Multi-angle clamping device for structural jade carving

Abstract

The invention provides a multi-angle clamping device for structural jade carving, and belongs to the technical field of production clamping devices.The multi-angle clamping device for structural jade carving comprises a bottom plate, a precise lifting mechanism, a steering mechanism, a fine adjustment mechanism and a clamping mechanism, the bottom plate is a rectangular steel bottom plate, and counter bores are evenly formed in the peripheral edge of the bottom plate; the base is fixedly mounted through foundation bolts; the precise lifting mechanism is fixedly arranged at the center position of the bottom plate, the steering mechanism is installed at the upper end of the precise lifting mechanism, the fine adjustment mechanism is arranged above the steering mechanism, and the clamping mechanism is installed on the fine adjustment mechanism. The precise lifting mechanism comprises a lifting seat, a precise sliding rail pair, a ball screw pair and a hand wheel assembly, the lifting seat is of a square hollow structure, the lower end of the lifting seat is fixedly connected with the bottom plate, and sliding rails of the precise sliding rail pair are vertically fixed to the front side and the rear side of the inner wall of the lifting seat; the problem of low efficiency in jade processing can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of production clamping devices, and in particular relates to a multi-angle clamping device for structural jade carving. Background Art

[0002] As a traditional craft, jade carving plays an important role in Chinese culture. Compared with other carving materials, jade has unique texture, color and texture, which can better reflect the beauty of craftsmanship and cultural connotation. In today's society, jade carving technology is not only widely used in the fields of cultural relics restoration and handicraft creation, but also gradually penetrates into modern life scenes such as architectural decoration and home furnishings. With the growing demand for jade processed products, how to achieve high-precision and high-efficiency jade processing has become a key technical problem that needs to be solved urgently.

[0003] Traditional jade carving mostly relies on the manual operation of skilled workers, which has many limitations: first, the efficiency of manual carving is low and it is difficult to meet the needs of mass production; second, the jade raw materials are easily damaged during the processing, wasting resources; third, the processing accuracy cannot be guaranteed, which is difficult to meet the refined requirements of modern handicrafts and cultural relics restoration. Therefore, it is urgent to develop a key technology that can realize automated and high-precision jade carving.

[0004] In recent years, with the development of advanced manufacturing technology, some new jade processing equipment has emerged. For example, the use of CNC machining centers to perform CNC machining of jade can achieve a certain degree of automation and improve machining accuracy. However, this type of equipment usually requires special clamping and positioning of jade workpieces, and the brittle and fragile nature of jade makes traditional mechanical clamping very likely to cause damage to the workpiece. Another attempt is to use machine vision technology to model the surface shape of jade and perform digital carving based on this. However, the complex texture characteristics of the jade surface pose a huge challenge to three-dimensional modeling, and this method cannot adapt to the processing needs of jade of different shapes.

[0005] It can be seen that the existing jade processing equipment and technical means cannot completely solve the accuracy, efficiency and safety problems in jade processing. Therefore, the development of a jade carving processing equipment that can accurately locate and intelligently control the clamping force has become a key technology that needs to be broken through. Summary of the invention

[0006] In summary, the present invention provides a multi-angle clamping device for structural jade carving, which can solve the problem of low efficiency in jade processing.

[0007] The present invention is achieved in that:

[0008] The present invention provides a multi-angle clamping device for structural jade carving, which comprises a base plate, a precision lifting mechanism, a steering mechanism, a fine-adjustment mechanism and a clamping mechanism. The base plate is a rectangular steel base plate and countersunk holes are evenly opened on the edges of the four sides for fixed installation through anchor bolts. The precision lifting mechanism is fixedly arranged at the center of the base plate, the steering mechanism is installed at the upper end of the precision lifting mechanism, the fine-adjustment mechanism is arranged above the steering mechanism, and the clamping mechanism is installed on the fine-adjustment mechanism. The precision lifting mechanism comprises a lifting seat, a precision slide rail pair, a ball screw pair and a handwheel assembly. The lifting seat is a square hollow structure and its lower end is fixedly connected to the base plate. The slide rails of the precision slide rail pair are vertically fixed to the front and rear sides of the inner wall of the lifting seat. The lead screw of the ball screw pair is vertically arranged at the inner center of the lifting seat, the lower end of the lead screw of the ball screw pair is rotatably connected with the lower end of the lifting seat through an angular contact ball bearing, the upper end of the lead screw of the ball screw pair passes through the upper end surface of the lifting seat and is transmission-connected with the handwheel assembly, the handwheel assembly comprises a dial and a handwheel, the dial is fixed to the upper end surface of the lifting seat and is arranged around the lead screw, the handwheel is fixed to the top end of the lead screw; a connecting plate is fixedly connected between the slider of the ball screw pair and the slider of the precision slide rail pair, the steering mechanism is mounted on the upper surface of the connecting plate, the accuracy grade of the precision slide rail pair is P grade, the lead of the ball screw pair is 2 mm, and the minimum scale value of the dial is 0.01 mm.

[0009] Among them, the steering mechanism includes a rotary table, a servo motor and a reducer. The base of the rotary table is fixed to the upper surface of the connecting plate. A cross cylindrical roller bearing is provided inside the rotary table. The servo motor is fixed to the connecting plate through a motor seat. The input end of the reducer is connected to the output shaft of the servo motor. The output end of the reducer is connected to the worm gear mechanism of the rotary table through a coupling. The upper surface of the turntable of the rotary table is evenly provided with angle scales in the circumferential direction.

[0010] Furthermore, the fine-tuning mechanism includes an adjustment base plate, an X-axis adjustment component and a Y-axis adjustment component, the adjustment base plate is fixed on the turntable of the rotary worktable, the X-axis adjustment component and the Y-axis adjustment component are vertically arranged and installed in sequence, the X-axis adjustment component and the Y-axis adjustment component both include a linear guide rail, a differential head and a sliding platform, the linear guide rail is slidably connected to the corresponding base plate through a dovetail groove, the differential head is fixed to one side of the base plate, the micrometer screw of the differential head is fixedly connected to the sliding platform, the accuracy grade of the linear guide rail is P grade, and the minimum graduation value of the differential head is 0.01 mm.

[0011] Further, the clamping mechanism includes a clamping base, an active clamping jaw assembly, a driven clamping jaw assembly and a pressure sensor, the clamping base is fixed to the sliding platform of the Y-axis adjustment assembly, the active clamping jaw assembly and the driven clamping jaw assembly are symmetrically arranged on both sides of the clamping base, and the pressure sensor is arranged between the active clamping jaw assembly and the clamping base;

[0012] The active clamping jaw assembly comprises a driving cylinder, a clamping jaw seat and a clamping head, wherein the driving cylinder is a precision pressure regulating cylinder and its cylinder body is fixed on the clamping base, the clamping jaw seat is fixedly connected to the piston rod of the driving cylinder, and the clamping head is detachably mounted on the front end of the clamping jaw seat;

[0013] The driven clamping jaw assembly includes an elastic support seat and a counterweight block. The elastic support seat is connected to the clamping base through a spring sheet. The counterweight block is fixed to the back of the elastic support seat and is used to balance the force of the active clamping jaw assembly.

[0014] Furthermore, the clamping head includes a clamping body and a gasket group, the clamping body is a dovetail structure and its tail is slidably connected to the clamping jaw seat through a dovetail groove, and the gasket group includes a rubber gasket, a nylon gasket and an elastic metal gasket, and the three gaskets are stacked in sequence and fixed to the front end surface of the clamping body by micro screws.

[0015] Furthermore, the hardness of the rubber gasket is 50 degrees Shore.

