Die pose self-compensation calibration system

Abstract

The invention relates to the technical field of mold precision calibration, and discloses a mold pose self-compensation calibration system which comprises a bearing platform, a lifting driving cylinder is installed on the top of the bearing platform, and the output end of the lifting driving cylinder penetrates through the bearing platform and is fixedly connected with an upper mold fixing base. An upper die body is fixedly connected to the bottom of the upper die fixing base, a lifting driving cylinder drives the upper die fixing base and controls the upper die body to move vertically, a micro-displacement driving module is arranged on the table top of the bearing platform, and a lower die pose adjusting table is arranged on the top of the micro-displacement driving module. A lower die body is fixedly connected to the top of the lower die posture adjusting table, a micro-displacement driving module controls the lower die posture adjusting table and adjusts the angle of the lower die body, and state sensing modules are installed in the middle of the upper die body and the middle of the lower die body. Through closed-loop control of the state sensing module, the computer and the micro-displacement driving module and in combination with the mechanical locking module, high-precision calibration and maintenance of the concentricity of the mold are achieved, and the calibration efficiency and the product quality are improved.

Description

Technical Field

[0001] This invention relates to the field of precision mold calibration technology, specifically to a mold pose self-compensation calibration system. Background Technology

[0002] Neutral borosilicate glass is widely used in the manufacture of high-requirement pharmaceutical packaging containers, such as vaccine vials and ampoules, due to its excellent chemical stability and thermal shock resistance. In the production process of these neutral borosilicate molded bottles, the glass material is dropped into the mold and formed by pressing or blowing. The concentricity of the upper and lower molds, that is, the accuracy of the alignment of their central axes, is a key process parameter that determines the quality of the final product. Any slight concentricity deviation will lead to uneven bottle wall thickness, which will seriously affect the mechanical strength, sealing performance, and even the long-term storage safety of the medicine. Therefore, precise concentricity calibration of the mold is a necessary step in the production process.

[0003] Currently, the most common method for calibrating mold concentricity in the industry relies on manual operation. During production breaks or after mold changes, the production equipment usually needs to be stopped and the mold cooled to an operable temperature. Experienced technicians then use traditional contact measuring tools such as dial indicators, micrometers, or feeler gauges to measure the gap or relative position of the upper and lower molds at multiple points. Based on the measurement results, the technicians need to manually loosen the fixing bolts of the lower mold and repeatedly and tentatively adjust the position of the lower mold by tapping or using fine-tuning screws. After each adjustment, the bolts are tightened again and the measurement is repeated until the measured value reaches the tolerance range required by the process.

[0004] While the aforementioned existing technologies can achieve mold alignment to a certain extent, their inherent operating methods and principles lead to several insurmountable shortcomings in practical applications: First, the accuracy and consistency of calibration highly depend on the operator's personal skills and "feel," exhibiting strong subjectivity and difficulty in quantification. This results in significant differences in calibration results between different personnel and at different times, lacking reliable repeatability. Furthermore, this calibration, performed under cold and static conditions, cannot reflect or compensate for the dynamic positional changes of the mold caused by material thermal expansion during high-temperature operation. In actual operation, the rapid temperature increase causes micron-level deformation and displacement of various components. A mold calibrated under cold conditions will deviate from its concentricity again after heating up and entering stable production. Existing technologies are powerless to address such dynamic deviations during operation, which is a deep-seated cause of product quality fluctuations. Second, the entire manual calibration process is extremely time-consuming. From waiting for the equipment to cool down to repeatedly performing iterative cycles of "measurement-adjustment-retesting," long downtime is required, directly consuming production time and reducing the overall operating efficiency of the production line. At the same time, this operation demands a high level of experience from technicians, increasing labor costs and creating a technical bottleneck in production to some extent. Finally, relying solely on conventional bolt locking methods has limited rigidity and stability, making it difficult to withstand the high-frequency mold opening and closing impacts and vibrations during production. This can easily cause the already calibrated concentricity to gradually "deviate" during production, requiring frequent shutdowns for secondary calibration, which further affects the continuity and stability of production. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a mold pose self-compensation calibration system. This invention solves the problems in existing technologies where mold calibration relies on manual static operation, resulting in low accuracy and efficiency, and the inability to compensate for dynamic concentricity deviations caused by thermal deformation of the mold under high-temperature working conditions in real time.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a mold pose self-compensation calibration system, comprising a support platform, a lifting drive cylinder mounted on the top of the support platform, the output end of the lifting drive cylinder penetrating the support platform and fixedly connected to an upper mold fixing seat, an upper mold body fixedly connected to the bottom of the upper mold fixing seat, the lifting drive cylinder driving the upper mold fixing seat to control the vertical movement of the upper mold body, a micro-displacement drive module provided on the platform surface, a lower mold pose adjustment stage provided on the top of the micro-displacement drive module, and a lower mold fixedly connected to the top of the lower mold pose adjustment stage. The upper mold body and the lower mold body are equipped with a state sensing module. The micro-displacement drive module controls the lower mold body's posture adjustment stage to adjust its angle. The upper mold body and the lower mold body are equipped with a state sensing module at their midpoints. The micro-displacement drive module and the state sensing module are connected via computer communication. The state sensing module is used to monitor the relative posture data between the upper mold body and the lower mold body. The computer is used to receive the relative posture data and calculate the concentricity deviation to generate a command to compensate for the concentricity deviation. The micro-displacement drive module is used to receive the command and adjust the angle of the lower mold body's posture adjustment stage according to the command.

