Adaptive clamping unit, clamping device and attitude adjustment system for brittle material structural components

Abstract

This invention relates to the field of mechanical manufacturing technology, and particularly to an adaptive clamping unit, clamping device, and attitude adjustment system for brittle material structural parts. It comprises: a suction cup; a first movable block coaxially rotatably connected to the suction cup in a direction perpendicular to the suction cup's adsorption plane; a second movable block rotatably connected to the first movable block in a horizontal plane; and a base rotatably connected to the second movable block in a horizontal plane. The rotation axes of the first and second movable blocks are perpendicular to the rotation axes of the second movable block and the base, and intersect with the rotation axes of the suction cup and the first movable block at a positioning point within the suction cup's adsorption plane. This positioning point is a control point on the surface of the structural part used for attitude adjustment, positioning, and processing. This invention solves the problems of existing fixtures, such as changes in the clamping surface attitude, stress damage, large deformation, and poor positioning accuracy caused by adjustments in the attitude of the workpiece, by setting up a rotation mechanism in three mutually perpendicular directions, with the three rotation axes converging at the positioning point in the normal direction of the positioning point.

Description

Technical Field

[0001] This invention relates to the technical field of processing and manufacturing, and in particular to an adaptive clamping unit, clamping device and attitude adjustment system for brittle material structural parts. Background Technology

[0002] Composite insulation materials, such as inorganic phenolic aerogel (IPC), are integrally molded multi-layered composite structures. They consist of a multi-layered gradient fiber preform as reinforcement, a dense, erosion-resistant surface layer, and a core layer of atmospheric-pressure-dried phenolic aerogel. However, composite insulation materials often suffer from brittleness, poor machinability, weak compressive strength, and poor rigidity. In existing technologies, insufficient clamping force during rigid machining leads to insecure clamping and localized vibration and deformation; excessive clamping force causes surface damage and deformation. Flexible clamping fixtures, due to their degrees of freedom and deformation capacity, present difficulties in positioning the clamping area. Furthermore, deformation under gravity after rotation affects machining accuracy, hindering precision machining applications. In addition, existing fixtures, being simultaneously fixed to both the workpiece and the machine tool, cannot simultaneously accommodate adjustments in all directions when the workpiece needs to be repositioned, making such adjustments difficult. Furthermore, composite thermal insulation materials, as thermal protection layers, come in a wide variety of structural shapes. In existing technologies, processing thermal protection layers requires the design of various specialized rigid clamping fixtures based on the specific structural form and processing location of different thermal protection layers. This increases the contact area of ​​the clamping fixtures and prevents damage to the thermal protection layer due to excessive local stress. Rigid clamping fixtures need to be designed specifically for the shape of the protective layer and lack universality, which increases the design and manufacturing costs of the fixtures and extends the product production cycle. Summary of the Invention

[0003] In view of the above analysis, the present invention aims to provide an adaptive clamping unit for brittle material structural parts, so as to solve at least one of the problems in the prior art, such as surface damage caused by clamping, low clamping accuracy, and the inability of the fixture to simultaneously meet the adjustment of the attitude in various directions.

[0004] The objective of this invention is mainly achieved through the following technical solutions:

[0005] This invention discloses an adaptive clamping unit for brittle material structural components, comprising: a suction cup, a first movable block coaxially rotatably connected to the suction cup in a direction perpendicular to the suction cup's adsorption plane, a second movable block coaxially rotatably connected to the first movable block in a horizontal plane, and a base coaxially rotatably connected to the second movable block in a horizontal plane.

[0006] Preferably, the first movable block has a first connecting structure at its center; the first connecting structure has an inner region and an outer region that can rotate coaxially, the suction cup is fixedly connected to the inner region, and the outer region is fixedly connected to the first movable block, so that the suction cup can rotate relative to the first movable block in the direction perpendicular to the suction cup adsorption plane.

