Precise positioning and clamping method and clamping device

Abstract

The invention provides a precise positioning and clamping method and device, and relates to the technical field of precise clamping. The method comprises the steps that a modular clamping structure is obtained; a machine tool is started for machining, a precision detection module is activated to collect the appearance image and position of the target part, and machining requirements are obtained; positioning parameters and clamping parameters are determined based on the position, shape and size parameters and machining requirements of the part; the target part is placed on the positioning plate to be fixed and limited; and the target part is fixedly clamped through the clamping parameters, the clamping state is monitored and obtained through the precision detection module, and abnormity recognition and early warning adjustment are carried out. The technical problems that due to the fact that clamping is poor in adaptability to different workpiece shapes, clamping positioning precision is not high, and clamping force is not uniform are solved, part information is collected in real time through the precision detection module, positioning and clamping parameters are dynamically adjusted, jig sharing among multiple machine tables is achieved, and the clamping precision and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of precision clamping, and in particular to a precision positioning clamping method and a clamping device. Background Art

[0002] For multi-machine production lines, the clamping structure is usually customized for a single machine or workpieces of specific shapes and sizes. When workpieces of different shapes and sizes need to be clamped, the fixture often needs to be redesigned or adjusted. Since the clamping accuracy is limited by the design of the fixture and the adaptability of the workpiece, it is difficult to ensure the processing accuracy, which directly affects the processing quality. Especially when processing complex or irregularly shaped workpieces, it is difficult to ensure the stability of the clamping accuracy, which directly affects the processing quality. Especially in high-precision processing, smaller clamping errors may also gradually accumulate, resulting in final processing deviations. In addition, multiple fixtures are incompatible with different machine tools or parts, resulting in low production efficiency and high management costs.

[0003] In summary, the prior art has the technical problems of low clamping positioning accuracy and uneven clamping force due to poor adaptability of clamping to different workpiece shapes. Summary of the invention

[0004] The purpose of the present application is to provide a precision positioning clamping method and a clamping device to solve the technical problems in the prior art that the clamping has poor adaptability to different workpiece shapes, resulting in low clamping positioning accuracy and uneven clamping force.

[0005] In view of the above problems, the present application provides a precision positioning clamping method and a clamping device.

[0006] In a first aspect, the present application provides a precision positioning and clamping method, which is implemented by a precision positioning and clamping device, wherein the precision positioning and clamping method comprises: obtaining a modular clamping structure, the components of which include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing assembly and an accuracy detection module; starting machine tool processing, activating the accuracy detection module to collect appearance image information and part position information of a target part, and simultaneously obtaining processing requirement information of the target part; measuring and analyzing the appearance image information to determine part shape and size parameters, and determining part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; placing a target part on the positioning plate based on the part positioning parameters, and fixing and limiting the target part through the adjustable positioning pin and the waist-shaped positioning hole; fixing and clamping the target part after limiting through the fixing assembly using the part clamping parameters, and monitoring and obtaining clamping state parameters through the accuracy detection module, and performing clamping abnormality identification and clamping warning adjustment based on the clamping state parameters.

[0007] Optionally, initialize a Gaussian filter to perform Gaussian filtering and grayscale conversion on the appearance image information to obtain appearance grayscale image information; map the appearance grayscale image information to a grayscale histogram to obtain an appearance distribution grayscale map, perform equalization processing on the appearance distribution grayscale map to obtain appearance grayscale enhanced image information; use a Sobel operator to perform edge detection and extraction on the appearance grayscale enhanced image information to obtain part edge contour information; measure and analyze the appearance grayscale enhanced image information based on the part edge contour information to determine part shape and size parameters.

[0008] Optionally, based on the part edge contour information, the appearance grayscale enhanced image information is subjected to region segmentation and feature point recognition to obtain a set of key feature points of the part; based on the part edge contour information, geometric shape fitting parameters are determined; shape and size fitting is performed on the set of key feature points of the part using the geometric shape fitting parameters to obtain fitting shape and size parameters; the image pixel-actual part size ratio is obtained by pre-measurement and calibration, and the fitting shape and size parameters are analytically converted based on the image pixel-actual part size ratio to determine the part shape and size parameters.

[0009] Optionally, positioning point selection and clamping point selection are performed based on the part shape and size parameters and the processing requirement information to determine the key positioning points and key clamping points of the part; historical data mining is performed based on the modular clamping structure to construct a modular positioning and clamping database, which includes a positioning history data set and a clamping history data set of each module clamping point; the modular positioning and clamping database is used to match and optimize the part shape and size parameters and the processing requirement information to obtain basic positioning parameters and basic clamping parameters; the basic positioning parameters and basic clamping parameters are adjusted and corrected based on the part position information, the part key positioning points and the part key clamping points to obtain part positioning parameters and part clamping parameters.

[0010] Optionally, according to the basic positioning parameters and basic clamping parameters, the matching theoretical position, matching key positioning points and matching key clamping points are determined; the part position information, the part key positioning points and the part key clamping points, and the deviation information of the matching theoretical position, matching key positioning points and matching key clamping points are used as processing improvement parameters; based on the processing improvement parameters, the basic positioning parameters and basic clamping parameters are adjusted and corrected to obtain part positioning parameters and part clamping parameters.

[0011] Optionally, the basic positioning parameters and basic clamping parameters are adjusted, corrected and analyzed based on the processing improvement parameters to obtain multiple positioning improvement parameters and multiple clamping improvement parameters; positioning and clamping effect evaluation and data simulation are performed on the modular positioning and clamping database to construct a positioning and clamping effect simulation module; the positioning and clamping effect simulation module is used to simulate, evaluate and optimize the multiple positioning improvement parameters and multiple clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

[0012] Optionally, according to the part processing technology requirements, a clamping processing parameter tolerance threshold is set; the clamping processing parameter tolerance threshold is used to identify abnormalities in the clamping state parameters to obtain clamping abnormality parameters; based on the clamping abnormality parameters, clamping processing early warning and adaptive feedback adjustment are performed on the part clamping parameters.

[0013] Optionally, an abnormality level evaluation is performed on the clamping abnormality parameters to obtain the clamping abnormality level; an early warning mechanism is matched based on the clamping abnormality parameters and the clamping abnormality level to determine the clamping early warning parameters; when the clamping abnormality level is less than a preset abnormality threshold, the part clamping parameters are adjusted and optimized based on the clamping abnormality parameters to obtain part clamping optimization parameters; part clamping early warning and adaptive feedback adjustment are performed based on the clamping early warning parameters and the part clamping optimization parameters.

[0014] Optionally, a PID controller is used to adjust and optimize the part clamping parameters based on the abnormal clamping parameters to obtain a clamping optimization parameter threshold; and a global evaluation and optimization is performed within the clamping optimization parameter threshold based on the positioning clamping effect simulation module to obtain the part clamping optimization parameters.

