Digitized flexible assembling and welding platform for guide pipe

Abstract

The utility model discloses a guide pipe digital flexible assembling and welding platform which comprises a Track support, a Track is installed at the top end of the Track support, a platform is installed at the bottom end of the Track support, a coordinate system reference frame is installed on the Track support corresponding to the position between the Track and the platform, and a reference target fixing frame used for locating a target to establish a coordinate system is installed on the coordinate system reference frame. The at least two flexible supporting devices can move in six axes, the flexible supporting devices are installed on the platform, the tail ends of the flexible supporting devices are connected with tail end executing mechanisms used for clamping catheters or catheter accessories, and the tail end executing mechanisms at the tail ends of the flexible supporting devices are all within the visual field range of the Track; and the Track and the flexible supporting devices are electrically connected with the control module. According to the utility model, high-precision positioning of the system is realized, the assembling and welding precision of the guide pipe is ensured, the manufacturing efficiency of the guide pipe is greatly improved, the labor is saved, the production efficiency is improved, the product quality is obviously improved, and the economic benefit of the system is obvious.

Description

Technical Field

[0001] The utility model relates to the technical field of catheter assembly welding, in particular to a catheter digital flexible assembly welding platform. Background Art

[0002] As a channel for conveying media, the pipeline system is widely used in electromechanical products. Especially in the field of aerospace, the normal operation of the pipeline system is crucial to the performance and quality of the product. As an important part of aircraft or various spacecraft, the assembly progress of the catheter directly affects the reliability of the aircraft. The manufacturing process of the catheter directly reflects the manufacturing level of my country's aerospace industry.

[0003] However, existing pipeline manufacturing technology faces some challenges, especially for thin-walled structure pipes with medium and large diameters (such as above φ30mm). Due to their small bending radius, direct bending will cause problems such as wrinkling and cracking. Therefore, these pipes are usually manufactured by welding, but this requires high assembly precision and complex manufacturing processes. Due to the different functions of pipeline products, there are many pipelines with different shapes. In addition to the data of branch pipes, pipe joints, and flanges themselves, the relative positions between them are also involved, with different specifications and complex spatial directions.

[0004] At present, the research direction of aerospace duct manufacturing technology at home and abroad is concentrated on the manufacture of curved ducts. The integrated manufacturing technology for pipeline welding process is still in the experimental starting stage and needs further research and development. At present, most duct welding work is still carried out manually through special tooling or on-site physical sampling to manufacture ducts. Special welding tooling is made for each product to accurately control the key dimensional information such as the length and angle of complex pipes, and the welding of key points is carried out after the relative position and direction are fixed. However, the special welding tooling has poor versatility, low efficiency, long design cycle, and cannot respond quickly with model changes. For different welding ducts, a large number of different special fixtures need to be designed, which greatly increases the development time and cost of aerospace products, and also brings great inconvenience to production management. Moreover, in the production process, due to the influence of factors such as the operator's experience level, tooling, positioning accuracy and measurement accuracy, there are large errors and deformations after the duct welding, and the accuracy requirements cannot be met. With the rapid development of new models and new products of aerospace equipment, the development and production costs of tooling and molds are huge. The management and storage of tooling and molds have become an obstacle to the high-density launch of rockets. The traditional catheter production process can no longer meet the manufacturing needs of modern products. Therefore, a digital flexible catheter assembly and welding platform is urgently needed. Utility Model Content

[0005] In view of the deficiencies existing in the prior art, the utility model provides a catheter digital flexible welding platform.

[0006] The utility model discloses a catheter digital flexible welding platform, comprising:

[0007] A Track bracket, wherein a Track is installed at the top end of the Track bracket, a platform is installed at the bottom end of the Track bracket, a coordinate system reference frame is installed on the Track bracket corresponding to between the Track and the platform, and a reference target fixing frame for locating a target and establishing a coordinate system is installed on the coordinate system reference frame;

[0008] At least two flexible support devices capable of six-axis movement, the flexible support devices being mounted on the platform, the ends of the flexible support devices being connected to end actuators for clamping catheters or catheter accessories, and the end actuators at the ends of the flexible support devices are within the field of view of the Track;

[0009] The control module, the Track and each of the flexible supporting devices are electrically connected to the control module.

[0010] As a further improvement of the present utility model, the Track bracket includes a side frame beam and a cross beam;

[0011] The two side frame beams are respectively arranged on both sides of the platform, the cross beam spans between the tops of the two side frame beams, and the two ends of the coordinate system reference frame are fixedly mounted on the side frame beams on both sides;

[0012] The Track is fixedly mounted on the crossbeam, and the end actuators at the ends of the plurality of flexible support devices on the platform are all within the field of view of the Track.

[0013] As a further improvement of the present invention, the coordinate system reference frame is a rectangular structure;

[0014] A reference target fixing frame is respectively provided at the front, rear, left and right of the bottom of the coordinate system reference frame.

[0015] As a further improvement of the utility model, the platform is composed of a first platform part and a second platform part spliced ​​together;

[0016] The three flexible support devices are symmetrically installed on the first platform part and the second platform part, and the end actuators are installed at the ends of the six flexible support devices.

[0017] As a further improvement of the present invention, a quick-change disc is installed at the end of each of the flexible support devices, and the end actuator is installed at the end of the corresponding flexible support device through the quick-change disc.

[0018] As a further improvement of the present utility model, the flexible support device includes a first support portion;

[0019] The first support part is movably mounted on the platform via an X-axis moving mechanism; the second support part is movably mounted on the first support part via a Y-axis moving mechanism; the third support part is movably mounted on the second support part via a Z-axis moving mechanism; the fourth support part is rotatably mounted on the third support part via an I-axis rotation mechanism; the fifth support part is rotatably mounted on the fourth support part via a J-axis rotation mechanism; and the end actuator is rotatably mounted on the fifth support part via a K-axis rotation mechanism.

