Clamping device and manufacturing apparatus

Abstract

This application provides a clamping device and manufacturing equipment. The clamping device includes a base, a first cantilever, a second cantilever, a first chuck, a second chuck, a first force sensor, a second force sensor, and a processor. The first and second cantilever are spaced apart and mounted on the base. The first chuck is mounted on the end of the first cantilever away from the base, and the second chuck is mounted on the end of the second cantilever away from the base. The first and second chucks are arranged opposite to each other, and the first cantilever can drive the first chuck to move relative to the second chuck. The first and second force sensors are spaced apart and mounted on the same side of the first cantilever. The processor is electrically connected to the first and second force sensors, and the processor obtains the first clamping force of the first chuck based on the readings of the first and second force sensors. The clamping device of this application has high operational accuracy.

Description

Technical Field

[0001] This application relates to the field of precision module manufacturing, and in particular to a clamping device and manufacturing equipment. Background Technology

[0002] In the automated manufacturing process of precision modules (such as camera modules and sensor modules), clamping the module products is a crucial step. Both excessively and insufficiently clamping forces can affect manufacturing accuracy. For example, due to the small size and low rigidity of module products, excessive clamping force can cause slight deformation of the clamped parts, thus affecting manufacturing accuracy. Conversely, insufficient clamping force can lead to unstable clamping and slippage of the module products, further impacting manufacturing accuracy. Summary of the Invention

[0003] This application provides a clamping device, including manufacturing equipment for the clamping device, aiming to solve the problem of excessive or insufficient clamping force when the clamping device clamps module products, and to obtain a clamping device with high operating accuracy and manufacturing equipment including the clamping device.

[0004] In a first aspect, a clamping device is provided. The clamping device includes a base, a first cantilever, a second cantilever, a first chuck, a second chuck, a first force sensor, a second force sensor, and a processor. The first and second cantilever are spaced apart and mounted on the base. The first chuck is mounted on the end of the first cantilever away from the base, and the second chuck is mounted on the end of the second cantilever away from the base. The first and second chucks are arranged opposite to each other, and the first cantilever can drive the first chuck to move relative to the second chuck. The first and second force sensors are spaced apart and mounted on the same side of the first cantilever. The processor is electrically connected to the first and second force sensors, and the processor obtains a first clamping force of the first chuck based on the readings of the first and second force sensors.

[0005] It is understood that, since the clamping device of this application is equipped with two force sensors (a first force sensor and a second force sensor) on the first cantilever, even if the clamped part slips or the type of the first chuck changes during the clamping process, causing the distance between the clamped part and the first force sensor to change, the clamping device can still obtain an accurate first clamping force based on the readings of the first force sensor and the second force sensor. This effectively improves the operating accuracy of the clamping device, ensures that the clamping device applies a suitable clamping force to the clamped part, and enables the clamping device to clamp the clamped part without damaging it.

[0006] In one possible implementation, the distance between the first force sensor and the second force sensor is a first distance, and the first clamping force can be obtained by the following conversion formula:

[0007]

[0008] Wherein, F1 is the first clamping force, S1 is the reading of the first force sensor, S2 is the reading of the second force sensor, C1 is the bending moment sensitivity coefficient of the first force sensor, C2 is the bending moment sensitivity coefficient of the second force sensor, and d1 is the first distance.

[0009] It is understood that the clamping device of this application only needs to use the bending moment sensitivity coefficients and readings of the first force sensor and the second force sensor, as well as the first distance between the first force sensor and the second force sensor, to calculate the distance between the first force sensor and the clamped part according to the conversion formula, and obtain the accurate first clamping force, thereby effectively improving the operating accuracy of the clamping device.

[0010] Meanwhile, since the data required in the conversion formula of this application are the coefficients and readings of the first force sensor and the second force sensor themselves, as well as the first distance between the first force sensor and the second force sensor, are easy to obtain and are not easily affected by external factors and thus do not produce errors, the first clamping force obtained by the clamping device of this application in combination with the conversion formula is more accurate.

[0011] In one possible implementation, the clamping device further includes a first driving member, which is disposed on the base and electrically connected to the processor. When the first clamping force is less than a first preset clamping force, the processor controls the first driving member to move the first cantilever toward the second cantilever. When the first clamping force is equal to or greater than the first preset clamping force, the processor controls the first driving member to stop moving the first cantilever, wherein the first preset clamping force is a target clamping force.

[0012] It is understood that the clamping device of this application performs the clamping operation on the clamped part by setting a first preset clamping force and comparing the magnitude of the first preset clamping force with the first clamping force, making the whole control process more precise.

[0013] In one possible implementation, the clamping device further includes a first driving member and a second driving member, both of which are electrically connected to the processor. The processor controls the first driving member to move the first cantilever and controls the second driving member to move the second cantilever relative to the first cantilever.

[0014] It is understood that the clamping device of this application, by setting a first driving member and a second driving member, enables the processor to control the first driving member to move the first cantilever, and to control the second driving member to move the second cantilever, so that the first clamp on the first cantilever and the second clamp on the second cantilever can approach and clamp the clamped part, completing the clamping operation. In other words, the clamping device of this application, by setting two movable cantilever arms (the first cantilever and the second cantilever), enables the first clamp and the second clamp to actively approach and clamp the clamped part, so that the entire clamping process does not require moving the clamped part, avoiding slippage of the clamped part during clamping, and thus avoiding damage to the clamped part.

[0015] In one possible implementation, when the first clamping force is less than the second preset clamping force, the processor controls the first driving member to move the first cantilever. When the first clamping force is equal to or greater than the second preset clamping force, the processor controls the first driving member to stop moving the first cantilever, wherein the second preset clamping force is less than or equal to the frictional force between the first chuck and the clamped object. After the first cantilever stops moving, if the first clamping force is less than the first preset clamping force, the processor controls the second driving member to move the second cantilever toward the first cantilever. When the first clamping force is equal to or greater than the first preset clamping force, the processor controls the second driving member to stop moving the second cantilever.

[0016] It is understood that the clamping device of this application performs a clamping operation on the clamped part by simultaneously setting a first preset clamping force and a second preset clamping force and comparing the magnitudes of the first preset clamping force, the second preset clamping force, and the first clamping force. The value of the second preset clamping force is much smaller than the frictional force between the first chuck and the clamped part. When the first cantilever stops moving, because the value of the second preset clamping force is much smaller than the frictional force between the first chuck and the clamped part, the first clamping force at this time is still less than the frictional force between the first chuck and the clamped part, thus the first chuck will not push the clamped part to slide.

[0017] In other words, by comparing the magnitude of the first clamping force and the second preset clamping force, the process of controlling the first cantilever to move the first chuck closer to the clamped part until it just contacts the clamped part is actually the process of the clamping device confirming the position of the clamped part. After the first chuck stops moving, the second cantilever is controlled to move the second chuck closer to the clamped part, and together with the first chuck, the clamping operation of the clamped part is completed. This avoids the problem of the clamping device's first chuck directly pushing the clamped part towards the second chuck to clamp the part between the first and second chucks, which would cause the clamped part to slip. This prevents the clamped part from being damaged during the clamping process and improves the success rate of clamping the part.

[0018] In one possible implementation, the clamping device further includes a third force sensor and a fourth force sensor, which are installed at intervals on the same side of the second cantilever. The processor is electrically connected to the third force sensor and the fourth force sensor, and the processor obtains the second clamping force of the second chuck based on the readings of the third force sensor and the fourth force sensor.

[0019] It is understood that the clamping device of this application obtains the second clamping force of the second chuck by combining the readings of the third and fourth force sensors through the installation of a third force sensor and a fourth force sensor on the second cantilever. The processor controls the first and second chucks to move closer together and perform a clamping operation on the workpiece by combining the magnitudes of the first and second clamping forces, making the clamping operation on the workpiece more precise and less likely to cause damage to the workpiece during the clamping process.

[0020] In one possible implementation, when the first clamping force is less than the second preset clamping force, the processor controls the first driving component to move the first cantilever. When the first clamping force is equal to or greater than the second preset clamping force, the processor controls the first driving component to stop moving the first cantilever. After the first cantilever stops moving, if the second clamping force is less than the first preset clamping force, the processor controls the second driving component to move the second cantilever toward the first cantilever. If the second clamping force is equal to or greater than the first preset clamping force, the processor controls the second driving component to stop moving the second cantilever.

