The ISO report includes the height of each sucker post 2 participating in the fixing, the distance between the crossbeam structures 6, the structural type of the angle adjustment structure 205 installed on each sucker post 2, and the positioning position of the reference component 5.

[0073] The specific content of Step 1 specifically includes the following steps:

[0074] Step 1.1: Obtain the three-dimensional digital model of the part to be machined 8 and import it into the offline programming system to generate a virtual part model.

[0075] Step 1.2: Place the virtual part model on the processing table of the flexible matrix vacuum adsorption system simulated in the offline programming system, and allocate the most suitable support form for the part to be machined 8 through the offline programming system.

[0076] Step 1.3: Output the parameters of the most suitable support form, including the height of the suction cup column 2, the structural type of the angle adjustment structure 205, the rotation angle of the angle adjustment structure 205, and the offset of the angle adjustment structure 205.

[0077] Step 2: Adjust the structure of the flexible matrix vacuum adsorption system according to the ISO report; specifically, the step 2 is: manually replace the structural type of the angle adjustment structure 205 on each suction cup column 2 according to the ISO report, and manually fix the reference component 5 of the flexible matrix vacuum adsorption system on the driving rod 204 of the suction cup column 2 according to the positioning in the ISO report;

[0078] Input the ISO report into the control unit 1 of the flexible matrix vacuum adsorption system; the control unit 1 controls the lifting drive assembly of the flexible matrix vacuum adsorption system to drive the suction cup column 2 to the corresponding height, and controls the moving drive assembly 3 of the flexible matrix vacuum adsorption system to drive the crossbeam structure 6 so that the distances between the participating crossbeam structures 6 are the corresponding distances.

[0079] Step 3: Place the part to be machined 8 into the adjusted flexible matrix vacuum adsorption system, and position and place the part to be machined 8; specifically, the step 3 is: place the part to be machined 8 into the set matrix of the suction cup columns 2, and fix it after comparing two pre-set positioning holes on the part to be machined 8 with the reference point structure 501 in the reference component 5.

[0080] Step 4: Detect whether the placement position of the part to be machined 8 is the theoretical position in the ISO report; specifically, the step 4 is: detect the fixed position of the part to be machined 8 through the laser tracker of the flexible matrix vacuum adsorption system. If the placement position of the part to be machined 8 is the theoretical position set in the ISO report after the detection, proceed to the next step; otherwise, adjust the placement position of the part to be machined 8 until the placement position is the theoretical position set in the ISO report; detect the reference point structure 501 corresponding to the two positioning holes through the probe assembly 4, and update the machine tool coordinate system;

[0081] The detection of the fixed position of the part to be machined 8 by the laser tracker specifically includes the following steps:

[0082] Step a1: Place the laser tracker measuring target ball at the TCP of the machine tool, and connect the measurement terminal to the laser tracker; TCP (tool center point) represents the position of the tip of the machine tool tool.

[0083] Step a2: Start the Spatial Analyzer software, add the laser tracker in the software, prepare to establish a coordinate system, and import the model of the part to be machined 8.

[0084] Step a3: Start the machine tool program to make the machine tool move uniformly along the X, Y, and Z axes of its own coordinate system, and use the Spatial Analyzer software to establish an absolute coordinate system with the machine tool coordinate system as the reference for the laser tracker;

[0085] Step a4: Use the Spatial Analyzer software and the laser tracker to measure the points evenly distributed on the part 8 to be machined. After the measurement is completed, position the part 8 to be machined in the absolute coordinate system of the laser tracker in the best-fit manner through the Spatial Analyzer software;

[0086] Step a5: Measure the positions of other points on the part 8 to be machined, and the measurement points are close to the area adsorbed by the vacuum chuck;

[0087] Step a6: When the measurement is completed, compare the measurement results with the theoretical values to obtain the position amounts that each chuck needs to move;

