CN118559079A - Thin-wall component fixing device for double-robot mirror milling and milling equipment - Google Patents

Abstract

The present invention relates to a thin-walled component fixing device and milling equipment for dual robot mirror milling. The thin-walled component fixing device for dual robot mirror milling includes a fixing table, a mounting module, a conveying module and a clamping module; the mounting module includes a mounting plate, a plurality of adaptive adjustment seats and a vacuum suction cup, one end of each of the adaptive adjustment seats is connected to the mounting plate, and the other end is connected to a vacuum suction cup, the vacuum suction cup can be raised and lowered on the adaptive adjustment seat and rotated at any angle, and is used to adsorb the surface of the thin-walled component containing different curved surfaces; the conveying module includes a conveying base, a hydraulic rod and a first motor. The present invention adopts an integrated design of "loading, conveying and clamping", and for the fixing of large-sized thin-walled components, it only needs to be placed on the mounting module, and the subsequent flipping and transfer to the fixture are all completed automatically, which saves trouble and labor. And the specially designed fixture can fit the curved surfaces on both sides of the thin-walled component and provide sufficient clamping force.

Description

Thin-walled component fixture and milling equipment for dual robot mirror milling

Technical Field

The invention relates to the technical field of mirror image milling, and in particular to a thin-wall component fixing device and milling equipment for double-robot mirror image milling.

Background Art

In order to meet the needs of lightweight structure and improve specific strength as much as possible, thin-walled components are widely used as core components in the fields of aviation, aerospace and navigation. However, the rigidity of such parts is weak, which makes them very easy to deform and vibrate during milling, which seriously affects the processing accuracy and surface quality. In response to this problem, a mirror milling processing method is gradually attracting the attention and research of the industry and academia. The core idea of this method is to carry a support head that moves with the tool on the opposite side of the workpiece processing surface, and effectively suppress the processing vibration and reduce the deformation of the workpiece by offsetting the axial force and increasing the local stiffness of the workpiece. However, for large-sized thin-walled components, how to fix them in the vertical direction is a difficult problem. In the prior art, traditional clamps are usually only set vertically to clamp thin-walled components. First, it is not easy to move large-sized thin-walled components, and it is even more difficult to fix them on the clamps; second, after the thin-walled component becomes vertical, it needs to be clamped on both sides to carry out processing. Traditional clamps cannot fit thin-walled components with different boundary curvatures, which easily causes the problem of insufficient clamping force.

Summary of the invention

Based on this, it is necessary to provide a thin-walled component fixing device and milling equipment for dual robot mirror milling to address the problem that fixing large-sized thin-walled components in existing mirror milling is time-consuming, labor-intensive and difficult to fit.

A thin-walled component fixture for dual robot mirror milling, comprising:

Fixed table;

The mounting module comprises a mounting plate, a plurality of self-adaptive adjustment seats and a vacuum suction cup, wherein one end of each of the self-adaptive adjustment seats is connected to the mounting plate, and the other end is connected to a vacuum suction cup, and the vacuum suction cup can be raised and lowered and rotated at any angle on the self-adaptive adjustment seat, and is used to absorb the surface of the thin-walled component with different curved surfaces;

The conveying module comprises a conveying base, a hydraulic rod and a first motor; the conveying base and the top of the fixed platform are arranged for translational sliding, the translational sliding direction of the conveying base is set as direction one, a slide structure is arranged on the conveying base, the slide structure moves in a direction vertical to the direction one, one side of the mounting plate is rotationally connected with the slide structure with the direction one as the axis; one end of the hydraulic rod is rotationally connected with one side of the conveying base with the direction one as the axis, and the other end is rotationally connected with a side of the mounting plate away from the adaptive adjustment seat; the first motor is connected with one side of the conveying base, and is used to drive the hydraulic rod to rotate as a whole, thereby driving the mounting plate to switch between a horizontal state and a vertical state;

A clamping module, which is arranged on a fixed table and is located near the path of the conveying module moving along the direction one; the clamping module includes two symmetrically arranged clamping units, the two clamping units are correspondingly arranged along the direction of the direction one, and each of the clamping units includes a column, a transmission shaft, a second motor, a plurality of adjustable single-sided clamps and a plurality of follow-up clamps; the column is connected to the fixed table; the transmission shaft is arranged parallel to the length direction of the column and is rotatably connected, and the second motor is used to drive the transmission shaft to rotate; a plurality of the adjustable single-sided clamps are evenly arranged on one side of the column, and a plurality of the follow-up clamps are all connected to the transmission shaft and correspond one-to-one with the adjustable single-sided clamps on the horizontal plane, and the corresponding adjustable single-sided clamps and follow-up clamps are used to clamp thin-walled components with flat edges or clamp thin-walled components with curved edges.