[0021] Understandably, the clamping device of this application controls the first driving member to move the first cantilever by comparing the magnitude of the first clamping force and the second preset clamping force, so that the first chuck approaches the clamped part to determine the position of the clamped part. Similarly, by comparing the magnitude of the second clamping force and the first preset clamping force, the second driving member controls the second cantilever to move, so that the second chuck approaches the clamped part and cooperates with the first chuck to apply a clamping force to the clamped part, completing the clamping operation. By simultaneously detecting the values ​​of the first and second clamping forces to control the clamping operation of the first and second chucks on the clamped part, the accuracy of the entire operation process is improved.

[0022] In one possible implementation, the clamping device further includes N fifth force sensors, which are mounted on the same side of the first cantilever as the second force sensors, where N is an integer greater than or equal to 1.

[0023] It is understandable that the clamping device of this application obtains the first clamping force by setting N fifth force sensors on the first cantilever and combining the data of multiple force sensors. Compared with setting only the first force sensor and the second force sensor on the first cantilever and calculating the magnitude of the first clamping force through a conversion formula, the result is more accurate.

[0024] In one possible implementation, the first clamp and the first cantilever of the clamping device are integrally formed. It is understood that having the first clamp and the first cantilever as an integrally formed structure is beneficial for improving the overall strength of the device.

[0025] Secondly, a manufacturing apparatus is provided. The manufacturing apparatus includes a main body and the aforementioned clamping device, the clamping device being mounted on the main body. The manufacturing apparatus with the aforementioned clamping device offers higher operational precision. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0027] Figure 1 This is a schematic diagram of the structure of a manufacturing equipment provided in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the clamping device provided in the first embodiment;

[0029] Figure 3 yes Figure 2 A schematic diagram of the mounting structure of the first cantilever and the first drive component of the clamping device with the base shown.

[0030] Figure 4 yes Figure 2 A schematic diagram of the mounting structure of the first cantilever and the first clamp of the clamping device shown.

[0031] Figure 5 yes Figure 2 A schematic diagram of the calculation model for the first clamping force of the clamping device shown;

[0032] Figure 6 This is a schematic diagram of the structure of an existing clamping device;

[0033] Figure 7 yes Figure 6 The diagram shows a computational model of an existing clamping device.

[0034] Figure 8 yes Figure 6 The diagram shows a structural schematic of an existing clamping device for clamping a workpiece.

[0035] Figure 9 yes Figure 2 The flowchart shows the control method for the clamping device to perform clamping operations.

[0036] Figure 10 yes Figure 2 A schematic diagram of the structure of the clamping device shown, showing the first chuck near the clamped part;

[0037] Figure 11 yes Figure 2 A schematic diagram of the second chuck of the clamping device near the clamped part;

[0038] Figure 12 yes Figure 2 The control flowchart of the processor of the clamping device shown is as follows;

[0039] Figure 13 yes Figure 2 A schematic diagram of the clamping device shown in another embodiment;

[0040] Figure 14 yes Figure 2 The diagram shown is a structural schematic of the clamping device in the second embodiment.

[0041] Figure 15 yes Figure 14 A schematic diagram of the calculation model for the second clamping force of the clamping device shown;

[0042] Figure 16 yes Figure 14 The flowchart shows the control method for the clamping device to perform clamping operations.

[0043] Figure 17 yes Figure 14 A schematic diagram of the structure of the clamping device shown, showing the first chuck near the clamped part;

[0044] Figure 18 yes Figure 14 A schematic diagram of the second chuck of the clamping device near the clamped part;

[0045] Figure 19 yes Figure 14 The control flowchart of the processor of the clamping device shown is as follows;

[0046] Figure 20 yes Figure 2 The diagram shows the structure of the clamping device in the third embodiment;

[0047] Figure 21 yes Figure 20 A schematic diagram of the calculation model for the first clamping force of the clamping device shown;

[0048] Figure 22 yes Figure 20 A schematic diagram of data fitting for the first clamping force of the clamping device shown;

[0049] Figure 23 yes Figure 2 The diagram shows the structure of the clamping device in the fourth embodiment. Detailed Implementation

[0050] The embodiments of this application are described below with reference to the accompanying drawings.

[0051] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after connection. "Rotary connection" refers to a connection where the components can rotate relative to each other after connection. "Sliding connection" refers to a connection where the components can slide relative to each other after connection. The directional terms mentioned in the embodiments of this application, such as "upper," "lower," "inner," and "outer," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. "Multiple" refers to at least two.

[0052] In the embodiments of this application, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of that feature.

[0053] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0054] It is understood that the specific embodiments described herein are merely for explaining the relevant application and not for limiting the application. It should also be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0055] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0056] The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a manufacturing equipment 100 provided in an embodiment of this application.

[0058] Manufacturing equipment 100 can be a robotic arm, CNC machine tool, transfer equipment, processing machine tool, or other manufacturing equipment used for gripping items. It is understood that manufacturing equipment 100 can be applied to the manufacture of devices such as mobile phones, laptops, computers, and wearable devices. This application uses a robotic arm as an example of manufacturing equipment 100 for specific illustration.

[0059] In this embodiment, the manufacturing equipment 100 includes a body 10 and a clamping device 20, the clamping device 20 being mounted on the body 10. The clamping device 20 can be used to clamp a clamped component, such as a camera module, a sensor module, or other components. In this embodiment, the body 10 may include a base 11, a fixing plate 12, a telescopic member 16, and an adapter assembly 17.

[0060] The base 11 is fixedly connected to the fixed plate 12. The adapter assembly 17 is rotatably connected to the end of the base 11 away from the fixed plate 12. The telescopic member 16 is rotatably connected to the end of the adapter assembly 17 facing away from the base 11. That is, the adapter assembly 17 connects the base 11 and the telescopic member 16. The clamping device 20 is connected to the end of the telescopic member 16 away from the adapter assembly 17. The rotation of the adapter assembly 17 and the extension and retraction of the telescopic member 16 enable the clamping device 20 to move in three-dimensional space.

[0061] In this embodiment, a rotating motor is provided inside the base 11. The rotating motor is connected to the adapter 17 to drive the adapter 17 to make circular motion along the central axis of the base 11.

[0062] The adapter assembly 17 may include a first adapter 13, a rotating arm 14, and a second adapter 15. The rotating arm 14 is connected between the first adapter 13 and the second adapter 15 and is rotatable relative to the first adapter 13 and the second adapter 15. The end of the first adapter 13 away from the rotating arm 14 is rotatably connected to the base 11, and the telescopic member 16 is rotatably connected to the end of the second adapter 15 away from the rotating arm 14.

[0063] The first adapter 13 may include a first chassis 131, a first fixing member 132, and a first drive motor 133. In this embodiment, there are two first fixing members 132, which are fixed to the first chassis 131 at a distance, forming a gap between them. The first drive motor 133 is mounted on one of the first fixing members 132. The side of the first chassis 131 away from the first fixing member 132 is connected to the base 11 and connected to a rotating motor inside the base 11. One end of the rotating arm 14 is located in the gap between the two first fixing members 132 and is rotatably connected to both first fixing members 132. The first drive motor 133 is electrically connected to the rotating arm 14, enabling the first drive motor 133 to drive the rotating arm 14 to move up and down.

[0064] The second adapter 15 may include a second chassis 151, a second fixing member 152, and a second drive motor 153. In this embodiment, there are two second fixing members 152, which are fixed to the second chassis 151 at a distance, forming a gap between them. The second drive motor 153 is mounted on one of the second fixing members 152. The side of the second chassis 151 away from the second fixing member 152 is fixedly connected to the end of the rotating arm 14 away from the first adapter 13. One end of the telescopic member 16 is mounted at the gap between the two second fixing members 152 and is rotatably connected to both second fixing members 152. The second drive motor 153 is electrically connected to the telescopic member 16, enabling the second drive motor 153 to drive the telescopic member 16 to move up and down.

