Flexible clamping device for aeronautical composite material and use method of flexible clamping device

Abstract

The invention provides an aviation composite material flexible clamping device and a using method thereof, and belongs to the technical field of aviation composite materials. The device comprises a ground rail assembly, a truss assembly, a sliding block assembly, an electric cylinder assembly and a vacuum suction cup assembly; a ground rail guide rail sliding block of the ground rail assembly is connected with the truss assembly; a truss guide rail of the truss assembly is connected with a sliding block assembly, an electric cylinder assembly is arranged on the sliding block assembly, and the output end of the electric cylinder assembly is connected with a vacuum suction cup assembly. The vacuum suction cup assembly comprises a flat suction cup, an angle self-adaption device and a universal ball head. By means of the three-axis linkage and angle self-adaption structure and the positive pressure cleaning and automatic lubricating functions, the clamping device can be rapidly matched with the aviation composite material complex curved surface workpiece, the model changing time is greatly shortened, clamping deformation is avoided, the machining precision and the production efficiency are improved, the multi-variety batch machining requirement is met, and the stability and the long-term effect are achieved.

Description

Technical Field

[0001] This invention relates to the field of aerospace composite materials technology, and in particular to a flexible clamping device for aerospace composite materials and its method of use. Background Technology

[0002] With the rapid development of aerospace equipment technology, composite materials, with their outstanding advantages such as high specific modulus, high specific strength, good corrosion resistance, and strong designability, have seen a continuous increase in their application in the aerospace manufacturing field, becoming a core material for key components such as wing-body fairings and stiffened panels. These aerospace composite material components generally have structural characteristics of large size, thin walls, and complex curved surfaces. During their CNC machining, the positioning accuracy, self-adaptive capability, and part change efficiency of the clamping device directly affect the product processing quality and production efficiency.

[0003] Currently, there are significant limitations in the tooling equipment for composite material components within the industry. Traditional rigid fixtures need to be customized according to the workpiece shape, with different workpieces corresponding to dedicated fixtures. This not only results in high manufacturing costs and long lead times but also requires a large area, is inconvenient to transport, and makes fixture management and adjustment difficult. In terms of clamping adaptability, existing tooling is insufficient to meet the stable support requirements of complex curved surface workpieces. For example, Chinese patent application CN117589027A discloses an auxiliary tooling for testing composite material wall panels and its process implementation method. This tooling relies on a fixed profile clamping plate and a vacuum suction cup, which cannot adaptively adjust the adsorption angle according to changes in the workpiece curvature, leading to insufficient fit in the central area. Another example is Chinese patent application CN117656507A, which discloses a flexible assembly tooling for large-size composite material structural parts. Its "flexibility" is only reflected in the separation and docking of the positioning frame and the positional adjustment of the suction cup, lacking angle adaptive capability. Uneven force is prone to occur at complex curved surfaces, which in turn leads to local deformation of the workpiece.

[0004] Furthermore, existing tooling generally suffers from low part changeover efficiency, requiring multiple manual adjustments of positioning points during the changeover process, resulting in cumbersome procedures. It also lacks integrated functional design, failing to consider requirements such as workpiece surface cleaning and automatic lubrication of moving parts, which affects clamping stability and shortens equipment lifespan. Therefore, the industry urgently needs a highly integrated flexible clamping device with three-dimensional motion capabilities and angle self-adaptation to address the technical deficiencies of existing technologies and meet the processing requirements of aerospace composite material parts. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies, such as poor three-dimensional motion capability, poor adaptability, and low integration, and to provide a flexible clamping device for aerospace composite materials and its usage method.

[0006] This invention is achieved through the following technical solution: a flexible clamping device for aerospace composite materials, comprising a ground rail assembly and a truss assembly; the ground rail guide slider of the ground rail assembly is connected to the truss assembly, the ground rail guide slider can linearly guide the truss assembly and drive the truss assembly to move in the front-back direction; the truss guide rail of the truss assembly is connected to a slider assembly, the truss guide rail can drive the slider assembly to move in the left-right direction; an electric cylinder assembly is provided on the slider assembly, the output end of the electric cylinder assembly is connected to a vacuum suction cup assembly, the electric cylinder assembly can drive the vacuum suction cup assembly in the vertical direction. The electric cylinder assembly, truss assembly, and ground rail assembly form a three-axis linkage; the vacuum suction cup assembly includes a flat suction cup, an angle adaptive device, and a universal ball joint. One end of the angle adaptive device is connected to the output end of the electric cylinder assembly, and the other end of the angle adaptive device is connected to the flat suction cup through the universal ball joint; the vacuum suction cup assembly is equipped with a valve island vacuum system, which includes an integrated vacuum generator. The integrated vacuum generator can switch between negative pressure adsorption and positive pressure cleaning functions and is linked with the vacuum suction cup assembly to perform adsorption, desorption, and surface cleaning operations on the workpiece.

[0007] This device achieves precise positioning of the vacuum suction cup assembly through a three-axis linkage structure—ground rail assembly, truss assembly, and electric cylinder assembly. The angle adaptive device and universal ball joint design make the device adaptable to complex curved surface workpieces of aerospace composite materials. The integrated vacuum generator's positive pressure cleaning and negative pressure adsorption functions improve clamping reliability and effectively solve the problems of poor adaptability and low clamping efficiency of traditional rigid fixtures.

