Flexible assembly processing system and processing method for ring-shaped products

Abstract

The application discloses a flexible assembly machining system and machining method for annular products, and relates to the technical field of annular thin-wall part machining. The application provides a flexible assembly machining system for annular products, which comprises a machining machine tool, a first flexible workbench configured to axially support and lip clamp an annular product through a plurality of polar coordinate positioners according to an acquired theoretical axial support position of the annular product, a second flexible workbench configured to provide radial support by having a plurality of flexible radial units arrayed and distributed in points to adhere to the inner wall of the annular product according to an acquired theoretical radial support position of the annular product, and an integrated control system configured to generate motion instructions according to input machining process parameters and send the motion instructions to each part. The application aims to solve the technical problem of vibration out-of-roundness of large thin-wall annular products caused by self-weight deformation and insufficient rigidity during assembly cutting machining.

Description

Technical Field

[0001] This application relates to the field of annular thin-walled parts processing technology, and in particular to a flexible assembly processing system and processing method for annular products. Background Technology

[0002] Modern aircraft manufacturing technology is constantly innovating and upgrading as modern aircraft become more complex. Therefore, various aircraft manufacturers are focusing on the digital transformation and upgrading of the aircraft manufacturing industry, and have developed assembly and processing systems for digital assembly and processing of parts and components.

[0003] When performing assembly operations such as drilling, reaming, and countersinking on large thin-walled annular products, traditional machining methods typically use fixed rigid fixtures for horizontal or simple vertical clamping. Due to the low stiffness, large geometric dimensions, and long span of the thin-walled annular components, they are prone to initial clamping deformation such as sagging and bending under their own weight. At the same time, traditional fixed clamping methods cannot adaptively match the geometric dimensions and local curved surface features of annular products of different specifications, resulting in uneven clamping stress distribution. During subsequent CNC cutting, the high-frequency alternating cutting force applied by the tool can easily induce local elastic recovery jitter and chatter in the thin-walled structure, affecting the geometric accuracy of the hole and the surface roughness of the inner wall, and even causing quality defects such as local plastic depressions or out-of-roundness in the thin-walled material. Summary of the Invention

[0004] The main objective of this application is to provide a flexible assembly and processing system for ring-shaped products, which aims to solve the technical problem of chattering and out-of-roundness caused by self-weight deformation and insufficient stiffness during the assembly and cutting process of large thin-walled ring-shaped products.

[0005] To achieve the above objectives, in a first aspect, this application provides a flexible assembly and processing system for ring-shaped products, comprising: A machine tool is configured to move along the coordinate axes of a cylindrical polar coordinate system to complete the processing of a ring-shaped product; The first flexible worktable, located in the middle of the machine tool, is configured to provide axial support and lip clamping for the ring product by multiple sets of polar coordinate positioners based on the theoretical axial support position of the ring product. A second flexible worktable, inserted into the central region of the first flexible worktable, is configured to provide radial support by fitting the inner wall of the annular product with flexible radial units distributed in a multi-point array, based on the theoretical radial support position of the annular product; and An integrated control system is communicatively connected to the machine tool, the first flexible worktable, and the second flexible worktable. It is configured to generate motion commands based on the input machining process parameters and send them to each part, thereby controlling the first flexible worktable, the second flexible worktable, and the machine tool to perform coordinated linkage control.

[0006] Optionally, the machine tool includes a circular base, a machine column vertically mounted on the circular base, a slide box slidably mounted on the machine column, a slide ram passing through the slide box, and an end processing head mounted at the end of the slide ram; The circular base of the machine tool provides rotational motion along its central axis, the machine tool column provides axial motion along the height direction, and the ram provides axial motion perpendicular to the machine tool column and along the radial direction of the circular base of the machine tool.

[0007] Optionally, the end processing head is integrated with a laser displacement sensor, an industrial camera, a presser foot mechanism, a pressure sensor, and a dust suction pipe; The laser displacement sensor measures the curvature and normal of the area to be processed to correct the posture of the end processing head; the industrial camera measures the position of the pre-connected positioning hole to correct the hole position data in the CNC machining program; the pressure sensor measures the contact pressure of the presser foot mechanism to control the pressing state of the presser foot mechanism on the outer curved surface of the annular product; and the dust suction pipe collects the chips and dust generated during the processing.

[0008] Optionally, the first flexible worktable includes multiple sets of polar coordinate positioners distributed in a disk shape. Each set of polar coordinate positioners includes a sector-shaped base, a rotary table disposed on the sector-shaped base, a slide table disposed on the rotary table, a lifting table disposed on the side of the slide table, and a flexible axial end disposed on the top of the lifting table. The rotary table drives the slide to rotate circumferentially, the slide to drive the lifting platform to move radially, and the lifting platform to drive the flexible axial end to move in the height direction, so as to move the flexible axial end to the theoretical axial support position obtained by the integrated control system.

[0009] Optionally, the flexible axial end includes a three-dimensional force sensor, a rotating platform disposed above the three-dimensional force sensor, and at least two sets of clamping units symmetrically disposed on the rotating platform; The clamping unit includes a rubber pressure plate motion motor, a normal pressure sensor, a normal distance sensor, and a rubber pressure plate; The three-dimensional force sensor is used to detect the force value carried by the first flexible worktable. The rotating platform rotates and adjusts its orientation according to the normal angle of the supported part of the ring product. The rubber pressure plate motion motor drives the rubber pressure plate to fit against the ring product and controls the movement stroke of the rubber pressure plate according to the distance data measured by the normal distance sensor and the pressure data measured by the normal pressure sensor.

[0010] Optionally, the second flexible worktable includes a square column, a unit slide slidably sleeved on the outside of the square column, and a test bench disposed on the top of the square column; The outer facade of the unit slide is arranged in an array of multiple sets of flexible radial units. The test tool table is used by the machine tool to verify the test tool parameters before processing the ring product. The unit slide slides along the square column to the position of the lifting height command issued by the integrated control system.

[0011] Optionally, each of the flexible radial units includes a drive motor, a telescopic column arranged parallel to the drive motor, a vacuum suction cup disposed at the end of the telescopic column, and a distance sensor installed at the bottom of the vacuum suction cup; The drive motor drives the telescopic column to extend and retract, thereby moving the vacuum suction cup closer to the inner wall of the annular product. The distance sensor measures the distance between the vacuum suction cup and the inner wall of the annular product in real time and inputs the distance to the integrated control system to adjust the extension length of the telescopic column. When the distance sensor measurement value reaches a predetermined threshold, the power supply of the vacuum suction cup is turned on to complete the inner wall adsorption support.

[0012] Optionally, the integrated control system includes a host computer and a slave computer; The lower-level machine includes a motion control system for controlling the multi-axis motion of the first flexible worktable and the second flexible worktable, and a numerical control operating system for controlling the motion of the machine tool. The host computer and the slave computer exchange data via industrial Ethernet to monitor the position status and processing process of the first flexible worktable, the second flexible worktable, and the machine tool in real time.

