WO2021248623A1 - Aerospace conduit allowance cutting digital control system, method and apparatus - Google Patents

Abstract

Disclosed are an aerospace conduit allowance cutting digital control system, method and apparatus, the system comprising an angle adjusting device (3), a cutting device (8), a conduit clamping device (9), a carriage mechanism (5), a positioning device (6) and an opening leveling device (7). The cutting device (8) feeds a blade forwards and backwards, the positioning device (6) and the opening leveling device (7) feed left and right, the positioning device (6) comprises a positioning driver (61) used for driving a positioning block (64) to move, the conduit clamping device (9) comprises a clamping electric motor (908) used for driving a clamping seat to clamp a conduit, the cutting device (8) comprises a cutting electric motor (802) and a blade-feeding electric motor (806), the opening leveling device (7) comprises an opening leveling electric motor (72), the carriage mechanism (5) comprises a feeding electric motor (51) used for driving the positioning device (6) and the opening leveling device (7) to feed and a conversion electric motor (52) used for converting machining positions of the positioning device (6) and the opening leveling device (7), and all the devices are controlled by a digital controller. The digital controller is used to control all the devices in a unified manner, thus achieving rapid and accurate cutting machining of excess process allowance at an end of a conduit.

Description

Digital control system, method and equipment for aerospace catheter margin removal Technical field

The invention relates to the field of aerospace technology, in particular to a digital control system, method and equipment for aerospace catheter margin removal.

Background technique

There are tens of thousands of accessories on aerospace vehicles such as airplanes and rockets. Many accessories are connected by metal conduits. For example, there are many metal conduits on the rocket body and engine to transmit various fluids and support the rocket. The various missions of the flight are extremely important parts of the rocket. "Rocket Propulsion/Journal The article "Fracture Analysis and Power Optimization of Liquid Rocket Engine Pipeline Fracture and Power Optimization" in the issue of "of Rocket Propulsion" in 2018-03 explains that the safety and reliability of the liquid rocket engine pipe system has become the key to whether the engine can work safely.

Because of the complicated shape and bending of aerospace catheters, it is necessary to use CNC bending equipment to bend them. In the bending process, there needs to be a process margin such as bending and clamping. However, the actual catheters are limited in installation space and other reasons. Both ends are usually designed with short straight sections, and the excess length needs to be cut after the catheter is bent and formed. Rocket guide tube is a kind of precision tube parts. The length of the end is required to be very precise when cutting. Rocket guide tube usually has a very thin tube wall. In the range of 0.5-2.0mm, the length of the straight section remaining at both ends of many catheters is only 25mm, which brings many difficulties to reliable clamping during cutting. In addition, the rocket guide has high technical requirements for clamping deformation and depression. In particular, the rocket catheter also has the characteristics of many specifications, many varieties, and small batches.

In the early stage of the rocket’s start-up stage in my country, due to the weak manufacturing base, manual saws were used to remove these margins. During processing, the operator used the scribing method to mark the cutting position, and then saw it with a saw. When cutting, a bench vise is usually used to clamp the catheter. When necessary, some cloth strips, emery cloth, wood strips, etc. are placed on the catheter to reduce damage to the catheter. After sawing, the end surface of the catheter is flattened with a file. This process is still used in some occasions. For example, "Rocket Propulsion/Journal of Rocket Propulsion" 2012 05 issue "Long March Series Liquid Rocket Engine Pipe File Repair Technology" in the article detailed description of the catheter file repair technology.

With the development of my country's aerospace industry, some cutting-end flat-end processing equipment has been adopted in recent years. These equipment will reliably clamp the catheter during processing, and then use a cutting saw blade to cut the catheter, which can neatly cut off the excess parts at both ends of the catheter. After cutting, the end face of the catheter is flattened by a flat-end tool, but the entire processing process is still manual control, mainly relying on human experience, so the accuracy of the rear end of the catheter processing is low, which often results in the installation of the rocket catheter. There is the phenomenon of installation end face deviation and repair, which affects the rocket manufacturing progress and product quality. Moreover, in the prior art, the device for clamping the catheter is usually fixed by screws, and it takes a lot of time to replace the clamping device each time, which directly affects the mass production of the rocket.

There are tens of thousands of fittings on the rocket, and many fittings are connected by pipes. Many of the pipe connections and installation parts have deviations during the assembly process, that is, there is an accumulated error between the pipe installation surface and the original design, usually at 1°- Between 3°, this deviation angle is commonly called "horsehoe mouth". If the "horseshoe mouth" of the rocket guide tube is not processed accurately, there will be installation stress when the rocket guide tube is installed on the rocket. This stress is easy to aggravate and cause the rocket tube to rupture and bring potentially fatal risks to the rocket (see "Missile and Space Launch Technology/ Missiles "Stress Corrosion of Rocket Pipelines and Preventive Measures" in 2005-01).

technical problem

In order to solve the above technical problems, the purpose of the present invention is to provide a digital control system, method and equipment for aerospace catheter margin removal, which adopts a digital controller to uniformly control each device and realizes the rapid and accurate excess process margin at the end of the catheter Cutting process.

Technical solutions

In order to achieve the above objective, the present invention adopts the following technical solutions:

A digital control equipment for aerospace duct allowance removal, comprising a fuselage. The fuselage is equipped with an angle adjustment device, a cutting device, a duct clamping device and a carriage mechanism. The carriage mechanism is equipped with a positioning device and a flat opening device , The positioning device and the flat mouth device are arranged one behind the other, the carriage mechanism and the pipe clamping device are arranged on the left and the right. There is also a waste chute on the fuselage, and the waste chute is located between the carriage mechanism and the pipe clamping device , The cutting device feeds the knife back and forth, the positioning device and the flat mouth device feed left and right; the positioning device includes a positioning driver for driving the positioning block to move, and the catheter clamping device includes a clamping motor for driving the clamping seat to clamp the catheter, The cutting device includes a cutting motor and a feed motor. The flat opening device includes a flat opening motor. The carriage mechanism includes a feeding motor for driving the positioning device and the flat opening device to feed, and a conversion motor for converting the positioning device and the flat opening device processing position. The drive, clamping motor, cutting motor, feed motor, flat end motor, feed motor and conversion motor are all controlled by a digital controller.

Preferably, the digital controller is a PLC controller or a CNC controller; the digital controller is connected with a touch screen and a console.

