A vertical positioning device and method for large weak stiffness complex cylindrical parts

Abstract

The present application relates to the technical field of cylinder processing, in particular to a vertical positioning device and method for large weak-rigidity complex cylinder, the vertical positioning device comprises a machine base, a rotating platform, radial movement mechanisms, vertical movement mechanisms and a support mechanism, the rotating platform is installed on the machine base and rotates around the central axis, a plurality of radial movement mechanisms are respectively slidably installed in corresponding grooves extending in the radial direction of the rotating platform, the vertical movement mechanisms are installed in the columns of the radial movement mechanisms and move along the length direction of the columns, and the support mechanism is installed at the top end of the vertical movement mechanisms and supports the predetermined position of the inner wall / outer wall of the cylinder under the driving of the radial movement mechanisms and the vertical movement mechanisms to realize the positioning of the cylinder. The purpose of the vertical positioning device and method for large weak-rigidity complex cylinder is to solve the problems of low positioning accuracy and low processing efficiency of large weak-rigidity complex cylinder.

Description

Technical Field

[0001] This invention relates to the field of cylindrical component processing technology, specifically to a vertical positioning device and method for large, weak-rigidity complex cylindrical components. Background Technology

[0002] Cylindrical components are widely used in aerospace, aviation, and chemical industries. These components typically feature large dimensions and complex, varied shapes. To reduce weight and increase volume, thin-walled structures are often employed, resulting in relatively low stiffness. Precise positioning and stable clamping are required during machining and assembly. Existing positioning methods suffer from limited applicability, significant workpiece deformation under stress, and inaccurate positioning, making it difficult to meet the precise positioning needs of large, weakly stiff, complex cylindrical components of various shapes and sizes. Commonly used horizontal positioning methods also fail to meet the machining requirements of large-sized cylindrical components.

[0003] Traditionally, large, weakly stiff, complex cylindrical parts are typically clamped using fixed, rigid fixtures. The clamping area of ​​the fixture is machined according to the theoretical shape of the cylindrical part. The fixture is only suitable for cylindrical parts with that theoretical shape, and each type of cylindrical part requires a specific fixture. The production of these various fixtures consumes significant time, space, and capital. In production practice, due to various error factors, the shape of cylindrical parts often differs from the theoretical shape, sometimes significantly. In such cases, the following three methods are typically adopted: (1) Add shims to the clamping part of the fixture to increase the contact area between the shims and the cylindrical part, ensuring stable clamping. This method can achieve stable clamping, but because shims are added to the clamping part, the size and shape of the clamping part are changed, and this change is difficult to control precisely. Changing the size and shape of the clamping part is equivalent to changing the positioning datum of the cylindrical part, and the changed positioning datum is unknown, so accurate positioning is not possible.

[0004] (2) Without making any changes, the cylindrical part is deformed to the original clamping state by applying external force, i.e., "forced positioning". If this causes the cylindrical part to deform, a large stress will be generated inside. Once the clamping is released, the cylindrical part will return to its original shape, causing the part processed under the forced deformation clamping state to change position after the positioning is released, which seriously affects the processing accuracy. Once plastic deformation occurs due to forced positioning, the cylindrical part will also be damaged.

[0005] (3) Measuring cylindrical parts with measuring instruments can determine their actual dimensions, and new fixtures can be manufactured based on the measurement data. This method can ensure positioning accuracy, but it is time-consuming and costly because it adds a measurement step and requires remanufacturing the fixture.

[0006] Due to the aforementioned drawbacks of rigid tooling, many researchers have proposed the concept of flexible tooling. The size and position of the fixture can be adjusted, allowing for the positioning of products of different sizes and specifications. Flexible positioning solutions for large, irregularly shaped rigid parts already exist. For low-stiffness cylindrical parts, not only the problem of flexible positioning needs to be solved, but also the problem of easy deformation under stress. Once deformed under stress, even if the flexible tooling fixture is precisely adjusted, stable and accurate positioning cannot be achieved. Therefore, positioning equipment for large, low-stiffness complex cylindrical parts must not only have the function of accurately adjusting the position and shape of the fixture, but also improve the stress condition of the low-stiffness cylindrical parts to reduce deformation, and accurately control the state of the cylindrical parts after deformation. Therefore, a positioning method and equipment solution that can achieve flexible positioning and clamping, reduce deformation, and accurately control the state after deformation is needed. Furthermore, considering that horizontal positioning of large cylindrical parts requires a large vertical stroke of the processing equipment, while the vertical stroke of typical processing equipment is usually not large enough to meet processing requirements, a vertical positioning method for cylindrical parts needs to be adopted based on the stroke characteristics of the processing equipment.

[0007] Therefore, the inventors have provided a vertical positioning device and method for large, weakly stiff, complex cylindrical components. Summary of the Invention

[0008] (1) Technical problems to be solved This invention provides a vertical positioning device and method for large, weakly stiff, complex cylindrical components, solving the technical problems of low positioning accuracy and low processing efficiency for such components.