[0007] Preferably, the state sensing module includes three sets of non-contact pose probe 1 and non-contact pose probe 2. The non-contact pose probe 1 and the non-contact pose probe 2 are respectively installed in the middle of the lower mold pose adjustment platform and the upper mold fixing base. The installation angles of the non-contact pose probe 1 and the non-contact pose probe 2 are uniform. The non-contact pose probe 1 and the non-contact pose probe 2 are arranged facing each other and are used to measure and output the axial distance data between the upper mold body and the lower mold body. The non-contact pose probe 1 and the non-contact pose probe 2 collect the axial distance data between the surface of the upper mold body and the surface of the lower mold body. This axial distance data constitutes the relative pose data.

[0008] Preferably, the state perception module further includes a signal conditioning and conversion unit for filtering, amplifying, and analog-to-digital conversion of the axial distance data.

[0009] Preferably, the computer includes a deviation calculation unit, and the state perception module transmits the relative pose data to the computer. This unit is used to calculate the specific axial deviation, pitch angle deviation and yaw angle deviation of the lower mold body relative to the upper mold based on the relative pose data, so as to jointly constitute the concentricity deviation.

[0010] The deviations in axial, pitch, and yaw angles are calculated using the following formulas: [Formulas would be inserted here] ; ; The axial deviation, pitch angle deviation, and yaw angle difference, which respectively characterize the offset of the lower mold body in the axial, pitch, and yaw directions, are calculated, and these three together constitute the concentricity deviation; where: The yaw angle deviation represents the rotation angle of the central axis of the lower mold relative to the central axis of the upper mold around a preset first coordinate axis. The pitch angle deviation represents the rotation angle of the central axis of the lower mold relative to the central axis of the upper mold around a preset second coordinate axis. The axial deviation is defined as the translational distance of the center of the lower mold body in the direction of the central axis of the upper mold body. , , These are the axial distances between the surface of the lower mold body and the surface of the upper mold body, measured by the first and second sets of the three sets of non-contact pose probes, respectively. The radius of distribution of the centers of the three sets of non-contact pose probe one and non-contact pose probe two on a plane perpendicular to the central axis of the upper mold body.

[0011] Preferably, the computer further includes a compensation strategy and instruction generation unit, which is used to calculate the compensation displacement required to achieve the micro-displacement adjustment based on the axial deviation, pitch angle deviation and yaw angle deviation through an inverse kinematics model as a drive instruction; The compensation displacement is calculated using the following formula: Using formula The compensation displacement is calculated. In the formula: The driving vector is represented by its components, which are the compensation displacement values ​​that each micro-displacement driving unit needs to execute to compensate for the concentricity deviation. The inverse Jacobian matrix of the system represents the quantitative mapping relationship between the concentricity deviation and the compensation displacement values ​​of each drive unit. The target instruction vector has a magnitude equal to and opposite in direction to the currently calculated concentricity deviation, and is used to guide the compensation process.

[0012] Preferably, the micro-displacement driving module includes six sets of high-precision piezoelectric actuators evenly distributed along the circumference of the bearing platform surface. The driving end of each high-precision piezoelectric actuator is fixedly connected to a ball joint support. The ball joint support is located at the bottom of the lower mold posture adjustment stage and is used to perform the micro-displacement adjustment.

[0013] Preferably, the micro-displacement drive module further includes a high-voltage precision drive power supply unit for receiving the drive command and providing a precise drive voltage for the high-precision piezoelectric actuator.