[0016] Furthermore, the pressure sensor is a strain gauge pressure sensor with a measuring range of 0-100N and an accuracy level of 0.1; the minimum pressure regulation accuracy of the driving cylinder is 0.01MPa and the stroke is 10mm.

[0017] Furthermore, a vibration-damping pad is provided on the lower surface of the base plate, and the vibration-damping pad is made of a rubber and metal composite material; a protective cover is provided on the outer surface of the lifting seat to prevent dust from entering the precision slide rail pair and the ball screw pair.

[0018] Furthermore, the base plate, the lifting seat and the connecting plate are all made of high-strength aluminum alloy material, and the sliding pairs of the precision slide rail pair and the ball screw pair are made of high-carbon chromium bearing steel and are tempered, and their surface hardness is not less than HRC58.

[0019] Furthermore, it also includes a control chip and a sensor group, the sensor group includes a pressure sensor, a displacement sensor, an angle sensor and a strain sensor; the control chip is electrically connected to the sensor group to collect pressure data, displacement data, angle data and strain data during the clamping process; the control chip is electrically connected to the driving cylinder and the servo motor, and a clamping force control module is arranged in the control chip to solve the problem that the clamping force at different angles and directions needs to be finely controlled due to the brittle texture of jade, and the workpiece may be easily damaged if the clamping force is too large, while the workpiece cannot be stably fixed if the clamping force is too small, thereby realizing the precise adjustment of the clamping particle size of the jade carving material.

[0020] Compared with the prior art, the beneficial effects of the multi-angle clamping device for structural jade carving provided by the present invention are as follows: the present invention proposes a multi-angle clamping device for structural jade carving, which realizes the automation and refinement of jade processing by integrating a precision lifting mechanism, a high-precision steering mechanism, a two-way fine-tuning mechanism and an intelligent clamping mechanism. Compared with the prior art, the device has made significant progress in the following aspects:

[0021] 1. The precision lifting mechanism adopts high-precision slide rails and ball screw mechanisms, which can achieve precise adjustment of 0.01mm. Compared with traditional manual operation, this device can greatly improve the positioning accuracy of jade processing and meet the stringent requirements of modern handicrafts and cultural relics restoration on processing accuracy.

[0022] 2. The high-precision rotary table is integrated to achieve precise positioning at all angles. Traditional manual engraving is limited by the experience and skills of the processor, and it is difficult to ensure the consistency of different angles. However, this device can achieve automatic rotation and precise positioning through program control, providing a strong guarantee for multi-angle engraving.

[0023] 3. It adopts a two-way fine-tuning mechanism, including two independent fine-tuning units in the X direction and the Y direction. Compared with the fine-tuning in a single direction, this design greatly enhances the flexibility and accuracy of positioning, and is conducive to rapid positioning and adjustment.

[0024] 4. The clamping mechanism has a pressure feedback function, which can dynamically adjust the clamping force according to the mechanical properties of jade. In view of the fragile nature of jade, the device can finely control the clamping force to avoid damage to the workpiece caused by excessive clamping force, while ensuring sufficient clamping stability. At the same time, the multi-level gasket combination design can effectively absorb impact force and protect the surface of jade.

[0025] 5. With vacuum adsorption function, it is suitable for processing thinner jade pieces. Traditional mechanical clamping can easily damage weak workpieces, while vacuum adsorption can achieve non-contact stable fixation, greatly improving processing safety.

[0026] 6. The overall use of high-precision components, such as P-level slide rails, 0.01MPa pressure-regulating cylinders, etc., ensures the positioning accuracy and operating stability of the device. The integrated application of these key technical measures further improves the automation level and production efficiency of jade processing.

[0027] In summary, the multi-angle clamping device for structural jade carving of the present invention fully considers the characteristics of jade materials and the needs of modern handicraft processing, and through the innovative integration of mechanical structure and intelligent control technology, it realizes the precision, stabilization and automation of the jade processing process, providing an effective solution for the modern transformation of traditional jade carving technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0029] Figure 1 It is a structural schematic diagram of a multi-angle clamping device for structural jade carving;

[0030] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0031] 10. Base plate; 20. Precision lifting mechanism; 21. Lifting seat; 22. Precision slide rail pair; 23. Ball screw pair; 24. Handwheel assembly; 241. Dial; 242. Handwheel; 25. Connecting plate; 30. Steering mechanism; 31. Rotary table; 32. Servo motor; 33. Reducer; 40. Fine-tuning mechanism; 41. Adjusting base plate; 42. X-axis adjustment assembly; 43. Y-axis adjustment assembly; 50. Clamping mechanism; 51. Clamping base; 52. Active clamping assembly; 521. Driving cylinder; 522. Clamping claw seat; 523. Clamping head; 5231. Clamping body; 5232. Gasket set; 53. Driven clamping assembly; 531. Elastic support seat. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] like Figure 1As shown, it is a structure of a multi-angle clamping device for structural jade carving provided by the present invention, in which: it includes a base plate 10, a precision lifting mechanism 20, a steering mechanism 30, a fine-adjustment mechanism 40 and a clamping mechanism 50, the base plate 10 is a rectangular steel base plate and countersunk holes are evenly opened on the edges around it for fixed installation through anchor bolts; the precision lifting mechanism 20 is fixedly arranged at the center of the base plate, the steering mechanism 30 is installed at the upper end of the precision lifting mechanism, the fine-adjustment mechanism is arranged above the steering mechanism, and the clamping mechanism 50 is installed on the fine-adjustment mechanism 40; the precision lifting mechanism includes a lifting seat 21, a precision slide rail pair 22, a ball screw pair 23 and a handwheel assembly 24, the lifting seat is a square hollow structure and its lower end is fixedly connected to the base plate Then, the slide rails of the precision slide rail pair are vertically fixed on the front and rear sides of the inner wall of the lifting seat, the screw of the ball screw pair is vertically arranged in the center of the lifting seat, the lower end of the screw of the ball screw pair is rotatably connected to the lower end of the lifting seat through an angular contact ball bearing, the upper end of the screw of the ball screw pair passes through the upper end surface of the lifting seat and is transmission-connected to the handwheel assembly, the handwheel assembly includes a dial and a handwheel, the dial is fixed to the upper end surface of the lifting seat and is arranged around the screw, and the handwheel is fixed to the top of the screw; a connecting plate is fixedly connected between the slider of the ball screw pair and the slider of the precision slide rail pair, the steering mechanism is installed on the upper surface of the connecting plate, the accuracy grade of the precision slide rail pair is P grade, the lead of the ball screw pair is 2 mm, and the minimum scale value of the dial is 0.01 mm.

[0034] Among them, in the above technical scheme, the steering mechanism includes a rotary table 31, a servo motor 32 and a reducer 33. The base of the rotary table is fixed on the upper surface of the connecting plate. A cross cylindrical roller bearing is arranged inside the rotary table. The servo motor is fixed on the connecting plate through a motor seat. The input end of the reducer is connected to the output shaft of the servo motor. The output end of the reducer is connected to the worm gear mechanism of the rotary table through a coupling. The upper surface of the turntable of the rotary table is evenly provided with angle scales in the circumferential direction.

[0035] Furthermore, in the above technical solution, the fine-tuning mechanism 40 includes an adjusting base plate 41, an X-axis adjusting component 42 and a Y-axis adjusting component 43. The adjusting base plate is fixed on the turntable of the rotary table. The X-axis adjusting component and the Y-axis adjusting component are vertically arranged and installed in sequence. The X-axis adjusting component and the Y-axis adjusting component both include a linear guide rail, a differential head and a sliding platform. The linear guide rail is slidably connected to the corresponding base plate through a dovetail groove. The differential head is fixed to one side of the base plate. The micrometer screw of the differential head is fixedly connected to the sliding platform. The accuracy grade of the linear guide rail is P grade, and the minimum graduation value of the differential head is 0.01 mm.

