A thin-walled rotary shell modular flexible clamp and as-formed clamping force monitoring method

Abstract

This invention discloses a modular flexible fixture for thin-walled rotating shells and a conformal clamping force monitoring method, belonging to the field of clamping technology. The fixture adapts to different thin-walled rotating shells through a modular structure and uses a designed force sensor module to monitor the workpiece clamping force in real time. During processing, the actual clamping force is compared with a preset value, and the pushing and adjusting devices of each support module are adjusted according to the deviation trend to stabilize the clamping force within a new preset range, thereby achieving real-time monitoring and dynamic adjustment of the clamping state.

Description

Technical Field

[0001] This invention belongs to the field of clamping technology, specifically relating to a modular flexible clamp for a thin-walled rotating shell and a method for monitoring conformal clamping force. Background Technology

[0002] Thin-walled rotating shell-type workpieces are characterized by their thin walls, low rigidity, and susceptibility to deformation during machining. These workpieces are highly sensitive to the support position, clamping position, and clamping force during machining. Traditional close-fitting clamping methods can easily lead to stress concentration and localized deformation, thus affecting machining accuracy.

[0003] Existing clamping methods for rotating shell workpieces mostly employ specialized tooling, meaning that bases, columns, support structures, and contact structures are designed separately for different workpiece configurations. Because the components differ in their internal support positions, external clamping positions, and top contact shapes, traditional specialized fixtures often require complete replacement or reassembly, resulting in high manufacturing costs, long debugging cycles, poor versatility, and difficulty in meeting the reusable requirements for machining multi-configuration shells.

[0004] Clamping force is a crucial parameter for evaluating the clamping status of thin-walled shells. Its magnitude and distribution directly affect the support and fit of the workpiece surface, the stability of the machining datum, and the degree of machining deformation. In some fixtures with clamping force feedback adjustment capabilities, the adaptability range of the force measuring device is too small. If significant deformation occurs during machining, the force measuring device easily detaches from the workpiece's inner surface, leading to interruption of clamping force monitoring and preventing real-time feedback adjustment. Furthermore, existing adjustable clamping force support devices are few in number, have a small adjustment range, and lack modularity, making it difficult to meet the stable clamping requirements of rotating shell workpieces.

[0005] Therefore, there is an urgent need for a device that combines modular flexible clamping with conformal clamping force monitoring. This device should be able to replace or adjust the support and clamping modules, suction modules, contact modules, and column positions according to the characteristics of rotating shell workpieces with different configurations. Simultaneously, it should ensure that the force measuring module maintains conformal contact with the inner surface of the workpiece throughout the machining process and adjusts the fixture support state based on real-time monitored clamping force data, providing effective support for stable and flexible clamping of various rotating shell workpieces. Summary of the Invention

[0006] The purpose of this invention is to provide a modular flexible fixture for thin-walled rotating shells and a conformal clamping force monitoring method to solve the problems of insufficient versatility, unstable internal support states, and difficulty in real-time measurement and feedback adjustment of clamping force in existing fixtures. This fixture adapts to different thin-walled rotating shells through a modular structure and uses a designed force sensor module to monitor the workpiece clamping force in real time. During processing, the actual clamping force is compared with a preset value, and the pushing and adjusting devices of each support module are adjusted according to the deviation trend to stabilize the clamping force within a new preset range, thereby achieving real-time monitoring and dynamic adjustment of the clamping state.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A modular flexible clamp for a thin-walled rotating shell includes a base module 1, a central column module 2, a column module 3, a clamping module 4, a support and suction module 5, a lower support module 6, a force sensor module 7, a middle support module 8, and a top support module 9.

[0008] The base module 1 serves as the basic load-bearing structure for the entire thin-walled rotary shell modular flexible fixture, and is used to support other modules of the thin-walled rotary shell modular flexible fixture.

[0009] The central column module 2 is fixed to the center of the base module 1, providing a support point for the installation of the suction module 5, the lower support module 6, the middle support module 8 and the top support module 9.

[0010] The column module 3 is fixedly mounted on the base module 1 and is evenly spaced around the central column module 2. The top is fitted with a clamping module 4.

[0011] The clamping module 4 is used to clamp the lower end of the thin-walled rotating housing.

[0012] The aforementioned support module 5, lower support module 6, middle support module 8, and top support module 9 each include several groups, each group being evenly arranged circumferentially to support the inner surfaces of the thin-walled rotating shell at different positions.

[0013] Force sensor module 7 is used to detect the force state of the area supporting the thin-walled rotating shell, that is, to detect the clamping force between the inner surface of the thin-walled rotating shell and the support module 5, the lower support module 6, the middle support module 8 and the top support module 9.

[0014] Furthermore, the central column module 2 includes a connecting beam 13, which is arranged horizontally parallel to the clamp base 11. One end of the connecting beam 13 is connected to the central column module 2, and the other end is connected to the column module 3, which is used to enhance the overall connection rigidity between the base module 1, the central column module 2, and the column module 3.

[0015] Furthermore, the clamping module 4 includes a main clamping module and an auxiliary clamping module, and the top of the column module 3 is provided with a top plate that can be used to install the clamping module 4; the length direction of the top plate is arranged along the radial direction of the thin-walled rotating shell.

[0016] The main clamping module includes a clamping plate 41, a positioning screw A42, a clamping nut 43, a threaded rod 44, a clamping bracket 45, a support screw A46, a support connecting plate 47, a clamping column 48, a clamping positioning block 49, a clamping spring 410, and a locking nut A412 for the positioning screw. The clamping bracket 45 is fixed to the innermost side of the top plate of the column module 3; the clamping positioning block 49 is fixed to the inner side of the top of the clamping bracket 45; the clamping positioning block 49 is adapted to the inner surface of the thin-walled rotating shell at the corresponding position; there are two L-shaped support connecting plates 47, the side plate of each support connecting plate 47 is fixed to the side of the clamping bracket 45, and the line connecting the two support connecting plates 47 is perpendicular to the radial direction of the thin-walled rotating shell; the horizontal plate perpendicular to the support connecting plate 47 is threaded with the support screw A46, and by adjusting the height of the support screw A46 screwed into the support connecting plate 47, the end of the lower support module 6 is supported. Along the length of the top plate of column module 3, perpendicular to the top plate and from the inside to the outside, the positioning screw A42, the pressure plate threaded rod 44, and the pressure plate pressure column 48 are sequentially threaded. After adjusting the height of the top plate, they are locked by the positioning screw lock nut A412. The pressure plate 41 is a Z-shaped block. An auxiliary support leg of the thin-walled rotary housing is placed between the lower surface of the upper horizontal plate of the Z-shaped block and the top of the positioning screw A42. The auxiliary support leg is for subsequent welding to facilitate the clamping function and is not part of the thin-walled rotary housing. The upper end of the pressure plate threaded rod 44 passes through the lower horizontal plate of the Z-shaped block, and the end is locked by the pressure plate clamping nut 43. A clamping spring 410 is sleeved in the middle of the pressure plate threaded rod 44. The upper end of the clamping spring 410 abuts against the lower end surface of the lower horizontal plate of the Z-shaped block, and the lower end abuts against the upper end surface of the positioning screw lock nut A412.

[0017] The auxiliary clamping module includes a positioning screw B413, a support screw B414, an auxiliary support connecting plate 411, and a positioning screw locking nut B415. The auxiliary support connecting plate 411 is fixed to the innermost side of the top plate of the column module 3. The support screw B414 is vertically threaded onto the top horizontal plate of the auxiliary support connecting plate 411. By adjusting the screw-in height of the support screw B414, the end of the lower support module 6 is supported. The positioning screw B413 is threaded onto the outer side of the top plate of the column module 3. After adjusting the screw-in height, it is locked by the positioning screw locking nut B415.

[0018] When the column module 3 is divided into a main column 31 and an auxiliary column 32, the main clamping module and the auxiliary clamping module are respectively installed on the main column 31 and the auxiliary column 32.