As a preferred example, the adaptive adjustment seat includes a piston rod, a first spring and a cross universal joint; the piston rod is connected to the mounting plate, the first spring is arranged inside the piston rod to support the movable rod of the piston rod, one end of the cross universal joint is connected to the movable rod of the piston rod, and the other end is connected to the vacuum suction cup.

As a preferred example, a plurality of the adaptive adjustment seats are evenly distributed on the mounting plate in a rectangular array.

As a preferred example, the top of the fixed platform is connected to a first guide rail along the direction one, a first slider is slidably connected to the first guide rail, and the first slider is connected to the bottom of the conveying base.

As a preferred example, a rack is connected to one side of the conveying base along the direction, a third motor is connected to the top of the fixed table, and the output shaft of the third motor is connected to a gear meshing with the rack, which is used to drive the conveying base to translate and slide on the fixed table.

As a preferred example, the slide structure includes a second guide rail arranged in a vertical direction along the direction one, a second slider is slidably connected to the second guide rail, and the second slider is rotatably connected to one side of the mounting plate.

As a preferred example, the adjustable single-sided clamp includes a first clamp support, a fan-shaped clamp block and a fixing pin; the first clamp support is connected to the column, the arc surface of the fan-shaped clamp block is rotatably connected to the first clamp support, the flat surface of the fan-shaped clamp block is the clamping surface, and the fixing pin is used to position and lock the fan-shaped clamp block and the first clamp support after adjusting the rotation angle of the fan-shaped clamp block.

As a preferred example, the follower clamp includes a second clamp support and a follower clamp block; the second clamp support is connected to the transmission shaft, the follower clamp block is rotatably connected to the second clamp support, and the follower clamp block is used to rotate at an angle after being squeezed so that the clamping surface of the follower clamp corresponds to the clamping surface of the fan-shaped clamp block.

As a preferred example, a second spring is commonly connected between the second clamp support and the follower clamp block, and is used to drive the follower clamp block to reset when it is not squeezed.

A dual-robot mirror milling device comprises the thin-walled component fixing device as described above and two industrial robots, wherein the two industrial robots are respectively located on both sides of a fixing table and are used for performing mirror milling processing on the thin-walled components fixed on the clamping module.

The beneficial effects of the present invention are as follows: the present invention is provided by installing a module, a conveying module and a clamping module. The installing module can be adapted to place thin-walled components of different sizes, surface shapes, curvatures and wall thicknesses; the conveying module can easily complete the movement switching of the thin-walled components from a horizontal state to a vertical state; the clamping module is adaptive and can fit thin-walled components with different boundary curvatures, so that the clamp has sufficient clamping force, ensuring stability during mirror milling. The thin-walled component fixing device adopts an integrated design of "loading-delivering-clamping". For the fixing of large-sized thin-walled components, it only needs to be placed on the installing module, and the subsequent flipping and transfer to the clamp are all completed automatically, which saves trouble and effort. And the specially designed clamp can fit the curved surfaces on both sides of the thin-walled component and provide sufficient clamping force.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the three-dimensional structure of a thin-walled member fixing device in an embodiment;

FIG2 is a schematic diagram of the three-dimensional structure of the adaptive adjustment seat;

FIG3 is a schematic diagram of the cross-sectional structure of the adaptive adjustment seat;

FIG4 is a schematic diagram of the three-dimensional structure of the thin-walled component fixing device from another perspective;

FIG5 is a schematic diagram of the structure when the conveying module flips the thin-walled component to a vertical state;

FIG6 is an enlarged structural diagram of part A in FIG4 ;

7 and 8 are schematic diagrams of the three-dimensional structure of the clamping unit;

FIG9 is a schematic diagram of the three-dimensional structure of an adjustable single-sided clamp;

FIG10 is a schematic diagram of the three-dimensional structure of the follower clamp;

11, 12, 13, 14 and 15 are schematic diagrams of the thin-walled component fixing device in different working processes;

FIG. 16 is a schematic diagram of the three-dimensional structure of a dual-robot mirror milling device in another embodiment.