[0013] Secondly, this application provides a processing method for a flexible assembly processing system for ring-shaped products, comprising: The integrated control system calculates the theoretical axial support position of the first flexible worktable and the theoretical lifting height and theoretical radial support position of the second flexible worktable based on the geometric parameters of the input ring product. Control the first flexible worktable to move to the theoretical axial support position, and after the ring product is in place, control the clamping mechanism on the first flexible worktable to fit the ring product, thereby completing the axial support and lip clamping of the ring product. The second flexible worktable is controlled to rise to the theoretical lifting height, and the flexible radial unit is driven to extend outward. The extension stroke of each flexible radial unit is adjusted based on the inner wall distance data fed back by the flexible radial unit. After the fitting conditions are met, vacuum adsorption is activated to complete the multi-point array radial support of the inner wall of the annular product. The actual spatial pose data of the ring-shaped product measured by the external laser tracker is converted into the spatial cylindrical polar coordinate system of the machine tool to generate a photogrammetry program and an assembly processing program. The photographic measurement program is executed to measure the actual position of the pre-connection positioning hole on the ring product using the machine tool. The machine hole position correction value is calculated based on the measured actual position and compensated into the assembly process. The assembly and machining program is executed, and the machining head posture is adjusted according to the curvature and normal vector of the area to be machined measured by the machine tool. Then, the ring product is pressed by the presser foot mechanism on the machine tool and the spindle is driven to perform machining.

[0014] Optionally, the test tool is mounted on the test tool platform on top of the second flexible worktable, and the integrated control system controls the machine tool to run a test tool program to perform a test tool operation on the test tool to verify the tool performance and process parameters.

[0015] The beneficial effects that this application can achieve are: This application proposes a flexible assembly and processing system and method for ring-shaped products. The entire system uses spatial cylindrical polar coordinates as the basic coordinate system, which matches the geometry of the product to be processed, avoiding complex multi-axis interpolation calculations. This results in higher system operating accuracy and faster and simpler processing programming. The first flexible worktable in the system provides flexible vertical support and radial clamping to press the ring-shaped product. The product's gravity is evenly distributed on the first flexible worktable, avoiding product deformation caused by the product's own weight in horizontal support schemes. The second flexible worktable in the system provides flexible multi-point array radial adaptive stable support from the inner wall of the product, which can effectively suppress chatter generated by the product during processing on the machine tool. It can realize stable flexible axial and flexible radial adaptive support, flexible clamping, and assembly processing such as drilling, reaming, and countersinking of large ring-shaped thin-walled products. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the flexible assembly and processing system according to an embodiment of this application; Figure 2This is a schematic diagram of the machine tool structure for the flexible assembly and processing system according to an embodiment of this application; Figure 3 This is a schematic diagram of the first flexible worktable structure according to an embodiment of this application; Figure 4 This is a schematic diagram of the second flexible worktable structure according to an embodiment of this application; Figure 5 This is a schematic diagram of the integrated control operating system according to an embodiment of this application; Figure 6 This is a schematic diagram of the end effector head structure of a machine tool according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the first flexible worktable polar coordinate positioner according to an embodiment of this application; Figure 8 This is a schematic diagram of the flexible axial end of the first flexible worktable polar coordinate positioner according to an embodiment of this application; Figure 9 This is a schematic diagram of the flexible radial unit structure of the second flexible worktable according to an embodiment of this application; Figure 10 This is a schematic diagram of the product processing of the flexible assembly and processing system according to an embodiment of this application; Figure 11 This is a flowchart illustrating the product processing of the flexible assembly and processing system according to an embodiment of this application. Figure 12 This is a logical framework diagram of the flexible assembly and processing system according to an embodiment of this application; Figure 13 This is a schematic diagram of the processing method of the flexible assembly processing system according to an embodiment of this application.

[0017] The numbers on the map are: 1-Machine tool, 2-First flexible worktable, 3-Second flexible worktable, 4-Integrated control system, 5-Ring-shaped product; 11-Machine tool circular base, 12-Machine tool column, 13-Roller, 14-Roller box, 15-End processing head; 21-Polar coordinate locator; 31-Square column, 32-Unit slide block, 321-Flexible radial unit, 33-Testing table; 41-System server, 42-Flexible worktable control terminal, 43-Machine tool control terminal, 44-System video monitoring terminal; 151-Dust suction hose, 152-Pressure foot mechanism, 153-Industrial camera, 154-Pressure sensor, 155-Laser displacement sensor; 211-Fan-shaped base, 212-Rotating table, 213-Slide table, 214-Lifting table, 215-Flexible axial end; 2151-Three-dimensional force sensor, 2152-Normal distance sensor, 2153-Rubber pressure plate motion motor, 2154-Rubber pressure plate, 2155-Rotating table, 2156-Normal pressure sensor; 3211-Telescopic column, 3212-Distance sensor, 3213-Vacuum suction cup, 3214-Drive motor.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] Example 1 Reference Figures 1-10 The first embodiment of this application provides a flexible assembly and processing system for a ring-shaped product 5, comprising: The machining tool 1 is configured to move along the coordinate axes of a spatial cylindrical polar coordinate system to complete the machining of the ring-shaped product 5; The first flexible worktable 2 is located in the middle of the processing machine tool 1 and is configured to provide axial support and lip clamping for the ring product 5 by multiple sets of polar coordinate positioners 21 according to the theoretical axial support position of the ring product 5 obtained. The second flexible worktable 3, passing through the central region of the first flexible worktable 2, is configured to provide radial support to the inner wall of the annular product 5 by means of flexible radial units 321 distributed in a multi-point array, based on the theoretical radial support position of the annular product 5; and The integrated control system 4 is communicatively connected to the machine tool 1, the first flexible worktable 2, and the second flexible worktable 3. It is configured to generate motion commands based on the input machining process parameters and send them to each part, thereby controlling the first flexible worktable 2, the second flexible worktable 3, and the machine tool 1 to perform coordinated linkage control.

[0024] Specifically, addressing the issues of deformation, chatter, and out-of-roundness that easily occur in large annular thin-walled products during traditional clamping and CNC machining, this embodiment employs a spatial cylindrical polar coordinate system as the unified basic physical motion and control coordinate architecture for all components of the system. The machine tool 1 is positioned on the outer layer of the system and performs spatial posture adjustments and assembly operations such as cutting, drilling, reaming, and countersinking around the central area. A first flexible worktable 2 is installed in the central annular area of ​​the machine tool 1. Multiple sets of polar coordinate positioners 21 arranged in a disk shape achieve vertical bearing of the annular product 5, evenly distributing the weight of the annular product 5 across the axial support points, reducing structural bending deformation caused by its own weight under horizontal clamping. A second flexible worktable 3 extends longitudinally through the central hollow area of ​​the first flexible worktable 2. Its outer surface array of multiple flexible radial units 321 can adaptively extend and closely fit the inner wall of the annular product 5, thereby establishing a radial array support architecture inside the annular product 5. The integrated control system 4 serves as the centralized command and data hub for the entire system. It communicates with the machine tool 1, the first flexible worktable 2, and the second flexible worktable 3 at high frequency in both directions. By converting the input machining parameters into precise coordinate motion control vectors, it achieves a high degree of coordinated linkage among the three physical entities.

