Multi-station clamping system and machining method thereof

Abstract

The application discloses a multi-station clamping system, which comprises a plurality of clamping stations arranged in a linear array; a single clamping station comprises a placing station for placing the special-shaped workpiece; a main support block for supporting a second support part and a third support part of the special-shaped workpiece; a first servo motor and a first clamping jaw controlled to rotate by the first servo motor; a second servo motor and a second clamping jaw controlled to rotate by the second servo motor; at least two pre-support rods; a plurality of jacking assemblies for jacking the workpiece after machining; a main pushing cylinder and a main pressing block driven by the main pushing cylinder; a secondary pushing cylinder and a pull rod driven by the secondary pushing cylinder, wherein the pull rod is provided with a clamping block; and a plurality of lateral pressing cylinders and lateral pressing blocks independently driven by the lateral pressing cylinders.

Description

Technical Field

[0001] This application relates to the field of tooling and fixture technology, and in particular to a multi-station clamping system and its processing method. Background Technology

[0002] Currently, existing fixtures are unable to effectively and stably hold irregularly shaped parts with specific structures, and traditional fixtures may not be able to handle both.

[0003] Specifically, this is particularly true in the clamping and machining of automotive door hinge components with Y-shaped structures. These workpieces have complex angular variations and special mounting hole structures, making it difficult for traditional clamping systems to achieve stable, precise, and non-destructive clamping, resulting in low machining accuracy and a high risk of workpiece damage.

[0004] For example, multi-angle support parts of irregularly shaped workpieces are difficult to be effectively supported simultaneously in traditional clamping equipment, which can easily cause movement and affect machining accuracy. Summary of the Invention

[0005] Based on this, this application provides a multi-station clamping system and its processing method to at least solve one of the above-mentioned technical problems.

[0006] The technical solution adopted by this application to solve its technical problem is:

[0007] A multi-station clamping system is provided for clamping an irregularly shaped workpiece, wherein the irregularly shaped workpiece includes a first support portion, a second support portion, and a third support portion extending at different angles; the irregularly shaped workpiece is approximately Y-shaped when viewed from the side; and the multi-station clamping system includes multiple clamping stations arranged in a straight line.

[0008] A single clamping station includes:

[0009] A placement station is used to place the irregularly shaped workpiece;

[0010] The main support block is used to support the second and third support parts of the irregularly shaped workpiece.

[0011] A first servo motor, and a first gripper whose rotation is controlled by the servo motor;

[0012] The second servo motor, and the second gripper that is controlled to rotate by the servo motor;

[0013] At least two pre-support rods;

[0014] Multiple lifting components are used to lift the workpiece after processing;

[0015] Main propulsion cylinder, and the main pressure block driven by it;

[0016] A secondary propulsion cylinder, and a connecting rod driven by it, the connecting rod being provided with a locking block;

[0017] Multiple lateral clamping cylinders, and lateral clamping blocks independently driven by these lateral clamping cylinders;

[0018] The first servo motor and the second servo motor are symmetrically arranged on both sides of the third support portion;

[0019] The pre-support rod is positioned below the first support portion;

[0020] The lifting components are respectively disposed below the first support portion and the third support portion;

[0021] The main pressure block is located at the end of the first support part;

[0022] The card block is located on one side of the end of the third support;

[0023] During operation, the first servo motor and the second servo motor work synchronously. After the first gripper and the second gripper rotate, they press the third support part against the main support block. The main pressure block presses against the end of the first support part. The pull rod drives the clamping block to tighten the end of the third support part. The lateral pressure block moves inward and presses against the side edge of the irregular workpiece.

[0024] In some embodiments, the third support portion is provided with two mounting holes, and both the first and second grippers are provided with limit posts. When the third support portion is pressed by the first and second grippers, the limit posts are placed in the mounting holes.