[0065] The telescopic component 16 may include a guide rod 161, a telescopic rod 162, and a cylinder (not shown). The guide rod 161 has a guide hole 163, the telescopic rod 162 is slidably inserted into the guide hole 163, the cylinder is installed in the guide hole 163, and the piston rod of the cylinder is fixedly connected to the telescopic rod 162. The end of the telescopic rod 162 away from the guide hole 163 is fixedly connected to the clamping device 20. It can be understood that when the cylinder is working, the piston rod of the cylinder can drive the telescopic rod 162 to reciprocate along the radial direction of the guide hole 163, so that the clamping device 20 can also reciprocate along the radial direction of the guide hole 163 under the drive of the telescopic rod 162.

[0066] The end of the guide rod 161 away from the telescopic rod 162 is installed at the gap between the two second fixing members 152 and is rotatably connected to the two second fixing members 152 respectively. The second drive motor 153 is electrically connected to the guide rod 161, so that the second drive motor 153 can drive the guide rod 161 to move up and down, thereby driving the clamping device 20 to move up and down.

[0067] In some embodiments, the manufacturing equipment 100 may further include a control device 30, which includes a housing 31, a controller (not shown), and a control platform 32. The controller is housed inside the housing 31, and the control platform 32 is disposed on the upper surface of the housing 31. The controller is electrically connected to a rotary motor, a first drive motor 133, a second drive motor 153, a cylinder, and a clamping device 20 to control the rotation or reciprocating motion of different components of the body 10 of the manufacturing equipment 100, and to control the clamping device 20 to perform clamping operations on the clamped workpiece.

[0068] The control platform 32 may include a display screen 321 and control buttons 322. The display screen 321 is mounted on the upper surface of the housing and electrically connected to the controller, used to display relevant control programs for the manufacturing equipment 100. The control buttons 322 are mounted on the housing and located directly below the display screen 321, and are electrically connected to the controller for operating the control programs of the manufacturing equipment 100. Alternatively, in other embodiments, the control platform 32 may also be a touch screen, allowing users to operate the control programs of the manufacturing equipment 100 by clicking virtual buttons displayed on the touch screen.

[0069] Understandably, the user sends commands to the controller through the control platform 32, enabling the controller to control the rotation or reciprocating movement of each component of the body 10, thereby allowing the clamping device 20 to move to a position that facilitates clamping the clamped part, thus realizing the clamping operation of the clamped part.

[0070] It is understood that the clamping device 20 installed on the body 10 in this embodiment has many different embodiments, and some embodiments of the clamping device 20 will be described in detail below.

[0071] In the first embodiment, please refer to the following: Figure 1 and Figure 2 , Figure 2 This is a schematic diagram of the clamping device 20 provided in the first embodiment.

[0072] The clamping device 20 may include a base 21, a first cantilever 22, a second cantilever 23, a first chuck 24, a second chuck 25, a first drive member 26, a second drive member 27, and a processor (not shown).

[0073] The base 21 includes a first side 211 and a second side 212 disposed opposite to each other. A first cantilever 22 and a second cantilever 23 are both mounted on the first side 211 of the base 21, and the first cantilever 22 and the second cantilever 23 are disposed opposite to each other. A first chuck 24 is mounted on the end of the first cantilever 22 away from the base 21, and a second chuck 25 is mounted on the end of the second cantilever 23 away from the base 21. The first chuck 24 and the second chuck 25 are disposed opposite to each other.

[0074] The first driving member 26 and the second driving member 27 are both connected to the first side 211 of the base 21. Both are electrically connected to the processor. The processor can control the first driving member 26 to drive the first cantilever 22 to move the first chuck 24 relative to the second chuck 25, and control the second driving member 27 to drive the second cantilever 23 to move the second chuck 25 relative to the first chuck 24. The processor is electrically connected to the controller. The second side 212 of the base 21 is fixedly connected to the end of the telescopic rod 162 away from the guide hole 163, allowing the body 10 to control the clamping device 20 to move to a position convenient for clamping the workpiece.

[0075] It is understood that in this embodiment, the clamping device 20 controls the first driving member 26 to move the first cantilever 22 and the second driving member 27 to move the second cantilever 23 via the processor. This allows the first clamp 24 on the first cantilever 22 and the second clamp 25 on the second cantilever 23 to approach and clamp the workpiece, completing the clamping operation. In other words, by setting two movable cantilevers (the first cantilever 22 and the second cantilever 23), the clamping device 20 in this embodiment enables the first clamp 24 and the second clamp 25 to actively approach and clamp the workpiece, thus eliminating the need to move the workpiece during the entire clamping process. This avoids slippage of the workpiece during clamping and prevents damage to the workpiece.

[0076] Please refer to the following: Figure 2 and Figure 3 , Figure 3 yes Figure 2 A schematic diagram of the mounting structure of the first cantilever 22 and the first drive member 26 of the clamping device 20 with the base 21.

[0077] In this embodiment, the first driving member 26 is connected to the first side 211 of the base 21, and the first cantilever 22 is mounted on the surface of the first driving member 26 away from the base 21. The first side 211 of the base 21 may be provided with a first slide rod 2121, and the surface of the first driving member 26 near the base 21 is provided with a first slider 261. The first slider 261 is slidably connected to the first slide rod 2121, so that the first driving member 26 can move along the direction of the first slide rod 2121. The radial direction of the first slide rod 2121 overlaps with the direction of movement of the first cantilever 22 relative to the second cantilever 23, so that when the first driving member 26 moves along the direction of the first slide rod 2121, it can drive the first cantilever 22 to move relative to the second cantilever 23.

[0078] In this embodiment, there are two first slide rods 2121, which are arranged parallel to each other on the first side 211. There are also two first sliders 261, which are arranged parallel to each other on the surface of the first driving member 26 near the base 21. One first slider 261 is slidably connected to one of the first slide rods 2121, and the other first slider 261 is slidably connected to the other first slide rod 2121, allowing the first driving member 26 to move along the direction of the first slide rod 2121.

[0079] It is understood that by setting two sets of mutually sliding first sliders 261 and first slide rods 2121 in this embodiment, the contact between both sides of the first driving member 26 and the first slide rods 2121 provided on the base 21 is increased, that is, the forces on both sides of the first driving member 26 are balanced, ensuring that the movement of the first driving member 26 along the direction of the first slide rods 2121 is more stable.

[0080] Of course, in one implementation of other embodiments, the number of the first slider 261 and the first slide bar 2121 may be one or more. In another implementation of other embodiments, the first driving member 26 may also be disposed at other positions on the base 21, and this application does not limit the position of the first driving member 26.

[0081] In another embodiment, the base 21 may not have the first sliding rod, and the first driving member 26 may not have the first slider. The first side 211 of the base 21 may have a sliding rod, and the first driving member 26 may have a sliding hole that encloses the sliding rod, allowing the first driving member 26 to slide slidably connected to the base 21, thereby enabling the first driving member 26 to move along the direction of the sliding rod. The connection methods between the first cantilever 22 and the first driving member 26 and the base 21 are not limited to those described above, and this application does not limit the connection methods between the first cantilever 22 and the first driving member 26 and the base 21.

[0082] It is understood that the connection relationship between the second drive member 27, the second cantilever 23, and the base is the same as the connection relationship between the first drive member 26, the first cantilever 22, and the base 21, and will not be described again. Of course, in other embodiments, the connection relationship between the second drive member 27, the second cantilever 23, and the base 21 may be different from the connection relationship between the first drive member 26, the first cantilever 22, and the base 21.

[0083] Please refer to the following: Figure 2 and Figure 4 , Figure 4 yes Figure 2 The diagram shows the installation structure of the first cantilever 22 and the first chuck 24 of the clamping device 20.

[0084] In this embodiment, the first chuck 24 may include a clamping portion 241 and a connecting portion 242 connected together, with one end of the connecting portion 242 away from the clamping portion 241 fixedly connected to the first cantilever 22. It is understood that when the processor controls the first driving member 26 to move the first cantilever 22, the first chuck 24 moves accordingly under the action of the first cantilever 22.