[0014] Preferably, it also includes a mechanical locking module, which is communicatively connected to the computer and is used to receive a locking command and lock and fix the upper mold body and the lower mold body after the concentricity deviation is less than a preset threshold.

[0015] Preferably, the mechanical locking module includes a pneumatic actuator and a precision locking unit, wherein the pneumatic actuator drives the precision locking unit to lock and fix the upper mold body and the lower mold body.

[0016] Preferably, the precision locking unit includes an automatic centering locking pin and a tapered locking mating hole. The automatic centering locking pin and the tapered locking mating hole are respectively arranged facing each other on the sides of the upper mold body and the lower mold body, for providing a self-centering function during the locking process.

[0017] This invention provides a mold pose self-compensation calibration system. It has the following beneficial effects: 1. This invention constructs a high-precision closed-loop automatic control system by setting up a state perception module, a central control and calculation module, and a micro-displacement drive module. It monitors the concentricity of the neutral borosilicate molded bottle mold in real time online. It uses non-contact pose probe one and non-contact pose probe two to accurately capture the minute pose deviation between the upper and lower mold bodies. Then, a high-precision piezoelectric actuator realizes micron-level compensation adjustment. Compared with the traditional calibration method that relies on human experience, the automated closed-loop calibration mechanism greatly improves the accuracy and repeatability of concentricity calibration, effectively overcomes the influence of dynamic factors such as thermal deformation on mold accuracy, and provides a reliable technical guarantee for ensuring the consistency of molded bottle product quality. 2. This invention transforms the complex process of mold concentricity calibration into an automated process, reducing manual intervention in the production process. Operators no longer need to perform tedious disassembly or manual adjustments using traditional measuring tools; they only need to start the calibration device to quickly complete the alignment. This significantly shortens the equipment downtime caused by mold adjustments, reduces the high dependence on the skill level of operators and the labor intensity, and improves the overall operating efficiency and equipment utilization of the neutral borosilicate molding bottle production line. 3. By introducing a mechanical locking module, this invention ensures that the upper and lower mold bodies can be stably maintained in a high-precision alignment state after calibration, effectively resisting positional drift caused by factors such as injection pressure and mechanical vibration during subsequent production, enhancing the structural rigidity and operational reliability of the entire mold assembly, reducing the product defect rate caused by mold misalignment, and improving the finished product qualification rate. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the specific structure of the lower mold of the present invention; Figure 3 This is a schematic diagram of the specific structure of the upper mold of the present invention; Figure 4 This is a schematic diagram of the device structure of the present invention; Figure 5 This is a schematic diagram of the computer structure of the present invention; Figure 6 This is a schematic diagram of the micro-displacement driving module of the present invention; Figure 7 This is a schematic diagram of the mechanical locking module of the present invention.

[0019] The components include: 1. Bearing platform; 2. High-precision piezoelectric actuator; 3. Ball joint support; 4. Lower mold position adjustment platform; 5. Lower mold body; 6. Lifting drive cylinder; 7. Upper mold fixing seat; 8. Upper mold body; 9. Non-contact position probe one; 10. Non-contact position probe two; 11. Automatic centering locking pin; 12. Conical locking mating hole. Detailed Implementation

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

[0021] Please see the appendix Figure 1 - Appendix Figure 4The pose described in this invention includes, but is not limited to, concentricity. An embodiment of this invention provides a mold pose self-compensation calibration system, comprising a support platform 1. A lifting drive cylinder 6 is mounted on the top of the support platform 1. The output end of the lifting drive cylinder 6 passes through the support platform 1 and is fixedly connected to an upper mold fixing seat 7. The lifting drive cylinder 6 controls the movement of the upper mold fixing seat 7. An upper mold body 8 is fixedly connected to the bottom of the upper mold fixing seat 7. By moving the upper mold fixing seat 7, the upper mold body 8 moves synchronously. A micro-displacement drive module is provided on the platform surface of the support platform 1. A lower mold pose adjustment stage 4 is provided on the top of the micro-displacement drive module. The micro-displacement drive module adjusts the lower mold pose. The angle of the adjustment platform 4 is adjusted. The lower mold body 5 is fixedly connected to the top of the lower mold posture adjustment platform 4. By adjusting the lower mold posture adjustment platform 4, the angle of the lower mold body 5 is changed. A state sensing module is installed in the middle of the upper mold body 8 and the lower mold body 5. The micro-displacement drive module and the state sensing module are connected through computer communication. The state sensing module is used to monitor the relative posture data between the upper mold body 8 and the lower mold body 5. The computer is used to receive the relative posture data and calculate the concentricity deviation to generate a command to compensate for the concentricity deviation. The micro-displacement drive module is used to receive the command and drive the micro-displacement drive module to adjust the angle of the lower mold posture adjustment platform 4 according to the command.