[0025] In some embodiments, both the first gripper and the second gripper are provided with an internal support clamping mechanism and an inner cavity. The internal support clamping mechanism includes a fixed shaft, a rotating bushing, a fixed gear, a movable gear, a first connecting rod, a second connecting rod, a first slider, a second slider, and a clamping block.

[0026] The fixed shaft is fixedly mounted on the clamping station and passes through the inner cavity;

[0027] The rotating bushing is fixedly engaged with the first and second grippers, and the rotating bushing is sleeved on the fixed shaft and can rotate.

[0028] The fixed gear is fixedly mounted on the fixed shaft and placed in the inner cavity;

[0029] The movable gear is disposed in the inner cavity and meshes with the fixed gear;

[0030] One end of the first connecting rod is mounted on the movable gear, and the other end is hinged to one end of the second connecting rod. The other end of the second connecting rod is mounted on the first slider.

[0031] The limiting post has a hollow structure, and a support block that moves radially inside the limiting post is provided. The upper part of the second slider extends into the limiting post at least partially and keeps in contact with the support block, while the lower part of the second slider keeps in contact with the first slider.

[0032] When the first and second grippers rotate relative to the fixed shaft, the movable gear rotates relative to the fixed gear and drives the first and second connecting rods to push the first slider to move. The first slider pushes the second slider to move, thereby driving part of the support block to extend outside the limiting post, thereby supporting the inner wall of the mounting hole.

[0033] In some embodiments, at least three support blocks are provided and are evenly distributed in a ring on the limiting post. A spring coil passes through these support blocks. The spring coil is used to drive the support blocks to retract and reset, and to drive the second slider to reset. When the limiting post enters the mounting hole, the support blocks approach the inner wall of the mounting hole. When the first and second grippers are fully pressed against the third support, the support blocks tighten the inner wall of the mounting hole.

[0034] In some embodiments, a limiting groove is also provided to restrict the first slider and / or the second slider to maintain linear movement.

[0035] In some embodiments, a cavity region is formed between the main support block and several lateral pressure blocks, the second support portion, and the third support portion. An airbag is disposed in the cavity region. A switch for activating and releasing the airbag is disposed at the placement station. The first gripper and the second gripper are provided with triggering portions for triggering the switch. When the first gripper and the second gripper rotate and fully press against the third support portion, the triggering portion triggers the switch, activating the airbag to inflate and fill the cavity region. When the first gripper and the second gripper return to their original positions, the switch is no longer contacted by the triggering portion, and the airbag is released and reset.

[0036] In some embodiments, the lifting assembly is provided in at least six sets, two sets of which are located below the third support and the rest are located below the first support; the lifting assembly includes a transverse push rod, a longitudinal push rod and a spring, the transverse push rod is provided with a wedge for pushing the longitudinal push rod upward, and the spring is used to drive the longitudinal push rod downward back to its original position; wherein the height of the transverse push rod of each pair of lifting assemblies is different.

[0037] In some embodiments, the main propulsion cylinder includes a vertical propulsion rod and a horizontal propulsion rod. The end of the horizontal propulsion rod is inclined and has a groove. The vertical propulsion rod has an inclined locking block. The groove is movably fitted onto the locking block. The horizontal propulsion rod is driven to advance horizontally by the rise of the vertical propulsion rod.

[0038] In some embodiments, the lateral clamping cylinder includes: a first lateral clamping cylinder and a first lateral clamping block controlled by the cylinder; a second lateral clamping cylinder and a second lateral clamping block controlled by the cylinder; a third lateral clamping cylinder and a third lateral clamping block controlled by the cylinder; a fourth lateral clamping cylinder and a fourth lateral clamping block controlled by the cylinder; a fifth lateral clamping cylinder and a fifth lateral clamping block controlled by the cylinder; and a sixth lateral clamping cylinder and a sixth lateral clamping block controlled by the cylinder.

