A precise positioning and clamping method and clamping device

Abstract

The present application provides a precise positioning and clamping method and a clamping device, relating to the technical field of precise clamping. The method includes: obtaining a modular clamping structure; starting machine tool processing, activating the precision detection module to collect the appearance image and position of the target part, and obtaining the processing requirements; determining the positioning parameters and clamping parameters based on the part position, shape and size parameters, and processing requirements; placing the target part on the positioning plate for fixed limiting; using the clamping parameters to fixedly clamp the target part, and monitoring and obtaining the clamping state through the precision detection module to perform abnormal identification and warning adjustment. By means of the present application, the technical problem that the clamping adaptability to different workpiece shapes is poor, resulting in low clamping and positioning accuracy and uneven clamping force, is solved. By collecting part information in real time through the precision detection module and dynamically adjusting the positioning and clamping parameters, the jig sharing among multiple machine tools is realized, and the clamping accuracy and efficiency are improved.

Description

Technical Field

[0001] This application relates to the field of precision clamping technology, and particularly relates to a precision positioning clamping method and a clamping device. Background Art

[0002] For a multi-machine production line, the clamping structure is usually customized for a single machine or workpieces with specific shapes and sizes. When it is necessary to clamp workpieces with different shapes and sizes, it is often necessary to redesign or adjust the fixture. Since the clamping accuracy is limited by the fixture design and the adaptability of the workpiece, it is difficult to ensure the machining accuracy, which directly affects the machining quality. Especially when processing complex or irregularly shaped workpieces, it is difficult to ensure the stability of the clamping accuracy, which directly affects the machining quality. Particularly in high-precision machining, small clamping errors may also gradually accumulate, resulting in final machining deviations. In addition, multiple fixtures are not compatible with different machine tools or parts, resulting in low production efficiency and high management costs.

[0003] In summary, there are technical problems in the prior art that due to the poor adaptability of clamping to different workpiece shapes, the clamping positioning accuracy is not high and the clamping force is uneven. Summary of the Invention

[0004] The purpose of this application is to provide a precision positioning clamping method and a clamping device to solve the technical problems in the prior art that due to the poor adaptability of clamping to different workpiece shapes, the clamping positioning accuracy is not high and the clamping force is uneven.

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

[0006] In a first aspect, this application provides a precision positioning clamping method, which is realized by a precision positioning clamping device. Among them, the precision positioning clamping method includes: obtaining a modular clamping structure, the components of the modular clamping structure include a positioning plate, adjustable positioning pins, waist-shaped positioning holes, fixing components, and a precision detection module; starting machine tool processing, activating the precision detection module to collect the appearance image information and part position information of the target part, and at the same time obtaining the processing requirement information of the target part; measuring and analyzing the appearance image information to determine the part shape and size parameters, and based on the part position information, the part shape and size parameters, and the processing requirement information, determining the part positioning parameters and part clamping parameters; 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 pins and the waist-shaped positioning holes; using the part clamping parameters to fixedly clamp the limited target part through the fixing components, and monitoring and obtaining the clamping state parameters through the precision detection module, and performing clamping anomaly 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 onto 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; perform measurement and analysis on the appearance grayscale enhanced image information based on the part edge contour information to determine part shape and size parameters.

[0008] Optionally, perform region segmentation and feature point recognition on the appearance grayscale enhanced image information based on the part edge contour information to obtain a set of key feature points of the part; determine geometric shape fitting parameters according to the part edge contour information; use the geometric shape fitting parameters to perform shape and size fitting on the set of key feature points of the part to obtain fitted shape and size parameters; pre-measure and calibrate to obtain the ratio of image pixels to actual part size, and perform analytical conversion on the fitted shape and size parameters based on the ratio of image pixels to actual part size to determine the part shape and size parameters.

[0009] Optionally, select positioning points and clamping points according to the part shape and size parameters and the processing requirement information to determine key positioning points and key clamping points of the part; perform historical data mining based on the modular clamping structure to construct a modular positioning and clamping database, where the modular positioning and clamping database includes a positioning historical data set and a clamping historical data set of each module clamping acupoint; use the modular positioning and clamping database to perform matching and optimization on the part shape and size parameters and the processing requirement information to obtain basic positioning parameters and basic clamping parameters; adjust and correct the basic positioning parameters and basic clamping parameters based on the part position information, the key positioning points and key clamping points of the part to obtain part positioning parameters and part clamping parameters.

[0010] Optionally, determine the matching theoretical position, matching key positioning points and matching key clamping points according to the basic positioning parameters and basic clamping parameters; use the deviation information between the part position information, the key positioning points and key clamping points of the part, and the matching theoretical position, matching key positioning points and matching key clamping points as processing improvement parameters; adjust and correct the basic positioning parameters and basic clamping parameters based on the processing improvement parameters to obtain part positioning parameters and part clamping parameters.

[0011] Optionally, based on the processing improvement parameters, adjust, correct, and analyze the basic positioning parameters and basic clamping parameters to obtain a plurality of positioning improvement parameters and a plurality of clamping improvement parameters; evaluate the positioning and clamping effect of the modular positioning and clamping database and perform data simulation to construct a positioning and clamping effect simulation module; use the positioning and clamping effect simulation module to perform simulation evaluation and optimization on the plurality of positioning improvement parameters and the plurality of clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

[0012] Optionally, according to the part processing process requirements, set the tolerance threshold of the clamping processing parameters; use the tolerance threshold of the clamping processing parameters to identify abnormalities in the clamping state parameters to obtain clamping abnormality parameters; based on the clamping abnormality parameters, perform clamping processing warning and adaptive feedback adjustment on the part clamping parameters.

[0013] Optionally, evaluate the abnormality level of the clamping abnormality parameters to obtain the clamping abnormality level; match the warning mechanism based on the clamping abnormality parameters and the clamping abnormality level to determine the clamping warning parameters; when the clamping abnormality level is less than the preset abnormality threshold, adjust and optimize the part clamping parameters based on the clamping abnormality parameters to obtain the part clamping optimization parameters; perform part clamping warning and adaptive feedback adjustment based on the clamping warning parameters and the part clamping optimization parameters.

