Three-degree-of-freedom clamping device for brittle material structure

Abstract

The present application relates to the technical field of mechanical manufacturing, and more particularly to a three-degree-of-freedom clamping device for brittle material structural parts; comprising: an adaptive clamping unit, a displacement adjusting unit connected with the adaptive clamping unit, the displacement adjusting unit comprising: a first lifting device movably connected with the adaptive clamping unit, a first limiting movement device slidably connected with the first lifting device, and a second limiting movement device slidably connected with the first limiting movement device; the first lifting device moves horizontally in the limiting track of the first limiting movement device; the second limiting movement device is fixed to the clamping device platform, and the first limiting movement device moves horizontally in the limiting track of the second limiting movement device and is perpendicular to the moving direction of the first lifting device in the limiting track of the first limiting movement device. The present application realizes the free translation of the adaptive clamping unit in each direction of the three coordinate axes and the self-adaptation of the clamping position by setting the vertical guide rail in the horizontal plane, the first lifting device and the adaptive suction cup.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of manufacturing, and particularly relates to a three-degree-of-freedom clamping device for brittle material structural parts. BACKGROUND

[0002] Composite thermal insulation materials, such as inorganic phenolic aerogels (IPC), are integrally formed multi-layer composite structures, with a multi-layer gradient fiber preform as a reinforcing body, a dense anti-erosion layer on the surface, and a normal pressure dry phenolic aerogel in the core layer. The composite thermal insulation material has problems such as large brittleness, poor processability, weak material compression resistance, and poor rigidity. In the prior art, too small clamping force during rigid machining can cause poor clamping and local vibration deformation; too large clamping force can cause surface damage and deformation; flexible clamps have difficulties in positioning the clamping area due to the existence of degrees of freedom and deformation, and are deformed under the action of gravity after rotation, affecting the machining precision and making it difficult to apply to precision machining. In addition, in the prior art, the clamp is fixedly connected with the workpiece and the machine tool at the same time, and when the workpiece needs to be adjusted, the clamp cannot meet the translation in all directions at the same time, making it difficult to adjust the posture of the workpiece. In addition, the composite thermal insulation material has various structural shapes as a thermal protection layer, and in the prior art, various special rigid clamping tools need to be designed according to the structure and processing position of different thermal protection layers to increase the contact area of clamping and prevent the thermal protection layer from being damaged due to excessive force; the rigid clamping tool needs to be designed according to the shape of the protection layer, and does not have universality, increasing the design and manufacturing cost of the tool and prolonging the production cycle of the product. SUMMARY

[0003] In view of the above analysis, the present application aims to provide a three-degree-of-freedom clamping device for brittle material structural parts to solve at least one of the problems of surface damage caused by clamping, low clamping precision, and the inability of the clamp to translate in any direction.

[0004] The main purpose of the present application is achieved by the following technical solutions:

[0005] The application provides a three-degree-of-freedom clamping device for a brittle material structure, which comprises an adaptive clamping unit and a displacement adjusting unit connected with the adaptive clamping unit, and the displacement adjusting unit is used for adjusting the spatial position of the adaptive clamping unit; the device comprises a first lifting device movably connected with the adaptive clamping unit and used for lifting the adaptive clamping unit, a first limiting moving device slidably connected with the first lifting device in a horizontal plane, and a second limiting moving device slidably connected with the first limiting moving device in the horizontal plane; the first lifting device moves horizontally in the limiting track of the first limiting moving device; the second limiting moving device is fixed to a clamping device platform, and the first limiting moving device moves horizontally in the limiting track of the second limiting moving device and is perpendicular to the moving direction of the first lifting device in the limiting track of the first limiting moving device.

[0006] Preferably, the first lifting device comprises an outer member slidably connected with the first limiting moving device and an inner member movably connected with the outer member; the inner member is fixedly connected with the adaptive clamping unit and moves up and down relative to the outer member.

[0007] Preferably, a screw nut is arranged at the connecting area of the outer member and the inner member, and the inner member is a screw rod matched with the screw nut.

[0008] Preferably, the clamping device further comprises a first power device for providing power for the first lifting device; the first power device comprises a first device body and a power unit movably connected with the first device body; the power unit is connected with the inner member of the first lifting device through power connection, and the first device body is fixedly connected with the outer member of the first lifting device; the inner member of the first lifting device moves up and down relative to the outer member, so that the adaptive clamping unit is lifted and lowered under the control of the power unit.

[0009] Preferably, the first power device is a servo motor, which cooperates with the first lifting device to realize lifting and lowering of the adaptive clamping unit under accurate control.

[0010] Preferably, the first limiting moving device and the second limiting moving device are guide rails.

[0011] Preferably, the clamping device further comprises a second power device for providing power for the movement of the first limiting moving device relative to the second limiting moving device and a third power device for providing power for the movement of the adaptive clamping unit relative to the first limiting moving device; the second power device and the third power device are fixedly connected with the clamping device platform; a wall plate fixedly connected to one side of the first limiting moving device and the first lifting device are fixedly connected with a first screw nut; a power unit of the second power device and the third power device is connected with a first screw rod, the first screw rod is matched with the first screw nut in screw threads, and the first screw rod is rotatably connected with the clamping device platform after being arranged in the first screw nut.