[0020] As a further improvement of the present invention, the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the I-axis rotation mechanism, the J-axis rotation mechanism and the K-axis rotation mechanism all include a servo motor and an encoder connected to the servo motor;

[0021] The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the I-axis rotating mechanism, and the J-axis rotating mechanism are all equipped with a grating ruler, and the grating ruler is used to detect the displacement values ​​of the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the I-axis rotating mechanism, and the J-axis rotating mechanism;

[0022] The plurality of servo motors, the plurality of encoders and the plurality of grating rulers are all electrically connected to the control module.

[0023] As a further improvement of the utility model, both ends of the linear motion parts of the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are provided with linear hard limits, linear limit switches and linear soft limits;

[0024] The plurality of linear limit switches and the plurality of linear soft limits are electrically connected to the control module respectively.

[0025] As a further improvement of the present utility model, the motion range of the I-axis rotation mechanism is ±180°, the motion range of the J-axis rotation mechanism is ±120°, and the motion range of the K-axis rotation mechanism is ±180°.

[0026] As a further improvement of the present utility model, the control module includes a host computer module and a PLC module communicatively connected to the host computer module;

[0027] The Track is electrically connected to the host computer module, and the plurality of flexible support devices are electrically connected to the PLC modules respectively.

[0028] Compared with the prior art, the beneficial effects of the utility model are:

[0029] The utility model adopts a flexible and digital design concept, and solves the problems of spatial multi-degree-of-freedom coupling and singularity points by arranging multiple flexible support devices that can move in six axes and relying on its flexible working mode of 6 degrees of freedom.

[0030] The utility model realizes high-precision positioning of the system through multi-axis linkage, servo control and three-closed-loop control of encoder, grating ruler and Track, ensures the welding accuracy after catheter welding, and is not affected by factors such as operator experience level, tooling, positioning accuracy and measurement accuracy.

[0031] The utility model greatly improves the manufacturing efficiency of the catheter while ensuring the catheter welding accuracy, effectively breaks through the bottleneck workstation of the final assembly link, significantly improves product quality, saves labor, can meet the welding work needs of various catheters, and has significant system economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of a device for a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0033] Figure 2 A schematic diagram of a digital flexible welding platform for catheters disclosed in an embodiment of the utility model;

[0034] Figure 3 This is a schematic diagram of a flexible support device of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0035] Figure 4 for Figure 3 A partial enlarged view of

[0036] Figure 5 This is a schematic diagram of the I axis of the flexible support device of the catheter digital flexible welding platform disclosed in one embodiment of the utility model;

[0037] Figure 6 This is a schematic diagram of the position limiting mechanism of the linear motion mechanism of the catheter digital flexible welding platform disclosed in one embodiment of the utility model;

[0038] Figure 7 This is a schematic diagram of the limit position of the rotational movement mechanism of the catheter digital flexible welding platform disclosed in one embodiment of the utility model;

[0039] Figure 8 A schematic diagram of a coordinate system of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0040] Fig. 9 A schematic diagram of a coordinate system of a flexible support device of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0041] Fig.10 A schematic diagram of a coordinate system of a flexible support device of a catheter digital flexible welding platform disclosed in an embodiment of the utility model when the tooling is in an inclined state;

[0042] Fig.11 A schematic diagram of three-closed-loop position control of a digital flexible welding platform for catheters disclosed in an embodiment of the utility model;

[0043] Fig.12 This is a structural diagram of a PLC control system of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0044] Fig.13 This is a workflow diagram of a control method of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0045] Fig.14 This is a positioning flow chart of a control method of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0046] Fig.15 A reset flow chart of a control method of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0047] Fig.16 A calibration flow chart of a control method of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0048] Fig.17 A flow chart of a spatial coordinate matching algorithm for flanges of two-way catheter products of a control method of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0049] Fig.18 An arbitrary catheter product flange spatial coordinate matching algorithm for a control method of a catheter digital flexible welding platform disclosed in an embodiment of the utility model;

[0050] Fig.19 This is a system network diagram of a control method for a catheter digital flexible welding platform disclosed in an embodiment of the utility model.

[0051] In the figure:

[0052] 1-1, Track bracket; 1-2, Track; 1-3, coordinate system reference frame; 1-4, reference target fixing frame; 1-5, flexible support device; 1-6, platform; 1-7, end actuator; 1-8, bracket foot; 1-9, platform foot; 2-1, X-axis servo motor; 2-2, Y-axis servo motor; 2-3, first platform part; 2-4, second platform part; 2-5, coupling; 2-6, active side gear ring; 2-7, active side gear 2-8, active side slide rail; 2-9, active side slider; 2-10, I-axis servo motor; 2-11, J-axis servo motor; 2-12, K-axis servo motor; 2-13, quick-change plate; 2-14, locking device; 2-15, X-axis grating ruler; 2-16, driven side slide rail slider; 2-17, driven side gear ring rack; 2-20, end actuator; 2-21, first flexible support device; 2-22, second flexible support device; 2-23, first 3rd flexible support device; 2-24, 4th flexible support device; 2-25, 5th flexible support device; 2-26, 6th flexible support device; 3-1, driven side gear ring; 3-2, Y axis drag chain, 3-3, Z axis drag chain; 3-4, Z axis servo motor; 3-5, button box; 3-6, I axis circular grating; 3-7, J axis circular grating; 3-8, Z axis grating ruler; 3-9, Y axis grating ruler; 4-1, negative hard limit; 4-2, linear negative limit switch; 4-3 , linear negative soft limit, 4-4, linear positive soft limit; 4-5, linear positive limit switch; 4-6, linear positive hard limit, 4-7, linear grating ruler; 4-8, servo motor encoder; 4-9, linear actuator; 5-1, negative soft limit; 5-2, rotation negative limit switch; 5-3, rotation negative hard limit; 5-4, rotation positive hard limit; 5-5, rotation positive limit switch; 5-6, rotation positive hard limit; 5-7, angle grating ruler; 5-8, rotation actuator. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0054] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] The utility model is further described in detail below in conjunction with the accompanying drawings:

[0057] like Figure 1 As shown, a catheter digital flexible welding platform provided by the utility model includes a Track bracket 1-1, at least two flexible support devices 1-5 that can move in six axes, and a control module. Among them, Track1-2 is installed on the top of the Track bracket 1-1, and a platform 1-6 is installed on the bottom of the Track bracket 1-1. A coordinate system reference frame 1-3 is installed on the Track bracket 1-1 corresponding to Track1-2 and the platform 1-6. A reference target fixing frame 1-4 for positioning the target to establish a coordinate system is installed on the coordinate system reference frame 1-3. A plurality of flexible support devices 1-5 are installed on the platform 1-6. The end of the flexible support device 1-5 is connected to an end actuator 1-7 for clamping a catheter or a catheter accessory. The end actuator 1-7 at the end of each flexible support device 1-5 is within the field of view of Track1-2. Track1-2 and each flexible support device 1-5 are electrically connected to the control module.

