Intelligent hammering processing equipment based on curved surface dose closed-loop control and control method

Abstract

The invention discloses intelligent hammering machining equipment based on curved surface dose closed-loop control and a control method, and relates to the field of surface strengthening and equipment control, and the intelligent hammering machining equipment comprises the specific steps that a curved surface normal field and a danger coefficient heat map of a workpiece are obtained; according to the curved surface normal field, the posture of the tool is controlled, and the included angle between the axis of the tool and the curved surface normal of the workpiece is limited within a preset range; and setting a target dose according to the danger coefficient heat map, and dynamically adjusting the energy parameter of hammering and / or the step pitch and frequency of hammering according to the included angle by adopting a dose closed-loop control strategy, so that the real-time dose approaches the target dose. According to the method, a unified coordination system is constructed, the normal field of the curved surface is obtained, real-time accurate alignment of the tool axis and the normal direction of the curved surface is achieved, and energy projection loss caused by attitude deviation is fundamentally eliminated in combination with the energy compensation law based on the included angle.

Description

Technical Field

[0001] This application relates to the field of surface strengthening and equipment control, and in particular to an intelligent hammering processing equipment and control method based on curved surface dose closed-loop control. Background Technology

[0002] Currently, surface strengthening technologies such as shot peening and hammering are important means to improve the fatigue life and service reliability of components, and have been widely used in aerospace, marine engines, energy equipment and other fields.

[0003] Traditional shot peening and hammering reinforcement methods mostly rely on low-degree-of-freedom or fixed-angle loading, making them difficult to adapt to the geometric features of complex curved surfaces. This leads to deviations between the tool axis and the workpiece surface normal, resulting in a loss of reinforcement energy projection and easily causing local over- or under-strengthening. At the same time, most existing processes use open-loop settings for energy or number of blows, lacking a feedback adjustment mechanism that matches the actual surface condition and normal field of the workpiece. This makes it impossible to achieve precise control of the effective dosage, making the strengthening effect highly dependent on manual experience, with poor repeatability and consistency. In addition, in terms of workpiece clamping, disc-shaped parts and irregularly shaped parts usually require different fixtures and alignment processes. The lack of compatibility and flexible support design increases process conversion and debugging time, affecting production efficiency and cross-workpiece adaptability.

[0004] Therefore, how to develop an intelligent hammering processing equipment and control method to improve the reinforcement consistency of complex curved surfaces and reduce the risk of surface damage is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides an intelligent hammering processing equipment and control method based on curved surface dose closed-loop control, which overcomes the above-mentioned defects.

[0006] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control, the specific steps of which are as follows: Obtain the surface normal field and hazard factor heat map of the workpiece; Based on the surface normal field, the tool's posture is controlled so that the angle between the tool axis and the surface normal of the workpiece is limited to a preset range. Based on the aforementioned risk factor heatmap, a target dose is set, and a dose closed-loop control strategy is adopted to dynamically adjust the energy parameters of the hammer blows and / or the step distance and frequency of the hammer blows for the angle, so that the real-time dose approaches the target dose.

[0007] Optionally, the specific steps for controlling the attitude of the tool are as follows: Establish a unified coordination system to manage the coordinates between the base, platform, workpiece, tool, and vision. Based on the workpiece registration, the surface normal field is obtained, and the A / B / Rz attitude of the tool is solved based on the surface normal field, so that the tool axis is aligned with the surface normal of the workpiece.

[0008] Optionally, when employing a dose closed-loop control strategy, a surface dose needs to be defined as a process variable. The expression for the surface dose is: ; In the formula, The effective area; This represents the total number of hammer blows. For the first The total impact energy applied by the tool during each hammer blow; For the first The angle between the tool axis and the normal to the workpiece surface during each hammer strike.

[0009] Optionally, the surface dose characterizes the effective hammering energy accumulated per unit area of ​​action, wherein the expression for the normal effective energy of a single hammering is: ; In the formula, This represents the total energy of a single impact. It is the angle between the tool axis and the surface normal of the workpiece.

[0010] Optionally, it also includes a peak normal force protection mechanism, specifically: Peak normal force is calculated based on impact energy and contact duration; The protection mode is determined based on the peak normal force against a preset threshold safety constraint.