[0015] In the second aspect, the present application also provides a precision positioning clamping device for executing a precision positioning clamping method as described in the first aspect, wherein the precision positioning clamping device comprises: a structure acquisition module for acquiring a modular clamping structure, the components of the modular clamping structure comprising a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing assembly and a precision detection module; a target part acquisition module for starting machine tool processing, activating the precision detection module to acquire appearance image information and part position information of the target part, and acquiring the processing requirement information of the target part; a parameter determination module for measuring and decoding the appearance image information. The module is used to analyze and determine the shape and size parameters of the part, and determine the part positioning parameters and the part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; the part fixing module is used to place the target part on the positioning plate based on the part positioning parameters, and to fix and limit the target part through the adjustable positioning pin and the waist-shaped positioning hole; the fixed clamping module is used to fix and clamp the target part after limiting the position through the fixing component using the part clamping parameters, and to monitor and obtain the clamping state parameters through the precision detection module, and to identify clamping abnormalities and adjust clamping warnings based on the clamping state parameters.

[0016] One or more technical solutions provided in this application have at least the following beneficial effects: By acquiring a modular clamping structure, the components of the modular clamping structure include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing component and a precision detection module; starting machine tool processing, activating the precision detection module to collect appearance image information and part position information of the target part, and simultaneously acquiring the processing requirement information of the target part; measuring and analyzing the appearance image information to determine the part shape and size parameters, and determining the part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; placing the target part on the positioning plate based on the part positioning parameters, and fixing and limiting the target part through the adjustable positioning pin and the waist-shaped positioning hole; fixing and clamping the target part after limiting through the fixing component using the part clamping parameters, and monitoring and acquiring the clamping state parameters through the precision detection module, and performing clamping abnormality identification and clamping warning adjustment based on the clamping state parameters. In other words, by designing a modular clamping structure to adapt to different machine tools and various workpiece shapes, the positioning of parts can be flexibly adjusted through adjustable locating pins and waist-shaped locating holes. The precision detection module collects part information in real time and dynamically adjusts the positioning and clamping parameters. Multiple fixtures can be shared on multiple machines to achieve mixed processing while ensuring quality, thereby improving clamping accuracy, optimizing clamping force distribution, and improving production efficiency.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically cited below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of a process flow of a precision positioning and clamping method for this application; Figure 2 This is a structural schematic diagram of a precision positioning clamping device of the present application.

[0020] Explanation of the reference numerals: structure acquisition module 11 , target part acquisition module 12 , parameter determination module 13 , part fixing module 14 , fixing clamping module 15 . DETAILED DESCRIPTION

[0021] This application provides a precision positioning clamping method and clamping device to solve the technical problems in the prior art that the clamping positioning accuracy is low and the clamping force is uneven due to the poor adaptability of the clamping to different workpiece shapes. By designing a modular clamping structure, it is adapted to different machine tools and various workpiece shapes, and the positioning of the parts is flexibly adjusted through adjustable positioning pins and waist-shaped positioning holes. The precision detection module collects part information in real time, and dynamically adjusts the positioning and clamping parameters. Multiple fixtures can be shared on multiple machines to achieve mixed processing and ensure quality, improve clamping accuracy, optimize the distribution of clamping force, and improve production efficiency.

[0022] Below, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0023] For example, please refer to the attached Figure 1 The present application provides a precision positioning and clamping method, wherein the precision positioning and clamping method is performed by a precision positioning and clamping device, and the precision positioning and clamping method specifically includes the following steps: S100: Acquire a modular clamping structure, wherein components of the modular clamping structure include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing component, and a precision detection module.

[0024] Specifically, a modular clamping structure composed of multiple standardized components is obtained to fix the workpiece, ensure the stability of the workpiece during the processing, and improve the adaptability and versatility of the clamping structure. It is particularly suitable for occasions where workpieces of various shapes and sizes need to be clamped. The components of the modular clamping structure include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing assembly, and a precision detection module, which can be combined into different clamping methods according to the actual processing needs. The positioning plate is usually used to provide an accurate reference surface to ensure the basic position of the workpiece. The positioning plate is the basic part, which is usually designed as a plane structure. By supporting the workpiece and connecting with the machine bed surface, the basic position of the workpiece is ensured. There are multiple positioning pins and waist-shaped positioning holes on the positioning plate, allowing positioning and adjustment at different positions. The adjustable positioning pin is a tool for precise alignment between the workpiece and the fixture, which can be adjusted according to the size and shape of the workpiece, so as to ensure that accurate positioning and fixation can be provided on different workpieces. The positioning pin is inserted into the waist-shaped positioning hole, and the adjustability of the pin is used to accurately position the workpiece. Waist-shaped locating holes usually refer to holes with a waist shape. This special shape design allows the locating pin to be slightly adjusted in the hole, thereby achieving precise positioning of the workpiece. An adjustable locating pin is a pin with an adjustment mechanism. The pin body of the adjustable locating pin can be adjusted forward and backward or up and down along a certain direction. By adjusting the position of the pin body, the locating pin ensures that the workpiece is in precise contact with the waist-shaped locating hole. The waist-shaped locating hole is designed to accommodate a special shape of the adjustable locating pin and the workpiece, allowing the locating pin to be slightly adjusted in the hole, ensuring that the locating pin can fix the workpiece between the waist-shaped locating holes. In other words, when the workpiece is placed in the waist-shaped locating hole on the positioning plate, by adjusting the position of the adjustable locating pin, it is ensured that the pin is accurately inserted into the appropriate position in the waist-shaped locating hole, thereby achieving precise positioning of the workpiece.

[0025] After the positioning pin is adjusted, the fixing assembly uses bolts, clamps, etc. to firmly fix the workpiece adjusted by the adjustable positioning pin and waist-shaped positioning hole on the clamping structure. This is usually done after the part is positioned to ensure that the workpiece will not be displaced due to vibration or external force during processing. The precision detection module is used to monitor the state parameters of the clamping process, as well as the appearance and position information of the target part in real time. It is usually fixed on the edge or surface of the positioning plate, such as the four corners of the positioning plate.

[0026] The precision detection module obtains the appearance image information and position information of the target part through sensors, image recognition or other precision measurement tools, and fixes and limits the part through adjustable locating pins and waist-shaped locating holes, and the fixing components complete the clamping. The adjustable locating pin accurately positions the part in the waist-shaped locating hole by adjusting the position of the pin. The special shape of the waist-shaped locating hole allows the locating pin to adjust its position within a certain range, thereby achieving precise positioning of the workpiece in different directions. Once the workpiece is accurately positioned through the locating pins and waist-shaped locating holes, the fixing components (such as clamps, bolts, etc.) will firmly fix the part to the clamping structure.

