Anti-deformation milling device for automobile sheet metal parts based on negative pressure adsorption

Abstract

The application discloses a negative pressure adsorption-based anti-deformation milling device for automobile sheet metal parts, and belongs to the field of milling devices.The device comprises a machine tool and a manipulator, the machine tool is provided with a machining table, the machine tool is internally provided with a controller and an air source, the end of the manipulator is provided with a milling executor and a compensation unit, the machining table is internally provided with a conformal support block, the conformal support block is provided with adsorption holes, the adsorption holes are internally provided with array suction cups, and the outer periphery of the conformal support block is provided with a plurality of floating adsorption assemblies.The compensation unit is arranged, a piezoelectric actuator is used to generate a reverse thrust and adjust a frequency, dynamic impact and vibration in the milling process are offset, local concave deformation of a thin-walled part is prevented, the floating adsorption assemblies are arranged, a proximity sensor and a three-way valve are used for sequential switching, the adsorption head is retracted to make room before a milling cutter arrives, is reset to adsorb immediately after the milling cutter passes, and through the joint action of a vacuum pressure relief valve, a high-resistance piston and a protective cap, scratching and impact damage in the milling process are avoided.

Description

Technical Field

[0001] This invention relates to the field of milling equipment technology, and in particular to a milling equipment for preventing deformation of automotive sheet metal parts based on negative pressure adsorption. Background Technology

[0002] The battery pack housing base plate of new energy vehicles is a large thin-walled part. During the process of milling grooves on its edges, the milling force can easily cause local concave deformation or warping deformation of the base plate, which seriously affects the bonding, heat dissipation and structural safety of the subsequent battery module. In the existing technology, mechanical clamping or negative pressure adsorption is usually used for milling of thin plate parts. Existing negative pressure adsorption is mainly for overall adsorption and fixation. When the milling cutter is milling the weld, if the adsorption force is insufficient in the area where the milling force is concentrated, the base plate will still experience local depression. If the entire area is kept under high negative pressure, the base plate may be excessively tightened and deformed by adsorption. Meanwhile, when milling the edge of the battery pack housing bottom plate, it is necessary to position the edge. The existing edge positioning method is only mechanical clamping, which uses multiple clamps to clamp the edge of the battery pack housing bottom plate. The position of the cutter head is detected by the sensor, and the controller sends a command to lift the front clamp in advance. After the cutter head passes, it resets. In this method, a large number of lifting or tilting mechanisms require additional cylinders, guide rails and rotating shafts, which increases the structural complexity and volume of the processing table and limits the reach of the multi-axis robot. To address this issue, a milling device for preventing deformation of automotive sheet metal parts based on negative pressure adsorption is proposed. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of local depressions and vibration deformation of workpieces and complex and large-volume edge clamping structures in existing milling equipment. The invention proposes a negative pressure adsorption-based anti-deformation milling device for automotive sheet metal parts.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A negative pressure adsorption-based anti-deformation milling device for automotive sheet metal parts includes a machine tool and a robot arm mounted on the outside of the machine tool. The machine tool is equipped with a processing table, and the machine tool is equipped with a controller and an air source. The end of the robot arm is equipped with a milling actuator. The processing table is equipped with a conformal support block, on which a battery pack shell to be processed is placed. The conformal support block is provided with multiple adsorption holes in a rectangular array that are connected to the air source. An array of suction cups is installed in the adsorption holes. Multiple floating adsorption components are provided on the outer periphery of the conformal support block. The milling actuator includes a rotating bracket, on which a milling cutter with a built-in force gauge is mounted, and a compensation unit is provided at the bottom of the rotating bracket; The compensation unit includes a protective shell, an electric actuator is provided inside the protective shell, an extension rod is connected to the end of the electric actuator through the protective shell, a piezoelectric actuator is provided at the end of the extension rod, and a protective cap is provided on the piezoelectric actuator; The floating adsorption assembly includes a piston cylinder and a three-way valve installed at the bottom of the processing table. A floating piston rod is provided inside the piston cylinder, and an adsorption head is provided on the floating piston rod. An edge suction cup is installed on the adsorption head. A return spring is sleeved on the rod body of the floating piston rod. The input end of the three-way valve is connected to the air source, and the two output ends of the three-way valve are connected to the piston cylinder and the adsorption head, respectively.