[0008] A further improvement of the present invention includes that the ground rail assembly comprises a ground rail, a ground rail drag chain groove, a ground rail linear guide, a ground rail drag chain, a ground rail motor, and a ground rail reducer; the ground rail is fixed to the foundation platform by anchor bolts, and the outside of the ground rail is covered with ground rail protection; the ground rail drag chain is arranged in the ground rail drag chain groove, and a ground rail drag chain cable tray and a ground rail drag chain groove bracket are respectively provided above and below the ground rail drag chain groove; the ground rail linear guide is fixed to both sides of the ground rail by pressure blocks, and the ground rail guide slider is installed on the ground rail linear guide; a ground rail anti-collision block and a ground rail sensor are respectively provided at both ends of the ground rail; the ground rail motor and the ground rail reducer are connected and jointly installed on the truss support plate of the truss assembly, and the output end of the ground rail reducer is provided with a ground rail gear, which meshes with a ground rail rack installed on the ground rail; the ground rail motor can drive the truss assembly to move along the ground rail direction through the ground rail reducer, the ground rail gear, and the ground rail rack.

[0009] This device ensures overall stability through a modular ground rail component structure, including ground rails, ground rail linear guides, and ground rail gears. The gear and rack transmission method enables precise displacement of the truss components. Ground rail anti-collision blocks and ground rail sensors enhance operational safety, while ground rail drag chains and wiring structures extend cable life, laying the foundation for the precision of three-axis linkage.

[0010] A further improvement of the present invention includes that the truss assembly comprises a truss, a truss cable chain, a truss cable chain groove, a truss motor, a truss guide rail slider, and a truss reducer; the truss support plate is installed on a ground rail, and the truss is supported by the truss support plate; the truss guide rail slider is slidably connected to the truss guide rail, and the slider assembly can move along the truss guide rail via the truss guide rail slider; truss anti-collision blocks are respectively installed at both ends of the truss guide rail; the truss motor is connected to the truss reducer, and the output end of the truss reducer is connected to the slider of the slider assembly through a gear and rack mechanism, and the truss reducer can drive the slider assembly to move; the truss cable chain is installed in the truss cable chain groove, and a truss cable chain wiring groove is provided inside the truss cable chain groove, through which the motor control cable and encoder cable are routed and connected to the electrical control cabinet.

[0011] This device uses a rack and pinion drive system—a truss motor, a truss reducer, and a slider—to ensure smooth movement and precise positioning of the slider assembly. A well-organized wiring design—truss drag chains and truss drag chain cable trays—avoids cable tangling and wear. Truss anti-collision blocks enhance the safety of the mechanism's operation and provide reliable support for precise left-right adjustments of the vacuum suction cup assembly, thus improving the device's operational stability.

[0012] A further improvement of the present invention is that the slider assembly includes a slider-electric cylinder connector, and the electric cylinder assembly is fixed to the slider via the slider-electric cylinder connector.

[0013] This device ensures the stability of the connection between the electric cylinder assembly and the slider through a special design of the slider-electric cylinder connector, avoids displacement deviation during the operation of the electric cylinder, improves the position control accuracy of the vacuum suction cup assembly, and provides structural protection for stable workpiece clamping.

[0014] A further improvement of the present invention is that the electric cylinder assembly includes a servo electric cylinder, an axial connector, and a servo motor; the servo motor is connected to the servo electric cylinder through the axial connector and can drive the servo electric cylinder to extend and retract vertically; the extended end of the servo electric cylinder is fixed to the vacuum suction cup assembly by a threaded connection.

[0015] This device uses a servo drive—servo motor, servo cylinder and threaded connection method to ensure precise control of the vertical displacement of the vacuum suction cup assembly, improve the consistency of the clamping position, meet the high-precision clamping requirements of aerospace composite material workpieces, and at the same time the connection structure is stable to avoid loosening during the clamping process.

[0016] A further improvement of the present invention is that the vacuum suction cup assembly includes a rigid support block arranged in the middle of the flat suction cup, the rigid support block being able to adjust with the angle of the universal ball head and conform to the workpiece surface to provide rigid support; the angle adaptive device is provided with a compressed air interface and a vacuum negative pressure interface, the angle adaptive device being able to switch between compressed air and negative pressure through the compressed air interface and the vacuum negative pressure interface.

[0017] This device enhances workpiece clamping stability through the synergistic effect of rigid support blocks and flat suction cups, preventing deformation of thin-walled composite workpieces during clamping. The dual-interface design of compressed air and vacuum negative pressure interfaces enables orderly switching between angle adjustment and adsorption functions, ensuring subsequent attitude locking and stable adsorption, and improving the device's adaptability to complex curved workpieces.

[0018] Further improvements of the present invention include: when positive pressure is input into the compressed air interface, the universal ball joint is in an adjustable state; after the positive pressure is cut off, the angle adaptive device automatically locks, which can fix the posture of the flat suction cup; the vacuum negative pressure interface is connected to the valve island vacuum system, and the flat suction cup can adsorb and fix the workpiece by receiving negative pressure air source through the vacuum negative pressure interface.

[0019] This device features a design with adjustable positive pressure and locked negative pressure. It relies on compressed air and vacuum negative pressure interfaces to quickly adjust and securely fix the flat suction cup, ensuring a tight fit between the flat suction cup and the workpiece surface. This effectively solves the problem of insufficient fit in traditional fixtures and improves clamping stability and clamping efficiency.