[0036] Further, in the above technical solution, the clamping mechanism 50 includes a clamping base 51, an active clamping jaw assembly 52, a driven clamping jaw assembly 53 and a pressure sensor, the clamping base is fixed on the sliding platform of the Y-axis adjustment assembly, the active clamping jaw assembly and the driven clamping jaw assembly are symmetrically arranged on both sides of the clamping base, and the pressure sensor is arranged between the active clamping jaw assembly and the clamping base;

[0037] The active clamping jaw assembly includes a driving cylinder 521, a clamping jaw seat 522 and a clamping head 523. The driving cylinder is a precision pressure regulating cylinder and its cylinder body is fixed on the clamping base. The clamping jaw seat is fixedly connected to the piston rod of the driving cylinder, and the clamping head is detachably mounted on the front end of the clamping jaw seat.

[0038] The driven clamping jaw assembly includes an elastic support seat and a counterweight block. The elastic support seat is connected to the clamping base through a spring sheet. The counterweight block is fixed to the back of the elastic support seat and is used to balance the force of the active clamping jaw assembly.

[0039] Furthermore, in the above technical solution, the clamping head includes a clamping body 5231 and a gasket group 5232, the clamping body is a dovetail structure and its tail is slidably connected to the clamping claw seat through a dovetail groove, and the gasket group includes a rubber gasket, a nylon gasket and an elastic metal gasket, and the three gaskets are stacked in sequence and fixed to the front end face of the clamping body by micro screws.

[0040] Furthermore, in the above technical solution, the hardness of the rubber gasket is 50 degrees Shore.

[0041] Furthermore, in the above technical solution, the pressure sensor is a strain gauge pressure sensor with a measuring range of 0-100N and an accuracy level of 0.1; the minimum pressure regulation accuracy of the driving cylinder is 0.01MPa and the stroke is 10mm.

[0042] Furthermore, in the above technical solution, a vibration-damping pad is provided on the lower surface of the base plate, and the vibration-damping pad is made of a rubber and metal composite material; a protective cover is provided on the outer surface of the lifting seat to prevent dust from entering the precision slide rail pair and the ball screw pair.

[0043] Furthermore, in the above technical solution, the base plate, lifting seat and connecting plate are all made of high-strength aluminum alloy materials, and the sliding pairs of the precision slide rail pair and the ball screw pair are made of high-carbon chromium bearing steel and are tempered, and their surface hardness is not less than HRC58.

[0044] Furthermore, the above technical solution also includes a control chip and a sensor group, the sensor group includes a pressure sensor, a displacement sensor, an angle sensor and a strain sensor; the control chip is electrically connected to the sensor group to collect pressure data, displacement data, angle data and strain data during the clamping process; the control chip is electrically connected to the drive cylinder and the servo motor, and a clamping force control module is provided in the control chip to solve the problem that due to the brittle texture of jade, the clamping force at different angles and directions needs to be finely controlled, and too large a clamping force may easily damage the workpiece, while too small a clamping force may not be stably fixed, thereby realizing the precise adjustment of the clamping particle size of the jade carving material.

[0045] The clamping force control module is used to perform the following steps:

[0046] S10, collecting basic parameter information of the jade workpiece, including volume parameters, weight parameters, and hardness parameters of the jade workpiece;

[0047] S20, acquiring real-time pressure data, displacement data, angle data and strain data collected by the sensor group;

[0048] S30, establishing a clamping force reference model according to basic parameter information, and calculating an initial clamping force range value;

[0049] S40, controlling the driving cylinder to clamp the jade workpiece according to the initial clamping force range value;

[0050] S50, monitoring the sensor group data to determine whether the clamping state is stable, and when the pressure data fluctuation exceeds the preset threshold, entering the fine-tuning mode;

[0051] S60, in the fine-tuning mode, calculating the stress distribution of the jade workpiece according to the strain data, and dynamically adjusting the output pressure of the driving cylinder based on the stress distribution;

[0052] S70, controlling the servo motor to drive the rotary table to rotate by a preset angle, and repeatedly executing steps S20 to S60 to establish multi-angle clamping force compensation data;

[0053] S80, optimizing the adjustment factors of a preset clamping force optimization model according to the multi-angle clamping force compensation data, wherein the clamping force optimization model includes a stress distribution equation, a stability evaluation equation, and a pressure compensation equation;

[0054] S90, apply the clamping force optimization model to the subsequent clamping process to achieve precise clamping force control.

[0055] The stress distribution equation is used to calculate the internal stress distribution of the jade workpiece during the clamping process, which is specifically expressed as follows:

[0056]

[0057] Wherein, σ(r,θ) is the stress value at any point in the polar coordinate system, in MPa; F0 is the initial clamping force, in the range of 0-100N; R is the equivalent radius of the jade workpiece, in mm; r is the distance from the measured point to the center, in mm; θ is the polar coordinate angle, in radians; k1 is the stress attenuation coefficient, in the range of 0.1-0.5; k2 is the stress distribution inhomogeneity coefficient, in the range of 0.05-0.2; α1 is the material stress coefficient, obtained through experiments; ε1 is the measurement error of the strain sensor, in MPa; the polar coordinate system is used in this equation to better describe the stress distribution on the circular clamping surface; the quadratic term r 2 Characterizes the nonlinear attenuation characteristics of stress with distance; the cubic term r 3 cos(3θ) describes the circumferential inhomogeneity of stress distribution; the error term takes into account the influence of sensor measurement error.

[0058] The stability evaluation equation is used to evaluate the stability index during the clamping process, which is specifically expressed as follows:

[0059]

[0060] Where S is the stability index, dimensionless; P i is the reading of the ith pressure sensor, in N; t is the time variable, in s; λ is the time attenuation coefficient, with a value of 0.1s^{-1}; β1 is the displacement weight coefficient, with a value range of 0.2-0.8; D i is the i-th reading of the displacement sensor, in mm; β2 is the angle deviation weight coefficient, in the range of 0.1-0.5; Δθ is the deviation value measured by the angle sensor, in radians; n is the number of sensor sampling points; the square of the pressure derivative in the equation reflects the dynamic response characteristics of the system; the exponential decay term ensures long-term stability; the displacement differential term detects tiny jitters; and the angle deviation term ensures the stability of the rotation process.

[0061] The pressure compensation equation is used to calculate the clamping pressure compensation value at different angles, which is specifically expressed as follows:

[0062]

[0063] Where P c is the clamping pressure after compensation, in MPa; P0 is the reference clamping pressure, in MPa; γ1 is the periodic compensation coefficient, in the range of 0.1-0.3; ω is the angle period coefficient, in the range of 2π / n, n is the preset number of divisions; γ2 is the local compensation coefficient, in the range of 0.05-0.15; μ is the local response coefficient, in the range of 0.1-0.5; θ is the current rotation angle, in radians; δ jis the stress gradient weight coefficient, ranging from 0.01 to 0.1; σ j is the stress value of the jth monitoring point, in MPa; m is the number of stress monitoring points; ε2 is the pressure compensation error term, in MPa; the sinusoidal term in the equation describes the periodic variation characteristics; the exponential term characterizes the local mutation effect; the stress gradient term reflects the uniformity of stress distribution; and the multiplication form realizes multi-point coordinated compensation.