Preferably, the catheter holding device includes a first holding seat, a second holding seat, a third holding seat, a fourth holding seat, and a holding device base. The first holding seat and the second holding seat are front and back. The third clamping seat and the fourth clamping seat are arranged opposite to each other on the clamping device base and the two front and rear cooperate to clamp the catheter. The first The clamping seat and the third clamping seat are spaced left and right, the second clamping seat and the fourth clamping seat are spaced left and right, and the third clamping seat and the fourth clamping seat are located at the base of the clamping device near the waste chute. On one side, the clamping device base is provided with a waste landslide between the third clamping seat and the fourth clamping seat. The first clamping seat is fixed on the clamping device base, and the second clamping seat passes through the clamp. The holding motor is driven to slide back and forth on the base of the holding device. The third holding base slides back and forth on the base of the holding device through the first holding cylinder. The moving end of the first holding air cylinder is hinged to the third holding base. , The fourth clamping base is driven by the second clamping cylinder to slide back and forth on the base of the clamping device, the moving end of the second clamping cylinder is hinged with the fourth clamping base, and the cutting device is in the second clamping base and Cutting is carried out between the fourth clamping seat.

Preferably, the first clamping seat, the second clamping seat, the third clamping seat, and the fourth clamping seat are all equipped with clamp blocks for contacting and clamping the catheter. The clamp blocks are in a semi-annular shape, and the clamp blocks The inside surface of the clamp block is a semicircular clamping groove. The two clamp blocks opposite to each other form a clamping hole for accommodating the straight section of the end of the pipe. The outside surface of the clamp block is formed with positioning protrusions. Correspondingly, the clamping The seat is provided with a fixing slot matched with the positioning protrusion of the clamp block.

Preferably, the base of the clamping device is installed on the workbench through a rotating shaft and can rotate. After the first clamping seat and the second clamping seat clamp the catheter, the axis of the straight section of the tube end of the catheter is in line with the axis of the rotating shaft. The axis intersects and the intersection point is located on the cutting surface of the cutting device; the rotating shaft is in transmission connection with an angle encoder, and the angle encoder is connected with a digital controller.

Preferably, the angle adjusting device includes a gear which meshes and transmits with an arc tooth provided on one side of the base of the clamping device, and the gear is driven to rotate by a rotation driving device. The arc tooth is in a circular arc shape and the circular arc The center of the circle is located on the axis of the rotating shaft; the rotating drive device is a hand wheel or a motor; an outer ring is also provided between the clamping device base and the worktable, and the outer ring is located outside the rotating shaft and is fastened The parts are fixed on the worktable to assist in supporting the base of the clamping device. Rolling supports or smooth wear-resistant parts are provided between the outer ring and the base of the clamping device to facilitate the rotation of the clamping device base; The outer ring is provided with an arc-shaped limit slot, and the clamping device base is equipped with a limit column that can be inserted into the arc-shaped limit slot and is limited in movement; a limit clamp is fixed on the worktable of the fuselage A limit block that holds the rotation range of the base of the device.

Preferably, the cutting device includes a cutting device base, a cutting motor, a head reduction box, a cutting saw blade, and a feed motor. The cutting device base is fixed on the body, and the head reduction box is connected to the cutting device base through a slide rail. The base is slidably connected and moved forward and backward by the feed motor. A cutting saw blade is arranged on one side of the reduction box of the machine head. The cutting motor drives the cutting saw blade to cut after the reduction mechanism; the cutting saw blades are circular saw blades and saw blades. , Blade or wire saw; both the cutting motor and the feed motor are servo motors, and a servo encoder is installed on the servo motor; the feed path of the cutting saw blade is inclined downward cutting.

Preferably, the carriage mechanism includes a Y-direction carriage and an X-direction carriage. The X-direction carriage is slidably connected to the left and right sides of the fuselage and is driven to move and feed by a feed motor. The Y-direction carriage and the X-direction carriage slide back and forth. Connected and driven by the conversion motor to move forward and backward, the Y-direction carriage is equipped with a positioning device and a flat mouth device. The positioning device and the flat mouth device are adjacent to each other. The clamping tube position of the clamping device corresponds; the positioning device includes a positioning device base, a positioning block, and a positioning driver. The positioning device base is fixed on the Y-direction carriage, and the positioning block is slidably connected to the positioning device base. The positioning drive is driven to move and feed; the positioning drive is a servo electric cylinder or a hydraulic cylinder controlled by a servo proportional valve; the positioning surface of the positioning block is a positioning disk surface that can contact the entire end surface of the pipe, or a straight positioning The flat mouth device includes a flat mouth device base, a flat mouth motor, and a tool turntable, the flat mouth device base is fixed on the Y carriage, the tool turntable is installed on the flat mouth device base and is driven to rotate by the flat mouth motor, and the tool turntable is on A number of flat cutting tools are installed, and when the tool turntable rotates, the flat cutting tools are driven to rotate to form a flat processing surface.

An aerospace catheter margin removal digital control system adopts the above-mentioned aerospace catheter margin removal digital control device.

A digital control method for aerospace catheter margin removal, using the above-mentioned digital control device for aerospace catheter margin removal, including the following steps:

1) Determine the positioning parameters of the positioning device according to the margin of the pipe end of the catheter, and the positioning driver and/or the feed motor drive the positioning block to the specified position according to the positioning parameters;

2) Put the end of the pipe against the positioning surface of the positioning block, and the pipe clamping device clamps and fixes the pipe. The third clamping seat and the fourth clamping seat clamp the waste section of the catheter, the first clamping seat and the second Second, the clamping seat clamps the reserved section of the catheter, and the positioning block is reset;

3) According to the deviation angle of the horseshoe mouth of the pipe installation surface, rotate the pipe clamping device and the pipe to the corresponding angle through the angle adjustment device;

4) The cutting device advances and cuts, and the cutting saw blade enters between the second clamping seat and the fourth clamping seat to cut off the excess of the catheter;

5) The cutting saw blade is reset, the second clamping seat and the fourth clamping seat are opened, and the waste slides into the waste box through the waste chute; the switching motor drives the Y-direction carriage to move the flat device to the processing position, and the feed motor drives The flat mouth device feeds flat mouth processing on the cut end surface of the catheter;

6) After the flat mouth processing is completed, the flat mouth device is reset, the first clamping seat and the third clamping seat are opened, and the catheter is taken out.