[0009] (2) Technical solution This invention provides a vertical positioning device for a large, weakly stiff, complex cylindrical component, comprising a base, a rotating platform, a radial motion mechanism, a vertical motion mechanism, and a support mechanism. The rotating platform is mounted on the base and rotates around its central axis. Multiple radial motion mechanisms are slidably mounted in corresponding radially extending grooves on the rotating platform. The vertical motion mechanism is mounted within the column of the radial motion mechanism and moves along its length. The support mechanism is mounted at the top of the vertical motion mechanism and, driven by the radial and vertical motion mechanisms, supports the inner / outer wall of the cylindrical component at a predetermined position to achieve positioning of the cylindrical component.

[0010] Furthermore, the machine base includes a frame, a turntable support, a turntable, an annular guide rail, a rotary joint, a measuring mechanism column, a measuring mechanism support, a one-dimensional motion mechanism, a sensor, and a tool setting block; wherein, The turntable support is mounted on the frame, the turntable is mounted on the turntable support and its central axis is located at the center of the frame, the annular guide rail is mounted circumferentially on the upper surface of the frame, the rotating platform is rotatably mounted on the annular guide rail, the rotary joint is mounted at the center of the frame and provides compressed air to the rotating component using compressed air through its internal rotatable channel, the measuring mechanism column is mounted on the outer wall of the frame and extends and retracts in the vertical direction, the measuring mechanism support is mounted on the top of the measuring mechanism column, the one-dimensional motion mechanism is mounted on the measuring mechanism support and moves radially along the turntable support, the sensor is mounted on the one-dimensional motion mechanism and is used to measure the cylindrical part placed on the rotating platform, and a plurality of tool setting blocks are sequentially spaced on the outer wall of the frame and are used to trigger with the machining tool of the machining equipment to determine the position of the machine base relative to the machining equipment.

[0011] Furthermore, the base also includes a lifting ring, an interface, and an emergency stop switch, all of which are mounted on the outer wall of the frame.

[0012] Furthermore, the rotating platform includes a turntable, a radial motion base, a radial motion guide rail, a frame, a calibration block, and rollers; wherein, The turntable is mounted on the turntable and rotates synchronously with it. A plurality of radial motion bases are arranged in a circumferential array on the turntable. The radial motion guide rail is mounted on the side of the radial motion base. The frame surrounds the outer periphery of the turntable and is used to limit the end of each radial motion base away from the center of the turntable. The calibration block is mounted on the outer wall of the frame and is used to cooperate with the sensor to obtain the rotational angle error of the rotating platform. The roller is located at the bottom of the radial motion base and is slidably mounted on the annular guide rail.

[0013] Furthermore, the rotating platform also includes a base cover plate and a roller mounting plate. The radial motion base has a hollow structure, and the base cover plate covers the opening of the radial motion base. The roller mounting plate is installed on the bottom end face of the radial motion base, and four rollers are rotatably mounted on the roller mounting plate. Every two rollers distributed along the same radial direction form a group, and the two rollers respectively clamp the inner and outer positioning surfaces of the annular guide rail.

[0014] Furthermore, the radial motion mechanism includes a motor, a drive-end bearing, a lead screw, a column connecting block, a column housing, a slider, and a support-end bearing; wherein, The motor is mounted on the radial motion base and is used to drive the lead screw, which is installed in the bearing inner hole of the drive end bearing, to rotate. The lead screw is threadedly connected to the column connecting block and is used to convert the rotational motion into the horizontal movement of the column connecting block. The column connecting block is connected to the column housing and is used to drive the column housing to move horizontally. Two parallel sliders that cooperate with the radial motion guide rail are installed on both sides of the column housing facing the radial motion base to make the column housing move radially. The support end bearing is mounted on the radial motion base, and the two ends of the lead screw are respectively installed in the bearing inner hole of the drive end bearing and the bearing inner hole of the support end bearing.

[0015] Furthermore, the vertical motion mechanism includes an electric cylinder, a column inner housing, an electric cylinder connector, and a force sensor. The output end of the electric cylinder is installed inside the column inner housing and connected to the electric cylinder connector. The electric cylinder connector is installed inside the column inner housing and moves vertically synchronously with the column inner housing inside the column outer housing. The force sensor is installed at the top of the column inner housing and is used to measure the weight of the support mechanism.

[0016] Furthermore, the vertical motion mechanism also includes an electric cylinder connector pin, and the output end of the electric cylinder is connected to the electric cylinder connector through the electric cylinder connector pin.

[0017] Furthermore, the support mechanism includes a support mechanism base, cylinders, air pipe connectors, and a vacuum suction cup. The support mechanism base is mounted on the top of the force sensor. Multiple cylinders pass through the support mechanism base and extend and retract axially. The air pipe connector is mounted on the side of the cylinder and connected to the air pipe of the vacuum generator. The vacuum suction cup is mounted on the end of the cylinder to adsorb the cylindrical component.

[0018] This invention also provides a vertical positioning method for large, weakly stiff, complex cylindrical components, comprising the following steps: The base is fixedly installed on the worktable of the processing equipment, and the relative position between the base and the processing equipment is determined. The position of each support mechanism is adjusted to collectively support the cylindrical component to determine the position and orientation of the cylindrical component; Based on the relative position between the machine base and the processing equipment, the relative position between the processing equipment and the cylindrical part is determined; The rotary platform is rotated to move the processing area of ​​the cylindrical part to the pre-planned processing position of the processing equipment.