In the figure: fixed table 1, mounting module 2, mounting plate 21, adaptive adjustment seat 22, piston rod 221, first spring 222, cross universal joint 223, vacuum suction cup 23, conveying module 3, conveying base 31, hydraulic rod 32, first motor 33, limit block 34, rack 35, third motor 36, clamping module 4, column 41, transmission shaft 42, second motor 43, adjustable single-sided clamp 44, first clamp support 441, fan-shaped clamp block 442, fixing pin 443, follow-up clamp 45, second clamp support 451, follow-up clamp block 452, second spring 453, thin-walled component 5, industrial robot 6.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or/and" used herein includes any and all combinations of one or more related listed items.

Thin-walled components need to be in a vertical state to achieve mirror processing, and for larger thin-walled components, a special flip module needs to be designed to provide movement switching from the conventional lying state to the vertical state (it cannot collide with or interfere with the robot during movement). The flip module also needs to be equipped with an installation module so that it can place components of different sizes, surface shapes, curvatures and wall thicknesses, while also ensuring the stability of the installation adsorption. After the thin-walled component becomes vertical, its two sides need to be clamped before processing can be carried out. The issue to be considered at this time is how to make the clamp have a certain degree of adaptability so that it can fit components with different boundary curvatures, and at the same time, the clamping force needs to be as sufficient as possible.

Based on the above difficulties, please refer to Figure 1. This embodiment provides a thin-walled component 5 fixing device for dual robot mirror milling, which includes a fixed table 1, a mounting module 2, a conveying module 3 and a clamping module 4. The fixed table 1 is the working table of the fixing device, and the remaining components are set based on the fixed table 1. The fixed table 1 can be fixed on the ground or connected to other automated process equipment. Among them, the mounting module 2 includes a mounting plate 21, a plurality of adaptive adjustment seats 22 and a vacuum suction cup 23. One end of each adaptive adjustment seat 22 is connected to the same side of the mounting plate 21 and is evenly distributed in the form of a rectangular array. The other end of the adaptive adjustment seat 22 is connected to a vacuum suction cup 23. The vacuum suction cup 23 can be lifted and lowered on the adaptive adjustment seat 22 and rotated at any angle, and is used to adsorb the surface of the thin-walled component 5 containing different curved surfaces. Specifically, as shown in Figures 2 and 3, Figure 3 is a cross-sectional view of Figure 2. The adaptive adjustment seat 22 in this embodiment includes a piston rod 221, a first spring 222 and a cross universal joint 223. The piston rod 221 includes a sleeve and a movable rod. The movable rod slides in the sleeve to achieve the telescopic function. The sleeve is connected to the installation. The first spring 222 is arranged inside the sleeve, one end of which is against the inner wall of the sleeve, and the other end is similar to the end of the movable rod located in the sleeve, supporting the movable rod and realizing the elastic telescopic movement of the movable rod. One end of the cross universal joint 223 is fixedly connected to the end of the movable rod located outside the sleeve, and the other end is fixedly connected to the vacuum suction cup 23. The vacuum suction cup 23 can adsorb the surface of the thin-walled component 5 so that the thin-walled component 5 will not shake or fall off during the subsequent transportation process. The middle cross universal joint 223 can flexibly adjust the angle of the support, and the lower piston rod 221 can flexibly adjust the height of the support. Multiple adaptive adjustment seats 22 and vacuum suction cups 23 are used in combination to adapt to the matching and fixation of thin-walled components 5 with different curvatures and different wall thicknesses.

