WO2021248623A9

WO2021248623A9 - Aerospace conduit allowance cutting digital control system, method and apparatus

Info

Publication number: WO2021248623A9
Application number: PCT/CN2020/102037
Authority: WO
Inventors: 马俊; 林姚辰; 林伟明; 陈怡吒; 陈芳吉
Original assignee: 浙江金马逊机械有限公司
Priority date: 2020-06-12
Filing date: 2020-07-15
Publication date: 2022-09-15
Also published as: CN111659948B; WO2021248623A1; CN111659948A

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

Aerospace duct stock removal digital control system, method and apparatus

technical field

The invention relates to the technical field of aerospace, and in particular to a digital control system, method and equipment for the removal of residual ducts in aerospace.

Background technique

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

Due to the complex shape of the aerospace conduit conduit, it is necessary to use CNC bending equipment to bend it. During the bending process, it is necessary to leave technological allowances such as bending and clamping. However, due to the limitation of installation space and other reasons, the actual conduit can The two ends are usually designed with very short straight sections, and the excess length needs to be cut off after the catheter is bent and formed. The rocket duct is a precise tube part, and the length of the end requires high precision when cutting. The rocket duct is usually In the range of 0.5-2.0mm, the length of the straight line remaining at both ends of many conduits is only 25mm, which brings many difficulties to reliable clamping during cutting. In addition, the rocket duct has high technical requirements on the deformation and depression of the clamping. In particular, the rocket duct also has the characteristics of many specifications, many varieties, and small batches.

In the early stage of rocket start-up in my country, due to the weak manufacturing foundation, manual saws were used to cut off these allowances. During processing, the operator used the scribing method to scribe the cutting position, and then saw it with a saw. When cutting, a bench vise is usually used to clamp the catheter. If necessary, some cloth strips, emery cloths, wooden strips, etc. will be placed on the catheter to reduce the damage to the catheter. After sawing, a file is used to file the end surface flat. This process is still in use in some occasions. For example, Rocket Propulsion/Journal The article "The Long March Series Liquid Rocket Engine Catheter Filing Technology" in the 2012 05 issue of Rocket Propulsion describes the catheter filing technology in detail.

With the development of my country's aerospace industry, some cutting-end and flat-mouth processing equipment have been successively 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 duct is processed by a flat-end tool, but the whole processing process is still mainly controlled manually, mainly relying on human experience, so the accuracy of the back surface of the duct processing is low, which often causes the rocket duct to be found during installation. There is a phenomenon of repairing due to deviation of the installation end face, which affects the progress of rocket manufacturing and product quality. Moreover, in the prior art, the device for clamping the guide tube is usually fixed with 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 accessories on the rocket, and many accessories are connected by conduits. Among them, there are many deviations in the installation parts of the pipeline connection during the assembly process, that is, there is an accumulated error between the installation surface of the conduit and the original design, usually within 1°- Between 3°, the deviation angle is commonly known as "the mouth of the horse's hoof". If the "horseshoe mouth" of the rocket duct is not processed accurately, there will be installation stress when the rocket duct is installed on the rocket, which is easy to aggravate and cause the rocket duct to break, bringing potential fatal risks to the rocket (see "Missile and Space Launch Technology/ Missiles and Space Vehicles, 2005, Issue 01, "Stress Corrosion of Rocket Piping and Its Preventive Measures").

technical problem

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

technical solutions

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

A digital control device for the removal of residual ducts in aerospace, comprising a fuselage on which an angle adjustment device, a cutting device, a duct clamping device and a carriage mechanism are installed, and a positioning device and a mouth device are installed on the carriage mechanism , the positioning device and the flat mouth device are arranged in tandem, the carriage mechanism and the conduit clamping device are arranged on the left and the right, and there is also a waste chute on the fuselage, and the waste chute is located between the carriage mechanism and the conduit clamping device. , the cutting device feeds 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 mouth device includes a flat mouth motor, the carriage mechanism includes a feed motor for driving the positioning device and the feeding of the mouth device, and a conversion motor for converting the processing position of the positioning device and the mouth device, positioning Drives, clamping motors, cutting motors, feed motors, flat motors, feed motors and conversion motors are all controlled by digital controllers.

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 clamping device comprises a first clamping seat, a second clamping seat, a third clamping seat, a fourth clamping seat and a clamping device base. The third clamping seat and the fourth clamping seat are oppositely arranged on the clamping device base in front and back, and the two cooperate to clamp the catheter in front and back. The clamping seat and the third clamping seat are arranged at intervals on the left and right, the second clamping seat and the fourth clamping seat are arranged at intervals on the left and right, and the third clamping seat and the fourth clamping seat are located at the base of the clamping device close to the waste chute. On one side, the base of the clamping device is provided with a waste landslide between the third clamping base and the fourth clamping base, the first clamping base is fixed on the base of the clamping device, and the second clamping base passes through the clamping base. The holding motor is driven to slide back and forth on the base of the clamping device, the third clamping base is driven to slide back and forth on the base of the clamping device by the first clamping cylinder, and the moving end of the first clamping cylinder is hinged with the third clamping base , the fourth clamping base is driven by the second clamping cylinder to slide back and forth on the base of the clamping device, and the moving end of the second clamping cylinder is hinged with the fourth clamping base, wherein the cutting device is between the second clamping base and the fourth clamping base. Feed cutting between the fourth clamping seats.