[0019] Furthermore, the suction module 5 includes a suction head support 51, a suction push screw 52, ​​a suction push locking nut 53, a vacuum suction guide shaft 54, a linear bearing box-type slider A 55, a vacuum suction support 56, and a suction cup balancer 57. The vacuum adsorption support 56 has a V-shaped structure. One end is fixed to the side of the central column module 2, and the other end is fixed to the linear bearing box-type slider A55. After the vacuum adsorption support 56 is fixed to the central column module 2, the outer axis coincides with the normal direction of the inner surface of the thin-walled rotary shell. The linear bearing box-type slider A55 has two through holes at both ends and a threaded hole in the middle. The bottom end of the suction push screw 52 is screwed through the threaded hole of the linear bearing box-type slider A55 and locked by the suction push lock nut 53. A vacuum adsorption guide shaft 54 ​​is vertically fixed at both ends of the lower end face of the adsorption head support 51, and a T-shaped groove is opened in the middle. The head of the suction push screw 52 is placed in the T-shaped groove, which can ensure axial positioning with the adsorption head support 51 during its own rotation. The suction cup balancer 57 is fixed on the upper end face of the adsorption head support 51.

[0020] Furthermore, the lower support module 6 is used to support the lower inner area of ​​the workpiece. It includes a lower connecting plate 61, a lower push rod 62, a lower positioning connector 63, a lower linear bearing base 65, a screw jack 66, a spherical shell lower push plate 67, and a conical shell lower push plate 64. The bottom end of the screw jack 66 is fixed to the side of the central column module 2. The lifting platform connecting flange of the screw jack 66 is fixed to the bottom surface of the lower linear bearing base 65. The top surface of the lower linear bearing base 65 is sequentially fixed to the lower positioning connector 63, the lower push rod 62, the lower connecting plate 61, and the spherical shell lower push plate 67. The spherical shell lower push plate 67 and the lower connecting plate 61 are detachable and can be replaced with a conical shell lower push plate 64 according to different types of thin-walled rotary shells. A force sensor module 7 is set in the middle of the spherical shell lower push plate 67. There are two lower linear bearing bases 65, both fixed to the side of the central column module 2 and located on both sides of the screw jack 66. Through holes are opened on the outer end face. The guide rods vertically fixed at both ends of the bottom surface of the lower positioning connector 63 pass through the through holes and play a guiding role when the screw jack 66 pushes the lower positioning connector 63 to move in and out.

[0021] Furthermore, the middle layer support module 8 is used to support the inner middle layer area of ​​the workpiece. The middle layer support module 8 includes a middle layer connecting plate 81, a middle layer guide rod 83, a middle layer push screw 84, a linear bearing box slider B85, a middle layer push support 86, a middle layer positioning connector 87, a middle layer connector locking nut 88, a spherical shell middle layer push plate 89, and a conical shell middle layer push plate 82. One end of the middle layer push support 86 is fixed to the side of the central column module 2, and the other end is fixedly connected to two linear bearing box sliders B85 through the middle layer positioning connector 87. The linear bearing box sliders B85 have through holes. The two ends of the inner side of the middle layer connecting plate 81 are vertically fixed with middle layer guide rods 83. The middle layer guide rods 83 pass through the through holes of the linear bearing box sliders B85, and the through holes serve as guides. A T-shaped groove is opened in the middle of the inner side of the middle layer connecting plate 81. The head of the middle layer push screw 84 is placed in the T-shaped groove, which can ensure axial positioning with the middle layer connecting plate 81 during its own rotation. The bottom end of the middle layer push screw 84 is threadedly connected to the threaded hole at the outer end of the middle layer push support 86. The degree of outward push of the spherical shell middle layer push plate 89 or the conical shell middle layer push plate 82 can be adjusted by adjusting the screw depth. After adjustment, it is locked by the middle layer connector locking nut 88. The spherical shell middle layer push plate 89 or the conical shell middle layer push plate 82 can be detachably fixed to the outer side of the middle layer connecting plate 81.

[0022] Furthermore, the top support module 9 is used to support the top inner side of the workpiece. The top support module 9 includes a top support rod 91, a winged locking nut 92, a spherical shell top abutment plate 93, and a conical shell top abutment plate 94. The spherical shell top abutment plate 93 or the conical shell top abutment plate 94 is fixed to the top of the central column module 2 and is located below the top inner side of the thin-walled rotary housing. The top support rod 91 passes through the spherical shell top abutment plate 93 or the conical shell top abutment plate 94 from top to bottom, with its top extending along the normal direction of the top of the thin-walled rotary housing to abut against the inner surface of the thin-walled rotary housing. The bottom is provided with external threads for threaded connection with the winged locking nut 92. The winged locking nut 92 is used to lock the top support rod 91 after it is adjusted to the abutment position, thereby providing positioning and support for the top of the thin-walled rotary housing.

[0023] Furthermore, the force sensor module 7 includes a guide positioning pin 71, a force sensor pad 72, a force sensor support spring 73, a pressure sensor 74, a force adjustment support screw 75, a support stud locking nut 76, a force adjustment support stud 77, and a support screw locking nut 78. A fixing block is fixedly installed in the middle of the lower push plate 67 of the spherical shell, serving as a support for the force sensor module 7. Guide positioning pins 71 are vertically fixed at both ends of the inner side of the force sensor pad 72, adapting to the through holes at both ends of the fixing block to guide the axial movement of the force sensor pad 72. A pressure sensor 74 is fixed to the outer side of the force sensor pad 72. The outermost end of the force adjustment support screw 75 is a screw head, and the innermost end is a stepped shaft. The force adjustment support stud 77 has external threads on its exterior, which engage with the lower push plate of the spherical shell. The fixing block of plate 67 is internally threaded; the force adjustment support stud 77 is divided into two sections, one section is internally threaded and connected to the external thread of the force adjustment support screw 75, and the other section is a straight cylinder used to house the force sensor support spring 73; the force sensor support spring 73 is partially sleeved on the stepped shaft at the innermost end of the force adjustment support screw 75, and its end face abuts against the shoulder of the stepped shaft; the support stud locking nut 76 and the support screw locking nut 78 are used to lock the force adjustment support stud 77 and the force adjustment support screw 75, respectively. In use, first rotate the force adjustment support stud 77 to move it relative to the fixed block, and the outer end face of the force adjustment support stud 77 abuts against the force sensor pad 72, causing the pressure sensor 74 to contact the inner surface of the thin-walled rotating housing, and locking the support stud lock nut 76; then rotate the force adjustment support screw 75 to move it relative to the force adjustment support stud 77 until the outer end face of the innermost sleeved force sensor support spring 73 abuts against the inner end face of the force sensor pad 72, and locking the support screw lock nut 78.

[0024] The method for monitoring conformal clamping force using the above-mentioned modular flexible fixture for thin-walled rotating shell comprises the following steps: Before clamping, the central column module 2 is installed in the central area of ​​the base module 1, serving as the installation reference for the suction module 5, lower support module 6, middle support module 8, and top support module 9. Based on the outer contour and clamping position of the thin-walled rotary shell, several column modules 3 are arranged circumferentially on the base module 1, forming an outer support frame around the central column module 2. Subsequently, the clamping module 4 is installed on the column modules 3, positioned in the corresponding clamping area at the lower end of the thin-walled rotary shell.

[0025] When placing the thin-walled rotary housing, position the housing to be processed within the clamping area defined by the base module 1 and the central column module 2, ensuring that the rotation center of the thin-walled rotary housing coincides with the axis of the central column module 2. By adjusting the positions of the column module 3 and the clamping module 4, the lower end of the thin-walled rotary housing is placed in a clampable state, while ensuring that the outer side of the thin-walled rotary housing does not interfere with the column module 3.