[0020] A further improvement of the present invention is that the valve island vacuum system includes a valve island base and a central sealing valve; the central sealing valve is connected to an integrated vacuum generator and a vacuum negative pressure interface, and the central sealing valve can control the opening and closing of the air path; the integrated vacuum generator can output a clean airflow in positive pressure mode, and the clean airflow is delivered to the vacuum suction cup assembly through a pipeline, which can perform pneumatic cleaning and blowing on the surface of the workpiece.

[0021] This device achieves precise control of the gas path through a central sealing valve. The positive pressure purging function of the integrated vacuum generator removes impurities from the workpiece surface, improves the adsorption reliability of the flat suction cup, and avoids clamping loosening or workpiece damage caused by impurities. The integrated design—valve island base, central sealing valve, and integrated vacuum generator—simplifies the system structure, reduces maintenance costs, and achieves efficient linkage between cleaning and adsorption functions.

[0022] A further improvement of the present invention is that the ground rail assembly, truss assembly and slider assembly are equipped with a lubrication system, which can provide centralized automatic lubrication for the moving pairs of the ground rail assembly, truss assembly and slider assembly; the lubrication system can automatically supply oil according to a set cycle, and can lubricate the mating surfaces of the ground rail linear guide and the ground rail guide slider, and the truss guide and the truss guide slider.

[0023] This device reduces wear on moving pairs—the ground rail linear guide and the ground rail guide slider, and the truss guide and the truss guide slider—through the automatic oil supply design of the lubrication system. This extends the device's service life, ensures smooth operation between the guide rail and the slider, avoids affecting the accuracy of the three-axis linkage due to frictional resistance, and improves the stability and reliability of the device's long-term operation.

[0024] A method of using a flexible clamping device for aerospace composite materials includes the following steps: S1: Start the lubrication system and adjust the spatial position of the vacuum suction cup assembly according to the workpiece geometry and size through the three-axis linkage mechanism so that the flat suction cup is aligned with the workpiece adsorption area; S2: Control valve island vacuum system switches to positive pressure mode, delivering clean airflow to vacuum suction cup assembly to blow away workpiece adsorption area; S3: The workpiece is hoisted onto the flat suction cup and rigid support block. The angle adaptive device adjusts the angle of the flat suction cup through the universal ball joint so that it fits the workpiece against the rigid support block and cuts off the positive pressure locking posture. S4: The valve island vacuum system switches to negative pressure mode, providing negative pressure through the vacuum negative pressure interface. The flat suction cup adsorbs and fixes the workpiece, completing the clamping. S5: Maintain the operation of the lubrication system and the negative pressure adsorption state during processing; S6: After processing is completed, the valve island vacuum system stops negative pressure desorption, adjust the position of the vacuum suction cup assembly, and lift the workpiece.

[0025] The above-mentioned streamlined usage method is simple and efficient. The integrated operation of lubrication system, cleaning integrated vacuum generator, clamping vacuum suction cup assembly, and valve island vacuum system improves processing efficiency. The adaptive angle device and universal ball joint's attitude adaptive adjustment and stable locking ensure the clamping stability of complex curved workpieces, reduce the risk of workpiece deformation during processing, and effectively improve the processing quality and production efficiency of aerospace composite material parts.

[0026] As can be seen from the above technical solutions, the beneficial effects of the present invention are: 1. This device, through the collaborative design of an angle adaptive mechanism and a universal ball joint, combined with a three-axis linkage mechanism—ground rail assembly, truss assembly, and electric cylinder assembly—achieves efficient adaptation to complex curved surface workpieces made of aerospace composite materials. Compared to traditional rigid fixtures, it eliminates the need for customized fixtures for different workpieces. By automatically adjusting the suction cup angle and spatial position, it can quickly adapt to a variety of irregularly shaped curved surface workpieces, significantly shortening changeover time and effectively solving the pain points of poor adaptability and cumbersome clamping processes of traditional fixtures.

[0027] 2. This device uses a combination of rigid support blocks and flat suction cups to both fix the workpiece by negative pressure adsorption and provide additional mechanical support to prevent deformation of thin-walled composite materials during clamping. The positive pressure cleaning function of the valve island vacuum system can remove impurities from the workpiece surface in advance to ensure adsorption reliability. The servo drive and precision transmission structure ensure consistent clamping position, providing a stable guarantee for the high-precision machining of aerospace composite material parts.

[0028] 3. This device automatically supplies oil to moving parts through an integrated lubrication system, reducing component wear and extending equipment life; the modular structure design simplifies maintenance procedures, and the integrated cleaning and adsorption functions of the valve island vacuum system reduce system complexity; the streamlined usage method and automated operation improve production efficiency, adapting to the needs of mass production and multi-variety processing of aerospace composite materials, and combining economy and practicality. Attached Figure Description

[0029] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a structural schematic diagram of a specific embodiment of the present invention.

[0031] Figure 2 yes Figure 1 A schematic diagram of the right-side structure.

[0032] Figure 3 This is a structural schematic diagram of a truss assembly according to a specific embodiment of the present invention.

[0033] Figure 4 This is a schematic diagram of the slider assembly according to a specific embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram of the structure of the vacuum suction cup assembly according to a specific embodiment of the present invention.