[0025] Optionally, the machine tool 1 includes a circular base 11, a machine column 12 vertically mounted on the circular base 11, a slide box 14 slidably mounted on the machine column 12, a slide 13 passing through the slide box 14, and an end processing head 15 mounted at the end of the slide 13. The machine tool circular base 11 provides rotational motion along its central axis, the machine tool column 12 provides axial motion along the height direction, and the slide 13 provides axial motion perpendicular to the machine tool column 12 and along the radial direction of the machine tool circular base 11.

[0026] Specifically, the machine tool 1 has an overall disc-shaped layout. The circular base 11 serves as the basic rotary motion component, configured to provide continuous polar coordinate rotation around its central axis. The internal transmission structure of the circular base 11 employs a large circular gear internal meshing transmission mechanism, driven by a servo motor, and is equipped with a large circular linear encoder to establish a closed-loop position feedback control system, ensuring that the position positioning accuracy and repeatability of the rotary axis meet industrial-grade CNC standards. The machine tool column 12 is vertically fixedly mounted on the rotary table 212 surface of the circular base 11. The machine tool column 12 is configured to provide linear vertical axial movement along the height direction, i.e., perpendicular to the base surface of the circular base 11. The machine tool column 12 internally uses a high-precision ball screw and nut transmission pair, driven by a servo motor, and a high-precision linear encoder is installed parallel to the longitudinal direction of the machine tool column 12 to achieve closed-loop position feedback control of the height axis coordinate. The slide box 14 is slidably mounted on the vertical guide rail of the machine tool column 12, while the slide 13 is horizontally mounted inside the slide box 14. The slide 13 is configured to provide linear axial movement perpendicular to the machine tool column 12 and extending radially along the circular base 11 of the machine tool, corresponding to radial movement. The drive mechanism of the slide 13 adopts a gear and rack transmission structure, driven by a servo motor, and is equipped with a linear grating ruler to achieve closed-loop position control of the radial axis coordinate. The end-effector 15 is mounted and fixed at the end of the slide 13. The end-effector 15 itself can also integrate an angle swing motion component rotating around the radial axis, an angle yaw motion component rotating around the polar coordinate rotation axis, and a cutting feed axis motion component moving along the feed axis of the machining tool. Both the angle swing motion axis and the angle yaw motion axis are directly driven by a high-torque motor and are equipped with a small circular grating ruler for angle closed-loop feedback control. Therefore, the machining tool 1 has polar coordinate rotation motion, height lifting motion, and radial extension motion, realizing multi-axis collaborative linkage control function, and can perform posture alignment and cutting machining on the outer curved surface of the ring product 5 in the spatial cylindrical polar coordinate system.

[0027] Both the machining tool 1 and the polar coordinate positioner 21 adopt spatial cylindrical polar coordinates as their basic coordinate system. This coordinate system is highly compatible with the geometry of large, thin-walled, annular products, avoiding the complex multi-axis interpolation calculations required by traditional Cartesian coordinate system machine tools and positioners during circular motion. In contrast, the machining tool 1 and polar coordinate positioner 21 can directly achieve circumferential and circular arc movements, simplifying or even eliminating the interpolation process, resulting in higher accuracy compared to traditional Cartesian coordinate system machine tools and positioners. Programming Cartesian coordinate system machine tools and positioners requires complex trigonometric function calculations, which are prone to errors. In contrast, the coordinate programming of the machining tool 1 and polar coordinate positioner 21 in this system directly uses angles and radii to quickly implement programming instructions, making it intuitive and less prone to errors.

[0028] Optionally, the end processing head 15 is integrated with a laser displacement sensor 155, an industrial camera 153, a presser foot mechanism 152, a pressure sensor 154, and a dust suction pipe 151; The laser displacement sensor 155 measures the curvature and normal vector of the area to be processed, which is used to correct the posture of the end processing head 15. The industrial camera 153 measures the position of the pre-connection positioning hole, which is used to correct the hole position data in the CNC machining program. The pressure sensor 154 measures the contact pressure of the presser foot mechanism 152, which is used to control the pressing state of the presser foot mechanism 152 on the outer curved surface of the ring product 5. The dust suction pipe 151 collects the chips and dust generated during the processing.

[0029] Specifically, the end-effector 15 integrates a variety of intelligent sensing and auxiliary control units. A laser displacement sensor 155 is mounted on the front flange side of the end-effector 15, used for non-contact scanning of the outer curved surface of the area to be processed in the annular product 5 before cutting by the machining tool, acquiring the geometric curvature and surface normal vector of this area in real time. The integrated control system 4 automatically calculates and adjusts the angular swing and yaw attitude of the end-effector 15 based on the acquired curvature and normal vector data, ensuring that the cutting feed axis of the machining tool remains parallel to the surface normal of the hole to be processed, guaranteeing the normal perpendicularity accuracy of hole making and countersinking. An industrial camera 153 is mounted in the visible area of ​​the end-effector 15, used for image acquisition and visual measurement of pre-machined or pre-assembled pre-connected positioning holes on the surface of the annular product 5, obtaining the actual geometric center coordinates of the pre-connected positioning holes in the coordinate system of the machine tool 1. The integrated control system 4 compares the actual geometric center coordinates with the preset hole position data in the theoretical CNC machining program, calculates the spatial coordinate deviation correction value, and compensates it in real time into the assembly machining program, thereby reducing the cumulative positioning error caused by product manufacturing errors or clamping deformation. The presser foot mechanism 152 is installed on the periphery of the end spindle of the end machining head 15 and uses a retractable pneumatic or hydraulic drive component. Before the machining tool contacts the annular product 5, the presser foot mechanism 152 first extends forward and presses tightly against the outer curved surface of the annular product 5. A pressure sensor 154 is embedded in the force transmission path between the presser foot mechanism 152 and the drive component to monitor the normal contact pressure value applied by the presser foot mechanism 152 to the outer curved surface of the annular product 5 in real time. The pressure signal output by pressure sensor 154 is fed back to integrated control system 4. Integrated control system 4 compares the pressure signal with a preset pressure safety threshold: if the measured pressure value is less than the preset lower limit threshold, the pressure foot drive mechanism is controlled to continue applying pressure to prevent chatter caused by cutting under false pressure; if the measured pressure value is greater than the preset upper limit threshold, the pressure foot drive mechanism is controlled to appropriately release pressure to prevent excessive local pressure from causing plastic deformation or surface damage to the thin-walled material. The suction pipe 151 is fixed to the lower side of the spindle cutting area of ​​the end processing head 15, and its outlet is connected to an external high-negative-pressure suction system. This system is used to remove metal chips and composite material dust generated during hole making, reaming, and countersinking processes in real time, preventing chip splashes from scratching the product surface or contaminating the system's mechanical transmission structure.