Beneficial effect

The present invention adopts the above technical scheme and adopts a digital controller to uniformly control each device. The operator inputs and sets various process parameters according to various processing needs. During automatic operation, the equipment automatically executes various process parameters to realize the catheter The excess process margin at the end can be cut and processed quickly and accurately. Through the digital end length positioning, reliable clamping, circular saw blade cutting, digital control and other functional combinations to quickly complete the removal of excess process margin at the end of the catheter, to achieve digital precision control of the margin length positioning and reliable arc clamp The supporting and circular saw blade cold cutting process, the supporting digital controller realizes digital control.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the device of the present invention;

Figure 2 is a schematic diagram of the cooperative structure of each mechanism of the present invention;

Figure 3 is one of the structural schematic diagrams of the catheter clamping device of the present invention;

Figure 4 is the second structural diagram of the catheter clamping device of the present invention;

Figure 5 is a top view of the catheter clamping device of the present invention;

Figure 6 is a cross-sectional view of Figure 5 A-A;

Figure 7 is one of the structural schematic diagrams of the catheter clamping device and the angle adjusting device of the present invention;

Figure 8 is the second structural diagram of the catheter clamping device and the angle adjusting device of the present invention;

Figure 9 is a schematic structural view of another embodiment of the catheter clamping device of the present invention;

Figure 10 is a schematic diagram of the clamp installation structure in the catheter clamping device of the present invention;

Figure 11 is a schematic diagram of the structure of the clamp of the present invention;

Figure 12 is a schematic diagram of the structure of the cutting device of the present invention;

Figure 13 is a structural diagram of the positioning device and the flat mouth device of the present invention;

FIG. 14 is a schematic diagram of digital positioning implemented by the positioning device of the present invention;

Figure 15 is a top view of the device of the present invention (without adjusting the angle);

Figure 16 is a schematic diagram of the equipment of the present invention for flat mouth processing;

Figure 17 is a plan view of the equipment of the present invention performing horseshoe flat mouth processing;

Among them, 1, the catheter; 101, the first clamp block; 102, the second clamp block; 103, the third clamp block; 104, the fourth clamp block; 105, the locking piece; 1011, clamp positioning groove; 1012, arc Protrusion; 1013, clamping hole; 2. body; 21, waste chute; 22, workbench; 23, outer ring; 3. angle adjustment device; 301, hand wheel; 302, gear; 303, gear shaft 304, worm gear; 305, indicator plate; 306, worm; 4. waste box; 5. carriage mechanism; 51, feed motor; 52, conversion motor; 53, Y carriage; 54, X carriage; 6. Positioning device; 61. Positioning drive; 62. Guide rod; 63. Positioning device base; 64. Positioning block; 7. Flat mouth device; 71. Flat mouth device base; 72. Flat mouth motor; 73. Tool turntable; 74 , Flat cutter; 8. Cutting device; 801, cutting device base; 802, cutting motor; 803, head gear box; 804, cutting saw blade; 805, screw rod; 806, feed motor; 9, catheter clamping Device; 901, first clamping base; 902, second clamping base; 903, third clamping base; 904, fourth clamping base, 905, first clamping cylinder, 906, clamping device base; 907, second clamping cylinder; 908, clamping motor; 909, first connecting rod; 910, second connecting rod; 911, curved teeth; 912, angle encoder; 913, rotating shaft; 914, plane bearing; 915 , Waste landslide; 916, the third clamping cylinder; 917, the positioning groove of the clamping seat; 918, the arc groove; 919, the limit block.

Embodiments of the present invention

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present invention, but should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “clockwise”, and “counterclockwise” are based on the attached The orientation or positional relationship shown in the figure is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to the present invention. Limitations of the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.

In the present invention, unless expressly stipulated and defined otherwise, the "above" or "below" of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them. Moreover, "above", "above" and "above" the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or merely indicating that the level of the first feature is higher than that of the second feature. The “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

Example 1:

A duct allowance removal equipment as shown in Fig. 1 and Fig. 2 is used for cutting and flat-end machining of engine ducts in the aerospace field. It includes a fuselage 2 on which an angle adjustment device 3, The cutting device 8, the catheter clamping device 9 and the carriage mechanism 5, the carriage mechanism 5 is equipped with a positioning device 6 and a flat mouth device 7, the positioning device 6 and a flat mouth device 7 are arranged in tandem, the carriage mechanism 5 and the catheter clamp The holding device 9 is arranged on the left and the right, and the fuselage 2 is also provided with a waste chute 21. The waste chute 21 is located between the carriage mechanism 5 and the pipe clamping device 9. The cutting device 8 feeds back and forth, and the waste chute 21 The outlet is provided with a waste box 4 for collecting waste materials.

This equipment adopts digital control. The digital controller includes a PLC controller. The PLC controller is set in the electrical cabinet. The PLC controller can also be connected with a touch screen and a console. The operator can input and set each process according to the processing needs. Parameter. During automatic operation, the equipment automatically executes each process parameter to realize rapid and accurate cutting and processing of excess process margin at the end of the catheter. In other embodiments, the digital controller can also be replaced by a CNC controller.

Because the catheter will produce greater torsion and vibration during cutting, the catheter clamping device is used to reliably clamp the catheter after the end of the catheter is properly positioned, to prevent the catheter from loosening during the cutting process, and to ensure the smooth cutting of the catheter. As shown in Figures 2 to 5, the catheter holding device 9 is installed on the workbench 22 of the body 2. The catheter holding device 9 includes a first holding seat 901, a second holding seat 902, and a third holding seat. 903, a fourth clamping seat 904 and a clamping device base 906, the first clamping seat 901 and the second clamping seat 902 are arranged on the clamping device base 906 front and rear opposite to each other, and they cooperate to clamp the catheter 1 back and forth, The third clamping seat 903 and the fourth clamping seat 904 are arranged on the clamping device base 906 front and rear opposite to each other, and they cooperate to clamp the catheter 1 in the front and rear. , The second holding seat 902 and the fourth holding seat 904 are spaced apart from each other, the third holding seat 903 and the fourth holding seat 904 are located on the side of the holding device base 906 close to the waste chute 21, the holding device The base 906 is provided with a waste landslide 915 between the third clamping base 903 and the fourth clamping base 904. The first clamping base 901 is fixed on the clamping device base 906, and the second clamping base 902 is clamped The motor 908 is driven to slide back and forth on the clamping device base 906. The third clamping seat 903 is driven to slide back and forth on the clamping device base 906 by the first clamping cylinder 905. The moving end of the first clamping cylinder 905 and the second The three clamping bases 903 are hinged, the fourth clamping base 904 is driven to slide back and forth on the clamping device base 906 by the second clamping cylinder 907, and the moving end of the second clamping cylinder 907 is hinged to the fourth clamping base 904, The cutting device 8 cuts between the first clamping base 901 and the third clamping base 903 (or between the second clamping base 902 and the fourth clamping base 904). In this way, the remaining waste section and the remaining straight section at the end of the catheter are reliably clamped to ensure the stability and processing accuracy of the cutting process. In addition, the retained straight section of the end of the catheter is clamped by a dynamic and static clamping seat, and the fixed first clamping seat is used as a positioning reference, which can accurately locate the clamping position of the catheter on the base of the clamping device, and the rest of the end of the catheter Two clamping cylinders are used to drive and clamp the waste material section, which is fast and convenient, and has good flexibility and adaptability.