[0035] In the diagram: 1. Ground rail; 101. Ground rail protection; 102. Ground rail anti-collision block; 103. Ground rail sensor; 104. Ground rail cable chain groove; 105. Ground rail cable chain groove bracket; 106. Ground rail linear guide; 107. Ground rail cable chain; 108. Anchor bolt combination; 109. Ground rail motor; 110. Ground rail reducer; 111. Ground rail rack; 112. Ground rail gear; 113. Ground rail cable chain routing groove; 114. Ground rail guide slider; 2. Truss assembly; 201. Truss support plate; 202. Truss; 203. Truss cable chain; 204. Truss cable chain groove; 205. Truss guide rail; 206. Truss motor; 2 07. Truss anti-collision block; 208. Truss drag chain cable tray; 209. Truss guide rail slider; 210. Truss reducer; 3. Slider assembly; 301. Slider electric cylinder connector; 302. Slider; 4. Electric cylinder assembly; 401. Servo electric cylinder; 402. Axial connector; 403. Servo motor; 5. Vacuum suction cup assembly; 501. Flat suction cup; 502. Compressed air interface; 503. Vacuum negative pressure interface; 504. Angle adaptive device; 505. Universal ball joint; 506. Rigid support block; 6. Lubrication system; 7. Valve island vacuum system; 701. Integrated vacuum generator; 702. Valve island base. Detailed Implementation

[0036] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0037] Now refer to Figure 1-5The following is a description of a specific embodiment of the present invention: A flexible clamping device for aerospace composite materials includes a ground rail assembly and a truss assembly 2. The ground rail guide slider 114 of the ground rail assembly is connected to the truss assembly 2, and the ground rail guide slider 114 can linearly guide the truss assembly 2 and drive the truss assembly 2 to move in the front-back direction. A slider assembly 3 is connected to a truss guide rail 205 of the truss assembly 2, and the truss guide rail 205 can drive the slider assembly 3 to move in the left-right direction. An electric cylinder assembly 4 is provided on the slider assembly 3, and the output end of the electric cylinder assembly 4 is connected to a vacuum suction cup assembly 5, which can drive the vacuum suction cup assembly 5 to move in the vertical direction. The electric cylinder assembly 4, truss assembly 2, and ground rail assembly form a three-axis linkage; the vacuum suction cup assembly 5 includes a flat suction cup 501, an angle adaptive device 504, and a universal ball joint 505. One end of the angle adaptive device 504 is connected to the output end of the electric cylinder assembly 4, and the other end of the angle adaptive device 504 is connected to the flat suction cup 501 through the universal ball joint 505; the vacuum suction cup assembly 5 is equipped with a valve island vacuum system 7, which includes an integrated vacuum generator 701. The integrated vacuum generator 701 can switch between negative pressure adsorption and positive pressure cleaning functions and is linked with the vacuum suction cup assembly 5 to perform adsorption, desorption, and surface cleaning operations on the workpiece.

[0038] The ground rail assembly provides linear guidance to the truss assembly 2 through the ground rail guide slider 114, driving the truss assembly 2 to move in the front-back direction; the truss guide rail 205 of the truss assembly 2 drives the slider assembly 3 to move in the left-right direction; the electric cylinder assembly 4 on the slider assembly 3 drives the vacuum suction cup assembly 5 to move in the vertical direction, and the three form a three-axis linkage to precisely adjust the spatial position of the vacuum suction cup assembly 5; the vacuum suction cup assembly 5, through the cooperation of the angle adaptive device 504 and the universal ball head 505, can adjust the adsorption angle of the flat suction cup 501 according to the curvature of the workpiece; the integrated vacuum generator 701 of the valve island vacuum system 7 switches between negative pressure adsorption and positive pressure cleaning functions, and works in conjunction with the vacuum suction cup assembly 5 to achieve workpiece adsorption, desorption and surface cleaning.

[0039] This device achieves precise positioning of the vacuum suction cup assembly 5 through a three-axis linkage structure—ground rail assembly, truss assembly 2, and electric cylinder assembly 4. The design of the angle adaptive device 504 and the universal ball joint 505 makes the device adaptable to complex curved surface workpieces of aerospace composite materials. The integrated vacuum generator 701's positive pressure cleaning and negative pressure adsorption functions improve clamping reliability and effectively solve the problems of poor adaptability and low clamping efficiency of traditional rigid fixtures.

[0040] Specifically, refer to Figure 1 and 2The ground rail assembly includes a ground rail 1, a ground rail cable chain groove 104, a ground rail linear guide rail 106, a ground rail cable chain 107, a ground rail motor 109, and a ground rail reducer 110. The ground rail 1 is fixed to the foundation platform by anchor bolts 108, and the ground rail 1 is covered with a ground rail guard 101. The ground rail cable chain 107 is arranged in the ground rail cable chain groove 104, and the ground rail cable chain groove 104 is provided with a ground rail cable chain routing groove 113 and a ground rail cable chain groove bracket 105 at the top and bottom, respectively. The ground rail linear guide rail 106 is fixed to both sides of the ground rail 1 by pressure blocks, and the ground rail guide rail slider 110... 4. Installed on the linear guide rail 106; the two ends of the ground rail 1 are respectively provided with ground rail anti-collision blocks 102 and ground rail sensors 103; the ground rail motor 109 is connected to the ground rail reducer 110 and is installed together on the truss support plate 201 of the truss assembly 2; the output end of the ground rail reducer 110 is provided with a ground rail gear 112, the ground rail gear 112 meshes with the ground rail rack 111 installed on the ground rail 1; the ground rail motor 109 can drive the truss assembly 2 to move along the direction of the ground rail 1 through the ground rail reducer 110, the ground rail gear 112 and the ground rail rack 111.

