A numerically controlled multi-station automatic chuck for fragile articles and its control method

Abstract

The present invention relates to the technical field of fixtures, and particularly relates to a numerically controlled multi-station automatic chuck for fragile articles and a control method thereof. It includes a mounting plate, on which a guide rail assembly and a driving unit are installed. Two relatively movable moving seats are installed on the guide rail assembly. The driving unit is used to drive the two moving seats to move relatively along the guide rail assembly. Mutually cooperating clamping claws are installed on both moving seats. The moving seat includes a connecting plate, a driving block and a limiting plate. The clamping claw is connected to the connecting plate. A displacement hole penetrating both sides is arranged in the connecting plate along the sliding direction of the guide rail assembly. A displacement rod is slidably arranged in the displacement hole. Both ends of the displacement rod respectively penetrate through both ends of the displacement hole and are respectively connected to the driving block and the limiting plate. It solves the problem in the prior art that due to the large size deviation of the glass workpiece itself and its fragile characteristics, conventional chucks are likely to cause damage to it during the clamping process.

Description

Technical Field

[0001] The present invention relates to the technical field of clamps, and in particular to a digitally controlled multi-station fragile product automatic chuck and a control method thereof. Background Art

[0002] In the production process of some fragile products, such as glass products or thin stamping metal parts, it is often necessary to use fixtures to sort these fragile workpieces or transfer them from one production line to another. During the transfer process, fixtures are needed to clamp the workpieces.

[0003] In the prior art, most of the clamps are fixed by double-sided clamping. When clamping the workpiece, the clamping claws on both sides are used to squeeze the two sides of the workpiece, and the two clamping claws are used to generate pressure on the workpiece to fix the workpiece, so as to prevent the workpiece from falling from the clamp during the transfer process. In the prior art, in order to ensure that the clamping claws can accurately clamp and fix the workpiece during the clamping process, the displacement stroke of the clamping claws is usually set, and the workpiece is grasped by controlling the distance when the clamping claws are opened and closed. Although such an operation method can meet the requirements of grasping the workpiece, for workpieces such as glass, due to the deformation of the glass to a certain extent during its processing and cooling process, the size of each glass workpiece will have different deviations, which makes it difficult for the fixed stroke of the clamping claws to meet the requirements of grasping and moving the glass workpiece, which is easy to cause the glass workpiece to be crushed or fall from the two clamping claws during the grasping process. Furthermore, in the prior art, double-sided clamping is mostly used for workpiece clamping. Therefore, for the sake of stability, a relatively large force is mostly applied to the workpiece to stabilize the workpiece in the clamping claws. However, since glass workpieces are easily broken by pressure, double-sided clamping generally does not apply excessive pressure. As a result, when the workpiece is moved, if a flipping operation occurs, there is also a problem that the glass workpiece is prone to shaking or loosening in the clamping claws. Summary of the invention

[0004] The purpose of the present invention is to provide a digitally controlled multi-station automatic chuck for fragile products and a control method thereof, so as to solve the problem in the prior art that the glass workpiece is clamped only on both sides, which may easily cause the glass workpiece to shake or loosen in the clamping claws during some transfer operations.

[0005] In order to solve the above technical problems, the first technical solution adopted by the present invention is:

[0006] The cam is provided with a plurality of movable seats that can move relative to each other along the guide rail assembly, and the movable seats are provided with clamping claws that cooperate with each other. The movable seats include a connecting plate, a driving block and a limiting plate. The clamping claws are connected to the connecting plate. The connecting plate is provided with displacement holes that pass through both sides along the sliding direction of the guide rail assembly. A displacement rod is slidingly provided in the displacement hole. Both ends of the displacement rod pass through the two ends of the displacement hole respectively and are connected to the driving block and the limiting plate respectively. The driving block and the connecting plate are both slidably connected to the guide rail assembly, and the driving unit is used to drive the driving block to slide along the guide rail assembly. A spring and a proximity sensor are provided between the connecting plate and the limiting plate. A claw block is provided on the opposite side of the two clamping claws. Cylinders are installed on the two clamping claws, and the piston rods of the two cylinders are both directed toward between the two clamping claws.

