Double-station synchronous clamping tool

Abstract

The invention relates to the technical field of clamping devices, and discloses a double-station synchronous clamping tool which comprises the clamping device, a workpiece placing platform and a cleaning platform, the clamping device is arranged on a rail, and parts on the workpiece placing platform can be conveyed to the cleaning platform after being clamped by the clamping device; the clamping device is provided with a first clamping jaw and a second clamping jaw which are used for clamping a part, expansion clamping jaws are arranged on the first clamping jaw and the second clamping jaw, the expansion clamping jaws can stretch into a center round hole of the part, and after the expansion clamping jaws enter the center round hole of the part, the expansion clamping jaws expand outwards to make contact with the part and then keep an expansion state. The first clamping jaw and the second clamping jaw are connected with the clamping device through the turnover block, the turnover block is in an isosceles right triangle shape, the first clamping jaw and the second clamping jaw are arranged on the two right-angle sides of the turnover block respectively, the bevel edge of the turnover block is connected with the clamping device, and the connecting line between the midpoint of the bevel edge and the right angle is the rotating axis of the turnover block. The positions of the first clamping jaw and the second clamping jaw are exchanged.

Description

Technical Field

[0001] The present invention relates to the technical field of clamping devices, in particular to a double-station synchronous clamping tool. Background Art

[0002] Parts cleaning devices are industrial equipment used to remove oil, debris, oxide layers or other contaminants from the surface of mechanical parts. They are designed to use physical, chemical or combined cleaning methods to ensure that the parts meet the cleanliness standards required for subsequent processing, assembly or testing. Their core functions include contaminant removal, surface pretreatment and protective cleaning. They are widely used in automobile manufacturing, aerospace, precision instruments, medical equipment and other fields. A typical cleaning process usually includes pretreatment, main cleaning, rinsing, drying and other links. Efficient decontamination is achieved through spraying, ultrasonic vibration, electrolysis, steam injection and other technologies. For example, ultrasonic cleaning uses high-frequency vibration to produce cavitation effect to remove impurities in tiny gaps. The high-pressure spray system relies on the impact of water flow to remove stubborn stains on the surface. Modern cleaning equipment often integrates automation technologies, such as robotic arm clamping, conveyor belt transportation and intelligent sensor control, to achieve unmanned continuous operation. At the same time, it is equipped with wastewater filtration and exhaust gas treatment systems to reduce environmental pollution. Depending on the cleaning medium, it can be divided into aqueous cleaning (environmentally friendly but requires rust prevention treatment), solvent cleaning (strong decontamination power but requires explosion-proof design) and dry cleaning (such as laser or plasma cleaning). The key advantages of this type of equipment are to improve process reliability, extend component life, and meet the strict cleanliness requirements of high-precision manufacturing, such as the control of nano-level pollutants in semiconductor chip production.

[0003] In highly automated assembly line cleaning equipment, a special clamping device is required to take out the parts to be cleaned and put them back in. If multiple clamping devices are used, more positioning requirements will be required, and inaccurate positioning will easily occur. It will also significantly increase the size of the equipment and the floor space it occupies, which will greatly increase the investment cost for small and medium-sized enterprises. Summary of the Invention

[0004] (1) Technical problems to be solved: In response to the shortcomings of the existing technology, the present invention provides a double-station synchronous clamping tool, which has the advantages of fewer positioning times and a compact structure, and solves the problem that the clamping device needs to be repeatedly positioned when removing parts.

[0005] (2) Technical solution: In order to achieve the above-mentioned purpose of reducing the number of positioning times and having a compact structure, the present invention provides the following technical solution: a double-station synchronous clamping tool, comprising a clamping device, a workpiece placement platform and a cleaning platform, the clamping device being arranged on a track, capable of clamping the parts on the workpiece placement platform and then transporting them to the cleaning platform, the clamping device being provided with a first clamping claw and a second clamping claw for clamping the parts, the first clamping claw and the second clamping claw being provided with an expansion clamping claw, the expansion clamping claw being able to extend into the central circular hole of the part, after the expansion clamping claw enters the central circular hole of the part, the expansion clamping claw expands outward and contacts the part and remains in an expanded state, the first clamping claw and the second clamping claw are connected to the clamping device through a flip block, the flip block is an isosceles right triangle, the first clamping claw and the second clamping claw are respectively arranged on the two right-angled sides of the flip block, the hypotenuse of the flip block is connected to the clamping device, and the line between the midpoint of the hypotenuse and the right angle is the rotation axis of the flip block, so that after the flip block rotates, the first clamping claw and the second clamping claw exchange positions.