[0005] As a preferred option, a vibration sensor is installed on the rotating support to detect vibration signals during milling in real time.

[0006] As a preferred embodiment, the piezoelectric actuator is signal-connected to the controller, and its control logic is set as follows: when the milling actuator is working, the controller controls the piezoelectric actuator to generate a reverse thrust of the opposite direction and equal magnitude to the peak value of the milling force detected by the force measuring instrument. At the same time, the controller adjusts the working frequency of the piezoelectric actuator according to the vibration signal to offset the dynamic impact load and vibration to achieve impact compensation and prevent local dent deformation of the battery pack shell.

[0007] As a preferred embodiment, the outer wall of the conformal support block is provided with multiple proximity sensors, which are arranged sequentially along the moving path of the milling actuator. Each proximity sensor corresponds to a floating adsorption component. The proximity sensor is connected to the controller signal to collect the position information of the milling actuator, providing the prerequisite for the controller to control the floating adsorption component to perform avoidance and reset actions.

[0008] As a preferred embodiment, the three-way valve is specifically a two-position three-way solenoid valve, which has the following first working position and second working position; First working position: The gas source is connected to the piston cylinder, and the gas path of the adsorption head is cut off at the same time. At this time, the negative pressure drives the floating piston rod and the adsorption head to retract. Second working position: The gas source is connected to the adsorption head, and the gas path of the piston cylinder is cut off at the same time. At this time, the adsorption head adsorbs the edge of the battery pack housing, and the floating piston rod extends under the action of the return spring.

[0009] As a preferred embodiment, the switching logic of the three-way valve is set as follows: when the milling actuator moves to any proximity sensor, the controller controls the three-way valve of the floating adsorption component corresponding to the proximity sensor to switch to the first working position, so that the corresponding floating piston rod retracts and drives the adsorption head to descend and make way. When the milling actuator leaves the proximity sensor and moves to the next proximity sensor, the controller controls the three-way valve of the previous floating adsorption component to switch to the second working position, so that the adsorption head re-adsorbs and fixes the edge of the battery pack housing, and at the same time controls the three-way valve of the floating adsorption component corresponding to the current proximity sensor to switch to the first working position.

[0010] As a preferred embodiment, the outer wall of the adsorption head is provided with a vacuum relief valve, which is connected to the controller signal and used to release the negative pressure.

[0011] As a preferred embodiment, the bottom of the floating piston rod is provided with a high-resistance piston to reduce the reset speed of the floating piston rod and prevent the adsorption head from impacting the battery pack casing.

[0012] As a preferred embodiment, the top of the protective cap is provided with four ball bearings to prevent scratching the contact surface when the piezoelectric actuator contacts the back of the battery pack housing bottom plate.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention utilizes the combined action of a compensation unit and a piezoelectric actuator to detect the axial milling force in real time using a milling cutter with a built-in force gauge. In conjunction with a vibration sensor to collect vibration signals, the controller drives the piezoelectric actuator to generate a reverse thrust and simultaneously adjusts the operating frequency to suppress dynamic impact loads and chatter. This actively counteracts the periodic impact and chatter of the milling force on the battery pack casing during the milling process, effectively preventing local dent deformation and vibration deformation of large thin-walled parts, and significantly improving machining accuracy.

[0014] 2. This invention utilizes the combined action of a floating adsorption component and a proximity sensor to enable the adsorption head to actively retract and make way before the milling cutter arrives, and to immediately reset and adsorb after the milling cutter passes. This eliminates the need for complex lifting mechanisms (cylinders, guide rails, and rotating shafts) required by traditional mechanical fixtures, significantly simplifying the surrounding structure of the processing table, reducing the overall size of the equipment, and ensuring continuous fixation of the shell edge during processing, preventing residual stress deformation in the processed area due to lack of constraint.