[0007] Preferably, the bottom of the first movable block is provided with a first arc-shaped structure that bends in the direction of the suction cup adsorption plane; the side wall of the second movable block is fixedly connected with a second baffle, and the second baffle is provided with a second sliding connection structure that matches the curvature of the first arc-shaped structure; the top of the second movable block is provided with a second arc-shaped structure that matches the curvature of the first arc-shaped structure; the first arc-shaped structure and the second arc-shaped structure are slidably connected in the arc-shaped plane through the second sliding connection structure, thereby realizing the coaxial rotational connection between the first movable block and the second movable block in the horizontal plane.

[0008] Preferably, there are two first arc-shaped structures, which are symmetrically arranged on both sides of the bottom surface of the first movable block.

[0009] Preferably, the first arc-shaped structure, the second arc-shaped structure, and the second sliding connection structure provided on both sides of the bottom surface of the first movable block are connected by a line connecting the centers of the arc-shaped structures on both sides, which passes through a positioning point in the suction cup adsorption plane. The positioning point is a control point on the surface of the structural component used for the adjustment, positioning, and processing of the structural component.

[0010] Preferably, the second sliding connection structure is a rotating wheel.

[0011] Preferably, the side of the second movable block is provided with a third arc-shaped structure that bends perpendicular to the suction cup adsorption plane; a first baffle is fixedly connected to the side wall of the second movable block, and the first baffle is provided with a first sliding connection structure that matches the curvature of the third arc-shaped structure.

[0012] The top of the base is provided with a fourth arc structure that matches the curvature of the third arc structure; the third arc structure and the fourth arc structure are connected in the arc plane through the first and second sliding connection structures, thereby realizing the coaxial rotation connection between the second movable block and the base in the horizontal plane.

[0013] Preferably, there are two third arc-shaped structures, symmetrically arranged on both sides of the second movable block.

[0014] A three-degree-of-freedom clamping device for brittle material structural components includes the clamping unit described above.

[0015] An attitude adjustment system for a brittle material structural component includes the aforementioned clamping unit or clamping device.

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

[0017] (1) This invention sets the rotation axes of the first movable block and the second movable block to be perpendicular to the rotation axes of the second movable block and the base, and intersects with the rotation axes of the suction cup and the first movable block at a positioning point within the suction cup adsorption plane; thus enabling the suction cup and its adsorbed parts to rotate in any two mutually perpendicular directions and the direction perpendicular to the suction cup adsorption plane within the suction cup adsorption plane, and to self-adapt in the normal direction at the positioning point; compared with the prior art, on the one hand, the self-adaptive positioning point of the fixture solves the problem of changes in the clamping surface posture and stress damage caused by the adjustment of the posture of the workpiece to be processed in the existing fixture; on the other hand, the self-adaptive positioning point improves the problems of large deformation and poor positioning accuracy caused by flexible clamping; and on the other hand, compared with traditional rigid clamping, the self-adaptive positioning point of the fixture in this solution can avoid the influence of small deformations in the clamping area on the positioning accuracy, reduce the rigidity requirements of the clamping structure, and expand the application range;

[0018] (2) This invention achieves self-adaptation in the rotation axis direction of the second movable block and the base by setting an arc-shaped structure on the second movable block and the base, and setting a first sliding connection structure between them that matches the curvature of the arc-shaped structure; at the same time, it achieves self-adaptation in the rotation axis direction of the second movable block and the first movable block by setting an arc-shaped structure on the second movable block and the base in the direction perpendicular to the rotation axis of the second movable block and the base, and setting a second sliding connection structure between them that matches the curvature of the arc-shaped structure; simultaneously, 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 achieving self-adaptation in the horizontal plane; at the same time, the suction cup is coaxially rotatably connected to the first movable block in the direction perpendicular to the suction cup adsorption plane, and the axis passes through the positioning point, thus achieving self-adaptation at the positioning point in the spatial coordinate system. Compared with the prior art, this invention solves the problem of clamping surface posture changes and stress damage caused by the adjustment of the posture of the workpiece in the existing fixture; it realizes that the base points for the changes of the fixture in the coordinate axis translation and rotation around the coordinate axis are all control positioning points on the surface of the workpiece, which simplifies the calculation process and control program compared with the prior art and improves the ease of operation.