[0085] The first chuck 24 can be detachably connected to the first cantilever 22. In some embodiments, the first chuck 24 can be connected to the first cantilever 22 by bolts or by other connection methods such as snap-fit. For example, the first cantilever 22 can also be provided with a mounting groove, through which the connecting part 242 of the first chuck 24 is mounted to the first cantilever 22. Alternatively, the first chuck 24 can also be connected to the first cantilever 22 by plug-in connection. Because the first chuck 24 is detachably connected to the first cantilever 22, the clamping device 20 can replace different types of chucks according to the different types of clamped parts, so that the clamping device 20 can be applied to clamping a variety of different parts.

[0086] Of course, in other embodiments, the first clamp 24 may also be fixedly connected to the first cantilever 22. This application does not limit the connection method between the first clamp 24 and the first cantilever 22.

[0087] In this embodiment, the clamping part 241 is fixedly connected to the surface of the connecting part 242 facing the second cantilever 23, so that the first clamp 24 is approximately L-shaped. It can be understood that the first clamp 24 is set in an L-shape so that when the first clamp 24 clamps an item, the item is less likely to touch the first cantilever 22, thus preventing the item from being bumped or damaged during the clamping process.

[0088] In some embodiments, the first clamp 24 and the first cantilever 22 can also be integrally formed, which helps to improve the strength of the clamping device 20 and ensures the consistency of movement between the first clamp 24 and the first cantilever 22. Of course, in other embodiments, the first clamp 24 can also be finger-shaped or other forms that can clamp the clamped part. This application does not limit the specific form of the first clamp 24.

[0089] It is understood that the structure of the second cantilever 23, the second clamp 25, and the second drive member 27 in this application, as well as the connection between them, are the same as the structure of the first cantilever 22, the first clamp 24, and the first drive member 26, and will not be described again here.

[0090] It is understood that the structure of the second clamp 25 is the same as that of the first clamp 24, and the way the second clamp 25 is fixed to the second cantilever 23 is the same as the way the first clamp 24 is fixed to the first cantilever 22, which will not be described in detail. Of course, in other embodiments, the structure of the second clamp 25 may be different from that of the first clamp 24, and the way the second clamp 25 is fixed to the second cantilever 23 may be different from the way the first clamp 24 is fixed to the first cantilever 22.

[0091] Please refer to the following: Figure 2 and Figure 5 , Figure 5 yes Figure 2 A schematic diagram of the calculation model of the first clamping force of the clamping device 20 shown.

[0092] In this embodiment, the clamping device 20 further includes a first force sensor 221 and a second force sensor 222. The first force sensor 221 and the second force sensor 222 are installed at intervals on the same side of the first cantilever 22. The processor is electrically connected to the first force sensor 221 and the second force sensor 222 to obtain readings from the first force sensor 221 and the second force sensor 222. The processor obtains the first clamping force of the first chuck 24 based on the obtained readings from the first force sensor 221 and the second force sensor 222.

[0093] It is understood that, since the clamping device 20 of this application is equipped with two force sensors (first force sensor 221 and second force sensor 222) on the first cantilever 22, even if the clamped part 200 slips or the type of the first chuck 24 changes during the clamping process, causing the distance between the clamped part 200 and the first force sensor 221 to change, the clamping device 20 can still obtain an accurate first clamping force based on the first force sensor 221 and the second force sensor 222. This effectively improves the operating accuracy of the clamping device 20, ensures that the clamping device 20 applies a suitable clamping force to the clamped part, and enables the clamping device 20 to clamp the clamped part without damaging it.

[0094] In this embodiment, the first force sensor 221 and the second force sensor 222 can be piezoresistive force sensors. When the first cantilever 22 drives the first clamp 24 to apply a clamping force to the clamped part 200, the first clamp 24 will also be subjected to a reaction force of equal magnitude and opposite direction, which is the first clamping force F1. At this time, the first cantilever 22 will be subjected to a bending moment, causing the first force sensor 221 and the second force sensor 222 to compress or elongate, resulting in a change in the resistance values ​​of the first force sensor 221 and the second force sensor 222, thereby changing their readings. The processor obtains the first clamping force F1 of the first clamp 24 based on the acquired readings of the first force sensor 221 and the second force sensor 222. Of course, in other embodiments, the first force sensor 221 and the second force sensor 222 may not be piezoresistive force sensors; they may be other types of force sensors.

[0095] In this embodiment, the distance between the first force sensor 221 and the second force sensor 222 is a first distance d1, and the first clamping force can be obtained by a conversion formula, which is:

[0096]

[0097] Among them, the bending moment sensitivity coefficient C1 and reading S1 of the first force sensor 221, and the bending moment sensitivity coefficient C2 and reading S1 of the second force sensor 222.

[0098] It should be noted that, if the first clamping force is F1, and the distance between the first force sensor 221 and the clamped part 200 is dx1, then the following equation holds:

[0099] S1=C1×F1×dx1

[0100] S2=C2×F1×(dx1+d1)

[0101] Then we can obtain the conversion formula for the first clamping force F1:

[0102]

[0103] At the same time, the formula for the distance dx1 between the first force sensor 221 and the clamped part 200 can also be obtained:

[0104]

[0105] It is understood that the clamping device 20 of this application only needs to use the bending moment sensitivity coefficients and readings of the first force sensor 221 and the second force sensor 222, as well as the first distance d1 between the first force sensor 221 and the clamped part 200, to calculate the distance between the first force sensor 221 and the clamped part 200 according to the conversion formula, and obtain the accurate first clamping force F1, which effectively improves the operating accuracy of the clamping device 20.

[0106] Please refer to the following: Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the existing clamping device 40. Figure 7 yes Figure 6 The diagram shows a computational model of the existing clamping device 40.

[0107] The existing clamping device 40 includes a movable cantilever (i.e., the first cantilever 41) and a fixed cantilever 44. By setting a force sensor 42 on the side surface of the first cantilever 41, the process of obtaining the first clamping force F of the first chuck 43 of the clamping device 40 when clamping the workpiece is as follows:

[0108] When the clamping device 40 clamps the clamped part 200, the first cantilever 41 drives the first chuck 43 to apply a clamping force to the clamped part 200. The first chuck 43 will then receive a reaction force from the clamped part 200, which is the first clamping force F. At this time, the first cantilever 41 is subjected to the first clamping force F, which will generate corresponding bending moments at different positions of the first cantilever 41. Let x be the distance from different positions of the first cantilever 41 to the point where the first chuck 43 is subjected to the first clamping force F, then the following formula applies:

[0109] M(x) = F × x

[0110] The force sensor 42 is located in the region x1 to x2. The strain produced at different locations x is:

[0111]

[0112] Where E is the elastic modulus of the first cantilever 41, and b is the elastic modulus of the first cantilever 41 perpendicular to the axis of motion. Figure 6 The thickness dimension in the direction shown in the image, and h is the height dimension of the first cantilever 41, are both fixed constants.

[0113] Based on the strain in the x1 to x2 region, the resistance change of the force sensor 42 can be calculated as follows:

[0114]

[0115] Where G is the piezoresistive coefficient of force sensor 42, and the difference between x2 and x1 is the size of force sensor 42, both of which are fixed constants.

[0116] Assumption:

[0117]

[0118] Then C is also a fixed constant, which is the bending moment sensitivity coefficient of force sensor 42.

[0119] Assumption:

[0120]

[0121] Let d be the distance between the installation position of the center point of the force sensor 42 and the position of the point of application of the first clamping force F. Then, the reading S of the force sensor 42 can be written as:

[0122]

[0123] It is understandable that the value of C*d here is a fixed constant. By applying a known Gc at the first clamp 43 using an external standard force sensor or a weight, where Gc is the force measured by the external standard force sensor, and obtaining the resistance change reading Sc of the force sensor 42, the value of C*d can be calculated as follows:

[0124]

[0125] Therefore, in subsequent use, by reading the resistance change S1 of the force sensor 42 and substituting it into the value of C*d, the value of the first clamping force F can be calculated:

[0126]

[0127] In other words, the existing clamping device 40 combines the bending moment sensitivity coefficient of the force sensor 43, the distance between the force sensor 43 and the clamped part 200, and the reading of the force sensor 43 to calculate and obtain the magnitude of the first clamping force F applied by the first chuck 43 to the clamped part 200.

[0128] Please refer to the following: Figure 6 and Figure 8 , Figure 8 yes Figure 6 The diagram shows the structure of the existing clamping device 40 clamping the clamped part 200.