In a preferred embodiment, as shown in FIG. 4, the clamping motor 908 is connected to the second clamping base 902 through the first connecting rod 909 and the second connecting rod 910, and the moving end of the clamping motor 908 is connected to the first connecting rod. One end of the 909 is hinged, the other end of the first link 909 is hinged with the clamping device base 906, one end of the second link 910 is hinged with the moving end of the clamping motor 908, and the other end of the second link 910 is hinged with the second The clamping base 902 is hinged. In this way, the clamping motor pushes and locks the second clamping seat through the double link structure, not only can realize the clamping and/or pre-clamping of the catheter, but also the clamping is stable and reliable. Further preferably, the moving ends of the first connecting rod 909, the second connecting rod 910, and the clamping motor 908 share a hinge axis to further ensure reliable clamping and locking and convenient assembly.

The clamping motor 908 is preferably a servo electric cylinder, so that the digital controller can control the moving speed and moving position of the servo electric cylinder according to the catheters of different specifications and materials and the clamping contact area, so as to ensure that the clamping force is not correct to damage the catheter and the clamping Maintain stable and reliable. In other embodiments, the clamping motor 908 can also be replaced by an air cylinder to realize rapid pipe replacement. As shown in FIG. 9, the cylinder of the third clamping cylinder 916 is hinged with the clamping device base 906, and the third clamping cylinder The moving ends of 916 are respectively hinged with the first connecting rod 909 and the second connecting rod 910.

And preferably, the moving end of the clamping motor 908 or the third clamping cylinder 916 is inclined downward to implement the clamping pipe. At this time, the upper end of the first connecting rod 909 and the clamping motor 908 or the third clamping cylinder 916 move The lower end of the first link 909 is hinged with the clamping device base 906, the upper end of the second link 910 is hinged with the second clamping base 902, and the lower end of the second link 910 is hinged with the clamping motor 908 or third The moving end of the clamping cylinder 916 is hinged. Such a locking structure has a greater locking force to ensure a stable clamping, and the loosening and clamping actions can be adjusted quickly and flexibly.

As shown in Figures 10 and 11, in order to apply different specifications of the catheter, the first clamping seat 901, the second clamping seat 902, the third clamping seat 903, and the fourth clamping seat 904 are all equipped with contact clamps. The clamp block for tightening the catheter 1, the clamp block is semi-circular, the inner side of the clamp block is a semicircular clamping groove, and the two front and rear clamp blocks cooperate to form a clamping hole 1013 for accommodating the straight section of the end of the catheter 1. A positioning protrusion is formed on the outer surface of the clamp block, and correspondingly, a fixing slot matching the positioning protrusion of the clamp block is provided on the clamping seat. In this embodiment, the first clamp block 101 is fixed on the first clamping base 901, the second clamp block 102 is fixed on the second clamping base 902, and the third clamp block 103 is fixed on the third clamping base 903. The fourth clamp block 104 is fixed on the fourth clamp base 904, and the four clamp blocks have the same structure.

As shown in FIG. 10, in this embodiment, the positioning protrusion is a circular arc protrusion 1012. Correspondingly, the fixing groove is a circular arc groove 918, and a clamp positioning groove 1011 is provided on the clamp block to clamp The seat is provided with a clamping base positioning groove 917 communicating with the clamping base positioning groove 1011, and the locking member 105 passes through the clamp positioning groove 1011 and the clamping base positioning groove 917 and is locked and fixed on the clamping base by fasteners. In this way, a uniform outer arc positioning and installation datum is set on the clamping seat, which is semicircular, and the outer arc of the clamp block is installed on this datum. The inner arc of the clamp block is designed according to the outer diameter specification of the catheter. , The unified installation of a variety of catheter clamping fixtures is realized. The semi-circular arc structure has good centering accuracy, which helps to improve the processing accuracy, and only one locking piece can accurately locate and lock the fixed fixture Block, convenient and quick to install and disassemble, can realize multi-specification and small-batch rocket tube end margin removal and quick type change.

In other embodiments, the positioning protrusion and the fixing slot used as a positioning and installation reference can also be designed into special shapes such as an ellipse, a rectangle, and a square.

In a further preferred embodiment, the clamp positioning groove 1011 is provided under the upper or lower end surface of the clamping side of the clamp block. Correspondingly, the clamping seat positioning groove 917 is also provided on the upper or lower end surface of the clamping side of the clamp block. Above, the clamp positioning groove 1011 and the clamping seat positioning groove 917 have the same dovetail cross section. When the locking member 105 is not locked, the locking member 105 can be moved up and down to insert or exit the fixture positioning groove 1011 to facilitate quick disassembly and assembly of the fixture block. It is accurately fixed on the clamping seat, no screws are required for fixing, and the installation and disassembly are very convenient.

As shown in Figures 5 to 8, the clamping device base 906 is installed on the worktable 22 through the rotating shaft 913 and can rotate. After the first clamping seat 901 and the second clamping seat 902 clamp the catheter 1, the The axis of the straight section of the pipe end intersects the axis of the rotating shaft 913 and the intersection point is located on the cutting surface of the cutting device 8. In this way, not only can the horseshoe mouth cutting processing and horseshoe mouth flat processing of the catheter tube end be realized, but also the rapid and accurate positioning of the catheter tube end can be facilitated, and high positioning accuracy, cutting processing accuracy and flat processing accuracy can be ensured.

As shown in FIG. 6, in a preferred embodiment, the clamping device base 906 is supported on the worktable 22 by a plane bearing 914 and is centered and rotated by a rotating shaft 913. The upper end of the rotating shaft 913 is inserted into the bottom of the clamping device base 906. In the fixing hole and locked and fixed by fasteners, the lower part of the rotating shaft 913 is meshed and driven with the angle encoder 912 installed on the worktable 22 through a gear. In this way, the angle rotation information of the clamping device base 906 can be transmitted to the digital controller through the angle encoder 912, and the adjustment angle of the "horsehoe" can be directly displayed on the operating screen through numerical values, which is convenient for the operator to manipulate.