[0014] Optionally, use a PID controller to perform adjustment and optimization analysis on the part clamping parameters based on the clamping abnormality parameters to obtain the threshold of the clamping optimization parameters; based on the positioning and clamping effect simulation module, perform global evaluation and optimization within the threshold of the clamping optimization parameters to obtain the part clamping optimization parameters.

[0015] Second aspect, the present application also provides a precision positioning and clamping device for implementing a precision positioning and clamping method as described in the first aspect. Wherein, the precision positioning and clamping device includes: a structure acquisition module for acquiring a modular clamping structure, and the components of the modular clamping structure include a positioning plate, adjustable positioning pins, waist-shaped positioning holes, a fixing component, and a precision detection module; a target part acquisition module for starting machine tool processing, activating the precision detection module to acquire the appearance image information and part position information of the target part, and simultaneously acquiring the processing requirement information of the target part; a parameter determination module for 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; a part fixing module for 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 pins and the waist-shaped positioning holes; a fixing and clamping module for fixing and clamping the limited target part 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 anomaly identification and clamping warning adjustment based on the clamping state parameters.

[0016] One or more technical solutions provided in the present application have at least the following beneficial effects:

[0017] By acquiring a modular clamping structure, the components of the modular clamping structure include a positioning plate, adjustable positioning pins, waist-shaped positioning holes, a fixing component, and a precision detection module; starting machine tool processing, activating the precision detection module to acquire the 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 pins and the waist-shaped positioning holes; fixing and clamping the limited target part 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 anomaly identification and clamping warning adjustment based on the clamping state parameters. That is to say, by designing a modular clamping structure, it adapts to different machine tools and various workpiece shapes, flexibly adjusts the positioning of parts through adjustable positioning pins and waist-shaped positioning holes, the precision detection module real-time collects part information, dynamically adjusts the positioning and clamping parameters, multiple fixtures can be shared on multiple machine tools, realizing mixed processing and ensuring quality, improving the clamping accuracy, optimizing the clamping force distribution, and improving the production efficiency.

[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the specific embodiments of this application are specifically exemplified below. It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of this application, nor is it used to limit the scope of this application. Other features of this application will become easily understandable through the following specification. Brief Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0020] Figure 1 It is a schematic flow chart of a precise positioning and clamping method of this application;

[0021] Figure 2 It is a schematic structural diagram of a precise positioning and clamping device of this application.

[0022] Description of the reference numerals: Structure acquisition module 11, target part acquisition module 12, parameter determination module 13, part fixing module 14, fixed clamping module 15. Detailed Embodiments

[0023] This application provides a precise positioning and clamping method and a clamping device, which solves the technical problems in the prior art that due to the poor adaptability of clamping to different workpiece shapes, the clamping positioning accuracy is not high and the clamping force is uneven. 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 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 machine tools to achieve mixed processing and ensure quality, improve the clamping accuracy, optimize the distribution of the clamping force, and improve the production efficiency.

[0024] Next, the technical solutions in this application will be clearly and completely described with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments of this application. It should be understood that this application is not limited by the exemplary embodiments described here. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application. In addition, it should be noted that for the convenience of description, only the parts related to this application are shown in the drawings rather than all.

[0025] Example 1. Please refer to the appendix Figure 1 In this application, a precise positioning and clamping method is provided. Among them, the precise positioning and clamping method is executed by a precise positioning and clamping device. The specific steps of the precise positioning and clamping method are as follows:

[0026] S100: Obtain a modular clamping structure. The components of the modular clamping structure include a positioning plate, adjustable positioning pins, waist-shaped positioning holes, a fixing component, and a precision detection module.

[0027] Specifically, obtain a modular clamping structure composed of multiple standardized components to fix the workpiece, ensure the stability of the workpiece during the processing, improve the adaptability and versatility of the clamping structure, and 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, adjustable positioning pins, waist-shaped positioning holes, a fixing component, 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, usually designed as a planar structure, which supports the workpiece and docks with the machine tool table to ensure the basic position of the workpiece. 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 accurate positioning and fixing on different workpieces. The positioning pin is inserted into the waist-shaped positioning hole, and the adjustability of the pin is used to precisely position the workpiece. The waist-shaped positioning hole usually refers to a hole with a waist shape. This special shape design enables the positioning pin to make fine adjustments in the hole, thereby achieving precise positioning of the workpiece. The adjustable positioning pin is a pin with an adjustment mechanism. The pin body of the adjustable positioning pin can be adjusted back and forth or up and down along a certain direction. By adjusting the position of the pin body, the positioning pin ensures precise contact between the workpiece and the waist-shaped positioning hole. The waist-shaped positioning hole is designed with a special shape that can accommodate the adjustable positioning pin and the workpiece, allowing the positioning pin to make fine adjustments in the hole to ensure that the positioning pin can fix the workpiece between the waist-shaped positioning holes. That is to say, when the workpiece is placed in the waist-shaped positioning hole on the positioning plate, by adjusting the position of the adjustable positioning pin, ensure that the pin is accurately inserted into the appropriate position in the waist-shaped positioning hole to achieve precise positioning of the workpiece.

[0028] After the positioning pin adjustment is completed, the fixing component firmly fixes the workpiece adjusted by the adjustable positioning pin and the waist-shaped positioning hole on the clamping structure by means of bolts, clamps, etc. This is usually done after the positioning of the part to ensure that the workpiece does not shift due to vibration or external force interference during the machining process. The precision detection module is used to monitor the state parameters during the clamping process in real time, as well as the appearance and position information of the target part, etc. It is usually fixed at the edge or surface of the positioning plate, such as the four corners of the positioning plate.

[0029] 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, fixes and limits the part through the adjustable positioning pin and the waist-shaped positioning hole, and the fixing component completes the clamping. The adjustable positioning pin accurately positions the part in the waist-shaped positioning hole by adjusting the position of the pin. The special shape of the waist-shaped positioning hole allows the positioning pin to adjust its position within a certain range, so as to achieve precise positioning of the workpiece in different directions. Once the workpiece is accurately positioned through the positioning pin and the waist-shaped positioning hole, the fixing component (such as clamps, bolts, etc.) will firmly fix the part on the clamping structure.