[0012] Preferably, the first screw rod is connected with the clamping device platform through a bearing.

[0013] Preferably, the clamping unit is provided with a suction cup, a first movable block coaxially connected with the suction cup in a vertical direction of a suction plane of the suction cup, a second movable block coaxially connected with the first movable block in a horizontal plane, and a base coaxially connected with the second movable block in the horizontal plane.

[0014] Preferably, the bottom of the first movable block is provided with a first arc-shaped structure protruding outward, a second baffle is fixedly connected to the side wall of the second movable block, the second baffle is provided with a second sliding connection structure matching the curvature of the first arc-shaped structure, and the top of the second movable block is provided with a second arc-shaped structure matching the curvature of the first arc-shaped structure.

[0015] The first arc-shaped structure and the second arc-shaped structure are connected through the second sliding connection structure to realize sliding connection in an arc plane, and further realize coaxial rotation connection of the first movable block and the second movable block in the horizontal plane.

[0016] Compared with the prior art, the present application can at least realize one of the following beneficial effects:

[0017] (1) The first limiting movement device and the second limiting movement device are set as guide rails to realize movement of the self-adaptive clamping unit in a limiting area of the guide rail relative to the first limiting movement device and movement of the first limiting movement device in the limiting area of the guide rail relative to the second limiting movement device; the first power device is set as a servo motor to realize lifting of the self-adaptive clamping unit under accurate control in cooperation with the screw rod and the screw nut in the first lifting device; and further, the self-adaptive clamping unit is freely translated in each direction of the three coordinate axes in the coordinate system.

[0018] (2) The rotation shafts of the first movable block and the second movable block are perpendicular to the rotation shafts of the second movable block and the base, and intersect with the rotation shafts of the suction cup and the first movable block at a positioning point in the suction plane of the suction cup; the suction cup and the suctioned part are rotated in any two mutually perpendicular directions in the suction plane of the suction cup and in the direction perpendicular to the suction plane, and are self-adaptive in the normal direction of the positioning point; compared with the prior art, on the one hand, the normal direction self-adaption of the fixture positioning point solves the change of the clamping surface posture and the stress damage caused by the posture adjustment of the part to be machined; on the other hand, the normal direction self-adaption of the positioning point improves the problems of large deformation and poor positioning accuracy caused by flexible clamping; and on the other hand, compared with the traditional rigid clamping, the normal direction self-adaption of the fixture positioning point of the present application can avoid the influence of the small deformation of the clamping area on the positioning accuracy, reduce the rigid requirement of the structure to be clamped, and expand the application range.

[0019] (3) The application realizes the self-adaptation of the second movable block and the base in the rotation axis direction by setting the arc-shaped structure on the second movable block and the base, and setting the first sliding connection structure matching the curvature of the arc-shaped structure between the two; at the same time, the arc-shaped structure is set on the second movable block and the first movable block in the direction perpendicular to the rotation axis direction of the second movable block and the base, and the second sliding connection structure matching the curvature of the arc-shaped structure is set between the two, so as to realize the self-adaptation of the second movable block and the first movable block in the rotation axis direction, and the rotation axis of the second movable block and the base intersects with the rotation axis of the second movable block and the first movable block at the positioning point in the horizontal plane, thereby realizing the self-adaptation in the horizontal plane; at the same time, the chuck is coaxially connected with the first movable block in the direction perpendicular to the adsorption plane of the chuck, and the axis line passes through the positioning point, so as to realize the self-adaptation at the positioning point in the spatial coordinate system. Compared with the prior art, the posture change of the clamping surface and the stress damage caused by the posture adjustment of the to-be-processed part are solved; the positioning point of the clamping device in the change of the coordinate axis translation and the rotation around the coordinate axis is controlled on the surface of the to-be-processed part, the calculation process and the control program are simplified compared with the prior art, and the operation convenience is improved.

[0020] In the application, the above technical solutions can be combined with each other to realize more preferred combination solutions. Other features and advantages of the application will be described in the subsequent description, and some advantages will become apparent from the description, or will be understood by implementing the application. The purposes and other advantages of the application can be realized and obtained from the specific embodiments and the contents particularly pointed out in the description, the drawings and the claims. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0022] Figure 1 It is an external structure schematic diagram of the self-adaptive clamping unit of the brittle material structure in an embodiment of the application;

[0023] Figure 2 It is an internal structure schematic diagram of the self-adaptive clamping unit of the brittle material structure in an embodiment of the application;

[0024] Figure 3 It is a three-degree-of-freedom clamping device connection structure schematic diagram of the brittle material structure in an embodiment of the application;

[0025] Figure 4 It is a posture adjustment system structure schematic diagram of the brittle material structure in an embodiment of the application;

[0026] Figure 5 It is a single-degree-of-freedom clamping device connection structure schematic diagram in an embodiment of the application;

[0027] Figure 6 This is a schematic diagram of the external structure of the auxiliary support device in one embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the internal structure of the auxiliary support device in one embodiment of the present invention.