[0019] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained through the embodiments described and the accompanying drawings, which are particularly pointed out. Attached Figure Description

[0020] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0021] Figure 1This is a schematic diagram of the external structure of the adaptive clamping unit in one embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the adaptive clamping unit in one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the connection structure of a three-degree-of-freedom clamping device in one embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the attitude adjustment system for a brittle material structural component in one embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the connection structure of a single-degree-of-freedom clamping device in one embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the external structure of the auxiliary support device in one embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the internal structure of the auxiliary support device in one embodiment of the present invention.

[0028] Figure label:

[0029] 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

[0030] 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.

[0031] To clearly illustrate the technical solution of the present invention, the following technical terms are further defined:

[0032] 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.

[0033] 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.

[0034] Brittle material structural components possess a certain degree of rigidity and can be clamped using rigid fixtures. However, due to the size limitations of the fixture, 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, can cause difficulties in positioning the clamping area. After rotation, deformation under gravity affects machining accuracy, making them unsuitable for precision machining applications. 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 attitude adjustments in various directions. This is because the contact surface between the fixture and the workpiece is planar. During attitude 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, thus easily generating stress and strain, leading to mismatch between the fixture and workpiece surfaces, and decreased positioning accuracy.

[0035] 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.

[0036] On one hand, this invention discloses an adaptive clamping unit for brittle material structural components, such as... Figure 1 and Figure 2 As shown, the clamping unit 5 includes a suction cup 501, a first movable block 503 coaxially rotatably connected to the suction cup 501 in the direction perpendicular to the suction cup adsorption plane, a second movable block 505 coaxially rotatably connected to the first movable block 503 in the horizontal plane, and a base 507 coaxially rotatably connected to the second movable block 505 in the horizontal plane. The rotation axes of the first movable block 503 and the second movable block 505 are perpendicular to the rotation axes of the second movable block 505 and the base 507, and intersect with the rotation axes of the suction cup 501 and the first movable block 503 at a positioning point in the suction cup adsorption plane. Based on the above configuration, the present invention can realize that the suction cup 501 and its adsorption parts can rotate in any two mutually perpendicular directions and three directions perpendicular to the suction cup adsorption plane in the suction cup adsorption plane, and adapt to the normal direction at the positioning point.

[0037] It should be noted that the center of the suction cup adsorption plane is used as the positioning point and as the control point on the surface of the structural component. In the machine tool machining program control, it is necessary to select the control point to adjust the posture, position and process the structural component.

[0038] Normal adaptation is of great significance in the field of flexible clamping: On the one hand, in response to the change in the posture of the clamping plane relative to the workpiece during the attitude adjustment process, the suction cup and its adsorption parts adjust themselves by rotating in three directions—any two mutually perpendicular directions within the suction cup adsorption plane and the direction perpendicular to the suction cup adsorption plane—avoiding stress and mismatch on the adsorption plane, and solving the problem of posture changes and stress damage on the clamping surface caused by the adjustment of the workpiece's posture in existing clamps; on the other hand, the reference points for the changes in coordinate axis translation and rotation around the coordinate axis of the clamp in this invention are all control positioning points on the surface of the workpiece, thus eliminating the need for calculations of the change in the clamping reference point to the positioning point, simplifying the calculation process and control program, and improving operational convenience.