[0058] Specific:

[0059] like Figure 1As shown, in the above embodiment, preferably, the Track bracket 1-1 includes side frame beams located on both sides of the platform 1-6 and a crossbeam arranged between the tops of the side frames on both sides, the bottoms of the side frame beams on both sides are in contact with the ground through the bracket feet 1-8, and Track 1-2 is installed in the middle of the top crossbeam. The setting height of the Track bracket 1-1 ensures that the end actuators 1-7 of each flexible support device 1-5 located on the platform 1-6 are within the field of view of Track 1-2.

[0060] In the above embodiment, preferably, the coordinate system reference frame 1-3 is in a rectangular structure, and the coordinate system reference frame 1-3 is placed on the Track bracket 1-1 between Track1-2 and the platform 1-6. The coordinate system reference frame 1-3 is arranged parallel to the ground, and reference target fixing frames 1-4 are installed below the front, rear, left and right ends of the coordinate system reference frame 1-3. During actual installation, the two ends of the coordinate system reference frame 1-3 are connected to the side frame beams on both sides of the Track bracket 1-1, and the coordinate system reference frame 1-3 is installed above the flexible support device 1-5, and does not block the field of view of the end actuator 1-7 while ensuring that it is within the field of view of Track1-2.

[0061] like Figure 2-4 As shown, in the above embodiment, preferably, the platform 1-6 is composed of a first platform portion 2-3 and a second platform portion 2-4 located on the left and right sides, and the first platform portion 2-3 and the second platform portion 2-4 are connected by a locking device 2-14 and a plurality of conical columns to form a whole, and three flexible support devices are symmetrically installed on the first platform portion 2-3 and the second platform portion 2-4, that is, the first flexible support device 2-21, the second flexible support device 2-22, and the third flexible support device 2-23 are installed in sequence from front to back on the second platform portion 2-4, and the fourth flexible support device 2-24, the fifth flexible support device 2-25, and the sixth flexible support device 2-26 are installed in sequence from back to front on the first platform portion 2-3.

[0062] In the above embodiment, preferably, a plurality of platform feet 1-9 are installed at the bottom of the first platform part 2-3 and the second platform part 2-4, and the plurality of platform feet 1-9 have a leveling device that can level the first platform part 2-3 and the second platform part 2-4.

[0063] In the above embodiment, preferably, the flexible support device 1-15 includes a first support part, which is movably mounted on the platform 1-6 through an X-axis moving mechanism, and the second support part is movably mounted on the first support part through a Y-axis moving mechanism; the third support part is movably mounted on the second support part through a Z-axis moving mechanism; the fourth support part is rotatably mounted on the third support part through an I-axis rotation mechanism; the fifth support part is rotatably mounted on the fourth support part through a J-axis rotation mechanism; and the end actuator 1-17 is rotatably mounted on the fifth support part through a K-axis rotation mechanism.

[0064] In the above embodiment, preferably, the X-axis moving mechanism includes an X-axis servo motor 2-1 and a transmission shaft, which spans across the platform 1-6 along a moving direction perpendicular to the X-axis moving mechanism, and one end of the transmission shaft is connected to the X-axis servo motor 2-1 through a coupling 2-5; the driving side ring gear 2-6, the driving side rack 2-7, the driving side slider 2-9, and the driving side slide rail 2-8 are installed at one end of the transmission shaft close to the X-axis servo motor 2-1, and the driven side slide rail slider 2-16, the X-axis grating ruler 2-15, and the driven side rack 2-17 are installed at the other end, wherein the driving side rack 2-7, the driving side slide rail 2-8, the driven side slide rail slider 2-16, and the driven side rack 2-17 are respectively arranged on the platform 1-6 along the axial direction perpendicular to the transmission shaft. On the upper part, the X-axis grating ruler 2-15 is arranged on the side of the transmission shaft away from the X-axis servo motor 2-1 along the axial direction perpendicular to the transmission shaft, that is, the X-axis grating ruler 2-15 in this embodiment is arranged parallel to the moving direction of the X-axis moving mechanism; the active side ring gear 2-6 and the driven side ring gear 3-1 are respectively sleeved on the transmission shaft, and are arranged at the corresponding positions of the active side rack 2-7 and the driven side rack 2-17 to ensure that the X-axis servo motor 2-1 drives the transmission shaft, and moves along the active side rack 2-7 and the driven side rack 2-17 through the active side ring gear 2-6 and the driven side ring gear 3-1, thereby driving the entire X-axis moving mechanism to move along the active side slider 2-9, the active side slide rail 2-8, and the driven side slide rail slider 2-16, and the reading of the X-axis grating ruler 2-15 follows the changes.

[0065] In the above embodiment, preferably, a mounting frame is provided on each side of the platform 1-6 for rotatable installation of the transmission shaft, and the mounting frame is installed on the active side slider 2-9 and the driven side slider on the corresponding side. In this embodiment, the active side slider 2-9, the driven side slider and the mounting frame on the upper part thereof together constitute a first support portion.

[0066] In the above embodiment, preferably, the X-axis grating ruler 2-15 uses FAGO products with a measuring range of 2640mm and an accuracy of 0.005mm.