[0129] The existing clamping device 40 moves the first cantilever 41 to bring the first chuck 43 closer to the clamped part 200. After contacting the clamped part 200, it pushes the clamped part together towards the fixed cantilever. The force sensor 42 detects the change in the first clamping force F. The movement of the first cantilever 41 stops when the first clamping force F detected by the force sensor 42 reaches the set clamping force. At this time, the clamped part 200 moves to one side of the fixed chuck 45 of the fixed cantilever 44, completing the clamping operation.

[0130] However, the distance between the force sensor 43 and the clamped part 200 in the existing clamping device 40 is a variable value, which changes with external factors. For example, when the clamped part 200 shifts during clamping, the actual value of d will change accordingly. Or, when the first chuck 43 is replaced, the value of the distance d between the force sensor 43 and the clamped part 200 will also change significantly. Even if the value of C*d of the force sensor 43 is recalibrated, the error that may occur during the calibration process will also change the value of the distance d between the force sensor 43 and the clamped part 200, making the value of the first clamping force F obtained by calculation inaccurate. At the same time, recalibration is required after replacing the chuck, which increases the workload in the clamping operation and is inconvenient to operate.

[0131] The clamping device 20 provided in this application, by simultaneously setting a first force sensor 221 and a second force sensor 222 on the side surface of the first cantilever 22, and combining the readings of the first force sensor 221 and the second force sensor 222, their bending moment sensitivity coefficients, and the first distance d1 between the first force sensor 221 and the second force sensor 222, can obtain the magnitude of the first clamping force F1 of the first chuck 24 through a conversion formula. In other words, the clamping device 20 of this application does not need to determine the distance between the first force sensor 221 and the clamped part 200 to calculate the magnitude of the first clamping force F1. In other words, even if the clamped part 200 is deviated or the first chuck 24 is replaced, the clamping device 20 of this application can still determine the distance between the first force sensor 221 and the clamped part 200. It does not need to recalibrate the C*d value and can obtain an accurate first clamping force F1, which effectively improves the operating accuracy of the clamping device 20 and ensures that the clamping device 20 applies a suitable clamping force to the clamped part, so that the clamping device 20 can clamp the clamped part without damaging it.

[0132] Meanwhile, since the conversion formula of this application requires the coefficients and readings of the first force sensor 221 and the second force sensor 222, as well as the first distance d1 between the first force sensor 221 and the second force sensor 222, the data is easy to obtain and is not easily affected by external factors and thus the first clamping force obtained by the clamping device 20 of this application is more accurate and the operation is simpler.

[0133] Of course, in some embodiments, the first clamping force may not be calculated using a conversion formula. Instead, it can be obtained by obtaining a conversion table of the first clamping force based on the relationship between the readings of the first force sensor 221 and the second force sensor 222 obtained through multiple tests. The first clamping force can then be obtained by consulting the conversion table using the known readings of the first force sensor 221 and the second force sensor 222. Alternatively, in other embodiments, a functional relationship can be obtained by fitting the readings of the first force sensor 221 and the second force sensor 222 obtained through multiple tests with the value of the first clamping force. The first clamping force can then be obtained by combining the known readings of the first force sensor 221 and the second force sensor 222 with this functional relationship.

[0134] In this embodiment, both the first force sensor 221 and the second force sensor 222 are disposed on the surface of the first cantilever 22 facing away from the second cantilever 23. It is understood that when both the first force sensor 221 and the second force sensor 222 are disposed on the surface of the first cantilever 22 facing away from the second cantilever 23, the direction of the bending moment of the first cantilever 22 is in the same straight line as the direction of compression or elongation of the first force sensor 221 and the second force sensor 222. This results in a larger deformation of the first force sensor 221 and the second force sensor 222 under the same clamping force, which is beneficial to improving the sensitivity of the first force sensor 221 and the second force sensor 222, making their readings more accurate.

[0135] Of course, in other embodiments, the first force sensor 221 and the second force sensor 222 may also be disposed at other locations on the first cantilever 22. This application does not limit the specific locations on which the first force sensor 221 and the second force sensor 222 are installed on the first cantilever 22.

[0136] Please see Figure 9 , Figure 9 yes Figure 2 The flowchart shows the control method for the clamping device 20 to perform clamping operations.

[0137] This control method is based on Figure 2 The clamping device 20 shown is controlled by the following steps S110 to S120:

[0138] S110: Control the first chuck 24 to move and approach the clamped part 200. When the first clamping force is equal to or greater than the second preset clamping force, the first chuck 24 stops moving.

[0139] It is understandable that when the clamping device 20 performs a clamping operation on the clamped part 200, a second preset clamping force needs to be set on the control platform 32 first. The value of the second preset clamping force is less than the frictional force between the first chuck 24 and the clamped part 200, that is, the contact force when clamping.

[0140] like Figure 10 and Figure 11 As shown, Figure 10 yes Figure 2 The processor control flowchart of the clamping device 20 shown is as follows: Figure 11 yes Figure 2 The diagram shows the structure of the first chuck 24 of the clamping device 20 near the clamped part 200.

[0141] Specifically, when the processor detects that the first clamping force is less than the second preset clamping force, it controls the first driving member 26 to drive the first cantilever 22 to move toward the second cantilever 23, so that the first chuck 24 moves together with the first cantilever 22 and approaches the clamped member 200.

[0142] When the processor detects that the first clamping force is equal to or greater than the second preset clamping force, it controls the first drive member 26 to stop moving the first cantilever 22, thereby stopping the movement of the first chuck 24. At this time, the first chuck 24 contacts the clamped part 200, but does not push the clamped part 200.

[0143] In some embodiments, the value of the second preset clamping force is much smaller than the frictional force between the first chuck 24 and the clamped part 200. It is understood that when the first chuck 24 stops moving, because the value of the second preset clamping force is much smaller than the frictional force between the first chuck 24 and the clamped part 200, the first clamping force at this time is still less than the frictional force between the first chuck 24 and the clamped part, thus preventing the clamped part 200 from sliding and making it less susceptible to bumps or damage during clamping.

[0144] In one implementation scenario of some embodiments, when the clamping device 20 performs a clamping operation on the clamped part 200, a first pre-contact clamping force can also be set on the control platform 32. The value of the first pre-contact clamping force is slightly less than the value of a second preset clamping force. When the processor detects that the first clamping force is greater than the first pre-contact clamping force but less than the second preset clamping force, it can control the first driving member 26 to slow down the speed at which the first cantilever 22 moves towards the clamped part 200. At this time, the value of the first clamping force applied by the first chuck 24 to the clamped part 200 slowly increases until the processor detects that the first clamping force is equal to or greater than the second preset clamping force, at which point the movement of the first chuck 24 stops.

[0145] Understandably, there is a time delay between the processor detecting that the first clamping force is equal to or greater than the second preset clamping force and controlling the first chuck 24 to stop moving. This embodiment slows down the movement of the first cantilever 22 toward the clamped object 200 by setting a first pre-contact clamping force. This allows the first clamping force of the first chuck 24 to gradually increase after contacting the clamped object 200, preventing the first cantilever 22 from failing to stop in time due to the time delay and pushing the clamped object 200, which could lead to slippage or damage. Simultaneously, setting the first pre-contact clamping force allows the processor to perform more precise operations on the first chuck 24, improving the success rate of the clamping device 20 in gripping the clamped object 200.

[0146] S120: Control the second chuck 25 to move and approach the clamped part 200. When the first clamping force is equal to or greater than the first preset clamping force, the second chuck 25 stops moving.

[0147] Understandably, when the clamping device 20 performs a clamping operation on the clamped part 200, a first preset clamping force needs to be set on the control platform 32. The value of the first preset clamping force is the difference between the final clamping force required to clamp the clamped part 200 and the frictional force of the clamped part, i.e., the target clamping force. The target clamping force is the maximum clamping force that the clamped part 200 can withstand without being damaged, and the clamping device 20 applying the target clamping force to the clamped part 200 can clamp and transfer the clamped part 200.

[0148] like Figure 10 and Figure 12 As shown, Figure 12 yes Figure 2 The diagram shows the structure of the second chuck 25 of the clamping device 20 near the clamped part 200.