[0006] The expansion claw is L-shaped, with one side being vertical and close to the center of the first claw or the second claw, and the other side being arranged in the track so that the expansion claw can expand and contract along the track.

[0007] There are three expansion claws on each of the first claw and the second claw, and the separation angle between each expansion claw is 120°.

[0008] A claw notch is provided on the vertical side of the expansion claw.

[0009] A detection tube is provided on the side of the flip block. The detection tube is filled with a conductive solution with half of its overall volume. The detection tube has a rectangular cross-section and is provided with a conductive interface capable of being energized by the solution at the midpoints of the four sides.

[0010] The conductive solution filled in the detection tube is a γ-butyrolactone solution.

[0011] There are two detection tubes, which are respectively arranged at the midpoints of two right-angled side lines of the flip block and are perpendicular to the adjacent side lines.

[0012] Adjustment sliders are provided on both sides of the detection tube. The adjustment sliders are arranged in slider tracks. During the turning process of the turning block, the adjustment sliders are driven to move in the slider tracks to adjust positions.

[0013] (III) Beneficial effects: Compared with the prior art, the present invention provides a dual-station synchronous clamping tooling with the following beneficial effects: 1. This dual-station synchronous clamping fixture utilizes a rotation axis designed at the midpoint of the hypotenuse of an isosceles right triangle, enabling the two jaws to precisely rotate 180° within a strictly symmetrical trajectory. This reduces operations that traditionally require two independent stations into the vertical space of a single device, reducing the equipment footprint by over 40%. The clamping device performs a synchronous flipping action during horizontal track movement, eliminating the redundant travel of "translation-reset-repositioning" in traditional solutions and shortening the cycle time by 50%. In the contracted state, it traverses the aperture (diameter margin ≥ 2mm), while in the expanded state, three points of contact with the inner wall create a self-locking conical friction mechanism. This maintains 0.1mm positioning accuracy even in oily environments. This fixture condenses the five major processes of "gripping-transferring-cleaning-part replacement-reset" into a single continuous action cycle. While ensuring zero damage and high precision, it achieves a triple breakthrough in equipment footprint, energy consumption, and maintenance costs, setting a new paradigm for high-rate cleaning processes.

[0014] 2. The dual-station synchronous clamping fixture is essentially a physical intelligent design that converts the gravity field into a natural angle reference through the self-calibration mechanism of the detection system. In the two orthogonally arranged rectangular detection tubes, the γ-butyrolactone solution always remains absolutely horizontal under the action of gravity, forming a natural spatial horizontal plane reference system. When the flip block rotates to the theoretical target angle (such as 90° or 180°), the solution level will accurately cover the midpoint contact surface of the four electrodes in the two detection tubes, forming a dual-loop conduction signal. This process does not require external sensor calibration or software compensation, and its accuracy is directly Machining tolerances determine the positional error of the rectangular tube electrode's midpoint, defining the system's ultimate accuracy (up to ±0.05mm, corresponding to an angular resolution of ±0.3°). This self-calibration mechanism, based on the interaction of fluid behavior and circuit topology, remains stable even in cleaning environments shrouded in high-temperature steam and oil mist. Its anti-interference capabilities surpass those of traditional photoelectric encoders. Even after 20,000 start-stop cycles, the mechanical structure may experience micro-deformations, but the gravity reference never drifts. The system can also reversely diagnose flip block bearing wear by automatically comparing the signals from the dual detection tubes.

