CN112197719B - Deformation data monitoring method and device suitable for single-side contact clamping - Google Patents
Deformation data monitoring method and device suitable for single-side contact clamping Download PDFInfo
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- CN112197719B CN112197719B CN202011029120.6A CN202011029120A CN112197719B CN 112197719 B CN112197719 B CN 112197719B CN 202011029120 A CN202011029120 A CN 202011029120A CN 112197719 B CN112197719 B CN 112197719B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 63
- 238000003754 machining Methods 0.000 claims description 44
- 238000012806 monitoring device Methods 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 11
- 230000035882 stress Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000501754 Astronotus ocellatus Species 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
- G01B15/06—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring the deformation in a solid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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Abstract
A deformation data monitoring method and device suitable for single-side contact clamping are characterized in that a certain pre-supporting force is applied to support a part, the position of a locking clamp keeps a clamping acting force monitoring reference, the acting force and displacement of a clamp device are monitored, when the clamping acting force is zero, the clamp device is adjusted, the deformation is compensated under the condition that the clamping force monitoring reference is kept, and the deformation compensation quantity and the clamping force change value are monitored and used as the basis for analyzing the deformation of the part; the device takes a vacuum sucker or a hydraulic buffer as a supporting head, has the functions of self-locking and self-adaptive adjustment and support according to clamping acting force/displacement, and can support parts and monitor deformation data in a single-side contact state.
Description
Technical Field
The invention relates to a deformation monitoring method and a device for single-side contact clamping, in particular to a process device with functions of automatic feeding, supporting force control, displacement control and part deformation monitoring.
Background
The thin-wall part is influenced by initial residual stress, machining residual stress, clamping stress and the like in the machining process, and can generate large deformation after the machining is finished. Due to the uncertainty of the influence factors of the part machining deformation, such as uneven material properties, constitutive relation of materials and subsequent influence on cutting, material property change caused by cutting temperature and thermal stress, and the like, the accurate prediction and control of the machining deformation are still unsolved problems in the world.
Some scholars integrate a sensor and a controllable driver in a clamp for solving the machining deformation of thin-wall parts, monitor the machining state of the parts on line, adjust the machining state and obtain a better deformation control effect. The method enables the clamping device to sense the workpiece and the clamping state in the machining process, and the clamping device is self-adaptively adjusted, so that the purposes of controlling the machining quality and improving the machining efficiency are achieved. The method solves the problems of prediction and control of the machining deformation of the thin-wall part, does not need to acquire the initial residual stress information of the part, does not need to analyze the coupling effect of various factors, converts the difficult problem of accurate prediction of the machining deformation caused by uncertain factors into a problem solution based on the deterministic factors such as clamping force, machining deformation monitoring data and the like, and provides a new idea for accurate control of the machining deformation. For example: oscar et al (Robotics and Computer-Integrated Manufacturing,2017, volume 48: 209) designed a device to monitor the lower plane deformation force of a solid of revolution part, Wang Junteng et al (mechanical engineering journal, 2018, volume 54(19): 241) 248 designed a device to monitor the milling deformation of a blade-like part.
When the thin-wall part is machined, the auxiliary support capable of monitoring the machining state and controlling the supporting force is arranged, so that the machining deformation of the part is reduced, and data are provided for online prediction and control of the deformation of the part. The existing online deformation monitoring method and device are only suitable for double-sided clamping or clamping by adopting a fastener. Some clamping devices mainly play a role in improving the rigidity of parts or providing supporting force, and the supporting position of the clamping device is that the processing surface cannot be clamped on two sides or connected by using a fastener; when the part deforms along the outer normal direction of the supporting end face, the clamping state cannot be kept, the deformation monitoring information is lost, and the deformation prediction and control are difficult.
The existing single-sided supporting device has certain limitation, and the clamping method and the clamp control mode of the existing single-sided supporting device cannot adapt to the function of deformation monitoring.
Mechanical arm mode-adjusting auxiliary support:
(1) the repeatability of the pre-supporting force assisted by the manipulator is low, the pre-supporting force of parts processed each time is different, so that the change of the clamping force measured each time is different in reference, and the clamping force data obtained by measurement has no historical reference value.