[0041] The ground rail 1 is fixed to the foundation platform by anchor bolts 108, and the ground rail guard 101 covers its outer side to achieve safety protection; the ground rail drag chain 107 is arranged in the ground rail drag chain groove 104, and the ground rail drag chain cable tray 113 and ground rail drag chain tray bracket 105 respectively set above and below the ground rail drag chain groove 104 provide a neat wiring space for cables and air pipes; the ground rail linear guide 106 is fixed to both sides of the ground rail 1 by pressure blocks, and the ground rail guide slider 114 is installed on the ground rail linear guide 106 to provide stable guidance for the truss assembly 2; the ground rail anti-collision blocks 102 and ground rail sensors 103 at both ends of the ground rail 1 realize extreme position protection; the ground rail motor 109 is reduced by the ground rail reducer 110, and then meshes with the ground rail rack 111 through the ground rail gear 112 to drive the truss assembly 2 to move smoothly along the ground rail 1.

[0042] This device ensures overall stability through a modular ground rail component structure, including ground rail 1, ground rail linear guide 106, and ground rail gear 112. The gear and rack transmission method—ground rail gear 112 and ground rail rack 111—achieves precise displacement of truss component 2. Ground rail anti-collision block 102 and ground rail sensor 103 enhance operational safety. Ground rail drag chain 107 and wiring structure extend cable life, laying the foundation for the precision of three-axis linkage.

[0043] Specifically, refer to Figure 3 and 4The truss assembly 2 includes a truss 202, a truss drag chain 203, a truss drag chain groove 204, a truss motor 206, a truss guide rail slider 209, and a truss reducer 210; the truss support plate 201 is mounted on the ground rail 1, and the truss 202 is supported by the truss support plate 201; the truss guide rail slider 209 is slidably connected to the truss guide rail 205, and the slider assembly 3 can move along the truss guide rail 205 through the truss guide rail slider 209; both ends of the truss guide rail 205 are respectively equipped with Truss anti-collision block 207; Truss motor 206 is connected to truss reducer 210, the output end of truss reducer 210 is connected to slider 302 of slider assembly 3 through gear and rack mechanism, the truss reducer 210 can drive slider assembly 3 to move; Truss drag chain 203 is installed in truss drag chain groove 204, the truss drag chain groove 204 is provided with truss drag chain wiring groove 208, the motor control cable and encoder cable are wired through truss drag chain wiring groove 208 and connected to electrical control cabinet.

[0044] The truss 202 is supported by the truss support plate 201. The truss guide rail 205 and the truss guide rail slider 209 slide together to provide left and right guidance for the slider assembly 3. The truss motor 206 is reduced in speed by the truss reducer 210 and drives the slider 302 of the slider assembly 3 to move along the truss guide rail 205 through the gear and rack mechanism. The truss drag chain 203 is installed in the truss drag chain groove 204. The truss drag chain wiring groove 208 realizes the neat wiring of the motor control cable and the encoder cable. The truss anti-collision blocks 207 at both ends of the truss guide rail 205 protect the moving mechanism.

[0045] This device uses a rack and pinion drive—truss motor 206, truss reducer 210, and slider 302—to ensure smooth movement and precise positioning of slider assembly 3. The neat wiring design—truss drag chain 203 and truss drag chain cable tray 208—avoids cable tangling and wear. The truss anti-collision block 207 enhances the safety of the mechanism's operation and provides reliable support for the precise left and right adjustment of vacuum suction cup assembly 5, thereby improving the stability of the device's operation.

[0046] Specifically, refer to Figure 3 The slider assembly 3 includes a slider electric cylinder connector 301, and the electric cylinder assembly 4 is fixed to the slider 302 through the slider electric cylinder connector 301.

[0047] The slider electric cylinder connector 301 of the slider assembly 3 firmly fixes the electric cylinder assembly 4 onto the slider 302, so that the electric cylinder assembly 4 and the slider assembly 3 form a stable connection body, and move synchronously with the slider assembly 3 along the truss guide rail 205, ensuring that the electric cylinder assembly 4 is under stable force when driving the vacuum suction cup assembly 5.

[0048] This device ensures the stable connection between the electric cylinder assembly 4 and the slider 302 through the special design of the slider-electric cylinder connector 301, avoids displacement deviation during the operation of the electric cylinder, improves the position control accuracy of the vacuum suction cup assembly 5, and provides structural guarantee for stable workpiece clamping.

[0049] Specifically, refer to Figure 4 The electric cylinder assembly 4 includes a servo electric cylinder 401, an axial connector 402, and a servo motor 403; the servo motor 403 is connected to the servo electric cylinder 401 through the axial connector 402 and can drive the servo electric cylinder 401 to extend and retract up and down; the extended end of the servo electric cylinder 401 is fixed to the vacuum suction cup assembly 5 by a threaded connection.

[0050] The servo motor 403 is connected to the servo cylinder 401 through the axial connector 402, driving the servo cylinder 401 to achieve precise extension and retraction in the vertical direction; the extended end of the servo cylinder 401 is fixed to the vacuum suction cup assembly 5 through a threaded connection, transmitting the extension and retraction motion to the vacuum suction cup assembly 5 to achieve its vertical position adjustment.

[0051] This device ensures precise control of the vertical displacement of the vacuum suction cup assembly 5 through servo drive—servo motor 403, servo electric cylinder 401 and threaded connection, improves the consistency of clamping position, meets the high-precision clamping requirements of aerospace composite material workpieces, and at the same time the connection structure is stable to avoid loosening during clamping.