[0039] The fifth and sixth lateral pressure blocks are arranged at intervals relative to each other and are used to press the two sides of the first support portion of the irregular workpiece, respectively. The first and second lateral pressure blocks are used to press the two sides of the second support portion of the irregular workpiece, respectively. The third and fourth lateral pressure blocks are used to press the two sides of the third support portion of the irregular workpiece, respectively.

[0040] Another aspect of this application provides a machining method for a multi-station clamping system, implemented based on the multi-station clamping system described in any of the above embodiments, comprising the following steps:

[0041] Step 1: Place multiple irregularly shaped workpieces on the placement station with the first support part roughly horizontal, so that the first support part is positioned above the pre-support rod, the second support part and the third support part are close to the main support block, and the end of the third support part is positioned inside the clamping block.

[0042] Step 2: Control the first servo motor and the second servo motor to rotate synchronously, so that the first gripper and the second gripper deflect toward the third support part and push them to press against the main support block.

[0043] Step 3: Control the main propulsion cylinder and the auxiliary propulsion cylinder to start, the main pressure block presses the end of the first support part, and the pull rod retracts to drive the locking block to tighten the third support part;

[0044] Step 4: Control the lateral clamping cylinder to start, and these lateral clamping blocks located on both sides of the irregular workpiece will clamp it.

[0045] Step 5: Drive the cutting tool to cut the upper end face of the first support part of the irregular workpiece;

[0046] Step 6: After all the irregularly shaped workpieces have been cut, the lateral clamping cylinder, main clamping block, pull rod, first gripper, and second gripper are reset in sequence.

[0047] Step 7: The lifting assembly pushes the irregularly shaped workpiece out of the upper part of the placement station.

[0048] The beneficial effects of this application are as follows: providing multi-directional stable clamping: through the main support block, servo motor driven gripper assembly, pre-support rod, lifting assembly, main propulsion cylinder, auxiliary propulsion cylinder and lateral clamping cylinder, it achieves all-round and balanced clamping of the various support parts and sides of the irregular workpiece, effectively suppressing workpiece movement and improving processing stability.

[0049] Secondly, it is equipped with an internal support clamping mechanism. The limiting post cooperates with the mounting hole, and the supporting block is driven to extend into the inner wall of the mounting hole through a movable gear and linkage mechanism, forming internal support, effectively preventing hole deformation and improving machining accuracy. The spring ring drives the supporting block to reset, ensuring non-destructive separation of the clamping device from the workpiece.

[0050] In addition, airbags are installed in the cavity area to provide spring buffering during clamping, reducing damage caused by uneven force on the workpiece, while effectively preventing debris from entering the clamping system and ensuring subsequent clamping accuracy. Attached Figure Description

[0051] The present application will be further described below with reference to the accompanying drawings and embodiments.

[0052] Figure 1 This is a schematic diagram of the structure of this application.

[0053] Figure 2 This application is Figure 1 Enlarged diagram of point A in the middle.

[0054] Figure 3 This application is Figure 1 Enlarged diagram of point A in the middle.

[0055] Figure 4 This is a schematic diagram of the internal structure of this application.

[0056] Figure 5 This is a partial structural diagram of this application.

[0057] Figure 6 This is a side view of this application.

[0058] Figure 7 This is a schematic diagram of the operation of the first and second grippers of this application.

[0059] Figure 8 This is a schematic diagram of the internal support clamping mechanism of this application in an unclamped state.

[0060] Figure 9 This is a schematic diagram of the clamping state of the internal support clamping mechanism of this application.

[0061] Figure 10This application is Figure 9 Enlarged diagram of point B in the middle.

[0062] Figure 11 This is a schematic diagram of the internal structure of the internal support and clamping mechanism of this application.

[0063] Figure 12 This is an elevation view of the irregularly shaped workpiece in this application.

[0064] Figure 13 This is a side view of the irregularly shaped workpiece in this application.