[0026] After the thin-walled rotating shell is initially positioned, the suction module 5, the lower support module 6, the middle support module 8, and the top support module 9 are adjusted sequentially. The suction module 5 is pushed outward along the normal direction of the inner surface of the thin-walled rotating shell, so that it contacts the inner surface of the thin-walled rotating shell and forms an adsorption constraint on the inner surface of the thin-walled rotating shell; the lower support module 6 is pushed towards the lower inner surface of the thin-walled rotating shell, the middle support module 8 is pushed towards the middle inner surface of the thin-walled rotating shell, and the top support module 9 is attached to the top inner surface of the thin-walled rotating shell, thereby forming a multi-regional and multi-height support state inside the thin-walled rotating shell.

[0027] After the initial alignment of the support modules, adjust the clamping module 4 to apply pressure to the lower end of the thin-walled rotating shell. During the clamping process, the thin-walled rotating shell should first be in a stable positioning state before gradually increasing the clamping force to avoid local deformation caused by one-time clamping. After clamping is completed, check again the alignment of the suction module 5, lower support module 6, middle support module 8, and top support module 9 with the inner surface of the thin-walled rotating shell, and make fine adjustments according to changes in the posture of the thin-walled rotating shell.

[0028] After the basic clamping of the thin-walled rotary shell is completed, the force sensor module 7 is adjusted to maintain conformal contact with the inner surface of the thin-walled rotary shell, and the initial clamping force value is read. If the clamping force fed back by the force sensor module 7 does not reach the preset range, the pushing state of the lower support module 6, the middle support module 8, and the top support module 9 is adjusted to gradually bring the support force of the inner surface of the thin-walled rotary shell closer to the preset value; if necessary, the pushing state of the suction module 5 is adjusted to make the force on the inner surface of the thin-walled rotary shell more uniform.

[0029] During processing, the force sensor module 7 continuously acquires clamping force data for the thin-walled rotary housing and compares the real-time clamping force data with the preset clamping force range. When the real-time clamping force data is within the preset clamping force range, the current state of the support module 5, lower support module 6, middle support module 8, and top support module 9 is maintained. When the real-time clamping force data is lower than the preset clamping force range, it indicates that the corresponding support area is not properly fitted. In this case, the corresponding support module is adjusted to push towards the inner surface of the thin-walled rotary housing. When the real-time clamping force is higher than the preset clamping force range, it indicates that the corresponding support area may be over-tightened. In this case, the pushing amount of the corresponding support module is appropriately reduced.

[0030] After each processing cycle, the clamping force changes fed back by the force sensor module 7 are recorded, and the preset clamping force range for the next processing cycle is determined based on the clamping force change trend. During subsequent adjustments, the position of the force sensor module 7 is kept unchanged. By adjusting the support states of the suction module 5, the lower support module 6, the middle support module 8, and the top support module 9, the clamping force of the thin-walled rotary shell is stabilized again within the new preset clamping force range, thereby realizing real-time monitoring and dynamic adjustment of the clamping state of the thin-walled rotary shell.

[0031] Compared with the prior art, the present invention has the following beneficial effects: First, the present invention adopts a modular design, combining a general load-bearing structure with replaceable support, suction, contact and clamping structures, which can adapt to rotating shell workpieces with different configurations such as spherical and conical surfaces, improve the reusability of fixtures and reduce tooling manufacturing and switching costs.

[0032] Secondly, by using different installation positions on the base module and different support installation positions on the central column module, the present invention enables the column module, suction module, support module and contact module to be adjusted or replaced according to the workpiece configuration, thereby improving tooling switching efficiency and clamping adaptability.

[0033] Third, the present invention forms multi-regional support for the inner surface of the workpiece through the lower support module, the middle support module and the top support structure, which can improve the problems of insufficient contact and uneven force caused by traditional local support.

[0034] Fourth, the present invention provides mechanical support and negative pressure adsorption constraint to the inner surface of the workpiece through the suction module, thereby enhancing the stability of the workpiece during processing.

[0035] Fifth, the present invention monitors the workpiece clamping force through a force sensor module and achieves stable acquisition of the clamping force based on the force sensor conformal device; by comparing the changes in the clamping force, the pushing state of each support module is adjusted, which can correct deviations caused by unknown clamping state during the processing in real time and improve the clamping stability of the thin-walled rotary shell.

[0036] Sixth, the various support and abutment structures of the present invention adopt a modular design and are all connected by bolts, which facilitates assembly, disassembly, replacement and maintenance. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of the spherical shell in the clamping state of the present invention; Figure 2 This is a schematic diagram of the overall clamping structure of the conical shell of the present invention; Figure 3 This is a schematic diagram of the base module and the central column module of the present invention; Figure 4 This is a schematic diagram of the spherical shell column in its installation state according to the present invention; Figure 5 This is a schematic diagram of the conical shell column installation state of the present invention; Figure 6 This is a schematic diagram of the main clamping module structure of the present invention; Figure 7 This is a schematic diagram of the auxiliary clamping module structure of the present invention; Figure 8 This is a schematic diagram of the support and suction module structure of the present invention; Figure 9 This is a schematic diagram of the lower support module structure of the spherical shell of the present invention; Figure 10 This is a schematic diagram of the lower support module structure of the conical shell of the present invention; Figure 11 This is a schematic diagram of the force sensor module structure of the present invention; Figure 12 This is a schematic diagram of the spherical shell middle layer support module structure of the present invention; Figure 13 This is a top view of the spherical shell middle layer support module structure of the present invention; Figure 14 This is a schematic diagram of the conical shell middle layer support module structure of the present invention; Figure 15 This is a top view of the conical shell middle layer support module structure of the present invention; Figure 16 This is a schematic diagram of the top-layer support module structure of the spherical shell of the present invention; Figure 17 This is a side view of the top support module structure of the spherical shell of the present invention; Figure 18 This is a schematic diagram of the top-layer support module structure of the conical shell of the present invention; Figure 19 This is a side view of the top support module structure of the conical shell of the present invention.

[0038] In the diagram: 1. Base module; 11. Clamp base; 12. Base baffle; 13. Connecting crossbeam; 14. Lifting ring; 2. Central column module; 21. Support and suction bracket; 22. Hexagonal support; 23. Central column; 3. Column module; 31. Main column; 32. Auxiliary column; 4. Clamping module; 41. Clamping plate; 42. Positioning screw A; 43. Clamping nut; 44. Clamping threaded rod; 45. Clamping bracket; 46. Support screw A; 47. Support connecting plate; 4 8. Pressure plate and pressure column; 49. Pressing and positioning block; 410. Pressing spring; 411. Auxiliary support connecting plate; 412. Positioning screw and locking nut A; 413. Positioning screw B; 414. Support screw B; 415. Positioning screw and locking nut B; 5. Suction module; 51. Suction head support seat; 52. Suction push screw; 53. Suction push locking nut; 54. Vacuum suction guide shaft; 55. Linear bearing box-type slider A; 56. Vacuum suction support; 57. Suction cup balancer 6. Lower support module; 61. Lower connecting plate; 62. Lower push rod; 63. Lower positioning connector; 64. Lower push plate of conical shell; 65. Lower linear bearing base; 66. Screw jack; 67. Lower push plate of spherical shell; 7. Force sensor module; 71. Guide positioning pin; 72. Force sensor pad; 73. Force sensor support spring; 74. Pressure sensor; 75. Force adjustment support screw; 76. Support stud lock nut; 77. Force adjustment support stud; 7 8. Support screw and locking nut; 8. Middle layer support module; 81. Middle layer connecting plate; 82. Conical shell middle layer push plate; 83. Middle layer guide rod; 84. Middle layer push screw; 85. Linear bearing box-type slider B; 86. Middle layer push support; 87. Middle layer positioning connector; 88. Middle layer connector locking nut; 89. Spherical shell middle layer push plate; 9. Top layer support module; 91. Top layer support rod; 92. Butterfly locking nut; 93. Spherical shell top layer abutment plate; 94. Conical shell top layer abutment plate. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings. It should be understood that the following embodiments are only used to explain the present invention and are not intended to limit the scope of protection of the present invention.