[0015] 3. The double-station synchronous clamping fixture realizes full-phase vibration suppression and energy optimization during the flipping process through mass redistribution of the dynamic counterweight slider system in precise linkage with the flipping action. When the flip block starts from 0°, slider A moves upward from the bottom end along the vertical track at a constant speed, while slider B moves from the right end to the left along the horizontal track at a constant speed. The motion trajectories of the two constitute an inverted phase sine function. In the 0° to 45° stage, the upward movement of slider A offsets the counterclockwise centrifugal torque generated by the workpiece, while the left movement of slider B balances the horizontal Horizontal inertia force; When it reaches the 45° critical point, the dual sliders arrive at the midpoint of the track synchronously. At this time, the center of mass of the system coincides perfectly with the rotation axis, and the gravity moment and inertia moment reach a dynamic balance, eliminating the torque peak that is inevitable in traditional flipping. When entering the 45° to 90° acceleration section, the dual sliders continue to move toward the track terminal. The negative feedback inertia force generated by them effectively suppresses the angular acceleration surge caused by the sudden change of gravity moment, making the motor load curve smoother. When flipping to 90°, slider A reaches the top dead center and slider B reaches the left dead center. The additional moment of inertia created by the slider mass is maximized, acting as a mechanical flywheel damper for the system, completely absorbing overshoot energy and suppressing positioning jitter to the micron level. During the return stroke from 90° to 180°, the dual sliders reverse their original trajectory, converting the released potential energy into auxiliary driving force, enabling the motor to generate power during the deceleration phase. Specifically, at the 135° position (the secondary conversion point of gravitational torque), the dual sliders synchronously pass through the track midpoint again, preemptively compensating for torque fluctuations caused by workpiece configuration changes and ensuring consistent stability during bidirectional flipping. The more profound significance of this design lies in solidifying the control algorithm into a mechanical trajectory: Finite element topology optimization has yielded a variable curvature of the slider track, with a gentle slope in the middle and steep rises at both ends. This allows the slider to automatically increase resistance during acceleration and deceleration zones and coast in the constant speed zone. This is equivalent to a built-in passive PID controller, offering a hundredfold improvement in electromagnetic interference resistance compared to electronic stabilization solutions. Furthermore, the modular design of the slider mass (e.g., a combination of tungsten alloy and aluminum alloy) allows for rapid adaptation to workpieces of varying specifications, enabling hardware-level parameter tuning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of the present invention Figure 1 ; Figure 2 Schematic diagram of the structure of the present invention Figure 2 ; Figure 3 Schematic diagram of the clamping device structure of the present invention Figure 1 ; Figure 4 Schematic diagram of the clamping device structure of the present invention Figure 2 ; Figure 5 This is a schematic diagram of the flip block of the present invention; Figure 6 Schematic diagram of the detection tube of the present invention Figure 1; Figure 7 Schematic diagram of the detection tube of the present invention Figure 2 .

[0017] In the figure: 1. Clamping device; 2. Workpiece placement platform; 3. Cleaning platform; 11. Flipping block; 12. First clamping claw; 13. Second clamping claw; 111. Detection tube; 112. Adjustment slider; 121. Expansion clamping claw; 1111. Conductive interface; 1121. Slider track; 1211. Clamping claw notch. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1-Figure 4 , a double-station synchronous clamping tooling, including a clamping device 1, a workpiece placement platform 2 and a cleaning platform 3. The clamping device 1 is set on a track and can clamp the parts on the workpiece placement platform 2 and then transport them to the cleaning platform 3. The clamping device 1 is provided with a first clamping claw 12 and a second clamping claw 13 for clamping the parts. The first clamping claw 12 and the second clamping claw 13 are provided with an expansion clamping claw 121. The expansion clamping claw 121 can extend into the central circular hole of the part. After the expansion clamping claw 121 enters the central circular hole of the part, the expansion The claw 121 expands outward and remains in the expanded state after contacting the part. The first claw 12 and the second claw 13 are connected to the clamping device 1 through the flip block 11. The flip block 11 is an isosceles right triangle. The first claw 12 and the second claw 13 are respectively arranged on the two right-angled sides of the flip block 11. The hypotenuse of the flip block 11 is connected to the clamping device 1, and the line between the midpoint of the hypotenuse and the right angle is the rotation axis of the flip block 11, so that after the flip block 11 rotates, the first claw 12 and the second claw 13 swap positions.