[0065] Reference numerals: 1. Irregularly shaped workpiece; 11. First support part; 12. Second support part; 13. Third support part; 131. Mounting hole;

[0066] 2. Main support block; 21. Pre-support rod;

[0067] 31. First servo motor; 32. Second servo motor; 33. First gripper; 34. Second gripper; 35. Limiting post;

[0068] 4. Lifting assembly; 41. Lateral push rod; 42. Longitudinal push rod; 43. Spring;

[0069] 5. Main propulsion cylinder; 51. Vertical propulsion rod; 511. Snap-fit ​​block; 52. Horizontal propulsion rod; 521. Snap-fit ​​groove; 53. Main pressure block;

[0070] 6. Secondary propulsion cylinder; 61. Connecting rod; 62. Locking block;

[0071] 7. Lateral clamping cylinder; 71. First lateral clamping cylinder; 72. Second lateral clamping cylinder; 73. Third lateral clamping cylinder; 74. Fourth lateral clamping cylinder; 75. Fifth lateral clamping cylinder; 76. Sixth lateral clamping cylinder.

[0072] 8. Lateral pressure block; 81. First lateral pressure block; 82. Second lateral pressure block; 83. Third lateral pressure block; 84. Fourth lateral pressure block; 85. Fifth lateral pressure block; 86. Sixth lateral pressure block;

[0073] 9. Internal support clamping mechanism; 910. Inner cavity; 920. Fixed shaft; 930. Rotating bushing; 940. Fixed gear; 950. Movable gear; 960. First connecting rod; 970. Second connecting rod; 980. First slider; 990. Second slider; 991. Support block; 992. Spring ring;

[0074] 10. Cavity area, 101. Airbag. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In addition, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those of ordinary skill in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection of this application.

[0076] Reference Figure 1-13 As shown, a multi-station clamping system is provided for clamping an irregularly shaped workpiece 1. Specifically, referring to... Figure 12-13 As shown, the irregularly shaped workpiece 1 includes a first support portion 11, a second support portion 12, and a third support portion 13 extending at different angles; and, the irregularly shaped workpiece 1 is approximately Y-shaped when viewed from the side.

[0077] The multi-station clamping system includes multiple clamping stations arranged in a straight line, wherein a single clamping station includes:

[0078] Placement station: used to support irregularly shaped workpieces to be clamped 1.

[0079] Main support block 2: Fixed on the clamping station, used to support the second support part 12 and the third support part 13 of the irregular workpiece 1.

[0080] Servo motor and gripper assembly: including a first servo motor 31, driving the first gripper 33 to rotate; and a second servo motor 32, driving the second gripper 34 to rotate. The two servo motors are symmetrically arranged on both sides of the third support part 13, and when working synchronously, they press the third support part 13 against the main support block 2.

[0081] Pre-support rod 21: Arranged below the first support part 11 to provide initial support.

[0082] Lifting component 4: It is respectively disposed below the first support part 11 and the third support part 13, and is used to lift the workpiece that has been processed.

[0083] The main propulsion cylinder 5 applies pressure to the end of the first support part 11 through the main pressure block 53.

[0084] The auxiliary propulsion cylinder 6 tightens the end of the third support part 13 via the pull rod 61 and the locking block 62 located on it.

[0085] The lateral clamping cylinder 7 and the corresponding lateral clamping block 8 act on each side of the irregular workpiece 1 to ensure clamping stability.

[0086] During operation, the first servo motor 31 and the second servo motor 32 work synchronously. After the first gripper 33 and the second gripper 34 rotate, they press the third support part 13 against the main support block 2. The main pressure block presses against the end of the first support part 11. The pull rod 61 drives the clamping block 62 to tighten the end of the third support part 13. The lateral pressure block moves inward and presses against the side edge of the irregular workpiece 1.

