CN112828109B

CN112828109B - Multi-angle double-point progressive forming processing platform with displacement compensation function

Info

Publication number: CN112828109B
Application number: CN202011642209.XA
Authority: CN
Inventors: 李燕乐; 刘飞飞; 周书柳; 何嘉诚; 程坤; 赵禹皓; 刘元玉; 李方义
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-12-03
Anticipated expiration: 2040-12-31
Also published as: AU2021363109B2; AU2021363109A1; WO2022142037A1; CN112828109A

Abstract

The invention discloses a multi-angle double-point progressive forming processing platform with a displacement compensation function, which comprises: the two groups of multi-angle tool head motion systems are distributed on two sides of the plate; two groups of position adjusting systems are respectively connected with two groups of tool head moving systems, each group consists of three pairs of slide block slide rails and drives the tool head platform to move along three spatial directions; the small-angle deflection of the tool head in the y and z directions is realized through the deflection control mechanism, the complexity of the machinable plate is further improved, and the quality of the formed plate is improved.

Description

Multi-angle double-point progressive forming processing platform with displacement compensation function

Technical Field

The invention belongs to the field of metal plate processing, and particularly relates to a multi-angle double-point progressive forming processing platform with a displacement compensation function.

Technical Field

In recent years, with the continuous improvement of processing technology and the rapid development of social productivity, sheet metal forming members are more widely applied in the high-tech fields of aerospace, ships, oceans and the like. In particular, in the manufacturing of airplanes, spacecrafts, high-end weaponry, aircraft carriers, cruise ships and prototypes, higher requirements are provided for the quality of thin-wall plate products with complex shapes, such as high performance, light weight and variable batches, and the existing forming technology is challenged. The three-dimensional incremental forming technology can realize small-batch and personalized customization, can complete the forming of the plate without customizing a die, and is beneficial to reducing the production cost of small-batch products.

The inventor finds that the plate processing process meets the processing requirement that the forming angle of the target part is larger, and in this case, the plate in the area to be processed interferes with the movement of the forming tool head, so that the tool head cannot reach the preset position, and the processing task cannot be completed. In modern production practice, parts under the conditions cannot be formed at one time, secondary processing is required, and the processing efficiency and the production economy are seriously influenced. Although the Xuan-Cai, Lopinan and Chenjun of Shanghai university propose a method of rotating a plate material in a patent with publication number CN 103639249A to improve the forming accuracy and reliability of a formed complex plate material, it is relatively difficult to rotate the plate material, but the present invention achieves the above object by controlling the deflection of a tool head using a simple device and increasing the deflectable angle of the tool head relative to the plate material.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the multi-angle double-point progressive forming processing platform with the displacement compensation function, the forming precision and the forming efficiency of the sheet material with the complex shape can be improved, and the platform has remarkable advantages in the aspect of the progressive forming of the sheet metal with the complex shape.

In order to solve the technical problems in the prior art, the invention adopts the following technical scheme:

the invention discloses a multi-angle double-point progressive forming processing platform with a displacement compensation function, which comprises a support, wherein two sets of position adjusting devices are arranged on the support, and each set of position adjusting device drives a multi-angle moving tool head to move in X, Y, Z three directions; the two multi-angle power tool heads are completely the same and respectively comprise a first deflection control mechanism, a second deflection control mechanism, a first rocker, a second rocker, a spherical hinge support, a telescopic rod, a connecting rod and a tool head;

the lower ends of the first rocker and the second rocker are respectively connected with two ends of the spherical hinge support through connecting pieces, the upper ends of the first rocker and the second rocker are rotatably connected with two ends of a connecting rod, a through hole is arranged in the middle of the connecting rod, a spherical bulge is arranged at the tail part of the telescopic rod, and the spherical bulge is in clearance fit with the through hole; a through hole metal ball is fixed in the middle of the telescopic rod and is in tangential fit with the through hole in the middle of the spherical hinge support, and the head of the telescopic rod is connected with a tool head;

the first deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in the XZ plane; the second deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a YZ plane.

As a further technical scheme, the spherical hinge support comprises a body, wherein the middle of the body is provided with a through hole, one end of the body is provided with a first solid shaft, and the other end of the body is provided with a second solid shaft.