[0030] The end-of-line machining head 15 of the machine tool 1 is equipped with a pressure foot mechanism 152, which, together with the second flexible worktable 3, provides flexible radial support from within the large annular thin-walled product. This effectively suppresses chatter during machining and reduces assembly quality issues. A pressure sensor 154 is installed to monitor the pressure exerted by the pressure foot mechanism 152 on the large annular thin-walled product in real time, preventing chatter during assembly under insufficient pressure and preventing overpressure from affecting the material properties of the product. An industrial camera 153 measures the precise position of the pre-connection positioning holes on the curved surface of the large annular thin-walled product, adjusting the actual machining position based on the pre-connection positioning hole position to ensure the accuracy of the actual machining position. A dust extraction pipe 151 is installed to significantly reduce the damage to the outer surface of the large annular thin-walled product and its environmental impact caused by machining chips and dust, meeting green manufacturing requirements. A laser displacement sensor 155 is installed to measure the curvature and normal vector of the area to be machined, ensuring the accuracy of the machining normal and improving the machining quality of the large annular thin-walled product.

[0031] Optionally, the first flexible worktable 2 includes multiple sets of polar coordinate positioners 21 distributed in a disk shape. Each set of polar coordinate positioners 21 includes a sector-shaped base 211, a rotary table 212 disposed on the sector-shaped base 211, a slide table 213 disposed on the rotary table 212, a lifting table 214 disposed on the side of the slide table 213, and a flexible axial end 215 disposed on the top of the lifting table 214. The rotary table 212 drives the slide table 213 to rotate circumferentially, the slide table 213 drives the lifting table 214 to move radially, and the lifting table 214 drives the flexible axial end 215 to move in the height direction, so as to move the flexible axial end 215 to the theoretical axial support position obtained by the integrated control system 4.

[0032] Specifically, the four sets of polar coordinate positioners 21 of the entire first flexible worktable 2 can achieve synchronous, asynchronous, and single-step linkage. The first flexible worktable 2 has a disc-shaped structure and is composed of four sets of identical polar coordinate positioners 21, which are evenly distributed circumferentially. The sector-shaped base 211 of each set of polar coordinate positioners 21 is fixedly installed on the system base. A rotary table 212 is set on the top of the sector-shaped base 211. The rotary table 212 is configured to drive a slide table 213, which is installed above it and extends radially, to rotate circumferentially within a 90-degree sector angle range. The rotary table 212 adopts a circular gear internal meshing transmission, is driven by a servo motor, and is equipped with a large circular arc grating ruler to achieve closed-loop angle control. The slide table 213 is horizontally set on the rotary table 212, and a lifting platform 214 that can move along the length direction of the slide table 213, that is, the polar coordinate radial direction, is sleeved on the side of the slide table 213. The slide table 213 uses a lead screw and nut transmission pair, driven by a servo motor and equipped with a linear grating ruler to achieve radial distance closed-loop control. The lifting table 214 is configured to drive the flexible axial end 215 mounted on its top to move vertically. The vertical lifting table 214 also uses a lead screw and nut transmission pair, driven by a servo motor and equipped with a linear grating ruler to achieve height coordinate closed-loop control. Before loading the ring-shaped product 5, the integrated control system 4 calculates the required theoretical axial support point polar coordinate three-dimensional position of the four sets of polar coordinate positioners 21 based on the input three-dimensional model and geometric parameters of the ring-shaped product 5. The integrated control system 4 issues multi-axis motion commands to drive the rotary table 212, slide table 213 and lifting table 214 of the four sets of polar coordinate positioners 21 to move synchronously or asynchronously, transporting the flexible axial end 215 to the corresponding theoretical axial support position, preparing for the unloading and placement of the ring-shaped product 5.

[0033] Optionally, the flexible axial end 215 includes a three-dimensional force sensor 2151, a rotating platform 2155 disposed above the three-dimensional force sensor 2151, and at least two sets of clamping units symmetrically disposed on the rotating platform 2155. The clamping unit includes a rubber pressure plate motion motor 2153, a normal pressure sensor 2156, a normal distance sensor 2152, and a rubber pressure plate 2154; The three-dimensional force sensor 2151 is used to detect the force value carried by the first flexible worktable 2. The rotator 2155 rotates and adjusts its orientation according to the normal angle of the supported part of the ring product 5. The rubber pressure plate motor 2153 drives the rubber pressure plate 2154 to fit against the ring product 5, and controls the movement stroke of the rubber pressure plate 2154 according to the distance data measured by the normal distance sensor 2152 and the pressure data measured by the normal pressure sensor 2156.

[0034] Specifically, the flexible axial end effector 215, which directly contacts and supports the bottom of the ring-shaped product 5, has a three-dimensional force sensor 2151 fixedly mounted on its base. The three-dimensional force sensor 2151 is configured to detect in real-time the force values ​​at the support point in three orthogonal directions—circumferential tangential force, radial force, and vertical axial gravity—when the ring-shaped product 5 is placed vertically on the first flexible worktable 2. The three-dimensional force sensor 2151 transmits the collected force data to the integrated control system 4 in real time. The integrated control system 4 monitors the vertical axial gravity force distribution of the four sets of polar coordinate positioners 21. If the absolute value of the vertical axial gravity value of any set of polar coordinate positioners 21 deviates from the average load value of the four sets of polar coordinate positioners 21, exceeding a preset gravity balance threshold, it indicates a potential safety hazard of local suspension or eccentric bearing. The integrated control system 4 will fine-tune the height of the corresponding vertical lifting platform 214 until the forces at the four points reach equilibrium. A rotatable rotating platform 2155 is mounted above the three-dimensional force sensor 2151. The rotating platform 2155 can be adjusted 180 degrees in the horizontal plane with its own rectangular geometric center as the origin of rotation. Before the ring-shaped product 5 is hoisted and placed, the operator or automated mechanism rotates the rotating platform 2155 according to the normal angle of the local curved surface of the supporting part of the ring-shaped product 5, so that its central axis in the length direction coincides with the normal angle of the curved surface of the supporting part of the ring-shaped product 5, thereby ensuring that the clamping force acts perpendicularly on the product surface. Two sets of identical clamping units are symmetrically arranged above the rotating platform 2155, located at the front and rear ends of the rotating platform 2155 respectively, forming a clamping structure for the inner and outer sides of the bottom lip of the ring-shaped product 5. A rubber pressure plate motion motor 2153 is fixedly installed on the outside of each clamping unit. The rubber pressure plate motion motor 2153 is connected to and drives the rubber pressure plate 2154 to translate towards the center of the rotating platform 2155 through a high-precision drive screw. The surface of the rubber pressure plate 2154 is covered with a flexible rubber layer with a preset elastic modulus, which can produce slight flexible deformation when in contact with the annular product 5, achieving surface contact and avoiding scratches or local indentations on the metal or composite material surface of the product. A normal pressure sensor 2156 is connected in series between the drive shaft of the rubber pressure plate motion motor 2153 and the rubber pressure plate 2154, used to measure the normal clamping force generated when the rubber pressure plate 2154 presses against the lip of the annular product 5. A normal distance sensor 2152 is embedded in the center of the rubber pressure plate 2154, with its sensing window penetrating the front of the rubber pressure plate 2154, used to measure the normal physical distance between the front of the rubber pressure plate 2154 and the inner or outer surface of the lip of the annular product 5 in real time. During clamping, the rubber pressure plate motion motor 2153 drives the rubber pressure plate 2154 towards the product, and the normal distance sensor 2152 transmits the real-time normal distance. When the normal distance reaches close to the warning value, the motor decelerates and propels forward; when the rubber pressure plate 2154 contacts the product, the normal pressure sensor 2156 starts to respond and transmits the real-time normal pressure.The integrated control system 4 continuously monitors the real-time normal pressure. When the real-time normal pressure reaches the preset optimal clamping force threshold of the lip, the rubber pressure plate motor 2153 stops running and locks its position, thereby completing the flexible and stable clamping of the lip of the ring product 5. It should be noted that the threshold value in this embodiment can be obtained based on experience or a limited number of tests.