[0027] Through modular design, it can adapt to workpieces of different shapes and sizes, solving the adaptability problem of traditional clamping structure in the face of diversified workpieces. Multiple fixtures can be shared on multiple machines to achieve mixed processing and ensure quality, saving management costs. The precision detection module automatically adjusts the clamping parameters and monitors the status, reducing the time of manual intervention and repeated clamping, which not only improves the processing efficiency, but also reduces the clamping error and processing instability caused by human factors. Especially when a mold contains multiple holes (such as 16 holes), multiple holes are processed under the same clamping state, avoiding multiple clamping operations. The adjustable locating pin is used in combination with the waist-shaped locating hole to ensure that the parts are accurately positioned and limited to the required position during the clamping process. Fine-tuning is performed according to the size and shape of different workpieces to ensure clamping accuracy, and supports multi-station processing of 16 holes in a mold, which means that multiple parts can be processed on the same fixture at the same time, thereby improving production efficiency.

[0028] S200: Start machine tool processing, activate the precision detection module to collect appearance image information and part position information of the target part, and obtain processing requirement information of the target part.

[0029] Specifically, the machine tool is started and enters the processing state, the precision detection module is activated, and the target part is accurately scanned through the built-in sensor and image processing unit to obtain the appearance image information and part position information of the target part. The appearance image of the part is usually obtained through an image acquisition device (such as a high-resolution camera or scanner) to identify the shape, size, surface defects and other features of the part; the position of the part relative to the fixed coordinate system or reference point is obtained through a positioning sensor (such as a laser rangefinder or position sensor). According to the processing technology and part design requirements, the processing requirement information is obtained, that is, the processing specifications and standards of the target part, including the dimensional tolerance, surface roughness, processing method (such as milling, drilling, etc.) of the part, and specific requirements to be followed during the processing (such as temperature, cutting fluid use, etc.). Before the processing starts, the precision detection module will collect the appearance image of the part through a high-resolution camera to analyze whether it meets the requirements, such as whether there are cracks, gaps and other defects. Through the processing requirement information, the machine tool starts processing according to the set standards and ensures that each processing link meets the requirements.

[0030] S300: measuring and analyzing the appearance image information to determine part shape and size parameters, and determining part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information.

[0031] Further, the present application S300 includes: Initialize a Gaussian filter to perform Gaussian filtering and grayscale conversion on the appearance image information to obtain appearance grayscale image information; map the appearance grayscale image information to a grayscale histogram to obtain an appearance distribution grayscale map, perform equalization processing on the appearance distribution grayscale map to obtain appearance grayscale enhanced image information; use a Sobel operator to perform edge detection and extraction on the appearance grayscale enhanced image information to obtain part edge contour information; measure and analyze the appearance grayscale enhanced image information based on the part edge contour information to determine part shape and size parameters.

[0032] Based on the part edge contour information, the appearance grayscale enhanced image information is subjected to regional segmentation and feature point recognition to obtain a set of key feature points of the part; according to the part edge contour information, geometric shape fitting parameters are determined; the geometric shape fitting parameters are used to perform shape and size fitting on the set of key feature points of the part to obtain fitting shape and size parameters; the image pixel-actual part size ratio is obtained by pre-measurement and calibration, and the fitting shape and size parameters are analyzed and converted based on the image pixel-actual part size ratio to determine the part shape and size parameters.

[0033] Specifically, the Gaussian filter is initialized. The Gaussian filter is an image smoothing technique based on the Gaussian function (normal distribution function) and is used to reduce noise in the image. By calculating the weighted average of each pixel in the image and its surrounding pixels, smoothing is achieved, which can effectively eliminate small noise points and maintain the main structural information of the image. The initialization of the Gaussian filter refers to the selection of a suitable Gaussian kernel (or Gaussian convolution kernel), which determines the degree of filtering (i.e., the intensity of blur). The size of the Gaussian kernel is usually controlled by a standard deviation (σ). The larger σ is, the stronger the blur effect is. For example, if the target image contains a lot of noise points (such as noise caused by uneven lighting or camera quality problems), a Gaussian kernel with a σ of 1.0 can be selected for processing. If there are a lot of noise points, a kernel with a σ of 2.0 or larger can be selected to achieve a stronger blur effect. After the original image is Gaussian filtered by the initialized Gaussian filter, the noise in the image will be reduced, the image will become smooth, and the edges and structural parts will still be retained.

[0034] Next, the image is converted to grayscale, so that each pixel of the image contains only one value, representing its brightness (from 0 to 255, 0 is black and 255 is white). Grayscaling is the process of converting a color image into a grayscale image in order to simplify calculations in image analysis. Color images contain three channels (red, green, blue), while grayscale images only have one channel, which represents the brightness value of the pixel.

[0035] Map the appearance grayscale image information to the grayscale histogram, calculate the number of pixels at each grayscale level in the image, and draw a graph. The grayscale histogram shows the number of pixels at each grayscale level (usually from 0 to 255) in the image. After mapping the grayscale value of the grayscale image to the histogram, the grayscale distribution of the appearance image is actually obtained, which intuitively shows the concentration and distribution characteristics of the image brightness.

[0036] Perform histogram equalization on the appearance distribution grayscale image to make the grayscale value distribution of the image uniform. Histogram equalization is an image enhancement technology that aims to make the brightness range of the image as evenly distributed as possible by adjusting the grayscale value distribution of the image, thereby improving the contrast of the image. The purpose of equalization is to redistribute the grayscale levels in the image so that the number of pixels at each grayscale level is as equal as possible.

[0037] After the image is equalized and enhanced, the appearance grayscale enhanced image information is obtained. The Sobel operator is used for edge detection. By calculating the gradient (brightness change rate) of each pixel in the image, the part with sudden brightness change in the image, that is, the edge position, is identified. The Sobel operator generally contains two convolution kernels, which calculate the gradient in the horizontal direction and the vertical direction respectively. Through the calculation of the Sobel operator, the gradient value of each pixel in the image will be extracted. According to the size of the gradient, the strength and direction of the edge can be determined. Generally, a larger gradient value indicates an edge in the image, while a smaller gradient value indicates a flat area or noise. The Sobel operator is used to detect the edge of the equalized image. By calculating the gradient of each pixel, the edge contour in the image is obtained. For example, the contour of a part (such as a circular or rectangular edge) will show obvious edge features in the image.

[0038] According to the edge contour information of the part, the regional segmentation technology is used to segment the appearance grayscale enhanced image information, and the parts in the image are segmented, that is, the part area within the contour is extracted from the background. In the segmented part area, the key feature points are extracted using the feature point recognition algorithm. By identifying the feature points such as corner points and endpoints on the edge, the key feature point set of the part can be constructed.