[0015] 3. This invention achieves rapid release of negative pressure on the adsorption head, smooth damping of the adsorption head reset speed, and rolling contact between the piezoelectric actuator and the back of the housing through the combined action of the vacuum pressure relief valve, high-resistance piston, and protective cap. This avoids surface damage such as scratches and bumps to the housing caused by residual negative pressure or excessive impact speed when switching adsorption heads. At the same time, it protects the functional coating on the bottom of the housing and improves the stability of the processing and the yield. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention. Figure 2 This is a structural assembly diagram of the milling actuator in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention; Figure 3 This is a schematic diagram of the floating piston rod in the avoidance state of the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention; Figure 4 This is a structural assembly diagram of the conformal support block and battery pack housing in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention. Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a cross-sectional view of the internal structure of the conformal support block in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention. Figure 7 This is a schematic diagram of the left side of the floating adsorption component in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention. Figure 8 This is a cross-sectional view of the internal structure of the adsorption head in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention. Figure 9 This is a schematic diagram of the right side of the floating adsorption component in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention. Figure 10 This is a cross-sectional view of the internal structure of the piston rod in the anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption proposed in this invention.

[0017] In the diagram: 1. Machine tool; 2. Robot arm; 3. Machining table; 4. Conformal support block; 5. Adsorption hole; 6. Rotary bracket; 7. Milling cutter; 8. Electric actuator; 9. Extension rod; 10. Piezoelectric actuator; 11. Protective cap; 1101. Ball bearing; 12. Piston cylinder; 13. Three-way valve; 14. Floating piston rod; 1401. High-resistance piston; 15. Adsorption head; 1501. Vacuum relief valve; 16. Return spring; 17. Vibration sensor; 18. Proximity sensor; 19. Battery pack housing. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not 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 the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example, refer to Figures 1 to 10 A negative pressure adsorption-based anti-deformation milling processing device for automotive sheet metal parts includes a machine tool 1 and a robot arm 2 located outside the machine tool 1. The machine tool 1 is equipped with a processing table 3, and the machine tool 1 is equipped with a controller and an air source. The end of the robot arm 2 is equipped with a milling actuator. The processing table 3 is equipped with a conformal support block 4, which is used to conform to and support the bottom contour of the battery pack housing 19 to disperse the pressure generated during processing and prevent the housing from deforming as a whole due to local stress. The battery pack housing 19 to be processed is placed on the conformal support block 4. The conformal support block 4 is equipped with multiple adsorption holes 5 connected to the air source in a rectangular array. An array of suction cups is installed in the adsorption holes 5. Multiple floating adsorption components are arranged on the outer periphery of the conformal support block 4 to dynamically adsorb and fix the edge area of ​​the battery pack housing 19 and actively avoid it when the milling actuator approaches to avoid interfering with the tool path and ensure the stability of the edge processing area. The milling actuator includes a rotary support 6, on which a milling cutter 7 with a built-in force gauge is mounted, and a compensation unit is provided at the bottom of the rotary support 6. The compensation unit includes a protective shell, inside which is provided an electric actuator 8. The end of the electric actuator 8 passes through the protective shell and is connected to an extension rod 9. The end of the extension rod 9 is provided with a piezoelectric actuator 10, and a protective cap 11 is provided on the piezoelectric actuator 10. The floating adsorption assembly includes a piston cylinder 12 and a three-way valve 13 installed at the bottom of the processing table 3. A floating piston rod 14 is provided inside the piston cylinder 12, and an adsorption head 15 is provided on the floating piston rod 14. An edge suction cup is installed on the adsorption head 15. A return spring 16 is sleeved on the rod body of the floating piston rod 14. The input end of the three-way valve 13 is connected to the air source, and the two output ends of the three-way valve 13 are connected to the piston cylinder 12 and the adsorption head 15, respectively.

[0022] It should be noted that the robotic arm 2, controller, and air source are all existing technologies and will not be described in detail in this article.