[0088] Step a7: Adjust the height of the chuck positioning post according to the position amounts in the previous step;

[0089] Step a8: Repeat steps a5 - a7 again until the error reaches within the allowable error range;

[0090] Detect the reference point structures 501 corresponding to the two positioning holes through the probe assembly 4, and update the machine tool coordinate system, which specifically includes the following steps:

[0091] Step b1: Operate the probe assembly 4 fixed on the spindle at the end of the robotic arm through the control unit 1 to move, so that the contact on the probe of the probe assembly 4 measures two points in any direction along the upper edge of the diameter of the positioning hole on the reference point structure 501; the probe assembly 4 uses a Renishaw probe;

[0092] Step b2: Record and display the spindle position coordinate axes in real time through the control unit 1, and for both reference point structures 501, take the average value to obtain the three-coordinate values of the center of the positioning hole;

[0093] Step b3: Compensate the machine tool coordinate system according to the center coordinates of the two positioning holes measured in step b2.

[0094] Step 5: After placing the part 8 to be machined at the theoretical position in the ISO report, adsorb the surface of the part 8 to be machined through the flexible matrix vacuum adsorption system to fix the part 8 to be machined; the specific content of step 5 is: after placing the part 8 to be machined at the theoretical position, control the chuck assembly of the flexible matrix vacuum adsorption system through the control unit 1 to adsorb the surface of the part 8 to be machined and fix the part 8 to be machined.

[0095] The method for fixing the part to be processed further includes the following steps:

[0096] Step 6: Lay the cover plate 7 between the cross beam structures 6, replace the probe assembly 4 with a drill bit assembly for subsequent processing, and wait for the subsequent processing process.

[0097] The function of the probe assembly 4 is to bring in the coordinate system of the machine tool. Because during actual processing, if there is a deviation between the coordinate system of the machine tool and the absolute coordinate system of the measurement software, when the machine tool processes the workpiece along its own coordinate system, an overall offset will occur. For products with complex shapes, in the outer contour of their processing, it is mainly the probe assembly 4 that is used to detect whether the position of the lug locator (i.e., the reference point structure 501) on the reference assembly 5 is accurate, because the lug locator has features.

[0098] The test piece was not measured by the probe assembly 4. Theoretically speaking, Renishaw measurement cannot detect whether the outer surface of the product is out of tolerance because there is an unavoidable problem: the purpose of measurement is to measure the actual value and calculate the error by comparing it with the theoretical value, but for non - feature points (such as holes) on the product, the theoretical value cannot be known. Therefore, when actually inspecting the outer shape of the product, it is completed by a laser tracker.

[0099] Example 2:

[0100] Those skilled in the art can understand this embodiment as a more specific illustration of Embodiment 1.

[0101] This embodiment provides a sucker matrix - type distributed vacuum flexible adsorption system based on offline programming technology, including sucker columns, cross beams, reference tools, control panels, cylinders, and probes.

[0102] The suction cup column 2 is fixed on the crossbeam structure 6 by a straightening machine 203. The servo motor 201 at the bottom of the suction cup column 2 is connected to the control unit 1 by a cable. The angle adjustment assembly 205 on the upper part of the driving rod 204 of the suction cup column 2 adopts different additional parts according to the outer shape structure of the parts to be processed, and the additional parts include four types. The first type is in the form of a cup piece base 2051 and a vacuum cup 2052 applicable to a maximum rotation angle of ±35°. The cup piece base 2051 serves as a mechanical interface between the driving rod 204 and the vacuum cup 2052. The second type is in the form of an angle adjustment plate 2053, a 30° inclined shaft 2054 and a vacuum cup 2052 applicable to an inclination angle of 30° relative to the vertical direction and a maximum rotation angle of ±40°, and the three are connected by screws. The third type is in the form of an angle adjustment plate 2053, a radial extension shaft 2055 and a vacuum cup 2052 applicable to a maximum rotation angle of ±40° and a longest radial extension distance of 150 mm, and the three are also connected by screws. The fourth type is in the form of an angle adjustment plate 2053, a radially adjustable device 2056, a cup piece base 2051 and a vacuum cup 2052 applicable to a rotation angle of ±30° and movement in the X / Y two-axis directions, and the four are connected by screws.