[0064] Parameter acquisition method:

[0065] 1) α1 acquisition steps: load test the standard specimen; record the strain values ​​under different loads; and obtain it by least squares fitting;

[0066] 2) β1, β2 acquisition steps: perform workpiece clamping stability test; collect displacement and angle data; optimize weight coefficients based on pattern recognition algorithm;

[0067] 3) γ1,γ2 acquisition steps: conduct multi-angle clamping experiments; record the pressure compensation effect; use genetic algorithm to optimize parameter values;

[0068] S90, the step of applying the clamping force optimization model to the subsequent clamping process specifically includes:

[0069] 1) Calculate the stress distribution cloud map of the jade workpiece based on the stress distribution equation;

[0070] 2) Calculate stability index in real time using stability evaluation equation;

[0071] 3) When the stability index is greater than a preset threshold, a new clamping pressure is calculated using a pressure compensation equation;

[0072] 4) Use the new clamping pressure as the control input of the drive cylinder;

[0073] 5) Repeat steps 1) to 4) until the stability index is less than a preset threshold.

[0074] Innovation and effect of the structure:

[0075] 1) Adopting precision lifting mechanism, it can achieve precise adjustment of 0.01mm;

[0076] 2) It has a high-precision rotary table to meet the positioning requirements at all angles;

[0077] 3) Bidirectional fine-tuning mechanism facilitates precise positioning;

[0078] 4) The clamping mechanism has pressure feedback, and the clamping force can be adjusted according to the texture of the jade;

[0079] 5) The multi-layer gasket combination can protect the jade surface;

[0080] 6) It has vacuum adsorption function, suitable for processing thinner jade pieces;

[0081] 7) Use high-precision components to ensure overall positioning accuracy;

[0082] Innovations and effects of the module:

[0083] 1) The stress distribution equation of the polar coordinate system is introduced to more accurately describe the stress characteristics of the circular clamping surface;

[0084] 2) The mixed form of polynomial and trigonometric functions is adopted to improve the accuracy of stress distribution description;

[0085] 3) Considering the stability evaluation in the time dimension, dynamic monitoring is achieved;

[0086] 4) Design of multi-level compensation mechanism improves clamping reliability;

[0087] 5) A closed-loop control is formed between the equations to ensure the robustness of the system.

[0088] The specific implementation is as follows:

[0089] 1. Structure and materials of precision lifting mechanism

[0090] The bottom plate 10 of the device is a rectangular steel structure, and countersunk holes are evenly opened on the edges around it for fixing and installing by anchor bolts. The precision lifting mechanism 20 is fixedly set at the center of the bottom plate 10. The precision lifting mechanism 20 includes a lifting seat 21, a precision slide rail pair 22, a ball screw pair 23 and a handwheel assembly 24. The lifting seat 21 is a square hollow structure, and its lower end is fixedly connected to the bottom plate 10. The slide rails of the precision slide rail pair 22 are vertically fixed to the front and rear sides of the inner wall of the lifting seat 21. The lead screw of the ball screw pair 23 is vertically set at the inner center of the lifting seat 21, the lower end of the lead screw is rotatably connected to the lower end of the lifting seat 21 through an angular contact ball bearing, and the upper end of the lead screw passes through the upper end surface of the lifting seat 21 and is transmission-connected to the handwheel assembly 24. The handwheel assembly 24 includes a dial 241 and a handwheel 242, the dial 241 is fixed to the upper end surface of the lifting seat 21 and is arranged around the lead screw, and the handwheel 242 is fixed to the top of the lead screw. A connecting plate 25 is fixedly connected between the slider of the ball screw pair 23 and the slider of the precision guide rail pair 22 .

[0091] This structural design can achieve precise adjustment of 0.01mm. The base plate 10, the lifting seat 21 and the connecting plate 25 are all made of high-strength aluminum alloy materials to reduce the weight of the whole machine. The sliding pairs of the precision slideway pair 22 and the ball screw pair 23 are made of high-carbon chromium bearing steel and are quenched and tempered. The surface hardness is not less than HRC58 to ensure long-term high-precision operation. A protective cover is provided on the outer surface of the lifting seat 21 to prevent dust from entering the precision slideway pair 22 and the ball screw pair 23.

[0092] 2. Structure and materials of steering mechanism

[0093] The steering mechanism 30 is installed on the upper end of the connecting plate 25. The steering mechanism 30 includes a rotary table 31, a servo motor 32 and a reducer 33. The base of the rotary table 31 is fixed to the upper surface of the connecting plate 25, and a cross cylindrical roller bearing is provided inside. The servo motor 32 is fixed to the connecting plate 25 through a motor seat, and its output shaft is connected to the input end of the reducer 33. The output end of the reducer 33 is connected to the worm gear mechanism of the rotary table 31 through a coupling. Angle scales are evenly arranged on the upper surface of the turntable of the rotary table 31 in the circumferential direction.

[0094] This structural design can achieve high-precision angle positioning. The base, turntable and internal bearings of the rotary table 31 are made of high-quality steel to ensure long-term stable operation. The selection of servo motor 32 and reducer 33 also ensures high-precision angle control.

[0095] 3. Structure and materials of fine-tuning mechanism

[0096] The fine-tuning mechanism 40 is installed on the turntable of the rotary table 31. The fine-tuning mechanism 40 includes an adjustment base plate 41, an X-axis adjustment component 42 and a Y-axis adjustment component 43. The X-axis adjustment component 42 and the Y-axis adjustment component 43 are vertically arranged and stacked on the adjustment base plate 41 in sequence. Each adjustment component includes a linear guide, a differential head and a sliding platform. The linear guide is slidably connected to the corresponding base plate through a dovetail groove, the differential head is fixed to one side of the base plate, and its micrometer screw is fixedly connected to the sliding platform. The accuracy grade of the linear guide is P grade, and the minimum graduation value of the differential head is 0.01mm.

[0097] This bidirectional fine-tuning mechanism design can achieve precise positioning. The adjusting base plate 41, the X-axis adjusting component 42 and the Y-axis adjusting component 43 are all made of high-quality steel to ensure good rigidity and stability. The high-precision characteristics of the linear guide rail and the micrometer head ensure the fine-tuning accuracy.

[0098] 4. Structure and materials of the clamping mechanism

[0099] The clamping mechanism 50 is mounted on the sliding platform 433 of the Y-axis adjustment assembly 43. The clamping mechanism 50 includes a clamping base 51, an active clamping jaw assembly 52, a driven clamping jaw assembly 53 and a pressure sensor 54. The active clamping jaw assembly 52 and the driven clamping jaw assembly 53 are symmetrically arranged on both sides of the clamping base 51, and the pressure sensor 54 is arranged between the active clamping jaw assembly 52 and the clamping base 51.

[0100] The active clamping jaw assembly 52 includes a driving cylinder 521, a clamping jaw seat 522 and a clamping head 523. The driving cylinder 521 is a precision pressure regulating cylinder, the cylinder body of which is fixed on the clamping base 51, and the piston rod is fixedly connected to the clamping jaw seat 522. The clamping head 523 is detachably mounted on the front end of the clamping jaw seat 522.

[0101] The driven clamping jaw assembly 53 includes an elastic support seat 531 and a counterweight 532. The elastic support seat 531 is connected to the clamping base 51 through a spring sheet, and the counterweight 532 is fixed to the back of the elastic support seat 531 to balance the force of the active clamping jaw assembly 52.

[0102] The clamping head 523 includes a clamping body 5231 and a gasket group 5232. The clamping body 5231 is a dovetail structure, and the tail is slidably connected to the clamping jaw seat 522 through a dovetail groove. The gasket group 5232 includes a rubber gasket with a hardness of 50 degrees Shore, a nylon gasket and an elastic metal gasket, and the three gaskets are stacked in sequence and fixed to the front end surface of the clamping body 5231.