(2) The manipulator mode-adjusting auxiliary support cannot cooperate with a plurality of auxiliary supports, and the later-adjusted auxiliary support can influence the pre-supporting force of the auxiliary support to be adjusted firstly and influence the deformation monitoring precision.
(3) The manipulator mode-adjusting auxiliary support cannot accurately control displacement or supporting force, has randomness on the influence of part deformation, and is not beneficial to stabilizing the part processing quality.
Hydraulic automatic control type auxiliary support:
(1) the hydraulic automatic control type auxiliary support only takes a supporting force signal as a control signal, can automatically compensate deformation in the machining process, cannot keep a clamping force monitoring reference, and is not beneficial to monitoring part deformation.
(2) The hydraulic automatic control type auxiliary support cannot be supported in a self-adaptive mode according to the displacement.
In summary, a method and a device suitable for monitoring deformation in a clamping state of single-side contact need to be developed.
Disclosure of Invention
The invention aims to solve the problem that the conventional single-sided clamping device cannot measure the change of clamping force and normal deformation, and provides a deformation data monitoring method and device suitable for single-sided contact clamping, which can monitor the change of the clamping force between a supporting piece and a contact surface of a part and can measure the displacement generated by re-clamping in real time. The method comprises the steps of supporting a part by applying a certain pre-supporting force, locking a clamp position, keeping a force monitoring reference, monitoring the acting force and displacement of a clamp device, adjusting the clamp device when the clamping acting force is zero, compensating the deformation amount under the condition of keeping the clamping force monitoring reference, and monitoring the deformation compensation amount and the clamping force change value as the basis for analyzing the deformation of the part; the monitoring device takes a vacuum sucker or a hydraulic buffer as a supporting head, has the functions of self-locking and self-adaptive adjustment and support according to clamping acting force/displacement, and can support parts and monitor deformation data in a single-side contact state.
One of the technical schemes of the invention is as follows:
a deformation data monitoring method suitable for a single-side contact clamping state is characterized by comprising the following steps: the clamping device comprises a clamping unit, a force sensor and a control unit, wherein the clamping unit is provided with an elastic element, the supporting end face of the clamping unit is adjusted to be in contact with the surface of a part, a certain pre-supporting force is applied to support the part by clamping, the elastic element generates pre-deformation, and the change of clamping acting force caused by the change of internal stress is monitored by the force sensor; and setting a threshold value F which is smaller than the pre-supporting force and larger than or equal to zero, adjusting the clamping unit when the deformation direction of the part is the external normal direction of the end surface and the clamping acting force between the supporting end surface and the surface of the part is smaller than or equal to the threshold value F, measuring the displacement of the supporting end surface while the contact force between the supporting end surface and the surface of the part reaches the set value again, circulating the steps until the machining is finished, and recording the contact force and the change of the displacement in the machining process so as to provide a basis for the next decision.
Arranging a force sensor in a clamp element of the clamping unit to monitor the clamping acting force; taking a supporting head feeding signal and a force signal as a signal for controlling the self-locking of the clamp, controlling the clamp to self-adaptively adjust and support according to the supporting force, keeping self-locking in the processing process and keeping the monitoring reference of the supporting force; and monitoring the supporting force change and the deformation compensation value of the clamping device in the machining process as the basis for analyzing the deformation of the part.
Clamping force is applied through the elastic element, one end of the elastic element is in contact with the workpiece and is marked as an A end, the other end of the elastic element can move or is self-locked and is marked as a B end, the B end is moved to enable clamping acting force to reach a preset value, the position of the B end is locked, the position is kept as a force monitoring reference in the deformation data monitoring process, and a clamping force change value is monitored.
And applying clamping force through the elastic element, moving the B end of the elastic element to enable the clamping acting force to reach a preset value, locking the position of the B end, keeping the position as a deformation compensation amount monitoring reference in the deformation data monitoring process, and monitoring the deformation compensation amount.