[0035] The four sets of polar coordinate positioners 21 of the first flexible worktable 2 are each equipped with a three-dimensional force sensor 2151 at their ends. This sensor measures the force on the first flexible worktable 2 when it vertically supports a large annular thin-walled product, preventing uneven force distribution on the four sets of polar coordinate positioners 21 and potential safety hazards such as the shift of the center of gravity of the large annular thin-walled product. A rubber pressure plate 2154 is installed, which can directly adhere to the large annular thin-walled product without causing indentations on its surface. A normal distance sensor 2152 is installed to monitor the distance from the normal distance sensor 2152 to the outer surface of the large annular thin-walled product in real time. A radial pressure sensor 154 is installed to monitor the pressure of the rubber pressure plate 2154 on the large annular thin-walled product in real time. The dual monitoring by the normal distance sensor 2152 and the radial pressure sensor 154 prevents the rubber pressure plate 2154 from falsely clamping or over-clamping large annular thin-walled products, which could lead to deformation and other safety risks. A rotator 2155 is set up so that its central axis in the length direction coincides with the normal direction of the large annular thin-walled product, which can prevent uneven force or local hollowing when the rubber pressure plate 2154 clamps the large annular thin-walled product.

[0036] Optionally, the second flexible worktable 3 includes a square column 31, a unit slide 32 slidably sleeved on the outside of the square column 31, and a test bench 33 disposed on the top of the square column 31. The outer facade of the unit slide 32 has multiple sets of flexible radial units 321 arranged in an array. The test tool table 33 is used by the machine tool 1 to verify the test tool parameters before processing the ring product 5. The unit slide 32 slides along the square column 31 to the position of the lifting height command issued by the integrated control system 4.

[0037] Specifically, the second flexible worktable 3 has a hexagonal three-dimensional structure and is inserted through the central circular hole of the first flexible worktable 2. The main frame of the second flexible worktable 3 is a square column 31 vertically fixed to the foundation ground. A hexagonal unit slide 32 is slidably mounted on the outer side of the square column 31. The square column 31 passes through the central square hollow channel of the unit slide 32, and the unit slide 32 is configured to slide up and down along the square column 31 in the vertical height direction (i.e., the height axis direction). The square column 31 and the unit slide 32 are connected by a screw and nut transmission structure, driven by a servo motor and equipped with a linear grating ruler to achieve closed-loop feedback control of the vertical height position. On the outer surface (six sides) of the unit slide 32, multiple flexible radial units 321 with the same structure are evenly distributed in a two-dimensional array, forming a dense radial support array. A test tool table 33 is fixedly installed at the top end of the square column 31. The top surface of the test tool table 33 is equipped with a standardized test tool fixture for fixing and installing a standard test tool of the same material as the ring product 5. Before the machine tool 1 formally executes the cutting, reaming, or countersinking program on the ring-shaped product 5, the integrated control system 4 controls the machine tool 1 to move above the test tool table 33, calls the test tool program to perform a test cutting operation on the test tool piece, and verifies the cutting performance of the current machining tool, the CNC axis motion trajectory control accuracy, and the stability and reliability of process parameters such as cutting speed and feed rate by checking the hole diameter tolerance and surface roughness of the test-cut hole. Only after the cutting verification is qualified can the ring-shaped product 5 be formally machined. In the formal machining preparation stage, the integrated control system 4 issues a lifting height command according to the axial height of the ring-shaped product 5 and the coordinates of the internal support area. The drive unit slide 32 slides along the square column 31 to the specified theoretical height position, so that the flexible radial unit 321 array is precisely aligned with the inner wall support area of ​​the ring-shaped product 5.

[0038] Optionally, each flexible radial unit 321 includes a drive motor 3214, a telescopic column 3211 arranged parallel to the drive motor 3214, a vacuum suction cup 3213 disposed at the end of the telescopic column 3211, and a distance sensor 3212 installed at the bottom of the vacuum suction cup 3213. The drive motor 3214 drives the telescopic column 3211 to extend and retract, thereby moving the vacuum suction cup 3213 closer to the inner wall of the annular product 5. The distance sensor 3212 measures the distance between the vacuum suction cup 3213 and the inner wall of the annular product 5 in real time and inputs the distance to the integrated control system 4 to adjust the extension length of the telescopic column 3211. When the measured value of the distance sensor 3212 reaches the predetermined threshold, the power of the vacuum suction cup 3213 is turned on to complete the adsorption support of the inner wall.

[0039] Specifically, each flexible radial unit 321, arrayed on the outer surface of the unit slide 32, possesses independent radial extension and retraction movement and adsorption control capabilities. Each flexible radial unit 321 includes a drive motor 3214 fixedly connected to the outer wall of the slide 13. The drive motor 3214 is installed parallel to a multi-section telescopic column 3211 capable of axial extension and retraction, driving the telescopic column 3211 to extend or retract radially via a gear or threaded transmission mechanism. A vacuum suction cup 3213 capable of generating negative pressure adsorption is installed at the end of the telescopic column 3211. A high-precision ranging sensor 3212 is installed at the bottom of the vacuum suction cup 3213; the ranging sensor 3212 can be a photoelectric or ultrasonic ranging sensor. When the unit slide 32 of the second flexible worktable 3 rises and falls to its theoretical height, the integrated control system 4 issues a radial extension command, the drive motor 3214 starts, causing the telescopic column 3211 to extend and pushing the vacuum suction cup 3213 to move closer to the inner wall of the annular product 5. During this process, the distance sensor 3212 continuously and in real-time collects the physical distance between the leading edge face of the vacuum suction cup 3213 and the inner wall surface of the annular product 5, and inputs it to the integrated control system 4 at high frequency. When the real-time physical distance between the distance sensor 3212 and the inner wall decreases and reaches the predetermined vacuum adsorption trigger distance threshold, the integrated control system 4 determines that the vacuum suction cup 3213 is in the adsorption and bonding posture, and then issues a command to open the corresponding air path solenoid valve and vacuum pump power supply of the vacuum suction cup 3213, so that a stable negative pressure vacuum state is formed inside the vacuum suction cup 3213, which is tightly adsorbed onto the inner wall of the annular product 5. The predetermined threshold can be determined based on experience or obtained through a limited number of tests. Through the coordinated extension and vacuum adsorption of multiple flexible radial units 321, a multi-point array adaptive radial stability support system is established on the inner wall of the annular product 5, which enhances the radial stiffness of the annular product 5 and reduces the phenomenon of out-of-roundness or local vibration of thin-walled products under the action of external machine tool cutting forces.