Preferably, the first clamping seat, the second clamping seat, the third clamping seat and the fourth clamping seat are all mounted with a clamp block for contacting and clamping the catheter, the clamp block is semi-annular, and the clamp block The inner side of the clamp block is a semicircular clamping groove, and the two opposite clamp blocks at the front and rear cooperate to form clamping holes for accommodating the straight section of the end of the catheter, and a positioning protrusion is formed on the outer side of the clamp block. The seat is provided with a fixed slot matched with the positioning protrusion of the clamp block.

Preferably, the base of the clamping device is mounted on the worktable through a rotating shaft and can be rotated. After the first clamping seat and the second clamping seat clamp the catheter, the axis line of the straight section of the pipe end of the catheter and the axis of the rotating shaft The axes intersect and the intersecting point is located on the feeding cutting surface of the cutting device; the rotating shaft is connected with the angle encoder in a drive, and the angle encoder is connected with the digital controller.

Preferably, the angle adjustment device includes a gear, which meshes with an arc-shaped tooth arranged on one side of the base of the clamping device, and the gear is driven to rotate by a rotation driving device. The center of the circle is located on the axis of the rotating shaft; the rotating driving device is a hand wheel or a motor; an outer ring is also provided between the base of the clamping device and the worktable, and the outer ring is located outside the rotating shaft and is tightened by tightening The part is fixed on the worktable to assist in supporting the base of the clamping device, and a rolling bearing or a smooth wear-resistant part is arranged between the outer ring part and the base of the clamping device to facilitate the rotation of the base of the clamping device; The outer ring is provided with an arc-shaped limit groove, and the clamping device base is provided with a limit column that can be inserted into the arc-shaped limit groove and is restricted in movement; The 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 reducer, a cutting saw blade and a feed motor, the cutting device base is fixed on the fuselage, and the head reducer is connected to the cutting device base through a sliding rail. The seat is slidably connected and is driven by the feed motor to move the feed back and forth. A cutting saw blade is set on one side of the head reducer, and the cutting motor drives the cutting saw blade to cut after the reduction mechanism; the cutting saw blade is a circular saw blade, a saw blade , blade or wire saw; the cutting motor and the feeding motor are both servo motors, and a servo encoder is installed on the servo motor; the feeding route of the cutting saw blade is inclined downward for cutting.

Preferably, the carriage mechanism includes a Y-direction carriage and an X-direction carriage, the X-direction carriage is slidably connected to the fuselage left and right and is driven by a feeding motor to move and feed, the Y-direction carriage and the X-direction carriage slide back and forth Connected and driven by the conversion motor to move back and forth, 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, and when the Y-direction carriage moves back and forth, the positioning device and the flat mouth device can be respectively connected with the conduit. The positions of the clamping conduits of the clamping device correspond to each other; 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 and the positioning device base are slidably connected left and right and are The positioning driver is driven by a positioning driver to move and feed; the positioning driver is a servo electric cylinder or a hydraulic oil 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 face of the catheter, or a straight-line 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-direction carriage, and the tool turntable is installed on the flat mouth device base and is driven to rotate by the flat mouth motor. 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 cutting surface.

A digital control system for the removal of an aerospace duct margin is provided, which adopts the above-mentioned digital control device for the removal of an aerospace duct margin.

A digital control method for the removal of residual space in an aerospace duct, using the above-mentioned digital control device for residual removal in an aerospace duct, comprising the following steps:

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

2) Abut the end of the catheter against the positioning surface of the positioning block, and clamp and fix the catheter by the catheter clamping device, the third clamping seat and the fourth clamping seat clamp the waste section of the catheter, the first clamping seat and the The second 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 catheter installation surface, rotate the catheter clamping device and the catheter to the corresponding angle through the angle adjustment device;

4) The cutting device feeds the knife for cutting, 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 scrap is slid into the scrap box through the scrap chute; the conversion 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 end face of the conduit incision;

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

Since the present invention adopts the above technical scheme, the digital controller is used to control the various devices uniformly, and the operator inputs and sets each process parameter according to each processing requirement. The excess process allowance at the end is quickly and accurately cut. Through the combination of functions such as digital end length positioning, reliable clamping, circular saw blade cutting, digital control, etc., the removal and processing of excess process allowance at the end of the catheter can be quickly completed, so as to achieve digital accurate control of the allowance length positioning and reliable arc clamp Holding and circular saw blade cold cutting process, and the supporting digital controller realizes digital control.