[0029] Figure label:

[0030] Adaptive clamping unit 5; suction cup 501; first connecting structure 502; first movable block 503; second baffle 504; second movable block 505; base 506; first baffle 507; internal region 5021; external region 5022; first arc-shaped structure 5031; second sliding connecting structure 5041; second arc-shaped structure 5051; third arc-shaped structure 5052; fourth arc-shaped structure 5061; first sliding connecting structure 5071; self-lubricating structure 508; displacement adjustment unit 3; first limit movement Device 302; Second limiting movement device 303; First lifting device 304; First power device 305; Second power device 306; Third power device 307; First lead screw 308; First lead screw nut 309; Clamping device platform 310; Adjustment unit 4; Third limiting movement device 401; Second lifting device 402; Second power device 403; Height adjustment unit 6; Horizontal support device 601; Height adjustment device 602; Hollow connection structure 603; Fifth lead screw nut 604; Fifth lead screw 605. Detailed Implementation

[0031] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0032] To clearly illustrate the technical solution of the present invention, the following technical terms are further defined:

[0033] Posture adjustment: In this invention, posture adjustment refers to adjusting the posture of the structural component to the expected machining position after it has been installed and fixed in the machine tool.

[0034] Normal adaptation: If the contact plane between the clamping device and the object being clamped rotates at any angle relative to the normal direction of the plane, while keeping the position of a certain point within the contact plane unchanged, it is called normal adaptation.

[0035] Brittle material structural components possess a certain degree of rigidity and can be clamped using rigid fixtures. However, due to furniture size limitations, excessive clamping force or localized concentration can lead to surface damage and deformation. Commonly used flexible clamping fixtures, due to their degrees of freedom and deformation, present difficulties in positioning the clamping area. After rotation, deformation under gravity affects machining accuracy, hindering their application in precision machining. Furthermore, after fixing the part in machine tool processing, the fixture needs to be adjusted to the desired position for further processing. However, existing fixtures, due to limitations in their connection methods, cannot accommodate these directional adjustments. This is because the contact surface between the fixture and the workpiece is planar. During posture changes, not only is translation along the spatial coordinate axes necessary, but rotation around these axes is also required. Existing fixed fixtures cannot accommodate both types of motion changes, easily leading to stress and strain, mismatch between the fixture and workpiece surfaces, and decreased positioning accuracy.

[0036] Furthermore, in order to achieve attitude adjustment control within the machine tool coordinate system, it is necessary to adjust and change the position of the fixture, and clarify the coordinates of the fixture's own change base point and the coordinates of the fixture's control positioning point on the surface of the workpiece. Traditional methods are based on controlling the change of the fixture's own coordinates, and then indirectly controlling the change of the fixture's control positioning point on the surface of the workpiece. The conversion process between the two coordinates is extremely complex and not conducive to operation.

[0037] This invention discloses a three-degree-of-freedom clamping device for brittle material structural components, such as... Figure 3 As shown, the device includes the aforementioned adaptive clamping unit 5 and displacement adjustment unit 3. The displacement adjustment unit 3 includes: a first lifting device 304 movably connected to the adaptive clamping unit 5 for lifting the adaptive clamping unit 5; a first limiting moving device 302 slidably connected to the first lifting device 304 in a horizontal plane; and a second limiting moving device 303 slidably connected to the first limiting moving device 302 in a horizontal plane. The first lifting device 304 moves horizontally within the limiting track of the first limiting moving device 302. The second limiting moving device 303 is fixed to the clamping device platform 310. The first limiting moving device 302 moves horizontally within the limiting track of the second limiting moving device 303 and is perpendicular to the direction of movement of the first lifting device 304 within the limiting track of the first limiting moving device 302.

[0038] Specifically, adaptive clamping, such as Figure 1 and Figure 2As shown, the clamping unit 5 is provided with a suction cup 501, a first movable block 503 coaxially connected with the suction cup 501 in the vertical suction cup adsorption plane direction, a second movable block 505 coaxially connected with the first movable block 503 in the horizontal plane, and a base 507 coaxially connected with the second movable block 505 in the horizontal plane, wherein the rotation shafts of the first movable block 503 and the second movable block 505 are perpendicular to the rotation shafts of the second movable block 505 and the base 507, and the rotation shafts of the suction cup 501 and the first movable block 503 intersect at a positioning point in the suction cup adsorption plane.

[0039] It should be noted that the center of the suction cup adsorption plane is taken as the positioning point, and the control point on the surface of the structure; in the machine tool processing program control, it is necessary to select the control point to adjust the posture, position and process the structure.

[0040] The normal self-adaptation has important significance in the field of flexible clamping: on the one hand, for the change of the clamping plane relative to the posture of the part to be processed during the posture adjustment process, the suction cup and its adsorption parts are adjusted by rotating in any two mutually perpendicular directions and the vertical suction cup adsorption plane direction in the suction cup adsorption plane, avoiding stress and mismatch of the adsorption plane, solving the stress damage caused by the change of the clamping surface posture due to the adjustment of the posture of the part to be processed; on the other hand, the change points of the clamping device in the coordinate axis translation and rotation are the control positioning points on the surface of the part to be processed, so the calculation of the change of the clamping change point to the positioning point is not needed, simplifying the calculation process and control program, and improving the operation convenience.