[0040] like Figure 1 , Figure 2 As shown, this application provides a modular flexible fixture for thin-walled rotating shells, including a base module 1, a central column module 2, a column module 3, a clamping module 4, a support and suction module 5, a lower support module 6, a force sensor module 7, a middle support module 8, and a top support module 9. The modular flexible fixture for thin-walled rotating shells is used for positioning, clamping, and monitoring clamping force of thin-walled rotating shell workpieces such as spherical shells and conical shells. By changing different contact plates and altering the installation position, the same fixture can be used to assemble different thin-walled rotating shell workpieces.

[0041] The base module 1 serves as the basic load-bearing structure for the entire thin-walled rotary shell modular flexible fixture, and is used to support other modules of the thin-walled rotary shell modular flexible fixture.

[0042] Furthermore, such as Figure 3 As shown, the base module 1 includes a clamp base 11, a base baffle 12, a connecting beam 13, and a lifting ring 14. The clamp base 11 is a plate-shaped or frame-shaped base component used to support and position the central column module 2, column module 3, clamping module 4, suction module 5, lower support module 6, force sensor module 7, middle support module 8, and top support module 9. The base baffle 12 is located at the edge of the upper surface of the clamp base 11, used to protect and assist in positioning the structural components installed on the clamp base 11. The connecting beam 13 is arranged horizontally parallel to the clamp base 11, with one end connected to the central column module 2 and the other end connected to the column module 3, used to enhance the overall connection rigidity between the base module 1, the central column module 2, and the column module 3. The lifting ring 14 is fixed to the corner areas of the clamp base 11, presenting a symmetrical distribution, facilitating the overall handling and adjustment of the thin-walled rotating shell modular flexible clamp.

[0043] The central column module 2 is fixed to the center of the base module 1, providing a support point for the installation of the suction module 5, the lower support module 6, the middle support module 8 and the top support module 9.

[0044] Furthermore, such as Figure 4 , Figure 5 As shown, the central column module 2 includes a suction support 21, a hexagonal support 22, and a central column 23. The central column 23, as the core load-bearing component of the clamp, is fixed to the center of the base module 1. The suction support 21 and the hexagonal support 22 are detachably and sequentially installed and fixed above the central column 23. The positions of the suction support 21 and the hexagonal support 22 relative to the central column 23 from bottom to top are adjusted according to the shape characteristics of different types of thin-walled rotary shells. The suction support 21 has a regular hexagonal prism structure, and its sides are used to fix the suction module 5. The hexagonal support 22 has multiple layers of height and circumferentially evenly distributed sides, each side corresponding to a suction module 5, a lower support module 6, or a middle support module 8 in a different direction.

[0045] The column module 3 is fixedly mounted on the base module 1 and is evenly spaced around the central column module 2. The top is fitted with a clamping module 4.

[0046] Furthermore, the column module 3 needs to be fixedly installed on the base module 1 at a suitable installation position according to the type of thin-walled rotary shell. The column module 3 includes a main column 31 and an auxiliary column 32. The main column 31 and the auxiliary column 32 are fixed to the clamp base 11 in a staggered manner along the circumference and are located on the outside of the thin-walled rotary shell, forming an outer support frame together. The outer end of the connecting beam 13 is fixed to the lower middle side of the main column 31, realizing the connection between the column module 3, the connecting beam 13 and the central column module 2, thereby enhancing the connection strength between the column module 3 and the base module 1.

[0047] The clamping module 4 is used to clamp the lower end of the thin-walled rotating housing.

[0048] Furthermore, such as Figure 6 , Figure 7 As shown, the clamping module 4 includes a main clamping module and an auxiliary clamping module. The top of the column module 3 is provided with a top plate that can be used to install the clamping module 4; the length direction of the top plate is arranged along the radial direction of the thin-walled rotating shell.

[0049] The main clamping module includes a clamping plate 41, a positioning screw A42, a clamping nut 43, a threaded rod 44, a clamping bracket 45, a support screw A46, a support connecting plate 47, a clamping column 48, a clamping positioning block 49, a clamping spring 410, and a locking nut A412 for the positioning screw. The clamping bracket 45 is fixed to the innermost side of the top plate of the column module 3; the clamping positioning block 49 is fixed to the inner side of the top of the clamping bracket 45; the clamping positioning block 49 is adapted to the inner surface of the thin-walled rotating shell at the corresponding position; there are two L-shaped support connecting plates 47, the side plate of each support connecting plate 47 is fixed to the side of the clamping bracket 45, and the line connecting the two support connecting plates 47 is perpendicular to the radial direction of the thin-walled rotating shell; the horizontal plate perpendicular to the support connecting plate 47 is threaded with the support screw A46, and by adjusting the height of the support screw A46 screwed into the support connecting plate 47, the end of the lower support module 6 is supported. Along the length of the top plate of column module 3, perpendicular to the top plate and from the inside to the outside, the positioning screw A42, the pressure plate threaded rod 44, and the pressure plate pressure column 48 are sequentially threaded. After adjusting the height of the top plate, they are locked by the positioning screw lock nut A412. The pressure plate 41 is a Z-shaped block. An auxiliary support leg of the thin-walled rotary housing is placed between the lower surface of the upper horizontal plate of the Z-shaped block and the top of the positioning screw A42. The auxiliary support leg is for subsequent welding to facilitate the clamping function and is not part of the thin-walled rotary housing. The upper end of the pressure plate threaded rod 44 passes through the lower horizontal plate of the Z-shaped block, and the end is locked by the pressure plate clamping nut 43. A clamping spring 410 is sleeved in the middle of the pressure plate threaded rod 44. The upper end of the clamping spring 410 abuts against the lower end surface of the lower horizontal plate of the Z-shaped block, and the lower end abuts against the upper end surface of the positioning screw lock nut A412.

[0050] The auxiliary clamping module includes a positioning screw B413, a support screw B414, an auxiliary support connecting plate 411, and a positioning screw locking nut B415. The auxiliary support connecting plate 411 is fixed to the innermost side of the top plate of the column module 3. The support screw B414 is vertically threaded onto the top horizontal plate of the auxiliary support connecting plate 411. By adjusting the screw-in height of the support screw B414, the end of the lower support module 6 is supported. The positioning screw B413 is threaded onto the outer side of the top plate of the column module 3. After adjusting the screw-in height, it is locked by the positioning screw locking nut B415.

[0051] When the column module 3 is divided into a main column 31 and an auxiliary column 32, the main clamping module and the auxiliary clamping module are respectively installed on the main column 31 and the auxiliary column 32.

[0052] The aforementioned support module 5, lower support module 6, middle support module 8, and top support module 9 each include several groups, each group being evenly arranged circumferentially to support the inner surfaces of the thin-walled rotating shell at different positions.

[0053] Furthermore, such as Figure 8 As shown, the suction module 5 includes a suction head support 51, a suction push screw 52, ​​a suction push locking nut 53, a vacuum suction guide shaft 54, a linear bearing box slider A 55, a vacuum suction support 56, and a suction cup balancer 57. The vacuum adsorption support 56 has a V-shaped structure. One end is fixed to the side of the central column module 2, and the other end is fixed to the linear bearing box-type slider A55. After the vacuum adsorption support 56 is fixed to the central column module 2, the outer axis coincides with the normal direction of the inner surface of the thin-walled rotary shell. The linear bearing box-type slider A55 has two through holes at both ends and a threaded hole in the middle. The bottom end of the suction push screw 52 is screwed through the threaded hole of the linear bearing box-type slider A55 and locked by the suction push lock nut 53. A vacuum adsorption guide shaft 54 ​​is vertically fixed at both ends of the lower end face of the adsorption head support 51, and a T-shaped groove is opened in the middle. The head of the suction push screw 52 is placed in the T-shaped groove, which can ensure axial positioning with the adsorption head support 51 during its own rotation. The suction cup balancer 57 is fixed on the upper end face of the adsorption head support 51.

