An automatic hammering texturing device and method of using the same

Abstract

The application provides an automatic hammering texturing device and a use method thereof, and relates to the technical field of metal surface processing. The device comprises a rack, a rotating execution mechanism, a rocker arm driving mechanism, a workpiece clamp, a rocker arm driving mechanism and a central controller. The rotating execution mechanism comprises a three-arm rotating frame, a servo motor for driving the three-arm rotating frame to rotate, and three hammering heads connected to the arm ends of the three-arm rotating frame. The application has the beneficial effect that the central controller synchronously controls the rotating movement of the three-arm rotating frame and the feeding movement of the workpiece clamp according to a preset path, so that the hammering heads and the workpiece produce relative displacement, the three-arm rotating frame triggers intermittent hammering of a preset number of times every rotation, and the servo motor output torque is adjusted in real time to maintain the hammering depth constant by receiving hammering force feedback signals, thereby converting the randomness of traditional manual hammering into automatic and programmed collaborative processing.

Description

Technical Field

[0001] This invention relates to the field of metal surface processing technology, and in particular to an automatic hammering processing device and its usage method. Background Technology

[0002] Hammered finish is a traditional metal surface decoration technique that creates unique raised and recessed textures by regularly hammering the metal surface. It is widely used in handicrafts, jewelry, utensils, and high-end decorative panels.

[0003] Traditional hammer-marking relies entirely on manual operation, with craftsmen using hammers to shape the marks point by point based on experience. This method has the following technical limitations: 1) Extremely low processing efficiency, with large workpieces or mass production taking a huge amount of time; 2) Poor consistency of the marks, as the hammering force, angle, and spacing depend on the craftsman's feel, making it difficult to guarantee uniformity; 3) High labor intensity, with long-term operation easily leading to craftsman fatigue and affecting quality stability; 4) Complex curved surfaces are difficult to process, as it is difficult to maintain a constant hammering posture on irregular surfaces by hand.

[0004] In recent years, although some automated stamping equipment has attempted to replace manual stamping, most existing equipment uses a simple vertical stamping method, which cannot simulate the natural texture effect of manual hammering. Furthermore, it cannot adaptively adjust the hammering angle and force according to the shape of the workpiece, resulting in hard textures that lack a sense of layering. On the other hand, CNC engraving machines are used to cut and shape the metal with cutting tools, which is essentially a material reduction manufacturing process and cannot achieve the dense metal layer and natural texture effect brought about by hammering. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide an automatic hammering texture processing device and its method of use, which solves the problem that existing automatic processing equipment is difficult to simulate the natural texture effect of manual hammering.

[0006] An embodiment of the present invention provides an automatic hammering texture processing device, comprising: The machine includes a frame, a rotary actuator, a rocker arm drive mechanism, a workpiece fixture, a rocker arm drive mechanism, and a central controller. The rotary actuator includes a three-arm rotary frame, a servo motor for driving the three-arm rotary frame to rotate, and three hammer heads connected to the arm ends of the three-arm rotary frame. Each hammer head is suspended and connected to the arm end of the three-arm rotary frame by an elastic tension element. The rocker arm drive mechanism can drive the hammer head to move relative to the workpiece; The central controller is electrically connected to the drive unit of the servo motor, the rotary actuator, and the workpiece fixture, respectively, and the central controller is configured to execute the following control logic: The rotation of the three-arm rotating frame and the feed motion of the workpiece fixture are synchronously controlled according to a preset path, so that the hammer head and the workpiece generate relative displacement. The three-arm rotating frame is controlled to rotate once, triggering the hammer head to perform a preset number of intermittent hammer blows on the workpiece; The system receives hammer impact force feedback signals and adjusts the output torque of the servo motor in real time based on these signals to maintain a constant hammer impact depth.

[0007] Furthermore, the three-arm rotating frame includes a rocker arm body and three rotating arms. The three rotating arms are connected to the rocker arm body at an angle of °. Each rotating arm has a quick-change connector at its end, and the hammer head is detachably connected to the rotating arm through the quick-change connector.

[0008] Furthermore, the hammerhead includes at least one of a spherical hammerhead, a conical hammerhead, or a flat-head hammerhead.