[0067] In the above embodiment, preferably, the X-axis servo motor 2-1 is also equipped with an X-axis encoder. The X-axis servo motor 2-1 is equipped with an electromagnetic brake to achieve precise braking of the X-axis servo motor 2-1.

[0068] like Figure 4-5 As shown, in the above embodiment, preferably, a Y-axis slide rail is installed above the X-axis moving mechanism along the axial direction of its transmission shaft, and a Y-axis slider slides on the Y-axis slide rail. In this embodiment, the Y-axis moving mechanism includes a Y-axis servo motor 2-2, the output end of the Y-axis servo motor 2-2 is connected to a lead screw, and the laying direction of the lead screw is consistent with the axial direction of the transmission shaft of the X-axis moving mechanism. The Y-axis slider is driven by the lead screw and then moves along the Y-axis slide rail. To ensure safety and aesthetics, the cable of the Y-axis servo motor 2-2 in this embodiment is driven to move by a Y-axis drag chain 3-2. In this embodiment, the Y-axis slide rail and the Y-axis slider together constitute the second support portion.

[0069] In the above embodiment, preferably, the Y-axis moving mechanism further includes a Y-axis grating ruler 3-9, which is arranged on one side of the lead screw, and the Y-axis grating ruler 3-9 is arranged in parallel with the lead screw, so that when the Y-axis slider is driven by the lead screw and then moves along the Y-axis slide rail, the reading of the Y-axis grating ruler 3-9 follows the change. In this embodiment, the Y-axis grating ruler 3-9 is a FAGO product with a range of 1140mm and an accuracy of 0.005mm.

[0070] In the above embodiment, preferably, the Y-axis servo motor 2-2 is also equipped with a Y-axis encoder. The Y-axis servo motor 2-2 is equipped with an electromagnetic brake to achieve precise braking of the Y-axis servo motor 2-2.

[0071] In the above embodiment, preferably, a Z-axis slide rail is installed on the Y-axis slider of the Y-axis moving mechanism, and a Z-axis slider is slidably installed on the Z-axis slide rail, and the Z-axis slide rail and the Z-axis slider together constitute a third support part, wherein the Y-axis moving mechanism includes an output shaft of a Z-axis servo motor 3-4 connected to an electric push cylinder, so as to cooperate with the Z-axis servo motor 3-4 and the electric push cylinder to realize the lifting and lowering movement of the Z-axis along the Z-axis slide rail and the Z-axis slider. In this embodiment, in order to ensure safety and aesthetics, the cable of the Z-axis servo motor 3-4 in this embodiment is driven to move through the Z-axis drag chain 3-3.

[0072] In the above embodiment, preferably, the Y-axis moving mechanism also includes a Z-axis grating ruler 3-8, and the Z-axis grating ruler 3-8 is a FAGO product with a measuring range of 1140 mm and an accuracy of 0.005 mm.

[0073] In the above embodiment, preferably, the Z-axis servo motor 3 - 4 is also configured with a Z-axis encoder, and the Z-axis servo motor 3 - 4 is configured with an electromagnetic brake to achieve precise braking of the Z-axis servo motor 3 - 4 .

[0074] In the above embodiment, preferably, the I-axis rotation mechanism includes an I-axis servo motor 2-10, which is installed on the output end of the Z-axis, and the I-axis servo motor 2-10 is configured with an electromagnetic brake to achieve precise braking of the I-axis servo motor 2-10. An I-axis circular grating 3-6 is installed at the end of the I-axis servo motor 2-10. The I-axis circular grating 3-6 in this embodiment is a Fagor product with an accuracy of 10 arc seconds.

[0075] In the above embodiment, preferably, the I-axis servo motor 2-10 is also equipped with an I-axis encoder. The I-axis servo motor 2-10 is equipped with an electromagnetic brake to achieve precise braking of the I-axis servo motor 2-10.

[0076] In the above embodiment, preferably, a bracket is installed at the upper end of the I-axis rotation and the J-axis rotation mechanism is fixed. The J-axis rotation mechanism includes a J-axis servo motor 2-11, and the shaft end of the J-axis circular grating 3-7 is installed. The J-axis of the flexible support device 1-5 can swing left and right under the drive of the J-axis servo motor 2-11. In this embodiment, in order to ensure the smooth swing of the J-axis, J-axis mounting frames are respectively installed on both sides of the upper end of the I-axis rotation, and the J-axis mounting frames on both sides jointly constitute a U-shaped support seat. The J-axis servo motor 2-11 is installed on the outer side of one side of the U-shaped support seat, and the output shaft of the J-axis servo motor 2-11 spans the U-shaped support seat, and the U-shaped support seat constitutes the fifth support portion.

[0077] In the above embodiment, preferably, the J-axis servo motor 2-11 is also equipped with a J-axis encoder. The J-axis servo motor 2-11 is equipped with an electromagnetic brake to achieve precise braking of the J-axis servo motor 2-11.

[0078] In the above embodiment, preferably, a K-axis mounting frame is installed on the rotating shaft between the U-shaped support seats, and a K-axis rotating mechanism is installed in the middle of the K-axis mounting frame. The K-axis rotating mechanism includes a K-axis servo motor 2-12, and a quick-change disk 2-13 is installed at the end of the K-axis servo motor 2-12. The end actuator 1-7 can be quickly switched under the action of the quick-change disk 2-13.

[0079] In the above embodiment, preferably, the K-axis servo motor 2-12 is also equipped with a K-axis encoder. The K-axis servo motor 2-12 is equipped with an electromagnetic brake to achieve precise braking of the K-axis servo motor 2-12.

[0080] In the above embodiment, preferably, a button box 3-5 is installed on the flexible support device 1-5, which is provided with a clamping button, a quick-change disk button, a forward / backward button and an emergency stop button. The clamping button can be used to realize the clamping and closing of the end actuator 1-20, the quick-change disk button can be used to switch the state of the quick-change disk 2-13 to replace the end actuator part 2-20, the forward / backward button is used to realize the flange normal forward and backward of the end actuator 2-20 part of the flexible support device 1-5; the emergency stop button is used to realize the emergency braking of the equipment.