[0054] Furthermore, such as Figure 9 , Figure 10As shown, the lower support module 6 is used to support the lower inner area of ​​the workpiece. It includes a lower connecting plate 61, a lower push rod 62, a lower positioning connector 63, a lower linear bearing base 65, a screw jack 66, a spherical shell lower push plate 67, and a conical shell lower push plate 64. The bottom end of the screw jack 66 is fixed to the side of the central column module 2. The lifting platform connecting flange of the screw jack 66 is fixed to the bottom surface of the lower linear bearing base 65. The top surface of the lower linear bearing base 65 is sequentially fixed to the lower positioning connector 63, the lower push rod 62, the lower connecting plate 61, and the spherical shell lower push plate 67. The spherical shell lower push plate 67 and the lower connecting plate 61 are detachable and can be replaced with a conical shell lower push plate 64 according to different types of thin-walled rotary shells. A force sensor module 7 is set in the middle of the spherical shell lower push plate 67. There are two lower linear bearing bases 65, both fixed to the side of the central column module 2 and located on both sides of the screw jack 66. Through holes are opened on the outer end face. The guide rods vertically fixed at both ends of the bottom surface of the lower positioning connector 63 pass through the through holes and play a guiding role when the screw jack 66 pushes the lower positioning connector 63 to move in and out.

[0055] Furthermore, such as Figure 12 , Figure 13 , Figure 14 , Figure 15 As shown, the middle layer support module 8 is used to support the inner middle layer area of ​​the workpiece. The middle layer support module 8 includes a middle layer connecting plate 81, a middle layer guide rod 83, a middle layer push screw 84, a linear bearing box slider B85, a middle layer push support 86, a middle layer positioning connector 87, a middle layer connector locking nut 88, a spherical shell middle layer push plate 89, and a conical shell middle layer push plate 82. One end of the middle layer push support 86 is fixed to the side of the central column module 2, and the other end is fixedly connected to two linear bearing box sliders B85 through the middle layer positioning connector 87. The linear bearing box sliders B85 have through holes. The two ends of the inner side of the middle layer connecting plate 81 are vertically fixed with middle layer guide rods 83. The middle layer guide rods 83 pass through the through holes of the linear bearing box sliders B85, and the through holes serve as guides. A T-shaped groove is opened in the middle of the inner side of the middle layer connecting plate 81. The head of the middle layer push screw 84 is placed in the T-shaped groove, which can ensure axial positioning with the middle layer connecting plate 81 during its own rotation. The bottom end of the middle layer push screw 84 is threadedly connected to the threaded hole at the outer end of the middle layer push support 86. The degree of outward push of the spherical shell middle layer push plate 89 or the conical shell middle layer push plate 82 can be adjusted by adjusting the screw depth. After adjustment, it is locked by the middle layer connector locking nut 88. The spherical shell middle layer push plate 89 or the conical shell middle layer push plate 82 can be detachably fixed to the outer side of the middle layer connecting plate 81.

[0056] Furthermore, such as Figure 16 , Figure 17 , Figure 18 , Figure 19As shown, the top support module 9 is used to support the top inner side of the workpiece. The top support module 9 includes a top support rod 91, a wing lock nut 92, a spherical shell top abutment plate 93, and a conical shell top abutment plate 94. The spherical shell top abutment plate 93 or the conical shell top abutment plate 94 is fixed to the top of the central column module 2 and is located below the top inner side of the thin-walled rotary housing. The top support rod 91 passes through the spherical shell top abutment plate 93 or the conical shell top abutment plate 94 from top to bottom, with its top extending along the normal direction of the top of the thin-walled rotary housing to abut against the inner surface of the thin-walled rotary housing. The bottom is provided with external threads and is threaded to the wing lock nut 92. The wing lock nut 92 is used to lock the top support rod 91 after it is adjusted to the abutment position, thereby providing positioning and support for the top of the thin-walled rotary housing.

[0057] Furthermore, such as Figure 11 As shown, the force sensor module 7 is used to detect the force state of the area supporting the thin-walled rotating shell, that is, to detect the clamping force between the inner surface of the thin-walled rotating shell and the suction module 5, the lower support module 6, the middle support module 8, and the top support module 9. The force sensor module 7 includes a guide positioning pin 71, a force sensor pad 72, a force sensor support spring 73, a pressure sensor 74, a force adjustment support screw 75, a support stud locking nut 76, a force adjustment support stud 77, and a support screw locking nut 78. A fixing block is fixedly installed in the middle of the lower push plate 67 of the spherical shell as a support for the installation of the force sensor module 7; the guide positioning pins 71 are vertically fixed at both ends of the inner side of the force sensor pad 72, which are adapted to the through holes opened at both ends of the fixing block to guide the axial movement of the force sensor pad 72; the pressure sensor 74 is fixed on the outer side of the force sensor pad 72; the outermost end of the force adjustment support screw 75 is a screw head, and the innermost end is a stepped shaft; the force adjustment support stud 77 is provided with external threads on the outside, which are connected to the lower push plate of the spherical shell. The fixing block of plate 67 is internally threaded; the force adjustment support stud 77 is divided into two sections, one section is internally threaded and connected to the external thread of the force adjustment support screw 75, and the other section is a straight cylinder used to house the force sensor support spring 73; the force sensor support spring 73 is partially sleeved on the stepped shaft at the innermost end of the force adjustment support screw 75, and its end face abuts against the shoulder of the stepped shaft; the support stud locking nut 76 and the support screw locking nut 78 are used to lock the force adjustment support stud 77 and the force adjustment support screw 75, respectively. In use, first rotate the force adjustment support stud 77 to move it relative to the fixed block, and the outer end face of the force adjustment support stud 77 abuts against the force sensor pad 72, causing the pressure sensor 74 to contact the inner surface of the thin-walled rotating housing, and locking the support stud lock nut 76; then rotate the force adjustment support screw 75 to move it relative to the force adjustment support stud 77 until the outer end face of the innermost sleeved force sensor support spring 73 abuts against the inner end face of the force sensor pad 72, and locking the support screw lock nut 78.

[0058] Example 1: How to use a spherical thin-walled rotating shell: When the workpiece to be processed is a spherical thin-walled rotary shell, the central column 23 is first fixed at the center of the fixture base 11, and the suction support 21 and hexagonal support 22 are installed on the central column 23, so that the height of the suction support 21 and hexagonal support 22 corresponds to the support height of the inner surface of the spherical thin-walled rotary shell. Subsequently, the main column 31 and auxiliary column 32 are arranged alternately along the outer circumference of the spherical thin-walled rotary shell, and the main column 31 is connected to the central column module 2 through the connecting beam 13 to improve the overall rigidity of the fixture.

[0059] Before placing the spherical thin-walled rotating shell, the lower shell push plate 67 is installed on the outside of the lower connecting plate 61, the middle shell push plate 89 is installed on the outside of the middle connecting plate 81, and the top shell abutment plate 93 is installed on the top of the central column module 2. The outer abutment surfaces of the lower shell push plate 67, the middle shell push plate 89, and the top shell abutment plate 93 are adapted to the inner surface of the spherical thin-walled rotating shell to increase the support contact area and improve clamping stability.

[0060] After the spherical thin-walled rotating shell is placed in position, its rotation center is aligned with the axis of the central column 23. The lower end or auxiliary support leg of the spherical thin-walled rotating shell is initially positioned using the main clamping module on the main column 31 and the auxiliary clamping module on the auxiliary column 32. Specifically, the clamping positioning block 49 is engaged with the corresponding position of the spherical thin-walled rotating shell, the positioning screw A42 defines the position of the spherical thin-walled rotating shell, and the clamping plate 41, the pressure plate threaded rod 44, the pressure plate clamping nut 43, and the clamping spring 410 together provide elastic clamping to the auxiliary support leg of the spherical thin-walled rotating shell. The adjusting support screw A46 provides auxiliary support to the bottom of the lower support module 6.