[0011] Optionally, the expression for the threshold security constraint is: ; In the formula, The angle between the tool axis and the normal to the workpiece surface; The maximum threshold value for peak normal force; The coefficient of recovery; For contact duration.

[0012] Optionally, during the processing, the row and column spacing of the hammering will be adaptively corrected, specifically as follows: Calculate the equivalent footprint diameter of the tool; When the equivalent footprint diameter and the peak normal force meet the preset conditions, the row spacing and column spacing are set to multiples of the equivalent footprint diameter and dynamically adjusted with the iterative update of the included angle and command energy.

[0013] Secondly, this application provides an intelligent hammering processing device based on curved surface dose closed-loop control, including: a workpiece clamping mechanism fixed on a multi-degree-of-freedom positioning platform, a hammering execution mechanism fixed on the multi-degree-of-freedom positioning platform by a support structure, and a sensing mechanism fixed on the support structure. The multi-degree-of-freedom positioning platform is used to provide translational degrees of freedom along the X-axis, Y-axis, and Z-axis, as well as rotational degrees of freedom along the A and B swing angles and the Rz axis. The workpiece clamping mechanism includes a disc-type workpiece clamping module and an irregular-type workpiece clamping module, which are used to clamp and fix various types of workpieces. The hammering actuator is used to position the tool axis relative to the workpiece surface according to a dose closed-loop control strategy. The sensing mechanism is used to acquire workpiece shape and position information.

[0014] According to the specific embodiments provided in this application, this application has the following technical effects: 1. By constructing a unified coordination system and obtaining the surface normal field, real-time and accurate alignment between the tool axis and the surface normal was achieved. Combined with the energy compensation law based on the included angle, the energy projection loss caused by attitude deviation was fundamentally eliminated.

[0015] 2. By estimating impact energy and peak force in real time within the closed-loop control system and using these as control and protection parameters for the internal loop, precise management of each hammering process is achieved. This reduces reliance on operator experience and ensures highly repeatable and consistent process results, laying a solid foundation for the digitalization and standardization of high-quality manufacturing.

[0016] 3. The introduction of the Unified Coordination System (UCS) enables the equipment to quickly understand and adapt to the geometric space of different workpieces, allowing the equipment to quickly switch between processing tasks of different workpieces and batches, shortening the production preparation cycle, and improving the overall utilization rate of the equipment and the production response speed.

[0017] 4. A complete digital process package is formed by automatically recording the spatiotemporal sequence of "attitude-energy-number of times-peak force-dosage-detection result". This not only achieves full traceability of the production process and provides reliable data support for quality analysis, but also provides a valuable data foundation for continuous process optimization and artificial intelligence model training by correlating process parameters with the final performance results, enabling the process to continuously evolve and become better with use. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of an intelligent hammering processing device based on curved surface dose closed-loop control in one embodiment of this application; Figure 2 A schematic diagram of a disc-shaped workpiece clamping module provided in an embodiment of this application; Figure 3 This application provides a schematic diagram of disc workpiece end face runout compensation in a disc-type workpiece clamping module according to an embodiment of the present application. Figure 4 A clamping schematic diagram of an irregular workpiece clamping module provided in an embodiment of this application; Figure 5 A schematic diagram of the coordinate registration and attitude solving process of a Unified Coordination System (UCS) provided in an embodiment of this application; Figure 6 A schematic diagram of a dose closed-loop control process provided in an embodiment of this application; Figure 7 A schematic diagram of path and density driven by a hazard heatmap provided in an embodiment of this application; Figure 8 This is a schematic diagram of the dynamic vibration damping and threshold protection process provided in an embodiment of this application; Figure 9 This is a schematic diagram illustrating the principle of attitude servoing and normal impact provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] This embodiment discloses an intelligent hammering processing device based on curved surface dose closed-loop control, including: a workpiece clamping mechanism fixed on a multi-degree-of-freedom positioning platform, a hammering execution mechanism fixed on the multi-degree-of-freedom positioning platform through a support structure, and a sensing mechanism fixed on the support structure. A multi-degree-of-freedom positioning platform is used to provide translational degrees of freedom along the X, Y, and Z axes, as well as rotational degrees of freedom at A and B swing angles and Rz. The workpiece clamping mechanism includes a disc-type workpiece clamping module and an irregular workpiece clamping module, which are used to clamp and fix various types of workpieces. A hammering actuator is used to position the tool axis relative to the workpiece surface according to a dose closed-loop control strategy. Sensing mechanisms are used to acquire information about the shape and position of the workpiece.