[0081] like Figure 6-7 As shown, in the above embodiment, preferably, the linear motion units such as the X-axis, Y-axis, and Z-axis of the flexible support device 1-5 include a linear actuator 4-9, which includes a servo motor encoder 4-8 and a linear grating ruler 4-7 for monitoring the position. The linear actuator 4-9 includes a linear positive hard limit 4-6 and a linear negative hard limit 4-1 at both ends to ensure that the actuator does not exceed the limit. A linear positive limit switch 4-5 and a linear positive soft limit 4-4 are sequentially arranged near the motion range of the linear positive hard limit 4-6; similarly, a linear negative limit switch 4-2 and a linear negative soft limit 4-3 are sequentially arranged near the motion range of the linear negative hard limit 4-1. Finally, the motion range of the X-axis is ensured to be 1500mm, the motion range of the Y-axis is 1100mm, and the motion range of the Z-axis is 300mm.

[0082] In the above embodiment, preferably, the I-axis, J-axis and other rotating units of the flexible support device 1-5 include a rotating actuator 5-8, and the rotating actuator 5-8 includes an angle grating scale 5-7 for monitoring the angle. The two ends of the angle actuator 5-8 include a positive rotation hard limit 5-4 and a negative rotation hard limit 5-3 to ensure that the actuator does not exceed the limit. A positive rotation limit switch 5-5 and a positive rotation soft limit 5-6 are sequentially arranged near the motion range of the positive rotation hard limit 5-4; similarly, a negative rotation limit switch 5-2 and a negative rotation soft limit 5-1 are sequentially arranged near the motion range of the negative rotation hard limit 5-3. The K-axis is not provided with a grating scale, and finally the motion range of the I-axis is guaranteed to be ±180°, the motion range of the J-axis is ±120°, and the motion range of the K-axis is ±180°.

[0083] like Figure 8 As shown, in the above embodiment, preferably, with respect to the description of the coordinate system X, Y and Z directions, a catheter digital flexible welding platform includes 6 flexible support devices 1-5, namely 1#, 2#, 3#, 4#, 5# and 6#, wherein the positive direction of the coordinate system X direction is the direction from the 1# flexible support device to the 3# flexible support device, and the positive direction of the coordinate system Y direction is the direction from the 1# flexible support device to the 6# flexible support device. The positive direction of the coordinate system Z direction is the upward direction of the flexible support device. Fig.10The figure shows the coordinate system of a flexible support device of a digital flexible welding platform for a catheter in any state.

[0084] In the above embodiment, preferably, a flexible support device coordinate system of a catheter digital flexible welding platform is as follows: Fig. 9 As shown, the platform coordinate system is X1-Y1-Z1, the coordinate system of the flange center point of the end actuator 1-7 is X2-Y2-Z2, the distance L1 between the bottom surface of the platform 1-6 and the center of the J-axis is 1200mm, and the distance L2 between the center point of the flange of the end actuator and the center of the J-axis is the sum of the distance between the flange center point of the end actuator 1-7 and the center of the quick-change disk 2-13 (171mm) and the tooling height (129.6mm), that is, 300.6mm.

[0085] like Fig.11 As shown, in the above embodiment, preferably, the three-closed-loop position control method of this embodiment, wherein the first position control loop is the absolute encoder position closed loop on the servo motor, and the servo precision control is realized by the servo driver to ensure the position control precision of each axis; the second position control loop is the grating ruler position closed loop, and the position closed loop of the peripheral actuator is realized by the absolute grating ruler of each actuator to eliminate the mechanical installation error and ensure the positioning accuracy; the third position control loop is Track space positioning, and the center point of the model is located by the target on the end actuator 1-7, so as to calibrate the real-time space posture of the end actuator 1-7 in real time, and ensure the space positioning accuracy to eliminate the space error.

[0086] like Fig.12 As shown, in the above embodiment, preferably, the control module includes a host computer module and a PLC module, wherein the host computer module and the PLC module are connected by Profi net communication, and the X-axis servo motor 2-1, Y-axis servo motor 2-2, Z-axis servo motor 3-4, I-axis servo motor 2-10, J-axis servo motor 2-11, and K-axis servo motor 2-12 in the first flexible support device 2-21, the second flexible support device 2-22, the third flexible support device 2-23, the fourth flexible support device 2-24, the fifth flexible support device 2-25, and the sixth flexible support device 2-26 are respectively connected to the PLC module in a direct connection manner through Profi net communication; the X-axis grating ruler 2-15, the Y-axis grating ruler 3-9, the Z-axis grating ruler 3-8, the I-axis circular grating 3-6, and the J-axis circular grating 3-7 in each flexible support device 1-5 are respectively connected to the PLC module through a counting module.

[0087] In the above embodiment, preferably, the host computer module is electrically connected to Track 1-2, and the host computer module collects Track information through software to identify the end actuator 1-7 in each flexible support device 1-5 and automatically locate the flange center position of the end actuator 1-7.

[0088] In the above embodiment, preferably, the forward / backward button, emergency stop button, clamping button, quick-change disk button, and error prevention information in the button box 3-5 are electrically connected to the PLC module through the input module, and the PLC module is also connected to the alarm light, solenoid valve, door lock, and multiple linear limit switches, multiple linear soft limits, multiple electromagnetic brakes, and lubrication pumps through the output module. In this embodiment, the system is equipped with a handheld mobile touch screen for displaying system information and operations.