[0149] Specifically, the processor determines whether the first clamping force is less than the first preset clamping force. If the first clamping force is less than the first preset clamping force, the processor controls the second driving member 27 to drive the second cantilever 23 to move toward the first cantilever 22, so that the second clamp 25 moves together with the second cantilever 23 and approaches the clamped member 200.

[0150] When the processor detects that the first clamping force is equal to or greater than the first preset clamping force, it controls the second drive member 27 to stop moving the second cantilever 23, thereby stopping the movement of the second chuck 25. At this time, the clamped part 200 is in the clamping state of the first chuck 24 and the second chuck 25 of the clamping device 20. The clamping device 20 completes the clamping operation on the clamped part 200 and can transfer the clamped part 200.

[0151] In another implementation scenario of some embodiments, when the clamping device 20 performs a clamping operation on the clamped part 200, a second pre-contact clamping force can also be set on the control platform 32. The value of the second pre-contact clamping force is slightly less than the value of the first preset clamping force. When the processor detects that the first clamping force is greater than the second pre-contact clamping force but less than the first preset clamping force, it can control the second drive member 27 to slow down the speed at which the second cantilever 23 moves towards the clamped part 200. At this time, the value of the first clamping force applied by the first chuck 24 to the clamped part 200 slowly increases until the processor detects that the first clamping force is equal to or greater than the first preset clamping force, at which point the movement of the second chuck 25 stops. It is understood that the clamping device 20 in this embodiment is provided with two movable cantilever arms (first cantilever 22 and second cantilever 23). The processor controls the first clamp 24 to approach the clamped part 200 until it just contacts the clamped part 200 according to the magnitude of the first clamping force, and then controls the second clamp 25 to approach the clamped part 200. The clamping operation of the clamped part 200 is completed under the joint action of the first clamp 24.

[0152] In other words, the process of controlling the first clamp 24 to approach the clamped part 200 until it just touches the clamped part 200 is actually the process of the clamping device 20 confirming the position of the clamped part 200. After the first clamp 24 stops moving, the second clamp 25 is then controlled to approach the clamped part 200 and together with the first clamp 24, the clamping operation of the clamped part 200 is completed. This avoids the problem of the clamped part 200 slipping due to the first clamp 24 of the clamping device 20 directly pushing the clamped part 200 towards the second clamp 25 to clamp the clamped part 200 between the first clamp 24 and the second clamp 25. This prevents the clamped part 200 from being damaged during the clamping process and improves the success rate of clamping the clamped part 200.

[0153] Please see Figure 13 , Figure 13 yes Figure 2The clamping device 20 shown is a schematic diagram of the structure in other embodiments.

[0154] In some other embodiments, the clamping device 20 and Figure 2 The clamping device 20 shown has a similar structure, but the difference is that the clamping device 20 in this embodiment may not have a second driving member, and the second cantilever 23 is directly fixedly connected to the base 21. That is to say, only the first cantilever 22 is a movable cantilever, and the second cantilever 23 is a fixed cantilever.

[0155] In the clamping device 20 of this embodiment, during the clamping process of the clamped part 200, when the processor detects that the first clamping force is less than the first preset clamping force, the processor controls the first driving member 26 to move the first cantilever 22 relative to the second cantilever 23, so that the first clamp 24 moves together with the first cantilever 22 and approaches the clamped part 200. After the first clamp 24 contacts the clamped part 200, if the processor detects that the first clamping force is still less than the first preset clamping force, the first clamp 24 will push the clamped part 200 to move relative to the second cantilever 23 until the processor detects that the first clamping force is equal to or greater than the first preset clamping force, the first clamp 24 stops moving. At this time, the clamped part 200 is in a state of being clamped by the first clamp 24 and the second clamp 25, and the clamping device 20 completes the clamping operation of the clamped part 200.

[0156] Understandably, in this embodiment, since two force sensors (first force sensor 221 and second force sensor 222) are provided on the first cantilever 22, even if the clamping device 20 slips during the clamping process or the first chuck 24 is replaced, causing a change in the distance dx between the clamped part and the first force sensor 221, the magnitude of the first clamping force can still be calculated. Furthermore, there is no need to calibrate the C*d value of the force sensor, making the calculated first clamping force more accurate and effectively improving the operational precision of the clamping device 20. Simultaneously, since only one movable cantilever (first cantilever 22) and one driving component (first driving component 26) are provided, manufacturing costs are saved. Moreover, the processor only controls the movement of the first cantilever 22, making the clamping process simpler, more convenient, and less prone to errors.

[0157] In the second embodiment, please refer to the following: Figure 14 and Figure 15 , Figure 14 yes Figure 2 The clamping device 20 shown is a schematic diagram of the structure in the second embodiment. Figure 15 yes Figure 14 A schematic diagram of the calculation model for the second clamping force of the clamping device 20 shown.

[0158] In this embodiment, the clamping device 20 and Figure 2 The clamping device 20 shown has a largely the same structure, and the identical parts will not be described again. The difference is that the clamping device 20 in this embodiment may further include a third force sensor 231 and a fourth force sensor 232. The third force sensor 231 and the fourth force sensor 232 are installed at intervals on the same side of the second cantilever 23. The processor is electrically connected to the third force sensor 231 and the fourth force sensor 232 to obtain their readings. Based on the obtained readings from the third force sensor 231 and the fourth force sensor 232, the processor obtains the second clamping force of the second chuck 25.

[0159] It is understood that, in this embodiment, the clamping device 20, by installing a third force sensor 231 and a fourth force sensor 232 at intervals on the same side of the second cantilever 23, obtains the second clamping force of the second chuck 25 by combining the readings of the third force sensor 231 and the fourth force sensor 232. The processor controls the first chuck 24 and the second chuck 25 to move closer together and perform a clamping operation on the object being clamped by combining the magnitudes of the first clamping force and the second clamping force, making the clamping operation of the object being clamped more precise and less likely to cause damage to the object being clamped during the clamping process.

[0160] In this embodiment, the third force sensor 231 and the fourth force sensor 232 can be piezoresistive force sensors. When the second cantilever 23 drives the second clamp 25 to apply a clamping force to the clamped part 200, the second clamp 25 will also be subjected to a reaction force of equal magnitude and opposite direction. At this time, the second cantilever 23 will be subjected to a bending moment, causing the third force sensor 231 and the fourth force sensor 232 to compress or elongate, resulting in a change in the resistance value of the third force sensor 231 and the fourth force sensor 232, thereby causing a change in their readings. Of course, in other embodiments, the third force sensor 231 and the fourth force sensor 232 may not be piezoresistive force sensors; they may be other types of force sensors.

[0161] In this embodiment, the distance between the third force sensor 231 and the fourth force sensor 232 is the second distance d2, and the second clamping force can be obtained by a conversion formula, which is:

[0162]

[0163] Among them, the bending moment sensitivity coefficient C3 and reading S3 of the third force sensor 231, and the bending moment sensitivity coefficient C4 and reading S4 of the fourth force sensor 232.

[0164] It should be noted that, if the second clamping force is F2, and the distance dx2 between the third force sensor 231 and the clamped part 200, then the following equation holds:

[0165] S3=C3×F2×dx2

[0166] S4 = C4 × F2 × (dx2 + d2)

[0167] Then the conversion formula for the second clamping force F2 can be obtained:

[0168]

[0169] At the same time, the formula for the distance dx2 between the third force sensor 231 and the clamped part 200 can also be obtained:

[0170]

[0171] It is understood that the clamping device 20 of this embodiment only needs to use the bending moment sensitivity coefficients and readings of the third force sensor 231 and the fourth force sensor 232, as well as the second distance d2 between the third force sensor 231 and the fourth force sensor 232, to calculate the distance between the third force sensor 231 and the clamped part 200 according to the conversion formula, and obtain the accurate first clamping force F1, which effectively improves the operating accuracy of the clamping device 20.

[0172] In this embodiment, the clamping device 20 obtains the second clamping force F2 of the second chuck 25 by combining the readings of the third force sensor 231 and the fourth force sensor 232 with the second distance d2, using the third force sensor 231 and the fourth force sensor 232 as the second distance d2. That is, during the process of controlling the movement of the second chuck 25, the processor only needs to detect the value of the second clamping force F2 to intuitively control the second chuck 25 to approach and contact the clamped workpiece, without needing to detect the value of the first clamping force F1. This makes the processor's control of the second chuck 25 more direct and precise.