[0061] Then adjust the suction module 5. The vacuum adsorption support 56 is fixed to the side of the suction support 21 or the hexagonal support 22. The suction push screw 52 is screwed in relative to the linear bearing box slider A55, driving the adsorption head support 51 to move along the vacuum adsorption guide shaft 54 ​​towards the inner surface of the spherical thin-walled rotating housing, so that the suction cup balancer 57 contacts the inner surface of the spherical thin-walled rotating housing. After contact, the suction push locking nut 53 is locked, and negative pressure is applied as needed, so that the suction module 5 simultaneously forms support and adsorption constraint on the inner surface of the spherical thin-walled rotating housing.

[0062] When adjusting the lower support module 6, the screw jack 66 is driven, causing the lower linear bearing base 65 and the lower positioning connector 63 to move the lower push rod 62 and the lower connecting plate 61 outward until the lower push plate 67 of the spherical shell is in contact with the inner surface of the lower layer of the spherical thin-walled rotating shell. During the adjustment process, the guide rod at the bottom of the lower positioning connector 63 moves in the lower linear bearing base 65 to ensure that the lower push plate 67 of the spherical shell is pushed stably in the predetermined direction.

[0063] When adjusting the middle layer support module 8, rotate the middle layer push screw 84 to move it outward relative to the middle layer push support 86, thereby causing the middle layer connecting plate 81 to move along the middle layer guide rod 83 until the spherical shell middle layer push plate 89 is in contact with the inner surface of the middle layer of the spherical thin-walled rotating shell. After adjustment, tighten the middle layer push screw 84 with the middle layer connecting piece locking nut 88 to keep the push position of the middle layer support module 8 stable.

[0064] When adjusting the top support module 9, the top support rod 91 passes through the top abutment plate 93 of the spherical shell and extends upward along the normal direction of the inner surface of the top of the spherical thin-walled rotating shell until the top support rod 91 abuts against the inner surface of the top of the spherical thin-walled rotating shell. After abutting, tighten the wing lock nut 92 to keep the top support rod 91 in the current support position.

[0065] After the spherical thin-walled rotating housing is supported, adjust the force sensor module 7 installed in the middle of the lower push plate 67 of the spherical housing. First, screw in the force adjustment support stud 77, causing the force adjustment support stud 77 to move the force sensor pad 72 and pressure sensor 74 towards the inner surface of the spherical thin-walled rotating housing until the pressure sensor 74 contacts the inner surface of the spherical thin-walled rotating housing and generates a reading; then tighten the support stud locking nut 76. Next, screw in the force adjustment support screw 75, causing the force sensor support spring 73 to apply fine-tuning elastic support to the force sensor pad 72 until the pressure sensor 74 reading stabilizes within the preset range, and then tighten the support screw locking nut 78.

[0066] During the machining of the spherical thin-walled rotary shell, the pressure sensor 74 provides real-time feedback on the clamping force in the corresponding area. When the clamping force deviates, the position of the force sensor module 7 is not changed. Instead, the support and push screw 52, ​​the screw jack 66, the middle push screw 84, or the top support rod 91 are adjusted according to the direction of deviation. This ensures that the lower push plate 67, the middle push plate 89, and the top abutment plate 93 of the spherical shell are stably and re-fitted to the inner surface of the spherical thin-walled rotary shell, thereby maintaining the clamping stability during the machining process of the spherical thin-walled rotary shell.

[0067] Example 2: How to use the conical thin-walled rotating shell: When the workpiece to be processed is a conical thin-walled rotary shell, first determine the circumferential installation position of the column module 3 on the fixture base 11 according to the large end diameter, small end diameter, cone angle and height of the conical thin-walled rotary shell, and adjust the installation height of the suction support 21 and hexagonal support 22 on the central column 23 so that the suction module 5, the lower support module 6, the middle support module 8 and the top support module 9 correspond to different height areas of the inner surface of the conical thin-walled rotary shell.

[0068] Before clamping the conical thin-walled rotary shell, the lower conical shell push plate 64 is installed on the outside of the lower connecting plate 61, the middle conical shell push plate 82 is installed on the outside of the middle connecting plate 81, and the top conical shell abutment plate 94 is installed on the top of the central column module 2. The abutment surfaces of the lower conical shell push plate 64, the middle conical shell push plate 82, and the top conical shell abutment plate 94 are respectively adapted to the inner surface shape at the corresponding height of the conical workpiece.

[0069] After the conical thin-walled rotating housing is placed in position, its axis is aligned with the axis of the central column 23, and the lower auxiliary support leg of the conical thin-walled rotating housing is positioned in the corresponding pressing area of ​​the pressing module 4. The main column 31 and the auxiliary column 32 are arranged circumferentially along the outer side of the conical thin-walled rotating housing. The main pressing module is located at the top of the main column 31, and the auxiliary pressing module is located at the top of the auxiliary column 32. The lower auxiliary support leg of the conical thin-walled rotating housing is limited by the positioning screw A42. The conical thin-walled rotating housing is elastically pressed by the pressing plate 41, the pressing plate threaded rod 44, the pressing plate pressing nut 43, and the pressing spring 410. The bottom of the lower support module 6 is supported by the support screw A46.

[0070] Then adjust the suction module 5. Fix the vacuum adsorption support 56 to the corresponding side of the central column module 2, so that its outer end faces the normal area of ​​the inner surface of the conical thin-walled rotary housing. Rotate the suction push screw 52 to move the adsorption head support 51 outward under the guidance of the vacuum adsorption guide shaft 54 ​​until the suction cup balancer 57 is in contact with the inner surface of the conical thin-walled rotary housing. After contact, tighten the suction push locking nut 53, and connect the negative pressure adsorption according to the processing stability requirements, so that the suction module 5 forms radial support and adsorption constraint on the conical thin-walled rotary housing.

[0071] When adjusting the lower support module 6, the lower linear bearing base 65, lower positioning connector 63, lower push rod 62, and lower connecting plate 61 are pushed towards the inner surface of the conical thin-walled rotary shell by the screw jack 66 until the lower push plate 64 of the conical shell is in contact with the inner surface of the lower layer of the conical thin-walled rotary shell. Since the radius of the conical thin-walled rotary shell changes significantly along the height direction, when adjusting the lower push plate 64 of the conical shell, its contact surface should be in full contact with the inner surface of the conical thin-walled rotary shell at the corresponding height, and care should be taken to avoid contact only at local edge positions.

[0072] When adjusting the middle layer support module 8, rotate the middle layer push screw 84 to move the middle layer connecting plate 81 outward under the guidance of the middle layer guide rod 83 and the linear bearing box slider B85, thereby driving the conical shell middle layer push plate 82 to push against the inner surface of the conical thin-walled rotary shell. After the conical shell middle layer push plate 82 is in contact with the inner surface of the conical thin-walled rotary shell, it is locked by the middle layer connecting locking nut 88 to maintain the support position of the middle layer support module 8 during the processing.

[0073] When adjusting the top support module 9, fix the top abutment plate 94 of the conical shell to the top of the central column module 2, so that it is located below the inner area of ​​the top of the conical thin-walled rotary shell. The top support rod 91 passes through the top abutment plate 94 of the conical shell and extends along the normal direction of the inner surface of the top of the conical thin-walled rotary shell until the top support rod 91 abuts against the inner surface of the conical thin-walled rotary shell; then tighten the wing lock nut 92 to provide stable support to the top area of ​​the conical thin-walled rotary shell.

[0074] After the conical thin-walled rotary housing is supported, adjust the force sensor module 7. First, screw in the force adjustment support stud 77 to move the pressure sensor 74 towards the inner surface of the conical thin-walled rotary housing and generate a contact reading. Then, tighten the support stud locking nut 76. Next, screw in the force adjustment support screw 75 to apply an elastic compensation force to the force sensor pad 72 by the force sensor support spring 73 until the pressure sensor 74 reading stabilizes within the preset range. Finally, tighten the support screw locking nut 78.

[0075] During the machining of the conical thin-walled rotary shell, the pressure sensor 74 monitors the clamping force in real time. When the clamping force changes due to machining load, material removal, or local deformation, the pressure sensor 74 adjusts the support screw 52, ​​the screw jack 66, the middle layer support screw 84, and the top layer support rod 91 based on the deviation between the feedback value and the preset value. This allows the lower layer support plate 64, the middle layer support plate 82, and the top layer support plate 94 to refit the inner surface of the conical thin-walled rotary shell. Through these adjustments, the conical thin-walled rotary shell maintains stable positioning, uniform support, and a monitorable clamping state during machining.