[0030] Through modular design, it can adapt to workpieces of different shapes and sizes, solving the adaptability problem of traditional clamping structures in the face of diverse workpieces. Multiple fixtures can be shared on multiple machine tools to achieve mixed processing and ensure quality, saving management costs. Through the precision detection module, the clamping parameters are automatically adjusted and the state is monitored, reducing manual intervention and the time of repeated clamping. This 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 hole positions (such as 16 hole positions), multiple hole positions are processed in the same clamping state, avoiding multiple clamping operations. The combination of the adjustable positioning pin and the waist-shaped positioning hole ensures that the part is accurately positioned and restricted to the required position during the clamping process, and is finely adjusted according to the size and shape of different workpieces to ensure the clamping accuracy and support multi-station processing with 16 cavities in one mold, which means that multiple parts can be processed simultaneously on the same fixture, thus improving the production efficiency.

[0031] S200: Start the machine tool for machining, activate the precision detection module to collect the appearance image information and part position information of the target part, and at the same time obtain the machining requirement information of the target part.

[0032] Specifically, the machine tool is started and enters the machining state, activating the precision detection module. The target part is precisely scanned through built-in sensors and an image processing unit to obtain the appearance image information and part position information of the target part. Usually, the appearance image of the part is obtained through an image acquisition device (such as a high-resolution camera or scanner) to identify features such as the shape, size, and surface defects of the part; the position of the part relative to a fixed coordinate system or reference point is obtained through a positioning sensor (such as a laser rangefinder or position sensor). According to the machining process and part design requirements, machining requirement information is obtained, that is, the machining specifications and standards of the target part, including dimensional tolerances, surface roughness, machining methods (such as milling, drilling, etc.) of the part, and specific requirements to be observed during machining (such as temperature, use of cutting fluid, etc.). Before machining starts, the precision detection module will collect the appearance image of the part through a high-resolution camera and analyze whether it meets the requirements, such as whether there are defects such as cracks and notches. Based on the machining requirement information, the machine tool starts machining according to the set standards and ensures that each machining link meets the requirements.

[0033] S300: Measure and analyze the appearance image information to determine the part shape and size parameters. Based on the part position information, the part shape and size parameters, and the machining requirement information, determine the part positioning parameters and part clamping parameters.

[0034] Further, S300 of the present application includes:

[0035] Initialize the 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 onto 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 the 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 the part shape and size parameters.

[0036] Perform region segmentation and feature point recognition on the appearance grayscale enhanced image information based on the part edge contour information to obtain a set of part key feature points; determine geometric shape fitting parameters according to the part edge contour information; perform shape and size fitting on the set of part key feature points using the geometric shape fitting parameters to obtain fitted shape and size parameters; pre-measure and calibrate to obtain the image pixel - part actual size ratio, and perform analytical conversion on the fitted shape and size parameters based on the image pixel - part actual size ratio to determine the part shape and size parameters.

[0037] Specifically, initialize the Gaussian filter. The Gaussian filter is an image smoothing technique based on the Gaussian function (normal distribution function) used to reduce noise in images. By calculating the weighted average of each pixel in the image with its surrounding pixels, it achieves smoothing, can effectively eliminate fine noise, and retains the main structural information of the image. Initializing the Gaussian filter means selecting an appropriate Gaussian kernel (or Gaussian convolution kernel), which determines the degree of filtering (i.e., the intensity of blurring). The size of the Gaussian kernel is usually controlled by a standard deviation (σ). The larger σ is, the stronger the blurring effect. For example, if the target image contains more noise (such as noise caused by uneven lighting or camera quality issues), a Gaussian kernel with σ = 1.0 can be selected for processing. If there is more noise, a kernel with σ = 2.0 or larger can be selected to achieve a stronger blurring effect. After performing Gaussian filtering on the original image using the initialized Gaussian filter, the noise in the image is reduced, the image becomes smooth, and the edges and structural parts are still retained.

[0038] Next, the image is converted to a grayscale image, where each pixel of the image only contains a single value representing its brightness (ranging from 0 to 255, with 0 being black and 255 being white). Grayscale conversion is the process of converting a color image into a grayscale image, aiming to simplify the calculations in image analysis. A color image contains three channels (red, green, blue), while a grayscale image has only one channel representing the brightness value of the pixels.

[0039] Map the appearance grayscale image information onto a grayscale histogram, calculate the number of pixels for each gray level in the image, and plot it as a graph. The grayscale histogram shows the number of pixels for each gray level (usually from 0 to 255) in the image. After mapping the gray values of the grayscale image to the histogram, it actually obtains the gray distribution of the appearance image, intuitively showing the concentration degree and distribution characteristics of the image brightness.

[0040] Perform histogram equalization on the appearance distribution grayscale image to equalize the gray value distribution of the image. Histogram equalization is an image enhancement technique aimed at adjusting the gray value distribution of the image to make the brightness range of the image as evenly distributed as possible, thereby improving the contrast of the image. The purpose of equalization is to redistribute the gray levels in the image so that the number of pixels for each gray level is as equal as possible.

[0041] After enhancing the image by equalization, the appearance gray-scale enhanced image information is obtained. The Sobel operator is used for edge detection. By calculating the gradients (luminance change rates) of each pixel point in the image, the parts with abrupt luminance changes in the image, i.e., the edge positions, are identified. The Sobel operator generally consists of two convolution kernels, which calculate the gradients in the horizontal and vertical directions respectively. Through the calculation of the Sobel operator, the gradient values of each pixel in the image are extracted. According to the magnitudes of the gradients, the intensity and direction of the edges can be determined. Usually, larger gradient values indicate edges in the image, while smaller gradient values indicate flat regions or noise. The Sobel operator is used to detect edges in the equalized image. By calculating the gradients of each pixel point, the edge contours in the image are obtained. For example, the contours of parts (such as circular or rectangular edges) will exhibit obvious edge features in the image.

[0042] Based on the edge contour information of the part, the appearance gray-scale enhanced image information is segmented using region segmentation technology, and the parts in the image are segmented, that is, the part regions within the contours are extracted from the background. Within the segmented part regions, a feature point recognition algorithm is used to extract key feature points. By identifying feature points such as corner points and end points on the edges, a set of key feature points of the part can be constructed.

[0043] Based on the edge contour information of the part, the geometric shape of the part is determined through geometric fitting methods (such as the least squares method). For example, if the part is circular, the center coordinates and radius of the circle can be obtained through the fitting algorithm; if the part is rectangular, parameters such as the aspect ratio are fitted. Geometric shape fitting refers to mathematically modeling the shape of the part based on the feature point information extracted from the image, and inferring the geometric model (such as a straight line, circle, ellipse, rectangle, etc.) that best conforms to the actual part shape through fitting algorithms (such as the least squares method, etc.).