As a further technical scheme, the first deflection control mechanism comprises a fifth servo motor, a driving bevel gear, a driven bevel gear and a first special-shaped shaft sleeve; the fifth servo motor is fixed on one side of the lower end of the first rocker, the fifth servo motor is connected with the driving bevel gear, and the driving bevel gear is meshed with the driven bevel gear; the first special-shaped shaft sleeve comprises a shaft and a sleeve, the axis of the shaft is vertical to the axis of the shaft and the sleeve are connected together, the shaft sleeve is arranged at the bottom of the first rocker, and the shaft is connected with the driven bevel gear; the sleeve is sleeved on the first solid shaft of the spherical hinge support, and the sleeve can rotate relative to the first solid shaft.

As a further technical scheme, a connecting key is arranged inside the sleeve and connected with the solid shaft through the connecting key.

As a further technical scheme, the second deflection control mechanism comprises a fourth servo motor, a driving gear, a driven gear and a second special-shaped shaft sleeve; the fourth servo motor is fixed on the spherical hinge support and is connected with the driving gear, and the driving gear is meshed with the driven gear; the second special-shaped shaft sleeve comprises a shaft and a sleeve which are vertical to the axis and are connected together, the driven gear is fixed on the sleeve, and the shaft sleeve is arranged at the bottom of the second rocker; the sleeve is sleeved on the second solid shaft, and the sleeve can rotate relative to the second solid shaft.

As a further technical scheme, the first rocker and the second rocker have the same structure and comprise a body, one end of the body is provided with a shaft sleeve, the other end of the body is provided with a solid shaft, and the side face of the shaft sleeve is provided with a through hole.

As a further technical scheme, the through hole metal ball is eccentrically matched with the through hole of the spherical hinge support.

As a further technical scheme, the telescopic rod is a hydraulic telescopic rod.

As a further technical scheme, a displacement sensor is arranged on the telescopic rod.

As a further technical scheme, the two sets of position adjusting devices are arranged symmetrically relative to the center of the support; the two sets of position adjusting devices are provided with a clamping piece between, the clamping piece is used for clamping a plate to be processed, and the two multi-angle motion tool heads are positioned on two sides of the plate.

Compared with the prior art, the invention has the following advantages and innovation points:

1. the multi-angle power transmission tool head can be translated and rotated, and when a forming requirement with a larger angle is met, the small-angle deflection of the tool head in the y and z directions is realized through the deflection control mechanism, so that a plate which interferes the movement of the tool head is avoided, a processing task is completed at one time, the complexity of the processed plate is further improved, and the quality of the formed plate is improved; the tool head can deflect at a certain angle, so that the movement range and the movement flexibility of the tool head are increased, the forming requirement of parts with complex shapes can be met, and the quality of formed plates can be improved.

2. According to the invention, a closed-loop control system is formed by matching the hydraulic telescopic rod with the displacement sensor, so that the real-time compensation of the displacement change between the tool head and the plate after deflection is realized, and the plate forming precision is further improved.

3. The multi-angle power transmission tool head is connected with the two sliding rails, so that the force applied to the tool head is uniformly dispersed to the position adjusting device, the range of the applied force of the tool head is enlarged, and the processing precision and the complexity of the processed plate are further improved. And the tool head is driven to reach any spatial position through a plurality of groups of slide rail and slide block devices, so that the precise positioning of the tool head is realized.

4. According to the invention, the multi-angle motion tool heads are respectively arranged on two sides of the plate, so that the plate forming machine is simple in structure, convenient to install, high in processing speed and capable of improving the plate forming efficiency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic view of a multi-angle machining platform with displacement compensation function based on a double-point progressive forming machining technology;

FIG. 2 is a general schematic view of a multi-angle tool head motion system;

FIG. 3 is a schematic view of the right yaw control mechanism shown in FIG. 2;

FIG. 4 is a schematic view of the left yaw control system shown in FIG. 3;

FIGS. 5 and 6 are schematic views of a position adjustment mechanism;

fig. 7 and 8 are schematic diagrams of the spherical hinge support and the telescopic rod;

FIG. 9 is a schematic view of a first contoured sleeve;

FIG. 10 is a schematic view of a second contoured sleeve;

FIG. 11 is a schematic view of the first rocker.