The clamping unit with the elastic element is an adjustable hydraulic buffer, a force sensor is arranged in a supporting head to monitor supporting force, a displacement sensor is arranged to monitor displacement, pre-supporting force is applied before a part is machined, and a damping hole of the adjustable hydraulic buffer is adjusted to be closed in the machining process to keep the damping hole in a rigid state to support the part; the change value of the supporting force is monitored in the machining gap, when the deformation direction of the part is the external normal direction of the end face and the contact force between the supporting end face and the surface of the part is zero, the damping hole of the hydraulic buffer is adjusted and adjusted to be opened, the deformation amount is automatically compensated under the condition that the monitoring reference of the clamping force is not changed, and new clamping force information and deformation compensation amount are obtained.
The clamping unit with the elastic element is a vacuum chuck or a magnetic chuck, connection between the part and the supporting head is established under the condition that the part is not damaged, and the change value of the clamping force is monitored in the machining gap.
The second technical scheme of the invention is as follows:
the utility model provides a deformation data monitoring devices suitable for single face contact clamping state which characterized in that: the device consists of a driving element, a mechanical self-locking control element, a supporting force monitoring element, a supporting head element and a displacement monitoring element; the mechanical self-locking control element controls the mechanical self-locking element to lock the device and keep a clamping state by taking a supporting force monitoring element signal, a driving element feeding signal and a displacement monitoring element signal as basis, the displacement monitoring element is used for monitoring the displacement of the device, the supporting force monitoring element is arranged between the device supporting head element and the mechanical self-locking element or on the contact surface of the supporting head and a part, and the supporting force change value are monitored.
The self-adaptive support is realized according to the set supporting force, the mechanical self-locking element is simultaneously controlled by signals related to the feeding signal of the driving element and the pre-supporting force, the mechanical self-locking element is opened when only the feeding signal of the driving element is received, and the monitoring device feeds under the control of the driving element; when receiving a feeding signal of the driving element and a signal that the pre-supporting force reaches a threshold value, the self-locking device self-locks and the control device stops feeding; and under other conditions, the mechanical self-locking element keeps a self-locking state and keeps a clamping state of the device.
The self-adaptive support is realized according to the set displacement, the mechanical self-locking element is simultaneously controlled by a feeding signal of the driving element and a signal of the displacement sensor, the mechanical self-locking element is opened when only the feeding signal of the driving element is received, and the monitoring device feeds under the control of the driving element; when receiving a feeding signal of the driving element and a signal that the displacement reaches a preset value, the driving element is self-locked, and the control device stops feeding; and under other conditions, the mechanical self-locking element keeps a self-locking state and keeps a clamping state of the device.
The driving is realized by air pressure or hydraulic pressure, the self-locking is realized by a normally closed clamp or a pneumatic clamping cylinder or a hydraulic clamping cylinder, the supporting force control is realized by adopting a sequence valve or a pressure switch or a force sensor, and the displacement control is realized by a displacement sensor.
The invention has the beneficial effects that:
1. the cooperative control of a plurality of auxiliary supporting elements can be realized, and the non-uniformity of clamping force is reduced.
2. The clamping force of each auxiliary supporting element can be automatically controlled, and the uneven clamping force caused by the initial shape error is reduced.
3. The change in clamping force can be monitored by a force sensor and the deformation can be predicted from the change in clamping force.
4. The controllable driver is adopted, the supporting force can be adjusted, and the device can be used for adjusting the clamping state and controlling the deformation of parts.
5. The force sensor and the displacement sensor are integrated, and the device can be used for monitoring part deformation.
6. The mechanical self-locking device is controlled by the pre-supporting force signal, the displacement signal and the driving device signal, so that self-adaptive support according to set supporting force or displacement can be realized, the clamping state is kept in the machining process, and a reference is provided for supporting force monitoring
7. The adjustable hydraulic buffer is used as a supporting head, large deformation can be monitored under small supporting force, the rigidity of the auxiliary supporting device can be adjusted in the machining process, the rigidity of parts is improved, and elastic cutter back-off is prevented.