[0040] The flexible radial unit 321 in the second flexible worktable 3 is equipped with a vacuum suction cup 3213 at its end, ensuring stable radial vacuum adsorption support for the inner wall of large annular thin-walled products. A distance sensor 3212 is installed to measure the distance between the vacuum suction cup 3213 and the inner wall of the large annular thin-walled product in real time, preventing situations where the vacuum suction cup 3213 fails to reach the corresponding position or the adsorption force is insufficient, resulting in insufficient radial support strength for the inner wall of the large annular thin-walled product. Hundreds of flexible radial units 321 are arrayed on the outer surface of the entire second flexible worktable 3, and the flexible radial units 321 themselves can move to any support position on the inner wall of the large annular thin-walled product, realizing arbitrary radial support for the inner wall of the large annular thin-walled product.

[0041] Optionally, the integrated control system 4 includes a host computer and a slave computer; The lower-level machine includes a motion control system for controlling the multi-axis motion of the first flexible worktable 2 and the second flexible worktable 3, and a numerical control operating system for controlling the motion of the machine tool. The host computer and the slave computer exchange data via industrial Ethernet to monitor the position status and processing process of the first flexible worktable 2, the second flexible worktable 3 and the processing machine tool 1 in real time.

[0042] Specifically, the integrated control system 4 can be divided into two core parts: a host computer and a slave computer. The host computer can be a PC-level integrated control console. The slave computer is further decoupled into two independent professional control subsystems: one is a motion control system, which uses a high-axis multi-axis motion controller to be responsible for the multi-axis coordinated motion control, attitude solving, and logic timing control of the first flexible worktable 2 and the second flexible worktable 3; the other is a CNC operating system, which uses a high-precision CNC system to be responsible for the multi-axis linkage cutting trajectory interpolation, spindle speed control, and tool feed response of the machining tool. The host computer, as a centralized human-machine interaction and lifecycle data management platform, integrates the system server 41, the flexible worktable control terminal 42, the machining tool control terminal, and the system video monitoring terminal 44. The motion control system and CNC operating system of the host computer and the slave computer communicate via a high-frequency bidirectional data bus established through a high-speed industrial Ethernet. The host computer sends out real-time command instructions for the target positions of each axis calculated by geometric transformation, tool compensation vectors, and control enable signals via industrial Ethernet. Simultaneously, the slave computer uploads real-time position feedback from the grating rulers of each motion axis, force data from the three-dimensional force sensor 2151, data from the normal and radial distance sensors 3212, data from the pressure sensor 154, and the operating status of the CNC machine tool to the host computer at high frequency. The host computer's system video monitoring terminal 44, in conjunction with multiple industrial cameras, provides comprehensive, multi-angle real-time video monitoring and graphical data monitoring of the ring-shaped product 5's mounting and dismounting process, the flexible support and bonding process of the first and second flexible worktables 3, and the cutting process of the machining tool 1. This achieves unmanned and automated control of the ring-shaped product 5 throughout its entire assembly and processing lifecycle.

[0043] The integrated control system 4 ensures the accuracy of flexible vertical support, flexible radial clamping and pressing, and flexible multi-point array inner wall radial adaptive support for large annular thin-walled products by controlling the multi-axis motion of the four sets of polar coordinate positioners 21 of the first flexible worktable 2 and the second flexible worktable 3. The server, integrated control software, and CNC system in the integrated control system 4 communicate with each other in real time, with a high degree of automation and low manual intervention, which improves the assembly and processing efficiency of large annular thin-walled products.

[0044] Example 2 Reference Figures 11-13 Based on Example 1, this example provides a processing method for a flexible assembly processing system for ring-shaped products, including the following steps: S1. The integrated control system calculates the theoretical axial support position of the first flexible worktable and the theoretical lifting height and theoretical radial support position of the second flexible worktable based on the geometric parameters of the input ring product. S2. Control the first flexible worktable to move to the theoretical axial support position, and after the ring product is in place, control the clamping mechanism on the first flexible worktable to fit the ring product, thereby completing the axial support and lip clamping of the ring product. S3. Control the second flexible worktable to rise to the theoretical lifting height, and drive the flexible radial unit to extend outward. Adjust the extension stroke of each flexible radial unit based on the inner wall distance data fed back by the flexible radial unit. After the fitting conditions are met, start vacuum adsorption to complete the multi-point array radial support of the inner wall of the annular product. S4. Convert the actual spatial pose data of the ring-shaped product measured by the external laser tracker to the spatial cylindrical polar coordinate system of the machine tool, and generate a photogrammetry program and an assembly processing program. S5. Execute the photographic measurement program, measure the actual position of the pre-connection positioning hole on the ring product through the processing machine tool, calculate the processing hole position correction value based on the measured actual position and compensate it into the assembly processing program; S6. Execute the assembly and processing program, adjust the orientation of the processing head according to the curvature and normal vector of the area to be processed measured by the machine tool, and then press the ring product with the presser foot mechanism on the machine tool and drive the spindle to perform processing.

[0045] First, during the preparation stage, the operator inputs the three-dimensional geometric model, wall thickness distribution, and design process parameters of the ring-shaped product to be processed into the host computer of the integrated control system. Based on its built-in spatial geometric analysis algorithm, the integrated control system calculates the theoretical axial support point coordinates required by the four sets of polar coordinate positioners of the first flexible worktable. Simultaneously, it calculates the theoretical lifting height of the slide block of the second flexible worktable unit, as well as the theoretical radial extension distance of each flexible radial unit supporting the inner wall of the ring-shaped product.