[0023] Furthermore, such as Figure 1 As shown, the intelligent hammering processing equipment includes a multi-degree-of-freedom positioning platform with X, Y, Z translation, A, B swing angles, and Rz rotation; a dual-mode workpiece clamping mechanism (including end face runout compensation / flexible needle bed or modular support) for disc workpieces and irregular workpieces; a hammering execution mechanism with normal follow-up / compliant structure; and a sensing mechanism using a three-dimensional measurement / visual perception module.

[0024] In one embodiment, end face runout compensation is mainly used to eliminate runout (i.e., eccentricity or unevenness of the rotation axis) of the workpiece end face during the strengthening or processing process, thereby ensuring that the hammering or strengthening energy acts stably in the normal direction and avoiding energy fluctuations and uneven strengthening.

[0025] In one embodiment, the irregular workpiece clamping module employs a flexible needle bed or modular support structure for adaptive support based on the contour of the irregular workpiece.

[0026] Furthermore, the workpiece clamping mechanism has two working modes to adapt to the clamping requirements of disc-shaped workpieces and irregularly shaped workpieces (i.e., irregularly shaped workpieces). One mode is for disc-shaped parts, employing an end-face positioning and end-runout compensation structure, such as using a self-centering chuck or vacuum suction cup to position and clamp the disc-shaped workpiece from the end face. Figure 2 As shown, it incorporates a built-in end-face runout compensation module (such as an elastic support or adjustable mechanism) to eliminate runout caused by uneven workpiece thickness or improper installation, ensuring the disc component remains stable and its end face is flat during rotation or under load. Figure 3As shown; another mode is for irregular workpieces, employing a flexible needle bed or modular support structure. This utilizes a large number of independently retractable needle-like supports or reconfigurable modular blocks to adaptively support the irregular shape of the workpiece. When the workpiece is placed, the needles in the needle bed automatically press against the workpiece according to their different contour heights, forming a close fit. The modular support can be manually / automatically adjusted and combined according to the workpiece shape, fixing the irregularly shaped part from multiple directions, such as... Figure 4 As shown.

[0027] Furthermore, the workpiece clamping mechanism achieves compatibility with different workpieces through switchable or combinable clamping modules. For disc-shaped workpieces, the device operates in disc mode, using end-face positioning to ensure accurate center and planar position of the workpiece. The end-face runout compensation module dynamically adjusts the workpiece posture or provides flexible support during hammering, preventing uneven strengthening due to slight workpiece wobbling. For irregular workpieces, the device switches to flexible clamping mode, providing multi-point support at the bottom or side of the workpiece through a bed of needles or support modules, evenly distributing the clamping force, avoiding stress concentration, and quickly adapting to complex workpiece contours without the need for dedicated custom fixtures.

[0028] Its advantages lie in the fact that one set of mechanisms is compatible with two types of workpieces: it can efficiently clamp disc-shaped workpieces and flexibly fix irregular workpieces, with convenient intermediate conversion, which greatly improves the equipment's adaptability to workpieces of different shapes and clamping efficiency, and reduces the time cost of changing fixtures and adjusting alignment.

[0029] This embodiment also discloses a control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control, the specific steps of which are as follows: Obtain the surface normal field and hazard factor heat map of the workpiece; Based on the surface normal field, the tool's posture is controlled so that the angle between the tool axis and the workpiece surface normal is limited to a preset range; The target dose is set based on the risk factor heat map, and a dose closed-loop control strategy is adopted to dynamically adjust the energy parameters of the hammer blows and / or the step distance and frequency of the hammer blows for the included angle, so that the real-time dose approaches the target dose.