Description of drawings

Fig. 1 is the structural representation of the device of the present invention;

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

Fig. 3 is one of the structural representations of the catheter clamping device of the present invention;

Fig. 4 is the second structural schematic diagram of the catheter clamping device of the present invention;

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

Fig. 6 is the sectional view of A-A of Fig. 5;

Fig. 7 is one of the structural representations of the catheter clamping device and the angle adjustment device of the present invention;

8 is the second structural schematic diagram of the catheter clamping device and the angle adjustment device of the present invention;

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

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

Fig. 11 is the structural representation of the fixture of the present invention;

Fig. 12 is the structural representation of the cutting device of the present invention;

Fig. 13 is the structural representation of the positioning device and the mouth device of the present invention;

14 is a schematic diagram of the positioning device of the present invention implementing digital positioning;

Figure 15 is a top view of the device of the present invention (angle is not adjusted);

Fig. 16 is the schematic diagram that the apparatus of the present invention carries out flushing processing;

Fig. 17 is the top view that the equipment of the present invention carries out the flat mouth of horseshoe mouth;

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, the clamp positioning groove; 1012, the 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-direction carriage; 54, X-direction carriage; 6. Positioning device; 61, Positioning drive; 62, Guide rod; 63, Positioning device base; 64, Positioning block; 7, Flat device; 71, Flat device base; 72, Flat motor; 73, Tool turntable; 74 8, cutting device; 801, cutting device base; 802, cutting motor; 803, head reducer; 804, cutting saw blade; 805, screw rod; 806, feed motor; 9, conduit clamping device; 901, the first clamping seat; 902, the second clamping seat; 903, the third clamping seat; 904, the fourth clamping seat; 905, the first clamping cylinder; 906, the clamping device base; 907, the second clamping cylinder; 908, the clamping motor; 909, the first connecting rod; 910, the second connecting rod; 911, the arc tooth; 912, the angle encoder; 913, the rotating shaft; 914, the 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 following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and 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", "lateral", "length", "width", "thickness", "upper", "lower", "front", " The orientation or positional relationship indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise", etc. The orientation or positional relationship shown in the figures 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 should not be construed as a reference to the present invention. Invention limitations.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise expressly defined.

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

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

Example 1:

As shown in Fig. 1 and Fig. 2, a duct allowance cutting device is used for the allowance cutting and machining of engine ducts in the aerospace field, etc., and includes a fuselage 2. The fuselage 2 is provided with an angle adjustment device 3, The cutting device 8, the conduit clamping device 9 and the carriage mechanism 5, the carriage mechanism 5 is provided with the positioning device 6 and the mouth device 7, the positioning device 6 and the mouth device 7 are arranged in tandem, the carriage mechanism 5 and the conduit clamp The holding device 9 is arranged on the left and the right, and the machine body 2 is also provided with a waste chute 21. The waste chute 21 is located between the carriage mechanism 5 and the conduit clamping device 9. The cutting device 8 feeds the knife back and forth, and the waste chute 21 The outlet is provided with a waste bin 4 for collecting waste.

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 to a touch screen and a console. The operator can input and set each process according to the needs of each processing. parameters, during automatic operation, the equipment automatically executes each process parameter to achieve fast and accurate cutting of excess process allowance at the end of the catheter. In other embodiments, the digital controller can also be replaced by a CNC controller.

Since the catheter will generate large torque and vibration during cutting, the catheter clamping device is used to reliably clamp the catheter after the catheter end is positioned securely, to prevent the catheter from loosening during the cutting process, and to ensure the catheter is cut smoothly. As shown in FIGS. 2 to 5 , the catheter clamping device 9 is installed on the worktable 22 of the fuselage 2 , and the catheter clamping device 9 includes a first clamping seat 901 , a second clamping seat 902 and a third clamping seat 903, the fourth clamping seat 904 and the clamping device base 906, the first clamping seat 901 and the second clamping seat 902 are oppositely arranged on the clamping device base 906 in front and back, and the two cooperate with each other to clamp the catheter 1, The third clamping seat 903 and the fourth clamping seat 904 are oppositely arranged on the clamping device base 906 in front and back, and they cooperate with each other to clamp the catheter 1 in front and back. , the second clamping seat 902 and the fourth clamping seat 904 are arranged at intervals on the left and right, the third clamping seat 903 and the fourth clamping seat 904 are located on the side of the clamping device base 906 close to the waste chute 21, the clamping device The base 906 is provided with a waste slide 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 by The motor 908 is driven to slide back and forth on the clamping device base 906, and the third clamping base 903 is driven to slide back and forth on the clamping device base 906 by the first clamping cylinder 905. The three clamping bases 903 are hinged, the fourth clamping base 904 is driven by the second clamping cylinder 907 to slide back and forth on the clamping device base 906, and the moving end of the second clamping cylinder 907 is hinged with the fourth clamping base 904, The cutting device 8 feeds and 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, both the residual waste section and the reserved straight section at the end of the catheter are reliably clamped, so as to ensure the stability and processing accuracy of the cutting process. In addition, the retained straight section at 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. The waste section is driven by two clamping cylinders, 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 link 909 and the second link 910 , and the moving end of the clamping motor 908 is connected to the first link One end of 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 link 910. The clamping seat 902 is hinged. In this way, the clamping motor pushes and locks the second clamping seat through the double link structure, which not only can realize the clamping and/or pre-clamping of the catheter, but also the clamping is stable and reliable. Further preferably, the first link 909, the second link 910 and the moving end of the clamping motor 908 share a hinge shaft, so as to further ensure reliable clamping and locking and facilitate 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 catheter of different specifications and materials and the clamping contact area, so as to ensure that the clamping force does not damage the catheter, and the clamping force does not damage the catheter. stable and reliable. In other embodiments, the clamping motor 908 can also be replaced by an air cylinder to realize rapid replacement of the catheter. As shown in FIG. 9 , the cylinder body 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 hinged with the first link 909 and the second link 910, respectively.