[0044] Based on the geometric shape fitting parameters, dimensional fitting is performed on the set of key feature points of the part to obtain the actual dimensions of the part. The fitted shape dimension parameters are the dimension parameters of the actual shape of the part obtained through geometric shape fitting, including radius, angle, length, width, diameter, etc., depending on the geometric shape being fitted. For example, for circular parts, the fitted parameters include the radius of the circle; for rectangular parts, the fitted parameters include length, width, and angle, etc.

[0045] By calibrating a standard object with a known size, the proportional relationship between pixels and the actual size in the image is obtained. For example, if it is calibrated that every 100 pixels correspond to 1 mm of actual size, then the actual size of a part with a side length of 200 pixels in the image is 2 mm. According to the proportionality coefficient obtained from the calibration, the fitted size parameters are converted to obtain the actual size of the part, that is, the shape size parameters of the part. The image pixel - part actual size ratio is a proportionality coefficient obtained through calibration, which converts the pixel size in the image to the actual size of the part. The calibration process includes photographing a standard object with a known size and calculating the relationship between its pixel size and the actual size, that is, calculating the ratio of the pixel size to the actual size, to obtain this proportionality coefficient.

[0046] Measurement and analysis is to analyze the image information and extract relevant physical quantities or geometric parameters through certain algorithms and technical means, including means such as region segmentation and feature point recognition. For example, the grayscale image resolution of a certain part is 500×500 pixels, and the shape of the part is circular; the outer contour of the part is extracted through edge detection to segment the part from the image, and the key points on the circular contour are extracted using a feature point recognition algorithm to fit the radius and the center of the circle; geometric shape fitting is performed on the extracted key feature points to fit the center coordinates (250, 250) and a radius of 100 pixels; through pre-measurement and calibration, it is obtained that 100 pixels in the image correspond to 1 mm of actual size, and the fitted circle radius of 100 pixels is converted to obtain an actual radius of 1 mm.

[0047] By image processing and geometric shape fitting, the shape and size of the part are accurately measured, which 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.

[0048] Furthermore, this application also includes the following steps:

[0049] Select the positioning points and clamping points based on the part shape size parameters and the processing requirement information to determine the key positioning points and key clamping points of the part; perform historical data mining based on the modular clamping structure to construct a modular positioning and clamping database, and the modular positioning and clamping database includes the positioning history data set and clamping history data set of the clamping acupuncture points of each module; use the modular positioning and clamping database to match and optimize the part shape size parameters and the processing requirement information to obtain the basic positioning parameters and basic clamping parameters; adjust and correct the basic positioning parameters and basic clamping parameters based on the part position information, the key positioning points and key clamping points of the part to obtain the part positioning parameters and part clamping parameters.

[0050] Specifically, based on the shape and size parameters of the part and the machining requirement information, 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 machining; when selecting clamping points, the goal is to minimize part deformation and ensure that the part will not affect the machining quality due to excessive clamping force. Key positioning points refer to the points on the part that are crucial for machining, usually the points that ensure the part does not deform or shift during machining. Key clamping points refer to the points on the part that can be fixed by the clamping tool to ensure the part is stable and does not affect the machining accuracy.

[0051] According to the modular clamping structure, historical data is obtained, and a database containing positioning and clamping historical data is constructed based on past machining experience, recording the positioning and clamping data of different parts during machining, including information such as part shape, size, clamping position, and clamping parameters. According to the part shape and size parameters and machining requirement information, a match is made in the modular positioning and clamping database to select the appropriate basic positioning parameters and basic clamping parameters, that is, the positioning parameters and clamping parameters suitable for the target part. This is the result of the preliminary selection and still needs further adjustment and correction.

[0052] Based on the part position information collected by the precision detection module, as well as the key positioning points and key clamping points of the part selected according to the part shape and size parameters and machining requirement information, the matched basic positioning parameters and basic clamping parameters are adjusted and corrected to obtain the final part positioning parameters and part clamping parameters. The adjustment and correction are to make a detailed adjustment to the preliminary positioning and clamping parameters according to the actual size, shape, and position of the part to ensure precise positioning and stable clamping during machining. That is to say, based on the theoretical basic positioning parameters, as well as the actual position and positioning points of the part, the deviation is calculated as the machining improvement parameter to adjust the positioning parameters; similarly, based on the theoretical basic clamping parameters, as well as the actual size, shape, and clamping points of the part, the deviation is calculated as the machining improvement parameter 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 part is always in the correct position during machining, reduce clamping errors, and improve machining accuracy.

[0053] Furthermore, the present application further includes the following steps:

[0054] According to the basic positioning parameters and basic clamping parameters, determine the matching theoretical position, matching key positioning points, and matching key clamping points; use the part position information, the part key positioning points and part key clamping points, and the deviation information of the matching theoretical position, matching key positioning points, and matching key clamping points as machining improvement parameters; based on the machining improvement parameters, adjust and correct the basic positioning parameters and basic clamping parameters to obtain the part positioning parameters and part clamping parameters.

[0055] Specifically, according to the basic positioning parameters and basic clamping parameters, the theoretical position of the part (i.e., the ideal machining position), as well as the ideal key positioning points and key clamping points, are determined. These points 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, jointly determined based on the part shape and size parameters, machining requirement information, and historical data.

[0056] Based on the actually measured part position information, as well as the actually selected part key positioning points and part key clamping points, the deviation information of the matching theoretical position, matching key positioning points, and matching key clamping points is calculated, that is, the deviation from the theory, which is used to evaluate the positioning and clamping accuracy of the part and find possible error sources for adjustment and optimization. The machining improvement parameters are adjustment suggestions obtained based on the analysis of the deviation information, guiding how to adjust the basic positioning and clamping parameters according to the actual clamping state of the part, so as to improve the machining accuracy.

[0057] According to the machining improvement parameters calculated from the deviation, the basic positioning parameters and clamping parameters are dynamically adjusted, adjusting the positions of the positioning points and the distribution of the clamping force to eliminate errors and ensure the precise position of the part during the machining process. 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 part during the machining process is ensured, the accumulation of clamping errors is avoided, and the deviation during machining is reduced.