[0039] In addition, compared to rigid clamping, flexible clamping fixtures have a certain degree of freedom and deformation at the clamping point, avoiding damage to the clamped parts. However, the same degree of freedom and deformation can lead to difficulties in positioning the clamping area, which is why flexible clamping is difficult to apply in precision machining. This invention achieves self-adaptation of the positioning point within the adsorption plane by adjusting the position of the three-way rotating axis of the suction cup, without leaving any deformation, thus ensuring positioning accuracy. Furthermore, this invention uses suction cup adsorption and uniform vacuum pressure, which is more uniform than the fixed force of rigid clamps. For deformation caused by localized force, the adaptive structure of this invention can largely offset and ensure that the coordinates of the positioning point remain unchanged. This avoids the impact of small deformations in the clamping area on positioning accuracy, reduces the rigidity requirements of the clamped structural parts, and expands the application range.

[0040] Specifically, in order to achieve the suction cup adsorption on the surface of the structural component and complete the installation and fixation of the structural component, the bottom surface of the suction cup 5 is provided with a vacuum hole and a flexible sealing structure around the bottom surface. When vacuuming, the air between the sealing structure and the surface of the structural component is discharged. Under the action of atmospheric pressure, the sealing structure tightly adheres to the surface of the structural component to complete the suction cup adsorption and fixation of the structural component.

[0041] Specifically, the flexible sealing structure can be made of either nitrile rubber or silicone rubber.

[0042] Preferably, the flexible sealing structure is made of nitrile rubber.

[0043] Specifically, in order to achieve coaxial rotational connection between the suction cup 501 and the first movable block 503 in the direction perpendicular to the suction cup adsorption plane, the first movable block 503 is provided with a first connecting structure 502 at its center; 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, so that the suction cup 501 can rotate relative to the first movable block 503 in the suction cup adsorption plane.

[0044] To ensure that the position of the positioning point in the suction cup adsorption plane remains unchanged relative to its axis of rotation when the suction cup 501 and the first movable block 503 rotate coaxially, the axis of rotation of the suction cup 501 and the first movable block 503 needs to pass through the positioning point; thus achieving self-adaptation in the rotation direction of this coordinate axis.

[0045] It should be noted that the fact that the position of the suction cup 501 relative to its axis of rotation remains unchanged when the suction cup 501 and the first movable block 503 rotate coaxially in the horizontal plane is of great significance for the self-adaptation of the clamping unit. For example, if the axis of rotation of the suction cup 501 and the first movable block 503 is taken as a certain coordinate axis in the coordinate system, the structural component rotates around the coordinate axis, and the suction cup 501 changes with the posture of the clamped structural component, while the coordinate of the positioning point remains unchanged, thus realizing self-adaptation in the rotation direction of the coordinate axis.

[0046] Specifically, the first connecting structure 502 uses a rolling bearing.

[0047] Specifically, to achieve coaxial rotational connection between the first movable block 503 and the second movable block 505 in the horizontal plane, the bottom of the first movable block 503 is provided with a first arc-shaped structure 5031 that bends vertically in the direction of the suction cup adsorption plane; a second baffle 504 is fixedly connected to the side wall of the second movable block 505, and the second baffle 504 is provided with a second sliding connection structure 5041 that matches the curvature of the first arc-shaped structure 5031; the top of the second movable block 505 is provided with a second arc-shaped structure 5051 that matches the curvature of the first arc-shaped structure 5031; the first arc-shaped structure 5031 and the second arc-shaped structure 5051 are slidably connected in the arc-shaped plane through the second sliding connection structure 5041, thereby achieving coaxial rotational connection between the first movable block 503 and the second movable block 505 in the horizontal plane.

[0048] Specifically, in order to achieve coaxial rotational connection between the first movable block 503 and the second movable block 505 in the horizontal plane, two first arc-shaped structures 5031 are provided, symmetrically arranged on both sides of the bottom surface of the first movable block 503; two second baffles 504, two second sliding connection structures 5041, and two second arc-shaped structures 5051 are also provided.

[0049] To ensure that the positioning point in the suction cup adsorption plane remains unchanged relative to its axis of rotation when the first movable block 503 and the second movable block 505 rotate coaxially in the horizontal plane, the line connecting the centers of the first arc-shaped structure 5031, the second arc-shaped structure 5051, and the second sliding connection structure 5041 on both sides of the bottom surface of the first movable block 503 must pass through the positioning point.