As shown in Figures 7 and 8, in this embodiment, the angle adjustment device 3 includes a gear 302 that meshes with the arc-shaped tooth 911 provided on the side of the clamping device base 906, and the gear 302 is driven by the rotation drive device. Driven to rotate, the arc-shaped tooth 911 has a circular arc shape and the center of the circular arc is located on the axis of the rotating shaft 913. In this embodiment, the arc-shaped tooth 911 is an arc-shaped rack fixed on the base 906 of the clamping device. The rotation driving device is a hand wheel 301. The gear 302 is fixed or integrally formed on the gear shaft 303. A worm gear 304 is fixed on the gear shaft 303. The worm gear 304 meshes with the worm 306 for transmission. The hand wheel 301 drives the worm 306 to rotate to drive the gear 302. Rotating the clamping device base 906, an indicator disk 305 for indicating the rotation angle is installed on the worktable 22. In other embodiments, the rotation driving device may also be a motor, which may be connected to the above-mentioned worm, or it may be connected to the gear 302 or the shaft 913 through a reduction mechanism. The motor may be a stepper motor, a servo motor, or a self-driving motor. Motor with deceleration mechanism. In other embodiments, the angle encoder 912 may also be connected to the rotating shaft 913 via a universal joint. The device is adjusted along the horizontal plane when the angle is adjusted. After adjustment, it has a locking function. After the horizontal direction angle is adjusted properly, it will be locked without affecting the angle changes in other directions. The amount of angle adjustment in the horizontal direction will be displayed on the control screen in real time, which is convenient for the operator to grasp.

In a preferred embodiment, an outer ring 23 is further provided between the clamping device base 906 and the worktable 22. The outer ring 23 is located on the outside of the rotating shaft 913 and is fixed on the worktable 22 by fasteners for To assist in supporting the clamping device base 906, a rolling support (such as a ball roller) or a smooth wear-resistant member is provided between the outer ring 23 and the clamping device base 906 to facilitate the rotation of the clamping device base 906. It is further preferred that an arc-shaped limiting groove 231 is provided on the outer ring 23, and a limiting post capable of being inserted into the arc-shaped limiting groove 231 and restricted in movement is provided on the clamping device base 906. In addition, as shown in FIG. 5, a limit block 919 can also be fixed on the worktable 22 to limit the rotation range of the clamping device base 906.

After receiving the processing process parameters such as saw blade speed and feed speed from the digital controller, the cutting device realizes accurate movement according to the requirements of each process parameter to ensure that the catheter obtains the best process parameters during cutting. As shown in FIG. 12, the cutting device 8 includes a cutting device base 801, a cutting motor 802, a head gear box 803, a cutting saw blade 804, and a knife feed motor 806. The cutting device base 801 is fixed on the body 2 and the head The reduction box 803 is slidably connected to the cutting device base 801 through a slide rail and is driven by the feed motor 806 to move forward and backward to feed the knife. A cutting saw blade 804 is set on one side of the head reduction box 803, and the cutting motor 802 drives the cutting saw after the reduction mechanism. The slice 804 is cut.

In this embodiment, the cutting saw blade 804 is a circular saw blade. In other embodiments, the cutting saw blade 804 may also be a cutting tool such as a saw blade, a blade, or a wire saw. The feed motor 806 is a servo motor, which drives the head gear box 803 to move through the screw 805. In a preferred embodiment, the cutting motor 802 and the knife feed motor 806 are both servo motors, and a servo encoder is installed on the servo motor, so that the digital controller can accurately control the knife feed speed, knife position and cutting according to the specifications of the catheter material. Rotation speed and so on.

In order to directly cut the "horseshoe mouth" that needs to be realized when cutting the duct allowance, and avoid the cumbersome processing technology in the traditional "horseshoe mouth" processing, the preferred embodiment is that the rotating shaft on the base 906 of the clamping device The axis of 913 is located on the cutting surface of the cutting blade 804, and the cutting surface refers to the plane of the catheter cut after the cutting is completed. When performing flat-end processing on the pipe incision, the flat-cut processing surface of the flat-cut device 7 is parallel to the cutting surface of the cutting device 8, or in other words, the feed path of the cutting saw blade 804 is perpendicular to the feed path of the flat-cut tool.

In this embodiment, the cutting saw blade 804 has an inclined cutting path along the cutting edge, so that it is misplaced with the catheter clamping device 9 to prevent the two devices from interfering with each other, and helps reduce cutting vibration to clamp the catheter clamping device 9 The influence of the catheter 1 ensures the cutting accuracy.

As shown in Figures 2 and 13, the carriage mechanism 5 includes a Y-direction carriage 53 and an X-direction carriage 54. The X-direction carriage 54 is slidably connected to the body 2 left and right and is driven by a feed motor 51 to move and feed. The carriage 53 and the X carriage 54 are slidably connected forwards and backwards and are driven by the conversion motor 52 to move forward and backward. The Y carriage 53 is equipped with a positioning device 6 and a flat mouth device 7, and the positioning device 6 and the flat mouth device 7 are adjacent to each other, and When the Y-direction carriage 53 moves back and forth, the positioning device 6 and the flat mouth device 7 can respectively correspond to the positions of the catheter clamping device 9 for clamping the catheter 1.

After receiving the positioning parameters from the digital controller, the positioning device's servo motor drives the positioning device to perform positioning according to the positioning parameters, and realizes the digital control of the catheter end length positioning with accuracy. As shown in FIG. 13, in this example, the positioning device 6 includes a positioning device base 63, a positioning block 64, and a positioning driver 61. The positioning device base 63 is fixed on the Y-direction carriage 53, and the positioning block 64 is connected to the positioning device base. 63 is slidably connected to the left and right and is driven by the positioning driver 61 to move and feed. In a preferred embodiment, the positioning driver 61 is a servo electric cylinder, and the positioning block 64 is fixed on the moving end of the servo electric cylinder. The cutting surface of the knife is parallel to the flat processing surface of the flat mouth device 7, so that the digital controller can accurately control the stay position of the positioning block 64, and the moving position of the positioning block 64 can also be displayed on the control screen in real time for easy operation Master. In other embodiments, the positioning driver 61 may also be a hydraulic cylinder controlled by a servo proportional valve.

In a preferred embodiment, the positioning block 64 is slidably connected to the positioning device base 63 through the guide rod 62, so that the cooperation of the guide rod 62 and the piston rod of the servo electric cylinder increases the positioning stability of the positioning block 64.

In a preferred embodiment, the positioning surface of the positioning block 64 can be a positioning disc surface that can contact the entire end surface of the catheter, or a straight-shaped positioning surface, that is, the surface contacting the catheter can be designed as a straight-shaped circular plane as required. The shape of the knife edge reduces the contact area with the catheter.