[0058] Furthermore, the present application further includes the following steps:

[0059] Based on the machining improvement parameters, the adjustment and correction analysis of the basic positioning parameters and basic clamping parameters is carried out to obtain a plurality of positioning improvement parameters and a plurality of clamping improvement parameters; the positioning and clamping effect evaluation and data simulation of the modular positioning and clamping database are carried out to construct a positioning and clamping effect simulation module; the positioning and clamping effect simulation module is used to carry out simulation evaluation and optimization of the plurality of positioning improvement parameters and the plurality of clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

[0060] Specifically, according to the machining improvement parameters, the improvement direction is determined, and the basic positioning parameters and basic clamping parameters are adjusted to obtain a plurality of positioning improvement parameters and a plurality of clamping improvement parameters. These parameters are the results of multiple rounds of adjustment based on the actual situation and optimization requirements. The positioning improvement parameters and clamping improvement parameters are multiple optimization schemes obtained by analyzing the machining improvement parameters, including the positions of newly adjusted positioning pins, the positions of added support points, etc., and finally a plurality of possible positioning improvement parameters and clamping improvement parameters are obtained.

[0061] Based on 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 are the clamping cases of previously machined parts, recording the usage of different clamping parameters and their impact on machining 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 machining, and comparing with the specific positioning and clamping effects of the corresponding past clamping operations until the accuracy of the model's positioning and clamping effect evaluation meets the requirements, then the training of the model is stopped, and the positioning and clamping effect simulation module is obtained. In short, the positioning and clamping effect simulation module is a module constructed based on the historical data in the modular positioning and clamping database, which can evaluate the actual effects of different positioning and clamping methods in actual production. By virtual simulation, the machining effects of parts under different clamping parameters are predicted to help select the most suitable clamping scheme.

[0062] Input multiple positioning improvement parameters and multiple clamping improvement parameters into the positioning and clamping effect simulation module for positioning and clamping effect evaluation, 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. That is to say, by comparing the positioning and clamping effects of multiple schemes, the best positioning and clamping scheme is found, and finally the part positioning parameters and clamping parameters are determined.

[0063] Exemplarily, assume that the target part is a cylinder with a diameter of 50 mm and a thickness of 20 mm. The initially set basic positioning parameters are: the positioning pin diameter is 10 mm, the positioning hole diameter is 10 mm, and the deviation from the center of the cylinder is set to 0.1 mm; the clamping parameters are: using 4 symmetric clamps, the clamping force is 500 N, and the clamp angle is 45°. The machining improvement parameters include positioning improvement parameters (increasing the positioning pin diameter and decreasing the positioning hole diameter) and clamping improvement parameters (increasing the clamping force). Using the positioning and clamping effect simulation module, simulate the influence of different positioning and clamping parameters on the part clamping effect. Part of the data of the simulation results is shown in Table 1:

[0064] Table 1 Simulation evaluation scores for different parameter combinations

[0065]

[0066] According to the simulation evaluation results, the clamping effects of different parameter combinations are compared, and the best scheme is: the positioning pin diameter is 12 mm; the positioning hole diameter is 9.5 mm; the positioning deviation is 0.05 mm; the clamping force is 650 N; the clamp angle: 45°. This scheme shows the best performance in terms of deformation (0.01 mm) and deviation (0.01 mm), and at the same time, the clamping force uniformity is as high as 90%, obtaining the best clamping effect in the simulation.

[0067] Construct a positioning and clamping effect simulation module through historical data, simulate and evaluate multiple solutions, effectively optimize the positioning and clamping parameters, find the best clamping solution, which can not only improve the clamping accuracy and machining stability, but also reduce costs and risks, improve production efficiency, and provide flexible and accurate clamping solutions for different types of parts, ultimately achieving higher-quality machining results.

[0068] S400: Place the target part on the positioning plate based on the part positioning parameters, and fix and limit the target part through the adjustable positioning pins and the waist-shaped positioning holes.

[0069] Specifically, according to the finally determined part positioning parameters, select an 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 orientation of the part to ensure that it aligns with the positioning features (such as positioning holes, positioning slots, etc.) on the positioning plate. And through the adjustable positioning pins and the waist-shaped positioning holes, accurately limit the part to prevent the part from having a small displacement during the machining process. 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 holes or slots 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 small changes in part size and improve the accuracy of positioning. By adjusting the adjustable positioning pins and the waist-shaped positioning holes, the part can be accurately aligned during the clamping process, and the positioning error is controlled within 0.01 mm, ensuring high precision in part machining. By adjusting the configuration of the positioning pins and the waist-shaped positioning holes, it can adapt to the clamping requirements of different parts and provide higher flexibility. Through modular design, multiple machines can share the same positioning plate and positioning structure, thus reducing the fixture replacement time and improving production efficiency.

[0070] S500: Use the part clamping parameters to fixedly clamp the limited target part through the fixing component, and monitor and obtain the clamping state parameters through the precision detection module, and perform clamping anomaly identification and clamping warning adjustment based on the clamping state parameters.

[0071] Furthermore, S500 of this application includes:

[0072] Set the tolerance threshold of the clamping and machining parameters according to the part machining process requirements; use the tolerance threshold of the clamping and machining parameters to identify anomalies in the clamping state parameters to obtain clamping anomaly parameters; perform clamping machining warning and adaptive feedback adjustment on the part clamping parameters based on the clamping anomaly parameters.

[0073] Specifically, using the determined part clamping parameters, the target part is fixedly clamped. The target part after limiting is fixed on the positioning plate through the fixing component. The fixing component includes mechanical elements such as clamping devices, clamps, bolts, etc., which start to act after receiving the clamping parameters and apply an appropriate clamping force to fix the part on the positioning plate. Limiting refers to restricting the accurate position of the part through devices such as positioning pins and positioning holes to ensure that the part maintains the correct positioning during the clamping process and avoid machining errors caused by improper clamping.

[0074] Through the precision detection module, the clamping state of the target part is monitored in real time to ensure that the part maintains accurate positioning during the machining process. The clamping state parameters refer to the actual situation of the part during the clamping process, including information such as the real-time position of the part and the distribution of the clamping force, which can be used to judge whether there are errors in the position of the part, whether displacement has occurred, and whether the preset clamping parameters are met, so as to evaluate whether the clamping is stable and accurate and whether adjustment is needed.