[0103] The moving drive assembly 3 is placed between the crossbeam structures 6, one group on each side, and each shaft end of the group is connected to a module. The moving drive assembly 3 is a cylinder. If the cylinder is opened (air pressure enters), the crossbeam structure 6 will separate. If the cylinder is closed (air pressure is output), the module will close. The moving drive assembly 3 is connected to the control unit 1 by a cable. The reference assembly 5 is fixed on the driving rod 204 by a hinge. The probe assembly 4 is above the vacuum system and is mainly used to measure whether the position where the part is placed reaches the theoretical position.

[0104] The 3D mathematical modeling data of the parts to be processed is input into the offline programming system. The system includes a macro that allows the part model to be loaded on the suction cup matrix. The matrix density ("Y" axis) will be defined by the operator (which mainly affects the distance between the crossbeam structures 6). The macro also contains a library that includes all available angle adjustment structures 205. After trying different configurations and making a final decision, the program generates ISO code and a report. The ISO code includes the height of the suction cup column 2 and the distance between the crossbeam structures 6, and the report includes all the angle adjustment structures 205 that should be installed on each suction cup column 2 and the positioning of the reference assembly 5.

[0105] Replace according to the types of all the angle adjustment structures 205 on each suction cup column 2 obtained from the system, and fix the reference assembly 5 on the driving rod 204 of the suction cup column 2 according to the positioning in the report. The replacement of the types of the angle adjustment structures 205 is all manually replaced according to the report plan.

[0106] Input the ISO code generated by the offline system into the control unit 1. After receiving the instruction, the control unit 1 automatically raises the sucker column 2 to the specified height and controls the moving drive assembly 3 to move the crossbeam structure 6 to the spacing set in the plan.

[0107] Place the parts to be processed into the set sucker matrix and fix them after comparing the two pre-set positioning holes on the parts with the reference point structure 501 in the reference assembly 5.

[0108] Furthermore, the laser tracker will detect the fixed position of the parts to be processed. If the parts are placed at the theoretical position set in the plan after the detection, the next step can be started. The specific steps are as follows:

[0109] Step a1: Place the measuring target ball of the laser tracker at the TCP of the machine tool and connect the measuring terminal to the laser tracker; TCP (tool center point) represents the position of the tip of the machine tool cutter.

[0110] Step a2: Start the Spatial Analyzer software (hereinafter referred to as SA), add the laser tracker in the software, prepare to establish a coordinate system, and import the model of the workpiece to be processed.

[0111] Step a3: Start the machine tool program to make the machine tool move uniformly along the X, Y, and Z axes of its own coordinate system, and use SA to establish an absolute coordinate system with the machine tool coordinate system as the reference for the laser tracker.

[0112] Step a4: Use SA and the laser tracker to measure the points evenly distributed on the workpiece to be processed (the number of points depends on the size of the workpiece). After the measurement is completed, position the product in the absolute coordinate system of the laser tracker in the best fitting manner through SA.

[0113] Step a5: Measure the positions of other points in the workpiece, and the measurement points should be as close as possible to the area adsorbed by the vacuum sucker.

[0114] Step a6: When the measurement is completed, compare the measurement results with the theoretical values to obtain the position amount that each sucker needs to move.

[0115] Step a7: Adjust the height of the sucker positioning column according to the position amount in the previous step.

[0116] Step a8: Repeat steps a5 - a7 again until the error reaches within the allowable error range.

[0117] Furthermore, after placing the parts to be processed at the theoretical position, control the sucker to adsorb the surface of the parts to be processed through the vacuum start button in the control unit 1 to achieve the fixing effect.