[0009] Furthermore, the workpiece fixture includes a lead screw slide and a clamp mounted on the lead screw slide. The lead screw slide is used to carry the planar workpiece and drive it to move in the horizontal plane along the preset path. The central controller synchronously controls the horizontal sliding speed of the lead screw slide and the rotational movement of the three-arm rotating frame.

[0010] Furthermore, the workpiece positioning mechanism includes an adjusting clamping component, a rotary drive component, and a chuck-type chuck mounted on the rotary drive component. The chuck-type chuck and the adjusting clamping component are used to clamp a circular workpiece. The central controller synchronously controls the rotational speed of the rotary drive component and the rotational movement of the three-arm rotating frame.

[0011] Furthermore, it also includes a pressure sensor, which is disposed on the fixture of the hammer head or the workpiece positioning mechanism. The pressure sensor is electrically connected to the central controller and is used to transmit the collected hammer force feedback signal to the central controller.

[0012] Furthermore, the frame includes a base, a lifting adjustment frame, and an upper platform. The lifting adjustment frame is disposed on the upper side of the upper platform. The rocker arm drive mechanism includes a mounting bracket and a lateral movement module. The mounting bracket is vertically slidably connected to the lifting adjustment frame and can be fixed at any height relative to the lifting adjustment frame. The servo motor is mounted on the mounting bracket through the lateral movement module so that the position of the servo motor can be adjusted laterally.

[0013] A method of using an automatic hammer-marking processing device includes the following steps: S1: Input the processing parameters to the central controller. The processing parameters include at least the workpiece model information, the target hammer mark density, the target hammer depth, and the rotation speed of the rotating frame. S2: The central controller generates a synchronous motion trajectory of the rotation cycle of the rotating frame and the workpiece feed speed based on the target hammer mark density and workpiece model information. S3: According to the synchronous motion trajectory, drive the three-arm rotating frame to rotate and move relative to the workpiece. Through timing control, when the hammer head reaches the hammering position, the point to be hammered on the workpiece is exactly below the hammer head. S4: Real-time acquisition of hammer force feedback value, comparison of actual hammer force with target hammer force determined according to the target hammer depth, and adjustment of the output torque of the servo motor according to the comparison result to keep the hammer depth constant; S5: Determine whether the workpiece has completed the preset path. If it has not completed the path, return to S3 to continue processing. If it has completed the path, stop all actions and the processing ends.

[0014] Further, in step S2, the central controller calculates the spatial distribution of hammer impact points based on the target hammer impact density, and generates a synchronous motion trajectory of the rotation cycle of the three-arm rotating frame and the workpiece feed speed, so as to establish a spatiotemporal correspondence between the hammer head swinging to the lowest point and the workpiece to be hammered point.

[0015] Furthermore, in step S4, the central controller compares the actual hammering force with the target hammering force. When the actual hammering force is less than the target hammering force, the output torque of the servo motor is increased; when the actual hammering force is greater than the target hammering force, the output torque of the servo motor is decreased.

[0016] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: The automatic hammering texture processing device and its method of use of the present invention, through a central controller, synchronously controls the rotational motion of the three-arm rotating frame and the feed motion of the workpiece fixture according to a preset path, so that the hammer head and the workpiece generate relative displacement. At the same time, it controls the three-arm rotating frame to trigger a preset number of intermittent hammerings every one revolution, and receives hammering force feedback signals to adjust the output torque of the servo motor in real time to maintain a constant hammering depth. This transforms the random operation of traditional manual hammering into automated and programmed collaborative processing, significantly improving processing efficiency and reducing labor intensity; through closed-loop force adjustment and precise timing... The control ensures the consistency of hammering depth and impact point, solving the problem of poor texture uniformity in manual processing. Through the multi-degree-of-freedom relative motion coordination between the rotary actuator and the workpiece fixture, it can adapt to the surface processing needs of workpieces with different shapes, overcoming the limitation of manual operation in maintaining a constant hammering posture on complex curved surfaces. At the same time, by using an elastic tension element to drive the hammer head to swing and hammer, it simulates the natural angle and force changes of manual hammering, avoiding the hard texture and lack of layering caused by vertical stamping, and retaining the characteristic of hammering process to produce a dense layer on the metal surface, overcoming the defect that CNC engraving and subtractive manufacturing cannot achieve a dense layer on the metal.