[0019] (3) Beneficial effects In summary, this invention, by employing a vertical positioning method and allowing rotation around a vertical axis, facilitates machining and enables the processing of large cylindrical parts even with a small vertical stroke. This improves the performance of vertical positioning equipment for large, weakly stiff, complex cylindrical parts, and solves the problems of poor positioning accuracy, limited applicability, and inconvenience in machining large, weakly stiff, complex cylindrical parts (especially large, weakly stiff, hollow conical cylindrical parts). It meets the precise positioning requirements of large, weakly stiff, complex cylindrical parts and improves positioning and machining accuracy. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the 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.

[0021] Figure 1 This is a schematic diagram of a vertical positioning device for a large, weakly stiff, complex cylindrical component and the cylindrical component provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the assembly structure between a vertical positioning device for a large, weakly stiff, complex cylindrical component and the outer wall of the cylindrical component, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the assembly structure of a vertical positioning device for a large, weakly stiff, complex cylindrical component with the inner wall of the cylindrical component, according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the motion degrees of freedom of a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the base in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 6 This is a first-view structural schematic diagram of the rotating platform in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 7 This is a second-view structural schematic diagram of the rotating platform in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the structure of the calibration block of the rotating platform in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 9 This is a schematic diagram of the radial motion mechanism in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 10This is a schematic diagram of the vertical motion mechanism in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 11 This is a first-view structural schematic diagram of the support mechanism in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 12 This is a second-view structural schematic diagram of the support mechanism in a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 13 This is a flowchart illustrating a vertical positioning method for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention. Figure 14 This is a diagram showing the relative positional relationship between the base and processing equipment of a vertical positioning device for a large, weakly stiff, complex cylindrical component, provided in an embodiment of the present invention. Figure 15 This is a schematic diagram of the coordinate system establishment of a vertical positioning device for a large, weakly stiff, complex cylindrical component provided in an embodiment of the present invention.

[0022] In the picture: 1-Base; 101-Frame; 102-Turntable Support; 103-Turntable; 104-Circular Guide Rail; 105-Rotary Joint; 106-Measuring Mechanism Column; 107-Measuring Mechanism Support; 108-One-Dimensional Motion Mechanism; 109-Sensor; 110-Tool Setting Block; 111-Lifting Ring; 112-Interface; 113-Emergency Stop Switch; 2-Rotating Platform; 201-Turntable; 202-Radial Motion Base; 203-Radial Motion Guide Rail; 204-Enclosure; 205-Calibration Block; 206-Roller; 207-Base Cover Plate; 208-Roller Mounting Plate; 3 - Radial motion mechanism; 301 Motor; 302 Drive end bearing; 303 Lead screw; 304 Column connecting block; 305 Column housing; 306 Slider; 307 Support end bearing; 308 Reducer mounting base; 4 Vertical motion mechanism; 401 Electric cylinder; 402 Column inner housing; 403 Electric cylinder connector; 404 Force sensor; 405 Electric cylinder connector pin; 5 Support mechanism; 501 Support mechanism base; 502 Cylinder; 503 Air pipe connector; 504 Vacuum suction cup; 6 Processing equipment; 100 Cylindrical part. Detailed Implementation

[0023] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention. That is, the present invention is not limited to the described embodiments, and any modifications, substitutions and improvements to the parts, components and connection methods are covered without departing from the spirit of the present invention.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] A first aspect of this invention provides a vertical positioning device for large, weakly stiff, complex cylindrical components, see [link to relevant documentation]. Figures 1-3 The device may include a base 1, a rotating platform 2, a radial motion mechanism 3, a vertical motion mechanism 4, and a support mechanism 5. The rotating platform 2 is mounted on the base 1 and rotates around its central axis. Multiple radial motion mechanisms 3 are slidably mounted in corresponding grooves extending radially in the rotating platform 2. The vertical motion mechanism 4 is mounted in the column of the radial motion mechanism 3 and moves along its length. The support mechanism 5 is mounted on the top of the vertical motion mechanism 4 and supports the inner / outer wall of the cylindrical component 100 at a predetermined position under the drive of the radial motion mechanism 3 and the vertical motion mechanism 4 to achieve the positioning of the cylindrical component 100.

[0028] In the above embodiment, the support mechanism 5 is installed at the top of the vertical motion mechanism 4, and is supported on the inner wall of the cylindrical member 100 as the radial motion mechanism 3 and the vertical motion mechanism 4 move. Figure 1 ) or outer wall ( Figure 3At a predetermined position on the rotary platform 2, multiple sets of support mechanisms 5 jointly support the cylindrical component 100, thereby achieving the positioning of the cylindrical component 100. Since the rotary platform 2 has the function of rotating around its own axis, after the multiple sets of support mechanisms 5 position the cylindrical component 100, the rotary platform 2 can drive the cylindrical component 100 to rotate. The processing equipment 6 has three-dimensional movement capability, moving to a processing position close to the cylindrical component 100. The processing tool of the processing equipment 6 has two-dimensional rotation capability, adjusting the posture of the processing tool, thereby enabling the processing of the cylindrical component 100 in various positions and postures.