And preferably, the moving end of the clamping motor 908 or the third clamping cylinder 916 moves obliquely downward to implement the clamping conduit. At this time, the upper end of the first link 909 and the movement of the clamping motor 908 or the third clamping cylinder 916 The ends are hinged, 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 seat 902, and the lower end of the second link 910 is hinged with the clamping motor 908 or the third The moving end of the clamping cylinder 916 is hinged. Such a locking structure has a larger locking force to ensure stable clamping, and the loosening and clamping actions can be adjusted quickly and flexibly.

As shown in FIG. 10 and FIG. 11 , in order to adapt to different specifications of conduits, the first clamping seat 901 , the second clamping seat 902 , the third clamping seat 903 and the fourth clamping seat 904 are all installed with contact clamps Tighten the clamp block of the catheter 1, the clamp block is in a semi-ring shape, the inner side of the clamp block is a semi-circular clamping groove, and the two front and rear opposite clamp blocks cooperate to form a clamping hole 1013 for accommodating the straight section of the end of the catheter 1, Positioning protrusions are formed on the outer surface of the clamp block, and correspondingly, the clamping seat is provided with a fixing slot matched with the positioning protrusions of the clamp block. In this embodiment, the first clamping block 101 is fixed on the first clamping base 901 , the second clamping block 102 is fixed on the second clamping base 902 , and the third clamping 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 , and correspondingly, the fixing slot is a circular arc groove 918 , and a fixture positioning groove 1011 is provided on the clamp block for clamping The seat is provided with a clamping seat positioning groove 917 that communicates with the clamping seat positioning groove 1011 , and the locking member 105 passes through the clamp positioning groove 1011 and the clamping seat positioning groove 917 and is locked and fixed on the clamping seat by a fastener. In this way, a unified outer arc positioning and installation reference is set on the clamping seat, in the shape of a semicircle, the outer arc of the clamp block is installed on this reference, and the inner arc of the clamp block is designed according to the outer diameter of the conduit. , the unified installation of various conduit clamping fixtures is realized. The semi-circular arc structure has better centering accuracy, which helps to improve the machining accuracy, and only one locking piece can accurately locate and lock the fixing fixture. It is convenient and quick to install and disassemble, and it can realize the quick change of the end of the rocket guide tube with multiple specifications and small batches.

In other embodiments, the positioning protrusions and the fixing grooves serving as the positioning and installation reference can also be designed into special shapes such as oval, rectangle, square, etc.

In a further preferred embodiment, the clamp positioning groove 1011 is arranged under the upper end face or the lower end face of the clamping side of the clamp block, and correspondingly, the clamping seat positioning groove 917 is also arranged on the upper end face or the lower end face of the clamping side of the clamping seat. On the top, the clamp positioning groove 1011 and the clamping seat positioning groove 917 have the same dovetail cross section, and the locking member 105 has a waist-shaped hole through which the fastener passes through the waist-shaped hole and is threadedly connected to the clamping seat. When the fastener is not locked with the locking member 105, the locking member 105 can be moved up and down to insert or withdraw from the fixture positioning slot 1011 to facilitate the quick disassembly and assembly of the clamp 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 FIG. 5 to FIG. 8 , the clamping device base 906 is mounted on the table 22 through the rotating shaft 913 and can be rotated. After the first clamping seat 901 and the second clamping seat 902 clamp the catheter 1, the The axis line of the straight section of the pipe end intersects with 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 the horseshoe mouth cutting process and the horseshoe mouth flat mouth processing of the end of the catheter tube can be realized, but also the quick and accurate positioning of the end of the catheter tube can be facilitated, and high positioning accuracy, cutting machining accuracy and flat mouth machining accuracy can be ensured.