[0017] This invention features a three-arm rotating frame comprising a rocker arm body and three rotating arms connected circumferentially to the rocker arm body at 120° angles. Quick-change joints at the ends of the rotating arms allow for detachable connection of the hammer heads, enabling the three hammer heads to intermittently hammer the workpiece sequentially during rotation. This ensures the continuity and rhythm of the hammering action, with three hammer blows per revolution, perfectly matching the three-arm structure and achieving a balance between texture density and processing efficiency. The quick-change joints facilitate rapid replacement of hammer heads according to texture requirements, improving the device's flexible production capabilities. Furthermore, by configuring hammer heads of various shapes such as spherical, conical, or flat, the same device can process hammer marks of different forms, enriching the diversity of texture effects and meeting the needs of different decorative styles. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the automatic hammering texture processing device and its usage method of the present invention; Figure 2 This is the present invention. Figure 1 Enlarged view of the structure at point A in the middle; Figure 3 This is a schematic diagram of the overall structure of the second embodiment in a specific implementation of the present invention; Figure 4 This is the present invention. Figure 3 Enlarged view of the structure at point B; Figure 5This is a flowchart of the automatic hammering texture processing device and its usage method according to the present invention.

[0019] In the diagram: 1. Lifting and adjusting frame; 2. Rotating arm; 3. Flat workpiece slide rail; 4. Machine base; 5. Servo motor; 6. Lead screw slide; 7. Slide transmission lead screw; 8. Upper platform of the base; 9. Lateral movement module; 10. Mounting bracket; 11. Height adjustment scale; 12. Quick-change connector; 13. Elastic tension element; 14. Hammer head; 15. Hammer marks on flat workpiece; 16. Length indicator; 17. Adjusting bolt; 18. Anti-loosening bolt; 19. Rocker arm body; 20. Chuck-type chuck; 21. Rotary drive component; 22. Adjusting clamping component; 23. Hammer marks on circular workpiece. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of the various possible embodiments of the present invention, intended to provide a basic understanding of the invention, but not intended to identify key or decisive elements of the invention or to limit the scope of protection sought.

[0021] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0022] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0024] In the description of this invention, it should be noted that the circuits, electronic components and modules involved in this invention are all prior art, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve improvements to the internal structure and method.

[0025] It should be further noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Please refer to Figure 1 An embodiment of the present invention provides an automatic hammering processing device, including a frame, a rotary actuator, a rocker arm drive mechanism, a workpiece fixture, and a central controller.

[0027] The frame includes a base 4, a lifting and adjusting frame 1, and an upper platform 8. The base 4 houses an electrical distribution box for storing electrical control components and wiring. The upper platform 8 is located on top of the base 4, forming the foundation support surface of the device. The lifting and adjusting frame 1 is vertically positioned on one side of the upper platform 8, and is equipped with a height adjustment scale 11 to indicate the vertical height position.

[0028] Furthermore, the rotary actuator includes a three-arm rotary frame, a servo motor 5 for driving the rotation of the three-arm rotary frame, and three hammer heads 14 connected to the ends of the three-arm rotary frames. The three-arm rotary frame includes a rocker arm body 19 and three rotating arms 2.

[0029] Three rotating arms 2 are connected to the rocker arm body 19 at a 120° angle to each other, forming a triangular distribution structure. Each rotating arm 2 has a quick-change connector 12 at its end, and each hammer head 14 is detachably connected to the rotating arm 2 through the quick-change connector 12, which facilitates quick replacement according to texture requirements or wear conditions.

[0030] More specifically, the rocker arm body 19 is connected by the output shaft of the servo motor 5, and the surface of the rocker arm body 19 is provided with multiple anti-disengagement bolts 18 to stably connect the rocker arm body 19 to the spindle of the servo motor 5. Please refer to Figure 1 Each rotating arm 2 consists of a telescopic female rod fixed to the circumference of the rocker arm body 19 and a telescopic male rod slidably connected to the telescopic female rod. The telescopic male rod can be adjusted to extend a certain length relative to the telescopic female rod (i.e. relative to the rocker arm body 19) to change the radius of the rotating swing of the hammer head 14.