[0029] like Figure 4 As shown, the vertical positioning and processing equipment for large, weakly stiff, complex cylindrical parts in this embodiment includes the following degrees of freedom: the radial motion unit 3 has a radial motion degree of freedom Rf, and the vertical motion mechanism 4 has a vertical motion degree of freedom Zf. These two mutually perpendicular degrees of freedom enable the support mechanism 5 mounted on the top of the vertical motion mechanism 4 to have a two-dimensional position adjustment capability, allowing it to reach any position (within the stroke range) in the plane formed by the radial and vertical directions. The rotating platform 2 has a rotational degree of freedom Cf around its own axis. After multiple sets of support mechanisms 5 position the cylindrical part 100, the rotating platform 2 drives the cylindrical part 100 to rotate, transporting the position of the cylindrical part 100 to be processed to the processing area of ​​the processing equipment 6. The processing equipment 6 has three-dimensional translational degrees of freedom Xt, Yt, and Zt, and the processing tool has two-dimensional rotational degrees of freedom At and Bt. The processing equipment 6 has five-axis processing capability, and can process the cylindrical part 100 at any position and posture within the stroke range, meeting the processing requirements of the cylindrical part 100. The measuring tool mounted on the base 1 has vertical degrees of freedom Zm and horizontal degrees of freedom Ym, allowing it to reach any position (within its travel range) within the plane formed by Zm and Ym, thus expanding the measurement range. When the rotary platform 2 rotates a certain angle, the measuring tool on the base 1 measures the actual position reached by the rotary platform 2, guiding the machining of the cylindrical part 100 to adjust machining parameters according to the actual position reached by the rotary platform 2, ensuring the accuracy of the machining parameters. After the machining equipment 6 has processed the cylindrical part 100, the rotary platform 2 rotates a certain angle, bringing the machined area of ​​the cylindrical part 100 within the measurement range of the measuring tool on the base 1. The measuring tool on the base 1 then checks the machining quality of the cylindrical part 100, providing guidance for subsequent machining.

[0030] As an optional implementation method, such as Figure 5As shown, the base 1 includes a frame 101, a turntable support 102, a turntable 103, an annular guide rail 104, a rotary joint 105, a measuring mechanism column 106, a measuring mechanism support 107, a one-dimensional motion mechanism 108, a sensor 109, and a tool setting block 110. The turntable support 102 is mounted on the frame 101. The turntable 103 is mounted on the turntable support 102 with its central axis (rotation axis) located at the center of the frame 101. The annular guide rail 104 is mounted circumferentially on the upper surface of the frame 101. The rotating platform 2 is rotatably mounted on the annular guide rail 104. The rotary joint 105 is installed at the center of the frame 101 and can be connected through its interior. The rotating channel provides compressed air to the rotating components that use compressed air. The measuring mechanism column 106 is mounted on the outer wall of the frame 101 and extends vertically. The measuring mechanism support 107 is mounted on the top of the measuring mechanism column 106. The one-dimensional motion mechanism 108 is mounted on the measuring mechanism support 107 and moves radially along the turntable bracket 102. The sensor 109 is mounted on the one-dimensional motion mechanism 108 and is used to measure the cylindrical component 100 placed on the rotating platform 2. Multiple tool setting blocks 110 are sequentially spaced on the outer wall of the frame 101 and are used to trigger the machining tools of the machining equipment 6 to determine the position of the machine base 1 relative to the machining equipment 6. Furthermore, the machine base 1 also includes a lifting ring 111, an interface 112, and an emergency stop switch 113, all of which are mounted on the outer wall of the frame 101.

[0031] In the above embodiments, the rotary joint 105 can avoid problems such as bending and entanglement of the air pipe due to rotation. The movement direction of the one-dimensional motion mechanism 108 is directed towards the output shaft of the turntable 103 (the output end of the turntable 103 is the platform that directly drives the turntable 201 to rotate; in this application, the output end of the turntable 103 has a flange that can connect to the turntable 201). The sensor 109 is used to measure the geometric features on the rotating platform 2, thereby determining the actual rotation angle of the rotating platform. It can also be used for process inspection of the cylindrical part 100, to evaluate the processing quality, to provide guidance for subsequent processing parameters, and to serve as a quality inspection tool after the cylindrical part 100 is processed. The vertical movement of the measuring mechanism column 106 and the radial movement of the one-dimensional motion mechanism 108 extend the measurement range of the sensor 109 in two mutually perpendicular directions, thus making it suitable for a wider range of measurements. Several evenly distributed lifting rings 111 are installed on the outer wall of the frame 101 for lifting the base 1 and the components installed on the lifting base 1, improving the stress condition of the frame 101. Specifically, three tool setting blocks 110 can be installed on the outer wall of the frame 101 at 90° intervals. When the machining tool of the machining equipment 6 triggers the tool setting blocks 110, the position of the computer base 1 relative to the machining equipment 7 can be determined. An interface 112 is installed on the outer wall of the frame 101 and is used to provide interfaces for power cables, signal cables, network cables, compressed air, etc. Several emergency stop switches 113 are installed on the outer wall of the frame 101 to stop the system in emergency situations, ensuring safety. By setting multiple tool setting blocks 110 on the vertical positioning device, the relative positional relationship between the vertical positioning device and the machining equipment 6 can be quickly and accurately determined by the tool contacting multiple tool setting blocks 110. There is no need to configure zero-point positioners or other positioning devices. The placement of the vertical positioning device is no longer restricted, allowing for flexible arrangement and facilitating the configuration of reasonable machining process parameters.