Please refer to Figures 4 and 5. Figure 5 is a schematic diagram of the mounting plate 21 when it is flipped to a vertical state. The conveying module 3 includes a conveying base 31, a hydraulic rod 32 and a first motor 33 (in order to ensure that the motor has sufficient torque, the motor generally includes a reducer, which is a common method used by those skilled in the art, so it is not described in detail). In this embodiment, the conveying base 31 is arranged to slide with the top of the fixed platform 1. The translation sliding direction of the conveying base 31 is assumed to be direction one. Specifically, the top of the fixed platform 1 is fixedly connected with two parallel first guide rails along direction one. The two first guide rails are slidably connected with first sliders. Both first sliders are fixedly connected with the bottom of the conveying base 31. As shown in Figure 6, a rack 35 is fixedly connected along direction one on one side of the conveying base 31. A third motor 36 is fixedly connected to the top of the fixed platform 1. The output shaft of the third motor 36 is fixedly sleeved with a gear meshing with the rack 35. By controlling the forward and reverse rotation, rotation speed and rotation time of the third motor 36, the moving direction and moving distance of the conveying base 31 on the fixed platform 1 are controlled. A slide structure is provided on the top of the transmission base 31. The slide structure includes two parallel second guide rails arranged in the vertical direction of direction one. The two second guide rails are slidably connected with second sliders. The two second sliders are rotatably connected to one side of the mounting plate 21 through a rotating shaft. The mounting plate 21 can be rotated on the transmission base while being able to slide and translate through the slide structure. The hydraulic rod 32 uses a commercially available ordinary hydraulic telescopic rod, one end of which is rotatably connected to one side of the transmission base 31 with direction one as the axis, and the other end is rotatably connected to the side of the mounting plate 21 away from the adaptive adjustment seat 22. The first motor 33 is also fixedly connected to the transmission base 31 and can move with the transmission base 31. At the same time, the output shaft power of the first motor 33 is transmitted to the hinge shaft between the hydraulic rod 32 and the transmission base 31, which is used to drive the hydraulic rod 32 to rotate as a whole, thereby driving the mounting plate 21 to flip and switch between the horizontal state and the vertical state. Further, in order to ensure that the mounting plate 21 can be in a vertical state, a rectangular limit block 34 can also be provided. The limit block 34 is fixedly connected to the rotating shaft between the mounting plate 21 and the second slider, and can rotate with the rotating shaft. A limit groove matching the limit block 34 is provided on the conveying base 31. When the hydraulic rod 32 drives the mounting plate 21 to rotate to a vertical state, one side of the limit block 34 abuts against the bottom of the limit groove, so that the mounting plate 21 cannot continue to rotate, and the mounting plate 21 is finally in a vertical state. As the hydraulic rod 32 continues to rotate, the angle change of the mounting plate 21 is blocked by the limit block 34, and at this time, the mounting plate 21 in the vertical state can only be pushed to continue to move along the second guide rail.

The clamping module 4 is also arranged on the fixed platform 1 and is located near the path where the conveying base 31 moves along direction one. The clamping module 4 includes two symmetrically arranged clamping units. The two clamping units are fixedly connected to the fixed platform 1 along the direction one, and the distance between the two clamping units is adjustable. In this embodiment, as shown in Figures 7 and 8, the clamping unit includes a column 41, a transmission shaft 42, a second motor 43, a plurality of adjustable single-sided clamps 44 and a plurality of follower clamps 45. The bottom of the column 41 is fixedly connected with a clamp base. The clamp base is detachably fixed to the fixed platform 1 by bolts, so that the distance between the two columns 41 is adjustable. The transmission shaft 42 is also arranged in a vertical direction, parallel to the length direction of the column 41 and the two are rotatably connected. The second motor 43 is fixed to the top of the column 41, and its output shaft is used to drive the transmission shaft 42 to rotate. A plurality of adjustable single-sided clamps 44 are evenly arranged on one side of the column 41. A plurality of follow-up clamps 45 are connected to the transmission shaft 42 and correspond to the adjustable single-sided clamps 44 one by one on the horizontal plane. The corresponding adjustable single-sided clamps 44 and follow-up clamps 45 are used to clamp the thin-walled components 5 with flat edges or the thin-walled components 5 with curved edges. Specifically, as shown in FIG9 , the adjustable single-sided clamp 44 includes a first clamp support 441, a fan-shaped clamp block 442 and a fixing pin 443. A T-slot is provided on the side where the two columns 41 are close to each other. The first clamp support 441 is fixedly connected in the T-slot. An installation groove and a fixing hole 1 connected to the installation groove are provided at one end of the first clamp support 441 away from the column 41. The fan-shaped clamp block 442 can be a semicircular clamp block. The arc surface of the fan-shaped clamp block 442 is rotatably connected to the first clamp support 441. A plurality of fixing holes 2 distributed along the arc of the fan-shaped clamp block 442 are provided at one end close to the arc surface. At the same time, one end of the fan-shaped clamp block 442 close to the arc surface is located in the installation groove. The flat surface of the fan-shaped clamp block 442 is located outside the installation groove. The flat surface is the clamping surface. The fan-shaped clamp block 442 is rotatably connected in the installation groove in a horizontal state. When the fan-shaped clamp block 442 is adjusted and rotated to an angle that matches the edge curvature of the thin-walled component 5, the fixing pin 443 passes through the fixing hole 1 and the fixing hole 2 to position and lock the angle of the fan-shaped clamp block 442. For the thin-walled component 5 whose edge is a flat plate, the fan-shaped clamp can be locked in a state parallel to the direction 1. As shown in Figure 10, the follower clamp 45 includes a second clamp support 451 and a follower clamp block 452. The second clamp support 451 is fixedly connected to the transmission shaft 42. The follower clamp block 452 is rotatably connected to the second clamp support 451 through a rotating shaft and corresponds to the fan-shaped clamp block 442. The second motor 43 drives the transmission shaft 42 to rotate, so that the follower clamp 452 is close to the side of the thin-walled component 5 away from the fan-shaped clamp 442, and adjusts a certain angle with the contact and extrusion, and finally cooperates with the fan-shaped clamp 442 to achieve clamping. Further, a second spring 453 can be connected between the second clamp support 451 and the follower clamp 452. The second spring 453 makes the follower clamp 452 close to the second clamp support 451 in the unpressed state, preventing interference when the thin-walled component 5 enters the clamping module 4. The second spring 453 can also maintain the parallelism of the clamps on both sides in the pressed state.