[0031] It is understandable that an adjusting bolt 17 is provided on the outside of the telescopic female rod of the rotating arm 2. The adjusting bolt 17 is threadedly connected to the telescopic female rod and can extend into the telescopic female rod to abut against the telescopic male rod. This is used to prevent the telescopic male rod from falling off and to fix the position of the telescopic male rod after adjustment. The quick-connect coupling 12 is integrally connected to the end of the telescopic male rod away from the telescopic female rod, or is bolted to it.

[0032] It should be noted that a length indicator 16 is also provided on the outside of the telescopic female rod of the rotating arm to determine the length of the telescopic male rod relative to the telescopic female rod for extension adjustment.

[0033] Please refer to Figure 2 More specifically, each hammerhead 14 is suspended from the end of the arm of the three-arm rotating frame via an elastic tension element 13. The elastic tension element 13 is a steel wire rope, one end of which is connected to the rotating arm 2 or the quick-change connector 12, and the other end is connected to the hammerhead 14, so that the hammerhead 14 hangs naturally under the action of gravity and maintains a stable hammering posture, while providing elastic cushioning when the hammer hits the workpiece, avoiding rigid impact damage to the workpiece surface.

[0034] In a specific embodiment, the wire rope is selected with a diameter of 6-8mm and a length of 55mm-85mm; the structure is 6x19s, consisting of 6 strands, each strand with 19 fine steel wires, and the material grade is 70# or 82B high carbon steel, galvanized; the connection to the hammer head end is by welding or integral casting.

[0035] Please refer to this. Figure 2 The hammer head 14 includes at least one of a spherical hammer head, a conical hammer head, or a flat-head hammer head. Hammer heads 14 with different head shapes can form hammer indentations of different shapes on the workpiece surface, thereby obtaining different texture effects.

[0036] For example, a spherical hammerhead can create a rounded indentation, a conical hammerhead can create a sharp star-like texture, and a flat-headed hammerhead can create a shallower, sheet-like indentation.

[0037] It should be noted that the rocker arm drive mechanism is used to mount the rotary actuator and adjust the spatial position of the rotary actuator to drive the hammer head 14 to move relative to the workpiece. The rocker arm drive mechanism includes a mounting bracket 10 and a lateral movement module 9. The mounting bracket 10 is vertically slidably connected to the lifting adjustment frame 1 and can be fixed at any height relative to the lifting adjustment frame 1 by a locking mechanism, thereby realizing the adjustment of the overall height of the three-arm rotary frame to accommodate workpieces of different thicknesses or heights.

[0038] It is understandable that the lifting adjustment frame 1 has multiple preset holes at equal intervals along its height direction (vertical direction), and the mounting bracket 10 has multiple positioning shafts passing through both ends. Each positioning shaft is pre-tightened with a nut. The mounting bracket 10 passes through the preset holes at a predetermined height through the positioning shafts at both ends and is pre-tightened with nuts, so that the mounting bracket 10 can be adjusted to its height position along the height direction of the lifting adjustment frame 1 before the device is operated, and fixed at that height position, so as to ensure that the hammer head 14 under rotation and swing can contact the workpiece surface exactly.

[0039] Furthermore, the servo motor 5 is mounted on the mounting bracket 10 via the lateral movement module 9. The lateral movement module 9 can drive the servo motor 5 and the three-arm rotating frame to adjust their positions in the horizontal direction, thereby adjusting the horizontal working position of the hammer head 14 relative to the workpiece.

[0040] Specifically, the lateral movement module 9 includes a drive motor, a lead screw, and a slider. The drive motor is hidden inside one end of the mounting bracket 10 (not shown in the figure). The lead screw is set along the length of the mounting bracket 10 and is fixedly connected to the output end of the drive motor, and can rotate under the drive of the drive motor. The slider is threadedly connected to the lead screw and slidably connected relative to the mounting bracket 10. Under the rotation of the lead screw, it can slide along the outside of the mounting bracket 10 (i.e., in the horizontal direction). The servo motor 5 is fixedly connected to the outside of the slider to adjust its spatial position horizontally relative to the mounting bracket 10.

[0041] Depending on the shape of the workpiece, the workpiece fixture can be implemented in the following two ways: Example 1: Planar workpiece machining device like Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the workpiece fixture includes a lead screw slide 6 disposed on the upper platform 8 of the base, and a fixture is installed on the lead screw slide 6 for fixing a flat metal workpiece, such as a copper plate, aluminum plate, stainless steel plate or other gold or silver precious metal plates.