[0022] Please see the appendix Figure 1 Appendix Figure 2 Appendix Figure 3 and attached Figure 5 In a preferred embodiment of the present invention, the state sensing module includes three sets of non-contact pose probes 1-9 and non-contact pose probes 2-10. The non-contact pose probes 1-9 and 2-10 are respectively installed in the middle of the lower mold pose adjustment platform 4 and the upper mold fixing seat 7. The non-contact pose probes 1-9 and 2-10 are evenly distributed in the lower mold pose adjustment platform 4 and the upper mold fixing seat 7. The non-contact pose probes 1-9 and 2-10 are arranged facing each other and are used to measure and output the axial distance data between the upper mold body 8 and the lower mold body 5. The axial distance data constitutes the relative pose data.

[0023] Please see the appendix Figure 4 and attached Figure 5 In a preferred embodiment of the present invention, the state perception module further includes a signal conditioning and conversion unit for filtering, amplifying and analog-to-digital conversion of the axial distance data.

[0024] Please see the appendix Figure 4 and attached Figure 6In a preferred embodiment of the present invention, the computer includes a deviation calculation unit, which is a dedicated program or hardware logic preset in the computer. The unit is used to calculate the axial deviation, pitch angle deviation and yaw angle deviation of the lower mold body 5 relative to the upper mold body 8 based on the relative pose data, so as to jointly constitute the concentricity deviation. The deviations in axial, pitch, and yaw angles are calculated using the following formulas. To accurately quantify the concentricity deviations caused by factors such as thermal deformation and mechanical wear, the deviation calculation unit employs a mathematical model based on spatial geometry: using the formulas... ; ; Using the above formulas, the deviation calculation unit can calculate the axial deviation, pitch angle deviation, and yaw angle difference, which respectively characterize the offset of the lower mold body 5 in the axial, pitch, and yaw directions. These three together constitute a complete quantitative description of the current mold misalignment state, namely, the concentricity deviation; where: Yaw angle deviation is the rotation angle of the central axis of the lower mold body 5 relative to the central axis of the upper mold body 8 around a preset first coordinate axis. The pitch angle deviation represents the rotation angle of the central axis of the lower mold body 5 relative to the central axis of the upper mold body 8 around a preset second coordinate axis. The axial deviation represents the translational distance of the center of the lower mold body 5 in the direction of the central axis of the upper mold body 8, and is the arithmetic mean of the measurements of the three sets of sensors. , , The values ​​are the axial distances between the surface of the lower mold body 5 and the surface of the upper mold body 8, measured by three sets of non-contact pose probe 19 and non-contact pose probe 20, respectively. The difference between these three values ​​directly reflects the tilt state of the lower mold body 5. The distribution radius of the centers of the three sets of non-contact pose probe 9 and the non-contact pose probe 10 on a plane perpendicular to the central axis of the upper mold body 8 is an inherent structural parameter of the system, used to convert the linear displacement difference measured by the sensors into angular deviation.

[0025] Please see the appendix Figure 4 and attached Figure 6 In a preferred embodiment of the present invention, the computer further includes a compensation strategy and instruction generation unit. After the deviation calculation unit has accurately calculated the concentricity deviation that characterizes the current misalignment state, the control flow enters the core stage of active compensation. This unit is used to calculate the compensation displacement required to achieve micro-displacement adjustment based on axial deviation, pitch angle deviation and yaw angle deviation through the inverse kinematics model as a drive instruction, that is, to map the mold pose correction requirements back to the extension and retraction of each driver. The compensation displacement is calculated using the following formula, converting the deviation into a specific compensation displacement: [Formula omitted] The calculated compensation displacement is ultimately sent to the micro-displacement drive module as a drive command; where: The driving vector is the component of the compensation displacement value that each micro-displacement driving unit needs to execute to compensate for the concentricity deviation. The driving vector is the final output of the unit's operation and is the direct instruction passed to the hardware execution layer. The inverse Jacobian matrix of the system represents the quantitative mapping relationship between the concentricity deviation and the compensation displacement values ​​of each drive unit. Once calibrated or calculated, this matrix becomes an inherent property of the system, enabling the computer to accurately predict how to combine the actions of the actuators to achieve pose fine-tuning in any direction. The target instruction vector is equal in magnitude and opposite in direction to the currently calculated concentricity deviation. It is used to guide the compensation process and is designed to generate a correction action that can completely "offset" or "neutralize" the currently measured deviation.