[0007] A first mounting hole and a second mounting hole are respectively provided on opposite sides of the connecting plate and the limiting plate, and two ends of the spring are respectively provided in the first mounting hole and the second mounting hole; a mounting block is provided on the limiting plate, and a third mounting hole penetrating through both sides is provided on the side of the mounting block facing the connecting plate, the proximity sensor is installed in the third mounting hole, and a detection plate aligned with the proximity sensor is provided on the connecting plate.

[0008] The hole wall surrounding the third mounting hole is provided with an internal thread, and the outer wall surrounding the proximity sensor is provided with an external thread matching the internal thread.

[0009] A further technical solution is that the guide rail assembly includes a guide rail bar, a threaded rod and two end plates, the two end plates are respectively installed on opposite sides of the mounting plate, the two ends of the threaded rod are respectively rotatably connected to the two end plates, the guide rail bar is connected to the mounting plate between the two end plates, and the guide rail bar and the threaded rod are arranged in parallel; a first driving wheel is sleeved on the middle part of the threaded rod, and the threaded rod is respectively provided with a first thread segment and a second thread segment with opposite thread directions on both sides of the first driving wheel, the driving blocks of the two moving seats are respectively provided with a first threaded hole and a second threaded hole passing through the two sides, the first threaded hole and the second threaded hole are respectively threadedly matched and connected to the first thread segment and the second thread segment, and the driving blocks and connecting plates of the two moving seats are provided with guide rail grooves matching the guide rail bar; the driving unit is used to drive the first driving wheel to rotate.

[0010] A further technical solution is that the drive unit includes a servo motor and a second drive wheel, the servo motor is mounted on a mounting plate, the second drive wheel is mounted on an output shaft of the servo motor, and the second drive wheel is drivingly connected to the first drive wheel.

[0011] A further technical solution is that the drive unit also includes a protective cover and a third drive wheel. The protective cover is installed on the mounting plate at the position of the first drive wheel. The second drive wheel and the third drive wheel are both rotatably set in the protective cover. The output shaft of the servo motor passes through the protective cover and is connected to the second drive wheel. The second drive wheel, the third drive wheel and the first drive wheel are connected in sequence by transmission.

[0012] A further technical solution is that the threaded rod is sleeved with limit baffles on both sides of the first driving wheel.

[0013] A further technical solution is that sliders are provided on the driving block and the connecting plate, guide grooves are provided on the sliders, and the guide grooves and guide bars are slidably connected; a connecting seat for connecting the robot arm is provided on the mounting plate.

[0014] A control box is installed on the mounting plate, and a control module is arranged in the control box; the servo motor, the proximity sensor and the cylinder are all connected to the control module for communication.

[0015] A further technical solution is that a first buffer layer is provided on opposite sides of the two clamping claws, a second buffer layer is provided on the surface of the claw block, and a third buffer layer is provided on the output end of the cylinder.

[0016] The second technical solution adopted by the present invention is:

[0017] A control method, a method for controlling a digitally controlled multi-station fragile automatic chuck for clamping as in the first technical solution, specifically comprising the following steps: step S1, a driving unit drives the driving blocks of the two moving seats to move in a direction away from each other, and the spring will drive the connecting plate to move with the driving blocks, so that the gap between the two clamping claws is larger than the diameter of the workpiece; step S2, the mounting plate drives the two clamping claws to move to both sides of the workpiece; step S3, the driving unit drives the two moving seats to move closer to each other, so that the two clamping claws gradually move closer to the workpiece; step S4, after the two clamping claws are attached to both sides of the workpiece, the two The two connecting plates cannot continue to move closer, and the two driving blocks continue to move closer. In the process of the driving blocks moving closer, the two limit plates will continue to move through the displacement rod, and the spring will be compressed or stretched, so that the proximity sensor detects that the distance between the limit plate and the connecting plate has changed. When the change reaches a certain value, the control drive unit stops working; step S5, the piston rod of the cylinder extends out to cooperate with the claw block to fix the workpiece; step S5, after the mounting plate drives the clamped workpiece to move to a specific position, the driving unit is used to move the driving blocks of the two moving seats in a direction away from each other to complete the movement of the workpiece.