According to the invention, the change of the supporting force is monitored in real time, and the machining deformation value is obtained by restoring the displacement generated by the supporting piece in the clamping unit when the supporting force reaches the preset value, so that a basis is provided for the next step of analyzing and eliminating the machining deformation.
The invention is not only suitable for monitoring the outer ring surface, but also suitable for monitoring the inner ring surface.
Drawings
Fig. 1 is a schematic structural view of a deformation data monitoring device in a single-sided contact clamping state according to the present invention (a support head is a vacuum chuck).
Fig. 2 is a second schematic structural diagram of the deformation data monitoring device in a single-sided contact clamping state according to the present invention (the supporting head is a hydraulic buffer).
FIG. 3 is a schematic control diagram of the deformation data monitoring device in a single-side contact clamping state.
FIG. 4 shows the principle of deformation monitoring of the method for monitoring deformation data in a single-side contact clamping state.
In the figure: 1.1-cylinder, 1.2-displacement sensor, 1.3-force sensor, 1.4-vacuum chuck, 1.5-rail, 1.6-pneumatic control normally closed clamp and 1.7 adjustable hydraulic buffer.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings and examples, but the present invention is not limited to the embodiments.
As shown in fig. 1-4.
A deformation data monitoring method suitable for a single-side contact clamping state comprises the steps of firstly, using a clamping unit with an elastic element shown in figures 1 and 2, adjusting the supporting end face of the clamping unit to be in contact with the surface of a part, applying a certain pre-supporting force to support the part and enable the elastic element to generate pre-deformation, and secondly, monitoring the change of a clamping acting force caused by the change of internal stress through a force sensor; setting a threshold value F, wherein the threshold value F is smaller than the pre-supporting force and is larger than or equal to zero; thirdly, when the deformation direction of the part is the external normal direction of the end face and the clamping acting force between the supporting end face and the surface of the part is less than or equal to a threshold value F, the clamping device is adjusted, the deformation is monitored and compensated through the elastic element under the condition of keeping the contact force monitoring reference, and the steps are repeated, the change of the clamping force is continuously monitored, the position of the supporting head of the clamping unit is adjusted, and all data are recorded until the machining is finished.
Arranging a force sensor in the clamp element to monitor clamping acting force; and taking the feeding signal and the force signal of the supporting head as a signal for controlling the self-locking of the clamp, controlling the clamp to self-adaptively adjust and support according to the supporting force, keeping self-locking in the processing process and keeping the monitoring reference of the supporting force. Clamping force is applied through the elastic element, one end of the elastic element is in contact with the workpiece and is marked as an A end, the other end of the elastic element can move or is self-locked and is marked as a B end, the B end is moved to enable clamping acting force to reach a preset value, the position of the B end is locked, the position is kept as a force monitoring reference in the deformation data monitoring process, and a clamping force change value is monitored. And applying clamping force through the elastic element, moving the B end of the elastic element to enable the clamping acting force to reach a preset value, locking the position of the B end, keeping the position as a deformation compensation amount monitoring reference in the deformation data monitoring process, and monitoring the deformation compensation amount. An adjustable hydraulic buffer is selected as a supporting head, a force sensor is arranged to monitor supporting force, a displacement sensor is arranged to monitor displacement, a pre-supporting force can be applied before a part is machined, and a damping hole of the adjustable hydraulic buffer is adjusted to be closed in the machining process so as to keep a rigid state and provide support for the part; and monitoring the change value of the supporting force in the machining gap, adjusting the damping hole of the hydraulic buffer to be opened when the deformation direction of the part is the external normal direction of the end surface and the contact force between the supporting end surface and the surface of the part is zero, automatically compensating the deformation amount under the condition of ensuring that the monitoring reference of the clamping force is not changed as shown in figure 2, and acquiring new clamping force information and deformation compensation amount. A vacuum sucker or a magnetic sucker can be selected as a supporting head, as shown in figure 1, the fixed connection between the part and the device is established under the condition that the part is not damaged, and the change value of the clamping force is monitored in the machining gap. The self-adaptive support can be realized according to the set supporting force, and the control method comprises the following steps: the mechanical self-locking element is simultaneously controlled by a signal related to a driving element feeding signal and a pre-supporting force, and is opened when only the driving element feeding signal is received, and the device feeds under the control of the driving element; when receiving a feeding signal of the driving element and a signal that the pre-supporting force reaches a threshold value, the self-locking device self-locks and the control device stops feeding; and under other conditions, the mechanical self-locking element keeps a self-locking state and keeps a clamping state of the device. The self-adaptive support can be realized according to the set displacement, and the control method comprises the following steps: the mechanical self-locking element is simultaneously controlled by a feeding signal of the driving element and a signal of the displacement sensor, and is opened when only the feeding signal of the driving element is received, and the device feeds under the control of the driving element; when receiving a feeding signal of the driving element and a signal that the displacement reaches a preset value, the driving element is self-locked, and the control device stops feeding; and under other conditions, the mechanical self-locking element keeps a self-locking state and keeps a clamping state of the device. And monitoring the supporting force change and the deformation compensation value of the clamping device in the machining process as the basis for analyzing the deformation of the part. As shown in fig. 4.