[0032] As an optional implementation method, such as Figure 6 , 7As shown, the rotating platform 2 includes a turntable 201, a radial motion base 202, a radial motion guide rail 203, a frame 204, a calibration block 205, and rollers 206. The turntable 201 is mounted on the turntable 103 and rotates synchronously with the turntable 103. Multiple radial motion bases 202 are arranged in a circumferential array on the turntable 201. The radial motion guide rail 203 is mounted on the side of the radial motion base 202. The frame 204 surrounds the outer periphery of the turntable 201 and is used to limit the end of each radial motion base 202 away from the center of the turntable 201. The calibration block 205 is mounted on the outer wall of the frame 204 and is used to cooperate with the sensor 109 to obtain the rotational angle error of the rotating platform 2. The rollers 206 are located at the bottom of the radial motion base 202 and are slidably mounted on the annular guide rail 104. Furthermore, the rotating platform 2 also includes a base cover plate 207 and a roller mounting plate 208. The radial motion base 202 has a hollow structure, and the base cover plate 207 covers the opening of the radial motion base 202. The roller mounting plate 208 is installed on the bottom end face of the radial motion base 202, and four rollers 206 are rolled on the roller mounting plate 208. Every two rollers 208 distributed along the same radial direction form a group, and the two rollers 208 respectively clamp the inner and outer positioning surfaces of the annular guide rail 104.

[0033] In the above embodiment, the turntable 201 is mounted on the output end of the turntable 103. The turntable 103 rotates, causing the turntable 201 to rotate around the central axis of the output end of the turntable 103, thereby causing all components mounted on the turntable 201 to rotate. Several radial motion bases 202 are mounted circumferentially on the turntable 201, with the sides of adjacent radial motion bases 202 parallel. To reduce weight, the radial motion bases 202 are hollow, and the openings are sealed with base cover plates 207 to prevent foreign objects from entering the interior of the radial motion bases 202. On each of the two sides of the radial motion base 202, two radial motion guide rails 203 are mounted parallel to the connection face between the radial motion base 202 and the turntable 201. The four guide rails mounted on adjacent sides of two adjacent radial motion bases 202 are all parallel. The rotating platform frame 204 connects the outer sides of all the radial motion bases 202 to enhance the overall rigidity of the structure. An annular calibration block 205 is installed on the outer wall of the frame 204, with its axial end face horizontal. Several roller mounting plates 208 are installed on the lower surface of each radial motion base 202, distributed along the circumferential direction. Four rollers 206 are installed on each roller mounting plate, with every two rollers 206 distributed along the same radial direction forming a group. The center lines of the two rollers 206 are in the same plane as the central axis of the output end of the turntable 103. The two rollers 206 respectively clamp the inner and outer positioning sides of the annular guide rail 104. Several groups of rollers 28 together determine the fit relationship between the radial motion base 22 and the annular guide rail 104, which not only ensures the radial position accuracy of each radial motion base 202 with rollers 206 installed, but also balances the load borne by the annular guide rail 104 and improves the stress condition of the annular guide rail 104.

[0034] like Figure 8 As shown, multiple helical grooves are cut on the outer surface of calibration block 205. When sensor 109 measures the helical grooves on the outer surface of calibration block 205 (for example, when measuring with a laser profile sensor), a line laser beam is emitted towards the outer surface of calibration block 205. Figure 11 The vertical lines shown represent the projection positions of the line laser, and information Δi (i=1, 2, 3, 4...) of multiple geometric feature points can be obtained, for example... Figure 11 The distances △1, △2, and △3 from the intersection point of the line laser with each spiral groove to the end face can be obtained. Assuming the rotating platform 2 rotates at a certain angle, the theoretical distance from the intersection point of the line laser with a certain spiral groove to the end face should be △it, and the measured distance is △i. Therefore, the deviation caused by the rotation error of the rotating platform 2 is △i - △it. Given that the lift of the spiral groove is p, meaning the spiral groove rises p per revolution, the angular error of the rotating platform 2 can be calculated as 360° × (△i - △it) / p. Once the angular error is known, measures can be taken to compensate for the rotation error of the rotating platform 2 or adjust the machining process parameters, thereby achieving the goal of completing high-precision machining using a low-precision rotary table 103.

[0035] As an optional implementation method, such as Figure 9 As shown, the radial motion mechanism 3 includes a motor 301, a drive-end bearing 302, a lead screw 303, a column connecting block 304, a column housing 305, a slider 306, and a support-end bearing 307. The motor 301 is mounted on the radial motion base 202 and is used to drive the lead screw 303, which is mounted in the bearing inner hole of the drive-end bearing 302, to rotate. The lead screw 303 is threadedly connected to the column connecting block 304 and is used to convert the rotational motion into the horizontal movement of the column connecting block 304. The column connecting block 304 is connected to the column housing 305 and is used to drive the column housing 305 to move horizontally. Two parallel sliders 306 that cooperate with the radial motion guide rail 203 are mounted on both sides of the column housing 305 facing the radial motion base 202 to make the column housing 305 move radially. The support-end bearing 307 is mounted on the radial motion base 202. The two ends of the lead screw 303 are respectively mounted in the bearing inner hole of the drive-end bearing 302 and the bearing inner hole of the support-end bearing 307.