[0039] According to the edge profile information of the part, the geometric shape of the part is determined by geometric fitting methods (such as the least squares method). For example, if the part is a circle, the center coordinates and radius of the circle can be obtained through the fitting algorithm; if the part is a rectangle, the parameters such as the aspect ratio can be fitted. Geometric shape fitting refers to mathematical modeling of the shape of the part based on the feature point information extracted from the image, and the geometric model that best fits the actual part shape is inferred through fitting algorithms (such as the least squares method, etc.), such as a straight line, circle, ellipse, rectangle, etc.

[0040] According to the geometric shape fitting parameters, the size of the key feature points of the part is fitted to obtain the actual size of the part. The fitted shape size parameters are the size parameters of the actual shape of the part calculated by geometric shape fitting, including radius, angle, length, width, diameter, etc., depending on the fitted geometric shape. For example, for a circular part, the fitted parameters include the radius of the circle; for a rectangular part, the fitted parameters include length, width, angle, etc.

[0041] By calibrating a standard object of known size, the proportional relationship between the pixels in the image and the actual size is obtained. For example, if the calibration shows that every 100 pixels corresponds to 1mm of actual size, then the actual size of a part with a side length of 200 pixels in the image is 2mm. According to the proportionality coefficient obtained by calibration, the fitted size parameters are converted to obtain the actual size of the part, that is, the part shape size parameters. The image pixel-actual part size ratio is a proportionality coefficient obtained through calibration, which converts the pixel size in the image into the actual size of the part. The calibration process includes shooting a standard object of known size and obtaining the proportionality coefficient by calculating the relationship between its pixel size and actual size, that is, calculating the ratio of the pixel size to the actual size.

[0042] Measurement analysis is to analyze image information and extract relevant physical quantities or geometric parameters from it through certain algorithms and technical means, including regional segmentation, feature point recognition and other means. For example, the grayscale image resolution of a part is 500×500 pixels, and the shape of the part is a circle; the outer contour of the part is extracted through edge detection, the part is segmented from the image, and the key points on the circular contour are extracted using the feature point recognition algorithm to fit the radius and center of the circle; the extracted key feature points are fitted with geometric shapes to fit the center coordinates (250,250) and a radius of 100 pixels; pre-measurement and calibration are performed to obtain that 100 pixels in the image correspond to an actual size of 1mm, and the fitted circle radius of 100 pixels is converted to obtain an actual radius of 1mm.

[0043] Through image processing and geometric shape fitting, the shape and size of parts can be accurately measured. It can adapt to parts of different shapes and sizes, especially suitable for parts with complex shapes, without the need for special fixtures or additional manual adjustments.

[0044] Furthermore, the present application also includes the following steps: Positioning point selection and clamping point selection are performed according to the part shape and size parameters and the processing requirement information to determine the key positioning points and key clamping points of the part; historical data mining is performed based on the modular clamping structure to build a modular positioning and clamping database, wherein the modular positioning and clamping database includes a positioning history data set and a clamping history data set of the clamping points of each module; the part shape and size parameters and the processing requirement information are matched and optimized using the modular positioning and clamping database to obtain basic positioning parameters and basic clamping parameters; the basic positioning parameters and basic clamping parameters are adjusted and corrected based on the part position information, the key positioning points of the part and the key clamping points of the part to obtain part positioning parameters and part clamping parameters.

[0045] Specifically, based on the shape and size parameters of the part and the processing requirements, suitable positioning points and clamping points are automatically selected. When selecting positioning points, the goal is to ensure that the part can remain stable and accurately maintain its original position during the processing; when selecting clamping points, the goal is to minimize the deformation of the part and ensure that the part will not affect the processing quality due to excessive clamping force. Key positioning points refer to points on the part that are critical to processing, usually points that ensure that the part does not deform or shift during processing. Key clamping points refer to points on the part that can be fixed by clamping tools to ensure that the part is stable and does not affect the processing accuracy.

[0046] According to the modular clamping structure, historical data is obtained, and a database containing historical positioning and clamping data is built based on previous processing experience, which records the positioning and clamping data of different parts during the processing, including part shape, size, clamping position, clamping parameters and other information. According to the part shape and size parameters and processing requirements, matching is performed in the modular positioning and clamping database, and appropriate basic positioning parameters and basic clamping parameters are selected, that is, positioning parameters and clamping parameters suitable for the target parts. This is the result of the preliminary selection, which still needs further adjustment and correction.

[0047] According to the part position information collected by the precision detection module, and the key positioning points and key clamping points of the parts selected according to the part shape and size parameters and processing requirements, the matched basic positioning parameters and basic clamping parameters are adjusted and corrected to obtain the final part positioning parameters and part clamping parameters. Adjustment and correction is to make detailed adjustments to the preliminary positioning and clamping parameters according to the size, shape and position of the actual parts to ensure accurate positioning and stable clamping during the processing. In other words, according to the theoretical basic positioning parameters, the position and positioning points of the actual parts, the deviation is calculated as the processing improvement parameter, so as to adjust the positioning parameters; similarly, according to the theoretical basic clamping parameters, the size, shape, clamping points, etc. of the actual parts, the deviation is calculated as the processing improvement parameter, so as to adjust the clamping parameters. Through matching and adjustment, the positioning and clamping points are automatically selected and optimized for different parts to ensure that the parts are always in the correct position during the processing, reduce clamping errors, and improve processing accuracy.

[0048] Furthermore, the present application also includes the following steps: According to the basic positioning parameters and basic clamping parameters, the matching theoretical position, matching key positioning points and matching key clamping points are determined; the part position information, the part key positioning points and the part key clamping points, and the deviation information of the matching theoretical position, matching key positioning points and matching key clamping points are used as processing improvement parameters; based on the processing improvement parameters, the basic positioning parameters and basic clamping parameters are adjusted and corrected to obtain part positioning parameters and part clamping parameters.

[0049] Specifically, based on the basic positioning parameters and basic clamping parameters, the theoretical position of the part (i.e., the ideal processing position), as well as the ideal key positioning points and key clamping points are determined, which are theoretically the most suitable positions for positioning and clamping the part. In other words, these are the theoretical positions and key points where the part should be located, determined based on the part shape and size parameters, processing requirements, and historical data.

[0050] Based on the actual measured part position information, as well as the actually selected part key positioning points and part key clamping points, the deviation information from the theoretical position, key positioning points and key clamping points is calculated, that is, the deviation from the theory, which is used to evaluate the accuracy of part positioning and clamping, find out possible error sources, and make adjustments and optimizations. The processing improvement parameters are adjustment suggestions based on the analysis of deviation information, which guide how to adjust the basic positioning and clamping parameters according to the actual clamping status of the part, so as to improve the processing accuracy.