Example two.
As shown in fig. 1 and 2.
A deformation data monitoring device suitable for a single-side contact clamping state is composed of a driving element, a mechanical self-locking control element, a supporting force monitoring element, a supporting head element and a displacement monitoring element; the driving element can control the device to automatically feed, the mechanical self-locking control element controls the mechanical self-locking element to lock the device and keep a clamping state according to a supporting force monitoring element signal, a driving element feeding signal and a displacement monitoring element signal, the displacement monitoring element is used for monitoring the displacement of the device, the supporting force monitoring element is arranged between the supporting head element of the device and the mechanical self-locking element or on the contact surface of the supporting head and a part, and the supporting force change value are monitored. The driving is realized by air pressure or hydraulic pressure, the self-locking is realized by a normally closed clamp or a pneumatic clamping cylinder or a hydraulic clamping cylinder, the supporting force control is realized by adopting a sequence valve or a pressure switch or a force sensor, and the displacement control is realized by a displacement sensor. As shown in fig. 1: the deformation data monitoring device is composed of an air cylinder, a normally closed clamp, a force sensor, a displacement sensor, a sequence valve, a pneumatic control stop valve and a support head, wherein the support head can be a vacuum chuck or a hydraulic buffer, and the vacuum chuck is used as the support head. When the self-adaptive support is carried out according to the supporting force, the air cylinder and the normally closed clamp are ventilated, and all auxiliary supporting elements feed synchronously; when each supporting element contacts the surface of a part and reaches a preset supporting force, the sequence valve is opened to control the air control stop valve of the normally closed clamp to release pressure, the clamp is fixed in the device, the displacement sensor can record the position of each auxiliary supporting element, the force sensor can record the clamping force of each auxiliary supporting device, the damping hole of the adjustable hydraulic buffer is adjusted to be closed, the device keeps a self-locking state after releasing pressure, and then the machining can be started. When the self-adaptive support is needed according to the displacement, the sequence valve is controlled through a displacement signal, when the force sensor records that the support force is zero, the displacement x is recorded, when the difference value between the measurement value of the displacement sensor and the x reaches a set threshold value, the sequence valve is opened, the pressure relief of the pneumatic control stop valve of the normally closed clamp is controlled, the clamp is fixed in a device state, the position of each auxiliary support element can be recorded through the displacement sensor, the clamping force of each auxiliary support device can be recorded through the force sensor, the self-locking state is kept after the pressure relief of the device, and then the machining can be started. And (5) processing the gap, and measuring and recording the clamping force change value of each clamping point.