[0087] In some embodiments, the clamping system further includes the following additional functions to accommodate the characteristics of the irregularly shaped workpiece 1: (Refer to...) Figure 12 As shown, the third support portion 13 is provided with two mounting holes 131. Both the first gripper 33 and the second gripper 34 are provided with limiting posts 35. When the third support portion 13 is pressed by the first gripper 33 and the second gripper 34, the limiting posts 35 are positioned within the mounting holes 131. This irregularly shaped workpiece 1 is used as a component of an automotive door hinge, and these two mounting holes 131 are for fixing fasteners. The limiting posts 35 provide further clamping stability, preventing the irregularly shaped workpiece 1 from shifting.

[0088] Furthermore, refer to Figure 8-11As shown, both the first gripper 33 and the second gripper 34 are provided with an inner support clamping mechanism 9 and an inner cavity 910. The inner support clamping mechanism 9 includes a fixed shaft 920, a rotating bushing 930, a fixed gear 940, a movable gear 950, a first connecting rod 960, a second connecting rod 970, a first slider 980, a second slider 990, and a support block 991. The fixed shaft 920 is fixedly mounted on the clamping position and passes through the inner cavity 910. The rotating bushing 930 is fixedly engaged with the first gripper 33 and the second gripper 34, and is rotatable while being sleeved on the fixed shaft 920. The fixed gear 940 is fixedly mounted on the fixed shaft 920 and placed in the inner cavity 910. The movable gear 950 is disposed in the inner cavity 910 and meshes with the fixed gear 940. One end of the first connecting rod 960 is mounted on the movable gear 950, and the other end... One end of the second connecting rod 970 is hinged to the first slider 980, and the other end of the second connecting rod 970 is mounted on the first slider 980. The limiting post 35 is a hollow structure, and a support block 991 that moves radially is provided inside the limiting post 35. At least part of the upper part of the second slider 990 extends into the limiting post 35 and keeps in contact with the support block 991. The lower part of the second slider 990 keeps in contact with the first slider 980. When the first gripper 33 and the second gripper 34 rotate relative to the fixed shaft 920, the movable gear 950 rotates relative to the fixed gear 940 and drives the first connecting rod 960 and the second connecting rod 970 to push the first slider 980 to move. The first slider 980 pushes the second slider 990 to move, thereby driving part of the support block 991 to extend outside the limiting post 35, thereby tightening the inner wall of the mounting hole 131. During operation, the fixed shaft 920 and the fixed gear 940 remain fixed. The first gripper 33 and the second gripper 34, along with their internal movable gear 950, rotate relative to the fixed shaft 920 and the fixed gear 940, thereby enabling the linkage mechanism to drive the two sliders to move, thus tightening the inside of the mounting hole 131 and strengthening the support.

[0089] Specifically, at least three support blocks 991 are provided and are evenly distributed in a ring on the limiting post 35. A spring coil 992 passes through each of these support blocks 991. The spring coil 992 is used to drive the support blocks 991 to retract and reset, and to drive the second slider 990 to reset. When the limiting post 35 enters the mounting hole 131, the support blocks 991 approach the inner wall of the mounting hole 131. When the first gripper 33 and the second gripper 34 are completely pressed against the third support part 13, the support blocks 991 tighten the inner wall of the mounting hole 131.

[0090] Additionally, a limiting groove is provided to restrict the linear movement of the first slider 980 and / or the second slider 990. Preferably, the first slider 980 is provided with a matching limiting groove, while the second slider 990 may not be provided, as it can also achieve linear guidance through the hollow limiting post 35.

[0091] In some embodiments, an airbag buffer is provided in the cavity region: the main support block 2 and several lateral pressure blocks form a cavity region 10 between the second support part 12 and the third support part 13. An airbag 101 is provided in the cavity region 10. A switch (not shown in the figure) for activating and releasing the airbag 101 is provided at the placement station. The first gripper 33 and the second gripper 34 are provided with triggering parts for triggering the switch (not shown in the figure, which only need to be able to cooperate with the switch to open and close). When the first gripper 33 and the second gripper 34 rotate and completely press against the third support part 13, the triggering part triggers the switch, activating the airbag 101 to inflate, so that the airbag 101 fills the cavity region 10. When the first gripper 33 and the second gripper 34 return to their original positions, the switch is no longer contacted by the triggering part, and the airbag 101 is released and reset. The purpose of this design is to improve the stability of the clamping. The airbag 101 has springs and cushioning to prevent damage to the irregular workpiece 1 and to prevent some debris from entering the area during cutting, thereby ensuring the clamping accuracy of the next part.