In the figure: 1. a third slide rail; 2. a support arm; 3. a baffle plate; 4. a bolt; 5. a gear guard; 6. a first servo motor; 7. a first slider; 8. a clamping member; 9. a first lead screw; 10. a through hole connecting rod; 11. a hydraulic telescopic rod; 12. a base; 13. a displacement sensor; 14. a lower oil port; 15. a spherical hinge support; 16. a fourth servo motor; 17. an oil feeding port; 18. a spherical through hole; 19. a driven bevel gear; 20. a fifth servo motor; 22. a first special-shaped shaft sleeve, a 22-1 shaft sleeve and a 22-2 shaft sleeve; 23, a first rocker 23-1, a rocker body 23-2, a shaft sleeve 23-3, a solid shaft 23-4 and a through hole 23-4; 24. a through-hole metal ball; 25. a second slider; 26. a second servo motor; 27. a third servo motor; 28. a third slider; 29. a second slide rail; 30. straight gear, 31 second rocker, 32 driving gear, 33 driven gear; 34 drive bevel gears; 35 a second special-shaped shaft sleeve, 35-1 shaft sleeve and 35-2 shaft sleeve.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.

The first embodiment is as follows:

the present invention will be described in detail with reference to fig. 1 to 11, and specifically, the structure is as follows: the invention provides a multi-angle processing platform with a displacement compensation function based on a double-point progressive forming processing technology, which comprises an equipment shell, two groups of position adjusting and controlling systems and two groups of multi-angle tool head moving systems, wherein the equipment shell is provided with a plurality of groups of positioning and controlling systems; in the following description, directions of three axes x, y, and z are illustrated by taking the direction shown in fig. 1 as an example; the small-sized through-hole metal ball and the large-sized through-hole metal ball are metal balls with through holes in the centers.

The main components of the position adjusting control system in this embodiment are two sets of driving structures, each set of driving structure includes three pairs of slide rail devices, and the driving structures drive the tool head platform to move along three spatial directions. Specifically, the device comprises a base 12, wherein the left side and the right side of the base 12 are respectively provided with a baffle plate 3, two sets of processing devices are arranged between the two baffle plates 3, the left side and the right side correspond to the left side and the right side of the base 1 respectively, and the left and the right sets of processing devices are completely the same; the left sleeve and the right sleeve are separated by an upper clamping piece and a lower clamping piece; the technical scheme of the invention is explained below by taking one set of the materials as an example;

two first guide shafts and two first lead screws 9 which are parallel to each other are arranged between the baffle 3 and the upper clamping piece, and guide slide rails are arranged corresponding to the first guide shafts and the first lead screws 9 and are arranged on the upper supporting arm 2; two first guide shafts and two first lead screws 9 which are parallel to each other are also arranged between the baffle 3 and the lower clamping piece, and guide slide rails are also arranged corresponding to the first guide shafts and the first lead screws 9 and are also arranged on the corresponding lower support arms 2; each first guide shaft and each first lead screw 9 are provided with a first slide block 7, the first slide blocks are also connected with corresponding guide slide rails, a second lead screw and a second slide rail 29 are arranged between a pair of opposite slide blocks of the first guide shaft and the first lead screw 9 at the upper part, a set of second lead screw and a second slide rail are arranged between a pair of opposite slide blocks of the first guide shaft and the first lead screw 9 at the lower part, the axes of the second lead screw and the second slide rail are vertical to the first lead screw, and the second lead screw and the second slide rail are provided with corresponding second slide blocks; a third lead screw and a third slide rail 1 are arranged between the upper second slide block and the lower second slide block, a third slide block is arranged on the third lead screw and the third slide rail 1, and a multi-angle tool head motion system is connected onto the third slide block; the multi-angle tool head motion system is controlled to move on the x axis, the y axis and the z axis through the lead screw slide block and the slide rail.

It should be noted that the two first lead screws are driven by a set of driving devices, as shown in fig. 5 and 6, for the set of devices on the left, the first servo motor 6 drives a small gear, the small gear is engaged with a large gear, the large gear is engaged with two middle gears, and the two middle gears respectively drive the two first lead screws to rotate. Further, the second lead screw is driven by a second servo motor 26; the third lead screw is driven by a third servomotor 28.