[0089] like Fig.13 As shown, the utility model provides a control method for a catheter digital flexible welding platform, comprising:

[0090] Through the software interface of the control module, input the catheter model and import the corresponding model;

[0091] According to the imported model, the actual tooling and system coordinate parameters are calculated based on the catheter flange spatial coordinate matching algorithm;

[0092] Follow the prompts to quickly replace the appropriate tooling to the flexible support device 1-5 and verify it. If the tooling does not match, an alarm will be issued to prompt the tooling to be checked; if the tooling matches, Track verification will be performed to determine whether the positions of the two fixed reference models are within the qualified range. If they are beyond the qualified range, the system will alarm to prompt the need to check whether Track has any faults and whether calibration is required. After Track verification is qualified, the system officially enters the automatic operation program;

[0093] After the verification is completed, the control module controls the multiple flexible support devices 1-5 to perform a reset process, and after the reset is completed, the multiple flexible support devices 1-5 are positioned;

[0094] After positioning is completed, the control module further detects whether there is a deviation in the space through Track1-2. If the deviation exceeds the accuracy range, the control module calculates the various correction variables of the flexible support device in the X direction, Y direction and Z direction according to the deviation and the platform coordinate system; each flexible support device 1-5 is re-positioned according to each correction variable, and the detection and correction are repeated until the deviation detected by Track1-2 is within the accuracy range; at this time, the end actuator 1-7 is manually clamped by the clamping claw button of the button box 3-5, and the product is completed by repairing the pipeline and spot welding. The semi-finished pipeline is moved a fixed distance in the normal direction of the flange by pressing the forward / backward button on the button box 3-5, and the welding assembly is removed, and the flange welding assembly is fully welded at the specified position. The fully welded assembly is put back into the end actuator 1-7 for retesting. If it is unqualified, it needs further repair and welding. If it is qualified, the qualified product will be offline.

[0095] like Fig.16As shown, in the above embodiment, preferably, a calibration process is also included, and the calibration process specifically includes: moving the X axis of the flexible support device 1-5 within the range of the motion space to form a series of points X in the X axis direction, and after completion, moving the Y axis of the flexible support device 1-5 to form a series of points Y in the Y axis direction, measuring X and Y by a laser tracker, and forming an XY plane by software fitting; moving the X axis of the flexible support device 1-5 within the range of the motion space to form a series of points X in the X axis direction, and after completion, moving the Z axis of the flexible support device 1-5 to form a series of points Z in the Y axis direction, measuring X and Z by a laser tracker, and forming an XZ plane by software fitting; further, moving the Y axis of the flexible support device 1-5 within the range of the motion space to form a series of points Y in the X axis direction, and after completion, moving the Z axis of the flexible support device 1-5 to form a series of points Z in the Y axis direction, measuring Y and Z by a laser tracker, and forming a YZ plane by software fitting;

[0096] In the above embodiment, preferably, the tooling plane A1 is measured by a laser tracker, and the angle between A1 and the XY plane is measured. The J axis of the flexible support device 1-5 is adjusted so that the angle between the tooling plane A1 and the XY plane is 0 degrees. At this time, the position of the J-axis circular grating 3-7 of the flexible support device 1-5 is recorded as the zero point of the J axis of the flexible support device 1-5. Further, after the zero point of the J axis is recorded, the J axis is rotated 90 degrees, and the working plane A2 at this time is measured by a laser tracker. The I axis of the flexible support device 1-5 is adjusted so that the angle between the tooling plane A2 and the YZ plane at this time is 0 degrees. At this time, the position of the I-axis circular grating 3-6 of the flexible support device 1-5 is recorded as the zero point of the I axis of the flexible support device 1-5.

[0097] In the above embodiment, preferably, the I axis and J axis of the flexible support device 1-5 are returned to zero, the position (x1, y1, z1) of the tooling center in the platform coordinate system is measured by a laser tracker, and the current position of the grating ruler (x2, y2, z2) is recorded, and the corresponding relationship between the two coordinate systems is calibrated to obtain the corresponding matrix. The corresponding relationship matrix of the first flexible support device 2-21, the second flexible support device 2-22, the third flexible support device 2-23, the fourth flexible support device 2-24, the fifth flexible support device 2-25, and the sixth flexible support device 2-26 is calibrated in sequence, so as to obtain the corresponding relationship between the unified coordinate system and the grating rulers of each flexible support device 1-5, so as to unify each flexible support device 1-5 under the platform coordinate system.

[0098] like Fig.14 As shown, in the above embodiment, preferably, the positioning process includes:

[0099] Each flexible support device 1-5 is regarded as an independent unit. After the initialization is completed before the system positioning starts, the posture input is performed. The posture includes position and posture, that is, the position information of the X-axis, Y-axis, Z-axis, I-axis, J-axis, and K-axis, which correspond to the position information of the X-axis servo motor 2-1, the Y-axis servo motor 2-2, the Z-axis servo motor 3-4, the I-axis servo motor 2-10, the J-axis servo motor 2-11, and the K-axis servo motor 2-12 respectively;

[0100] Determine whether the inputted posture information is within the spatial range of each axis. If not, an alarm is issued, and an alarm message is given to indicate which axis exceeds the limit. If it is, in order to ensure the control positioning accuracy, the system will act in sequence from the K axis to the X axis. First, the K axis moves. After the K axis is adjusted to the range according to the successive approximation algorithm, the K axis servo motor 2-12 is locked by the electromagnetic brake. Similarly, the J axis and the I axis are adjusted to the accuracy range according to the circular grating feedback and the successive approximation algorithm, and then locked by the electromagnetic brake. After the J axis, I axis, and K axis rotation mechanism move into place, it is equivalent to fixing the posture of the flexible support device 1-5, and then the Z axis, Y axis, and X axis are moved into place in turn, and adjusted to the accuracy range according to the grating feedback and the successive comparison algorithm. At this time, the positioning is completed, and the position and posture of the flange of the end clamping mechanism 1-7 are fixed.