As shown in FIG. 6 , in the preferred embodiment, the clamping device base 906 is supported on the worktable 22 through a plane bearing 914 and rotates centered by a rotating shaft 913 , and the upper end of the rotating shaft 913 is inserted into the bottom of the clamping device base 906 . The lower part of the rotating shaft 913 is engaged with the angle encoder 912 installed on the worktable 22 through gears to be locked and fixed in the fixing hole. 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 “horseshoe mouth” can be directly displayed on the operation screen through numerical values, which is convenient for the operator to control.

As shown in FIG. 7 and FIG. 8 , in this embodiment, the angle adjustment device 3 includes a gear 302 , the gear 302 is engaged with the arc-shaped teeth 911 provided on one side of the clamping device base 906 for transmission, and the gear 302 is driven by the rotation driving device When driven to rotate, the arc tooth 911 is in the shape of a circular arc and the center of the circular arc is located on the axis of the rotating shaft 913 . In this embodiment, the arc-shaped teeth 911 are circular arc-shaped racks fixed on the base 906 of the clamping device. The rotation driving device is a hand wheel 301 , a 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, and the hand wheel 301 drives the worm 306 to rotate and then drives the gear 302 The clamping device base 906 is rotated, and an indicator plate 305 for indicating the rotation angle is mounted on the table 22 . In other embodiments, the rotational driving device can also be a motor, which can be connected to the above-mentioned worm, or can be drive-connected to the gear 302 or the rotating shaft 913 through a deceleration mechanism, and the motor can be a stepping motor, a servo motor, or an automatic motor. Motor with reduction gear. In other embodiments, the angle encoder 912 may also be connected to the rotating shaft 913 through a universal joint. The device adjusts the angle along the direction of the horizontal plane. After adjustment, it has a locking function. After the angle in the horizontal direction is properly adjusted, it is locked without affecting the changes in other directions. The angle adjustment amount 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 member 23 is further provided between the clamping device base 906 and the worktable 22, and the outer ring member 23 is located outside the rotating shaft 913 and is fixed on the worktable 22 by fasteners for use in The clamping device base 906 is auxiliary supported, and a rolling bearing (such as a ball roller) or a smooth wear-resistant member is provided between the outer ring member 23 and the clamping device base 906 to facilitate the rotation of the clamping device base 906 . Further preferably, the outer ring member 23 is provided with an arc-shaped limiting groove 231 , and the clamping device base 906 is provided with a limiting column that can be inserted into the arc-shaped limiting groove 231 and has limited movement. 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 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, ensuring that the catheter can obtain 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 reducer 803, a cutting saw blade 804 and a feed motor 806. The cutting device base 801 is fixed on the body 2, and the head The reduction box 803 is slidably connected with the cutting device base 801 through the sliding rail, and is driven by the feed motor 806 to move the cutting blade forward and backward. A cutting saw blade 804 is provided on one side of the head reduction box 803, and the cutting motor 802 drives the cutting saw through the reduction mechanism. Sheet 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, and the head reduction box 803 is driven to move by the screw rod 805 . In a preferred embodiment, the cutting motor 802 and the feeding motor 806 are both servo motors, and a servo encoder is installed on the servo motors, so that the feeding speed, feeding position and cutting can be accurately controlled by the digital controller according to the specifications of the catheter material. speed etc.

In order to directly cut the "horse's hoof" to be realized at one time when cutting the excess of the catheter, and avoid the cumbersome processing technology in the traditional "horse's hoof" processing, the preferred embodiment is that the above-mentioned clamping device base 906 upper rotating shaft The axis of 913 is located on the cutting surface of the cutting saw blade 804, and the cutting surface of the cutting blade refers to the plane of the incision of the catheter after the cutting is completed. When flushing the pipe incision, the flushing surface of the flushing device 7 is parallel to the feeding cutting surface of the cutting device 8, or in other words, the feeding route of the cutting saw blade 804 is perpendicular to the feeding route of the flushing tool.

In this embodiment, the feeding path of the cutting saw blade 804 is inclined downward to cut, so that the dislocation with the pipe clamping device 9 prevents the two devices from interfering with each other, and helps to reduce the cutting vibration for clamping the pipe clamping device 9 The influence of the catheter 1 ensures the cutting accuracy.

As shown in FIG. 2 and FIG. 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 the feeding motor 51 to move and feed. Towards the carriage 53 and the X to the carriage 54 are slidably connected back and forth and are driven by the conversion motor 52 to move back and forth, the Y to the carriage 53 is provided 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 front and rear, and When the Y-direction carriage 53 moves back and forth, the positioning device 6 and the opening 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 servo motor of the positioning device drives the positioning device to position according to the positioning parameters, so as to realize the digital control of the length of the catheter end 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 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. In this way, the digital controller can accurately control the stop 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, which is convenient for 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 between 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 may be a positioning disc surface that can contact the entire end face of the catheter, or may be a straight-line positioning surface, that is, the surface in contact with the catheter can be designed as a circular plane as required. The knife-edge shape surface reduces the contact area with the catheter.