[0052] Specifically, refer to Figure 5 The vacuum suction cup assembly 5 includes a rigid support block 506 arranged in the middle of the flat suction cup 501. The rigid support block 506 can be adjusted according to the angle of the universal ball joint 505 and fit against the workpiece surface to provide rigid support. The angle adaptive device 504 is provided with a compressed air interface 502 and a vacuum negative pressure interface 503. The angle adaptive device 504 can switch between compressed air and negative pressure through the compressed air interface 502 and the vacuum negative pressure interface 503.

[0053] In the vacuum suction cup assembly 5, the rigid support block 506, arranged on the same side as the flat suction cup 501, adjusts to fit the workpiece surface according to the angle of the universal ball head 505, providing additional mechanical support; the angle adaptive device 504 realizes the switching between compressed air and negative pressure through the compressed air interface 502 and the vacuum negative pressure interface 503, providing power for angle adjustment and adsorption fixation.

[0054] This device enhances the workpiece clamping stability and avoids deformation of thin-walled composite workpieces through the synergistic effect of rigid support block 506 and flat suction cup 501. The dual-interface design of compressed air interface 502 and vacuum negative pressure interface 503 enables orderly switching between angle adjustment and adsorption functions, providing a guarantee for subsequent attitude locking and stable adsorption, and improving the device's adaptability to complex curved workpieces.

[0055] Specifically, refer to Figure 2 , 3 When the compressed air interface 502 receives positive pressure, the universal ball joint 505 is in an adjustable state; after the positive pressure is cut off, the angle adaptive device 504 automatically locks, which can fix the posture of the flat suction cup 501; the vacuum negative pressure interface 503 is connected to the valve island vacuum system 7, and the flat suction cup 501 can adsorb and fix the workpiece by receiving negative pressure air source through the vacuum negative pressure interface 503.

[0056] When positive pressure is input into the compressed air interface 502 of the angle adaptive device 504, the universal ball head 505 is in an adjustable state, which makes it easy to adjust the posture of the flat suction cup 501 according to the workpiece surface. After the positive pressure is cut off, the angle adaptive device 504 automatically locks and fixes the contact posture of the flat suction cup 501. The vacuum negative pressure interface 503 is connected to the valve island vacuum system 7 and receives the negative pressure air source to make the flat suction cup 501 adsorb and fix the workpiece.

[0057] This device, through its adjustable positive pressure and locked negative pressure design, relies on the compressed air interface 502 and the vacuum negative pressure interface 503 to achieve rapid adjustment and stable fixation of the flat suction cup 501, ensuring that the flat suction cup 501 fits tightly with the curved surface of the workpiece. This effectively solves the problem of insufficient fit in traditional fixtures and improves clamping stability and clamping efficiency.

[0058] Specifically, refer to Figure 2 The valve island vacuum system 7 includes a valve island base 702 and a central sealing valve; the central sealing valve is connected to an integrated vacuum generator 701 and a vacuum negative pressure interface 503, and the central sealing valve can control the opening and closing of the air path; the integrated vacuum generator 701 can output a clean airflow in positive pressure mode, and the clean airflow is delivered to the vacuum suction cup assembly 5 through a pipeline, which can perform blowing and pneumatic cleaning on the surface of the workpiece.

[0059] The central sealing valve of the valve island vacuum system 7 controls the air passage connection and disconnection between the integrated vacuum generator 701 and the vacuum negative pressure interface 503; the integrated vacuum generator 701 outputs clean airflow in positive pressure mode, which is delivered to the vacuum suction cup assembly 5 through the pipeline to clean the surface of the workpiece; when switching to negative pressure mode, it provides an adsorption air source to the flat suction cup 501 through the vacuum negative pressure interface 503.

[0060] This device achieves precise control of the air path through a central sealing valve. The positive pressure purging function of the integrated vacuum generator 701 removes impurities from the workpiece surface, improves the adsorption reliability of the flat suction cup 501, and avoids clamping loosening or workpiece damage caused by impurities. The integrated design—valve island base 702, central sealing valve, and integrated vacuum generator 701—simplifies the system structure, reduces maintenance costs, and achieves efficient linkage between cleaning and adsorption functions.

[0061] Specifically, refer to Figure 1 , 3 4. The ground rail assembly, truss assembly 2 and slider assembly 3 are equipped with a lubrication system 6. The lubrication system 6 can provide centralized automatic lubrication for the moving pairs of the ground rail assembly, truss assembly 2 and slider assembly 3. The lubrication system 6 can automatically supply oil according to a set cycle and can lubricate the mating surfaces of the ground rail linear guide 106 and the ground rail guide slider 114, and the truss guide 205 and the truss guide slider 209.

[0062] The lubrication system 6 provides centralized automatic lubrication for the moving pairs of the ground rail assembly, truss assembly 2 and slider assembly 3. It automatically supplies oil according to a set cycle, focusing on lubricating the mating surfaces of the ground rail linear guide 106 and ground rail guide slider 114, and the truss guide 205 and truss guide slider 209, to reduce friction between moving parts.

[0063] This device reduces wear on moving pairs—the ground rail linear guide 106 and the ground rail guide slider 114, and the truss guide 205 and the truss guide slider 209—through the automatic oil supply design of the lubrication system 6. This extends the service life of the device, ensures smooth cooperation between the guide rail and the slider, avoids the impact of frictional resistance on the accuracy of the three-axis linkage, and improves the stability and reliability of the device in long-term operation.