[0075] According to the processing technology requirements of the part, determine the allowable error range during the clamping process. The tolerance threshold of the clamping processing parameters refers to the allowable clamping error range or deviation range during the machining process, which is used to judge whether the clamping meets the processing requirements. For example, if the dimensional requirements of the part are very precise (such as a diameter of 100 mm with a tolerance of ±0.05 mm), then the tolerance threshold of the clamping position is set to ±0.05 mm. The tolerance threshold for the clamping force is usually set according to the processing material and fixture design, such as setting the tolerance range of the clamping force error to ±10 N.

[0076] If a certain parameter in the clamping state parameters during the clamping process exceeds the set tolerance threshold, an abnormality is automatically identified and marked as a clamping abnormal parameter. The clamping abnormal parameter refers to an abnormal situation that exceeds the tolerance threshold during the clamping process, such as excessive position deviation, uneven fixture pressure, or the fixture failing to fully fix the part.

[0077] According to the clamping abnormal parameters, determine the abnormal level and match the corresponding warning mechanism to remind the operator to make adjustments or re-clamp to avoid the accumulation of machining errors and the risk of unqualified products. The clamping processing warning reminds the operator through means such as alarms, warning messages, and indicator lights, indicating that the clamping state needs to be checked or adjusted. For example, if the clamping force is uneven or the position deviation of the part is too large, the operator is reminded to check the fixture settings through the display or alarm sound to avoid producing unqualified parts during continued machining. Adaptive feedback adjustment refers to automatically adjusting the clamping parameters according to the monitored abnormal parameters and machining status to restore to the optimal clamping state.

[0078] Through real-time monitoring and adjustment, clamping abnormalities are promptly identified and adjusted, avoiding the accumulation of machining errors caused by improper clamping, improving the product qualification rate, reducing the downtime caused by improper clamping, and thus enhancing production efficiency.

[0079] Furthermore, the present application further includes the following steps:

[0080] Evaluate the abnormality level of 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 the preset abnormality threshold, adjust and optimize the part clamping parameters based on the clamping abnormality parameters to obtain the optimized part clamping parameters; perform part clamping early warning and adaptive feedback adjustment based on the clamping early warning parameters and the optimized part clamping parameters.

[0081] Use a PID controller to perform adjustment and optimization analysis on the part clamping parameters based on the clamping abnormality parameters to obtain the threshold of the optimized clamping parameters; perform global evaluation and optimization within the threshold of the optimized clamping parameters based on the positioning and clamping effect simulation module to obtain the optimized part clamping parameters.

[0082] Specifically, evaluate the abnormality level of the clamping abnormality parameters to determine the level of the current abnormality. Usually, some abnormality criteria are preset before clamping. For example, exceeding 10% of the tolerance threshold is marked as a minor abnormality, exceeding 30% of the tolerance threshold is marked as a moderate abnormality, and exceeding 50% is marked as a severe abnormality. Quantify the severity of the clamping abnormality according to the clamping abnormality parameters to determine the corresponding clamping abnormality level.

[0083] And match the corresponding early warning mechanism according to the clamping abnormality parameters and the clamping abnormality level. For example, a minor abnormality may only need to prompt the operator, while a severe abnormality requires immediate shutdown or reclamping. The clamping early warning mechanism refers to judging whether an early warning signal needs to be issued according to the abnormal situation detected during the clamping process. Usually, according to the level and type of the abnormality, it is decided whether to take further treatment measures. The clamping early warning parameters are the parameters used to trigger the clamping early warning, which determine whether to trigger the early warning mechanism and what level of early warning to trigger.

[0084] 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, adjust and optimize the clamping process according to the current clamping abnormality parameters. The PID controller calculates the control quantity through three control terms (proportional, integral, differential) by feeding back the error, thereby achieving precise adjustment.

[0085] The PID controller adjusts according to the detected abnormal clamping parameters. Among them, the proportional (P) control is used to adjust the clamping parameters according to the current error; the integral (I) control is used to handle the cumulative error; the derivative (D) control is used to adjust according to the error change rate, enabling it to respond quickly and suppress the excessive change of the error. After PID adjustment, the threshold of the optimized clamping parameters is output, including multiple optimized part clamping parameters, and these optimized parameters all meet the tolerance threshold of the clamping processing parameters. Using the positioning and clamping effect simulation module, global evaluation and optimization are carried out within the threshold of the optimized clamping parameters, simulating the influence of different clamping parameter combinations (such as clamping force range, fixture position, etc.) on the processing results, and finding the best parameter combination within this parameter range to achieve precise positioning and stable clamping of the part during the processing or assembly process.

[0086] Finally, through the feedback adjustment of the PID control and the simulation module, the optimized clamping parameters are obtained, that is, the part clamping optimized parameters, including clamping force, clamping position, fixture angle, etc., which are the current optimal parameter combination. According to the determined abnormal clamping parameters and the part clamping optimized parameters, early warnings are given to the target part, and the clamping parameters are automatically adjusted according to the current abnormal situation. The part is re-clamped or adjusted according to the clamping parameters after feedback adjustment. For example, the adjusted clamping force and positioning accuracy are applied to the part clamping process to ensure that there is no position deviation or part deformation during the processing. Through clamping early warning and adaptive feedback adjustment, the clamping state is detected in real time during the clamping process, and the clamping parameters are automatically adjusted according to the preset standards and tolerance ranges, avoiding potential clamping problems and improving the accuracy and stability of part processing.

[0087] By evaluating and adjusting the clamping parameters in real time, the accuracy of part clamping is optimized and the processing error is reduced. Through clamping early warning and adaptive adjustment, potential clamping problems are discovered and solved in a timely manner, thereby reducing the unqualified processing cases caused by abnormal clamping.