[0101] like Fig.15 As shown, in the above embodiment, preferably, the reset process mainly realizes returning the system to the initial position safely at any position, that is, the system zero point. The system zero point in this embodiment is: the J axis of the first flexible support device 2-21-the sixth flexible support device 2-26 is vertically upward, and the I axis ensures that the movement direction of the J axis is consistent with the XZ plane. The X-axis zero point of the first flexible support device 2-21 and the sixth flexible support device 2-26 is the X-axis zero point of the platform coordinate system, the X-axis zero point of the third flexible support device 2-23 and the fourth flexible support device 2-24 is the maximum direction of the X-axis of the platform coordinate system, and the X-axis zero point of the fifth flexible support device 2-25 and the sixth flexible support device 2-26 is the middle position of the X-axis of the platform coordinate system; the Y-axis zero point of the first flexible support device 2-21-the third flexible support device 2-23 is the Y-axis zero point of the platform coordinate system, and the Y-axis zero point of the fourth flexible support device 2-24-the sixth flexible support device 2-26 is the maximum value of the Y-axis of the platform coordinate system. The Z-axis zero point of the first flexible supporting device 2-21 to the sixth flexible supporting device 2-26 is the Z-axis zero point position of the platform coordinate system.

[0102] Table 1. Zero point position (grating ruler position)

[0103] Flexible support device X-axis Y-axis Z-axis I axis J-axis K-axis First 250 1100 30 135.3709 356.4709 0 second 1350 1100 30 330.6846 352.0086 0 third 2450 1100 30 170.5138 200.7246 0 fourth 2450 1100 30 106.2051 361.9412 0 fifth 1350 1100 30 136.5448 336.897 0 sixth 250 1100 30 207.4965 337.0612 0

[0104] The reset process includes: first, return the K axis of the first flexible support device 2-21 to the sixth flexible support device 2-26 to a safe position. The K axis reset process does not require precise positioning, only a servo closed loop is required; after the K axis returns to the safe position, return the J axis of the first flexible support device 2-21 to the sixth flexible support device 2-26 to the safe position according to a successive comparison algorithm; after the J axis returns to the safe position, return the I axis of the first flexible support device 2-21 to the sixth flexible support device 2-26 to the safe position according to a successive comparison algorithm. At this time, the posture of the first flexible support device 2-21 to the sixth flexible support device 2-26 is maintained at a vertically upward position at zero. After being in place, the X-axis of the first flexible support device 2-21 and the sixth flexible support device 2-26 are moved to the side in the negative direction of the X-axis of the coordinate system, and the X-axis of the third flexible support device 2-23 and the third flexible support device 2-24 are moved to the side in the positive direction of the X-axis of the coordinate system. After the movement is completed, the flexible support devices do not interfere with each other. The X-axis of the second flexible support device 2-22 and the fifth flexible support device 2-25 in the middle of the digital flexible welding platform for medium and large diameter catheters are centered and returned to the reset safety position. After the X-axis is fully reset, the Y-axis and Z-axis of the first flexible support device 2-21 to the sixth flexible support device 2-26 return to the reset initial position at the same time.

[0105] like Fig.17 As shown, in the above embodiment, preferably, taking the spatial coordinate matching of the flange of a 2-way conduit product as an example, the conduit flange spatial coordinate matching algorithm includes:

[0106] Set the initial position P1, and use the algorithm formula to calculate the target position P2 that meets the spatial position requirements based on the input flange process data (x1, y1, z1, i 1, j1, k1), (x2, y2.z2.i2.j2.k2);

[0107] The algorithm formula includes the distance formula (1) and the angle formula (2), as follows:

[0108]

[0109]

[0110] Initially assign a=1, b=2, that is, select a group of flexible support devices, assign the initial position P1 to the flexible support device a, and assign the target position P2 to another flexible support device b; determine the position of the grating ruler according to the coordinate transformation matrix calibrated by the calibration process, and judge whether it is within the predetermined motion range;

[0111] If it is within the range of motion, it indicates that the calculated positions p1 and p2 can be reproduced by the flexible support device a and the flexible support device b, and the data is sent to the flexible support device according to the calculation results. Fig.14 The positioning process shown moves the flexible support device a and the flexible support device b into position. After the positioning is completed, the corresponding tooling target model is finally tracked by Track1-2, and the spatial error is decomposed into components dx, dy, and dz in the reference coordinate system according to the formula. According to the positioning process, the flexible support devices 1-5 are fine-tuned according to dx, dy, and dz until the movement is completed, and the spatial position of the tooling and the spatial position of the flange process data are within the accuracy control range;

[0112] If it is not within the range of motion, a remains unchanged, and b automatically increases by 1, that is, the first flexible support device 2-21 and the second flexible support device 2-22-the second flexible support device 2-26 are compared in sequence, and the spatial position is calculated to see whether it is within the range of motion. If it is within the range, the motion is completed according to the positioning process; if it is still not within the range, a is increased by 1, that is, different combinations of flexible support devices 1-5 are compared in sequence to see whether they are within the range. If they are within the range, the motion is completed according to the positioning process. Fig.14 The positioning process shown is adjusted step by step so that the spatial position of the tooling and the spatial position of the flange process data are within the precision control range;

[0113] When a and b have tried all the combinations of flexible support devices 1-5 in sequence and still cannot find two combinations of flexible support devices 1-5 within the spatial range, P1 will be cycled within the motion range at a certain step size, where axis 1: [limitx-,l imi tx+], axis 2: [l imi ty-,l imi ty+], axis 3: [l imitz-,l imi tz+], axis 4: [limit i-,l imit i+], axis 5: [l imitj-,l imi tj+], and the loop order is in the order of j, i, z, y, x. A new P1 value is obtained, and the corresponding P2 value is found again in the loop order, so as to calculate the corresponding combination of flexible support devices 1-5, so that the spatial position of the tooling and the spatial position of the flange process data are within the precision control range.

[0114] In the above embodiment, preferably, if a suitable solution still cannot be calculated according to the algorithm, the step size is further adjusted to cycle again. If a suitable solution still cannot be calculated, the system reports an error and the calculation exceeds the limit.

[0115] Table 2. Limit data corresponding to the grating scale of each axis of the first to sixth flexible support devices

[0116]

[0117]

[0118] Furthermore, in this case, the parameter configuration in the servo configuration should be consistent with the actual mechanical structure, as shown in the following table.