[0026] Please see the appendix Figure 1 and attached Figure 2 In a preferred embodiment of the present invention, the micro-displacement driving module includes six sets of high-precision piezoelectric actuators 2 evenly distributed along the circumference of the support platform 1. The six sets of high-precision piezoelectric actuators 2 realize multi-directional movement. The driving end of the high-precision piezoelectric actuators 2 is fixedly connected to a ball joint support 3. The ball joint support 3 is set at the bottom of the lower mold position adjustment stage 4. The ball joint support 3 facilitates the lower mold position adjustment stage 4 to flexibly change its position for performing micro-displacement adjustment.

[0027] Please see the appendix Figure 4 and attached Figure 7 In a preferred embodiment of the present invention, the micro-displacement drive module further includes a high-voltage precision drive power supply unit for receiving drive commands and providing a precise drive voltage for the high-precision piezoelectric actuator 2.

[0028] Please see the appendix Figure 4 and attached Figure 7 In a preferred embodiment of the present invention, a mechanical locking module is also included. This module is connected to a computer for communication. After the lifting drive cylinder 6 drives the upper mold body 8 and the lower mold body 5 to close, the computer issues an instruction to the mechanical locking module to receive a locking instruction and lock and fix the upper mold body 8 and the lower mold body 5 after the concentricity deviation is less than a preset threshold.

[0029] Please see the appendix Figure 4 and attached Figure 7In a preferred embodiment of the present invention, the mechanical locking module includes a pneumatic actuator and a precision locking unit. After receiving an instruction, the mechanical locking module activates the pneumatic actuator, wherein the pneumatic actuator drives the precision locking unit to lock and fix the upper mold body 8 and the lower mold body 5.

[0030] Please see the appendix Figure 2 Appendix Figure 3 Appendix Figure 4 and attached Figure 7 In a preferred embodiment of the present invention, the precision locking unit includes an automatic centering locking pin 11 and a tapered locking fitting hole 12. The automatic centering locking pin 11 and the tapered locking fitting hole 12 are respectively arranged facing each other on the sides of the upper mold body 8 and the lower mold body 5. The pneumatic actuator drives the automatic centering locking pin 11 to lock the tapered locking fitting hole 12, thereby fixing the upper mold body 8 and the lower mold body 5 and providing a self-centering function during the locking process.

[0031] Working principle: During calibration, non-contact pose probe one and non-contact pose probe two work together to collect the specific relative pose data of the upper and lower mold bodies in real time, and transmit it to the computer. The computer calculates the concentricity deviation based on the relative pose data, and then calculates the compensation displacement required to achieve micro-displacement adjustment based on the concentricity deviation. Subsequently, the computer sends the compensation displacement to the micro-displacement drive module in the form of a drive command. Upon receiving the drive command, the micro-displacement drive module controls the high-precision piezoelectric actuator to adjust the angle of the lower mold body, correct the posture, and achieve the function of concentricity calibration.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mold pose self-compensation calibration system, comprising a support platform (1), characterized in that, A lifting drive cylinder (6) is installed on the top of the support platform (1). The output end of the lifting drive cylinder (6) passes through the support platform (1) and is fixedly connected to the upper mold fixing seat (7). The bottom of the upper mold fixing seat (7) is fixedly connected to the upper mold body (8). A micro-displacement drive module is provided on the platform surface of the support platform (1). A lower mold posture adjustment stage (4) is provided on the top of the micro-displacement drive module. A lower mold body (5) is fixedly connected to the top of the lower mold posture adjustment stage (4). A state sensing module is installed in the middle of the upper mold body (8) and the lower mold body (5). The micro-displacement drive module and the state sensing module are connected by computer communication. The state sensing module is used to monitor the relative posture data between the upper mold body (8) and the lower mold body (5). The computer is used to receive the relative posture data and calculate the concentricity deviation to generate a command to compensate for the concentricity deviation. The micro-displacement drive module is used to receive the command and drive the micro-displacement drive module to adjust the angle of the lower mold posture adjustment stage (4) according to the command.