[0118] Further, lay the cover plate 7 between the crossbeam structures 6, replace the probe assembly 4 with a drill bit for subsequent processing, and wait for the subsequent processing process.

[0119] Control the type and number of the angle adjustment components 205 participating in fixation through the offline programming system. All the angle adjustment components 205 on the columns will participate in fixation. Since the angle adjustment component 205 is a vacuum chuck with an adsorption function, it will have an adsorption effect on the products placed on it. The telescopic height of each angle adjustment component 205 participating in fixation is a scheme generated in the offline programming system.

[0120] The offline programming system used mainly includes the column module and the accessory module of the chuck column 2. The column module mainly determines the number and height of the columns, and the accessory module mainly determines the type of the accessory part above the chuck column, so that in the offline programming system, the entire flexible adsorption system can obtain an optimal layout scheme for adsorbing products.

[0121] Probe detection method:

[0122] Step 1: Operate the Renishaw probe fixed on the spindle at the end of the robotic arm through the control unit 1 to move the probe, so that the contact on the probe tip measures any two points on the upper edge of the positioning hole diameter of the locator.

[0123] Step 2: The control system records and displays the spindle position coordinate axes in real time. For both locators, take the average value to obtain the three coordinate values of the center of the positioning hole.

[0124] Step 3: Compensate the machine tool coordinate system according to the center coordinates of the two positioning holes measured in Step 2.

[0125] Process for generating ISO code and report:

[0126] Step 1: Obtain the 3D digital model of the workpiece and import it into the offline programming system to generate a virtual workpiece model.

[0127] Step 2: Place the virtual workpiece model in the simulated processing table in the offline programming system and call out a suitable support form.

[0128] Step 3: Output the most suitable support form parameters, including the height of the chuck column, the type of the accessory part of the chuck, the rotation angle, and the offset.

[0129] By inputting the 3D digital model data of the parts to be processed into the offline programming system to obtain ISO code schemes for different parts, the present invention solves the problem of uncertain fixation schemes for different products to be processed.

[0130] The present invention is a system that realizes flexible adsorption through a vacuum system on a platform with a matrix distribution of chucks to achieve a fixation effect.

[0131] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0132] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A flexible matrix vacuum adsorption system, characterized in that, Comprising: A probe assembly (4), a reference assembly (5), and a plurality of crossbeam structures (6); the plurality of crossbeam structures (6) are slidably arranged on the mounting frame, and each crossbeam structure (6) is provided with a plurality of suction cup columns (2); The suction cup column (2) includes a lifting drive assembly, an adsorption assembly, and a plurality of angle adjustment structures (205); the lifting drive assembly is arranged on the crossbeam structure (6), and the plurality of angle adjustment structures (205) can be detachably arranged at the output end of the lifting drive assembly respectively, and the adsorption assembly is connected to the lifting drive assembly through the angle adjustment structure (205); the plurality of angle adjustment structures (205) include several structural types; the adsorption assembly is used for adsorbing and fixing the workpiece to be processed (8); The reference assembly (5) is used for being mounted on the lifting drive assembly, and the probe assembly (4) is used for detecting the position of the reference assembly (5).

2. The flexible matrix vacuum adsorption system according to claim 1, wherein The adsorption assembly includes a vacuum assembly (202) and a vacuum cup (2052), the vacuum cup (2052) is connected and arranged with the vacuum assembly (202), and the vacuum cup (2052) is arranged on the angle adjustment structure (205).