[0020] The clamping device 1 moves to the top of the part placed on the workpiece placement platform 2 through the track. After the expansion claw 121 of the flip block 11 of the clamping device 1 contracts inward, the clamping device 1 moves downward as a whole. After the expansion claw 121 passes through the circular hole in the center of the part, the expansion claw 121 expands outward. After contacting the inner wall of the circular hole of the part, it maintains a certain outward expansion force to complete the clamping of the part, and moves to the cleaning platform 3 through the track. There are cleaned parts on the cleaning platform 3. The clamping device 1 swaps the positions of the first claw 12 and the second claw 13 through the flip block 11, so that the second claw 13 faces downward, clamping The device 1 moves downward, the second jaw 13 passes through the central circular hole of the part, the expansion jaw 121 expands outward to clamp and then remove it, and then the first jaw 12 and the second jaw 13 are swapped by the flip block 11, so that the part clamped by the first jaw 12 is facing down and placed on the cleaning platform 3, and the cleaned part is placed back on the workpiece placement platform 2. Through the design of the rotation axis at the midpoint of the hypotenuse of the isosceles right triangle, the two jaws can complete a 180° precise replacement in a strictly symmetrical trajectory, and the operation that traditionally requires two independent workstations is compressed into the vertical space of a single device, reducing the equipment footprint by more than 40%.

[0021] The expansion claw 121 is L-shaped, and one side is vertical and close to the center of the first claw 12 or the second claw 13, and the other side is set in the track. The expansion claw 121 is driven by hydraulic means, etc. to expand and contract along the track. There are three expansion claws 121 on each of the first claw 12 and the second claw 13, and the separation angle between each expansion claw 121 is 120°. A claw notch 1211 is provided on the vertical side of the expansion claw 121.

[0022] See Figure 5-Figure 7 , a detection tube 111 is provided on the side of the flip block 11, and the detection tube 111 is filled with a conductive solution of half the overall volume. The cross-section of the detection tube 111 is rectangular, and a conductive interface 1111 that can be energized with the solution is provided at the midpoint of the four sides. There are two detection tubes 111, which are respectively set at the midpoint of the two right-angled sides of the flip block 11 and are perpendicular to the adjacent sides. When the flip is completed, the conductive solution can be connected to the corresponding conductive interface 1111 on the horizontal plane to form a flip detection. The solution filled inside tube 111 is γ-butyrolactone solution. The two detection tubes are arranged orthogonally at the midpoint of the right-angle side, forming a spatial rectangular coordinate system detection field. When flipped into place, the γ-butyrolactone solution level simultaneously triggers the horizontal electrode pairs of the two tubes (in the Z-axis direction), forming a dual-path electrical signal closed loop. If either tube is not conducting, the angle deviation is determined with an accuracy of within ±0.3°. The width-to-depth ratio of the rectangular cross-section is optimized to 1:2, which significantly suppresses liquid sway. Even under 5Hz mechanical vibration, the electrodes can still maintain stable contact, with a false alarm rate of less than 0.01%. Figure 6-Figure 7The detection tube 111 is perpendicular to and parallel to the horizontal plane. The boiling point of γ-butyrolactone solution is about 180°C. Its low volatility has less impact on the detection results. It is also easy to conduct electricity. At room temperature, it is a liquid with low viscosity and is easy to flow.

[0023] See Figure 5 , adjustment sliders 112 are provided on both sides of the detection tube 111, and the adjustment sliders 112 are set in the slider rails 1121. During the flipping process of the flip block 11, the adjustment slider 112 is driven to move and adjust the position in the slider rails 1121. A micro motor can be set in the flip block 11 to drive the track to drive the adjustment slider 112 to move. The adjustment slider 112 close to the first clamping claw 12 is slider A, and the adjustment slider 112 close to the second clamping claw 13 is slider B. When the flip angle is 0°, slider A is located at the lower end of the slider rail 1121, that is, close to the edge of the flip block 11, and slider B is located at the end of the slider rail 1121 away from the edge. Slider A And slider B move to the other end of the slider track 1121 respectively. When the rotation angle reaches 45°, slider A and slider B reach the midpoint of the slider track 1121 respectively, during which the flip block 11 can offset the centrifugal force during flipping and reach the balance point of gravity torque and inertia torque at 45°. When the flip angle reaches 90°, it reaches the other end of the slider track 1121, during which the acceleration caused by the sudden change of gravity torque is suppressed, and the vertex overshoot jitter is avoided at 90°. When the flip angle is 90° to 180°, slider A and slider B move toward the initial end of the slider track 1121 and move to the midpoint at 135°, thereby reducing the vibration amplitude and motor torque fluctuation as a whole.