[0018] Compared with the prior art, the present invention has at least one of the following beneficial effects: 1. By setting a spring and a proximity sensor, when clamping a workpiece, the spring can be used as a buffer component between the driving block and the connecting plate to prevent the driving block from continuing to move after the clamping claw is attached to the workpiece, which may cause damage to the workpiece. At the same time, the proximity sensor is used to detect the distance between the limit plate and the connecting plate. When the change in the distance exceeds the set value, the driving unit is controlled to stop to prevent the driving unit from continuing to drive the driving block to move; 2. By setting a guide rail assembly and two moving seats, the two moving seats can be used to move the guide rail assembly on the guide rail assembly. The rail assembly is moved to control the distance between the two clamping claws, so as to cooperate with the left and right sides of the fixed workpiece; 3. By setting the claw block and the cylinder, when the workpiece is placed between the two clamping claws, the cylinder extends the piston rod to support the workpiece, so that the edge of the workpiece fits on the claw block, thereby further fixing the workpiece; 4. When clamping the workpiece, multiple fixed points are used to increase the force area and force direction, so as to reduce the pressure exerted on the workpiece by each fixed point, so that during transportation, it can ensure stable clamping and avoid damage to the workpiece caused by excessive clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is an overall schematic diagram of a digitally controlled multi-station automatic chuck for fragile items.

[0020] Figure 2 It is a partial schematic diagram of a digitally controlled multi-station automatic chuck for fragile items of the present invention.

[0021] Figure 3 for Figure 2 A partial enlarged schematic diagram of the area marked A in the middle.

[0022] Figure 4 Another overall schematic diagram of a digitally controlled multi-station automatic chuck for fragile items according to the present invention.

[0023] Figure 5 The present invention is a schematic diagram of a guide rail assembly and a moving seat of a digitally controlled multi-station fragile goods automatic chuck.

[0024] Figure 6 The present invention is a partial schematic diagram of a guide rail assembly and a moving seat of a digitally controlled multi-station fragile goods automatic chuck.

[0025] Figure 7 The present invention is a schematic diagram of a movable seat of a digitally controlled multi-station fragile goods automatic chuck.

[0026] Icon: 1 - mounting plate, 2 - moving seat, 3 - clamping jaw, 4 - jaw block, 5 - cylinder, 6 - guide bar, 7 - threaded rod, 8 - end plate, 9 - first driving wheel, 10 - first threaded section, 11 - second threaded section, 12 - first threaded hole, 13 - guide groove, 14 - servo motor, 15 - second driving wheel, 16 - protective cover, 17 - third driving wheel, 18 - limit baffle, 19 - connecting plate, 20 - slider, 21 - driving block, 22 - connecting seat, 23 - control box, 24 - limit plate, 25 - displacement hole, 26 - displacement rod, 27 - spring, 28 - proximity sensor, 29 - first mounting hole, 30 - mounting block, 31 - third mounting hole, 32 - detection plate. Detailed implementation manner

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] Figures 1 to 7 The following shows an embodiment of the present invention.

[0029] Embodiment 1:

[0030] A digitally controlled multi-station automatic chuck for fragile articles, comprising a mounting plate 1, on which a guide rail assembly and a driving unit are mounted. Two relatively movable moving seats 2 are mounted on the guide rail assembly. The driving unit is used to drive the two moving seats 2 to move relatively along the guide rail assembly. Clamping claws 3 that cooperate with each other are mounted on both of the two moving seats 2. It is characterized in that the moving seat 2 includes a connecting plate 19, a driving block 21 and a limiting plate 24. The clamping claw 3 is connected to the connecting plate 19. The connecting plate 19 is provided with a displacement hole 25 penetrating both sides along the sliding direction of the guide rail assembly. A displacement rod 26 is slidably arranged in the displacement hole 25. Both ends of the displacement rod 26 respectively penetrate through both ends of the displacement hole 25 and are respectively connected to the driving block 21 and the limiting plate 24. Both the driving block 21 and the connecting plate 19 are slidably connected to the guide rail assembly, and the driving unit is used to drive the driving block 21 to slide along the guide rail assembly. A spring 27 and a proximity sensor 28 are arranged between the connecting plate 19 and the limiting plate 24. Claw blocks 4 are arranged on the opposite sides of the two clamping claws 3. Cylinders 5 are mounted on both of the two clamping claws 3. The piston rods of the two cylinders 5 both face between the two clamping claws 3. By arranging the cooperation of the claw blocks 4 and the cylinders 5, when the workpiece is placed between the two clamping claws 3, the cylinder 5 extends the piston rod to press against the workpiece, so that the edge of the workpiece fits on the claw blocks 4, thereby further fixing the workpiece. When clamping the workpiece, multiple fixing points are used to increase the force-bearing area and the force-bearing direction, so that the pressure generated by each fixing point on the workpiece can be reduced. Therefore, when transporting, it can ensure stable clamping and avoid damaging the workpiece due to excessive clamping force. First mounting holes 29 and second mounting holes are respectively arranged on the opposite sides of the connecting plate 19 and the limiting plate 24. Both ends of the spring 27 are respectively arranged in the first mounting hole 29 and the second mounting hole. An installation block 30 is arranged on the limiting plate 24. A third mounting hole 31 penetrating both sides is arranged on the side of the installation block 30 facing the connecting plate 19. The proximity sensor 28 is mounted in the third mounting hole 31. A detection plate 32 aligned with the proximity sensor 28 is arranged on the connecting plate 19. By arranging the first mounting hole 29 and the second mounting hole, it is convenient to fix the spring 27, so that the spring 27 will not shift during compression. By arranging the installation block 30 and the third mounting hole 31, it is convenient to fix the proximity sensor 28. At the same time, the detection plate 32 can be used as the detection point of the proximity sensor 28. The distance between the proximity sensor 28 and the detection plate 32 is detected by the proximity sensor 28, so as to facilitate controlling the stop of the driving unit.

[0031] Internal threads are provided on the hole wall surrounding the third mounting hole 31, and external threads matching the internal threads are provided on the outer wall surrounding the proximity sensor 28. By providing the external threads and the internal threads, the proximity sensor 28 can be firmly mounted in the third mounting hole 31, and according to requirements, the distance between the proximity sensor 28 and the detection plate 32 can be adjusted by rotating the proximity sensor 28.

[0032] The guide rail assembly includes a guide rail bar 6, a threaded rod 7 and two end plates 8, the two end plates 8 are respectively installed on the opposite sides of the mounting plate 1, the two ends of the threaded rod 7 are respectively rotatably connected to the two end plates 8, the guide rail bar 6 is connected to the mounting plate 1 between the two end plates 8, and the guide rail bar 6 and the threaded rod 7 are arranged in parallel; a first driving wheel 9 is sleeved on the middle part of the threaded rod 7, and the threaded rod 7 is respectively provided with a first threaded segment 10 and a second threaded segment 11 with opposite thread directions on both sides of the first driving wheel 9, the driving blocks 21 of the two moving seats 2 are respectively provided with a first threaded hole 12 and a second threaded hole passing through the two sides, the first threaded hole 12 and the second threaded hole are respectively threadedly matched and connected with the first threaded segment 10 and the second threaded segment 11, and the driving blocks 21 of the two moving seats 2 and the connecting plate 19 are both provided with guide rail grooves 13 matching the guide rail bar 6; the driving unit is used to drive the first driving wheel 9 to rotate. When using the automatic chuck, the first driving wheel 9 is driven to rotate by controlling the driving unit, thereby driving the threaded rod 7 to rotate. When the threaded rod 7 rotates, the movable seat 2 can be moved along the guide bar 6 with the help of the guide groove 13. Since the thread directions of the first thread segment 10 and the second thread segment 11 are opposite, the two movable seats 2 can be moved closer to or away from each other when the threaded rod 7 rotates, so as to clamp and put down the workpiece.