[0051] According to the processing improvement parameters obtained by calculating the deviation, the basic positioning parameters and clamping parameters are dynamically adjusted, and the position of the positioning point and the clamping force distribution are adjusted to eliminate errors and ensure the accurate position of the parts during the processing. By comparing the actual part position with the theoretical position and calculating the deviation information, the clamping scheme is dynamically adjusted to eliminate the positioning error. After dynamically adjusting and correcting the positioning and clamping parameters, the stability of the parts during the processing is ensured, the accumulation of clamping errors is avoided, and the deviation in processing is reduced.

[0052] Furthermore, the present application also includes the following steps: Based on the processing improvement parameters, the basic positioning parameters and basic clamping parameters are adjusted, corrected and analyzed to obtain multiple positioning improvement parameters and multiple clamping improvement parameters; positioning and clamping effect evaluation and data simulation are performed on the modular positioning and clamping database to construct a positioning and clamping effect simulation module; the positioning and clamping effect simulation module is used to simulate, evaluate and optimize the multiple positioning improvement parameters and multiple clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

[0053] Specifically, according to the processing improvement parameters, the improvement direction is determined, and the basic positioning parameters and basic clamping parameters are adjusted to obtain multiple positioning improvement parameters and multiple clamping improvement parameters, which are the results of multiple rounds of adjustments based on actual conditions and optimization requirements. The positioning improvement parameters and clamping improvement parameters are multiple optimization schemes obtained by analyzing the processing improvement parameters, including newly adjusting the position of the positioning pin, increasing the position of the support point, etc., and finally multiple possible positioning improvement parameters and clamping improvement parameters are obtained.

[0054] According to the data in the modular positioning and clamping database, a positioning and clamping effect simulation module is constructed. The modular positioning and clamping database contains historical positioning and clamping data, which is the clamping case of previously processed parts, and records the use of different clamping parameters and their impact on processing accuracy. According to all the data in the database and the specific positioning and clamping effects of past clamping operations, a simulation module is constructed for simulation, simulating the behavior of different clamping schemes in part processing, and comparing them with the corresponding specific positioning and clamping effects of past clamping operations. After the accuracy of the model positioning and clamping effect evaluation meets the requirements, the model training is stopped to obtain the positioning and clamping effect simulation module. In short, the positioning and clamping effect simulation module is a module that can evaluate the actual effects of different positioning and clamping methods in actual production based on the historical data in the modular positioning and clamping database. The processing effect of parts under different clamping parameters is predicted through virtual simulation to help select the most appropriate clamping scheme.

[0055] Multiple positioning improvement parameters and multiple clamping improvement parameters are input into the positioning and clamping effect simulation module to evaluate the positioning and clamping effect, obtain the evaluation results of each scheme, and select the scheme with the best positioning and clamping effect as the part positioning parameters and part clamping parameters. In other words, by comparing the positioning and clamping effects of multiple schemes, the best positioning and clamping scheme is found, and the part positioning parameters and clamping parameters are finally determined.

[0056] For example, assuming that the target part is a cylinder with a diameter of 50mm and a thickness of 20mm, the initial basic positioning parameters are: the diameter of the positioning pin is 10mm, the diameter of the positioning hole is 10mm, and the deviation from the center of the cylinder is set to 0.1mm; clamping parameters: use 4 symmetrical clamps, the clamping force is 500N, and the clamp angle is 45°. The processing improvement parameters include positioning improvement parameters (increasing the diameter of the positioning pin and reducing the diameter of the positioning hole) and clamping improvement parameters (increasing the clamping force). The positioning and clamping effect simulation module is used to simulate the influence of different positioning and clamping parameters on the clamping effect of the part. Some data of the simulation results are shown in Table 1: Table 1 Simulation evaluation scores for different parameter combinations

[0057] According to the simulation evaluation results, the clamping effects of different parameter combinations were compared, and the best solution was obtained: the positioning pin diameter is 12mm; the positioning hole diameter is 9.5mm; the positioning deviation is 0.05mm; the clamping force is 650N; the fixture angle is 45°. This solution performs best in terms of deformation (0.01mm) and deviation (0.01mm). At the same time, the uniformity of the clamping force is as high as 90%, and the best clamping effect is obtained in the simulation.

[0058] By building a positioning and clamping effect simulation module through historical data, multiple schemes are simulated and evaluated, the positioning and clamping parameters are effectively optimized, and the best clamping scheme is found. This can not only improve the clamping accuracy and processing stability, but also reduce costs and risks, improve production efficiency, and provide flexible and accurate clamping schemes for different types of parts, ultimately achieving higher quality processing results.

[0059] S400: placing a target part on the positioning plate based on the part positioning parameters, and fixing and limiting the target part through the adjustable positioning pin and the waist-shaped positioning hole.

[0060] Specifically, according to the finalized part positioning parameters, select the appropriate positioning plate and positioning hole configuration to ensure that the part can be accurately placed. Place the target part on the positioning plate, adjust the position and direction of the part to ensure that it is aligned with the positioning features (such as positioning holes, positioning slots, etc.) on the positioning plate. And through the adjustable positioning pins and waist-shaped positioning holes, the part is accurately limited to avoid slight displacement of the part during processing. The length or position of the adjustable positioning pin can be adjusted according to the size and shape of the part to ensure that it fits tightly with the hole or slot on the part. The design of the waist-shaped positioning hole allows the positioning pin to have a certain range of movement in the hole, which helps to compensate for slight changes in part size and improve positioning accuracy. By adjusting the adjustable positioning pins and waist-shaped positioning holes, the parts can be accurately aligned during the clamping process, and the positioning error is controlled within 0.01mm, ensuring high precision of part processing. By adjusting the configuration of the positioning pins and waist-shaped positioning holes, it can adapt to the clamping needs of different parts and provide higher flexibility. Through modular design, multiple machines can share the same positioning plate and positioning structure, thereby reducing the replacement time of fixtures and improving production efficiency.

[0061] S500: The target part after limiting is fixedly clamped by the fixing component using the part clamping parameters, and the clamping state parameters are monitored and acquired by the precision detection module, and clamping abnormality identification and clamping warning adjustment are performed based on the clamping state parameters.

[0062] Furthermore, the present application S500 includes: According to the part processing technology requirements, a clamping processing parameter tolerance threshold is set; the clamping processing parameter tolerance threshold is used to identify abnormalities in the clamping state parameters to obtain clamping abnormality parameters; based on the clamping abnormality parameters, clamping processing early warning and adaptive feedback adjustment are performed on the part clamping parameters.

[0063] Specifically, the target part is fixed and clamped using the determined part clamping parameters, and the target part after limiting is fixed on the positioning plate through the fixing assembly. The fixing assembly includes mechanical components such as clamping devices, clamps, and bolts. After receiving the clamping parameters, it starts to work and applies appropriate clamping force to fix the part on the positioning plate. Limiting refers to constraining the exact position of the part through devices such as locating pins and locating holes to ensure that the part maintains the correct positioning during the clamping process and avoid processing errors caused by improper clamping.