[0041] In addition, the flexible clamping clamp has a certain degree of freedom and deformation amount relative to the rigid clamping, avoiding damage to the clamped part; however, the degree of freedom and deformation amount will lead to difficulty in positioning the clamped area, which is also the reason why flexible clamping is difficult to apply in precision machining; the present application realizes the self-adaptation of the positioning point in the adsorption plane by adjusting the position of the three-direction rotation shaft of the suction cup, without leaving deformation amount, so as to ensure the positioning accuracy. In addition, the present application uses suction cup adsorption, and the vacuum uniformly applies pressure, which is more uniform than the fixed force of the rigid clamp; for the deformation caused by local force, the self-adaptation structure of the present application can greatly offset the change of the positioning point coordinates, so as to avoid the influence of the small deformation of the clamped area on the positioning accuracy, reduce the rigidity requirement of the structure to be clamped, and expand the application range.

[0042] Specifically, in order to realize the adsorption of the suction cup to the surface of the structural member and complete the installation and fixation of the structural member, the bottom surface of the suction cup 5 is provided with a vacuum extraction hole and a flexible sealing structure around the bottom surface. When vacuum extraction is performed, the air between the sealing structure and the surface of the structural member is discharged, and the sealing structure is tightly attached to the surface of the structural member under the action of atmospheric pressure to complete the adsorption and fixation of the suction cup to the surface of the structural member.

[0043] Specifically, the flexible sealing structure is selected from any one of nitrile rubber and silicone rubber.

[0044] Preferably, the flexible sealing structure is nitrile rubber.

[0045] Specifically, in order to realize the coaxial rotating connection of the suction cup 501 in the direction perpendicular to the suction cup adsorption plane and the first movable block 503, the first movable block 503 is provided with a first connecting structure 502; the first connecting structure 502 is provided with an inner region 5021 and an outer region 5022 that can rotate coaxially, the suction cup 501 is fixedly connected to the inner region 5021, and the outer region 5022 is fixedly connected to the first movable block 503, thereby realizing the rotation of the suction cup 501 relative to the first movable block 503 in the suction cup adsorption plane.

[0046] In order to ensure that the positioning point in the suction cup adsorption plane does not change relative to the rotation axis position of the suction cup 501 and the first movable block 503 when they rotate coaxially, the rotation axis of the suction cup 501 and the first movable block 503 needs to pass through the positioning point, thereby realizing self-adaptation in the rotation direction of the coordinate axis.

[0047] It should be noted that the invariance of the rotation axis position of the suction cup 501 and the first movable block 503 in the horizontal plane when they rotate coaxially is of great significance to the self-adaptation of the clamping unit. For example, when the rotation axis of the suction cup 501 and the first movable block 503 is taken as a coordinate axis in the coordinate system, the structural member rotates around the coordinate axis, the suction cup 501 changes with the posture of the clamped structural member, and the positioning point coordinate remains unchanged, thereby realizing self-adaptation in the rotation direction of the coordinate axis.

[0048] Specifically, the first connecting structure 502 is selected from a rolling bearing.

[0049] Specifically, to realize coaxial rotation connection of the first movable block 503 and the second movable block 505 in the horizontal plane, the first movable block 503 is provided with a first arc-shaped structure 5031 which is vertically curved to the adsorption plane of the suction cup at the bottom of the first movable block 503; the second movable block 505 is fixedly connected with a second baffle 504, and the second baffle 504 is provided with a second sliding connection structure 5041 which matches the curvature of the first arc-shaped structure 5031; the second movable block 505 is provided with a second arc-shaped structure 5051 which matches the curvature of the first arc-shaped structure 5031 at the top of the second movable block 505; the first arc-shaped structure 5031 and the second arc-shaped structure 5051 are connected through the second sliding connection structure 5041 to realize sliding connection in the arc-shaped plane, thereby realizing coaxial rotation connection of the first movable block 503 and the second movable block 505 in the horizontal plane.

[0050] Specifically, to realize coaxial rotation connection of the first movable block 503 and the second movable block 505 in the horizontal plane, the first arc-shaped structure 5031 is provided with two arc-shaped structures which are symmetrically arranged at both sides of the bottom surface of the first movable block 503; the second baffle 504, the second sliding connection structure 5041 and the second arc-shaped structure 5051 are all provided with two arc-shaped structures which are symmetrically arranged at both sides of the bottom surface of the first movable block 503.

[0051] To ensure that the positioning point in the adsorption plane of the suction cup does not change relative to the rotation axis position of the first movable block 503 and the second movable block 505 when they rotate coaxially in the horizontal plane, the first arc-shaped structure 5031, the second arc-shaped structure 5051 and the second sliding connection structure 5041 which are arranged at both sides of the bottom surface of the first movable block 503 need to pass through the center of the arc-shaped structure on the corresponding side.