The end surface roughness of the catheter after cutting is very poor. The flat mouth device is used to cut the end of the catheter after the catheter is cut, so as to realize the smooth and flat end of the catheter. As shown in Figure 13, the flat-mouth device 7 includes a flat-mouth device base 71, a flat-mouth motor 72, and a tool turntable 73. The flat-mouth device base 71 is fixed on the Y-direction carriage 53, and the tool turntable 73 is installed on the flat-mouth device base 71. It is driven to rotate by a flat-cut motor 72. A number of flat-cut cutters 74 are installed on the tool turntable 73. When the tool turntable 73 rotates, the flat-cut cutter 74 is rotated to form a flat-cut processing surface. The flat-cut processing surface is parallel to the cutting surface of the cutting device 8. It is parallel to the positioning surface of the positioning device 6.

In this embodiment, the flat mouth device 7 is driven by the feeding motor 51 to implement feeding; the positioning device 6 can be driven by the feeding motor 51 to implement feeding, or the positioning driver 61 can implement feeding, or it can be implemented by a hybrid drive of the two. Feed. In other embodiments, a wire brush can also be provided to clean the catheter port to make it smoother and smoother and improve the welding quality.

The catheter excess removal method of the above catheter excess removal equipment includes the following steps:

1) Determine the positioning parameter of the positioning device 6 according to the margin of the pipe end of the catheter 1, and the positioning driver 61 and/or the feed motor 51 drive the positioning block 64 to the designated position according to the positioning parameter;

2) As shown in Figure 14, the end of the catheter 1 is pressed against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the catheter clamping device 9. The third clamping seat 903 and the fourth clamping seat 904 are clamped The waste section of the catheter 1, the first clamping seat 901 and the second clamping seat 902 clamp the reserved section of the catheter 1, and the positioning block 64 is reset;

3) As shown in Fig. 15, the cutting device 8 cuts, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the excess of the catheter 1;

4) The cutting saw blade 804 is reset, the second clamping seat 902 and the fourth clamping seat 904 are opened, and the waste is slid into the waste box 4 through the waste chute 21; the conversion motor 52 drives the Y direction carriage 53 to move the flat mouth device 7 To the processing position, the feed motor 51 drives the flat-end device 7 to feed and flat-end the cut end surface of the catheter 1, as shown in Fig. 16;

5) After the flat mouth processing is completed, the flat mouth device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out.

In the above step 1), for how to obtain the margin positioning parameters of the catheter after the bend is processed, please refer to the publication number CN The elbow measurement and margin positioning method disclosed in the patent document 108074277A includes the following steps: with the aid of a laser tracker and a target for multi-sensor global calibration, the multi-sensor coordinate system is transferred to the global coordinate system; multiple sensors are strictly synchronized to collect the bending Tube image, edge detection and morphological refinement to obtain the centerline of the bent pipe, and use the bidirectional polar line matching algorithm to reconstruct the centerline in three dimensions; discretize the centerline into a spatial point cloud, and calculate the control points, the end points of the straight line and the arc segment Use the center line as the guide line for the three-dimensional modeling of the arc center point; finally, use the nearest point iteration method to match the design model and the measurement model, calculate the margin position, and obtain the margin positioning parameters.

In the above steps 2) and 5), the catheter 1 is transferred by a robot, a manipulator, or manually.

The method for cutting a horseshoe by the above-mentioned catheter margin removal equipment includes the following steps:

1) Determine the positioning parameter of the positioning device 6 according to the margin of the pipe end of the catheter 1, and the positioning driver 61 and/or the feed motor 51 drive the positioning block 64 to the designated position according to the positioning parameter;

2) The end of the catheter 1 is pressed against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the catheter clamping device 9. The third clamping seat 903 and the fourth clamping seat 904 clamp the waste section of the catheter 1. The first clamping seat 901 and the second clamping seat 902 clamp the reserved section of the catheter 1, and the positioning block 64 is reset;

3) According to the deviation angle of the horseshoe mouth of the installation surface of the pipe 1, rotate the pipe holding device 9 and the pipe 1 to the corresponding angle through the angle adjusting device 3;

4) The cutting device 8 advances cutting, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the remaining amount of the catheter 1;

5) The cutting saw blade 804 is reset, the second clamping seat 902 and the fourth clamping seat 904 are opened, and the waste is slid into the waste box 4 through the waste chute 21; the conversion motor 52 drives the Y direction carriage 53 to move the flat mouth device 7 To the processing position, the feed motor 51 drives the flat-end device 7 to feed and flat-end the cut end surface of the catheter 1, as shown in Figure 17;

6) After the flat mouth processing is completed, the flat mouth device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out.

In the above step 2), the angle of rotation of the pipe 1 to be processed along the axis of the straight section of the pipe end can be adjusted by manual marking or positioning or manipulators/robots, so as to ensure that the equipment only needs to process the horseshoe mouth of the pipe end of the pipe 1. Just adjust the horizontal deflection angle of the catheter 1.

Example 2:

A pipe cutting equipment includes a body 2. The body 2 is equipped with an angle adjustment device 3, a cutting device 8, a pipe clamping device 9 and a carriage mechanism 5. The carriage mechanism 5 is equipped with a positioning device 6 and a positioning device 6 and the catheter clamping device 9 are arranged opposite to each other, and the cutting device 8 feeds forward and backward. The only difference from the first embodiment is that the flat mouth device 7 is not provided, and only the catheter cutting function is implemented. The position arrangement, specific structure and various implementations of each device are the same as those of the first embodiment.

The cutting method of the above-mentioned pipe cutting equipment includes the following steps:

1) The positioning driver 61 and/or the feed motor 51 drive the positioning block 64 to the designated position according to the positioning parameters of the catheter 1 to be cut;

2) The end of the catheter 1 is pressed against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the catheter clamping device 9. The third clamping seat 903 and the fourth clamping seat 904 clamp one side of the catheter 1. A clamping seat 901 and a second clamping seat 902 clamp the other side of the catheter 1, and the positioning block 64 is reset;

3) The cutting device 8 feeds, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut the catheter 1;

4) After the cutting is completed, the cutting saw blade 804 is reset, the catheter clamping device 9 is released, and the catheter 1 is taken out.

The method for cutting horseshoes with the above-mentioned pipe cutting equipment includes the following steps:

1) The positioning driver 61 and/or the feed motor 51 drive the positioning block 64 to the designated position according to the positioning parameters of the catheter 1 to be cut;

2) The end of the catheter 1 is pressed against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the catheter clamping device 9. The third clamping seat 903 and the fourth clamping seat 904 clamp one side of the catheter 1. A clamping seat 901 and a second clamping seat 902 clamp the other side of the catheter 1, and the positioning block 64 is reset;

3) According to the deviation angle of the horseshoe mouth of the installation surface of the pipe 1, rotate the pipe holding device 9 and the pipe 1 to the corresponding angle through the angle adjusting device 3;

4) The cutting device 8 feeds, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut the catheter 1;

5) After the cutting is completed, the cutting saw blade 804 is reset, the catheter clamping device 9 is released, and the catheter 1 is taken out.