[0064] Through the precision detection module, the clamping status of the target parts is monitored in real time to ensure that the parts are accurately positioned during the processing. The clamping status parameters refer to the actual situation of the parts during the clamping process, including the real-time position of the parts, the distribution of the clamping force and other information. It can be used to determine whether there is an error in the position of the parts, whether displacement has occurred, whether the preset clamping parameters are met, etc., and is used to evaluate whether the clamping is stable and accurate, and whether adjustments are needed.

[0065] According to the processing requirements of the parts, determine the allowable error range in the clamping process. The tolerance threshold of the clamping processing parameter refers to the allowable clamping error range or deviation range during the processing process, which is used to determine whether the clamping meets the processing requirements. For example, if the size requirements of the part are very precise (such as a diameter of 100mm and a tolerance of ±0.05mm), then the tolerance threshold of the clamping position is set to ±0.05mm. The tolerance threshold for the clamping force is usually set according to the processing material and fixture design, such as setting the clamping force error tolerance range to ±10N.

[0066] If a parameter in the clamping state parameters during the clamping process exceeds the set tolerance threshold, the abnormality is automatically identified and marked as a clamping abnormality parameter. The clamping abnormality parameter refers to an abnormal situation that exceeds the tolerance threshold during the clamping process, such as excessive position deviation, uneven clamp pressure, and the clamp failing to completely fix the part.

[0067] According to the abnormal clamping parameters, the abnormal level is determined, and the corresponding early warning mechanism is matched to remind the operator to make adjustments or re-clamp to avoid the accumulation of processing errors and the risk of unqualified products. The clamping processing early warning reminds the operator through alarms, warning messages, indicator lights, etc., indicating that the clamping status needs to be checked or adjusted. For example, if the clamping force is uneven or the part position deviation is too large, the operator is reminded to check the fixture settings through the display or alarm to avoid continuing processing to produce unqualified parts. Adaptive feedback adjustment refers to automatically adjusting the clamping parameters to restore to the optimal clamping state based on the monitored abnormal parameters and processing status.

[0068] Through real-time monitoring and adjustment, clamping anomalies can be identified and adjusted in time, avoiding the accumulation of processing errors due to improper clamping, improving the product qualification rate, reducing downtime caused by improper clamping, and thus improving production efficiency.

[0069] Furthermore, the present application also includes the following steps: Perform an abnormality level evaluation on the clamping abnormality parameters to obtain the clamping abnormality level; match the early warning mechanism based on the clamping abnormality parameters and the clamping abnormality level to determine the clamping early warning parameters; when the clamping abnormality level is less than a preset abnormality threshold, adjust and optimize the part clamping parameters based on the clamping abnormality parameters to obtain part clamping optimization parameters; perform part clamping early warning and adaptive feedback adjustment based on the clamping early warning parameters and the part clamping optimization parameters.

[0070] A PID controller is used to adjust and optimize the part clamping parameters based on the abnormal clamping parameters to obtain a clamping optimization parameter threshold; a global evaluation and optimization is performed within the clamping optimization parameter threshold based on the positioning clamping effect simulation module to obtain the part clamping optimization parameters.

[0071] Specifically, the abnormal level of the clamping abnormality parameters is evaluated to determine the level of the current abnormality. Usually, some abnormality standards are preset before clamping. For example, 10% exceeding the tolerance threshold is marked as a slight abnormality, 30% exceeding the tolerance threshold is marked as a moderate abnormality, and more than 50% is marked as a severe abnormality. According to the clamping abnormality parameters, the severity of the clamping abnormality is quantified to determine the corresponding clamping abnormality level.

[0072] And according to the clamping abnormality parameters and clamping abnormality levels, the corresponding early warning mechanism is matched. For example, a minor abnormality may only require prompting the operator, while a serious abnormality requires immediate shutdown or re-clamping. The clamping early warning mechanism refers to judging whether a warning signal needs to be issued based on the abnormal situation detected during the clamping process. It usually decides whether to take further treatment measures based on the level and type of the abnormality. The clamping early warning parameters are the parameters used to trigger the clamping early warning, which determines whether the early warning mechanism is triggered and what level of early warning is triggered.

[0073] When the clamping abnormality level is less than the preset abnormality threshold, it indicates that the current clamping process can still be adjusted and optimized. At this time, the clamping process is adjusted and optimized according to the current clamping abnormality parameters. The PID controller calculates the control amount through three control items (proportional, integral, and differential) by feedback of the error, thereby achieving precise adjustment.

[0074] The PID controller will adjust according to the detected abnormal clamping parameters, among which the proportional (P) control is used to adjust the clamping parameters according to the current error; the integral (I) control is used to deal with the cumulative error; the differential (D) control is used to adjust according to the error change rate, which can make it respond quickly and suppress excessive changes in the error. After PID adjustment, the clamping optimization parameter threshold is output, including multiple optimized part clamping parameters. These optimized parameters all meet the clamping processing parameter tolerance threshold. Use the positioning clamping effect simulation module to perform global evaluation and optimization within the clamping optimization parameter threshold, simulate the influence of different clamping parameter combinations (such as clamping force range, fixture position, etc.) on the processing results, and find the best parameter combination within this parameter range to achieve accurate positioning and stable clamping of parts during processing or assembly.

[0075] Finally, through the feedback adjustment of PID control and simulation modules, the optimized clamping parameters are obtained, that is, the part clamping optimization parameters, including clamping force, clamping position, fixture angle, etc., which are the current optimal parameter combination. According to the determined clamping abnormality parameters and part clamping optimization parameters, the target parts are warned, and the clamping parameters are automatically adjusted according to the current abnormal situation. The parts are clamped or adjusted again according to the clamping parameters adjusted by feedback. For example, the adjusted clamping force and positioning accuracy will be applied to the part clamping process to ensure that no position offset or part deformation occurs during the processing. Through clamping warning and adaptive feedback adjustment, the clamping status is detected in real time during the clamping process, and the clamping parameters are automatically adjusted according to the preset standards and tolerance range, avoiding potential clamping problems and improving the accuracy and stability of part processing.

[0076] By evaluating and adjusting the clamping parameters in real time, the accuracy of part clamping is optimized and processing errors are reduced. Through clamping warning and adaptive adjustment, potential clamping problems can be discovered and solved in time, thus reducing processing failures caused by abnormal clamping.