Working principle of the present invention:

1. Place the thin-walled component 5 on the mounting module 2, and use the adaptive adjustment seat 22 to make the vacuum suction cup 23 fit the curved surface of the thin-walled component 5. Then turn on the vacuum adsorption so that the vacuum suction cup 23 can firmly fix the thin-walled component 5, as shown in Figure 11. When placing the thin-walled component 5, it is necessary to perform a reference positioning on the position of the thin-walled component 5 on the mounting plate 21. In this embodiment, a laser measuring instrument can be used. Determine the two positioning points on the right side of the mounting plate 21 according to the point position of the laser beam. Align the upper and lower corners on the right side of the thin-walled component 5 with the two positioning points to achieve the reference positioning when the thin-walled component 5 is adsorbed and fixed, so as to facilitate the subsequent process;

2. Turn on the first motor 33 and cooperate with the hydraulic rod 32 to flip the thin-walled component 5 from a horizontal state to a vertical state, as shown in FIG12 ;

3. Turn on the third motor 36, and move the thin-walled component 5 to the corresponding position in front of the clamping module 4 through the conveying base 31, as shown in Figure 13. The moving position of the conveying base 31 can be controlled by the program of the third motor 36. For example, a servo motor is used for automatic control;

4. After the thin-walled component 5 reaches the preset position, the first motor 33 continues to flip, so that the thin-walled component 5 is fed in the direction of the clamping unit. After the thin-walled component 5 is attached to the fan-shaped clamp block 442 (which can be monitored by sensors such as travel switches and photoelectric sensors), the second motor 43 drives the follower clamp block 452 to flip and clamp the thin-walled component 5, as shown in FIG14;

5. After the thin-walled component 5 is clamped, the vacuum cup 23 breaks the vacuum, and the conveying module 3 returns to the original path and waits for the next process, as shown in FIG. 15 .

In another embodiment, the present invention also proposes a dual-robot mirror milling device, as shown in FIG16, which includes the thin-walled component 5 fixing device described above and two industrial robots 6. The two industrial robots 6 are respectively located on both sides of the fixing table 1, and are used to perform mirror milling processing on the thin-walled component 5 fixed on the clamping module 4. The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims (10)