Example 3:

A pipe flat mouth equipment, comprising a body 2, an angle adjusting device 3, a pipe clamping device 9 and a carriage mechanism 5 are installed on the body 2, a positioning device 6 and a flat mouth device 7, and a positioning device are installed on the carriage mechanism 5 6 and the catheter clamping device 9 are arranged opposite to each other, and the flat mouth device 7 moves left and right to feed the knife. The only difference from the first embodiment is that the cutting device 8 is not provided, and only the flat-end processing of the end surface of the catheter nozzle is performed.

The flat-end processing method of the above-mentioned pipe flat-end equipment includes the following steps:

1) The positioning driver 61 and/or the feed motor 51 drive the positioning block 64 to the designated position according to the positioning parameters of the pipe 1 to be processed;

2) The end of the catheter 1 is pressed against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the first clamping seat 901 and the second clamping seat 902 in the catheter clamping device 9, and the positioning block 64 is reset;

3) The conversion motor 52 drives the Y-carriage 53 to move the flat mouth device 7 to the processing position, the flat mouth motor 72 drives the tool turntable 73 to rotate, and the feed motor 51 drives the flat mouth device 7 to feed and flatten the end surface of the pipe 1 nozzle;

4) After the flat mouth processing is completed, the flat mouth device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out.

The method for processing horseshoe mouth with the above-mentioned pipe fitting flat mouth equipment includes the following steps:

1) The positioning driver 61 and/or the feed motor 51 drive the positioning block 64 to the designated position according to the positioning parameters of the pipe 1 to be processed;

2) The end of the catheter 1 is pressed against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the first clamping seat 901 and the second clamping seat 902 in the catheter clamping device 9, and the positioning block 64 is reset;

3) According to the deviation angle of the horseshoe mouth of the catheter 1, turn the catheter clamping device 9 and the catheter 1 to the corresponding angle through the angle adjustment device 3;

4) The conversion motor 52 drives the Y-direction carriage 53 to move the flat mouth device 7 to the processing position, and the feed motor 51 drives the flat mouth device 7 to feed to flatten the end surface of the horseshoe mouth of the catheter 1;

5) After the flat mouth processing is completed, the flat mouth device 7 is reset, the first clamping seat 901 and the third clamping seat 903 are opened, and the catheter 1 is taken out.

All the features described in the specification, appended claims and drawings, either alone or in any combination thereof, are important features of the present invention.

In the description of this specification, reference is made to the terms “one embodiment”, “some embodiments”, “one embodiment”, “specific embodiments”, “other embodiments”, “examples”, “specific examples”, or The description of "some examples" and the like means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment, implementation, or example of the present invention. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described above can also be combined in any one or more embodiments, implementations or examples in a suitable manner. The technical solutions recorded in the present invention also include technical solutions formed by any one or more of the specific features, structures, materials or features described above in a single or combined manner.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art will not depart from the principle and purpose of the present invention. Under the circumstance of the present invention, changes, modifications, substitutions, modifications, deletions of some features, addition of features, or technical solutions formed by combining features can be made to the above-mentioned embodiments within the scope of the present invention, and the above-mentioned embodiments can be modified according to the innovative principle of the present invention. Any simple modifications, equivalent changes and modifications made are still within the scope of the technical solution of the present invention.

Claims (10)