[0103] This clamping mechanism design can adjust the clamping force according to the texture of the jade and protect the surface. The clamping base 51 is made of high-quality steel. The driving cylinder 521 of the active clamping jaw assembly 52 is a precision pressure regulating cylinder, which can achieve a minimum pressure regulating accuracy of 0.01MPa and a stroke of 10mm. The pressure sensor 54 is a strain gauge pressure sensor with a range of 0-100N and an accuracy level of 0.1. The gasket group 5232 adopts a combination design of multiple materials, which can effectively absorb impact force and protect the surface of the jade.

[0104] 5. Clamping force control algorithm

[0105] The device adopts a multi-module collaborative clamping force control algorithm. The specific steps are as follows:

[0106] S10, collecting basic parameter information of jade workpieces, including volume parameter V, weight parameter m and hardness parameter σ u ;

[0107] S20, obtaining real-time data collected by the pressure sensor 54, the displacement sensor, the angle sensor and the strain sensor, which are pressure P, displacement D, angle θ and strain ε respectively;

[0108] S30, establishing an initial clamping force reference model based on basic parameter information, and calculating the initial clamping force range value F0:

[0109] F0=k m ·m+k σ ·σ u +k V ·V;

[0110] In the formula, k m, k σ and k V is the corresponding coefficient;

[0111] S40, controlling the driving cylinder 521 to clamp the jade workpiece according to the initial clamping force range value F0;

[0112] S50, monitoring sensor data, when the pressure P fluctuation exceeds the preset threshold value P0±ΔP0, entering the fine-tuning mode;

[0113] S60. In the fine-tuning mode, the internal stress distribution σ(r,θ) of the jade workpiece is calculated according to the strain data ε:

[0114]

[0115] Wherein, R is the equivalent radius of the jade workpiece, r is the distance from the measured point to the center, θ is the polar coordinate angle, k1 and k2 are stress attenuation and inhomogeneity coefficients, α1 is the material stress coefficient, and ε1 is the strain sensor measurement error. The output pressure P of the driving cylinder 521 is dynamically adjusted based on the stress distribution;

[0116] S70, controlling the servo motor 32 to drive the rotary table 31 to rotate by a preset angle Δθ, and repeating steps S20 to S60 to establish multi-angle clamping force compensation data;

[0117] S80, according to the multi-angle clamping force compensation data, the preset clamping force optimization model is optimized for adjustment factors. The optimization model includes a stress distribution equation, a stability evaluation equation and a pressure compensation equation:

[0118] Stability evaluation equation:

[0119]

[0120] Among them, P i is the reading of the i-th pressure sensor, λ is the time decay coefficient, β1 and β2 are weight coefficients;

[0121] Pressure compensation equation:

[0122]

[0123] Among them, P c is the clamping pressure after compensation, P0 is the reference clamping pressure, γ1 and γ2 are compensation coefficients, ω and μ are adjustment parameters, δ j is the stress gradient weight coefficient, and ε2 is the compensation error.

[0124] S90, applying the optimized clamping force model to the subsequent clamping process, specifically including:

[0125] 1) Calculate stress cloud map based on stress distribution equation;

[0126] 2) Calculate the stability index S in real time using the stability evaluation equation;

[0127] 3) When the stability index S is greater than the preset threshold, the pressure compensation equation is used to calculate the new clamping pressure P c ;

[0128] 4) Set the new clamping pressure P c As a control input for driving cylinder 521;

[0129] 5) Repeat steps 1)-4) until the stability index is less than the preset threshold.

[0130] Through the above algorithm, the precise clamping force control of jade carving materials can be achieved to meet the needs of different angles and directions, avoiding the problem of damage to the workpiece due to excessive clamping force or inability to stabilize due to insufficient clamping force. The basis for determining each key parameter is as follows:

[0131] 1) α1 is obtained by loading test on standard specimens and fitting using the least square method;

[0132] 2) β1 and β2 are obtained through workpiece clamping stability test and optimization based on pattern recognition algorithm;

[0133] 3) γ1 and γ2 are obtained through multi-angle clamping experiments and optimized using genetic algorithms;

[0134] 4) The threshold reference values ​​of ΔP0, P0 and S0 are 0.5MPa, 2MPa and 20 respectively.

[0135] The specific steps of S70 include:

[0136] Step 701, controlling the servo motor 32 to drive the rotary table 31 to rotate to a preset angle;

[0137] Step 702, repeating steps S20 to S60 to establish multi-angle clamping force compensation data;

[0138] The specific steps of S80 include:

[0139] Step 801: Optimize the adjustment factor of the preset clamping force optimization model according to the multi-angle clamping force compensation data;

[0140] Step 802: The optimization model includes a stress distribution equation, a stability evaluation equation, and a pressure compensation equation:

[0141] Stability evaluation equation:

[0142]

[0143] Among them, P i is the reading of the i-th pressure sensor, λ is the time decay coefficient, β1 and β2 are weight coefficients;

[0144] Pressure compensation equation:

[0145]

[0146] Among them, P c is the clamping pressure after compensation, P0 is the reference clamping pressure, γ1 and γ2 are compensation coefficients, ω and μ are adjustment parameters, δ j is the stress gradient weight coefficient, and ε2 is the compensation error.

[0147] The specific steps of S90 include:

[0148] Step 901, calculating a stress cloud map based on a stress distribution equation;

[0149] Step 902, using the stability evaluation equation to calculate the stability index S in real time;

[0150] Step 903: When the stability index S is greater than the preset threshold S0, the pressure compensation equation is used to calculate the new clamping pressure P c ;

[0151] Step 904: Set the new clamping pressure P c As a control input for driving cylinder 521;

[0152] Step 905: Repeat steps 901 to 904 until the stability index S is less than a preset threshold value S0.

[0153] Embodiment 1:

[0154] This embodiment mainly focuses on the mechanical structure and material design of the multi-angle clamping device for structural jade carving.

[0155] The overall layout of the multi-angle clamping device for jade carving is shown in Table 1. The base plate 10 is a rectangular steel structure with countersunk holes evenly arranged on the edges, which is used to be fixed on the work surface by anchor bolts. The precision lifting mechanism 20 is fixedly arranged at the center of the base plate 10, which is used to realize the precise position adjustment of the jade workpiece in the vertical direction. The steering mechanism 30 is installed on the upper end of the precision lifting mechanism 20, which can drive the workpiece to rotate automatically and position the angle. The fine-tuning mechanism 40 is installed above the steering mechanism 30, including two independent fine-tuning units in the X direction and the Y direction, which are used to finely adjust the position of the workpiece. The clamping mechanism 50 is installed on the sliding platform of the fine-tuning mechanism 40 to realize the intelligent clamping control of the jade workpiece.

[0156] Table 1 Overall layout of the multi-angle clamping device for structural jade carving

[0157] Serial number Part Name Key Features 1 Base Plate Providing a stable installed base 2 Precision lifting mechanism Achieve precise vertical position adjustment 3 Steering mechanism Realize automatic rotation and angle positioning 4 Fine-tuning mechanism Realize fine position adjustment in X and Y directions 5 Clamping mechanism Realize intelligent clamping control of jade workpieces

[0158] First, the structure and material design of the precision lifting mechanism 20 are introduced. As shown in Table 2, the mechanism includes a lifting seat 21, a precision slideway pair 22, a ball screw pair 23 and a handwheel assembly 24. The lifting seat 21 is a square hollow structure, and its lower end is fixedly connected to the base plate 10. The slide rails of the precision slideway pair 22 are vertically fixed to the front and rear sides of the inner wall of the lifting seat 21 to provide a smooth guide during the lifting process. The lead screw of the ball screw pair 23 is vertically set at the center of the lifting seat 21, and the lower end of the lead screw is rotatably connected to the lower end of the lifting seat 21 through an angular contact ball bearing, and the upper end is connected to the handwheel assembly 24. The handwheel assembly 24 includes a dial 241 and a handwheel 242. The dial 241 is fixed to the upper end surface of the lifting seat 21, and the handwheel 242 is fixed to the top of the lead screw. The slider of the ball screw pair 23 and the slider of the precision slideway pair 22 are fixedly connected through a connecting plate 25 to achieve linkage during the lifting process.