[0052] Similarly, the relative position of the first movable block 503 and the second movable block 505 to the rotation axis does not change when they rotate coaxially in the horizontal plane, which is of great significance to the self-adaptation of the clamping unit. For example, when the rotation axis of the first movable block 503 and the second movable block 505 is taken as a coordinate axis in a coordinate system, the structure rotates around the coordinate axis, the suction cup 501 changes with the posture of the clamped structure, and the positioning point coordinate does not change, thereby realizing self-adaptation in the rotation direction of the coordinate axis.

[0053] Specifically, the second sliding connection structure 5041 is a rotating wheel which rotates vertically to the adsorption plane of the suction cup; the rotating wheel is provided with a plurality of rotating wheels, and the axes of the rotating wheels match the curvature of the first arc-shaped structure 5031.

[0054] In implementation, the first arc-shaped structure 5031, the second sliding connection structure 5041, and the second arc-shaped structure 5051 are stacked in sequence, the second sliding connection structure 5041 slides in the arc-shaped track between the first arc-shaped structure 5031 and the second arc-shaped structure 5051, so that the second baffle 504 and the first movable block 503 fixedly connected with the second baffle 504 rotate relative to the second movable block 505. Specifically, to realize the coaxial rotary connection of the second movable block 505 and the base 506 in the horizontal plane, the second movable block 505 is provided with a third arc-shaped structure 5052 that is curved in the direction perpendicular to the suction plate adsorption plane on the side surface perpendicular to the rotation shaft of the first movable block 503 and the second movable block 505; the second movable block 505 is fixedly connected with a first baffle 507 provided with a first sliding connection structure 5071 matching the curvature of the third arc-shaped structure 5052; the base 506 is provided with a fourth arc-shaped structure 5061 matching the curvature of the third arc-shaped structure 5052 on the top on the same side as the second movable block 505 is provided with the third arc-shaped structure 5052; the third arc-shaped structure 5052 and the fourth arc-shaped structure 5061 are connected through the first sliding connection structure 5071 to realize the sliding connection in the arc-shaped plane, thereby realizing the coaxial rotary connection of the second movable block 505 and the base 506 in the horizontal plane, and the rotation shafts thereof are perpendicular to the rotation shaft of the first movable block 503 and the second movable block 505.

[0055] Specifically, to realize the coaxial rotary connection of the second movable block 505 and the base 506 in the horizontal plane, the third arc-shaped structure 5052 is provided with two structures symmetrically arranged on the two side surfaces of the second movable block 505; the first baffle 507, the first sliding connection structure 5071, and the fourth arc-shaped structure 5061 are all provided with two structures symmetrically arranged on the two side surfaces of the second movable block 505.

[0056] Similarly, to ensure that the positioning point in the suction plate adsorption plane does not change relative to the position of the rotation shaft when the second movable block 505 and the base 506 rotate coaxially in the horizontal plane, the center lines of the two corresponding arc-shaped structures on the bottom surface of the second movable block 505 need to pass through the positioning point, thereby realizing self-adaptation in the rotation direction of the coordinate axis.

[0057] Specifically, the first sliding connection structure 5071 is a rotating wheel that rotates in the direction perpendicular to the suction plate adsorption plane; a plurality of rotating wheels are arranged to match the curvature of the third arc-shaped structure 5052.

[0058] In implementation, the third arc-shaped structure 5052, the first sliding connection structure 5071 and the fourth arc-shaped structure 5061 are stacked in sequence, the first sliding connection structure 5071 slides in the arc-shaped track between the third arc-shaped structure 5052 and the fourth arc-shaped structure 5061, so that the first baffle 507 and the second movable block 505 fixedly connected with the first baffle 507 rotate relative to the base 506, and self-adaption in the rotation shaft direction of the second movable block 505 and the base 506 is realized.

[0059] Compared with the prior art, the second movable block and the base are provided with arc-shaped structures, the first sliding connection structure matching the curvature of the arc-shaped structures is arranged between the second movable block and the base, self-adaption in the rotation shaft direction of the second movable block and the base is realized, arc-shaped structures are arranged on the second movable block and the first movable block in the direction perpendicular to the rotation shaft direction of the second movable block and the base, the second sliding connection structure matching the curvature of the arc-shaped structures is arranged between the second movable block and the first movable block, self-adaption in the rotation shaft direction of the second movable block and the first movable block is realized, the rotation shaft axes of the second movable block and the base and the rotation shaft axes of the second movable block and the first movable block intersect at the positioning point in the horizontal plane, and then self-adaption in the horizontal plane is realized; the suction cup is coaxially connected with the first movable block in the direction perpendicular to the suction plane of the suction cup, and the axis passes through the positioning point, and self-adaption at the positioning point in the spatial coordinate system is realized. Compared with the prior art, the posture change of the clamping surface and the stress damage caused by the posture adjustment of the part to be machined are solved, the change base points of the clamp in the coordinate axis translation and rotation around the coordinate axis are the surface control positioning point of the part to be machined, the calculation process and the control program are simplified, and the operation convenience is improved.

[0060] In order to further improve the lubricity between the first sliding connection structure and the arc-shaped structure connected therewith and the second sliding connection structure and the arc-shaped structure connected therewith, the self-lubricating structure 508 is arranged between the first sliding connection structure, the second sliding connection structure and the arc-shaped structure connected therewith.