[0064] A method of using a flexible clamping device for aerospace composite materials includes the following steps: S1: Start the lubrication system 6, and adjust the spatial position of the vacuum suction cup assembly 5 according to the workpiece geometry and size through the three-axis linkage mechanism, so that the flat suction cup 501 is aligned with the workpiece adsorption area. S2: Control valve island vacuum system 7 switches to positive pressure mode, delivering clean airflow to vacuum suction cup assembly 5 to blow away the workpiece adsorption area; S3: The workpiece is hoisted onto the flat suction cup 501 and the rigid support block 506. The angle adaptive device 504 adaptively adjusts the angle of the flat suction cup 501 through the universal ball head 505 so that it fits against the workpiece with the rigid support block 506 and cuts off the positive pressure locking posture. S4: The valve island vacuum system 7 switches to negative pressure mode, providing negative pressure through the vacuum negative pressure interface 503. The flat suction cup 501 adsorbs and fixes the workpiece, completing the clamping. S5: Maintain the operation of the lubrication system 6 and the negative pressure adsorption state during processing; S6: After processing is completed, the valve island vacuum system 7 stops negative pressure desorption, adjust the position of the vacuum suction cup assembly 5, and lift the workpiece.

[0065] The lubrication system 6 is activated to supply oil to the moving parts. The position of the vacuum suction cup assembly 5 is adjusted through the three-axis linkage mechanism ground rail assembly, truss assembly 2, and electric cylinder assembly 4, so that the flat suction cup 501 is aligned with the workpiece adsorption area. The control valve island vacuum system 7 switches to positive pressure mode, and the integrated vacuum generator 701 outputs clean airflow to blow clean air onto the workpiece surface. The workpiece is hoisted onto the flat suction cup 501 and the rigid support block 506. The angle adaptive device 504 adjusts the posture through the universal ball joint 505 and then locks it. The negative pressure mode is switched, and negative pressure is provided to the flat suction cup 501 through the vacuum negative pressure interface 503 to adsorb and fix the workpiece to complete the clamping. During processing, the lubrication system 6 is maintained in operation and the negative pressure adsorption state is maintained. After processing is completed, the negative pressure desorption is stopped, the position of the vacuum suction cup assembly 5 is adjusted, and the workpiece is hoisted away.

[0066] The above-described streamlined operation method is simple and efficient. The integrated operation of lubrication system 6, cleaning system 701, clamping system 5, and valve island vacuum system 7 improves processing efficiency. The adaptive attitude adjustment and stable locking of the angle adaptive device 504 and the universal ball joint 505 ensure the clamping stability of complex curved workpieces, reduce the risk of workpiece deformation during processing, and effectively improve the processing quality and production efficiency of aerospace composite material parts.

[0067] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible clamping device for aerospace composite materials, comprising a ground rail assembly and a truss assembly (2), characterized in that, The ground rail guide slider (114) of the ground rail assembly is connected to the truss assembly (2). The ground rail guide slider (114) can guide the truss assembly (2) in a straight line and drive the truss assembly (2) to move in the front-back direction. The truss guide rail (205) of the truss assembly (2) is connected to the slider assembly (3). The truss guide rail (205) can drive the slider assembly (3) to move in the left-right direction. An electric cylinder assembly (4) is provided on the slider assembly (3). The output end of the electric cylinder assembly (4) is connected to the vacuum suction cup assembly (5). The electric cylinder assembly (4) can drive the vacuum suction cup assembly (5) to move in the vertical direction. The electric cylinder assembly (4), the truss assembly (2), and the ground rail assembly form a three-dimensional structure. The vacuum suction cup assembly (5) is a shaft linkage type. The vacuum suction cup assembly (5) includes a flat suction cup (501), an angle adaptive device (504), and a universal ball head (505). One end of the angle adaptive device (504) is connected to the output end of the electric cylinder assembly (4), and the other end of the angle adaptive device (504) is connected to the flat suction cup (501) through the universal ball head (505). The vacuum suction cup assembly (5) is equipped with a valve island vacuum system (7). The valve island vacuum system (7) includes an integrated vacuum generator (701). The integrated vacuum generator (701) can switch between negative pressure adsorption and positive pressure cleaning functions and is linked with the vacuum suction cup assembly (5) to perform adsorption, desorption, and surface cleaning operations on the workpiece.

2. The flexible clamping device for aerospace composite materials according to claim 1, characterized in that, The ground rail assembly includes a ground rail (1), a ground rail drag chain groove (104), a ground rail linear guide (106), a ground rail drag chain (107), a ground rail motor (109), and a ground rail reducer (110). The ground rail (1) is fixed to the foundation platform by anchor bolts (108), and the ground rail (1) is covered with a ground rail guard (101). The ground rail drag chain (107) is arranged in the ground rail drag chain groove (104), and the ground rail drag chain groove (104) is provided with a ground rail drag chain cable tray (113) and a ground rail drag chain groove bracket (105) at the top and bottom respectively. The ground rail linear guide (106) is fixed to both sides of the ground rail (1) by pressure blocks, and the ground rail guide slider (114) is installed... The ground rail is mounted on the linear guide rail (106); the ground rail (1) is provided with a ground rail anti-collision block (102) and a ground rail sensor (103) at both ends; the ground rail motor (109) is connected to the ground rail reducer (110) and is installed together on the truss support plate (201) of the truss assembly (2); the output end of the ground rail reducer (110) is provided with a ground rail gear (112); the ground rail gear (112) meshes with the ground rail rack (111) installed on the ground rail (1); the ground rail motor (109) can drive the truss assembly (2) to move along the direction of the ground rail (1) through the ground rail reducer (110), the ground rail gear (112) and the ground rail rack (111).