[0088] In summary, a precise positioning and clamping method provided by this application has the following beneficial effects:

[0089] By obtaining a modular clamping structure, the components of the modular clamping structure include a positioning plate, adjustable positioning pins, waist-shaped positioning holes, a fixing component, and a precision detection module; start the machine tool for processing, activate the precision detection module to collect the appearance image information and part position information of the target part, and at the same time obtain the processing requirement information of the target part; measure and analyze the appearance image information to determine the part shape and size parameters, and based on the part position information, the part shape and size parameters, and the processing requirement information, determine the part positioning parameters and part clamping parameters; place the target part on the positioning plate based on the part positioning parameters, and fix and limit the target part through the adjustable positioning pins and the waist-shaped positioning holes; use the part clamping parameters to fix and clamp the limited target part through the fixing component, and monitor and obtain the clamping state parameters through the precision detection module, and perform clamping anomaly identification and clamping warning adjustment based on the clamping state parameters. That is to say, by designing a modular clamping structure to adapt to different machine tools and various workpiece shapes, the positioning of the part can be flexibly adjusted through adjustable positioning pins and waist-shaped positioning holes, the precision detection module can collect part information in real time, dynamically adjust the positioning and clamping parameters, multiple fixtures can be shared on multiple machine tools, realizing mixed loading processing and ensuring quality, improving the clamping accuracy, optimizing the clamping force distribution, and improving the production efficiency.

[0090] Embodiment 2. Based on the same inventive concept as a precise positioning and clamping method in the foregoing Embodiment 1, the present application also provides a precise positioning and clamping device. Please refer to the attached Figure 2 , the precise positioning and clamping device includes:

[0091] A structure acquisition module 11, configured to obtain a modular clamping structure, the components of the modular clamping structure including a positioning plate, adjustable positioning pins, waist-shaped positioning holes, a fixing component, and a precision detection module; a target part acquisition module 12, configured to start the machine tool for processing, activate the precision detection module to collect the appearance image information and part position information of the target part, and at the same time obtain the processing requirement information of the target part; a parameter determination module 13, configured to measure and analyze the appearance image information to determine the part shape and size parameters, and based on the part position information, the part shape and size parameters, and the processing requirement information, determine the part positioning parameters and part clamping parameters; a part fixing module 14, configured to place the target part on the positioning plate based on the part positioning parameters, and fix and limit the target part through the adjustable positioning pins and the waist-shaped positioning holes; a fixing and clamping module 15, configured to use the part clamping parameters to fix and clamp the limited target part through the fixing component, and monitor and obtain the clamping state parameters through the precision detection module, and perform clamping anomaly identification and clamping warning adjustment based on the clamping state parameters.

[0092] Further, the parameter determination module 13 in the precision positioning and clamping device is further configured to:

[0093] 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 onto 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; perform measurement and analysis on the appearance grayscale enhanced image information based on the part edge contour information to determine part shape and size parameters.

[0094] Further, the parameter determination module 13 in the precision positioning and clamping device is further configured to:

[0095] Perform region segmentation and feature point recognition on the appearance grayscale enhanced image information based on the part edge contour information to obtain a set of key feature points of the part; determine geometric shape fitting parameters according to the part edge contour information; use the geometric shape fitting parameters to perform shape and size fitting on the set of key feature points of the part to obtain fitted shape and size parameters; pre-measure and calibrate to obtain the image pixel - part actual size ratio, and perform analytical conversion on the fitted shape and size parameters based on the image pixel - part actual size ratio to determine the part shape and size parameters.

[0096] Further, the parameter determination module 13 in the precision positioning and clamping device is further configured to:

[0097] Select positioning points and clamping points according to the part shape and size parameters and the processing requirement information to determine key positioning points and key clamping points of the part; perform historical data mining based on the modular clamping structure to construct a modular positioning and clamping database, where the modular positioning and clamping database includes a positioning historical data set and a clamping historical data set for each module clamping acupoint; use the modular positioning and clamping database to perform matching and optimization on the part shape and size parameters and the processing requirement information to obtain basic positioning parameters and basic clamping parameters; adjust and correct the basic positioning parameters and basic clamping parameters based on the part position information, the key positioning points and key clamping points of the part to obtain part positioning parameters and part clamping parameters.

[0098] Further, the parameter determination module 13 in the precision positioning and clamping device is further configured to:

[0099] Based on the described basic positioning parameters and basic clamping parameters, determine the matching theoretical position, matching key positioning points, and matching key clamping points; use the part position information, the part key positioning points and part key clamping points, and the deviation information between the matching theoretical position, matching key positioning points, and matching key clamping points as machining improvement parameters; based on the machining improvement parameters, adjust and correct the basic positioning parameters and basic clamping parameters to obtain part positioning parameters and part clamping parameters.

[0100] Furthermore, the parameter determination module 13 in the precision positioning and clamping device is further configured to:

[0101] Based on the machining improvement parameters, perform adjustment and correction analysis on the basic positioning parameters and basic clamping parameters to obtain multiple positioning improvement parameters and multiple clamping improvement parameters; perform positioning and clamping effect evaluation and data simulation on the modular positioning and clamping database to construct a positioning and clamping effect simulation module; use the positioning and clamping effect simulation module to perform simulation evaluation and optimization on the multiple positioning improvement parameters and multiple clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

[0102] Furthermore, the fixed clamping module 15 in the precision positioning and clamping device is further configured to:

[0103] According to the part machining process requirements, set the tolerance threshold for clamping machining parameters; use the tolerance threshold for clamping machining parameters to identify abnormalities in the clamping state parameters to obtain clamping abnormality parameters; based on the clamping abnormality parameters, perform clamping machining warning and adaptive feedback adjustment on the part clamping parameters.

[0104] Furthermore, the fixed clamping module 15 in the precision positioning and clamping device is further configured to:

[0105] Evaluate the abnormality level of the clamping abnormality parameters to obtain the clamping abnormality level; match the warning mechanism based on the clamping abnormality parameters and the clamping abnormality level to determine the clamping warning parameters; when the clamping abnormality level is less than the 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 warning and adaptive feedback adjustment based on the clamping warning parameters and the part clamping optimization parameters.

[0106] Furthermore, the fixed clamping module 15 in the precision positioning and clamping device is further configured to:

[0107] The PID controller is used to adjust and optimize the part clamping parameters based on the clamping abnormality parameters, and obtain the threshold value of the optimized clamping parameters; based on the positioning and clamping effect simulation module, global evaluation and optimization are carried out within the threshold value of the optimized clamping parameters to obtain the optimized clamping parameters of the part.