Furthermore, the main components of the multi-angle tool head motion system comprise a deflection control mechanism, a first rocker 23, a second rocker 31, a spherical hinge support 15, a through hole metal ball 24, a hydraulic telescopic rod 11, a tool head and the like;

the spherical hinge support 15 comprises a body, two ends of the body are respectively connected with a solid shaft or the solid shaft and the body are integrally formed, and the center of the body of the spherical hinge support 15 is provided with a through hole; the through-holes are approximately spherical in shape in order to mate with the through-hole metal balls 24.

The first rocking bar 23 and the second rocking bar 31 have the same structure, and the first rocking bar 23 is taken as an example for explanation in the embodiment, as shown in fig. 11; the first rocker 23 comprises a rocker body 23-1, one end of the rocker body 23-1 is provided with a shaft sleeve 23-2, the other end of the rocker body 23-1 is provided with a solid shaft 23-3, the side surface of the shaft sleeve 23-2 is provided with a through hole 23-4, and the through hole 23-4 is mainly used for matching the shaft connecting position of the sleeve of the special-shaped shaft sleeve and the shaft when the rocker is matched with the opposite shaft sleeve, so that the shaft of the special-shaped shaft sleeve is positioned in the shaft sleeve of the rocker, and the sleeve of the special-shaped shaft sleeve is positioned outside the shaft sleeve of the rocker.

The deflection control mechanism comprises two sets, wherein one set of deflection control mechanism is shown in fig. 3 and comprises a fifth servo motor 20, a driving bevel gear 34, a driven bevel gear 19 and a first special-shaped shaft sleeve 22; the fifth servo motor 20 is fixed on one side of the lower end of the first rocker 23, the driving shaft of the fifth servo motor 20 is connected with a driving bevel gear 34, the driving bevel gear 34 is meshed with a driven bevel gear 19, the driven bevel gear 19 is connected with one end of a shaft 22-2 of the first special-shaped shaft sleeve 22, and the shaft 22-2 is installed in the shaft sleeve 23-2 of the first rocker 23.

Further, the first shaped sleeve 22 is shown in fig. 9 and includes a shaft 22-2 and a sleeve 22-1, the shaft 22-2 and the sleeve 22-1 are welded together, and the axes of the two are perpendicular; the shaft 22-2 is sleeved in a shaft sleeve 23-2 at the lower part of the first rocker 23; the sleeve 22-1 is connected with a solid shaft sleeved at the left end (taking the orientation shown in fig. 2 as an example) of the spherical hinge support 15, and the sleeve 22-1 and the solid shaft of the spherical hinge support 15 rotate relatively.

Another set of deflection control mechanism is shown in fig. 4, and includes a driving gear 32, a driven gear 33, a fourth servo motor 16, and a second special-shaped shaft sleeve 35, where the fourth servo motor 16 is fixed on the spherical hinge support 15, a driving shaft of the fourth servo motor 16 is engaged with the driving gear 32, the driving gear 32 is connected with the driven gear 33, and the driven gear 33 is fixed on an outer ring of a sleeve 35-1 of the second special-shaped shaft sleeve 35 (the driven gear 33 is selectively connected with the sleeve 35-1 through a key). It should be noted that the driving gear 32 and the driven gear 33 described in the present embodiment are conventional spur gears.

The second contoured sleeve 35 is shown in FIG. 10 and includes a shaft 35-2 and a sleeve 35-1; the shaft 35-2 and the sleeve 35-1 are welded together, and the axes of the shaft and the sleeve are vertical; the shaft 35-2 is sleeved in a shaft sleeve at the inner lower end of the second rocker 31; the sleeve 35-1 is fitted over a solid shaft at the right end of the spherical hinge support 15 (in the orientation shown in fig. 2 for example), and the sleeve 22-1 and the spherical hinge support 15 can rotate relative to each other.