[0076] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, adjustments can be made to the number of modules, installation position, pushing method, abutment plate shape, sensor arrangement, and adsorption structure without departing from the concept of the present invention; all such adjustments should fall within the protection scope of the present invention.

Claims

1. A modular flexible clamp for a thin-walled rotating shell, characterized in that, It includes a base module (1), a central column module (2), a column module (3), a pressing module (4), a support and suction module (5), a lower support module (6), a force sensor module (7), a middle support module (8), and a top support module (9). The base module (1) serves as the basic load-bearing structure of the entire thin-walled rotary shell modular flexible fixture, and is used to support other modules of the thin-walled rotary shell modular flexible fixture; The central column module (2) is fixed to the center of the base module (1) and provides a support point for the installation of the suction module (5), the lower support module (6), the middle support module (8) and the top support module (9); The column module (3) is fixedly installed on the base module (1), and is evenly and equidistantly arranged around the central column module (2). The top is fitted with a clamping module (4). The clamping module (4) is used to clamp the lower end of the thin-walled rotary housing; The aforementioned support module (5), lower support module (6), middle support module (8) and top support module (9) each include several groups, each group is evenly arranged circumferentially, and is used to support the inner surfaces of different positions of the thin-walled rotating shell; The force sensor module (7) is used to detect the force state of the area supporting the thin-walled rotating shell, that is, to detect the clamping force between the inner surface of the thin-walled rotating shell and the support module (5), the lower support module (6), the middle support module (8) and the top support module (9).

2. The modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The central column module (2) includes a connecting beam (13), which is arranged horizontally parallel to the fixture base (11). One end of the beam is connected to the central column module (2), and the other end is connected to the column module (3), which is used to enhance the overall connection rigidity between the base module (1), the central column module (2), and the column module (3).

3. The modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The clamping module (4) includes a main clamping module and an auxiliary clamping module. The top of the column module (3) is provided with a top plate that can be used to install the clamping module (4); the length direction of the top plate is arranged along the radial direction of the thin-walled rotary shell. The main clamping module includes a clamping plate (41), a positioning screw A (42), a clamping nut (43), a threaded rod (44), a clamping bracket (45), a support screw A (46), a support connecting plate (47), a clamping column (48), a clamping positioning block (49), a clamping spring (410), and a positioning screw locking nut A (412); the clamping bracket (45) is fixed to the innermost side of the top plate of the column module (3); the inner top side of the clamping bracket (45) is fixed. The clamping positioning block (49) is adapted to the inner surface of the thin-walled rotary housing at the corresponding position; there are two L-shaped support connecting plates (47), the side plate of each support connecting plate (47) is fixed to the side of the clamping bracket (45), and the line connecting the two support connecting plates (47) is perpendicular to the radial direction of the thin-walled rotary housing; the horizontal plate threaded connection of the support connecting plate (47) is perpendicular to the support connecting plate (47), and the support connecting plate is screwed in by adjusting the support screw A (46). The height of the plate (47) supports the end of the lower support module (6); along the length of the top plate of the column module (3), perpendicular to the top plate, from the inside to the outside, the positioning screw A (42), the pressure plate threaded rod (44), and the pressure plate pressure column (48) are connected in sequence, and locked by the positioning screw lock nut A (412) after adjusting the height of the top plate; the pressure plate (41) is a Z-shaped block, and the lower surface of the upper horizontal plate of the Z-shaped block is placed between the top of the positioning screw A (42). The auxiliary support legs of the thin-walled rotary housing are for the purpose of facilitating the subsequent welding of the clamping function and are not part of the thin-walled rotary housing; the upper end of the pressure plate thread rod (44) passes through the lower horizontal plate of the Z-shaped block and the end is locked by the pressure plate clamping nut (43); a clamping spring (410) is sleeved in the middle of the pressure plate thread rod (44); the upper end of the clamping spring (410) abuts against the lower end face of the lower horizontal plate of the Z-shaped block and the lower end abuts against the upper end face of the positioning screw locking nut A (412); The auxiliary clamping module includes a positioning screw B (413), a support screw B (414), an auxiliary support connecting plate (411), and a positioning screw locking nut B (415). The auxiliary support connecting plate (411) is fixed to the innermost side of the top plate of the column module (3). The support screw B (414) is vertically threaded onto the top horizontal plate of the auxiliary support connecting plate (411). By adjusting the screw height of the support screw B (414), the end of the lower support module (6) is supported. The positioning screw B (413) is threaded onto the outer side of the top plate of the column module (3). After adjusting the screw height of the top plate, it is locked by the positioning screw locking nut B (415). When the column module (3) is divided into a main column (31) and an auxiliary column (32), the main clamping module and the auxiliary clamping module are respectively set on the main column (31) and the auxiliary column (32).

4. The modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The suction module (5) includes a suction head support (51), a suction push screw (52), a suction push locking nut (53), a vacuum suction guide shaft (54), a linear bearing box slider A (55), a vacuum suction support (56), and a suction cup balancer (57). The vacuum suction support (56) has a V-shaped structure, with one end fixed to the side of the central column module (2) and the other end fixed to the linear bearing box slider A (55). After the vacuum suction support (56) is fixed to the central column module (2), the outer axis coincides with the normal direction of the inner surface of the thin-walled rotary shell. Two through holes are provided at both ends of the box-type slider A (55), and a threaded hole is provided in the middle; the bottom end of the support and push screw (52) is screwed through the threaded hole of the linear bearing box-type slider A (55) and locked by the support and push lock nut (53); a vacuum adsorption guide shaft (54) is vertically fixed at both ends of the lower end face of the adsorption head support (51), and a T-shaped groove is opened in the middle. The head of the support and push screw (52) is placed in the T-shaped groove, which can ensure axial positioning with the adsorption head support (51) during its own rotation; a suction cup balancer (57) is fixed on the upper end face of the adsorption head support (51).

5. A modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The lower support module (6) is used to support the lower inner area of ​​the workpiece; it includes a lower connecting plate (61), a lower push rod (62), a lower positioning connector (63), a lower linear bearing base (65), a screw jack (66), a spherical shell lower push plate (67), and a conical shell lower push plate (64); the bottom end of the screw jack (66) is fixed to the side of the central column module (2), and the lifting platform connecting flange of the screw jack (66) is fixed to the bottom surface of the lower linear bearing base (65); the top surface of the lower linear bearing base (65) is sequentially fixed to the lower positioning connector (63), the lower push rod (62), and the lower connecting plate (64). 61) Spherical shell lower push plate (67); The spherical shell lower push plate (67) and the lower connecting plate (61) are detachable and can be replaced with a conical shell lower push plate (64) according to different types of thin-walled rotary shells; A force sensor module (7) is set in the middle of the spherical shell lower push plate (67); There are two lower linear bearing bases (65), both fixed to the side of the central column module (2) and located on both sides of the screw jack (66). Through holes are opened on the outer end face. The guide rods that are vertically fixed at both ends of the bottom surface of the lower positioning connector (63) pass through the through holes and play a guiding role when the screw jack (66) pushes the lower positioning connector (63) to move in and out.