The roughness of the end surface of the catheter after cutting is very poor, and the flat mouth device is used to cut the nozzle at 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 FIG. 13 , the flushing device 7 includes a flushing device base 71 , a flushing motor 72 , and a tool turntable 73 , the flushing device base 71 is fixed on the Y-direction carriage 53 , and the tool turntable 73 is mounted on the flushing device base 71 . And driven by the flat-mouth motor 72 to rotate, a number of flat-mouthed cutters 74 are installed on the tool turntable 73. When the tool turntable 73 rotates, it drives the flat-mouthed cutter 74 to rotate to form a flat-mouthed machining surface. 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 the feeding; the positioning device 6 can be driven by the feeding motor 51 to implement the feeding, and can also be implemented by the positioning driver 61. feed. In other embodiments, a wire brush can also be provided to clean the catheter port to make it smoother and smoother, thereby improving the welding quality.

The above-mentioned method for removing the remaining portion of the catheter of the device for removing the remaining portion of the catheter comprises the following steps:

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

2) As shown in Figure 14, the end of the catheter 1 is abutted against the positioning surface of the positioning block 64, and the catheter 1 is clamped and fixed by the catheter clamping device 9, and 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 retained section of the catheter 1, and the positioning block 64 is reset;

3) As shown in FIG. 15 , the cutting device 8 advances the knife to cut, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut off the remainder 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 scrap is slid into the scrap box 4 through the scrap chute 21; the conversion motor 52 drives the Y-direction carriage 53 to move the flat mouth device 7 To the processing position, the feeding motor 51 drives the flushing device 7 to feed and perform flushing processing on the cut end face of the catheter 1, as shown in Figure 16;

5) After the flushing process is completed, the flushing 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 residual positioning parameters of the catheter after the bending process is completed, you can refer to the publication number CN 108074277A patent document discloses a method for measuring and locating a bend pipe, the steps of which are: by means of a laser tracker and a target to perform global calibration of multi-sensors, and convert the multi-sensor coordinate system to the global coordinate system; Pipe image, edge detection and morphological refinement are used to obtain the center line of the elbow, and the center line is 3D reconstructed by means of bidirectional polar line matching algorithm; the center line is discretized into a spatial point cloud, and the control points, straight line segment endpoints and arc segments are calculated. The arc center point, using the center line as a guide line for 3D modeling; finally, using the closest point iterative 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), a robot, a manipulator or manual transfer of the catheter 1 is used.

The method for cutting the mouth of the horseshoe by the above-mentioned catheter margin cutting device comprises the following steps:

2) Abut the end of the catheter 1 against the positioning surface of the positioning block 64, and clamp and fix the catheter 1 by the catheter clamping device 9. The third clamping seat 903 and the fourth clamping seat 904 clamp the waste segment 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 catheter 1, rotate the catheter clamping device 9 and the catheter 1 to the corresponding angle through the angle adjustment 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 remainder 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 scrap is slid into the scrap box 4 through the scrap chute 21; the conversion motor 52 drives the Y-direction carriage 53 to move the flat mouth device 7 To the processing position, the feeding motor 51 drives the flushing device 7 to feed and perform flushing processing on the cut end face of the catheter 1, as shown in Figure 17;

6) After the flushing process is completed, the flushing 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 catheter 1 to be processed along the axis of the straight section of the pipe end can be adjusted by manual marking and positioning or the manipulator/robot, so as to ensure that the equipment only needs The horizontal deflection angle of the catheter 1 can be adjusted.

Example 2:

A pipe fitting cutting equipment, comprising a body 2, an angle adjustment device 3, a cutting device 8, a conduit clamping device 9 and a carriage mechanism 5 are installed on the body 2, and a positioning device 6 is installed on the carriage mechanism 5, and the positioning device 6 and the catheter clamping device 9 are arranged opposite to left and right, and the cutting device 8 feeds back and forth. The only difference from Example 1 is that the flat mouth device 7 is not provided, and only the catheter cutting function is performed.

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

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

2) Abut the end of the catheter 1 against the positioning surface of the positioning block 64, and clamp and fix the catheter 1 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 the knife, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut the conduit 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 a horseshoe mouth by the above-mentioned pipe fitting cutting equipment comprises the following steps:

4) The cutting device 8 feeds the knife, and the cutting saw blade 804 enters between the second clamping seat 902 and the fourth clamping seat 904 to cut the conduit 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 fitting flat mouth equipment, comprising a body 2, an angle adjustment device 3, a conduit clamping device 9 and a carriage mechanism 5 are installed on the body 2, and a positioning device 6 and a flat mouth device 7 are installed on the carriage mechanism 5. The positioning device 6 and the catheter clamping device 9 are arranged opposite to left and right, and the flat mouth device 7 moves left and right to feed the knife. The only difference from Example 1 is that the cutting device 8 is not provided, and only the end face of the catheter nozzle is flushed.