[0092] In some embodiments, refer to Figure 4 As shown, the lifting assembly 4 is optimized in layout: The lifting assembly 4 has at least six sets, with two sets located below the third support 13 and the remainder below the first support 11. Each lifting assembly 4 includes a transverse push rod 41, a longitudinal push rod 42, and a spring. The transverse push rod 41 has an inclined block for pushing the longitudinal push rod upwards, and the spring drives the longitudinal push rod 42 downwards. The heights of the transverse push rods 41 in every two sets of the lifting assembly 4 are different. This arrangement allows for the lifting of the processed workpiece, and the different transverse push rods 41 in each pair are chosen for a more compact structure.

[0093] In some embodiments, refer to Figure 5-6As shown, the main propulsion cylinder 5 is structurally improved as follows: The main propulsion cylinder 5 includes a vertical propulsion rod 51 and a horizontal propulsion rod 52. The end of the horizontal propulsion rod 52 is inclined and has a groove 521. The vertical propulsion rod 51 has an inclined locking block 511. The groove 521 is movably engaged with the locking block 511. The horizontal propulsion rod 52 is driven to advance horizontally by the rising of the vertical propulsion rod 51. With this configuration, the propulsion stroke can be reversed, resulting in a more compact internal structure for the main propulsion cylinder 5.

[0094] Additionally, refer to Figure 3 As shown, the lateral clamping cylinder includes: a first lateral clamping cylinder 71 and a first lateral clamping block 81 controlled by the cylinder; a second lateral clamping cylinder 72 and a second lateral clamping block 82 controlled by the cylinder; a third lateral clamping cylinder 73 and a third lateral clamping block 83 controlled by the cylinder; a fourth lateral clamping cylinder 74 and a fourth lateral clamping block 84 controlled by the cylinder; a fifth lateral clamping cylinder 75 and a fifth lateral clamping block 85 controlled by the cylinder; and a sixth lateral clamping cylinder 76 and a sixth lateral clamping block 86 controlled by the cylinder.

[0095] The fifth lateral pressure block 85 and the sixth lateral pressure block 86 are arranged at intervals and opposite to each other, respectively used to press the two sides of the first support portion 11 of the irregular workpiece 1, the first lateral pressure block 81 and the second lateral pressure block 82 are respectively used to press the two sides of the second support portion 12 of the irregular workpiece 1, and the third lateral pressure block 83 and the fourth lateral pressure block 84 are respectively used to press the two sides of the third support portion 13 of the irregular workpiece 1.

[0096] Another aspect of this application provides a machining method for a multi-station clamping system, implemented based on the multi-station clamping system described in any of the above embodiments, comprising the following steps:

[0097] Step 1: Place multiple irregularly shaped workpieces 1 on the placement station with the first support part 11 as the general horizontal direction, so that the first support part 11 is placed above the pre-support rod, the second support part 12 and the third support part 13 are close to the main support block 2, and the end of the third support part 13 is placed inside the clamping block 62.

[0098] Step 2: Control the first servo motor 31 and the second servo motor 32 to rotate synchronously, so that the first gripper 33 and the second gripper 34 deflect toward the third support part 13 and push them to press against the main support block 2.

[0099] Step 3: Control the main propulsion cylinder 5 and the auxiliary propulsion cylinder 6 to start, the main pressure block presses the end of the first support part 11, and the pull rod 61 retracts to drive the locking block 62 to tighten the third support part 13;

[0100] Step 4: Control the lateral clamping cylinder to start, and these lateral clamping blocks located on both sides of the irregular workpiece 1 will clamp it.