1. A thin-walled component fixing device for dual robot mirror milling, characterized in that it includes: Fixed table (1); A mounting module (2), comprising a mounting plate (21), a plurality of self-adaptive adjustment seats (22) and a vacuum suction cup (23), wherein one end of each of the self-adaptive adjustment seats (22) is connected to the mounting plate (21), and the other end is connected to the vacuum suction cup (23), and the vacuum suction cup (23) can be raised and lowered and rotated at any angle on the self-adaptive adjustment seat (22) to absorb the surface of the thin-walled component (5) having different curved surfaces; The conveying module (3) comprises a conveying base (31), a hydraulic rod (32) and a first motor (33); the conveying base (31) is arranged to translate and slide with the top of the fixed platform (1), the translation and sliding direction of the conveying base (31) is set as direction one, a slide structure is arranged on the conveying base (31), the slide structure moves in a direction perpendicular to the direction one, and one side of the mounting plate (21) is rotatably connected to the slide structure with the direction one as an axis; one end of the hydraulic rod (32) is rotatably connected to one side of the conveying base (31) with the direction one as an axis, and the other end is rotatably connected to one side of the mounting plate (21) away from the adaptive adjustment seat (22); the first motor (33) is connected to one side of the conveying base (31) and is used to drive the hydraulic rod (32) to rotate as a whole, thereby driving the mounting plate (21) to switch between a horizontal state and a vertical state; A clamping module (4) is arranged on a fixed platform (1) and is located near a path along which the conveying module (3) moves in the first direction; the clamping module (4) comprises two symmetrically arranged clamping units, the two clamping units are arranged correspondingly in the first direction, and each of the clamping units comprises a column (41), a transmission shaft (42), a second motor (43), a plurality of adjustable single-sided clamps (44) and a plurality of follower clamps (45); the column (41) is connected to the fixed platform (1); the transmission shaft (42) is connected to the column (41) are arranged parallel to each other in the length direction and are rotatably connected, and the second motor (43) is used to drive the transmission shaft (42) to rotate; a plurality of the adjustable single-sided clamps (44) are evenly arranged on one side of the column (41), and a plurality of the follower clamps (45) are connected to the transmission shaft (42) and correspond one to one with the adjustable single-sided clamps (44) in the horizontal plane, and the corresponding adjustable single-sided clamps (44) and follower clamps (45) are used to clamp a thin-walled component (5) with a flat edge or a thin-walled component (5) with a curved edge. 2. The thin-walled component fixing device according to claim 1 is characterized in that the adaptive adjustment seat (22) includes a piston rod (221), a first spring (222) and a cross universal joint (223); the piston rod (221) is connected to the mounting plate (21), the first spring (222) is arranged inside the piston rod (221) and is used to support the movable rod of the piston rod (221), one end of the cross universal joint (223) is connected to the movable rod of the piston rod (221), and the other end is connected to the vacuum suction cup (23). 3. The thin-walled component fixing device according to claim 1 is characterized in that a plurality of the adaptive adjustment seats (22) are evenly distributed on the mounting plate (21) in a rectangular array. 4. The thin-walled component fixing device according to claim 1 is characterized in that the top of the fixing platform (1) is connected to a first guide rail along the direction one, a first slider is slidably connected to the first guide rail, and the first slider is connected to the bottom of the conveying base (31). 5. The thin-walled component fixing device according to claim 4 is characterized in that a rack (35) is connected to one side of the conveying base (31) along the direction, a third motor (36) is connected to the top of the fixed table (1), and the output shaft of the third motor (36) is connected to a gear meshing with the rack (35) for driving the conveying base (31) to translate and slide on the fixed table (1). 6. The thin-walled component fixing device according to claim 1 is characterized in that the slide structure includes a second guide rail arranged in a vertical direction along the direction one, and a second slider is slidably connected to the second guide rail, and the second slider is rotatably connected to one side of the mounting plate (21). 7. The thin-walled component fixing device according to claim 1 is characterized in that the adjustable single-sided clamp (44) includes a first clamp support (441), a fan-shaped clamp block (442) and a fixing pin (443); the first clamp support (441) is connected to the column (41), the arc surface of the fan-shaped clamp block (442) is rotatably connected to the first clamp support (441), the straight surface of the fan-shaped clamp block (442) is the clamping surface, and the fixing pin (443) is used to position and lock the fan-shaped clamp block (442) and the first clamp support (441) after adjusting the rotation angle of the fan-shaped clamp block (442). 8. The thin-walled component fixing device according to claim 7 is characterized in that the follower clamp (45) includes a second clamp support (451) and a follower clamp block (452); the second clamp support (451) is connected to the transmission shaft (42), and the follower clamp block (452) is rotatably connected to the second clamp support (451), and the follower clamp block (452) is used to rotate at an angle after being squeezed so that the clamping surface of the follower clamp (45) corresponds to the clamping surface of the fan-shaped clamp block (442). 9. The thin-walled component fixing device according to claim 8 is characterized in that a second spring (453) is commonly connected between the second clamp support (451) and the follower clamp block (452), which is used to drive the follower clamp block (452) to reset when it is not squeezed. 10. A dual-robot mirror milling equipment, characterized in that it comprises a thin-walled component fixing device as described in any one of claims 1 to 9 and two industrial robots (6), the two industrial robots (6) are respectively located on both sides of a fixing table (1), and are used to perform mirror milling processing on a thin-walled component (5) fixed on the clamping module (4).