[0023] Furthermore, a vibration sensor 17 is installed on the rotating support 6 to detect vibration signals during milling in real time; Furthermore, the piezoelectric actuator 10 is connected to the controller via signal, and its control logic is set as follows: when the milling actuator is working, the controller controls the piezoelectric actuator 10 to generate a reverse thrust of the opposite direction and equal magnitude to the peak value of the milling force according to the peak value of the axial milling force detected by the force measuring instrument. At the same time, the controller adjusts the working frequency of the piezoelectric actuator 10 according to the vibration signal to offset the dynamic impact load and vibration to achieve impact compensation, prevent local dent deformation of the battery pack housing 19, and suppress the periodic impact and chatter caused by uneven material or intermittent cutting of the tool during the milling process. Furthermore, the outer wall of the conformal support block 4 is provided with multiple proximity sensors 18, which are arranged sequentially along the moving path of the milling actuator. Each proximity sensor 18 corresponds to a floating adsorption component. The proximity sensors 18 are connected to the controller signal to collect the position information of the milling actuator, providing the prerequisite for the controller to control the floating adsorption component to perform avoidance and reset actions. Through the proximity sensors 18 arranged along the machining path, the position of the milling actuator can be sensed without contact, so that the avoidance and reset actions of the floating adsorption component can be synchronized with the movement of the tool, avoiding mechanical interference between the tool and the adsorption head 15 and ensuring the continuity of the machining process. Furthermore, the three-way valve 13 is specifically a two-position three-way solenoid valve, which has the following first working position and second working position; First working position: The air source is connected to the piston cylinder 12, and the air path of the adsorption head 15 is cut off at the same time. At this time, the negative pressure drives the floating piston rod 14 and the adsorption head 15 to retract. Second working position: The gas source is connected to the adsorption head 15, and the gas path of the piston cylinder 12 is cut off at the same time. At this time, the adsorption head 15 adsorbs the edge of the battery pack housing 19, and the floating piston rod 14 extends under the action of the return spring 16. The further advantage of adopting the above is that, by switching the three-way valve 13, the two functions of lifting and avoiding the adsorption head 15 and edge adsorption can be realized under the same negative pressure air source, without the need to add an additional cylinder or motor drive mechanism, simplifying the structural complexity of the edge fixing system and reducing its volume, thereby reducing manufacturing costs and shrinking the size of the equipment.

[0024] Furthermore, the switching logic of the three-way valve 13 is set as follows: when the milling actuator moves to any proximity sensor 18, the controller controls the three-way valve 13 of the floating adsorption assembly corresponding to the proximity sensor 18 to switch to the first working position, so that the corresponding floating piston rod 14 retracts and drives the adsorption head 15 to descend and make way. When the milling actuator leaves the proximity sensor 18 and moves to the next proximity sensor 18, the controller controls the three-way valve 13 of the previous floating adsorption assembly to switch to the second working position, so that the adsorption head 15 re-adsorbs and fixes the edge of the battery pack housing 19 to continue to provide clamping force to the edge of the housing, preventing residual stress deformation of the processed area due to loss of constraint. At the same time, the controller controls the three-way valve 13 of the floating adsorption assembly corresponding to the current proximity sensor 18 to switch to the first working position. The further advantage of adopting the above is that, through this switching logic, the avoidance and reset actions of the adsorption head 15 always closely follow the movement path of the milling actuator. The front adsorption head 15 makes way in advance and the rear adsorption head 15 immediately resumes, which can ensure that there are no obstacles on the tool processing path and ensure the continuous fixation of the edge of the processed area, preventing edge springback deformation or residual stress release caused by the lack of fixing force.

[0025] Furthermore, a vacuum relief valve 1501 is provided on the outer wall of the adsorption head 15. The vacuum relief valve 1501 is connected to the controller signal. When the adsorption head 15 needs to switch from the adsorption state to the retraction state, the controller first controls the vacuum relief valve 1501 to open, quickly releasing the vacuum adsorption force between the adsorption head 15 and the shell, so that the adsorption head 15 can separate from the edge of the shell before retraction and avoid scratches or local deformation caused by the shell being forcibly pulled due to residual negative pressure, further ensuring the surface quality and fixing accuracy of the workpiece. Furthermore, a high-resistance piston 1401 is provided at the bottom of the floating piston rod 14 to reduce the reset speed of the floating piston rod 14 and prevent the adsorption head 15 from impacting the battery pack housing 19. The further advantage of the above is that the high-resistance piston 1401 generates a damping force in the piston cylinder 12, causing the adsorption head 15 to slowly rise and contact the housing under the drive of the return spring 16. This avoids the impact noise and surface damage caused by excessively fast reset speed. At the same time, it improves the positional accuracy of the adsorption head 15 in contact with the edge of the housing, which is conducive to the uniform adhesion of the edge suction cup in the adsorption head 15 and the bottom surface of the battery pack housing 19, thus improving the adsorption reliability.