[0101] Step 5: Drive the cutting tool to cut the upper end face of the first support part 11 of the irregular workpiece 1;

[0102] Step 6: After all the irregular workpieces 1 have been cut, the lateral clamping cylinder, main clamping block, pull rod 61, first gripper 33, and second gripper 34 are reset in sequence.

[0103] Step 7: The lifting assembly 4 pushes the irregular workpiece 1 out of the upper part of the placement station.

[0104] The various embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0105] Finally, it should be noted that the above description is only a preferred embodiment of this application. The foregoing embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A multi-station clamping system, characterized in that, The multi-station clamping system is used to clamp an irregularly shaped workpiece, wherein the irregularly shaped workpiece includes a first support portion, a second support portion, and a third support portion extending at different angles; the irregularly shaped workpiece, viewed from the side, is approximately Y-shaped. The multi-station clamping system includes multiple clamping stations arranged in a straight line; A single clamping station includes: A placement station is used to place the irregularly shaped workpiece; The main support block is used to support the second and third support parts of the irregularly shaped workpiece. A first servo motor, and a first gripper whose rotation is controlled by the servo motor; The second servo motor, and the second gripper that is controlled to rotate by the servo motor; At least two pre-support rods; Multiple lifting components are used to lift the workpiece after processing; Main propulsion cylinder, and the main pressure block driven by it; A secondary propulsion cylinder, and a connecting rod driven by it, the connecting rod being provided with a locking block; Multiple lateral clamping cylinders, and lateral clamping blocks independently driven by these lateral clamping cylinders; The first servo motor and the second servo motor are symmetrically arranged on both sides of the third support portion; The pre-support rod is positioned below the first support portion; The lifting components are respectively disposed below the first support portion and the third support portion; The main pressure block is located at the end of the first support part; The card block is located on one side of the end of the third support; During operation, the first servo motor and the second servo motor work synchronously. After the first gripper and the second gripper rotate, they press the third support part against the main support block. The main pressure block presses against the end of the first support part. The pull rod drives the clamping block to tighten the end of the third support part. The lateral pressure block moves inward and presses against the side edge of the irregular workpiece.

2. The multi-station clamping system according to claim 1, characterized in that, The third support portion is provided with two mounting holes. Both the first and second grippers are provided with limit posts. When the third support portion is pressed by the first and second grippers, the limit posts are placed in the mounting holes.

3. The multi-station clamping system according to claim 2, characterized in that, Both the first and second grippers are provided with an internal support clamping mechanism and an inner cavity. The internal support clamping mechanism includes a fixed shaft, a rotating bushing, a fixed gear, a movable gear, a first connecting rod, a second connecting rod, a first slider, a second slider, and a clamping block. The fixed shaft is fixedly mounted on the clamping station and passes through the inner cavity; The rotating bushing is fixedly engaged with the first and second grippers, and the rotating bushing is sleeved on the fixed shaft and can rotate. The fixed gear is fixedly mounted on the fixed shaft and placed in the inner cavity; The movable gear is disposed in the inner cavity and meshes with the fixed gear; One end of the first connecting rod is mounted on the movable gear, and the other end is hinged to one end of the second connecting rod. The other end of the second connecting rod is mounted on the first slider. The limiting post has a hollow structure, and a support block that moves radially inside the limiting post is provided. The upper part of the second slider extends into the limiting post at least partially and keeps in contact with the support block, while the lower part of the second slider keeps in contact with the first slider. When the first and second grippers rotate relative to the fixed shaft, the movable gear rotates relative to the fixed gear and drives the first and second connecting rods to push the first slider to move. The first slider pushes the second slider to move, thereby driving part of the support block to extend outside the limiting post, thereby supporting the inner wall of the mounting hole.