The flat-mouth processing method of the above-mentioned pipe fitting flat-mouth equipment comprises the following steps:

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

2) Abut the end of the catheter 1 against the positioning surface of the positioning block 64, and clamp and fix the catheter 1 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-direction carriage 53 to move the flushing device 7 to the processing position, the flushing motor 72 drives the tool turntable 73 to rotate, and the feed motor 51 drives the flushing device 7 to feed and perform flush machining on the end face of the nozzle of the conduit 1;

4) After the flushing process is completed, the flushing 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 the flat mouth of the horseshoe mouth by the above-mentioned pipe fitting flat mouth equipment comprises the following steps:

3) According to the deviation angle of the horseshoe mouth of the catheter 1, rotate 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 flushing device 7 to the processing position, and the feeding motor 51 drives the flushing device 7 to feed and perform flushing processing on the end face of the horseshoe mouth of the catheter 1;

All the features described in the description, the appended claims and the drawings, alone or in any combination, are essential features of the invention.

In the description of this specification, reference is made to the terms "one embodiment," "some embodiments," "one implementation," "specific implementation," "other implementations," "example," "specific example," or The description of "some examples" and the like means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment, implementation or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described above may also be combined in any suitable manner in any one or more embodiments, implementations or examples. The technical solutions described in the present invention also include technical solutions in which any one or more of the specific features, structures, materials or features described above are formed individually or in combination.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and those of ordinary skill in the art will not depart from the principles and spirit of the present invention Under the circumstance of the present invention, the above-mentioned embodiments can be changed, modified, replaced, modified, some features deleted, features added, or technical solutions formed by re-combining features. Any simple modifications, equivalent changes and modifications made still fall within the scope of the technical solutions of the present invention.