[0036] In the above embodiment, the radial motion mechanism 3 also includes a reducer mounting base 308, which is mounted on the radial motion base 202. The motor 301 and the reducer (not shown in the figure) are both mounted on the reducer mounting base 308, and the output end of the motor 301 is connected to the reducer. The drive end bearing 302 and the support end bearing 307 ensure that the lead screw 303 is in a good load-bearing state and has good motion accuracy.

[0037] As an optional implementation method, such as Figure 10 As shown, the vertical motion mechanism 4 includes an electric cylinder 401, an inner column housing 402, an electric cylinder connector 403, and a force sensor 404. The output end of the electric cylinder 401 is installed inside the inner column housing 402 and connected to the electric cylinder connector 403. The electric cylinder connector 403 is installed inside the inner column housing 402 and moves vertically synchronously with the inner column housing 402 within the outer column housing 305. The force sensor 404 is installed at the top of the inner column housing 402 and is used to measure the weight of the support mechanism 5. Further, see... Figure 10 The vertical motion mechanism 4 also includes an electric cylinder connector pin 405, and the output end of the electric cylinder 401 is connected to the electric cylinder connector 403 through the electric cylinder connector pin 405.

[0038] As an optional implementation method, such as Figure 11 , 12As shown, the support mechanism 5 includes a support mechanism base 501, a cylinder 502, an air pipe connector 503, and a vacuum suction cup 504. The support mechanism base 501 is mounted on the top of the force sensor 404. Multiple cylinders 502 pass through the support mechanism base 501 and extend and retract along the axial direction. The air pipe connector 503 is mounted on the side of the cylinder 502 and connected to the air pipe of the vacuum generator. The vacuum suction cup 504 is mounted on the end of the cylinder 502 to adsorb the cylindrical part 100.

[0039] In the above embodiment, a vacuum suction cup 504 is selected as the adsorption clamp. A positioning reference block is set at the end of the cylinder 502 and inside the vacuum suction cup 504 as a positioning reference, which can achieve both stable adsorption clamping and accurate positioning. The flexible support of the vacuum suction cup 504 reduces the contact force, increases the contact area, improves the stress state of the positioning part, and controls the stress deformation of the cylindrical part 100.

[0040] The cylindrical component's surface is clamped using a highly adaptable vacuum adsorption method. A positioning reference is added within the vacuum chuck, achieving both stable clamping and precise positioning. Considering the susceptibility of the weakly stiff cylindrical component to deformation under stress, flexible support columns (a combination of cylinder 502 and vacuum chuck 504) are arranged in an array. Compressed air drives the push rod to extend or retract; when the contact force is low, the push rod stops extending or retracting and locks, ensuring the cylindrical component experiences minimal contact force. This reduced distributed contact force improves the stress state of the weakly stiff cylindrical component, lowering clamping force and deformation while maintaining precise positioning. Considering that the positioning of large, weakly stiff, complex cylindrical components facilitates subsequent processing, a vertical positioning scheme is adopted. A turntable is added to enable vertical rotation of the cylindrical component, facilitating its integration with processing equipment.

[0041] A second aspect of this invention provides a vertical positioning method for large, weakly stiff, complex cylindrical components, see [link to relevant documentation]. Figure 13 The method may include the following steps: S100. Fix the base 1 on the worktable of the processing equipment 6 and determine the relative position between the base 1 and the processing equipment 6.

[0042] Specifically, such as Figure 14As shown, the process of determining the relative positional relationship between the machine base 1 and the machining equipment 6 is as follows: Three reference blocks (tool setting blocks 110) are installed on the outer side of the machine base 1. The triggering planes of two tool setting blocks spaced 180° apart are located in the same vertical plane, and the third tool setting block is spaced 90° apart from each of the two tool setting blocks. When the machining tool of the machining equipment 6 contacts the triggering plane of each tool setting block, the coordinate values ​​of the end of the machining tool are recorded, thereby obtaining the coordinate values ​​of points A, B, and C as A(x1,y1,z1), B(x2,y2,z2), and C(x3,y3,z3), respectively. The straight line AB formed by connecting points A and B is used as the X-axis. ft Axis; draw the X-axis through point C. ft The perpendicular line to the axis, and the X ft The intersection of the axes is the origin O. ft This perpendicular line is used as Y ft Axis; according to the right-hand rule, through X ft Y-axis ft Axis and determining Z ft Axis. Since the coordinate values ​​of the cutting tool tip are coordinate values ​​within the coordinate system of the machining equipment 6, a coordinate system O for the machine base 1, expressed using coordinate values ​​within the coordinate system of the machining equipment 6, is established. ft- X ft Y ft Z ft This determines the relative positional relationship between the machine base 1 and the processing equipment 6.

[0043] The straight line AB formed by connecting points A and B is taken as X. ft axis, then X ft Unit vector of the axis for: (1) Using the line AB formed by points A and B as the normal vector, construct a plane passing through point C. This plane is Y. ft Axis and Z ft The plane formed by the axes has the following equation: (2) Equation (2) can be written in standard plane equation form: (3) In the formula, , , , .

[0044] Point A in Y ft Axis and Z ft The projection point in the plane formed by the axes is the origin O of the coordinate system. ft , origin O ft The coordinates are: (4) (5) (6) Connection point O ft The straight line formed by point C and point Y is... ft axis, then Y ft Unit vector of the axis for: (7) vector sum vector Cross product yields Z ft Unit vector of the axis : (8) This established the coordinate system O of base 1. ft -X ft Y ft Z ft .