[0030] Furthermore, control methods such as Figure 5 Specifically, it is shown as follows: Workpiece clamping, alignment, and coordinate registration; Heat maps of surface normals and hazard factors are obtained based on 3D measurement and CAD models; Solve for A / B / Rz attitude to align the tool axis with the surface normal field and constrain it. ; according to Implementation angle—force coupling compensation, integral calculation Γ And perform closed-loop regulation; based on Fpeak Threshold and vibration spectrum trigger protection and vibration isolation, and adjust step size / frequency when necessary; Record data to generate process packages.

[0031] In one embodiment, the specific steps for controlling the attitude of the tool are as follows: Establish a unified coordination system to manage the coordinates between the base, platform, workpiece, tool, and vision. The surface normal field is obtained based on the workpiece registration, and the A / B / Rz attitude of the tool is solved based on the surface normal field, so that the tool axis is aligned with the surface normal of the workpiece.

[0032] Furthermore, the controller constructs a unified coordination system (UCS) to uniformly manage the coordinates of the base {B}, platform {S}, workpiece {W}, tool {T}, and vision {C}. It obtains the surface normal field through workpiece-CAD registration and solves for the A / B / Rz attitude to align the tool axis with the surface normal. Simultaneously, closed-loop control is performed using the surface dose as a process variable. Specifically, the angle between the tool axis and the surface normal is... The controller controls the energy of a single impact. E Implementation Compensation makes the normal effective energy Maintain at the set value .

[0033] In one embodiment, in angle-force coupling compensation, the tool axis unit vector is set as... The normal of the surface is , The expression for the included angle is: ; Total energy of a single impact (Or estimated by force-displacement integral), the effective energy in the normal direction is defined as: ; In the formula, Mass of the impact object; The impact velocity.

[0034] To maintain the normal effective energy constant at the set value Angle-force coupling compensation law is adopted: ; when Approaching the upper limit (Preferably not greater than 15°), in this embodiment, when 10°–15° is selected, the controller prioritizes attitude adjustment (A / B / Rz) rather than blindly increasing energy to avoid surface damage.

[0035] Furthermore, the target normal effective energy Preferably 0.2–8 J / blow, preferably 5–300 Hz, peak force threshold 200–8000 N is preferred.

[0036] In one embodiment, in the area of ​​action Above, dosage Defined as: ; In the formula, The effective area is the surface area to which the hammering reinforcement is applied. This represents the total number of hammer blows. For the first The total impact energy applied by the tool during each hammer blow; For the first The angle between the tool axis and the normal to the workpiece surface during each hammer strike.

[0037] Furthermore, dose closed-loop control strategies such as Figure 6 As shown: As a process variable, adopt PI / Predictive control pair E cmd Closed-loop adjustment of step size / frequency is performed to make (This can be obtained from a risk factor heatmap) distribute: like Figure 7 As shown); where, Basic dose; For the risk factor heat map The corresponding location risk factor function; that is, based on the risk coefficients of different areas on the workpiece surface. Using functions Modulate the base dose to obtain the target dose. High-risk areas ( (Larger) through Increase the required dosage in high-risk areas and reduce the dosage requirement in low-risk areas to achieve targeted enhancement.

[0038] Furthermore, the curved dosage Γ As a process variable, this means the device calculates and monitors the current cumulative dose in real time during the hammering process. Typically, this is updated after each hammering (or a series of hammering) is completed. and target dose Comparison. If the current cumulative dose (i.e., the real-time dose) With target dose If the deviation exceeds the preset threshold, it indicates that the reinforcement requirement has not been met, and hammering will continue; otherwise, if... It has approached or reached If the deviation is within the allowable range, then stop hammering.

[0039] In one embodiment, when the current dose (i.e., the real-time dose) is detected... With target dose When a deviation exists, the controller will adjust the hammering parameters accordingly to compensate for the difference, specifically: Adjustment (Command Energy): This determines the impact energy of each hammer blow. If the cumulative dose is found to be too low ( The controller will increase the energy per hit. This allows for the delivery of more effective energy with each hammer blow; conversely, if the dosage is too high, it can reduce... This direct change The value affects the contribution of subsequent hammer blows to the dose.