[0050] Similarly, the fact that the positions of the first movable block 503 and the second movable block 505 relative to their axis of rotation remain unchanged when they rotate coaxially in the horizontal plane is of great significance for the self-adaptation of the clamping unit. For example, if the axis of rotation of the first movable block 503 and the second movable block 505 is taken as a certain coordinate axis in the coordinate system, the structural component rotates around the coordinate axis, and the suction cup 501 changes with the posture of the clamped structural component, while the coordinates of the positioning point remain unchanged, thus realizing self-adaptation in the rotation direction of the coordinate axis.

[0051] Specifically, the second sliding connection structure 5041 uses a vertical suction cup to adsorb a rotating wheel on a plane; multiple wheels are provided, and the wheel axis matches the curvature of the first arc structure 5031.

[0052] In practice, 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 within 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, which is fixedly connected to the second baffle 504, rotate relative to the second movable block 505.

[0053] Specifically, to achieve coaxial rotational connection between the second movable block 505 and the base 506 in the horizontal plane, the second movable block 505 has a third arc-shaped structure 5052 bent perpendicular to the suction cup adsorption plane on the side perpendicular to the first movable block 503 and the axis of rotation of the second movable block 505; a first baffle 507 is fixedly connected to the side wall of the second movable block 505, and the first baffle 507 has a first sliding connection structure 5071 matching the curvature of the third arc-shaped structure 5052; the base 506 has a fourth arc-shaped structure 5061 matching the curvature of the third arc-shaped structure 5052 on the top of the same side as the second movable block 505 where the third arc-shaped structure 5052 is located; the third arc-shaped structure 5052 and the fourth arc-shaped structure 5061 are slidably connected in the arc-shaped plane through the first sliding connection structure 5071, thereby achieving coaxial rotational connection between the second movable block 505 and the base 506 in the horizontal plane, and its axis of rotation is perpendicular to the axis of rotation of the second movable block 505 and the first movable block 503.

[0054] Specifically, in order to achieve coaxial rotational connection between the second movable block 505 and the base 506 in the horizontal plane, two third arc-shaped structures 5052 are provided, symmetrically arranged on both sides of the second movable block 505; two first baffles 507, two first sliding connection structures 5071, and two fourth arc-shaped structures 5061 are also provided.

[0055] Similarly, to ensure that the positioning point in the suction cup adsorption plane remains unchanged relative to its axis of rotation when the second movable block 505 and the base 506 rotate coaxially in the horizontal plane, the third arc-shaped structure 5052, the fourth arc-shaped structure 5061, and the first sliding connection structure 5071 set on both sides of the bottom surface of the second movable block 505 need to pass through the positioning point through the center line of the arc-shaped structure on both sides; thus achieving self-adaptation in the rotation direction of this coordinate axis.

[0056] Specifically, the first sliding connection structure 5071 uses a vertical suction cup to adsorb a rotating wheel on a plane; multiple wheels are provided, and the axes of the multiple wheels are arranged to match the curvature setting of the third arc structure 5052.

[0057] In practice, 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 within 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, which is fixedly connected to the first baffle 507, rotate relative to the base 506, thereby achieving self-adaptation in the rotation axis direction of the second movable block 505 and the base 506.