[0061] Specifically, the self-lubricating structure 508 is prepared from a self-lubricating material and is provided with a curvature matching the first sliding connection structure, the second sliding connection structure and the arc-shaped structure connected therewith.

[0062] Specifically, the first lifting device 304 comprises an external member slidingly connected with the first limiting moving device 302 and an internal member movably connected with the external member; the internal member is fixedly connected with the self-adaptive clamping unit 5 and moves up and down relative to the external member, so as to realize the lifting of the self-adaptive clamping unit 5.

[0063] Specifically, the connection area of the external member and the internal member is provided with a nut, and the internal member is a screw rod matching the nut in thread.

[0064] The clamping device is further provided with a first power device 305 for providing power for the first lifting device 304; the first power device 305 is provided with a first device body and a power unit movably connected with the first device body; the power unit is connected with the internal member of the first lifting device 304 through power connection, and the first device body is fixedly connected with the external member of the first lifting device 304; under the action of the power unit, the internal member of the first lifting device 304 is displaced up and down relative to the external member, thereby realizing the lifting of the self-adaptive clamping unit 5 under the control of the power unit.

[0065] Preferably, the first power device 305 is a servo motor, which cooperates with the lead screw and the nut in the first lifting device 304 to realize the lifting of the self-adaptive clamping unit 5 under accurate control.

[0066] Preferably, the first limiting movement device 302 and the second limiting movement device 303 are guide rails, which realize the movement of the self-adaptive clamping unit 5 relative to the first limiting movement device 302 within the guide rail limiting area and the movement of the first limiting movement device 302 relative to the second limiting movement device 303 within the guide rail limiting area.

[0067] Compared with the prior art, the self-adaptive clamping unit can move relative to the first limiting movement device within the guide rail limiting area and the first limiting movement device can move relative to the second limiting movement device within the guide rail limiting area by setting the first limiting movement device and the second limiting movement device as guide rails; meanwhile, the self-adaptive clamping unit can be lifted under accurate control by setting the first power device as a servo motor and cooperating with the lead screw and the nut in the first lifting device; thereby realizing the free translation of the self-adaptive clamping unit in each direction of the three coordinate axes within the coordinate system.

[0068] Specifically, in order to realize the accurate control of the movement of the self-adaptive clamping unit 5 relative to the first limiting movement device 302 and the movement of the first limiting movement device 302 relative to the second limiting movement device 303, the clamping device is further provided with a second limiting movement device 303, a second power device 306 for providing power for the movement of the first limiting movement device 302 relative to the second limiting movement device 303, and a third power device 307 for providing power for the movement of the self-adaptive clamping unit 5 relative to the first limiting movement device 302; the second power device 306 and the third power device 307 are fixedly connected with the clamping device platform 310; the wall plate fixedly connected to one side of the first limiting movement device 302 and the first lifting device 304 are fixedly connected with a first nut 309; the power unit of the second power device 306 and the third power device 307 is connected with a first lead screw 308, the first lead screw 308 is threadedly matched with the first nut 309, and the first lead screw 308 is rotatably connected with the clamping device platform 310 after being arranged through the first nut 309.

[0069] During implementation, the power unit of the third power device 307 drives the first lead screw 308 to rotate, the first lead screw 309 and its fixedly connected first limiting moving device 302 translate relative to each other along the second limiting moving device 303, and the adaptive clamping unit 5 translates along the second limiting moving device 303 along with the first limiting moving device 302, thereby realizing the adaptive clamping unit 5's limited translation along the second limiting moving device 303.

[0070] During implementation, the power unit of the second power device 306 drives the first lead screw 308 to rotate, the first lead screw 309 and its fixedly connected first lifting device 304 translate relative to the first limiting moving device 302, and the adaptive clamping unit 5 translates along the first lifting device 304 along the first limiting moving device 302, thereby realizing the adaptive clamping unit 5's limited translation along the first limiting moving device 302.

[0071] Preferably, the first lead screw 309 is connected to the clamping device platform 310 via bearings.

[0072] On the other hand, the present invention also discloses an attitude adjustment system for brittle material structural components, such as Figure 4 As shown, the three-degree-of-freedom clamping device for the aforementioned brittle material structural component includes: three-degree-of-freedom clamping devices symmetrically arranged on both sides of the system; a single-degree-of-freedom clamping device located in the middle area between the two three-degree-of-freedom clamping devices; and auxiliary support devices distributed on both sides of the system for supporting the upper part of the structural component. An adaptive clamping unit 5 is provided on one side of the structural component fixed by the single-degree-of-freedom clamping device and the auxiliary support device, forming a structural component fixing area with the adaptive clamping unit 5 within the three-degree-of-freedom clamping device. The auxiliary support device provides additional clamping force to cope with the cutting force after the system has completed the attitude adjustment of the structural component to be processed. In the machine tool's three-dimensional coordinate system, the three-degree-of-freedom clamping device can adjust the position of the adaptive clamping unit 5 in each coordinate axis direction; the single-degree-of-freedom clamping device can displace the adaptive clamping unit 5 in the vertical coordinate axis direction.