[0040] Adjusting step size / frequency: Step size is the distance between adjacent hammer strikes, and frequency refers to the hammer strike speed (number of strikes per unit time). The controller combines PI or predictive control algorithms, based on... Deviation dynamic adjustment step size and frequency: when When the density is too low, reduce the step size / densify the hammering dot matrix or increase the frequency to increase coverage density; when If the frequency is too high, appropriately increase the step size or decrease the frequency to avoid over-enhancement. This can be achieved by adjusting simultaneously... The step size / frequency can coordinate and control the energy delivery and spatial distribution for each step, allowing the actual dose to gradually approach the target value. .

[0041] In one embodiment, a peak normal force protection mechanism is also included, specifically: Peak normal force is calculated based on impact energy and contact duration; The protection mode is triggered based on the peak normal force against the preset threshold safety constraint.

[0042] Furthermore, such as Figure 8 As shown, the controller estimates the impact energy based on force, acceleration, and displacement signals during execution. E With contact duration And calculate the peak normal force for threshold protection and parameter limiting; The peak normal force is approximated as follows: ; In the formula, The coefficient of recovery, This refers to the contact duration. If a material / surface threshold exists... Then To constrain the trigger protection modes (amplitude limiting, frequency reduction, attitude adjustment, and detour).

[0043] Furthermore, the peak normal force protection mechanism is primarily designed to prevent workpiece surface damage caused by excessive impact and to ensure the safety of the equipment itself. During the hammering process, if the peak normal impact force generated by a single impact exceeds the threshold that the material or equipment can withstand... This may result in adverse effects on the workpiece surface, such as excessively deep indentations, microcracks, or even spalling, weakening the strengthening effect or damaging the workpiece. Attitude tracking and normal impact, such as... Figure 9 As shown, excessive impact force can also damage equipment components such as the hammer head (i.e., the hammering actuator) or sensors. Therefore, a peak force threshold is set. This is used to monitor the peak normal impact force of each hammer blow. When the peak force is detected to be close to or exceed... When this happens, the system will trigger a protection mode (such as limiting the hammering amplitude, reducing the hammering frequency, adjusting the hammering posture to reduce the normal component, or bypassing high-risk areas, etc.) to avoid continuing to apply excessive loads.

[0044] In one embodiment, during the processing, the row spacing and column spacing of the hammering are adaptively corrected, specifically as follows: The equivalent footprint diameter of the calculation tool; When the equivalent footprint diameter and peak normal force meet the preset conditions, the row spacing and column spacing are set to multiples of the equivalent footprint diameter and dynamically adjusted as the included angle and command energy are iteratively updated.

[0045] Furthermore, when a resonance peak appears in the vibration spectrum, the hammering frequency and step size / path are adjusted to avoid the resonance band. Specifically, the step size and column spacing are adjusted accordingly. Adaptive correction; when the equivalent footprint diameter With peak force When in relation, set the row spacing and column spacing to... and followed and Iterative updates are performed to maintain consistency between energy density and geometric coverage.

[0046] Equivalent footprint diameter It refers to the diameter of the area effectively affected or covered by a single hammer blow on the surface of a workpiece (which can be understood as the average diameter of the indentation or affected area left by a single impact on the surface). The value of can be obtained through theoretical calculation or experimental calibration. Equivalent footprint diameter With peak normal force Generally, there is an inverse relationship. That is, as the peak hammer force increases, the rate of increase in indentation diameter decreases, and there may even be situations where the peak force continues to increase but the indentation diameter no longer increases significantly. The optimal strategy is to set the spacing between adjacent hammer rows and columns in the path planning to... In other words, each hammer mark should be tangent to the adjacent mark (closely adjacent to each other without gaps) to maintain uniform coverage.

[0047] In one embodiment, a spatiotemporal sequence of "attitude-energy-number of times-peak force-dose-detection result" is recorded to form a reproducible experimental process package.

[0048] Furthermore, the test results refer to the inspection or measurement results of the workpiece surface properties after strengthening treatment. These may include surface hardness, residual stress distribution, surface roughness, microstructure changes, or non-destructive testing (NDT) results—any indicator that can reflect the strengthening effect. By incorporating the test results into a sequence, process parameters (attitude, energy, number of times, dosage, etc.) can be correlated with the final strengthening effect, verifying the effectiveness of the process and providing a basis for optimization.