3. The flexible clamping device for aerospace composite materials according to claim 2, characterized in that, The truss assembly (2) includes a truss (202), a truss drag chain (203), a truss drag chain groove (204), a truss motor (206), a truss guide rail slider (209), and a truss reducer (210); the truss support plate (201) is installed on the ground rail (1), and the truss (202) is supported by the truss support plate (201); the truss guide rail slider (209) is slidably connected to the truss guide rail (205), and the slider assembly (3) can move along the truss guide rail (205) through the truss guide rail slider (209); the two ends of the truss guide rail (205) are... Do not install truss anti-collision blocks (207); the truss motor (206) is connected to the truss reducer (210), and the output end of the truss reducer (210) is connected to the slider (302) of the slider assembly (3) through a gear and rack mechanism. The truss reducer (210) can drive the slider assembly (3) to move; the truss drag chain (203) is installed in the truss drag chain groove (204), and the truss drag chain groove (204) is provided with a truss drag chain wiring groove (208). The motor control cable and encoder cable are wired through the truss drag chain wiring groove (208) and connected to the electrical control cabinet.

4. The flexible clamping device for aerospace composite materials according to claim 3, characterized in that, The slider assembly (3) includes a slider electric cylinder connector (301), and the electric cylinder assembly (4) is fixed on the slider (302) through the slider electric cylinder connector (301).

5. The flexible clamping device for aerospace composite materials according to claim 1, characterized in that, The electric cylinder assembly (4) includes a servo electric cylinder (401), an axial connector (402), and a servo motor (403); the servo motor (403) is connected to the servo electric cylinder (401) through the axial connector (402) and can drive the servo electric cylinder (401) to extend and retract up and down; the extended end of the servo electric cylinder (401) is fixed to the vacuum suction cup assembly (5) by a threaded connection.

6. The flexible clamping device for aerospace composite materials according to claim 1, characterized in that, The vacuum suction cup assembly (5) includes a rigid support block (506) arranged in the middle of the flat suction cup (501). The rigid support block (506) can be adjusted according to the angle of the universal ball head (505) and fit against the workpiece surface to provide rigid support. The angle adaptive device (504) is provided with a compressed air interface (502) and a vacuum negative pressure interface (503). The angle adaptive device (504) can switch between compressed air and negative pressure through the compressed air interface (502) and the vacuum negative pressure interface (503).

7. The flexible clamping device for aerospace composite materials according to claim 6, characterized in that, When the compressed air interface (502) inputs positive pressure, the universal ball joint (505) is in an adjustable state; after the positive pressure is cut off, the angle adaptive device (504) automatically locks, which can fix the posture of the flat suction cup (501); the vacuum negative pressure interface (503) is connected to the valve island vacuum system (7), and the flat suction cup (501) can adsorb and fix the workpiece by receiving negative pressure air source through the vacuum negative pressure interface (503).

8. The flexible clamping device for aerospace composite materials according to claim 1, characterized in that, The valve island vacuum system (7) includes a valve island base (702) and a central sealing valve; the central sealing valve is connected to an integrated vacuum generator (701) and a vacuum negative pressure interface (503), and the central sealing valve can control the opening and closing of the gas path; the integrated vacuum generator (701) can output clean airflow in positive pressure mode, and the clean airflow is transported to the vacuum suction cup assembly (5) through the pipeline, which can blow and pneumatically clean the surface of the workpiece.

9. A flexible clamping device for aerospace composite materials according to claim 3, characterized in that, The ground rail assembly, truss assembly (2) and slider assembly (3) are equipped with a lubrication system (6). The lubrication system (6) can provide centralized automatic lubrication for the moving pairs of the ground rail assembly, truss assembly (2) and slider assembly (3). The lubrication system (6) can automatically supply oil according to a set cycle and can lubricate the mating surfaces of the ground rail linear guide (106) and ground rail guide slider (114), and the truss guide (205) and truss guide slider (209).

10. A method of using a flexible clamping device for aerospace composite materials according to any one of claims 1-9, characterized in that, Includes the following steps: S1: Start the lubrication system (6), and adjust the spatial position of the vacuum suction cup assembly (5) according to the workpiece geometry and size through the three-axis linkage mechanism so that the flat suction cup (501) is aligned with the workpiece adsorption area; S2: Control valve island vacuum system (7) switches to positive pressure mode, delivers clean airflow to vacuum suction cup assembly (5) to blow away workpiece adsorption area; S3: The workpiece is hoisted onto the flat suction cup (501) and the rigid support block (506). The angle adaptive device (504) adaptively adjusts the angle of the flat suction cup (501) through the universal ball head (505) so that it fits against the workpiece with the rigid support block (506) and cuts off the positive pressure locking posture. S4: The valve island vacuum system (7) switches to negative pressure mode, provides negative pressure through the vacuum negative pressure interface (503), and the flat suction cup (501) adsorbs and fixes the workpiece to complete the clamping. S5: Maintain the operation of the lubrication system (6) and the negative pressure adsorption state during processing; S6: After processing is completed, the valve island vacuum system (7) stops negative pressure desorption, adjust the position of the vacuum suction cup assembly (5), and lift the workpiece.

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