Further, the upper ends of the second rocking bar 31 and the first rocking bar 23 are respectively connected to two ends of the connecting rod 10; the center of the connecting rod 10 is provided with a spherical through hole 18, the spherical through hole 18 is in clearance fit with a spherical bulge at the tail part of the hydraulic telescopic rod 11, and the spherical bulge is matched with the spherical through hole 18 and can restrict the movement of the hydraulic rod in space; two ends of the connecting rod 10 are respectively provided with a cylindrical through hole, and the axial direction of the cylindrical through holes is vertical to the axial direction of the connecting rod 10; the cylindrical through hole is in clearance fit with the solid shafts at the upper ends of the second rocker 31 and the first rocker 23 to form a hinged connection mode, and the second rocker 31 and the first rocker 23 can swing relative to the connecting rod 10.

The middle part of the hydraulic telescopic rod 11 is connected with a through hole metal ball 24, and the through hole metal ball 24 on the hydraulic telescopic rod 11 is connected with the through hole of the spherical hinge support 15 through a tangential relation; the spherical hinge support is matched with the through hole metal ball 24 to form a spherical hinge system. The through-hole metal ball 24 has a through-hole which is connected with a hydraulic rod in an interference fit manner.

Furthermore, an upper oil port 17 and a lower oil port 14 are arranged on the hydraulic telescopic rod 11, and the hydraulic telescopic rod is stretched by injecting oil into the upper oil port 17 and the lower oil port 14; further, a displacement sensor 13 is also arranged on the hydraulic telescopic rod 11; the displacement sensor 13 detects the position of the tool head and is connected with the controller, and the controller is connected with all the servo motors to realize the control of the whole system. The front end of the hydraulic rod is connected with the forming tool head through threads, so that the tool head can be conveniently replaced, and the hydraulic rod can control the displacement of the tool head along the axial direction.

According to the invention, through the rotation control of the rocker and the connecting piece, the multi-angle rotation property of the through hole spherical hinge is utilized to drive the cutter track of the tool head to form a spherical surface in a space, so that the accuracy and the control degree are improved, the multi-angle plate processing tool is suitable for multi-angle plate processing, the forming complex range is expanded, and the plate forming quality and the processing efficiency are improved.

When the platform is in operation, the fifth servo motor 20 outputs torque to drive the small bevel gear to move, and as the large bevel gear 19 meshed with the small bevel gear is fixed on the special-shaped shaft sleeve 22, the fifth servo motor 20 drives the first rocker 23 to rotate left and right under the action of a reaction force, so as to drive the connecting rod 10 to move, and further drive the hydraulic telescopic rod 11 to deflect in an xz plane, and to deflect left and right in the figure 2.

The torque output by the fourth servo motor 16 drives the sleeve 35-2 of the special-shaped shaft sleeve 35 to swing back and forth through a spur gear, and then the special-shaped shaft sleeve 35 drives the second rocker 31 to rotate left and right, so as to drive the connecting rod 10 and the second rocker 31 to move back and forth together, and further drive the hydraulic telescopic rod 11 to deflect in a second plane, and for fig. 1, the tool head is further driven to deflect back and forth.

The hydraulic telescopic rod 11 completes certain displacement compensation through stretching.

Because the stress performance of the spherical hinge structure is not very good, the through hole metal ball 24 in the mechanism is designed to be eccentric with a certain distance when being connected with the spherical hinge support 15, so that the larger force transmission between the through hole metal ball 24 and the spherical hinge support 15 is ensured, in addition, a tool head platform is connected with the slide blocks on two sides, and the reaction force generated when the tool head is processed can be dispersed to the eight support arms 2 through the multi-stage structure of the slide blocks, the slide rails and the screw rods, so that the stress mode of the tool head is integrally improved.

Specifically, the method for multi-angle double-point progressive forming by using the system comprises the following steps:

1. fixing a plate to be formed and processed on a clamp;

2. and determining the initial position and the forming track of the tool head according to the three-dimensional curved surface model of the processed plate to be formed.

3. And starting each motor and each hydraulic valve, and driving the tool head to move along the forming track by the transmission device. According to the forming shape of the plate, the deflection control mechanism drives the forming tool head to rotate, so that the deflection angles of the tool head in the y direction and the z direction are adjusted in real time in the machining process, the hydraulic telescopic rod stretches after the tool head deflects through an algorithm, and the compensation of displacement change between the tool head and the plate is realized.