[0046] Next, the positioning and axial clamping of the first flexible worktable are executed. The integrated control system issues motion commands to drive the four sets of polar coordinate positioners on the first flexible worktable, specifically the rotary table, slide table, and lifting table, to move in tandem to the theoretical axial support position mentioned above. Subsequently, the ring-shaped product is gently lifted into the first flexible worktable in an upright position using workshop hoisting equipment or other means. When the bottom lip of the ring-shaped product is suspended 5mm to 15mm above the flexible axial end of the rotary table of the polar coordinate positioner, the operator or automatic alignment mechanism rotates the rotary table so that its longitudinal central axis is aligned with the normal direction of the curved surface of the supported part of the ring-shaped product. Then, the hoisting equipment continues to lower, placing the ring-shaped product completely and stably on the rotary table. The three-dimensional force sensor collects and verifies the gravity balance, completing the axial vertical support. At this time, the integrated control system starts the rubber pressure plate motion motors on both sides of the rotary table, driving the rubber pressure plates to translate inward and outward towards the product lip. The normal distance sensor and normal pressure sensor monitor distance and pressure data in real time. When the pressure reaches the preset optimal clamping force threshold, the motor stops and locks, completing the flexible radial stable clamping of the ring product lip.

[0047] The inner wall array support of the second flexible worktable is implemented. The integrated control system controls the unit slides of the second flexible worktable to rise along the square column to the specified theoretical lifting height. Subsequently, the drive motors of each flexible radial unit located in the corresponding support area are activated, pushing the telescopic column and vacuum suction cup to extend outward toward the inner wall of the annular product. The distance sensor at the bottom of the vacuum suction cup collects the real-time physical distance between the vacuum suction cup and the inner wall at high frequency and transmits it back to the integrated control system. The integrated control system adjusts the extension speed and stroke of each drive motor. When the measurement value of the distance sensor of a certain flexible radial unit reaches the preset vacuum adsorption trigger distance threshold, it is determined that the bonding condition is met. The integrated control system activates the solenoid valve and negative pressure power supply of the vacuum suction cup, so that the vacuum suction cup is tightly adsorbed onto the inner wall of the annular product. Through the adaptive extension and negative pressure adsorption of the multi-point array, high-rigidity radial adaptive stable support for the inner wall of the annular product is completed.

[0048] The system performs coordinate system transformation and program generation. Because large, thin-walled ring-shaped products inevitably experience slight overall displacement or tilting in their physical spatial pose compared to the ideal model after hoisting and flexible support, the system utilizes an external laser tracker deployed at the processing site to perform high-precision three-dimensional optical measurements of the feature reference points on the ring-shaped product's surface, obtaining the actual pose matrix of the ring-shaped product in real space. The integrated control system accurately converts and maps the actual pose matrix to the spatial cylindrical polar coordinate system of the machine tool using a coordinate homogeneous transformation algorithm. Based on the transformed real coordinate system, the host computer automatically calculates the interpolation trajectory and compiles and outputs the CNC photogrammetry program and assembly machining program, which are then sent to the lower-level CNC operating system.

[0049] Visual photogrammetry and hole position deviation compensation are performed. The lower-level CNC operating system initiates and executes the CNC photogrammetry program, driving the machine tool to move. Using an industrial camera on the end effector head, optical imaging measurements are sequentially performed on each pre-existing pre-connected positioning hole on the surface of the ring-shaped product. The industrial camera acquires the true center coordinates of the pre-connected positioning holes in the machine tool coordinate system and compares them with the theoretically preset coordinates to calculate the spatial position deviation compensation vector for each hole to be processed. The integrated control system automatically and in real-time superimposes the spatial position deviation compensation vector onto the tool position data in the assembly machining program, achieving dynamic correction of the machined hole positions.

[0050] Finally, the normal correction and cutting assembly machining are performed. The lower-level CNC operating system starts and executes the corrected assembly machining program. Before the machining tool cuts into each hole to be machined, the machine tool first moves the end effector head to stop in front of the area to be machined. The laser displacement sensor on the end effector head performs high-precision scanning and measurement of the surface curvature and spatial normal vector of the area to be machined. Based on the measured curvature and spatial normal vector, the integrated control system adaptively controls the angle swing axis and angle yaw axis of the end effector head to perform attitude fine-tuning, so that the cutting feed axis of the tool is kept parallel and coincident with the surface normal vector. After the attitude adjustment is completed, the pressure foot mechanism on the end effector head extends forward and presses tightly against the outer curved surface of the annular product. The pressure sensor monitors the contact pressure in real time to ensure that the pressure is maintained between the preset lower and upper contact thresholds. Under the stable state of reliable pressure foot mechanism and double suppression of chatter by vacuum adsorption on the inner wall, the spindle starts to rotate and drives the tool to feed along the cutting feed axis, sequentially completing assembly machining actions such as cutting holes, reaming, or countersinking. After processing is completed, the presser foot mechanism and the cutting tool retract, and the machine tool moves to the next hole position. The above steps of photogrammetric measurement correction, normal posture fine adjustment, presser foot clamping and cutting are repeated until all designated processing areas on the ring product are processed.

[0051] After all processing tasks are completed, the system executes the unloading and removal process: the integrated control system issues a command to shut off the negative pressure power supply of all vacuum suction cups on the second flexible worktable, drives the telescopic columns of each flexible radial unit to retract to their initial positions, and controls the slide blocks of the flexible radial units to descend and reset along the square columns; subsequently, it controls the rubber pressure plate motion motors on the flexible axial ends of each polar coordinate positioner on the first flexible worktable to run in reverse, driving the rubber pressure plates to loosen and return to their initial positions; finally, the assembled and processed ring-shaped product is smoothly lifted off the first flexible worktable using workshop hoists, and the entire flexible assembly and processing work is completed.

[0052] Before processing the ring-shaped product, the process further includes: mounting a test tool on a test tool table on top of the second flexible worktable, and the integrated control system controlling the machine tool to run a test tool program to perform a test tool operation on the test tool to verify the tool performance and process parameters.

[0053] Specifically, before the formal assembly and processing of the ring-shaped product, a trial cut verification of the cutting tools and process parameters is conducted. The specific steps are as follows: The operator fixes a standardized test tool, with the same material, hardness, and thickness as the ring-shaped product to be processed, onto the test tool table atop the square column of the second flexible worktable using a quick-change fixture. The integrated control system issues control commands to drive the end effector head of the machine tool to move above the test tool table. The lower-level CNC operating system retrieves a pre-programmed test tool verification program, controls the machine tool spindle to rotate at a preset cutting speed, and drives the cutting tool to perform trial hole making, trial reaming, or trial countersinking operations on the test tool with the same diameter and depth. After the trial cut is completed, the test holes machined on the test tool are inspected online using the integrated detection sensor unit of the end effector head or external measuring instruments. The measurement indicators include roundness tolerance, hole diameter accuracy, and surface roughness of the hole inner wall. If the test results meet the process design requirements, it is determined that the current tool edge condition is good and the CNC process parameters such as spindle speed and feed rate are reasonably matched. The integrated control system locks the current process parameters and authorizes entry into the formal product processing flow. If the test indicators exceed the tolerance range, the integrated control system automatically prompts to replace the tool or automatically fine-tunes the feed rate and speed parameters until the trial cut test is qualified, thereby avoiding the risk of scrapping the ring-shaped product due to tool wear or improper parameter matching.