[0073] Specifically, such as Figure 5 As shown, the single-degree-of-freedom clamping device includes: an adjustment unit 4 connected to the adaptive clamping unit 5 for adjusting the displacement of the adaptive clamping unit 5; the adjustment unit 4 includes: a second lifting device 402 connected to the adaptive clamping unit 5 for raising and lowering the adaptive clamping unit 5; the second lifting device 402 includes an external component and an internal component movably connected to the external component; the internal component is fixedly connected to the adaptive clamping unit 5 and moves up and down relative to the external component, thereby realizing the raising and lowering of the adaptive clamping unit 5.

[0074] Specifically, the area connecting the external and internal components is provided with a nut, and the internal component is a lead screw that matches the thread of the nut.

[0075] The single-degree-of-freedom clamping device is further provided with a second power device 403 for providing power for the second lifting device 402; the second power device 403 is provided with a second lifting device body and a power unit movably connected with the second device body; the power unit is connected with the internal member of the second lifting device 402 through power connection, and the second lifting device body is fixedly connected with the external member of the second lifting device 402; under the action of the power unit, the internal member of the second lifting device 402 is displaced up and down relative to the external member, thereby realizing the lifting of the self-adaptive clamping unit 5 under the control of the power unit.

[0076] Preferably, the second power device 403 is a servo motor, which cooperates with the lead screw and the nut in the second lifting device 402 to realize the lifting of the self-adaptive clamping unit 5 under accurate control.

[0077] The single-degree-of-freedom clamping device is further provided with a third limiting movement device 401 slidably connected with the external member of the second lifting device 402 and providing limiting for the sliding of the external member of the second lifting device 402.

[0078] Specifically, the third limiting movement device 401 is a guide rail, which can realize the translation of the external member of the second lifting device 402 in the limiting direction of the guide rail.

[0079] It should be noted that the single-degree-of-freedom clamping device is used for supporting the structure to be adjusted in posture and participates in the translation and posture adjustment of the structure in the vertical direction.

[0080] In order to further improve the stability of the support of the structure to be machined during posture adjustment, as shown in Figure 4 As shown in the single-degree-of-freedom clamping device, the self-adaptive clamping unit 5 is matched with symmetrically arranged three-degree-of-freedom clamping devices on both sides, and the suction cups 501 in the three-degree-of-freedom clamping devices are arranged in a ring shape with the opening direction of the suction cups 501 in the single-degree-of-freedom clamping device facing the structure, and the ring plane is perpendicular to the limiting movement direction of the third limiting movement device 401.

[0081] Specifically, as shown in Figure 6 The auxiliary support device is provided with a height adjusting device 602 fixedly connected with the clamping device platform 310 at one end, a horizontal support device 601 fixedly connected with the height adjusting device 602 at the other end, and a hollow connecting structure 603 fixedly connected with the other end of the horizontal support device 601 for connecting the self-adaptive clamping unit 5 and the horizontal support device 601.

[0082] In implementation, the present application adsorbs and clamps the structural member to be processed by the single-degree-of-freedom clamping device and provides support force from below; at the same time, the three-degree-of-freedom clamping device adsorbs and clamps the structural member to be processed and provides stable support from both sides to prevent the structural member to be processed from rolling and tilting; further, the machine tool coordinate system is used, the vertical direction is taken as the z axis, the direction parallel to the third limiting movement device 401 in the horizontal plane is taken as the y axis, and the x axis is arranged in the direction perpendicular to the z axis and the y axis.

[0083] Compared with the prior art, the present application matches the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device, the single-degree-of-freedom clamping device and the three-degree-of-freedom clamping device are simultaneously involved in vertical direction displacement, the single-degree-of-freedom clamping device is used to share gravity, and the influence of large displacement in the direction of gravity on the three-degree-of-freedom clamping device is reduced; the three-degree-of-freedom clamping device is arranged on both sides of the workpiece to be processed, which not only enhances stability but also helps to balance the force when adjusting the posture, avoids the generation of additional rotational torque, and improves the accuracy of adjusting the posture.

[0084] The present application discloses a method for adjusting the posture of a brittle material structural member, using the above-mentioned posture adjusting system, which specifically comprises the following steps:

[0085] S1: preliminarily clamping and fixing the structural member to be processed by the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device;

[0086] S2: moving the structural member to be processed in the z axis direction by the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device;

[0087] S3: releasing the clamping and fixing of the structural member to be processed by the single-degree-of-freedom clamping device, and adjusting the structural member to be processed to the target position by the three-degree-of-freedom clamping device in terms of translation change in each coordinate axis and rotation change around each coordinate axis;

[0088] S4: assisting the structural member after adjusting the posture by the auxiliary support device to make the subsequent processing process more stable.

[0089] It should be noted that any position change of the space structure can be decomposed into translation change in three coordinate axes of the coordinate system and rotation change around three coordinate axes.