[0042] The lead screw slide 6 and the transverse movement module 9 have the same structure, including a flat workpiece slide guide rail 3, a slide drive lead screw 7, and its corresponding drive motor. Driven by the corresponding drive motor, the slide drive lead screw 7 drives the lead screw slide 6 to move along the flat workpiece slide guide rail 3 in the horizontal plane according to a preset path. The central controller synchronously controls the feed speed of the slide drive lead screw 7 and the transverse movement module 9, as well as the rotational motion of the three-arm rotating frame, so as to generate a precise relative displacement between the hammer head 14 and the flat workpiece, so as to process the hammer marks 15 on the flat workpiece.

[0043] Example 2: Circular workpiece processing device like Figure 3 and Figure 4As shown, in another embodiment of the present invention, the workpiece fixture includes an adjusting clamping member 22, a rotary drive member 21, and a chuck-type collet 20 mounted on the rotary drive member 21. The chuck-type collet 20 cooperates with the adjusting clamping member 22 to clamp and fix a circular metal workpiece, such as a round tube, cylinder, or cup.

[0044] The rotary drive component 21 is a workpiece rotation servo motor used to drive the chuck-type chuck 20 and the circular workpiece to rotate around its own axis. The central controller synchronously controls the rotation speed of the rotary drive component 21 and the rotational movement of the three-arm rotating frame to process the hammer marks 23 on the circular workpiece, ensuring that the hammer marks are evenly distributed along the circumference without any missed or overlapping unevenness.

[0045] In this embodiment, the device further includes a pressure sensor, which is mounted on the hammer head 14 or the fixture of the workpiece positioning mechanism and is electrically connected to the central controller. During the hammering process, the pressure sensor collects the hammering force feedback signal in real time and transmits the hammering force feedback signal to the central controller, providing a data basis for closed-loop force adjustment.

[0046] It is understandable that the central controller is electrically connected to the servo motor 5, the rotary actuator, and the drive unit of the workpiece fixture. The central controller, using a PLC or industrial computer, has a built-in synchronous control algorithm and is configured to execute the following control logic: The rotation of the three-arm rotating frame and the feed motion of the workpiece fixture are synchronously controlled according to the preset path, so that the hammer head 14 and the workpiece are relatively displaced. The control mechanism triggers the hammer head 14 to intermittently hammer the workpiece a preset number of times for each rotation of the three-arm rotating frame. In a preferred embodiment of the present invention, the preset number of times is three, that is, the three rotating arms 2 of the three-arm rotating frame perform three hammer blows on the workpiece for each rotation. It receives the hammer force feedback signal transmitted by the pressure sensor and adjusts the output torque of the servo motor 5 in real time according to the hammer force feedback signal to maintain a constant hammer depth.

[0047] The present invention also provides a method of using the above-mentioned automatic hammering processing device, please refer to the following: Figure 5 This includes the following steps: S1: Parameter Setting. The operator inputs processing parameters to the central controller through the human-machine interface. Processing parameters include at least the workpiece model information, target hammer mark density, target hammer mark depth, and rotary table rotation speed. The workpiece model information can be 3D model data or 2D contour data; the target hammer mark density is defined as the number of hammer marks per unit area; the target hammer mark depth is set according to material properties and texture effect requirements; and the rotary table rotation speed is set according to processing efficiency and texture quality requirements.

[0048] S2: Path Planning. The central controller calculates the spatial distribution of hammer impact points based on the target hammer impact density and workpiece model information. Specifically, the central controller converts the target hammer impact density into a coordinate matrix of hammer impact points, and combines the workpiece geometry and the kinematic model of the three-arm rotating frame to generate a synchronous motion trajectory of the rotation period of the three-arm rotating frame and the workpiece feed speed. The synchronous motion trajectory establishes a spatiotemporal correspondence between the hammer head 14 when it swings to its lowest point and the point on the workpiece to be hammered, ensuring that at any given moment of hammering, the target hammer impact point on the workpiece is exactly below the corresponding hammer head 14.