[0077] In summary, the precision positioning and clamping method provided by the present application has the following beneficial effects: By acquiring a modular clamping structure, the components of the modular clamping structure include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing component and a precision detection module; starting machine tool processing, activating the precision detection module to collect appearance image information and part position information of the target part, and simultaneously acquiring the processing requirement information of the target part; measuring and analyzing the appearance image information to determine the part shape and size parameters, and determining the part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; placing the target part on the positioning plate based on the part positioning parameters, and fixing and limiting the target part through the adjustable positioning pin and the waist-shaped positioning hole; fixing and clamping the target part after limiting through the fixing component using the part clamping parameters, and monitoring and acquiring the clamping state parameters through the precision detection module, and performing clamping abnormality identification and clamping warning adjustment based on the clamping state parameters. In other words, by designing a modular clamping structure to adapt to different machine tools and various workpiece shapes, the positioning of parts can be flexibly adjusted through adjustable locating pins and waist-shaped locating holes. The precision detection module collects part information in real time and dynamically adjusts the positioning and clamping parameters. Multiple fixtures can be shared on multiple machines to achieve mixed processing while ensuring quality, thereby improving clamping accuracy, optimizing clamping force distribution, and improving production efficiency.

[0078] Embodiment 2: Based on the same inventive concept as the precision positioning clamping method in the aforementioned embodiment 1, the present application also provides a precision positioning clamping device, see the attached Figure 2 , the precision positioning clamping device comprises: A structure acquisition module 11 is used to acquire a modular clamping structure, the components of which include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing component and a precision detection module; a target part acquisition module 12 is used to start machine tool processing, activate the precision detection module to collect the appearance image information and part position information of the target part, and simultaneously obtain the processing requirement information of the target part; a parameter determination module 13 is used to measure and analyze the appearance image information, determine the part shape and size parameters, and determine the part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; a part fixing module 14 is used to place the target part on the positioning plate based on the part positioning parameters, and to fix and limit the target part through the adjustable positioning pin and the waist-shaped positioning hole; a fixed clamping module 15 is used to fix and clamp the target part after limiting the position through the fixing component using the part clamping parameters, and to monitor and obtain the clamping state parameters through the precision detection module, and to identify clamping abnormalities and adjust clamping warnings based on the clamping state parameters.

[0079] Furthermore, the parameter determination module 13 in the precision positioning clamping device is also used for: Initialize a Gaussian filter to perform Gaussian filtering and grayscale conversion on the appearance image information to obtain appearance grayscale image information; map the appearance grayscale image information to a grayscale histogram to obtain an appearance distribution grayscale map, perform equalization processing on the appearance distribution grayscale map to obtain appearance grayscale enhanced image information; use a Sobel operator to perform edge detection and extraction on the appearance grayscale enhanced image information to obtain part edge contour information; measure and analyze the appearance grayscale enhanced image information based on the part edge contour information to determine part shape and size parameters.

[0080] Furthermore, the parameter determination module 13 in the precision positioning clamping device is also used for: Based on the part edge contour information, the appearance grayscale enhanced image information is subjected to regional segmentation and feature point recognition to obtain a set of key feature points of the part; according to the part edge contour information, geometric shape fitting parameters are determined; the geometric shape fitting parameters are used to perform shape and size fitting on the set of key feature points of the part to obtain fitting shape and size parameters; the image pixel-actual part size ratio is obtained by pre-measurement and calibration, and the fitting shape and size parameters are analyzed and converted based on the image pixel-actual part size ratio to determine the part shape and size parameters.

[0081] Furthermore, the parameter determination module 13 in the precision positioning clamping device is also used for: Positioning point selection and clamping point selection are performed according to the part shape and size parameters and the processing requirement information to determine the key positioning points and key clamping points of the part; historical data mining is performed based on the modular clamping structure to build a modular positioning and clamping database, wherein the modular positioning and clamping database includes a positioning history data set and a clamping history data set of the clamping points of each module; the part shape and size parameters and the processing requirement information are matched and optimized using the modular positioning and clamping database to obtain basic positioning parameters and basic clamping parameters; the basic positioning parameters and basic clamping parameters are adjusted and corrected based on the part position information, the key positioning points of the part and the key clamping points of the part to obtain part positioning parameters and part clamping parameters.

[0082] Furthermore, the parameter determination module 13 in the precision positioning clamping device is also used for: According to the basic positioning parameters and basic clamping parameters, the matching theoretical position, matching key positioning points and matching key clamping points are determined; the part position information, the part key positioning points and the part key clamping points, and the deviation information of the matching theoretical position, matching key positioning points and matching key clamping points are used as processing improvement parameters; based on the processing improvement parameters, the basic positioning parameters and basic clamping parameters are adjusted and corrected to obtain part positioning parameters and part clamping parameters.

[0083] Furthermore, the parameter determination module 13 in the precision positioning clamping device is also used for: Based on the processing improvement parameters, the basic positioning parameters and basic clamping parameters are adjusted, corrected and analyzed to obtain multiple positioning improvement parameters and multiple clamping improvement parameters; positioning and clamping effect evaluation and data simulation are performed on the modular positioning and clamping database to construct a positioning and clamping effect simulation module; the positioning and clamping effect simulation module is used to simulate, evaluate and optimize the multiple positioning improvement parameters and multiple clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

[0084] Furthermore, the fixed clamping module 15 in the precise positioning clamping device is also used for: According to the part processing technology requirements, a clamping processing parameter tolerance threshold is set; the clamping processing parameter tolerance threshold is used to identify abnormalities in the clamping state parameters to obtain clamping abnormality parameters; based on the clamping abnormality parameters, clamping processing early warning and adaptive feedback adjustment are performed on the part clamping parameters.

[0085] Furthermore, the fixed clamping module 15 in the precise positioning clamping device is also used for: Perform an abnormality level evaluation on the clamping abnormality parameters to obtain the clamping abnormality level; match the early warning mechanism based on the clamping abnormality parameters and the clamping abnormality level to determine the clamping early warning parameters; when the clamping abnormality level is less than a preset abnormality threshold, adjust and optimize the part clamping parameters based on the clamping abnormality parameters to obtain part clamping optimization parameters; perform part clamping early warning and adaptive feedback adjustment based on the clamping early warning parameters and the part clamping optimization parameters.

[0086] Furthermore, the fixed clamping module 15 in the precise positioning clamping device is also used for: A PID controller is used to adjust and optimize the part clamping parameters based on the abnormal clamping parameters to obtain a clamping optimization parameter threshold; a global evaluation and optimization is performed within the clamping optimization parameter threshold based on the positioning clamping effect simulation module to obtain the part clamping optimization parameters.

[0087] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. Figure 1 The precision positioning and clamping method and specific examples in Example 1 are also applicable to a precision positioning and clamping device in this embodiment. Through the above detailed description of a precision positioning and clamping method, technical personnel in this field can clearly know a precision positioning and clamping device in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0088] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0089] Obviously, for those skilled in the art, several improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the scope of protection of the present application.