[0026] Furthermore, the top of the protective cap 11 is provided with four ball bearings 1101 to prevent scratching the contact surface when the piezoelectric actuator 10 contacts the back of the bottom plate of the battery pack housing 19. When using this invention, the battery pack housing 19 to be processed is first placed on the conformal support block 4 in the processing table 3, so that the bottom of the housing is in full contact with the contact surface of the conformal support block 4. Then, the air source is turned on, and the battery pack housing 19 is evenly adsorbed from the bottom through the array of suction cups in the adsorption hole 5. The negative pressure provides the basic fixing force to suppress large-area warping of the housing. At the same time, multiple floating adsorption components set on the outer periphery of the conformal support block 4 are in the second working position. The air source is connected to the adsorption head 15, the reset spring 16 and the floating piston rod 14 are fully extended, the adsorption head 15 is attached to the edge of the battery pack housing 19, and the edge suction cup on the adsorption head 15 is used to adsorb the edge of the housing to complete the fixation.

[0027] When the robot arm 2 is started, the milling actuator moves to the processing position according to the preset path. When the milling actuator is working, the built-in force gauge detects the axial milling force in real time, and the vibration sensor 17 collects the vibration signal during the milling process. According to the peak value of the milling force fed back by the force gauge, the controller controls the piezoelectric actuator 10 in the compensation unit to generate a reverse thrust that is opposite in direction and equal in magnitude to the milling force. This thrust is transmitted to the back of the bottom plate of the battery pack housing 19 through the ball bearing 1101 on the top of the protective cap 11 to counteract the effect of the milling force. At the same time, the controller adjusts the working frequency of the piezoelectric actuator 10 according to the vibration signal to suppress dynamic impact loads and chatter, and prevent local denting and deformation of the housing. During the movement of the milling actuator along the edge of the housing, the position of the milling actuator is detected sequentially by the proximity sensor 18. When the milling actuator moves to a certain proximity sensor 18, the controller immediately controls the three-way valve 13 of the floating adsorption component corresponding to the proximity sensor 18 to switch to the first working position, so that the air source is connected to the piston cylinder 12. The negative pressure drives the floating piston rod 14 to retract, which drives the adsorption head 15 to descend, so that there is no mechanical interference on the tool path. When the milling actuator leaves the proximity sensor 18 and moves to the next proximity sensor 18, the controller controls the three-way valve 13 of the previous floating adsorption component to switch back to the second working position. Under the action of the return spring 16, the adsorption head 15 extends again and adsorbs and fixes the edge of the machined area. At the same time, the controller controls the floating adsorption component corresponding to the current proximity sensor 18 to switch to the first working position to perform avoidance, ensuring that the adsorption head 15 in front of the milling actuator makes way in advance and the adsorption head 15 in the rear resets in time. Under the premise of ensuring that the tool can pass through without obstruction, the edge of the housing is fixed and supported to the maximum extent.

[0028] During the entire processing, when the adsorption head 15 needs to switch from the adsorption state to the retracted state, the controller first opens the vacuum relief valve 1501 to quickly release the negative pressure, and then switches the three-way valve 13 to avoid damage caused by forcibly pulling the shell; the high-resistance piston 1401 provides damping when the floating piston rod 14 is reset, reducing the extension speed and preventing the adsorption head 15 from impacting the edge of the shell. After processing is completed, the air source is turned off and all vacuum relief valves 1501 are opened to release the positioning. Finally, the processed battery pack shell 19 is removed by the staff.