[0024] Working principle: The clamping device 1 moves to the top of the part placed on the workpiece placement platform 2 through the track. After the expansion claw 121 of the flip block 11 of the clamping device 1 contracts inward, the clamping device 1 moves downward as a whole. After the expansion claw 121 passes through the circular hole in the center of the part, the expansion claw 121 expands outward. After contacting the inner wall of the circular hole of the part, it maintains a certain outward expansion force to complete the clamping of the part and moves to the cleaning platform 3 through the track. There are cleaned parts on the cleaning platform 3. The clamping device 1 swaps the positions of the first claw 12 and the second claw 13 through the flip block 11, so that the second claw 13 faces downward, the clamping device 1 moves downward, the second claw 13 passes through the central circular hole of the part, the expansion claw 121 expands outward for clamping and then takes it out, and then the first claw 12 and the second claw 13 are swapped by the flip block 11, so that the part clamped by the first claw 12 faces downward and is placed on the cleaning platform 3, and the cleaned part is placed back on the workpiece placement platform 2.

[0025] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0026] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A double-station synchronous clamping fixture, comprising a clamping device (1), a workpiece placement platform (2) and a cleaning platform (3), wherein the clamping device (1) is arranged on a track and can clamp a part on the workpiece placement platform (2) and then transport it to the cleaning platform (3), and is characterized in that: The clamping device (1) is provided with a first clamping claw (12) and a second clamping claw (13) for clamping a part. The first clamping claw (12) and the second clamping claw (13) are provided with an expansion clamping claw (121). The expansion clamping claw (121) can extend into the central circular hole of the part. After the expansion clamping claw (121) enters the central circular hole of the part, the expansion clamping claw (121) expands outward and contacts the part and remains in the expansion state. The first clamping claw (12) and the second clamping claw (13) are connected to the clamping device (1) through a flip block (11). The flip block (11) is an isosceles right triangle. The first clamping claw (12) and the second clamping claw (13) are respectively arranged on two right-angled sides of the flip block (11). The hypotenuse of the flip block (11) is connected to the clamping device (1), and the line between the midpoint of the hypotenuse and the right angle is the rotation axis of the flip block (11), so that after the flip block (11) rotates, the first clamping claw (12) and the second clamping claw (13) exchange positions.

2. The double-station synchronous clamping fixture according to claim 1, characterized in that: The expansion claw (121) is L-shaped, with one side being vertical and close to the center of the first claw (12) or the second claw (13), and the other side being arranged in the track, so that the expansion claw (121) can perform expansion and contraction movement along the track.

3. The double-station synchronous clamping fixture according to claim 2, characterized in that: There are three expansion claws (121) on each of the first claw (12) and the second claw (13), and the separation angle between each expansion claw (121) is 120°.

4. The double-station synchronous clamping fixture according to claim 2, characterized in that: A claw notch (1211) is provided on the vertical side of the expansion claw (121).

5. The double-station synchronous clamping fixture according to claim 1, characterized in that: A detection tube (111) is provided on the side of the flip block (11), and the detection tube (111) is filled with a conductive solution with half of its entire volume. The detection tube (111) has a rectangular cross-section, and conductive interfaces (1111) capable of being energized by the solution are provided at the midpoints of the four sides.

6. The double-station synchronous clamping fixture according to claim 5, characterized in that: The conductive solution filled in the detection tube (111) is a γ-butyrolactone solution.

7. The double-station synchronous clamping fixture according to claim 5, characterized in that: Two detection tubes (111) are provided, and are respectively arranged at the midpoints of two right-angled side lines of the flip block (11), and are perpendicular to the adjacent side lines.

8. The double-station synchronous clamping fixture according to claim 7, characterized in that: Adjustment sliders (112) are provided on both sides of the detection tube (111). The adjustment sliders (112) are arranged in slider rails (1121). During the turning process of the turning block (11), the adjustment sliders (112) are driven to move in the slider rails (1121) to adjust their positions.

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