Claims

1. A precision positioning clamping method, characterized in that: include: Obtain a modular clamping structure, wherein components of the modular clamping structure include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing assembly, and a precision detection module; Start the machine tool processing, activate the precision detection module to collect the appearance image information and part position information of the target part, and obtain the processing requirement information of the target part; Measuring and analyzing the appearance image information to determine part shape and size parameters, and determining part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; Based on the part positioning parameters, the target part is placed on the positioning plate and the target part is fixed and limited by the adjustable positioning pin and the waist-shaped positioning hole; The target part after limiting is fixedly clamped by the fixing component using the part clamping parameters, and the clamping state parameters are monitored and acquired by the precision detection module, and clamping abnormality identification and clamping warning adjustment are performed based on the clamping state parameters.

2. A precision positioning clamping method as claimed in claim 1, characterized in that: Determining the shape and size parameters of the part includes: Initialize a Gaussian filter to perform Gaussian filtering and grayscale conversion on the appearance image information to obtain appearance grayscale image information; Mapping the appearance grayscale image information onto a grayscale histogram to obtain an appearance distribution grayscale map, and performing equalization processing on the appearance distribution grayscale map to obtain appearance grayscale enhanced image information; Using the Sobel operator to perform edge detection and extraction on the appearance grayscale enhanced image information to obtain part edge contour information; The appearance grayscale enhanced image information is measured and analyzed based on the part edge contour information to determine the part shape and size parameters.

3. A precision positioning clamping method as claimed in claim 2, characterized in that: Determining the shape and size parameters of the part includes: Based on the part edge contour information, the appearance grayscale enhanced image information is segmented and feature points are identified to obtain a set of key feature points of the part; Determining geometric shape fitting parameters according to the part edge profile information; Using the geometric shape fitting parameters to perform shape and size fitting on the set of key feature points of the part to obtain fitting shape and size parameters; The image pixel-actual part size ratio is obtained by pre-measurement and calibration, and the fitting shape size parameters are analyzed and converted based on the image pixel-actual part size ratio to determine the part shape size parameters.

4. A precision positioning and clamping method as claimed in claim 1, characterized in that: The determining of the part positioning parameters and the part clamping parameters includes: Select positioning points and clamping points according to the shape and size parameters of the part and the processing requirement information, and determine the key positioning points and key clamping points of the part; Based on the modular clamping structure, historical data mining is performed to build a modular positioning clamping database, wherein the modular positioning clamping database includes a positioning historical data set and a clamping historical data set of each module clamping acupoint; The modular positioning and clamping database is used to match and optimize the part shape and size parameters and the processing requirement information to obtain basic positioning parameters and basic clamping parameters; The basic positioning parameters and basic clamping parameters are adjusted and corrected based on the part position information, the part key positioning points and the part key clamping points to obtain part positioning parameters and part clamping parameters.

5. A precision positioning and clamping method as claimed in claim 4, characterized in that: The obtaining of part positioning parameters and part clamping parameters includes: According to the basic positioning parameters and basic clamping parameters, determining the matching theoretical position, matching key positioning points and matching key clamping points; Using the part position information, the part key positioning points and the part key clamping points, and the deviation information of the matching theoretical position, the matching key positioning points and the matching key clamping points as processing improvement parameters; The basic positioning parameters and basic clamping parameters are adjusted and corrected based on the processing improvement parameters to obtain part positioning parameters and part clamping parameters.

6. A precision positioning and clamping method as claimed in claim 5, characterized in that: The obtaining of part positioning parameters and part clamping parameters includes: Based on the processing improvement parameters, the basic positioning parameters and basic clamping parameters are adjusted, corrected and analyzed to obtain a plurality of positioning improvement parameters and a plurality of clamping improvement parameters; Performing positioning and clamping effect evaluation and data simulation on the modular positioning and clamping database, and constructing a positioning and clamping effect simulation module; The positioning and clamping effect simulation module is used to perform simulation evaluation and optimization on the multiple positioning improvement parameters and the multiple clamping improvement parameters to obtain the part positioning parameters and the part clamping parameters.

7. A precision positioning and clamping method as claimed in claim 6, characterized in that: The method of monitoring and acquiring clamping state parameters through the precision detection module, and performing clamping abnormality identification and clamping early warning adjustment based on the clamping state parameters, includes: According to the part processing requirements, set the tolerance threshold of clamping processing parameters; Using the clamping processing parameter tolerance threshold to identify abnormalities in the clamping state parameters, and obtaining clamping abnormality parameters; Based on the abnormal clamping parameters, clamping processing warning and adaptive feedback adjustment are performed on the part clamping parameters.

8. A precision positioning and clamping method as claimed in claim 7, characterized in that: The clamping processing early warning and adaptive feedback adjustment of the part clamping parameters based on the clamping abnormal parameters include: Performing an abnormality level evaluation on the clamping abnormality parameters to obtain a clamping abnormality level; Matching the early warning mechanism according to the clamping abnormality parameter and the clamping abnormality level to determine the clamping early warning parameter; When the clamping abnormality level is less than a preset abnormality threshold, the part clamping parameters are adjusted and optimized based on the clamping abnormality parameters to obtain part clamping optimization parameters; Part clamping warning and adaptive feedback adjustment are performed based on the clamping warning parameters and the part clamping optimization parameters.

9. A precision positioning and clamping method as claimed in claim 8, characterized in that: The obtaining of part clamping optimization parameters includes: Using a PID controller to adjust and optimize the clamping parameters of the part based on the abnormal clamping parameters to obtain a clamping optimization parameter threshold; Based on the positioning and clamping effect simulation module, a global evaluation and optimization is performed within the clamping optimization parameter threshold to obtain the part clamping optimization parameters.

10. A precision positioning clamping device, characterized in that: The steps for implementing the method for precision positioning and clamping as described in any one of claims 1 to 9, wherein the precision positioning and clamping device comprises: A structure acquisition module, used to acquire a modular clamping structure, wherein components of the modular clamping structure include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing assembly and an accuracy detection module; A target part acquisition module is used to start machine tool processing, activate the precision detection module to acquire appearance image information and part position information of the target part, and simultaneously obtain processing requirement information of the target part; A parameter determination module is used to measure and analyze the appearance image information to determine the shape and size parameters of the part, and determine the part positioning parameters and part clamping parameters based on the part position information, the part shape and size parameters and the processing requirement information; A part fixing module, used for placing a target part on the positioning plate based on the part positioning parameters and fixing and limiting the target part through the adjustable positioning pin and the waist-shaped positioning hole; The fixed clamping module is used to use the part clamping parameters to fix and clamp the target part after limiting through the fixed component, and monitor and obtain the clamping state parameters through the precision detection module, and perform clamping abnormality identification and clamping warning adjustment based on the clamping state parameters.

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