[0173] In this embodiment, both the third force sensor 231 and the fourth force sensor 232 are disposed on the surface of the second cantilever 23 facing away from the first cantilever 22. It is understood that when both the third force sensor 231 and the fourth force sensor 232 are disposed on the surface of the second cantilever 23 facing away from the first cantilever 22, the direction of the bending moment of the second cantilever 23 is in the same straight line as the direction of compression or elongation of the third force sensor 231 and the fourth force sensor 232. This results in greater compression or elongation deformation of the third force sensor 231 and the fourth force sensor 232 under the same clamping force, which is beneficial to improving the sensitivity of the third force sensor 231 and the fourth force sensor 232, making their readings more accurate.

[0174] Of course, in other embodiments, the third force sensor 231 and the fourth force sensor 232 may also be disposed at other locations on the second cantilever 23. This application does not limit the specific location where the third force sensor 231 and the fourth force sensor 232 are installed on the second cantilever 23.

[0175] Please see Figure 16 , Figure 16 yes Figure 14 The flowchart shows the control method for the clamping device 20 to perform clamping operations.

[0176] This control method is based on Figure 14 The clamping device 20 shown is controlled by the following steps S210 to S220:

[0177] S210: Control the first chuck 24 to move and approach the clamped part 200. When the first clamping force is equal to or greater than the second preset clamping force, the first chuck 24 stops moving.

[0178] Understandably, when the clamping device 20 performs a clamping operation on the clamped part 200, a second preset clamping force needs to be set on the control platform 32 first. The value of the second preset clamping force is less than the frictional force between the first chuck 24 and the clamped part, that is, the contact force when clamping.

[0179] like Figure 17 and Figure 18 As shown, Figure 17 yes Figure 14 The control flowchart of the processor of the clamping device 20 shown. Figure 18 yes Figure 14 The diagram shows the structure of the first chuck 24 of the clamping device 20 near the clamped part 200.

[0180] Specifically, when the processor detects that the first clamping force is less than the second preset clamping force, it controls the first driving member 26 to drive the first cantilever 22 to move toward the second cantilever 23, so that the first chuck 24 moves together with the first cantilever 22 and approaches the clamped member 200.

[0181] When the processor detects that the first clamping force is equal to or greater than the second preset clamping force, it controls the first drive member 26 to stop moving the first cantilever 22, thereby the first chuck 24 stops moving. At this time, the first chuck 24 contacts the clamped member 200, but does not push the clamped member 200.

[0182] In some embodiments, the value of the second preset clamping force is much smaller than the frictional force between the first chuck 24 and the clamped part 200. It is understood that when the first chuck 24 stops moving, because the value of the second preset clamping force is much smaller than the frictional force between the first chuck 24 and the clamped part 200, the first clamping force at this time is still less than the frictional force between the first chuck 24 and the clamped part, thus preventing the clamped part 200 from sliding and making it less susceptible to bumps or damage during clamping.

[0183] In one implementation scenario of some embodiments, when the clamping device 20 performs a clamping operation on the clamped part 200, a first pre-contact clamping force can also be set on the control platform 32. The value of the first pre-contact clamping force is slightly less than the value of a second preset clamping force. When the processor detects that the first clamping force is greater than the first pre-contact clamping force but less than the second preset clamping force, it can control the first driving member 26 to slow down the speed at which the first cantilever 22 moves towards the clamped part 200. At this time, the value of the first clamping force applied by the first chuck 24 to the clamped part 200 slowly increases until the processor detects that the first clamping force is equal to or greater than the second preset clamping force, at which point the movement of the first chuck 24 stops.

[0184] S220: Control the second chuck 25 to move and approach the clamped part 200, when the first clamping force is equal to or greater than the first preset clamping force.

[0185] like Figure 17 and Figure 19 As shown, Figure 19 yes Figure 14 The diagram shows the structure of the second chuck 25 of the clamping device 20 near the clamped part 200.

[0186] Specifically, the processor determines whether the second clamping force is less than the first preset clamping force. If the second clamping force is less than the first preset clamping force, the processor controls the second driving member 27 to drive the second cantilever 23 to move toward the first cantilever 22, so that the second clamp 25 moves together with the second cantilever 23 and approaches the clamped member 200.

[0187] When the processor detects that the second clamping force is equal to or greater than the first preset clamping force, it controls the second drive member 27 to stop moving the second cantilever 23, thereby stopping the movement of the second chuck 25. At this time, the clamped part 200 is in the clamping state of the first chuck 24 and the second chuck 25 of the clamping device 20. The clamping device 20 completes the clamping operation on the clamped part 200 and can transfer the clamped part 200.

[0188] In another implementation scenario of some embodiments, when the clamping device 20 performs a clamping operation on the clamped part 200, a second pre-contact clamping force can also be set on the control platform 32. The value of the second pre-contact clamping force is slightly less than the value of the first preset clamping force. When the processor detects that the second clamping force is greater than the second pre-contact clamping force but less than the first preset clamping force, it can control the second drive member 27 to slow down the speed at which the second cantilever 23 moves towards the clamped part 200. At this time, the value of the second clamping force applied by the first chuck 24 to the clamped part 200 slowly increases until the processor detects that the second clamping force is equal to or greater than the first preset clamping force, at which point the movement of the second chuck 25 stops.

[0189] It is understood that the clamping device 20 in this embodiment, by setting a third force sensor 231 and a fourth force sensor 232 on the second cantilever 23, enables the processor to detect the second clamping force of the second chuck 25 in real time. The processor controls the first chuck 24 and the second chuck 25 to perform clamping operations on the clamped part 200 by simultaneously detecting the first clamping force of the first chuck 24 and the second clamping force of the second chuck 25. This makes the processor's control over the clamping operation of the clamped part 200 more sensitive and its judgment of the clamping force required during the clamping operation more accurate.

[0190] In the third embodiment, please refer to [the relevant documentation / reference]. Figure 20 and Figure 21 , Figure 20 yes Figure 2 The diagram shows the structure of the clamping device 20 in the third embodiment. Figure 21 yes Figure 20 A schematic diagram of the calculation model of the first clamping force of the clamping device 20 shown.

[0191] In this embodiment, the clamping device 20 and Figure 2 The clamping device 20 shown has a largely similar structure, and the identical parts will not be described in detail. The difference is that the clamping device 20 in this embodiment may further include N fifth force sensors 223, which are mounted on the same side of the first cantilever 22 along with the second force sensor 222, where N is an integer equal to or greater than 1. When there is only one fifth force sensor 223, it is spaced apart from the second force sensor 222. When there are multiple fifth force sensors 223, the fifth force sensor 223 closest to the second force sensor 222 is spaced apart from the second force sensor 222, and so on. That is, a gap is formed between every two adjacent force sensors among the first force sensor 221, the second force sensor 222, and the N fifth force sensors 223.

[0192] Given the bending moment sensitivity coefficient C1 and reading S1 of the first force sensor 221, the bending moment sensitivity coefficient C2 and reading S2 of the second force sensor 222, the bending moment sensitivity coefficient C3 and reading S3 of the first fifth force sensor 223, the bending moment sensitivity coefficient C4 and reading S4 of the second fifth force sensor 223, ..., the bending moment sensitivity coefficient Cn and reading Sn of the Nth fifth force sensor 223, and the gap distance between each pair of adjacent force sensors from the first force sensor 221 to the Nth fifth force sensor 223 is d1, d2, d3, ..., dn-1 respectively, let the first clamping force be F1, and the distance between the first force sensor 221 and the clamped part 200 be d. x1 Then we have the following equation:

[0193] S1=C1×F1×dx1

[0194] S2=C2×F1×(dx1+d1)

[0195] S3 = C3 × F1 × (dx1 + d1 + d2)

[0196] ...

[0197] Sn=Cn×F1×(dx1+d1+d2+…+dn-1)

[0198] Please see Figure 22 , Figure 22 yes Figure 20 A schematic diagram of data fitting for the first clamping force of the clamping device 20 shown.