[0033] The driving unit includes a servo motor 14 and a second driving wheel 15. The servo motor 14 is mounted on the mounting plate 1. The second driving wheel 15 is mounted on the output shaft of the servo motor 14. The second driving wheel 15 is connected to the first driving wheel 9 by transmission. By providing the servo motor 14, the spacing between the two clamping claws 3 can be well controlled with the help of the rotation accuracy of the servo motor 14, so as to avoid excessive clamping force causing damage to the workpiece.

[0034] The drive unit also includes a protective cover 16 and a third drive wheel 17. The protective cover 16 is installed on the mounting plate 1 at the position of the first drive wheel 9. The second drive wheel 15 and the third drive wheel 17 are both rotatably arranged in the protective cover 16. The output shaft of the servo motor 14 penetrates into the protective cover 16 and is connected to the second drive wheel 15. The second drive wheel 15, the third drive wheel 17 and the first drive wheel 9 are sequentially connected by transmission. By setting the protective cover 16, it is possible to effectively avoid the first drive wheel 9, the second drive wheel 15 and the third drive wheel 17 from being exposed to the outside. The first drive wheel 9, the second drive wheel 15 and the third drive wheel 17 can be driven by gears that mesh with each other. By setting the third drive wheel 17, it can be used as an intermediate transmission wheel between the first drive wheel 9 and the second drive wheel 15, can fill the gap between the first drive wheel 9 and the second drive wheel 15, and can also drive the first drive wheel 9 through the third drive wheel 17 when the wheel diameter of the second drive wheel 15 is small.

[0035] Embodiment 2:

[0036] On the basis of the foregoing embodiments, limiting baffles 18 are sleeved on both sides of the threaded rod 7. By providing the limiting baffles 18, the minimum clamping distance between the two clamping claws 3 can be controlled, preventing the moving seat 2 from hitting the first driving wheel 9 during movement and causing damage to the first driving wheel 9.

[0037] Sliders 20 are provided on both the driving block 21 and the connecting plate 19, and guide rail grooves 13 are provided on the sliders. The guide rail grooves 13 are slidably connected to the guide rail strips 6; a connecting seat 22 for connecting a robotic arm is provided on the mounting plate 1.

[0038] A control box 23 is installed on the mounting plate 1, and a control module is provided inside the control box 23; the servo motor 14, the proximity sensor 28, and the cylinder 5 are all communicatively connected to the control module.

[0039] The guide rail strips 6 and the sliders 20 are provided in several numbers. By the cooperation of multiple sliders 20 and multiple guide rail strips 6, the stability of the movement of the connecting plate 19 and the driving block 21, as well as the stability of the entire moving seat 2, can be improved. When clamping and releasing, the two clamping claws 3 can be kept stable and avoid shaking.

[0040] By providing the connecting seat 22, it is convenient to install the entire automatic disk adding device on the robotic arm for use.

[0041] In cooperation with the robotic arm, digital control of the entire automatic disk adding device can be achieved, and workpieces can be moved from one station to another on an automated production line. The entire process can be controlled by a preset program or can be assisted by a surrounding vision sensor for control.

[0042] First buffer layers are provided on the opposite sides of the two clamping claws 3, a second buffer layer is provided on the surface of the claw block 4, and a third buffer layer is provided on the output end of the cylinder 5. By providing the first buffer layer, the second buffer layer, and the third buffer layer, a certain buffering and protective effect can be achieved during the clamping process. A relatively thin rubber layer can be used, which will not affect the clamping accuracy.