A digital control device for aerospace duct allowance removal, comprising a fuselage (2), characterized in that an angle adjustment device (3), a cutting device (8), and a duct clamping device are installed on the fuselage (2) (9) and the carriage mechanism (5), the carriage mechanism (5) is equipped with a positioning device (6) and a flat mouth device (7), a positioning device (6) and a flat mouth device (7) are arranged in one tandem, The board mechanism (5) and the pipe clamping device (9) are arranged on the left and the right. The fuselage (2) is also provided with a waste chute (21), and the waste chute (21) is located on the carriage mechanism (5) and the pipe Between the clamping devices (9), the cutting device (8) feeds back and forth, and the positioning device (6) and the flat mouth device (7) feed left and right; the positioning device (6) includes a device for driving the positioning block (64) to move The positioning driver (61), the catheter clamping device (9) includes a clamping motor (908) for driving the clamping seat to clamp the catheter (1), and the cutting device (8) includes a cutting motor (802) and a feed motor (806), the flat mouth device (7) includes a flat mouth motor (72), and the carriage mechanism (5) includes a feed motor (51) for driving the positioning device (6) and a flat mouth device (7) and a feed motor (51) for the conversion Positioning device (6) and flat opening device (7) machining position conversion motor (52), positioning drive (61), clamping motor (908), cutting motor (802), feed motor (806), flat opening motor (72) ), the feed motor (51) and the conversion motor (52) are all controlled by the digital controller. The digital control device for aerospace catheter margin removal according to claim 1, wherein the digital controller is a PLC controller or a CNC controller; the digital controller is connected with a touch screen and a console . The digital control equipment for aerospace catheter margin removal according to claim 1, wherein the catheter clamping device (9) includes a first clamping seat (901), a second clamping seat (902), and a second clamping seat (902). The three clamping bases (903), the fourth clamping base (904) and the clamping device base (906), the first clamping base (901) and the second clamping base (902) are arranged on the clamping device front and back opposite to each other The third clamping seat (903) and the fourth clamping seat (904) are arranged on the clamping device base (906) front and rear opposite to each other. The first clamping seat (901) and the third clamping seat (903) are spaced apart from the left and right, and the second clamping seat (902) and the fourth clamping seat (904) are spaced left and right. Set, the third clamping base (903) and the fourth clamping base (904) are located on the side of the clamping device base (906) close to the waste chute (21), and the clamping device base (906) is in the third A waste landslide (915) is provided between the clamping base (903) and the fourth clamping base (904), the first clamping base (901) is fixed on the clamping device base (906), and the second clamping base (902) is driven by the clamping motor (908) to slide back and forth on the clamping device base (906), and the third clamping seat (903) is driven on the clamping device base by the first clamping cylinder (905) (906) slide up and down, the moving end of the first clamping cylinder (905) is hinged with the third clamping base (903), and the fourth clamping base (904) is driven by the second clamping cylinder (907) to clamp The device base (906) slides back and forth, and the moving end of the second clamping cylinder (907) is hinged with the fourth clamping base (904). The cutting device (8) is mounted on the second clamping base (902) and the second clamping base (902). Cutting is carried out between the four clamping seats (904). The digital control device for aerospace catheter margin removal according to claim 3, characterized in that the first clamping base (901), the second clamping base (902), and the third clamping base (903) ) And the fourth clamping seat (904) are both installed with a clamp block for contacting the clamping catheter (1). The clamp block is in a semi-circular shape. The inner side of the clamp block is a semi-circular clamping groove. The two clamp blocks cooperate to form a clamping hole (1013) for accommodating the straight section of the end of the pipe (1), and a positioning protrusion is formed on the outer surface of the clamp block. Accordingly, a positioning with the clamp block is provided on the clamping seat A fixed card slot with matching protrusions. The digital control equipment for aerospace catheter margin removal according to claim 3, characterized in that the clamping device base (906) is installed on the worktable (22) via a rotating shaft (913) and can rotate, After the first clamping seat (901) and the second clamping seat (902) clamp the catheter (1), the axis of the straight section of the pipe end of the catheter (1) intersects the axis of the shaft (913) and the intersection point is located On the cutting surface of the cutting device (8), the rotating shaft (913) is in transmission connection with an angle encoder (912), and the angle encoder (912) is connected with a digital controller. The digital control equipment for aerospace catheter margin removal according to claim 5, characterized in that the angle adjusting device (3) comprises a gear (302) which is connected to the base of the clamping device. The arc-shaped tooth (911) on the side of (906) meshes for transmission, and the gear (302) is driven to rotate by the rotating drive device. On the axis; the rotation driving device is a handwheel (301) or a motor; an outer ring piece (23) is also provided between the clamping device base (906) and the worktable (22), the outer ring piece ( 23) Located on the outside of the rotating shaft (913) and fixed on the worktable (22) by fasteners, it is used to support the clamping device base (906), the outer ring (23) and the clamping device base (906) There are rolling supports or smooth wear-resistant parts between them to facilitate the rotation of the clamping device base (906); the outer ring (23) is provided with an arc-shaped limiting groove (231), the clamping device base (906) is provided with a limit post that can be inserted into the arc-shaped limit slot (231) and is restricted in movement; the worktable (22) of the fuselage (2) is fixed with a base ( 906) The limit block (919) of the rotation range. The digital control equipment for aerospace catheter margin removal according to claim 1, wherein the cutting device (8) comprises a cutting device base (801), a cutting motor (802), and a head reduction box ( 803), cutting saw blade (804) and feed motor (806), the cutting device base (801) is fixed on the body (2), and the head reduction box (803) is connected to the cutting device base (801) through the slide rail. ) Slidingly connected and driven by the feed motor (806) to move forward and backward to feed the knife. A cutting saw blade (804) is set on one side of the head reduction box (803). The cutting motor (802) drives the cutting saw blade (804) after the deceleration mechanism. ) For cutting; the cutting saw blade (804) is a circular saw blade, a saw blade, a blade or a wire saw; the cutting motor (802) and the feed motor (806) are both servo motors, and servo codes are installed on the servo motors The cutting saw blade (804) feed path is inclined downward cutting. The digital control device for aerospace catheter margin removal according to claim 1, wherein the carriage mechanism (5) comprises a Y-directional carriage (53) and an X-directional carriage (54), and the X-directional carriage The carriage (54) is slidably connected with the body (2) left and right and is driven by the feed motor (51) to move and feed. The Y-directional carriage (53) and the X-directional carriage (54) are slidably connected back and forth and are connected by a conversion motor ( 52) Drive back and forth to move, the Y-direction carriage (53) is equipped with a positioning device (6) and a flat opening device (7), the positioning device (6) and the flat opening device (7) are adjacent to each other, and when the Y-direction carriage ( 53) When moving back and forth, the positioning device (6) and the flat mouth device (7) can respectively correspond to the position of the catheter (1) of the catheter clamping device (9); the positioning device (6) includes a positioning device base (63), positioning block (64) and positioning driver (61), the positioning device base (63) is fixed on the Y carriage (53), and the positioning block (64) is connected to the positioning device base (63) by sliding left and right The positioning driver (61) is driven to move and feed; the positioning driver (61) is a servo electric cylinder or a hydraulic cylinder controlled by a servo proportional valve; the positioning surface of the positioning block (64) can be in contact with the entire end surface of the catheter The positioning plate surface, or a flat-shaped positioning surface; the flat-mouth device (7) includes a flat-mouth device base (71), a flat-mouth motor (72), and a tool turntable (73), and the flat-mouth device base (71) is fixed on On the Y-carriage (53), the tool turntable (73) is installed on the flat-mouth device base (71) and is driven to rotate by the flat-mouth motor (72). A number of flat-mouth tools (74) are installed on the tool turntable (73). When the turntable (73) rotates, the flat cutting tool (74) is rotated to form a flat processing surface. An aerospace catheter margin removal digital control system, which is characterized by adopting an aerospace catheter margin removal digital control device as claimed in any one of claims 1 to 8. A digital control method for aerospace catheter margin removal, characterized in that an aerospace catheter margin removal digital control device according to any one of claims 1 to 8 is used, Including the following steps: 1) Determine the positioning parameter of the positioning device (6) according to the margin of the pipe end of the catheter (1), and the positioning driver (61) and/or the feed motor (51) drive the positioning block (64) to the specified position according to the positioning parameter; 2) Put the end of the pipe (1) against the positioning surface of the positioning block (64), and the pipe (1) is clamped and fixed by the pipe clamping device (9), the third clamping seat (903) and the fourth clamping The seat (904) clamps the waste section of the catheter (1), the first clamping seat (901) and the second clamping seat (902) clamp the reserved section of the catheter (1), and the positioning block (64) is reset; 3) According to the deviation angle of the horseshoe mouth of the pipe (1) installation surface, turn the pipe holding device (9) and the pipe (1) to the corresponding angle through the angle adjusting device (3); 4) The cutting device (8) feeds and cuts, and the cutting saw blade (804) enters between the second clamping seat (902) and the fourth clamping seat (904) to cut off the excess of the catheter (1); 5) The cutting saw blade (804) is reset, the second holding seat (902) and the fourth holding seat (904) are opened, and the waste is slid into the waste box (4) through the waste chute (21); the conversion motor (52) ) Drive the Y-direction carriage (53) to move the flat mouth device (7) to the processing position, and the feed motor (51) drives the flat mouth device (7) to feed and flatten the cut end surface of the catheter (1); 6) After the flat mouth processing is completed, the flat mouth device (7) is reset, the first clamping seat (901) and the third clamping seat (903) are opened, and the catheter (1) is taken out.