[0159] Table 2 Structure and materials of precision lifting mechanism 20

[0160] Part Name Material Features Lifting seat High strength aluminum alloy Hollow structure, light and high rigidity Precision slide rail High carbon chromium bearing steel, quenched and tempered P-level precision, surface hardness HRC58+ Ball screw pair High carbon chromium bearing steel, quenched and tempered Lead 2mm, high precision Connecting plate High strength aluminum alloy Bearing connection function Handwheel assembly Stainless steel, PC Dial 241 minimum scale 0.01mm

[0161] The precision lifting mechanism 20 adopts a high-precision slide rail and ball screw mechanism, and the screw is driven up and down by the rotation of the handwheel 242, thereby realizing the precise vertical displacement of the lifting seat 21. The lifting seat 21 and the connecting plate 25 are made of high-strength aluminum alloy, which greatly reduces the weight of the whole machine while ensuring good rigidity. The sliding pairs of the precision slide rail pair 22 and the ball screw pair 23 are made of high-carbon chromium bearing steel, and are tempered and heat treated. The surface hardness reaches HRC58 or above, ensuring long-term high-precision operation. The minimum scale of the dial 241 in the handwheel assembly 24 is 0.01mm, which can realize the precise positioning of the jade workpiece in the vertical direction of 0.01mm. In addition, the outer surface of the lifting seat 21 is also provided with a protective cover, which effectively blocks the dust from invading the precision mechanism.

[0162] Next, the structure and material design of the steering mechanism 30 are introduced. As shown in Table 3, the mechanism includes a rotary table 31, a servo motor 32 and a reducer 33. The base of the rotary table 31 is fixed to the upper surface of the connecting plate 25, and a cross cylindrical roller bearing is arranged inside, which can realize smooth and high-precision rotation. The servo motor 32 is fixed to the connecting plate 25 through the motor seat, and its output shaft is connected to the input end of the reducer 33. The output end of the reducer 33 is connected to the worm gear mechanism of the rotary table 31 through a coupling. Angle scales are evenly arranged on the upper surface of the turntable of the rotary table 31 in the circumferential direction to provide an intuitive indication of the rotation angle.

[0163] Table 3 Structure and materials of the steering mechanism 30

[0164] Part Name Material Features Rotary table High-quality steel Built-in cross cylindrical roller bearings for smooth rotation Servo Motor Special steel for motor High-precision angle control reducer Special steel for gears High reduction ratio, smooth transmission Couplings High-quality steel Reliable transmission connection Angle scale on the turntable Precision scale Minimum scale 1'

[0165] The steering mechanism 30 adopts a combined drive mode of a servo motor 32 and a reducer 33, and can realize automatic rotation and high-precision angle positioning through precise angle control. The base, turntable and internal bearings of the rotary table 31 are all made of high-quality steel to ensure long-term stable operation. The high-precision characteristics of the servo motor 32, combined with the high reduction ratio of the reducer 33, ultimately achieve precise control of the turntable angle, and the minimum angle scale on the turntable reaches 1'. This high-precision rotation positioning function provides strong support for multi-angle jade carving processing.

[0166] The structure and material design of the fine adjustment mechanism 40 are introduced again. As shown in Table 4, the mechanism includes an adjustment base plate 41, an X-axis adjustment component 42 and a Y-axis adjustment component 43. The X-axis adjustment component 42 and the Y-axis adjustment component 43 are vertically arranged and stacked on the adjustment base plate 41 in sequence. Each adjustment component includes a linear guide rail, a differential head and a sliding platform. The linear guide rail is slidably connected to the corresponding base plate through a dovetail groove, the differential head is fixed to one side of the base plate, and its micrometer screw is fixedly connected to the sliding platform.

[0167] Table 4 Structure and materials of fine adjustment mechanism 40

[0168] Part Name Material Features Adjust the bottom plate High-quality steel Good rigidity and stability Linear Guides High carbon steel, quenched and tempered P-level precision, surface hardness HRC58+ Micrometer Head High-quality steel Minimum graduation value 0.01mm Sliding platform High-quality steel Good match with the rail

[0169] The fine adjustment mechanism 40 adopts a design of bidirectional (X-direction and Y-direction) independent adjustment, which greatly improves the flexibility and accuracy of positioning. The adjustment base plate 41 is made of high-quality steel and has good rigidity and stability. The linear guide rail is made of high-carbon steel and has been tempered. Its accuracy grade reaches P grade, and its surface hardness is not less than HRC58, which can ensure long-term high-precision sliding. The minimum division value of the micrometer head is 0.01mm, and the precise coordination with the sliding platform realizes the fine position adjustment of the jade workpiece in the horizontal plane. The design of this bidirectional fine adjustment mechanism lays a solid foundation for subsequent precise positioning and clamping.

[0170] Finally, the structure and material design of the clamping mechanism 50 are introduced. As shown in Table 5, the mechanism includes a clamping base 51, an active clamping jaw assembly 52, a driven clamping jaw assembly 53 and a pressure sensor 54. The active clamping jaw assembly 52 and the driven clamping jaw assembly 53 are symmetrically arranged on both sides of the clamping base 51, and the pressure sensor 54 is installed between the active clamping jaw assembly 52 and the clamping base 51.

[0171] The active clamping jaw assembly 52 is composed of a driving cylinder 521, a clamping jaw seat 522 and a clamping head 523. The driving cylinder 521 is a precision pressure regulating cylinder, the cylinder body of which is fixed on the clamping base 51, and the piston rod is fixedly connected to the clamping jaw seat 522. The clamping head 523 is detachably mounted on the front end of the clamping jaw seat 522.

[0172] The driven clamping jaw assembly 53 includes an elastic support seat 531 and a counterweight 532. The elastic support seat 531 is connected to the clamping base 51 through a spring sheet, and the counterweight 532 is fixed to the back of the elastic support seat 531 to balance the force of the active clamping jaw assembly 52.

[0173] Table 5 Structure and materials of the clamping mechanism 50

[0174] Part Name Material Features Clamping base High-quality steel Strong rigidity and high load-bearing capacity Driving cylinder Precision pressure regulating cylinder Minimum pressure regulation accuracy 0.01MPa Gripper seat High-quality steel Reliable connection with the cylinder piston rod Clamping head Dovetail structure, multi-layer gasket Absorb shock and protect surface Rubber gasket Hardness Shore 50 Shock Absorption Nylon gasket Protective surface Elastic metal gasket Absorbing residual stress Elastic support seat High-quality steel Flexible connection with the clamping base 51 Counterweight Steel Balanced active gripper force Pressure Sensors Strain Gauge Pressure Sensor Range 0-100N, accuracy 0.1

[0175] The clamping mechanism 50 adopts a symmetrical design of active clamping jaws and driven clamping jaws. The driving cylinder 521 of the active clamping jaw assembly 52 is a precision pressure regulating cylinder, which can achieve a minimum pressure regulating accuracy of 0.01MPa and a stroke of 10mm, and can finely control the clamping force. The clamping head 523 adopts a dovetail structure, and three layers of gaskets are integrated at the front end: the hardness of the rubber gasket is 50 degrees Shore, which can effectively absorb impact force; the nylon gasket provides surface protection; and the elastic metal gasket is used to absorb residual stress. This combination design of multi-layer gaskets can well protect the surface of the jade workpiece. The elastic support seat 531 of the driven clamping jaw assembly 53 is flexibly connected to the clamping base 51 through a spring sheet, and the balancing effect of the counterweight block 532 ensures the stability of the clamping process. In addition, the pressure sensor 54 is arranged between the active clamping jaw assembly 52 and the clamping base 51, which can monitor the force feedback information during the clamping process in real time.