[0090] In order to further realize the radial rotation of the suction cup 501 in the adsorption plane direction, as shown in Figure 7 The auxiliary support device is provided with a height adjusting unit 6 for self-adapting to the height adjustment of the clamping unit 5; the height adjusting unit 6 comprises a fifth nut 604 and a fifth screw rod 605 threadedly matched with the fifth nut 604; one end of the fifth screw rod 605 is fixedly connected with the suction cup 501 coaxially, and the other end is rotationally connected with the height adjusting device 602 coaxially.

[0091] Specifically, the fifth screw rod 604 is connected with the height adjusting device 602 through a bearing.

[0092] In order to further improve the support stability of the structure to be machined during cutting, such as Figure 6 As shown, the suction cups 501 in the auxiliary support device are arranged in a ring shape with the opening of the suction cups 501 in the two-side three-degree-of-freedom clamping device facing the structure, and the ring plane is perpendicular to the limiting movement direction of the third limiting movement device 401 and matches the curvature of the ring where the suction cups 501 in the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device are located.

[0093] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A three degree of freedom chucking device for a brittle material structure, characterized by, The clamping device comprises an adaptive clamping unit and a displacement adjusting unit connected with the adaptive clamping unit. The displacement adjusting unit is used for adjusting the spatial position of the adaptive clamping unit. The displacement adjusting unit comprises a first lifting device movably connected with the adaptive clamping unit for lifting the adaptive clamping unit, a first limiting moving device slidably connected with the first lifting device in a horizontal plane, and a second limiting moving device slidably connected with the first limiting moving device in the horizontal plane; the first lifting device moves horizontally in a limiting track of the first limiting moving device; the second limiting moving device is fixed to a platform of the clamping device, and the first limiting moving device moves horizontally in a limiting track of the second limiting moving device and is perpendicular to the moving direction of the first lifting device in the limiting track of the first limiting moving device. The adaptive clamping unit is provided with a suction disc, a first movable block coaxially rotatably connected with the suction disc in a vertical direction of a suction plane of the suction disc, a second movable block coaxially rotatably connected with the first movable block in a horizontal plane, and a base coaxially rotatably connected with the second movable block in the horizontal plane. The rotation axis of the first movable block relative to the second movable block is perpendicular to the rotation axis of the second movable block relative to the base, and the rotation axes of the suction disc relative to the first movable block intersect at a positioning point in the suction plane of the suction disc. The rotation axis of the second movable block relative to the base intersects with the rotation axis of the first movable block relative to the second movable block at the positioning point in the horizontal plane, thereby realizing self-adaptation in the horizontal plane; meanwhile, the suction disc is coaxially rotatably connected with the first movable block in the vertical direction of the suction plane of the suction disc, and the axis line passes through the positioning point, thereby realizing self-adaptation at the positioning point in a spatial coordinate system. The bottom surface of the suction disc is provided with a vacuum hole, and the periphery of the bottom surface of the suction disc is provided with a flexible sealing structure.

2. The clamping device of claim 1, wherein The first lifting device comprises an external member slidably connected with the first limiting moving device and an internal member movably connected with the external member; the internal member is fixedly connected with the adaptive clamping unit and moves up and down relative to the external member.

3. The clamping device of claim 2, wherein The connection area between the external member and the internal member is provided with a screw nut, and the internal member is a screw rod matched with the screw nut.

4. The clamping device of claim 3, wherein The clamping device is further provided with a first power device for providing power for the first lifting device; the first power device is provided with a first device body and a power unit movably connected with the first device body; the power unit is connected with the internal member of the first lifting device through power connection, and the first device body is fixedly connected with the external member of the first lifting device; the internal member of the first lifting device moves up and down relative to the external member, thereby realizing lifting of the adaptive clamping unit under control of the power unit.

5. The clamping device of claim 4, wherein The first power device is a servo motor, which cooperates with the first lifting device to realize lifting of the adaptive clamping unit under precise control.

6. The clamping device of claim 5, wherein The first limiting moving device and the second limiting moving device are guide rails.

7. The clamping device of claim 6, wherein The clamping device is further provided with a second power device for providing power for movement of the first limiting movement device relative to the second limiting movement device, and a third power device for providing power for movement of the self-adapting clamping unit relative to the first limiting movement device; the second power device and the third power device are fixedly connected with the clamping device platform; a first screw nut is fixedly connected with a wall plate and a first lifting device on one side of the first limiting movement device; a first lead screw is connected with a power unit of the second power device and the third power device, and the first lead screw is threadedly matched with the first screw nut, and the first lead screw is rotatably connected with the clamping device platform after being arranged through the first screw nut.

8. The clamping device of claim 7, wherein The first lead screw is connected with the clamping device platform through a bearing.

9. The clamping device of claim 8, wherein The bottom of the first movable block is provided with a first arc-shaped structure protruding outward; a second baffle is fixedly connected with a side wall of the second movable block, and the second baffle is provided with a second sliding connection structure matching the curvature of the first arc-shaped structure; the top of the second movable block is provided with a second arc-shaped structure matching the curvature of the first arc-shaped structure. The first arc-shaped structure and the second arc-shaped structure are slidably connected in an arc plane through the second sliding connection structure, so as to realize coaxial rotation connection of the first movable block and the second movable block in a horizontal plane.

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