[0029] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A milling device for preventing deformation of automotive sheet metal parts based on negative pressure adsorption, comprising a machine tool (1) and a robotic arm (2) disposed outside the machine tool (1), characterized in that, The machine tool (1) is provided with a processing table (3), the machine tool (1) is provided with a controller and an air source, the end of the robot (2) is provided with a milling actuator, the processing table (3) is provided with a conformal support block (4), the conformal support block (4) is placed on the conformal support block (4) and the battery pack shell (19) to be processed is placed on the conformal support block (4), the conformal support block (4) is provided with a number of adsorption holes (5) connected to the air source in a rectangular array, the adsorption holes (5) are installed with an array of suction cups, and the outer periphery of the conformal support block (4) is provided with a number of floating adsorption components; The milling actuator includes a rotary support (6), on which a milling cutter (7) with a built-in force gauge is mounted, and a compensation unit is provided at the bottom of the rotary support (6). The compensation unit includes a protective shell, inside which is provided an electric push rod (8). The end of the electric push rod (8) passes through the protective shell and is connected to an extension rod (9). The end of the extension rod (9) is provided with a piezoelectric actuator (10), and the piezoelectric actuator (10) is provided with a protective cap (11). The floating adsorption assembly includes a piston cylinder (12) and a three-way valve (13) installed at the bottom of the processing table (3). A floating piston rod (14) is provided inside the piston cylinder (12). An adsorption head (15) is provided on the floating piston rod (14). An edge suction cup is installed on the adsorption head (15). A return spring (16) is sleeved on the rod body of the floating piston rod (14). The input end of the three-way valve (13) is connected to the air source. The two output ends of the three-way valve (13) are connected to the piston cylinder (12) and the adsorption head (15) respectively.

2. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 1, characterized in that, A vibration sensor (17) is installed on the rotating bracket (6) to detect vibration signals during milling in real time.

3. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 2, characterized in that, The piezoelectric actuator (10) is connected to the controller signal. Its control logic is set as follows: when the milling actuator is working, the controller controls the piezoelectric actuator (10) to generate a reverse thrust that is opposite in direction and equal in magnitude to the peak value of the milling force detected by the force measuring instrument. At the same time, the controller adjusts the working frequency of the piezoelectric actuator (10) according to the vibration signal to offset the dynamic impact load and vibration to achieve impact compensation and prevent the battery pack housing (19) from local denting and deformation.

4. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 1, characterized in that, The outer wall of the conformal support block (4) is provided with multiple proximity sensors (18). The multiple proximity sensors (18) are arranged sequentially along the moving path of the milling actuator. Each proximity sensor (18) corresponds to a floating adsorption component. The proximity sensor (18) is connected to the controller signal and is used to collect the position information of the milling actuator, providing the prerequisite for the controller to control the floating adsorption component to perform avoidance and reset actions.

5. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 4, characterized in that, The three-way valve (13) is specifically a two-position three-way solenoid valve, which has the following first working position and second working position; First working position: The gas source is connected to the piston cylinder (12), and the gas path of the adsorption head (15) is cut off at the same time. At this time, the negative pressure drives the floating piston rod (14) and the adsorption head (15) to retract. Second working position: The gas source is connected to the adsorption head (15), and the gas path of the piston cylinder (12) is cut off at the same time. At this time, the adsorption head (15) adsorbs the edge of the battery pack housing (19), and the floating piston rod (14) extends under the action of the reset spring (16).

6. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 5, characterized in that, The switching logic of the three-way valve (13) is set as follows: when the milling actuator moves to any proximity sensor (18), the controller controls the three-way valve (13) of the floating adsorption component corresponding to the proximity sensor (18) to switch to the first working position, so that the corresponding floating piston rod (14) retracts and drives the adsorption head (15) to descend and make room. When the milling actuator leaves the proximity sensor (18) and moves to the next proximity sensor (18), the controller controls the three-way valve (13) of the previous floating adsorption component to switch to the second working position, so that the adsorption head (15) re-adsorbs and fixes the edge of the battery pack housing (19), and at the same time controls the three-way valve (13) of the floating adsorption component corresponding to the current proximity sensor (18) to switch to the first working position.

7. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 1, characterized in that, The outer wall of the adsorption head (15) is provided with a vacuum relief valve (1501), which is connected to the controller signal and is used to release the negative pressure.

8. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 1, characterized in that, The bottom of the floating piston rod (14) is provided with a high-resistance piston (1401) to reduce the reset speed of the floating piston rod (14) and prevent the adsorption head (15) from impacting the battery pack housing (19).

9. The anti-deformation milling device for automotive sheet metal parts based on negative pressure adsorption according to claim 1, characterized in that, The top of the protective cap (11) is provided with four ball bearings (1101) to prevent scratching the contact surface when the piezoelectric actuator (10) contacts the back of the bottom plate of the battery pack housing (19).

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