4. The multi-station clamping system according to claim 3, characterized in that, The support blocks are provided at least three times and are evenly distributed in a ring on the limiting post. A spring coil passes through each of these support blocks. The spring coil is used to drive the support blocks to retract and reset, and to drive the second slider to reset. When the limiting post enters the mounting hole, the support blocks approach the inner wall of the mounting hole. When the first and second grippers are fully pressed against the third support, the support blocks tighten the inner wall of the mounting hole.

5. A multi-station clamping system according to claim 3, characterized in that, It is also provided with a limiting groove for restricting the first slider and / or the second slider to maintain linear movement.

6. The multi-station clamping system according to claim 1, characterized in that, The main support block and several lateral pressure blocks form a cavity area between themselves and the second and third support parts. An airbag is provided in the cavity area. A switch for activating and releasing the airbag is provided at the placement station. The first and second grippers are provided with triggering parts for triggering the switch. When the first and second grippers rotate and fully press against the third support part, the triggering parts trigger the switch, activating the airbag to inflate and fill the cavity area. When the first and second grippers return to their original positions, the switch is no longer contacted by the triggering parts, and the airbag is released and reset.

7. The multi-station clamping system according to claim 1, characterized in that, The lifting assembly is provided in at least six sets, two of which are located below the third support and the rest are located below the first support. The lifting assembly includes a transverse push rod, a longitudinal push rod, and a spring. The transverse push rod is provided with an inclined block for pushing the longitudinal push rod upward, and the spring is used to drive the longitudinal push rod downward back to its original position. The height of the transverse push rod is different for every two sets of the lifting assembly.

8. A multi-station clamping system according to claim 1, characterized in that, The main propulsion cylinder includes a vertical propulsion rod and a horizontal propulsion rod. The end of the horizontal propulsion rod is inclined and has a groove. The vertical propulsion rod has an inclined locking block. The groove is movably fitted onto the locking block. The horizontal propulsion rod is driven to advance horizontally by the rise of the vertical propulsion rod.

9. A multi-station clamping system according to claim 1, characterized in that, The lateral clamping cylinder includes: a first lateral clamping cylinder and a first lateral clamping block controlled by it; a second lateral clamping cylinder and a second lateral clamping block controlled by it; a third lateral clamping cylinder and a third lateral clamping block controlled by it; a fourth lateral clamping cylinder and a fourth lateral clamping block controlled by it; a fifth lateral clamping cylinder and a fifth lateral clamping block controlled by it; and a sixth lateral clamping cylinder and a sixth lateral clamping block controlled by it. The fifth and sixth lateral pressure blocks are arranged at intervals relative to each other and are used to press the two sides of the first support portion of the irregular workpiece, respectively. The first and second lateral pressure blocks are used to press the two sides of the second support portion of the irregular workpiece, respectively. The third and fourth lateral pressure blocks are used to press the two sides of the third support portion of the irregular workpiece, respectively.

10. A machining method for a multi-station clamping system, characterized in that, The multi-station clamping system based on any one of claims 1-9 comprises the following steps: Step 1: Place multiple irregularly shaped workpieces on the placement station with the first support part roughly horizontal, so that the first support part is positioned above the pre-support rod, the second support part and the third support part are close to the main support block, and the end of the third support part is positioned inside the clamping block. Step 2: Control the first servo motor and the second servo motor to rotate synchronously, so that the first gripper and the second gripper deflect toward the third support part and push them to press against the main support block. Step 3: Control the main propulsion cylinder and the auxiliary propulsion cylinder to start, the main pressure block presses the end of the first support part, and the pull rod retracts to drive the locking block to tighten the third support part; Step 4: Control the lateral clamping cylinder to start, and these lateral clamping blocks located on both sides of the irregular workpiece will clamp it. Step 5: Drive the cutting tool to cut the upper end face of the first support part of the irregular workpiece; Step 6: After all the irregularly shaped workpieces have been cut, the lateral clamping cylinder, main clamping block, pull rod, first gripper, and second gripper are reset in sequence. Step 7: The lifting assembly pushes the irregularly shaped workpiece out of the upper part of the placement station.

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