[0049] Furthermore, by recording the posture and angle of each hammer blow during the strengthening process (…), and A / B / Rz pose), energy parameters (such as Actual output energy), cumulative number of hits (current hit number), peak power of this attack. Current cumulative dose The data, along with post-construction testing results, are linked together to form a time-series data set. This series of data constitutes a spatiotemporal sequence of "attitude—energy—number of blows—peak force—dose—test results." This enables traceability of the process, allowing for post-construction analysis of the relationship between the parameters of each hammer blow and the final strengthening effect (test results). It also facilitates packaging this data into reproducible process schemes for optimizing process parameters and guiding the strengthening of subsequent similar workpieces (i.e., forming a reproducible experimental process package).

[0050] In one embodiment, the controller employs a two-layer control structure: the upper layer is based on a hazard heatmap. R ( u , v Determine path priority and The lower level is and It provides internal feedback to coordinate and regulate posture, energy, and stride.

[0051] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control, characterized in that, The specific steps are as follows: Obtain the surface normal field and hazard factor heat map of the workpiece; Based on the surface normal field, the tool's posture is controlled so that the angle between the tool axis and the surface normal of the workpiece is limited to a preset range. Based on the aforementioned risk factor heatmap, a target dose is set, and a dose closed-loop control strategy is adopted to dynamically adjust the energy parameters of the hammer blows and / or the step distance and frequency of the hammer blows for the angle, so that the real-time dose approaches the target dose.

2. The control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control according to claim 1, characterized in that, The specific steps for controlling the attitude of the tool are as follows: Establish a unified coordination system to manage the coordinates between the base, platform, workpiece, tool, and vision. Based on the workpiece registration, the surface normal field is obtained, and the A / B / Rz attitude of the tool is solved based on the surface normal field, so that the tool axis is aligned with the surface normal of the workpiece.

3. The control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control according to claim 1, characterized in that, When employing a dose-closed-loop control strategy, a surface dose needs to be defined as a process variable. The expression for the surface dose is: ； In the formula, The effective area; This represents the total number of hammer blows. For the first The total impact energy applied by the tool during each hammer blow; For the first The angle between the tool axis and the normal to the workpiece surface during each hammer strike.

4. A control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control as described in claim 3, characterized in that, The surface dose characterizes the effective hammer impact energy accumulated per unit area of ​​action, wherein the expression for the normal effective energy of a single hammer impact is: ； In the formula, This represents the total energy of a single impact. It is the angle between the tool axis and the surface normal of the workpiece.

5. The control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control according to claim 1, characterized in that, It also includes a peak normal force protection mechanism, specifically: Peak normal force is calculated based on impact energy and contact duration; The protection mode is determined based on the peak normal force against a preset threshold safety constraint.

6. The control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control according to claim 5, characterized in that, The expression for the threshold security constraint is: ； In the formula, The angle between the tool axis and the normal to the workpiece surface; The maximum threshold value for peak normal force; The coefficient of recovery; Duration of contact; Mass of the impact object; The impact velocity.

7. The control method for an intelligent hammering processing equipment based on curved surface dose closed-loop control according to claim 5, characterized in that, During the processing, the row and column spacing of the hammering will be adaptively corrected, specifically as follows: Calculate the equivalent footprint diameter of the tool; When the equivalent footprint diameter and the peak normal force meet the preset conditions, the row spacing and column spacing are set to multiples of the equivalent footprint diameter and dynamically adjusted with the iterative update of the included angle and command energy.

8. An intelligent hammering processing device based on curved surface dose closed-loop control, performing the method as described in any one of claims 1-7, characterized in that, include: The workpiece clamping mechanism is fixed on a multi-degree-of-freedom positioning platform, the hammering actuator is fixed on the multi-degree-of-freedom positioning platform by a support structure, and the sensing mechanism is fixed on the support structure. The multi-degree-of-freedom positioning platform is used to provide translational degrees of freedom along the X-axis, Y-axis, and Z-axis, as well as rotational degrees of freedom along the A and B swing angles and the Rz axis. The workpiece clamping mechanism includes a disc-type workpiece clamping module and an irregular-type workpiece clamping module, which are used to clamp and fix various types of workpieces. The hammering actuator is used to position the tool axis relative to the workpiece surface according to a dose closed-loop control strategy. The sensing mechanism is used to acquire workpiece shape and position information.

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