[0058] Compared with the prior art, the present invention achieves self-adaptation in the rotation axis direction of the second movable block and the base by setting an arc-shaped structure on the second movable block and the base, and setting a first sliding connection structure between them that matches the curvature of the arc-shaped structure; at the same time, by setting an arc-shaped structure on the second movable block and the first movable block in the direction perpendicular to the rotation axis of the second movable block and the base, and setting a second sliding connection structure between them that matches the curvature of the arc-shaped structure, self-adaptation in the rotation axis direction of the second movable block and the first movable block; furthermore, 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 a positioning point in the horizontal plane, thereby achieving self-adaptation in the horizontal plane; and the suction cup is coaxially rotatably connected to the first movable block in the direction perpendicular to the suction cup adsorption plane, and the axis passes through the positioning point, thereby achieving self-adaptation at the positioning point in the spatial coordinate system. Compared with existing technologies, this solution solves the problems of clamping surface posture changes and stress damage caused by the adjustment of the workpiece's posture in existing fixtures; it realizes that the reference points for the fixture's translation and rotation around the coordinate axes are all control positioning points on the surface of the workpiece, which simplifies the calculation process and control program and improves the ease of operation compared with existing technologies.

[0059] To further improve the lubrication between the first sliding connection structure and the second sliding connection structure and the arc-shaped structure to which they are connected, a self-lubricating structure 508 is provided between the first sliding connection structure, the second sliding connection structure and the arc-shaped structure to which they are connected.

[0060] Specifically, the self-lubricating structure 508 is made of a self-lubricating material and has the curvature of a matching first sliding connection structure, a second sliding connection structure and an arc-shaped structure connected thereto.

[0061] On the other hand, 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.

[0062] Specifically, the first lifting device 304 includes an external component that is slidably connected to the first limiting moving device 302 and an internal component that is 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 lifting of the adaptive clamping unit 5.

[0063] 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.

[0064] The clamping device is further provided with: a first power unit 305 that provides power to the first lifting device 304; the first power unit 305 is provided with a first device body and a power unit movably connected to the first device body; the power unit is connected to the internal components of the first lifting device 304 through power connection, and the first device body is fixedly connected to the external components of the first lifting device 304; under the action of the power unit, the internal components of the first lifting device 304 move up and down relative to the external components, thereby realizing the lifting and lowering of the adaptive clamping unit 5 under the control of the power unit.

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

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

[0067] Specifically, in order to achieve precise control over the movement of the adaptive clamping unit 5 relative to the first limiting moving device 302 and the movement of the first limiting moving device 302 relative to the second limiting moving device 303, the clamping device is further provided with: the second limiting moving device 303, a second power device 306 that provides power for the movement of the first limiting moving device 302 relative to the second limiting moving device 303, and a third power device 307 that provides power for the movement of the adaptive clamping unit 5 relative to the first limiting moving device 302; the second power device 306 and the third power device 307 are fixedly connected to the clamping device platform 310; a first nut 309 is fixedly connected to a wall plate fixedly connected to one side of the first limiting moving device 302 and a first lifting device 304; the power units of the second power device 306 and the third power device 307 are connected to 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 to the clamping device platform 310 after passing through the first nut 309.

[0068] 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.

[0069] 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.

[0070] Preferably, the first lead screw 309 is connected to the clamping device platform 310 via bearings.

[0071] Compared with the prior art, the present invention sets the first limiting moving device and the second limiting moving device as guide rails, so as to realize the movement of the adaptive clamping unit relative to the first limiting moving device within the guide rail limiting area and the movement of the first limiting moving device relative to the second limiting moving device within the guide rail limiting area; at the same time, the first power device is set as a servo motor, which works with the lead screw and lead nut in the first lifting device to realize the lifting of the adaptive clamping unit under precise control; thereby realizing the free translation of the adaptive clamping unit in all directions of the three coordinate axes in the coordinate system.

[0072] On the other hand, this invention 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 also includes: a second power unit 403 that provides power to the second lifting device 402; the second power unit 403 includes a second lifting device body and a power unit movably connected to the second device body; the power unit is connected to the internal components of the second lifting device 402 via power connection, and the second lifting device body is fixedly connected to the external components of the second lifting device 402; under the action of the power unit, the internal components of the second lifting device 402 move up and down relative to the external components, thereby realizing the lifting and lowering of the adaptive clamping unit 5 under the control of the power unit.