An adjustable hydraulic buffer is used as the support head in fig. 2. When the self-adaptive support is carried out according to the supporting force, the self-locking of the clamp is controlled through a force signal and a feeding signal, the air cylinder and the normally closed clamp are ventilated, and all auxiliary supporting elements feed synchronously; when each supporting element contacts the surface of a part and reaches a preset supporting force, the sequence valve is opened to control the air control stop valve of the normally closed clamp to release pressure, the clamp is fixed in the device, the displacement sensor can record the position of each auxiliary supporting element, the force sensor can record the clamping force of each auxiliary supporting device, the damping hole of the adjustable hydraulic buffer is adjusted to be closed, the device keeps a self-locking state after releasing pressure, and then the machining can be started. When the self-adaptive support is carried out according to the displacement, the clamp is controlled to be self-locked through a displacement signal and a feeding signal, when the force sensor records that the supporting force is zero, the displacement x is recorded, when the difference value between the measured value of the displacement sensor and the x reaches a set threshold value, the sequence valve is opened, the pressure relief of the air control stop valve of the normally closed clamp is controlled, the clamp is fixed in a device state, the displacement sensor can record the position of each auxiliary supporting element, the force sensor can record the clamping force of each auxiliary supporting device, the self-locking state is kept after the pressure relief of the device, and then the machining can be started. And (3) measuring the clamping force of each clamping point in the machining gap, if the clamping force of a certain clamping point is zero, opening the damping hole of the adjustable hydraulic buffer at the certain clamping point, recording a deformation compensation value and a clamping force change value, and recording the clamping force change values of other clamping points. The control principle is shown in fig. 3.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (7)
1. A deformation data monitoring method suitable for a single-side contact clamping state is characterized by comprising the following steps: the clamping device comprises a clamping unit, a force sensor and a control unit, wherein the clamping unit is provided with an elastic element, the supporting end face of the clamping unit is adjusted to be in contact with the surface of a part, a certain pre-supporting force is applied to support the part by clamping, the elastic element generates pre-deformation, and the change of clamping acting force caused by the change of internal stress is monitored by the force sensor; setting a threshold value F which is smaller than the pre-supporting force and larger than or equal to zero, adjusting the clamping unit when the deformation direction of the part is the external normal direction of the end face and the clamping acting force between the supporting end face and the surface of the part is smaller than or equal to the threshold value F, measuring the displacement of the supporting end face while the contact force between the supporting end face and the surface of the part reaches the set value again, circulating the steps until the machining is finished, recording the contact force and the change of the displacement in the machining process, and providing a basis for the next decision; arranging a force sensor in a clamp element of the clamping unit to monitor the clamping acting force; taking a supporting head feeding signal and a force signal as a signal for controlling the self-locking of the clamp, controlling the clamp to self-adaptively adjust and support according to the supporting force, keeping self-locking in the processing process and keeping the monitoring reference of the supporting force; monitoring the supporting force change and the deformation compensation value of the clamping device in the machining process as the basis for analyzing the deformation of the part; the clamping unit with the elastic element is an adjustable hydraulic buffer, a force sensor is arranged in a supporting head to monitor supporting force, a displacement sensor is arranged to monitor displacement, pre-supporting force is applied before a part is machined, and a damping hole of the adjustable hydraulic buffer is adjusted to be closed in the machining process to keep the damping hole in a rigid state to support the part; the change value of the supporting force is monitored in the machining gap, when the deformation direction of the part is the external normal direction of the end face and the contact force between the supporting end face and the surface of the part is zero, the damping hole of the hydraulic buffer is adjusted and adjusted to be opened, the deformation amount is automatically compensated under the condition that the monitoring reference of the clamping force is not changed, and new clamping force information and deformation compensation amount are obtained.
2. The method of claim 1, wherein: clamping force is applied through the elastic element, one end of the elastic element is in contact with the workpiece and is marked as an A end, the other end of the elastic element can move or is self-locked and is marked as a B end, the B end is moved to enable clamping acting force to reach a preset value, the position of the B end is locked, the position is kept as a force monitoring reference in the deformation data monitoring process, and a clamping force change value is monitored.
3. The method of claim 2, wherein: and applying clamping force through the elastic element, moving the B end of the elastic element to enable the clamping acting force to reach a preset value, locking the position of the B end, keeping the position as a deformation compensation amount monitoring reference in the deformation data monitoring process, and monitoring the deformation compensation amount.