[0199] By using the data S1 / C1, S2 / C2, ..., Sn / Cn as the ordinate and the data d1, d2, d3, ..., dn-1 as the abscissa, we can obtain... Figure 12 The data shown is then fitted to all data points to obtain a straight line L1. The slope of the straight line L1 is the first clamping force, and the x-coordinate of the intersection of the straight line L1 and the x-axis is the opposite of the distance dx1 between the clamped part 200 and the first force sensor 221.

[0200] based on Figure 20 The clamping device 20 shown has a control method for clamping the clamped part 200 and the clamping device 200 control method for clamping the part 200. Figure 2 The clamping device 20 shown uses the same control method for the clamped part 200, which will not be described again here.

[0201] It is understood that the clamping device 20 in this embodiment, by setting a first force sensor 221, a second force sensor 222, and N fifth force sensors 223 (N being an integer equal to or greater than 1) on the side surface of the first cantilever 22, obtains the following by fitting the bending moment sensitivity coefficient and reading of each force sensor and the gap distance between each pair of adjacent force sensors: Figure 12 The data graph and data fitting line shown indicate the magnitude of the first clamping force and the distance between the first force sensor 221 and the clamped part 200. In other words, the clamping device 20 of this embodiment obtains the magnitude of the first clamping force by fitting multiple data from multiple force sensors on the first cantilever 22. Compared to calculating the magnitude of the first clamping force by using only the first force sensor 221 and the second force sensor 222 on the first cantilever 22 and then using a conversion formula, the magnitude of the first clamping force obtained by fitting multiple data from multiple force sensors on the first cantilever 22 in this embodiment is more accurate.

[0202] In the fourth embodiment, please refer to Figure 23 , Figure 23 yes Figure 2 The diagram shows the structure of the clamping device 20 in the fourth embodiment.

[0203] In this embodiment, the clamping device 20 and Figure 20 The clamping device 20 shown has a largely the same structure, and the identical parts will not be described again. The difference is that the clamping device 20 in this embodiment may also include N sixth force sensors 233. The N sixth force sensors 233 and the fourth force sensor 232 are mounted on the same side of the second cantilever 23, where N is an integer equal to or greater than 1. When there is only one sixth force sensor 233, the sixth force sensor 233 and the fourth force sensor 232 are spaced apart. When there are multiple sixth force sensors 233, the sixth force sensor 233 closest to the fourth force sensor 232 is spaced apart from the fourth force sensor 232, and the multiple sixth force sensors 233 are spaced apart. That is, a gap is formed between every two adjacent force sensors among the third force sensor 231, the fourth force sensor 232, and the N sixth force sensors 233.

[0204] The method for obtaining the second clamping force of the clamping device 20 in this embodiment is the same as the method for obtaining the first clamping force of the clamping device 20 in the third embodiment. Furthermore, based on... Figure 23 The clamping device 20 shown has a control method for clamping the clamped part 200 and the clamping device 200 control method for clamping the part 200. Figure 14 The clamping device 20 shown uses the same control method for the clamped part 200, which will not be described again here.

[0205] It is understood that the clamping device 20 in this embodiment obtains the values ​​of the first clamping force and the second clamping force by fitting multiple force sensors on both movable cantilever arms (first cantilever 22 and second cantilever 23) and fitting multiple data points, resulting in more accurate results. Based on this, the processor controls the movement of the first chuck 24 and the second chuck 25 to perform a clamping operation on the clamped part 200 according to the magnitude of the obtained first and second clamping forces. This operation is more precise, avoids damage to the clamped part 200 during the clamping operation, and improves the success rate of the clamping device 20 in clamping the clamped part 200.

[0206] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other, and any combination of features in different embodiments is also within the protection scope of this application. That is to say, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0207] It should be noted that all the above figures are exemplary illustrations of this application and do not represent the actual size of the product. Furthermore, the dimensional proportions between the components in the figures are not intended to limit the actual product of this application.

[0208] The above are merely some embodiments and implementation methods of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A clamping device, characterized in that The clamping device comprises a base, a first cantilever, a second cantilever, a first chuck, a second chuck, a first force sensor, a second force sensor and a processor; The first cantilever and the second cantilever are spaced apart and installed on the base, the first chuck is installed on the end of the first cantilever away from the base, the second chuck is installed on the end of the second cantilever away from the base, the first chuck is arranged opposite to the second chuck, and the first cantilever can drive the first chuck to move relative to the second chuck; The first force sensor and the second force sensor are spaced apart and installed on the same side of the first cantilever, the processor is electrically connected with the first force sensor and the second force sensor, and the processor obtains a first clamping force of the first chuck according to readings of the first force sensor and the second force sensor; The processor is used for controlling the first chuck to move and approach the clamped object, and when the first clamping force is equal to or greater than a second preset clamping force, the first chuck stops moving, wherein the second preset clamping force is less than or equal to the frictional force between the first chuck and the clamped object; After the first cantilever stops moving, the processor is used for controlling the second chuck to move and approach the clamped object, and when the first clamping force is equal to or greater than a first preset clamping force, the second chuck stops moving.

2. The clamping device of claim 1, wherein The distance between the first force sensor and the second force sensor is a first distance, and the first clamping force is obtained through a conversion formula, wherein the conversion formula is: Wherein, F1 is the first clamping force, S1 is the reading of the first force sensor, S2 is the reading of the second force sensor, C1 is the bending moment sensitivity coefficient of the first force sensor, C2 is the bending moment sensitivity coefficient of the second force sensor, and d1 is the first distance.

3. The clamping device of claim 2, wherein The clamping device further comprises a first driving member, the first driving member is arranged on the base and is electrically connected with the processor, when the first clamping force is less than the first preset clamping force, the processor controls the first driving member to drive the first cantilever to move towards the second cantilever, when the first clamping force is equal to or greater than the first preset clamping force, the processor controls the first driving member to stop moving the first cantilever, wherein the first preset clamping force is a target clamping force.

4. The clamping device of claim 2, wherein The clamping device further comprises a first driving member and a second driving member, the first driving member and the second driving member are electrically connected with the processor, the processor controls the first driving member to drive the first cantilever to move, and controls the second driving member to drive the second cantilever to move relative to the first cantilever.

5. The clamping device of claim 4, wherein When the first clamping force is less than a second preset clamping force, the processor controls the first driving member to move the first cantilever, when the first clamping force is equal to or greater than the second preset clamping force, the processor controls the first driving member to stop moving the first cantilever, wherein the second preset clamping force is less than or equal to the frictional force between the first chuck and the clamped object; When the first cantilever stops moving, if the first clamping force is less than a first preset clamping force, the processor controls the second driving member to drive the second cantilever to move towards the first cantilever; if the first clamping force is equal to or greater than the first preset clamping force, the processor controls the second driving member to stop moving the second cantilever.

6. The clamping device of claim 4, wherein The clamping device further comprises a third force sensor and a fourth force sensor, the third force sensor and the fourth force sensor are installed on the same side of the second cantilever, the processor is electrically connected with the third force sensor and the fourth force sensor, and the processor obtains a second clamping force of the second chuck according to readings of the third force sensor and the fourth force sensor.

7. The clamping device of claim 6, wherein When the first clamping force is less than a second preset clamping force, the processor controls the first driving member to move the first cantilever; when the first clamping force is equal to or greater than the second preset clamping force, the processor controls the first driving member to stop moving the first cantilever. When the first cantilever stops moving, if the second clamping force is less than a first preset clamping force, the processor controls the second driving member to drive the second cantilever to move towards the first cantilever; if the second clamping force is equal to or greater than the first preset clamping force, the processor controls the second driving member to stop moving the second cantilever.

8. The clamping device of claim 3, wherein The clamping device further comprises N fifth force sensors, the N fifth force sensors and the second force sensor are installed on the same side of the first cantilever, wherein N is an integer equal to or greater than 1.

9. The clamping device according to any one of claims 1 to 8, characterized in that The first chuck and the first cantilever are integrally formed.

10. A manufacturing apparatus characterized by comprising: The manufacturing equipment comprises a body and the clamping device according to any one of claims 1 to 9, and the clamping device is installed on the body.

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