3. The flexible matrix vacuum adsorption system according to claim 2, wherein, The plurality of angle adjustment structures (205) include the following structural types: Structural type one: the angle adjustment structure (205) includes a cup piece base (2051); the vacuum cup (2052) is rotatably arranged on the cup piece base (2051) with the vertical direction as the rotation axis; the adsorption plane of the vacuum cup (2052) forms an angle with the horizontal plane; Structural type two: the angle adjustment structure (205) includes an angle adjustment plate (2053) and an inclined shaft (2054); the inclined shaft (2054) is rotatably arranged on the angle adjustment plate (2053) with the vertical direction as the rotation axis, and the vacuum cup (2052) is connected and arranged with the end of the inclined shaft (2054) far away from the angle adjustment plate (2053); the central axis of the inclined shaft (2054) forms an angle with the vertical direction, and the adsorption plane of the vacuum cup (2052) is perpendicular to the central axis of the inclined shaft (2054).

4. The flexible matrix vacuum adsorption system according to claim 3, characterized in that, The plurality of angle adjustment structures (205) further include the following structural types: Structure type three: The angle adjustment structure (205) includes an angle adjustment plate (2053) and a radially extending shaft (2055); the radially extending shaft (2055) is rotatably arranged on the angle adjustment plate (2053) with the vertical direction as the rotation axis, and the vacuum cup (2052) is connected to one end of the radially extending shaft (2055) away from the angle adjustment plate (2053); the radially extending shaft (2055) includes an inclined shaft (2054) and a vertical shaft (2057), one end of the inclined shaft (2054) is connected to the angle adjustment plate (2053), one end of the vertical shaft is connected to the other end of the inclined shaft (2054), and the vacuum cup (2052) is connected to the other end of the vertical shaft (2057); the central axis of the inclined shaft (2054) has an angle with the vertical direction, the central axis of the vertical shaft (2057) is parallel to the vertical direction, and the adsorption plane of the vacuum cup (2052) is perpendicular to the vertical direction.

5. The flexible matrix vacuum adsorption system according to claim 4, characterized in that, Several of the angle adjustment structures (205) further include the following structure types: Structure type four: The angle adjustment structure (205) includes a cup piece base (2051), a radial adjustment component (2056), and an angle adjustment plate (2053); the radial adjustment component (2056) is rotatably arranged on the angle adjustment plate (2053) with the vertical direction as the rotation axis, the cup piece base (2051) is arranged on the radial adjustment component (2056), and the vacuum cup (2052) is arranged on the cup piece base (2051); the adsorption plane of the vacuum cup (2052) is perpendicular to the vertical direction, and the radial adjustment component (2056) can drive the cup piece base (2051) and the vacuum cup (2052) to move along the radial direction of the vacuum cup (2052).

6. The flexible matrix vacuum adsorption system according to claim 1, characterized in that, The suction cup column (2) further includes a straightening machine (203), and the suction cup column (2) is arranged on the cross beam structure (6) through the straightening machine (203).

7. The flexible matrix vacuum adsorption system according to claim 1, wherein, The lifting drive assembly includes a servo motor (201) and a drive rod (204), one end of the drive rod (204) is connected to the output end of the servo motor (201), and the angle adjustment structure (205) is connected to the other end of the drive rod (204).

8. The flexible matrix vacuum adsorption system according to claim 1, wherein A plurality of moving drive components (3) are arranged on the mounting frame, the moving drive components (3) and the cross beam structure (6) are arranged in one-to-one correspondence, and the moving drive components (3) and the cross beam structure (6) are drivingly connected.

9. The flexible matrix vacuum adsorption system according to claim 7, wherein The reference component (5) includes a reference point structure (501), a longitudinal moving component (502), a transverse moving component (503), and a mounting seat (504); The mounting base (504) is arranged on the driving rod (204), the transverse movement assembly (503) is arranged on the mounting base (504), the longitudinal movement assembly (502) is arranged on the transverse movement assembly (503), and the reference point structure (501) is arranged on the longitudinal movement assembly (502); The probe assembly (4) is used to detect the position of the reference point structure (501).

10. The flexible matrix vacuum adsorption system according to claim 1, characterized in that, It further includes a control unit (1), and the control unit (1) is used to control the lifting drive assembly and drive the position of the crossbeam structure (6).

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