[0176] In summary, the key components of the multi-angle clamping device for jade carving have been carefully designed in terms of materials, structure and manufacturing process. The base plate 10, lifting seat 21, connecting plate 25, etc. are made of high-strength aluminum alloy, which greatly reduces the weight of the whole machine while ensuring good rigidity. The key dynamic mechanisms such as precision slide rail pair 22, ball screw pair 23, linear guide rail, etc. are made of high-carbon steel and tempered to ensure long-term high-precision operation. The core components of the steering mechanism 30, fine-tuning mechanism 40 and clamping mechanism 50, such as the rotary table 31, differential head, driving cylinder 521, etc., are also made of high-quality steel, and the matching relationship between the components is carefully designed.

[0177] In addition, some protective measures are taken at key locations. For example, a protective cover is provided on the outer surface of the lifting seat 21 to effectively prevent dust from invading the precision mechanism; a vibration-damping pad is provided on the lower surface of the base plate 10, which is a composite material of rubber and metal to effectively absorb the impact of vibration on positioning accuracy. These carefully designed structural details ensure the reliability and stability of the device in actual application.

[0178] In general, this embodiment illustrates the overall layout of the multi-angle clamping device for structural jade carving and the specific design of each key component, fully considering the special needs of jade processing, and through the organic combination of high-quality materials, precision structure and advanced technology, achieving significant improvements in positioning accuracy, processing stability and safety of the device, laying a solid foundation for realizing the automation and refinement of jade carving.

[0179] Embodiment 2:

[0180] This embodiment mainly focuses on the intelligent control module of the multi-angle clamping device for structural jade carving and its specific implementation.

[0181] As mentioned above, the device integrates multiple key technologies such as precision lifting, high-precision steering, two-way fine-tuning and intelligent clamping. Through the deep integration of mechanical structure and electronic control, it realizes precise positioning and intelligent control of the jade processing process. Among them, clamping force control is one of the key technologies, which is related to the safety of jade workpieces during processing. To this end, the device specially designed a set of clamping force intelligent control algorithms based on mathematical modeling and adaptive optimization. The specific implementation steps are as follows:

[0182] S10. Collect basic parameter information of jade workpieces

[0183] Firstly, the volume parameter V, weight parameter m and hardness parameter σ of the jade workpiece are obtained through relevant sensors and image processing technology. u These basic information provide important basis for subsequent clamping force calculation and optimization.

[0184] S20. Obtaining real-time monitoring data

[0185] During the clamping process, the sensor group of the device (including pressure sensor, displacement sensor, angle sensor and strain sensor) collects relevant physical quantities in real time, including pressure P, displacement D, angle θ and strain ε. These data reflect the kinematic and mechanical state of the jade workpiece during the clamping process, providing a key basis for intelligent control.

[0186] S30, establish the initial clamping force reference model

[0187] According to the jade basic parameters obtained in step S10, combined with the empirical formula, the initial clamping force reference model is established:

[0188] F0=k m ·m+k σ ·σ u +k V ·V;

[0189] In the formula, k m , k σ and k V are empirical coefficients, which respectively represent the influence of weight, hardness and volume on the initial clamping force. The model gives the initial clamping force range suitable for the jade workpiece.

[0190] S40, perform initial clamping

[0191] According to the initial clamping force range value F0 obtained in step S30, the jade workpiece is initially clamped by controlling the output of the driving cylinder 521.

[0192] S50, monitor the clamping state and enter the fine-tuning mode

[0193] The pressure data P collected in step S20 is monitored in real time. When its fluctuation exceeds the preset threshold value P0±ΔP0, it indicates that the clamping state is unstable and it is necessary to enter the fine-tuning mode.

[0194] S60, Optimizing clamping force based on strain data

[0195] In the fine-tuning mode, first calculate the stress distribution σ(r,θ) inside the jade workpiece based on the strain data ε:

[0196]

[0197] Among them, R is the equivalent radius of the jade workpiece, r is the distance from the measured point to the center, γ is the polar coordinate angle, k1 and k2 are the stress attenuation and inhomogeneity coefficients, α1 is the material stress coefficient, and ε1 is the strain measurement error.

[0198] Then, according to the stress distribution, the output pressure of the driving cylinder 521 is dynamically adjusted to optimize the clamping force, ensure that the jade workpiece is evenly stressed, and avoid local overstress.

[0199] S70, perform multi-angle clamping force compensation

[0200] The servo motor 32 is controlled to drive the rotary table 31 to rotate by a preset angle Δθ, and steps S20 to S60 are repeatedly executed to establish clamping force compensation data at different angles.

[0201] S80, optimized clamping force model

[0202] According to the multi-angle clamping force compensation data obtained in step S70, the preset clamping force optimization model is optimized for adjustment factors. The optimization model includes the following three key equations:

[0203] Stability evaluation equation:

[0204]

[0205] Pressure compensation equation:

[0206]

[0207] Among them, λ is the time attenuation coefficient, β1 and β2 are weight coefficients, γ1 and γ2 are compensation coefficients, ω and μ are adjustment parameters, δ j is the stress gradient weight coefficient, and ε2 is the pressure compensation error. By optimizing these parameters, the model can more accurately describe the clamping force characteristics at different angles.

[0208] S90, achieve precise clamping force control

[0209] The optimized clamping force model is applied to the subsequent clamping process control. The specific steps are as follows:

[0210] 1) Calculate the stress distribution cloud map of the jade workpiece based on the stress distribution equation σ(r,θ);

[0211] 2) Calculate the stability index in real time using the stability evaluation equation S;

[0212] 3) When the stability index S is greater than the preset threshold S0, the pressure compensation equation P is used c Calculate the new clamping pressure;

[0213] 4) Set the new clamping pressure P c As a control input for driving cylinder 521;

[0214] 5) Repeat steps 1) to 4) until the stability index S is less than a preset threshold value S0.

[0215] Through the implementation of the above intelligent control algorithm, the multi-angle clamping device for jade carving can achieve precise control of the clamping force of jade workpieces, which is specifically reflected in the following aspects:

[0216] 1. The initial clamping force reference model established based on the basic parameters of jade provides a good starting point for subsequent dynamic optimization.

[0217] 2. Monitor the clamping status in real time, automatically enter the fine-tuning mode when an abnormality is detected, and adjust the clamping force according to the strain data to ensure the stability of the processing process.

[0218] 3. Through multi-angle clamping force compensation, an optimization model that comprehensively considers angle factors is established, which can adapt to complex multi-angle engraving needs.

[0219] 4. The closed-loop optimization of the stability evaluation equation and the pressure compensation equation further improves the ability to accurately control the clamping force and avoids damage to the workpiece caused by excessive or insufficient clamping force.

[0220] 5. Key parameters, such as λ, β1, β2, γ1, γ2, ω, μ, δ j Etc., have all been optimized through experimental tests and pattern recognition algorithms, ensuring the high applicability and robustness of the control strategy.

[0221] Specifically, the principle of the present invention is: the core technical principle of the multi-angle clamping device for structural jade carving proposed by the present invention is to achieve precise positioning and intelligent clamping control of jade workpieces.