6. A modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The middle layer support module (8) is used to support the middle layer area inside the workpiece; the middle layer support module (8) includes a middle layer connecting plate (81), a middle layer guide rod (83), a middle layer push screw (84), a linear bearing box slider B (85), a middle layer push support (86), a middle layer positioning connector (87), a middle layer connector locking nut (88), a spherical shell middle layer push plate (89), and a conical shell middle layer push plate (82); one end of the middle layer push support (86) is fixed to the side of the central column module (2), and the other end is fixedly connected to two linear bearing box sliders B (85) through the middle layer positioning connector (87), and the linear bearing box sliders B (85) have through holes; the middle layer guide rod is vertically fixed at both ends of the inner side of the middle layer connecting plate (81). The guide rod (83) passes through the through hole of the linear bearing box slider B (85), and the through hole serves as a guide. A T-shaped groove is opened in the middle of the inner side of the middle layer connecting plate (81), and the head of the middle layer push screw (84) is placed in the T-shaped groove, which can ensure axial positioning with the middle layer connecting plate (81) during its own rotation. The bottom end of the middle layer push screw (84) is threadedly connected to the threaded hole opened at the outer end of the middle layer push support (86). The degree of outward push of the spherical shell middle layer push plate (89) or the conical shell middle layer push plate (82) is adjusted by adjusting the depth of screwing. After adjustment, it is locked by the middle layer connecting piece locking nut (88). The spherical shell middle layer push plate (89) or the conical shell middle layer push plate (82) is detachably fixed to the outer side of the middle layer connecting plate (81).

7. A modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The top support module (9) is used to support the top of the inner side of the workpiece; the top support module (9) includes a top support rod (91), a butterfly locking nut (92), a spherical shell top abutment plate (93) and a conical shell top abutment plate (94); the spherical shell top abutment plate (93) or the conical shell top abutment plate (94) is fixed to the top of the central column module (2) and located below the top area of ​​the inner side of the thin-walled rotary shell; the top support rod (91) passes through the spherical shell top abutment plate (93) or the conical shell top abutment plate (94) from top to bottom, and the top extends along the normal direction of the top of the thin-walled rotary shell to abut against the inner surface of the thin-walled rotary shell. The bottom is provided with an external thread and is threaded to the butterfly locking nut (92). The butterfly locking nut (92) is used to lock after the top support rod (91) is adjusted to the abutment position, thereby providing positioning and support for the top of the thin-walled rotary shell.

8. A modular flexible clamp for a thin-walled rotating shell according to claim 1, characterized in that, The force sensor module (7) includes a guide positioning pin (71), a force sensor pad (72), a force sensor support spring (73), a pressure sensor (74), a force adjustment support screw (75), a support stud lock nut (76), a force adjustment support stud (77), and a support screw lock nut (78); a fixing block is fixedly installed in the middle of the lower push plate (67) of the spherical shell as a support for the installation of the force sensor module (7); guides are vertically fixed at both ends of the inner side of the force sensor pad (72). The positioning pin (71) is adapted to the through holes at both ends of the fixing block to guide the axial movement of the force sensor pad (72); the pressure sensor (74) is fixed on the outer side of the force sensor pad (72); the outermost end of the force adjustment support screw (75) is a screw head, and the innermost end is a stepped shaft; the force adjustment support stud (77) is provided with external threads, which are connected to the internal threads of the fixing block of the lower push plate (67) of the spherical shell; the force adjustment support stud (77) is divided into two sections, one of which is provided with internal threads and is connected to the force adjustment support. The screw (75) has an external thread connection, and the other end is a straight cylinder used to house the force sensor support spring (73); the force sensor support spring (73) is partially sleeved on the stepped shaft at the innermost end of the force adjustment support screw (75), and its end face abuts against the shoulder of the stepped shaft; the support stud lock nut (76) and the support screw lock nut (78) are used to lock the force adjustment support stud (77) and the force adjustment support screw (75) respectively; in use, first rotate the force adjustment support stud (77) so that the force adjustment support screw The column (77) moves relative to the fixed block, and its outer end face abuts against the force sensor pad (72), causing the pressure sensor (74) to contact the inner surface of the thin-walled rotating housing, and locking the support stud lock nut (76); then rotate the force adjustment support screw (75) so that the force adjustment support screw (75) moves relative to the force adjustment support stud (77) until the outer end face of the innermost sleeved force sensor support spring (73) abuts against the inner end face of the force sensor pad (72), and locking the support screw lock nut (78).

9. A method for monitoring conformal clamping force using a modular flexible clamping fixture with a thin-walled rotating shell as described in any one of claims 1-8, characterized in that, The steps are as follows: Before clamping, the central column module (2) is installed in the central area of ​​the base module (1), so that the central column module (2) serves as the installation reference for the suction module (5), the lower support module (6), the middle support module (8), and the top support module (9); according to the outer contour and clamping position of the thin-walled rotary shell, several column modules (3) are arranged circumferentially on the base module (1), and the column modules (3) form an outer support frame around the central column module (2); then, the clamping module (4) is installed on the column module (3), so that the clamping module (4) is located in the corresponding clamping area at the lower end of the thin-walled rotary shell; When placing the thin-walled rotary housing, place the thin-walled rotary housing to be processed within the clamping area defined by the base module (1) and the central column module (2), and make the rotation center of the thin-walled rotary housing coincide with the axis of the central column module (2); by adjusting the position of the column module (3) and the clamping module (4), the lower end of the thin-walled rotary housing is in a clampable state, while ensuring that the outer side of the thin-walled rotary housing does not interfere with the column module (3); After the thin-walled rotating shell is initially positioned, the suction module (5), the lower support module (6), the middle support module (8), and the top support module (9) are adjusted in sequence. The suction module (5) is pushed outward along the normal direction of the inner surface of the thin-walled rotating shell so that it contacts the inner surface of the thin-walled rotating shell and forms an adsorption constraint on the inner surface of the thin-walled rotating shell. The lower support module (6) is pushed towards the lower inner surface of the thin-walled rotating shell, the middle support module (8) is pushed towards the middle inner surface of the thin-walled rotating shell, and the top support module (9) is attached to the top inner surface of the thin-walled rotating shell, thereby forming a multi-region and multi-height support state on the inner side of the thin-walled rotating shell. After the initial fitting of each support module, adjust the clamping module (4) so ​​that the clamping module (4) applies a clamping action to the lower end of the thin-walled rotary shell; during the clamping process, the thin-walled rotary shell should first be in a stable positioning state, and then the clamping force should be gradually increased to avoid local deformation caused by one-time clamping; after the clamping is completed, check the fitting status of the suction module (5), the lower support module (6), the middle support module (8) and the top support module (9) with the inner surface of the thin-walled rotary shell again, and make fine adjustments according to the changes in the posture of the thin-walled rotary shell; After the basic clamping of the thin-walled rotary shell is completed, the force sensor module (7) is adjusted so that the force sensor module (7) keeps in conformal contact with the inner surface of the thin-walled rotary shell and the initial clamping force value is read. If the clamping force fed back by the force sensor module (7) does not reach the preset range, the pushing state of the lower support module (6), the middle support module (8) and the top support module (9) are adjusted so that the support force of the inner surface of the thin-walled rotary shell gradually approaches the preset value. If necessary, the pushing state of the suction module (5) is adjusted to make the force on the inner surface of the thin-walled rotary shell more uniform. During the processing, the clamping force data of the thin-walled rotary shell is continuously acquired by the force sensor module (7), and the real-time clamping force data is compared with the preset clamping force range. When the real-time clamping force data is within the preset clamping force range, the current state of the support module (5), the lower support module (6), the middle support module (8), and the top support module (9) is maintained. When the real-time clamping force data is lower than the preset clamping force range, it indicates that the corresponding support area is not properly fitted. At this time, the corresponding support module is adjusted to push towards the inner surface of the thin-walled rotary shell. When the real-time clamping force is higher than the preset clamping force range, it indicates that the corresponding support area may be over-tightened. At this time, the pushing amount of the corresponding support module is appropriately reduced. After each processing cycle, the clamping force change fed back by the force sensor module (7) is recorded, and the preset clamping force range for the next processing cycle is determined based on the clamping force change trend. During subsequent adjustments, the position of the force sensor module (7) is kept unchanged. By adjusting the support state of the suction module (5), the lower support module (6), the middle support module (8), and the top support module (9), the clamping force of the thin-walled rotary shell is stabilized again within the new preset clamping force range, thereby realizing real-time monitoring and dynamic adjustment of the clamping state of the thin-walled rotary shell.

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