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

[0077] The single-degree-of-freedom clamping device also includes a third limiting moving device 401 that is slidably connected to the external component of the second lifting device 402 and provides a limit for the sliding of the external component of the second lifting device 402.

[0078] Specifically, the third limiting moving device 401 is a guide rail, which can realize the translation of the external components 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 to support the structural component to be adjusted and participates in the vertical translation and attitude adjustment of the structural component.

[0080] To further improve the stability of the support during posture adjustment of the structural parts to be processed, such as... Figure 4 As shown, the adaptive clamping unit 5 in the single-degree-of-freedom clamping device is matched with symmetrically arranged three-degree-of-freedom clamping devices on both sides. The suction cup 501 in the three-degree-of-freedom clamping device and the suction cup 501 in the single-degree-of-freedom clamping device are arranged in a ring facing the structural component, and the ring plane is perpendicular to the limiting movement direction of the third limiting movement device 401.

[0081] Specifically, such as Figure 6 As shown, the auxiliary support device includes: a height adjustment device 602 fixedly connected at one end to the clamping device platform 310, a horizontal support device 601 fixedly connected at one end to the other end of the height adjustment device 602, and a hollow connection structure 603 fixedly connected at the other end of the horizontal support device 601 for connecting the adaptive clamping unit 5 and the horizontal support device 601.

[0082] In practice, the present invention uses a single-degree-of-freedom clamping device to adsorb and clamp the structural part to be processed, and provides support from below; at the same time, a three-degree-of-freedom clamping device adsorbs and clamps the structural part to be processed, and provides stable support from both sides to prevent the structural part to be processed from rolling and tilting; furthermore, using the machine tool coordinate system, the vertical direction is taken as the z-axis, the horizontal plane parallel to the third limiting moving device 401 limiting moving direction is taken as the y-axis, and the x-axis is set perpendicular to both the z-axis and the y-axis.

[0083] Compared with the prior art, the present invention, by matching and setting up a three-degree-of-freedom clamping device and a single-degree-of-freedom clamping device, allows the single-degree-of-freedom clamping device and the three-degree-of-freedom clamping device to participate in the vertical displacement simultaneously. The single-degree-of-freedom clamping device is used to share the gravity, reducing the external changes in the influence of large displacement in the direction of gravity on the three-degree-of-freedom clamping device. In addition to enhancing stability, the present invention sets up three-degree-of-freedom clamping devices on both sides of the workpiece, which helps to balance the force during posture adjustment, avoids generating additional rotational torque, and improves the posture adjustment accuracy.

[0084] This invention discloses a method for adjusting the orientation of a brittle material structural component, using the aforementioned orientation adjustment system, specifically comprising the following steps:

[0085] S1: Initially clamp and fix the structural part to be processed using a three-degree-of-freedom clamping device and a single-degree-of-freedom clamping device;

[0086] S2: The structural part to be processed can be moved in the z-axis direction by using a three-degree-of-freedom clamping device and a single-degree-of-freedom clamping device;

[0087] S3: Release the single-degree-of-freedom clamping device from fixing the workpiece to be processed, and use the three-degree-of-freedom clamping device to adjust the workpiece to be processed to the target position by translating and rotating it around each coordinate axis.

[0088] S4: Use auxiliary support devices to assist in the installation of structural components that have completed attitude adjustment, making them more stable in subsequent processing.

[0089] It should be noted that any positional change of a spatial structure can be decomposed into translational changes along the three coordinate axes and rotational changes around the three coordinate axes.

[0090] To further achieve radial rotation of the suction cup 501 within the adsorption plane direction, such as... Figure 7 As shown, the auxiliary support device is equipped with a height adjustment unit 6 for adjusting the height of the adaptive clamping unit 5; the height adjustment unit 6 includes: a fifth nut 604 and a fifth screw 605 that is threadedly matched with the fifth nut 604; one end of the fifth screw 605 is coaxially fixedly connected to the suction cup 501, and the other end is coaxially rotatably connected to the height adjustment device 602.