[0049] S3: Coordinated Action. Following the synchronized motion trajectory, the central controller simultaneously sends motion commands to the servo motor 5 and the workpiece fixture's drive unit, driving the three-arm rotating frame to rotate and causing relative movement of the workpiece. During this process, the central controller, through precise timing control, ensures that when the hammer head 14 reaches the hammering position (i.e., swings to its lowest point), the workpiece's hammering point is precisely below the hammer head 14, achieving precise impact. Because the three-arm rotating frame has three rotating arms 2 at 120° intervals, as the frame rotates continuously, the three hammer heads 14 sequentially hammer the workpiece.

[0050] S4: Force Closed-Loop Adjustment. During the hammering process, the pressure sensor collects the hammering force feedback value in real time and transmits it to the central controller. The central controller compares the actual hammering force with the target hammering force determined based on the target hammering depth. When the actual hammering force is less than the target hammering force, it indicates that the current hammering depth is insufficient. The central controller increases the output torque of the servo motor 5, enabling the three-arm rotating frame to obtain greater rotational kinetic energy in the next hammering cycle, thereby increasing the hammering force of the next hammer blow. When the actual hammering force is greater than the target hammering force, it indicates that the current hammering depth is too deep. The central controller reduces the output torque of the servo motor 5 to reduce the hammering force of the next hammer blow. Through this closed-loop adjustment, the hammering depth is ensured to remain constant throughout the entire processing, adapting to changes in material hardness or workpiece surface undulations.

[0051] S5: Loop Judgment. The central controller determines in real time whether the workpiece has completed the preset path. If the workpiece has not completed the preset path, it returns to step S3 to continue executing the coordinated action and force closed-loop adjustment; if the workpiece has completed the preset path, the central controller controls the servo motor 5 and the drive unit of the workpiece fixture to stop all actions, and the processing ends.

[0052] During operation, the operator first selects the appropriate fixture based on the workpiece type. For flat workpieces, they are clamped onto the fixture of the lead screw slide 6; for round workpieces, they are clamped between the chuck 20 and the adjusting clamping member 22. The operator adjusts the height of the mounting bracket 10 using the lifting adjustment frame 1 according to the workpiece thickness, and uses the height adjustment scale 11 to maintain an appropriate distance between the hammer head 14 and the workpiece surface. The horizontal working position of the hammer head 14 is then adjusted using the lateral movement module 9. Simultaneously, the effective length of the rotating arm 2 can be adjusted using the length indicator 16 and the adjusting bolt 17 to accommodate different processing ranges.

[0053] After the equipment is started, the central controller executes the control program according to steps S1 to S5. The three-arm rotating frame rotates continuously under the drive of the servo motor 5, and the three hammer heads 14 oscillate around the rotation center under the traction of the elastic tension element 13. When any hammer head 14 swings to its lowest point, under the timing control of the central controller, the target hammering point on the workpiece moves precisely below that hammer head 14. The hammer head 14, under the combined action of its own gravity and centrifugal force, hammers the workpiece surface, forming a dent. As the rotating frame continues to rotate and the workpiece is fed, the hammering points are orderly distributed on the workpiece surface according to a preset path, forming a continuous hammering texture.

[0054] In this document, the directional terms such as front, back, top, and bottom are defined based on the location of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on the method of use and placement; the use of directional terms should not limit the scope of protection claimed in this application.

[0055] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic hammering texture processing device, characterized in that, include: The machine includes a frame, a rotary actuator, a rocker arm drive mechanism, a workpiece fixture, a rocker arm drive mechanism, and a central controller. The rotary actuator includes a three-arm rotary frame, a servo motor (5) for driving the three-arm rotary frame to rotate, and three hammer heads (14) connected to the arm ends of the three-arm rotary frame. Each hammer head (14) is suspended and connected to the arm end of the three-arm rotary frame by an elastic tension element (13). The rocker arm drive mechanism can drive the hammer head (14) to move relative to the workpiece; The central controller is electrically connected to the servo motor (5), the rotary actuator, and the drive unit of the workpiece fixture, respectively. The central controller is configured to execute the following control logic: The rotation of the three-arm rotating frame and the feed motion of the workpiece fixture are synchronously controlled according to the preset path, so that the hammer head (14) and the workpiece generate relative displacement. The three-arm rotating frame is controlled to rotate once, triggering the hammer head (14) to perform a preset number of intermittent hammer blows on the workpiece; The system receives the hammer impact force feedback signal and adjusts the output torque of the servo motor (5) in real time according to the hammer impact force feedback signal to maintain a constant hammer impact depth.