[0043] Embodiment 3:

[0044] A control method, which is a method for controlling the clamping of a numerically controlled multi-station fragile product automatic chuck as described in the foregoing embodiments. Specifically, it includes the following steps: Step S1, the driving unit drives the driving blocks 21 of the two moving seats 2 to move away from each other. Under the action of the spring 27, the connecting plate 19 will move along with the driving block 21, so that the gap between the two clamping claws 3 is greater than the diameter of the workpiece; Step S2, the mounting plate 1 drives the two clamping claws 3 to move to both sides of the workpiece; Step S3, the driving unit drives the two moving seats 2 to approach each other, so that the two clamping claws 3 gradually approach the workpiece; Step S4, after the two clamping claws 3 are attached to both sides of the workpiece, the two connecting plates 19 cannot continue to approach, and the two driving blocks 21 continue to approach. During the approach of the driving blocks 21, the displacement rod 26 will be driven to drive the two limiting plates 24 to continue to move, and the spring 27 will be compressed or stretched, so that the proximity sensor 28 detects a change in the distance between the limiting plate 24 and the connecting plate 19. When the change amount reaches a certain value, the driving unit is controlled to stop working; Step S5, the piston rod of the cylinder 5 extends to cooperate with the claw block 4 to complete the fixation of the workpiece; Step S5, after the mounting plate 1 drives the clamped workpiece to a specific position, the driving unit is used to drive the driving blocks 21 of the two moving seats 2 to move away from each other to complete the movement of the workpiece.

[0045] Although the present invention has been described herein with reference to a number of illustrative embodiments of the invention, it should be understood that those skilled in the art can design many other modifications and embodiments that will fall within the scope of the principles and spirit of this application. More specifically, within the scope of this application's disclosure, the drawings, and the claims, various variations and improvements can be made to the components and / or layout of the subject combination layout. In addition to the variations and improvements made to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. A digitally controlled multi-station fragile automatic chuck, comprising a mounting plate (1), a guide rail assembly and a drive unit mounted on the mounting plate (1), two relatively movable seats (2) mounted on the guide rail assembly, the drive unit being used to drive the two movable seats (2) to move relatively along the guide rail assembly, the two movable seats (2) being both mounted with mutually cooperating clamping claws (3), characterized in that: The movable seat (2) comprises a connecting plate (19), a driving block (21) and a limiting plate (24); the clamping claw (3) is connected to the connecting plate (19); the connecting plate (19) is provided with displacement holes (25) penetrating both sides along the sliding direction of the guide rail assembly; a displacement rod (26) is slidably arranged in the displacement hole (25); two ends of the displacement rod (26) respectively pass through two ends of the displacement hole (25) and are respectively connected to the driving block (21) and the limiting plate (24); the driving block (21) and the connecting plate (19) are both slidably connected to the guide rail assembly, and the driving unit is used to drive the driving block (21) to slide along the guide rail assembly; a spring (27) and a proximity sensor (28) are arranged between the connecting plate (19) and the limiting plate (24); the two A claw block (4) is provided on the opposite side of each clamping claw (3), and a cylinder (5) is installed on each of the two clamping claws (3), and the piston rods of the two cylinders (5) are both directed toward between the two clamping claws (3); a first mounting hole (29) and a second mounting hole are respectively provided on the opposite side of the connecting plate (19) and the limiting plate (24), and two ends of the spring (27) are respectively arranged in the first mounting hole (29) and the second mounting hole; a mounting block (30) is provided on the limiting plate (24), and a third mounting hole (31) penetrating both sides is provided on the side of the mounting block (30) facing the connecting plate (19), and the proximity sensor (28) is installed in the third mounting hole (31), and a detection plate (32) aligned with the proximity sensor (28) is provided on the connecting plate (19).

2. According to claim 1, a digitally controlled multi-station automatic chuck for fragile items, characterized in that: An internal thread is provided on a hole wall surrounding the third mounting hole (31), and an external thread matching the internal thread is provided on an outer wall surrounding the proximity sensor (28).