[0054] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A flexible assembly and processing system for ring-shaped products, characterized in that, include: A machine tool is configured to move along the coordinate axes of a cylindrical polar coordinate system to process a ring-shaped product; The first flexible worktable, located in the middle of the machine tool, is configured to provide axial support and lip clamping for the ring-shaped product by means of multiple sets of polar coordinate positioners, based on the theoretical axial support position of the ring-shaped product. A second flexible worktable, inserted into the central region of the first flexible worktable, is configured to provide radial support by fitting the inner wall of the annular product with flexible radial units distributed in a multi-point array, based on the theoretical radial support position of the annular product; and An integrated control system is communicatively connected to the machine tool, the first flexible worktable, and the second flexible worktable. It is configured to generate motion commands based on the input machining process parameters and send them to each part, thereby controlling the first flexible worktable, the second flexible worktable, and the machine tool in a coordinated manner.

2. The flexible assembly and processing system for ring-shaped products as described in claim 1, characterized in that, The machine tool includes a circular base, a machine column vertically mounted on the circular base, a slide box slidably mounted on the machine column, a slide inside the slide box, and an end processing head mounted at the end of the slide. The circular base of the machine tool provides rotational motion along its central axis, the machine tool column provides axial motion along the height direction, and the ram provides axial motion perpendicular to the machine tool column and along the radial direction of the circular base of the machine tool.

3. The flexible assembly and processing system for ring-shaped products as described in claim 2, characterized in that, The end-effector is equipped with a laser displacement sensor, an industrial camera, a presser foot mechanism, a pressure sensor, and a dust suction pipe. The laser displacement sensor measures the curvature and normal of the area to be processed to correct the posture of the end processing head; the industrial camera measures the position of the pre-connected positioning hole to correct the hole position data in the CNC machining program; the pressure sensor measures the contact pressure of the presser foot mechanism to control the pressing state of the presser foot mechanism on the outer curved surface of the annular product; and the dust suction pipe collects the chips and dust generated during the processing.

4. The flexible assembly and processing system for ring-shaped products as described in claim 1, characterized in that, The first flexible worktable includes multiple sets of polar coordinate positioners distributed in a disk shape. Each set of polar coordinate positioners includes a sector-shaped base, a rotary table disposed on the sector-shaped base, a slide table disposed on the rotary table, a lifting table disposed on the side of the slide table, and a flexible axial end disposed on the top of the lifting table. The rotary table drives the slide to rotate circumferentially, the slide to drive the lifting platform to move radially, and the lifting platform to drive the flexible axial end to move in the height direction, so as to move the flexible axial end to the theoretical axial support position obtained by the integrated control system.

5. The flexible assembly and processing system for ring-shaped products as described in claim 4, characterized in that, The flexible axial end includes a three-dimensional force sensor, a rotating platform disposed above the three-dimensional force sensor, and at least two sets of clamping units symmetrically disposed on the rotating platform. The clamping unit includes a rubber pressure plate motion motor, a normal pressure sensor, a normal distance sensor, and a rubber pressure plate; The three-dimensional force sensor is used to detect the force value carried by the first flexible worktable. The rotating platform rotates and adjusts its orientation according to the normal angle of the supported part of the ring product. The rubber pressure plate motion motor drives the rubber pressure plate to fit against the ring product and controls the movement stroke of the rubber pressure plate according to the distance data measured by the normal distance sensor and the pressure data measured by the normal pressure sensor.

6. The flexible assembly and processing system for ring-shaped products as described in claim 1, characterized in that, The second flexible worktable includes a square column, a unit slide block slidably sleeved on the outside of the square column, and a test tool table disposed on the top of the square column; The outer facade of the unit slide is arranged in an array of multiple sets of flexible radial units. The test tool table is used by the machine tool to verify the test tool parameters before processing the ring product. The unit slide slides along the square column to the position of the lifting height command issued by the integrated control system.

7. The flexible assembly and processing system for ring-shaped products as described in claim 6, characterized in that, Each of the flexible radial units includes a drive motor, a telescopic column arranged parallel to the drive motor, a vacuum suction cup disposed at the end of the telescopic column, and a distance sensor installed at the bottom of the vacuum suction cup; The drive motor drives the telescopic column to extend and retract, thereby moving the vacuum suction cup closer to the inner wall of the annular product. The distance sensor measures the distance between the vacuum suction cup and the inner wall of the annular product in real time and inputs the distance to the integrated control system to adjust the extension length of the telescopic column. When the distance sensor measurement value reaches a predetermined threshold, the power supply of the vacuum suction cup is turned on to complete the inner wall adsorption support.

8. The flexible assembly and processing system for ring-shaped products as described in claim 1, characterized in that, The integrated control system includes a host computer and a slave computer; The lower-level machine includes a motion control system for controlling the multi-axis motion of the first flexible worktable and the second flexible worktable, and a numerical control operating system for controlling the motion of the machine tool. The host computer and the slave computer exchange data via industrial Ethernet to monitor the position status and processing process of the first flexible worktable, the second flexible worktable, and the machine tool in real time.

9. The processing method for a flexible assembly processing system for ring-shaped products as described in any one of claims 1-8, characterized in that, include: The integrated control system calculates the theoretical axial support position of the first flexible worktable and the theoretical lifting height and theoretical radial support position of the second flexible worktable based on the geometric parameters of the input ring product. Control the first flexible worktable to move to the theoretical axial support position, and after the ring product is in place, control the clamping mechanism on the first flexible worktable to fit the ring product, thereby completing the axial support and lip clamping of the ring product. The second flexible worktable is controlled to rise to the theoretical lifting height, and the flexible radial unit is driven to extend outward. The extension stroke of each flexible radial unit is adjusted based on the inner wall distance data fed back by the flexible radial unit. After the fitting conditions are met, vacuum adsorption is activated to complete the multi-point array radial support of the inner wall of the annular product. The actual spatial pose data of the ring-shaped product measured by the external laser tracker is converted into the spatial cylindrical polar coordinate system of the machine tool to generate a photogrammetry program and an assembly processing program. The photographic measurement program is executed to measure the actual position of the pre-connection positioning hole on the ring product using the machine tool. The machine hole position correction value is calculated based on the measured actual position and compensated into the assembly process. The assembly and machining program is executed, and the machining head posture is adjusted according to the curvature and normal vector of the area to be machined measured by the machine tool. Then, the ring product is pressed by the presser foot mechanism on the machine tool and the spindle is driven to perform machining.

10. The processing method for a flexible assembly processing system for ring-shaped products as described in claim 9, characterized in that, Before processing the ring-shaped product, the process also includes: The test tool is mounted on the test tool platform on top of the second flexible worktable. The integrated control system controls the machine tool to run the test tool program to perform a test on the test tool to verify the tool performance and process parameters.

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