[0091] Specifically, the fifth lead screw 604 is connected to the height adjustment device 602 via a bearing.

[0092] To further improve the stability of the support during cutting of the structural parts to be machined, such as... Figure 6 As shown, the suction cup 501 in the auxiliary support device and the suction cup 501 in the three-degree-of-freedom clamping device on both sides of the single-degree-of-freedom clamping device are arranged in a ring facing the structural component, 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 in the three-degree-of-freedom clamping device and the single-degree-of-freedom clamping device.

[0093] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive clamping unit for brittle material structural components, characterized in that, include: A suction cup, a first movable block coaxially rotatably connected to the suction cup in a direction perpendicular to the suction cup's adsorption plane, a second movable block coaxially rotatably connected to the first movable block in a horizontal plane, and a base coaxially rotatably connected to the second movable block in a horizontal plane; The rotation axes of the first movable block and the second movable block are perpendicular to the rotation axes of the second movable block and the base, and intersect with the rotation axes of the suction cup and the first movable block at a positioning point within the suction cup adsorption plane; The rotation axis of the second movable block relative to the base and the rotation axis of the first movable block relative to the second movable block intersect at the positioning point in the horizontal plane, thereby achieving self-adaptation in the horizontal plane; at the same time, the suction cup is coaxially rotatably connected to the first movable block in the direction perpendicular to the suction cup adsorption plane, and the axis passes through the positioning point, thereby achieving self-adaptation at the positioning point in the spatial coordinate system; The first movable block has a first connecting structure at its center; the first connecting structure has an inner region and an outer region that can rotate coaxially, the suction cup is fixedly connected to the inner region, and the outer region is fixedly connected to the first movable block, so that the suction cup can rotate relative to the first movable block in the direction perpendicular to the suction cup adsorption plane. The bottom of the first movable block is provided with a first arc-shaped structure that protrudes outward; the side wall of the second movable block is fixedly connected with a second baffle, and the second baffle is provided with a second sliding connection structure that matches the curvature of the first arc-shaped structure; the top of the second movable block is provided with a second arc-shaped structure that matches the curvature of the first arc-shaped structure. The first arc-shaped structure and the second arc-shaped structure are connected in the arc-shaped plane through the second sliding connection structure, thereby realizing the coaxial rotational connection between the first movable block and the second movable block in the horizontal plane. The second movable block has a third arc-shaped structure on its side; a first baffle is fixedly connected to the side wall of the second movable block, and the first baffle has a first sliding connection structure that matches the curvature of the third arc-shaped structure. The top of the base is provided with a fourth arc structure that matches the curvature of the third arc structure; The third and fourth arc-shaped structures achieve sliding connection within the arc-shaped plane through the first sliding connection structure, thereby enabling the second movable block and the base to rotate coaxially in the horizontal plane.

2. The clamping unit according to claim 1, characterized in that, There are two of the first arc-shaped structures, which are symmetrically arranged on both sides of the bottom surface of the first movable block.

3. The clamping unit according to claim 2, characterized in that, The first arc-shaped structure, the second arc-shaped structure, and the second sliding connection structure set on both sides of the bottom surface of the first movable block are connected by a line connecting the centers of the arc-shaped structures on both sides, which passes through a positioning point in the suction cup adsorption plane. The positioning point is a control point on the surface of the structural component used for the adjustment, positioning, and processing of the structural component.

4. The clamping unit according to claim 3, characterized in that, The second sliding connection structure is a rotating wheel.

5. The clamping unit according to claim 4, characterized in that, Two third arc-shaped structures are provided, symmetrically arranged on both sides of the second movable block.

6. A three-degree-of-freedom clamping device for brittle material structural components, characterized in that, Includes the clamping unit as described in any one of claims 1-5.

7. An attitude adjustment system for a brittle material structural component, characterized in that, It includes the clamping unit as described in any one of claims 1-5 or the clamping device as described in claim 6.

Images