2. The mold pose self-compensation calibration system according to claim 1, characterized in that, The state perception module includes three sets of non-contact pose probe one (9) and non-contact pose probe two (10). The non-contact pose probe one (9) and the non-contact pose probe two (10) are respectively installed in the middle of the lower mold pose adjustment platform (4) and the upper mold fixing seat (7). The non-contact pose probe one (9) and the non-contact pose probe two (10) are arranged facing each other and are used to measure and output the axial distance data between the upper mold body (8) and the lower mold body (5). The axial distance data constitutes the relative pose data.

3. The mold pose self-compensation calibration system according to claim 2, characterized in that, The state perception module also includes a signal conditioning and conversion unit, which is used to filter, amplify and perform analog-to-digital conversion on the axial distance data.

4. The mold pose self-compensation calibration system according to claim 1, characterized in that, The computer includes a deviation calculation unit, which is used to calculate the axial deviation, pitch angle deviation and yaw angle deviation of the lower mold body (5) relative to the upper mold body (8) based on the relative pose data, so as to jointly constitute the concentricity deviation amount. The deviations in axial, pitch, and yaw angles are calculated using the following formulas: Using formula ; ; The axial deviation, pitch angle deviation, and yaw angle difference, which respectively characterize the offset of the lower mold body (5) in the axial, pitch, and yaw directions, are calculated and together constitute the concentricity deviation. In the formula: The yaw angle deviation is the rotation angle of the central axis of the lower mold body (5) relative to the central axis of the upper mold body (8) around a preset first coordinate axis. The pitch angle deviation is the rotation angle of the central axis of the lower mold body (5) relative to the central axis of the upper mold body (8) around a preset second coordinate axis. The axial deviation is characterized by the translational distance of the center of the lower mold body (5) in the direction of the central axis of the upper mold body (8); , , The axial distances between the surface of the lower mold body (5) and the surface of the upper mold body (8) are measured by the three sets of non-contact pose probes one (9) and two (10), respectively. The distribution radius of the centers of the three sets of non-contact pose probes (9) and non-contact pose probes (10) is on a plane perpendicular to the central axis of the upper mold body (8).

5. The mold pose self-compensation calibration system according to claim 4, characterized in that, The computer also includes a compensation strategy and instruction generation unit, which is used to calculate the compensation displacement required to achieve the micro-displacement adjustment based on the axial deviation, pitch angle deviation and yaw angle deviation through an inverse kinematics model as a drive instruction. The compensation displacement is calculated using the following formula: Using formula The compensation displacement is calculated. In the formula: The driving vector is represented by its components, which are the compensation displacement values ​​that each micro-displacement driving unit needs to execute to compensate for the concentricity deviation. The inverse Jacobian matrix of the system represents the quantitative mapping relationship between the concentricity deviation and the compensation displacement values ​​of each drive unit. The target instruction vector has a magnitude equal to and opposite in direction to the currently calculated concentricity deviation, and is used to guide the compensation process.

6. The mold pose self-compensation calibration system according to claim 1, characterized in that, The micro-displacement drive module includes six sets of high-precision piezoelectric actuators (2) evenly distributed along the circumference of the bearing platform (1). The drive end of the high-precision piezoelectric actuator (2) is fixedly connected to a ball joint support (3). The ball joint support (3) is located at the bottom of the lower mold posture adjustment stage (4) and is used to perform the micro-displacement adjustment.

7. The mold pose self-compensation calibration system according to claim 6, characterized in that, The micro-displacement drive module also includes a high-voltage precision drive power supply unit, which is used to receive the drive command and provide a precise drive voltage for the high-precision piezoelectric actuator (2).

8. The mold pose self-compensation calibration system according to claim 1, characterized in that, It also includes a mechanical locking module, which is connected to the computer for receiving a locking command and locking the upper mold body (8) and the lower mold body (5) after the concentricity deviation is less than a preset threshold.

9. A mold pose self-compensation calibration system according to claim 8, characterized in that, The mechanical locking module includes a pneumatic actuator and a precision locking unit, wherein the pneumatic actuator drives the precision locking unit to lock and fix the upper mold body (8) and the lower mold body (5).

10. A mold pose self-compensation calibration system according to claim 9, characterized in that, The precision locking unit includes an automatic centering locking pin (11) and a tapered locking fitting hole (12). The automatic centering locking pin (11) and the tapered locking fitting hole (12) are respectively arranged facing each other on the sides of the upper mold body (8) and the lower mold body (5) to provide a self-centering function during the locking process.

Images