2. The automatic hammering texture processing device as described in claim 1, characterized in that: The three-arm rotating frame includes a rocker arm body (19) and three rotating arms (2). The three rotating arms (2) are connected to the rocker arm body (19) at a 120° angle to each other. Each rotating arm (2) has a quick-change connector (12) at its end. The hammer head (14) is detachably connected to the rotating arm through the quick-change connector (12).

3. The automatic hammering texture processing device as described in claim 1, characterized in that: The hammerhead (14) includes at least one of a spherical hammerhead, a conical hammerhead, or a flat-head hammerhead.

4. The automatic hammering texture processing device as described in claims 1-3, characterized in that: The workpiece fixture includes a lead screw slide (6) and a clamp mounted on the lead screw slide (6). The lead screw slide (6) is used to carry the planar workpiece and drive it to move in the horizontal plane according to the preset path. The central controller synchronously controls the horizontal sliding speed of the lead screw slide (6) and the rotational movement of the three-arm rotating frame.

5. The automatic hammering texture processing device as described in claims 1-3, characterized in that: The workpiece positioning mechanism includes an adjusting clamping component (22), a rotary drive component (21), and a chuck-type chuck (20) mounted on the rotary drive component (21). The chuck-type chuck (20) and the adjusting clamping component (22) are used to clamp a circular workpiece. The central controller synchronously controls the rotation speed of the rotary drive component (21) and the rotational movement of the three-arm rotating frame.

6. The automatic hammering texture processing device as described in claim 1, characterized in that: It also includes a pressure sensor, which is disposed on the hammer head (14) or the fixture of the workpiece positioning mechanism. The pressure sensor is electrically connected to the central controller and is used to transmit the collected hammer force feedback signal to the central controller.

7. The automatic hammering texture processing device as described in claim 1, characterized in that: The frame includes a base (4), a lifting adjustment frame (1) and an upper platform (8). The lifting adjustment frame (1) is located on the upper side of the upper platform (8). The rocker arm drive mechanism includes a mounting bracket (10) and a lateral movement module (9). The mounting bracket (10) is vertically slidably connected to the lifting adjustment frame (1) and can be fixed at any height relative to the lifting adjustment frame (1). The servo motor (5) is mounted on the mounting bracket (10) through the lateral movement module (9) so that the position of the servo motor (5) can be adjusted laterally.

8. A method of using an automatic hammer-marking processing device, comprising using the processing device as described in claims 1-7, characterized in that, Includes the following steps: S1: Input the processing parameters to the central controller. The processing parameters include at least the workpiece model information, the target hammer mark density, the target hammer depth, and the rotation speed of the rotating frame. S2: The central controller generates a synchronous motion trajectory of the rotation cycle of the rotating frame and the workpiece feed speed based on the target hammer mark density and workpiece model information. S3: According to the synchronous motion trajectory, drive the three-arm rotating frame to rotate and move relative to the workpiece. Through timing control, when the hammer head reaches the hammering position, the point to be hammered on the workpiece is exactly below the hammer head. S4: Real-time acquisition of hammer force feedback value, comparison of actual hammer force with target hammer force determined according to the target hammer depth, and adjustment of the output torque of the servo motor according to the comparison result to keep the hammer depth constant; S5: Determine whether the workpiece has completed the preset path. If it has not completed the path, return to S3 to continue processing. If it has completed the path, stop all actions and the processing ends.

9. The method of using the automatic hammering texture processing device according to claim 8, characterized in that: In step S2, the central controller calculates the spatial distribution of hammer impact points based on the target hammer impact density, and generates a synchronous motion trajectory of the rotation cycle of the three-arm rotating frame and the workpiece feed speed, so as to establish a spatiotemporal correspondence between the hammer head swinging to the lowest point and the workpiece to be hammered point.

10. The method of using the automatic hammering processing device according to claim 8, characterized in that: In step S4, the central controller compares the actual hammering force with the target hammering force. When the actual hammering force is less than the target hammering force, the output torque of the servo motor is increased; when the actual hammering force is greater than the target hammering force, the output torque of the servo motor is decreased.

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