[0045] like Figure 15 As shown, a coordinate system is established for the vertical positioning and machining scheme of large, weakly stiff, complex cylindrical components, facilitating a unified description of the motion of each component. A global coordinate system O is established on the ground. g -X g Y g Z g O is a fixed coordinate system that can be used to describe all other coordinate systems. A coordinate system named O is established on the machine base 1 connected to the worktable of the machining equipment 6. ft -X ft Y ft Z ft Coordinate system O ft -X ft Y ft Z ft As the worktable moves, a coordinate system O is established on the rotary platform 2. rt -X rt Y rt Z rt Coordinate system O rt -X rt Y rt Z rt Coordinate system O relative to base 1 ft -X ft Y ft Z ft Rotation. Establish coordinate system O on the i-th radial motion mechanism 3. ai -X ai Y ai Z ai Coordinate system O ai-X ai Y ai Z ai Coordinate system O relative to rotating platform 2 rt -X rt Y rt Z rt Move radially. Establish coordinate system O on the i-th vertical motion mechanism 4. vi -X vi Y vi Z vi The coordinate system O vi -X vi Y vi Z vi Coordinate system O relative to radial motion mechanism 3 ai- X ai Y ai Z ai Move vertically. Establish a machining coordinate system O on the machining tool of machining equipment 6. mt -X mt Y mt Z mt For five-axis machining equipment, the machining coordinate system O mt -X mt Y mt Z mt Relative to global coordinate system O g -X g Y g Z g It has three translational degrees of freedom and two rotational degrees of freedom. By clarifying the relationships between the various coordinate systems, the motion described in each coordinate system can be unified into a global coordinate system, facilitating motion planning and analysis.

[0046] S200, Adjust the position of each support mechanism 5 to jointly support the cylindrical component 100 to determine the position and orientation of the cylindrical component 100.

[0047] Specifically, based on the expected position and orientation of the cylindrical component 100, the positions that each set of support mechanisms 5 should reach are determined and adjusted accordingly.

[0048] S300. Based on the relative position between the machine base 1 and the processing equipment 6, determine the relative position between the processing equipment 6 and the cylindrical part 100.

[0049] Specifically, based on the position of the cylindrical component 100 relative to the support mechanism 5, the position of the support mechanism 5 relative to the vertical motion unit 4, the position of the vertical motion unit 4 relative to the radial motion unit 3, the position of the radial motion unit 3 relative to the rotary platform 2, and the position of the rotary platform 2 relative to the machine base 1, the position of the cylindrical component 100 relative to the machine base 1 can be determined. The position of the machine base 1 on the worktable of the processing equipment 6 has been determined in the previous step, so the relative positional relationship between the processing equipment 6 and the cylindrical component 100 can be calculated.

[0050] S400, by rotating the rotary platform 2, the processing area of ​​the cylindrical part 100 is moved to the processing position of the pre-planned processing equipment 6.

[0051] Specifically, after positioning is completed, the rotation angle of the rotating platform 2 is measured using the sensor 109 mounted on the base 1 to determine the actual position reached by the rotating platform 2. Based on the actual position reached by the rotating platform 2, the processing parameters of the processing equipment 6 are adjusted, and the cylindrical part 100 is processed using the processing equipment 6. Then, the sensor 109 is moved to the processing area of ​​the cylindrical part 100 to detect the state of the cylindrical part 100 after processing. Based on the measurement results, the processing quality of the cylindrical part 100 is evaluated. The processing quality of the cylindrical part 100 is evaluated to see if it meets the standard. If it does not meet the standard, the above processing process is repeated, and the detection is repeated until the processing standard is met. The cylindrical part 100 is rotated to the next processing position using the rotating platform 2, and the above steps are repeated until all processing areas of the cylindrical part 100 are processed.

[0052] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the figures. Furthermore, for the sake of brevity, detailed descriptions of known methods and techniques are omitted here.

[0053] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art without departing from the scope of the invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A vertical positioning device for a large, weakly stiff, complex cylindrical component, characterized in that, The device includes a base (1), a rotating platform (2), a radial motion mechanism (3), a vertical motion mechanism (4), and a support mechanism (5). The rotating platform (2) is mounted on the base (1) and rotates around its central axis. The radial motion mechanisms (3) are slidably mounted in the corresponding grooves extending radially on the rotating platform (2). The vertical motion mechanism (4) is mounted in the column of the radial motion mechanism (3) and moves along its length. The support mechanism (5) is mounted on the top of the vertical motion mechanism (4) and supports the inner / outer wall of the cylindrical component (100) at a predetermined position under the drive of the radial motion mechanism (3) and the vertical motion mechanism (4) to achieve the positioning of the cylindrical component (100).

2. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 1, characterized in that, The base (1) includes a frame (101), a turntable support (102), a turntable (103), an annular guide rail (104), a rotary joint (105), a measuring mechanism column (106), a measuring mechanism support (107), a one-dimensional motion mechanism (108), a sensor (109), and a tool setting block (110); wherein, The turntable support (102) is mounted on the frame (101), the turntable (103) is mounted on the turntable support (102) with its central axis located at the center of the frame (101), the annular guide rail (104) is mounted circumferentially on the upper surface of the frame (101), the rotating platform (2) is rotatably mounted on the annular guide rail (104), the rotary joint (105) is mounted at the center of the frame (101) and provides compressed air to the rotating component using compressed air through its internal rotatable channel, and the measuring mechanism column (106) is mounted on the outer wall of the frame (101) and along the vertical direction. The measuring mechanism support (107) is mounted on the top of the measuring mechanism column (106), the one-dimensional motion mechanism (108) is mounted on the measuring mechanism support (107) and moves radially along the turntable support (102), the sensor (109) is mounted on the one-dimensional motion mechanism (108) and is used to measure the cylindrical part (100) placed on the rotating platform (2), and a plurality of tool setting blocks (110) are sequentially spaced on the outer wall of the frame (101) and are used to trigger the processing tool of the processing equipment (6) to determine the position of the base (1) relative to the processing equipment (6).

3. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 2, characterized in that, The base (1) also includes a lifting ring (111), an interface (112) and an emergency stop switch (113), all of which are installed on the outer wall of the frame (101).

4. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 2, characterized in that, The rotating platform (2) includes a turntable (201), a radial motion base (202), a radial motion guide rail (203), a frame (204), a calibration block (205), and rollers (206); wherein, The turntable (201) is mounted on the turntable (103) and rotates synchronously with the turntable (103). A plurality of radial motion bases (202) are arranged in a circumferential array on the turntable (201). The radial motion guide rail (203) is mounted on the side of the radial motion base (202). The frame (204) surrounds the outer periphery of the turntable (201) and is used to limit the end of each radial motion base (202) away from the center of the turntable (201). The calibration block (205) is mounted on the outer wall of the frame (204) and is used to cooperate with the sensor (109) to obtain the rotation angle error of the rotating platform (2). The roller (206) is located at the bottom of the radial motion base (202) and is slidably mounted on the annular guide rail (104).

5. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 4, characterized in that, The rotating platform (2) also includes a base cover plate (207) and a roller mounting plate (208). The radial motion base (202) is a hollow structure. The base cover plate (207) covers the opening of the radial motion base (202). The roller mounting plate (208) is installed on the bottom surface of the radial motion base (202). Four rollers (206) are rolled on the roller mounting plate (208). Every two rollers (208) distributed along the same radial direction form a group. The two rollers (208) respectively clamp the inner and outer positioning surfaces of the annular guide rail (104).

6. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 4, characterized in that, The radial motion mechanism (3) includes a motor (301), a drive-end bearing (302), a lead screw (303), a column connecting block (304), a column housing (305), a slider (306), and a support-end bearing (307); wherein, The motor (301) is mounted on the radial motion base (202) and is used to drive the lead screw (303) mounted in the bearing inner hole of the drive end bearing (302) to rotate. The lead screw (303) is threadedly connected to the column connecting block (304) and is used to convert the rotational motion into the horizontal movement of the column connecting block (304). The column connecting block (304) is connected to the column housing (305) and is used to drive the column housing (305) to move horizontally. Two parallel sliders (306) that cooperate with the radial motion guide rail (203) are installed on the two sides of the column housing (305) facing the radial motion base (202) to make the column housing (305) move radially. The support end bearing (307) is installed on the radial motion base (202). The two ends of the lead screw (303) are respectively installed in the bearing inner hole of the drive end bearing (302) and the bearing inner hole of the support end bearing (307).

7. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 6, characterized in that, The vertical motion mechanism (4) includes an electric cylinder (401), a column inner housing (402), an electric cylinder connector (403), and a force sensor (404). The output end of the electric cylinder (401) is installed inside the column inner housing (402) and connected to the electric cylinder connector (403). The electric cylinder connector (403) is installed inside the column inner housing (402) and moves vertically synchronously with the column inner housing (402) inside the column outer housing (305). The force sensor (404) is installed at the top of the column inner housing (402) and is used to measure the weight of the support mechanism (5).

8. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 7, characterized in that, The vertical motion mechanism (4) also includes an electric cylinder connector pin (405), and the output end of the electric cylinder (401) is connected to the electric cylinder connector (403) through the electric cylinder connector pin (405).

9. The vertical positioning device for large, weakly stiff, complex cylindrical components according to claim 7, characterized in that, The support mechanism (5) includes a support mechanism base (501), a cylinder (502), an air pipe connector (503), and a vacuum suction cup (504). The support mechanism base (501) is installed on the top of the force sensor (404). A plurality of cylinders (502) are inserted through the support mechanism base (501) and move axially. The air pipe connector (503) is installed on the side of the cylinder (502) and connected to the air pipe of the vacuum generator. The vacuum suction cup (504) is installed at the end of the cylinder (502) to adsorb the cylindrical part (100).

10. A positioning method for a large, weakly stiff, complex cylindrical component using the vertical positioning device as described in claim 1, characterized in that, The method includes the following steps: The base (1) is fixedly installed on the worktable of the processing equipment (6), and the relative position between the base (1) and the processing equipment (6) is determined; Adjust the position of each support mechanism (5) to jointly support the cylindrical member (100) to determine the position and orientation of the cylindrical member (100); Based on the relative position between the machine base (1) and the processing equipment (6), the relative position between the processing equipment (6) and the cylindrical part (100) is determined; By rotating the rotating platform (2), the processing area of ​​the cylindrical part (100) is moved to the pre-planned processing position of the processing equipment (6).

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