3. According to claim 1, a digitally controlled multi-station automatic chuck for fragile items, characterized in that: The guide rail assembly comprises a guide rail bar (6), a threaded rod (7) and two end plates (8), the two end plates (8) are respectively mounted on opposite sides of the mounting plate (1), the two ends of the threaded rod (7) are respectively rotatably connected to the two end plates (8), the guide rail bar (6) is connected to the mounting plate (1) between the two end plates (8), and the guide rail bar (6) and the threaded rod (7) are arranged in parallel; A first driving wheel (9) is sleeved on the middle part of the threaded rod (7); a first thread segment (10) and a second thread segment (11) having opposite thread directions are respectively provided on both sides of the threaded rod (7); a first thread hole (12) and a second thread hole are respectively provided on the driving blocks (21) of the two movable seats (2) and are connected to the first thread segment (10) and the second thread segment (11) by thread matching; and a guide rail groove (13) matching the guide rail bar (6) is provided on the driving blocks (21) and the connecting plate (19) of the two movable seats (2); and the driving unit is used to drive the first driving wheel (9) to rotate.

4. According to claim 3, a digitally controlled multi-station automatic chuck for fragile items is characterized by: The drive unit comprises a servo motor (14) and a second drive wheel (15); the servo motor (14) is mounted on the mounting plate (1); the second drive wheel (15) is mounted on an output shaft of the servo motor (14); and the second drive wheel (15) is drivingly connected to the first drive wheel (9).

5. A digitally controlled multi-station automatic chuck for fragile items according to claim 4, characterized in that: The drive unit further comprises a protective cover (16) and a third drive wheel (17); the protective cover (16) is mounted on the mounting plate (1) at the position of the first drive wheel (9); the second drive wheel (15) and the third drive wheel (17) are both rotatably disposed in the protective cover (16); the output shaft of the servo motor (14) passes through the protective cover (16) and is connected to the second drive wheel (15); the second drive wheel (15), the third drive wheel (17) and the first drive wheel (9) are sequentially connected in a transmission manner.

6. According to claim 3, a digitally controlled multi-station automatic chuck for fragile items is characterized by: The threaded rod (7) is sleeved with limit baffles (18) on both sides of the first driving wheel (9).

7. A digitally controlled multi-station automatic chuck for fragile items according to claim 6, characterized in that: The driving block (21) and the connecting plate (19) are both provided with a sliding block (20), the sliding block is both provided with the guide rail groove (13), the guide rail groove (13) and the guide rail bar (6) are slidably connected; the mounting plate (1) is provided with a connecting seat (22) for connecting a mechanical arm.

8. According to claim 4, a digitally controlled multi-station automatic chuck for fragile items, characterized in that: A control box (23) is mounted on the mounting plate (1), and a control module is arranged inside the control box (23); the servo motor (14), the proximity sensor (28) and the cylinder (5) are all communicatively connected to the control module.

9. A control method, characterized in that: A method for controlling a digitally controlled multi-station automatic chuck for fragile items to clamp as described in any one of claims 1 to 8, specifically comprising the following steps: step S1, a driving unit drives the driving blocks (21) of the two movable seats (2) to move in a direction away from each other, and through the action of the spring (27), the connecting plate (19) moves together with the driving block (21), so that the gap between the two clamping claws (3) is greater than the diameter of the workpiece; step S2, the mounting plate (1) drives the two clamping claws (3) to move to both sides of the workpiece; step S3, the driving unit drives the two movable seats (2) to move closer to each other, so that the two clamping claws (3) gradually move closer to the workpiece; step S4, after the two clamping claws (3) are attached to both sides of the workpiece, the two connecting plates (1 9) cannot move closer, the two drive blocks (21) continue to move closer, and in the process of the drive blocks (21) moving closer, the displacement rod (26) drives the two limit plates (24) to continue to move, and the spring (27) is compressed or stretched, so that the proximity sensor (28) detects that the distance between the limit plates (24) and the connecting plate (19) changes. When the change reaches a certain value, the control drive unit stops working; step S5, the piston rod of the cylinder (5) extends and cooperates with the claw block (4) to complete the fixation of the workpiece; step S5, after the mounting plate (1) drives the clamped workpiece to move to a specific position, the drive unit is used to move the drive blocks (21) of the two moving seats (2) in a direction away from each other to complete the movement of the workpiece.

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