[0119]

[0120] like Fig.18 The following is the spatial coordinate matching algorithm for flanges of any catheter product:

[0121] S1: According to the input flange process data, it is assumed to be a pipeline product with n characteristic points, (x1, y1, z1, i 1, j1, k1), (x2, y2, z2, i2, j2, k2)...(xn, yn, zn, in, jn, kn);

[0122] S2: Align (x1, y1, z1, i 1, j1, k1), (x2, y2, z2, i2, j2, k2) according to the 2-way catheter method;

[0123] S3: Fix the two completed features, (x1, y1, z1, i 1, j1, k1), (x2, y2, z2, i2, j2, k2), and align the subsequent feature points according to the method of the two-way catheter.

[0124] S4: Fix the completed feature points, and align the subsequent feature points according to the method of the two-way catheter according to the method of the two-way product;

[0125] S5: If all is completed and the equipment calculation is completed, the position positioning control can be performed according to the positioning process. If there is a state discrepancy, the posture adjustment is changed again and the S2 step is entered again.

[0126] like Fig.19 Shown is the network diagram of the catheter digital flexible welding platform system.

[0127] In this embodiment, a flexible and digital design concept is adopted. By setting a plurality of flexible support devices 1-5 that can move in six axes, the problem of spatial multi-degree-of-freedom coupling and singular points is solved by virtue of its flexible working mode of six degrees of freedom. The high-precision positioning of the system is achieved through multi-axis linkage, servo control and three closed-loop control of encoder, grating ruler and Track. The matching of the three-dimensional model and the platform coordinate system in any coordinate system is achieved through the spatial position feature picking and coordinate transformation of the three-dimensional point cloud model and the spatial coordinate matching algorithm, and the determination of the key feature position of the catheter assembly space is achieved. The installation constraint conditions of the medium and large diameter catheters on the aerospace objects are characterized, and the actual installation space of the catheter can be reproduced. In the assembly process before the welding of the medium and large diameter catheters, the end actuator 1-7 of the flexible support device 1-5 can realize the position limitation and fixation of the flange, pipe section, compensator and other components. While ensuring the accuracy of catheter welding, the manufacturing efficiency of the catheter is greatly improved, and the bottleneck station of the assembly link is effectively broken through. While saving labor, the production efficiency is improved, the product quality is significantly improved, and the economic benefits of the system are significant.

[0128] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A catheter digital flexible welding platform, characterized in that: include: A Track bracket, wherein a Track is installed at the top end of the Track bracket, a platform is installed at the bottom end of the Track bracket, a coordinate system reference frame is installed on the Track bracket corresponding to between the Track and the platform, and a reference target fixing frame for locating a target and establishing a coordinate system is installed on the coordinate system reference frame; At least two flexible support devices capable of six-axis movement, the flexible support devices being mounted on the platform, the ends of the flexible support devices being connected to end actuators for clamping catheters or catheter accessories, and the end actuators at the ends of the flexible support devices are within the field of view of the Track; The control module, the Track and each of the flexible supporting devices are electrically connected to the control module.

2. The catheter digital flexible welding platform according to claim 1 is characterized in that: The Track bracket includes a side frame beam and a cross beam; The two side frame beams are respectively arranged on both sides of the platform, the cross beam spans between the tops of the two side frame beams, and the two ends of the coordinate system reference frame are fixedly mounted on the side frame beams on both sides; The Track is fixedly mounted on the crossbeam, and the end actuators at the ends of the plurality of flexible support devices on the platform are all within the field of view of the Track.

3. The catheter digital flexible welding platform according to claim 2 is characterized in that: The coordinate system reference frame is a rectangular structure; A reference target fixing frame is respectively provided at the front, rear, left and right of the bottom of the coordinate system reference frame.

4. The catheter digital flexible welding platform according to claim 1, characterized in that: The platform is composed of a first platform portion and a second platform portion spliced ​​together; The three flexible support devices are symmetrically installed on the first platform part and the second platform part, and the end actuators are installed at the ends of the six flexible support devices.

5. The catheter digital flexible welding platform according to claim 1 or 4, characterized in that: A quick-change disc is installed at the end of each flexible support device, and the end actuator is installed at the end of the corresponding flexible support device through the quick-change disc.

6. The catheter digital flexible welding platform according to claim 1, characterized in that: The flexible support device comprises a first support portion; The first support part is movably mounted on the platform through an X-axis moving mechanism; the second support part is movably mounted on the first support part through a Y-axis moving mechanism; The third support portion is movably mounted on the second support portion through a Z-axis moving mechanism; the fourth support portion is rotatably mounted on the third support portion through an I-axis rotating mechanism; The fifth support part is rotatably mounted on the fourth support part through a J-axis rotation mechanism; and the end actuator is rotatably mounted on the fifth support part through a K-axis rotation mechanism.

7. The catheter digital flexible welding platform according to claim 6, characterized in that: The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the I-axis rotating mechanism, the J-axis rotating mechanism and the K-axis rotating mechanism all include a servo motor and an encoder connected to the servo motor; The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the I-axis rotating mechanism, and the J-axis rotating mechanism are all equipped with a grating ruler, and the grating ruler is used to detect the displacement values ​​of the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the I-axis rotating mechanism, and the J-axis rotating mechanism; The plurality of servo motors, the plurality of encoders and the plurality of grating rulers are all electrically connected to the control module.

8. The catheter digital flexible welding platform according to claim 6, characterized in that: Both ends of the linear motion parts of the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are provided with linear hard limits, linear limit switches and linear soft limits; The plurality of linear limit switches and the plurality of linear soft limits are electrically connected to the control module respectively.

9. The catheter digital flexible welding platform according to claim 6, characterized in that: The motion range of the I-axis rotation mechanism is ±180°, the motion range of the J-axis rotation mechanism is ±120°, and the motion range of the K-axis rotation mechanism is ±180°.

10. The catheter digital flexible welding platform according to claim 1, characterized in that: The control module includes a host computer module and a PLC module that is communicatively connected to the host computer module; The Track is electrically connected to the host computer module, and the plurality of flexible support devices are electrically connected to the PLC modules respectively.

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