[0108] The various embodiments in this specification are described in a progressive manner. The key point of each embodiment is the difference from other embodiments. The foregoing Figure 1 A precise positioning and clamping method and specific example in the first embodiment are equally applicable to a precise positioning and clamping device in this embodiment. Through the foregoing detailed description of a precise positioning and clamping method, those skilled in the art can clearly know a precise positioning and clamping device in this embodiment. Therefore, for the sake of brevity of the specification, it will not be elaborated herein.

[0109] 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 obvious to those skilled in the art. The general principles defined herein can 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 these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0110] Obviously, for those skilled in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. A precise positioning and clamping method, characterized in that, Including: Obtain a modular clamping structure, the component parts of which include a positioning plate, an adjustable positioning pin, a waist-shaped positioning hole, a fixing component, and a precision detection module; Start the machining of the machine tool, activate the precision detection module to collect the appearance image information and part position information of the target part, and at the same time obtain the machining requirement information of the target part; Measure and analyze the appearance image information to determine the part shape and size parameters. Based on the part position information, the part shape and size parameters, and the machining requirement information, determine the part positioning parameters and part clamping parameters; Place the target part on the positioning plate based on the part positioning parameters, and fix and limit the target part through the adjustable positioning pin and the waist-shaped positioning hole; Fix and clamp the limited target part through the fixing component using the part clamping parameters, 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; Among them, the determination of the part shape and size parameters 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, and perform equalization processing on the appearance distribution grayscale map to obtain appearance grayscale enhanced image information; Use the 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 the part shape and size parameters; Among them, the determination of the part shape and size parameters includes: Perform region segmentation and feature point recognition on the appearance grayscale enhanced image information based on the part edge contour information to obtain a set of part key feature points; Determine the geometric shape fitting parameters according to the part edge contour information; Use the geometric shape fitting parameters to perform shape and size fitting on the set of part key feature points to obtain the fitted shape and size parameters; Pre-measure and calibrate to obtain the image pixel - part actual size ratio, and perform analytical conversion on the fitted shape and size parameters based on the image pixel - part actual size ratio to determine the part shape and size parameters; Among them, the determination of the part positioning parameters and part clamping parameters includes: Select positioning points and clamping points according to the part shape and size parameters and the machining requirement information to determine the part key positioning points and part key clamping points; Perform historical data mining based on the modular clamping structure to construct a modular positioning and clamping database, and the modular positioning and clamping database includes the positioning historical data set and clamping historical data set of each module clamping acupoint; Use the modular positioning and clamping database to match and optimize the part shape and size parameters and the machining requirement information to obtain the basic positioning parameters and basic clamping parameters; Adjust and correct the basic positioning parameters and basic clamping parameters based on the part position information, the key positioning points of the part, and the key clamping points of the part to obtain the part positioning parameters and part clamping parameters.

2. The precise positioning and clamping method according to claim 1, characterized in that, The obtaining of the part positioning parameters and part clamping parameters includes: Determine the matching theoretical position, matching key positioning points, and matching key clamping points according to the basic positioning parameters and basic clamping parameters; Use the deviation information between the part position information, the key positioning points of the part, and the key clamping points of the part, and the matching theoretical position, matching key positioning points, and matching key clamping points as the processing improvement parameters; Adjust and correct the basic positioning parameters and basic clamping parameters based on the processing improvement parameters to obtain the part positioning parameters and part clamping parameters.

3. The precision positioning and clamping method according to claim 2, characterized in that, The obtaining of the part positioning parameters and part clamping parameters includes: Conduct adjustment and correction analysis on the basic positioning parameters and basic clamping parameters based on the processing improvement parameters to obtain multiple positioning improvement parameters and multiple clamping improvement parameters; Conduct positioning and clamping effect evaluation and data simulation on the modular positioning and clamping database to construct a positioning and clamping effect simulation module; Use the positioning and clamping effect simulation module to conduct simulation evaluation and optimization on the multiple positioning improvement parameters and multiple clamping improvement parameters to obtain the part positioning parameters and part clamping parameters.

4. The precise positioning and clamping method according to claim 3, wherein, The monitoring and obtaining of the clamping state parameters through the precision detection module and the clamping anomaly identification and clamping warning adjustment based on the clamping state parameters include: Set the tolerance threshold of the clamping processing parameters according to the part processing process requirements; Use the tolerance threshold of the clamping processing parameters to conduct anomaly identification on the clamping state parameters to obtain the clamping anomaly parameters; Conduct clamping processing warning and adaptive feedback adjustment on the part clamping parameters based on the clamping anomaly parameters.

5. The precision positioning and clamping method according to claim 4, characterized in that, The conducting of the clamping processing warning and adaptive feedback adjustment on the part clamping parameters based on the clamping anomaly parameters includes: Conduct anomaly level evaluation on the clamping anomaly parameters to obtain the clamping anomaly level; Match the warning mechanism according to the clamping anomaly parameters and the clamping anomaly level to determine the clamping warning parameters; When the clamping anomaly level is less than the preset anomaly threshold, adjust and optimize the part clamping parameters based on the clamping anomaly parameters to obtain the part clamping optimization parameters; Conduct part clamping warning and adaptive feedback adjustment based on the clamping warning parameters and the part clamping optimization parameters.

6. The precision positioning and clamping method according to claim 5, wherein The obtaining of the part clamping optimization parameters includes: Use a PID controller to conduct adjustment and optimization analysis on the part clamping parameters based on the clamping anomaly parameters to obtain the threshold of the clamping optimization parameters; Conduct global evaluation and optimization within the threshold of the clamping optimization parameters based on the positioning and clamping effect simulation module to obtain the part clamping optimization parameters.

7. A precision positioning and clamping device, characterized in that, For implementing the steps of the precision positioning and clamping method according to any one of claims 1 to 6, the precision positioning and clamping device includes: A structure acquisition module for acquiring a modular clamping structure, and 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; The target part acquisition module is used to start the machine tool processing, activate the precision detection module to acquire the appearance image information and part position information of the target part, and simultaneously obtain the processing requirement information of the target part; The parameter determination module is used to measure and analyze the appearance image information to determine the part shape and size parameters, and based on the part position information, the part shape and size parameters, and the processing requirement information, determine the part positioning parameters and part clamping parameters; The part fixing module is used to place the target part on the positioning plate based on the part positioning parameters and fix and limit the target part through the adjustable positioning pins and the waist-shaped positioning holes; The fixed clamping module is used to fixedly clamp the limited target part through the fixing component by using the part clamping parameters, 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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