4. The method of claim 1, wherein: the clamping unit with the elastic element is a vacuum chuck or a magnetic chuck, connection between the part and the supporting head is established under the condition that the part is not damaged, and the change value of the clamping force is monitored in the machining gap.
5. The utility model provides a deformation data monitoring devices suitable for single face contact clamping state which characterized in that: the device consists of a driving element, a mechanical self-locking control element, a supporting force monitoring element, a supporting head element and a displacement monitoring element; the mechanical self-locking control element controls the mechanical self-locking element to lock the device and keep a clamping state by taking a supporting force monitoring element signal, a driving element feeding signal and a displacement monitoring element signal as basis, the displacement monitoring element is used for monitoring the displacement of the device, the supporting force monitoring element is arranged between a supporting head element of the device and the mechanical self-locking element or on a contact surface of the supporting head and a part, and the supporting force change value are monitored; the self-adaptive support is realized according to the set supporting force, the mechanical self-locking element is simultaneously controlled by signals related to the feeding signal of the driving element and the pre-supporting force, the mechanical self-locking element is opened when only the feeding signal of the driving element is received, and the monitoring device feeds under the control of the driving element; when receiving a feeding signal of the driving element and a signal that the pre-supporting force reaches a threshold value, the self-locking device self-locks and the control device stops feeding; and under other conditions, the mechanical self-locking element keeps a self-locking state and keeps a clamping state of the device.
6. The monitoring device of claim 5, wherein: the self-adaptive support is realized according to the set displacement, the mechanical self-locking element is simultaneously controlled by a feeding signal of the driving element and a signal of the displacement sensor, the mechanical self-locking element is opened when only the feeding signal of the driving element is received, and the monitoring device feeds under the control of the driving element; when receiving a feeding signal of the driving element and a signal that the displacement reaches a preset value, the driving element is self-locked, and the control device stops feeding; and under other conditions, the mechanical self-locking element keeps a self-locking state and keeps a clamping state of the device.
7. The monitoring device of claim 5, wherein: the driving is realized by air pressure or hydraulic pressure, the self-locking is realized by a normally closed clamp or a pneumatic clamping cylinder or a hydraulic clamping cylinder, the supporting force control is realized by adopting a sequence valve or a pressure switch or a force sensor, and the displacement control is realized by a displacement sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011029120.6A CN112197719B (en) | 2020-09-27 | 2020-09-27 | Deformation data monitoring method and device suitable for single-side contact clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011029120.6A CN112197719B (en) | 2020-09-27 | 2020-09-27 | Deformation data monitoring method and device suitable for single-side contact clamping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112197719A CN112197719A (en) | 2021-01-08 |
| CN112197719B true CN112197719B (en) | 2021-09-21 |
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| TW201406507A (en) * | 2012-08-10 | 2014-02-16 | Hon Hai Prec Ind Co Ltd | Clamping device |
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| CN106808246A (en) * | 2017-03-01 | 2017-06-09 | 南京航空航天大学 | Thin-wall annular part processing method and its automatic auxiliary support apparatus |
| DE102018132251A1 (en) * | 2017-12-22 | 2019-06-27 | Fanuc Corporation | Workpiece mounting tool, workpiece transfer device and robot system |
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| TW201406507A (en) * | 2012-08-10 | 2014-02-16 | Hon Hai Prec Ind Co Ltd | Clamping device |
| CN104647090A (en) * | 2014-12-08 | 2015-05-27 | 南京航空航天大学 | Self-adaption absorptive clamping device of airplane skin |
| CN106808246A (en) * | 2017-03-01 | 2017-06-09 | 南京航空航天大学 | Thin-wall annular part processing method and its automatic auxiliary support apparatus |
| DE102018132251A1 (en) * | 2017-12-22 | 2019-06-27 | Fanuc Corporation | Workpiece mounting tool, workpiece transfer device and robot system |
| CN111546330A (en) * | 2020-04-15 | 2020-08-18 | 浙江娃哈哈智能机器人有限公司 | Automatic calibration method for coordinate system of chemical part |
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