4. And after the processing is finished, the tool heads on the two sides are controlled to leave the plate, so that the formed plate can be conveniently taken down from the clamp.

5. And taking down the formed part, and shutting down the equipment.

Finally, it is also noted that relational terms such as first and second, and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-angle double-point progressive forming processing platform with a displacement compensation function is characterized by comprising a support, wherein two sets of position adjusting devices are arranged on the support, and each set of position adjusting device drives a multi-angle moving tool head to move in X, Y, Z three directions; the two multi-angle power tool heads are completely the same and respectively comprise a first deflection control mechanism, a second deflection control mechanism, a first rocker, a second rocker, a spherical hinge support, a telescopic rod, a connecting rod and a tool head;

the lower ends of the first rocker and the second rocker are respectively connected with two ends of the spherical hinge support through connecting pieces, the upper ends of the first rocker and the second rocker are rotatably connected with two ends of a connecting rod, a through hole is formed in the middle of the connecting rod, the tail of the telescopic rod is a spherical bulge, and the spherical bulge is in clearance fit with the through hole; a through hole metal ball is fixed in the middle of the telescopic rod and is in tangential fit with the through hole in the middle of the spherical hinge support, and the head of the telescopic rod is connected with a tool head;

the first deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in the XZ plane; the second deflection control mechanism controls the first rocker and the second rocker to drive the telescopic rod and the tool head to rotate in a YZ plane;

the spherical hinge support comprises a body, wherein the middle part of the body is provided with a through hole, one end of the body is provided with a first solid shaft, and the other end of the body is provided with a second solid shaft;

the first deflection control mechanism comprises a fifth servo motor, a driving bevel gear, a driven bevel gear and a first special-shaped shaft sleeve; the fifth servo motor is fixed on one side of the lower end of the first rocker, the fifth servo motor is connected with the driving bevel gear, and the driving bevel gear is meshed with the driven bevel gear; the first special-shaped shaft sleeve comprises a shaft and a sleeve, the axis of the shaft is vertical to the axis of the shaft and the sleeve are connected together, the shaft sleeve is arranged at the bottom of the first rocker, and the shaft is connected with the driven bevel gear; the sleeve is sleeved on the first solid shaft of the spherical hinge support, and can rotate relative to the first solid shaft;

the second deflection control mechanism comprises a fourth servo motor, a driving gear, a driven gear and a second special-shaped shaft sleeve; the fourth servo motor is fixed on the spherical hinge support and is connected with the driving gear, and the driving gear is meshed with the driven gear; the second special-shaped shaft sleeve comprises a shaft and a sleeve which are vertical to the axis and are connected together, the driven gear is fixed on the sleeve, and the shaft sleeve is arranged at the bottom of the second rocker; the sleeve is sleeved on the second solid shaft of the spherical hinge support, and the sleeve can rotate relative to the second solid shaft.

2. The multi-angle double-point progressive forming platform with the displacement compensation function as claimed in claim 1, wherein the first rocking bar and the second rocking bar have the same structure and comprise a body, one end of the body is provided with a shaft sleeve, the other end of the body is provided with a solid shaft, and the side surface of the shaft sleeve is provided with a through hole.

3. The multi-angle double-point progressive forming machining platform with the displacement compensation function as claimed in claim 1, wherein the through hole metal ball is eccentrically matched with the through hole of the spherical hinge support.

4. The multi-angle double-point progressive forming processing platform with the displacement compensation function as claimed in claim 1, wherein the telescopic rod is a hydraulic telescopic rod.

5. The multi-angle double-point progressive forming and processing platform with the displacement compensation function as claimed in claim 1, wherein a displacement sensor is arranged on the telescopic rod.

6. The multi-angle double-point progressive forming processing platform with the displacement compensation function as claimed in claim 1, wherein the two sets of position adjusting devices are arranged symmetrically relative to the center of the support.

7. The multi-angle double-point progressive forming and processing platform with the displacement compensation function as claimed in claim 1, wherein a clamping member is installed between the two sets of position adjusting devices, the clamping member is used for clamping a plate to be processed, and the two multi-angle motion tool heads are located on two sides of the plate.