Claims

A digital control device for the removal of an aerospace catheter margin, comprising a fuselage (2), characterized in that an angle adjustment device (3), a cutting device (8), and a catheter clamping device are installed on the fuselage (2). (9) and the carriage mechanism (5), the carriage mechanism (5) is provided with a positioning device (6) and a flat opening device (7), the positioning device (6) and the flat opening device (7) are arranged in tandem, and the drag The plate mechanism (5) and the conduit clamping device (9) are arranged on the left and the right, and the body (2) is also provided with a waste chute (21), and the waste chute (21) is located between the carriage mechanism (5) and the conduit. Between the clamping devices (9), the cutting device (8) feeds back and forth, and the positioning device (6) and the flat mouth device (7) feeds 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 feeding 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 the flat mouth device (7) to feed and for converting Positioning device (6) and flat mouth device (7) machining position conversion motor (52), positioning driver (61), clamping motor (908), cutting motor (802), feed motor (806), flat mouth motor (72) ), the feed motor (51) and the conversion motor (52) are all controlled by a digital controller.
The digital control device for the removal of an aerospace catheter margin 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 device for the removal of residuals in aerospace catheters according to claim 1, characterized in that the catheter clamping device (9) comprises a first clamping seat (901), a second clamping seat (902), a first clamping seat (902), a 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 oppositely arranged in the clamping device On the base (906) and the two cooperate to clamp the conduit (1) back and forth, the third clamping seat (903) and the fourth clamping seat (904) are oppositely arranged on the clamping device base (906) and the two are opposite to each other. The first clamping seat (901) and the third clamping seat (903) are spaced left and right, and the second clamping seat (902) and the fourth clamping seat (904) are spaced left and right. Setting, the third clamping seat (903) and the fourth clamping seat (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 on the third A waste landslide (915) is arranged between the clamping seat (903) and the fourth clamping seat (904), the first clamping seat (901) is fixed on the clamping device base (906), and the second clamping seat (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 seat (903), and the fourth clamping seat (904) is driven by the second clamping cylinder (907) in the clamping The device base (906) slides back and forth, and the moving end of the second clamping cylinder (907) is hinged with the fourth clamping seat (904), wherein the cutting device (8) is positioned between the second clamping seat (902) and the fourth clamping seat (904). Feed cutting between the four clamping seats (904).
The digital control device for the removal of the residual amount of an aerospace catheter according to claim 3, wherein the first clamping seat (901), the second clamping seat (902), and the third clamping seat (903) ) and the fourth clamping seat (904) are installed with a clamp block for contacting the clamping conduit (1). The two clamp blocks cooperate to form a clamping hole (1013) for accommodating the straight section at the end of the guide tube (1), and a positioning protrusion is formed on the outer side of the clamp block. The protrusions are matched with the fixed card grooves.
The digital control device for the removal of residual ducts in aerospace according to claim 3, characterized in that the clamping device base (906) is mounted on the worktable (22) through a rotating shaft (913) and can be rotated, After the first clamping seat (901) and the second clamping seat (902) clamp the catheter (1), the axis line of the straight section of the pipe end of the catheter (1) intersects with the axis of the rotating shaft (913) and the intersection point is at On the cutting surface of the cutting device (8), the rotating shaft (913) is connected with the angle encoder (912) in a driving manner, and the angle encoder (912) is connected with the digital controller.
The digital control device for the removal of residual ducts in aerospace according to claim 5, wherein the angle adjustment device (3) comprises a gear (302), and the gear (302) is connected to the base of the clamping device. The arc tooth (911) on one side of (906) meshes and drives, and the gear (302) is driven to rotate by the rotary drive device. on the axis; the rotation driving device is a hand wheel (301) or a motor; an outer ring member (23) is also provided between the clamping device base (906) and the worktable (22), and the outer ring member ( 23) Located on the outside of the rotating shaft (913) and fixed on the table (22) by fasteners, it is used to assist in supporting the clamping device base (906), the outer ring (23) and the clamping device base (906) A rolling bearing or a smooth wear-resistant member is arranged between them to facilitate the rotation of the clamping device base (906); the outer ring member (23) is provided with an arc-shaped limit groove (231), and the clamping device base (906) is provided with a limit column that can be inserted into the arc-shaped limit groove (231) and is restricted in movement; the worktable (22) of the body (2) is fixed with a base ( 906) Rotation range limit stop (919).
The digital control equipment for the removal of residual ducts in aerospace according to claim 1, characterized in that the cutting device (8) comprises a cutting device base (801), a cutting motor (802), a head reduction box ( 803), cutting saw blade (804) and feed motor (806), the cutting device base (801) is fixed on the fuselage (2), the head reducer (803) is connected to the cutting device base (801) through the sliding rail ) is slidingly connected and is driven by the feed motor (806) to move the feed back and forth, a cutting saw blade (804) is set on one side of the head reducer (803), and the cutting motor (802) drives the cutting saw blade (804) after the reduction 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 feeding motor (806) are both servo motors, and servo codes are installed on the servo motors The cutter; the cutting saw blade (804) has an oblique and downward cutting path for the cutting blade (804).
The digital control device for the removal of residual ducts in aerospace according to claim 1, wherein the carriage mechanism (5) comprises a Y-direction carriage (53) and an X-direction carriage (54), and the X-direction carriage The carriage (54) is slidably connected to the body (2) left and right and is driven by the feed motor (51) to move and feed, the Y-direction carriage (53) and the X-direction carriage (54) are slidably connected back and forth and are driven by the conversion motor ( 52) Drive to move back and forth, the Y-direction carriage (53) is equipped with a positioning device (6) and a flat-mouth device (7), the positioning device (6) and the flat-mouth 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 mouth device (7) can respectively correspond to the position of the clamping catheter (1) of the catheter clamping device (9); 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 slidably connected to the positioning device base (63) 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 oil cylinder controlled by a servo proportional valve; the positioning surface of the positioning block (64) is capable of contacting the entire end face of the conduit The positioning disc surface, or a straight-line positioning surface; the flushing device (7) includes a flushing device base (71), a flushing motor (72), and a tool turntable (73), and the flushing device base (71) is fixed on the On the Y-direction 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). The tool turntable (73) is provided with a number of flat-mouthed cutters (74). When the turntable (73) rotates, the flat cutting tool (74) is driven to rotate to form a flat cutting surface.
A digital control system for the removal of residual ducts in aerospace, characterized in that a digital control device for residual removal of aerospace ducts as claimed in any one of claims 1 to 8 is used.
A digital control method for the removal of residual ducts in aerospace, characterized in that, adopting a digital control device for residual removal of aerospace ducts as described in any one of claims 1 to 8, It includes the following steps:

1) Determine the positioning parameters of the positioning device (6) according to the pipe end allowance of the conduit (1), and the positioning driver (61) and/or the feeding motor (51) drive the positioning block (64) to the designated position according to the positioning parameters;

2) Abut the end of the catheter (1) with the positioning surface of the positioning block (64), and clamp and fix the catheter (1) by the catheter clamping device (9), the third clamping seat (903) and the fourth clamping The seat (904) clamps the waste segment of the catheter (1), the first clamping seat (901) and the second clamping seat (902) clamp the retained segment 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 catheter (1), rotate the catheter clamping device (9) and the catheter (1) to the corresponding angle through the angle adjustment device (3);

4) The cutting device (8) feeds the knife for cutting, 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 conduit (1);

5) The cutting saw blade (804) is reset, the second clamping seat (902) and the fourth clamping seat (904) are opened, and the scrap is slid into the scrap box (4) through the scrap chute (21); the conversion motor (52) ) drive the Y-direction carriage (53) to move the flushing device (7) to the processing position, and the feed motor (51) drives the flushing device (7) to feed and perform flush machining on the cut end face of the conduit (1);

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