[0222] First, the device uses a precision lifting mechanism as the base, and achieves 0.01mm vertical position adjustment through high-precision slide rails and ball screws. This lays a solid foundation for subsequent positioning and clamping. Secondly, a high-precision rotary table is integrated to achieve automatic rotation and angle positioning. This structural design enables the device to meet complex processing requirements at different angles and provides strong support for multi-angle engraving. Furthermore, the independent adjustment units in the X and Y directions of the two-way fine-tuning mechanism greatly improve the flexibility and accuracy of positioning, and can quickly locate and finely adjust the position of the workpiece.

[0223] In view of the fragile nature of jade materials, the device has adopted a series of intelligent control measures on the clamping mechanism. First, the pressure sensor is used to monitor the force feedback information during the clamping process in real time, and the clamping force is dynamically adjusted according to the mechanical properties of the jade, avoiding damage to the workpiece caused by excessive clamping force. Secondly, a multi-level gasket combination is designed on the clamping head, including different materials such as rubber, nylon and elastic metal, which can effectively absorb impact force and protect the surface of jade. In addition, the device also has a vacuum adsorption function. For the processing of thinner jade pieces, this non-contact stable fixation method greatly improves the processing safety.

[0224] In order to ensure the excellent overall performance, the device also uses a series of high-precision components, such as P-level slide rails, 0.01MPa pressure regulating cylinders, etc. The selection of these key components not only ensures positioning accuracy, but also ensures the stability of operation. At the same time, protective measures are set up at key locations to effectively prevent dust from invading the precision mechanism.

[0225] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A multi-angle clamping device for structural jade carving, characterized in that: It includes a base plate, a precision lifting mechanism, a steering mechanism, a fine-tuning mechanism and a clamping mechanism. The base plate is a rectangular steel base plate and countersunk holes are evenly opened on the edges of the four sides for fixed installation through anchor bolts; the precision lifting mechanism is fixedly arranged at the center of the base plate, the steering mechanism is installed at the upper end of the precision lifting mechanism, the fine-tuning mechanism is arranged above the steering mechanism, and the clamping mechanism is installed on the fine-tuning mechanism; the precision lifting mechanism includes a lifting seat, a precision slide rail pair, a ball screw pair and a handwheel assembly. The lifting seat is a square hollow structure and its lower end is fixedly connected to the base plate. The slide rails of the precision slide rail pair are vertically fixed to the front and rear sides of the inner wall of the lifting seat, and the screw of the ball screw pair is fixed to the front and rear sides of the inner wall of the lifting seat. The handwheel assembly is vertically arranged at the inner center of the lifting seat, the lower end of the lead screw of the ball screw pair is rotatably connected with the lower end of the lifting seat through an angular contact ball bearing, the upper end of the lead screw of the ball screw pair passes through the upper end surface of the lifting seat and is transmission-connected with the handwheel assembly, the handwheel assembly comprises a dial and a handwheel, the dial is fixed to the upper end surface of the lifting seat and is arranged around the lead screw, the handwheel is fixed to the top end of the lead screw; a connecting plate is fixedly connected between the slider of the ball screw pair and the slider of the precision slide rail pair, the steering mechanism is mounted on the upper surface of the connecting plate, the accuracy grade of the precision slide rail pair is P grade, the lead of the ball screw pair is 2 mm, and the minimum scale value of the dial is 0.01 mm.

2. A multi-angle clamping device for structural jade carving according to claim 1, characterized in that: The steering mechanism includes a rotary table, a servo motor and a reducer. The base of the rotary table is fixed to the upper surface of the connecting plate. A cross cylindrical roller bearing is provided inside the rotary table. The servo motor is fixed to the connecting plate through a motor seat. The input end of the reducer is connected to the output shaft of the servo motor. The output end of the reducer is connected to the worm gear mechanism of the rotary table through a coupling. The upper surface of the turntable of the rotary table is evenly provided with angle scales in the circumferential direction.

3. A multi-angle clamping device for structural jade carving according to claim 2, characterized in that: The fine-tuning mechanism includes an adjustment base plate, an X-axis adjustment component and a Y-axis adjustment component. The adjustment base plate is fixed on the turntable of the rotary table. The X-axis adjustment component and the Y-axis adjustment component are vertically arranged and stacked in sequence. The X-axis adjustment component and the Y-axis adjustment component both include a linear guide rail, a differential head and a sliding platform. The linear guide rail is slidably connected to the corresponding base plate through a dovetail groove. The differential head is fixed to one side of the base plate. The micrometer screw of the differential head is fixedly connected to the sliding platform. The accuracy grade of the linear guide rail is P grade, and the minimum graduation value of the differential head is 0.01 mm.

4. A multi-angle clamping device for structural jade carving according to claim 3, characterized in that: The clamping mechanism comprises a clamping base, an active clamping jaw assembly, a driven clamping jaw assembly and a pressure sensor, wherein the clamping base is fixed on the sliding platform of the Y-axis adjustment assembly, the active clamping jaw assembly and the driven clamping jaw assembly are symmetrically arranged on both sides of the clamping base, and the pressure sensor is arranged between the active clamping jaw assembly and the clamping base; The active clamping jaw assembly comprises a driving cylinder, a clamping jaw seat and a clamping head, wherein the driving cylinder is a precision pressure regulating cylinder and its cylinder body is fixed on the clamping base, the clamping jaw seat is fixedly connected to the piston rod of the driving cylinder, and the clamping head is detachably mounted on the front end of the clamping jaw seat; The driven clamping jaw assembly includes an elastic support seat and a counterweight block. The elastic support seat is connected to the clamping base through a spring sheet. The counterweight block is fixed to the back of the elastic support seat and is used to balance the force of the active clamping jaw assembly.

5. A multi-angle clamping device for structural jade carving according to claim 4, characterized in that: The clamping head includes a clamping body and a gasket group. The clamping body is a dovetail structure and its tail is slidably connected to the clamping claw seat through a dovetail groove. The gasket group includes a rubber gasket, a nylon gasket and an elastic metal gasket. The three gaskets are stacked in sequence and fixed to the front end surface of the clamping body by micro screws.

6. A multi-angle clamping device for structural jade carving according to claim 5, characterized in that: The hardness of the rubber gasket is 50 degrees Shore.

7. A multi-angle clamping device for structural jade carving according to claim 6, characterized in that: The pressure sensor is a strain gauge pressure sensor with a measuring range of 0-100N and an accuracy level of 0.1; the minimum pressure regulation accuracy of the driving cylinder is 0.01MPa and the stroke is 10mm.

8. A multi-angle clamping device for structural jade carving according to claim 7, characterized in that: A vibration-damping pad is provided on the lower surface of the bottom plate, and the vibration-damping pad is made of a rubber and metal composite material; a protective cover is provided on the outer surface of the lifting seat to prevent dust from entering the precision slide rail pair and the ball screw pair.

9. A multi-angle clamping device for structural jade carving according to claim 8, characterized in that: The base plate, the lifting seat and the connecting plate are all made of high-strength aluminum alloy material, and the sliding pairs of the precision slide rail pair and the ball screw pair are all made of high-carbon chromium bearing steel and are quenched and tempered, and the surface hardness is not less than HRC58.

10. A multi-angle clamping device for structural jade carving according to claim 9, characterized in that: It also includes a control chip and a sensor group, the sensor group includes a pressure sensor, a displacement sensor, an angle sensor and a strain sensor; the control chip is electrically connected to the sensor group to collect pressure data, displacement data, angle data and strain data in the clamping process; the control chip is electrically connected to the driving cylinder and the servo motor, and a clamping force control module is arranged in the control chip to solve the problem that the clamping force at different angles and directions needs to be finely controlled due to the brittle texture of jade, and the workpiece may be easily damaged if the clamping force is too large, while the workpiece cannot be stably fixed if the clamping force is too small, thereby realizing the precise adjustment of the clamping particle size of the jade carving material.

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