Clamping device and control method thereof

Abstract

The invention discloses a clamping device and a control method thereof, and relates to the technical field of clamps, the clamping device comprises a rotating shaft and a chuck assembly, the chuck assembly comprises a disc body, a rotating disc and a clamping jaw, the rotating shaft is provided with a containing channel, the rotating shaft is provided with the chuck assembly, and the clamping device further comprises a first driving mechanism and a second driving mechanism; the first driving mechanism drives the rotating disc to rotate so that the clamping jaws can clamp or break away from the workpiece, the first driving mechanism can continuously output at the first target output torque so that the clamping jaws can have clamping force matched with the workpiece, and the second driving mechanism drives the workpiece to rotate through the rotating shaft and the disc body. And the first driving mechanism continuously outputs at the first target output torque and is matched with the second driving mechanism, so that the clamping jaw keeps clamping force matched with the workpiece. The invention provides a clamping device and a control method thereof to solve the technical problem that after a workpiece is clamped by an existing clamping device, the clamping force of a clamping jaw cannot adapt to the machining process of the workpiece due to the fact that the clamping force of the clamping jaw is lost due to contact between the workpiece and the clamping jaw.

Description

Technical Field

[0001] This application belongs to the technical field of jigs, and specifically relates to a clamping device and its control method. Background Art

[0002] In the prior art, a machine tool is used to process workpieces. The machine tool includes a clamping device for clamping the workpiece. The clamping device includes a rotating shaft and a chuck assembly arranged on the rotating shaft. The chuck assembly includes a disc body and a chuck that moves radially along the disc body. The chuck assembly also includes a turntable. The existing turntable is provided with spiral protrusions, and the chuck is provided with guide grooves that cooperate with the spiral protrusions. By driving the turntable to rotate, the chuck is driven to move and clamp the workpiece. After the chuck clamps the workpiece, self-locking is achieved by the cooperation of the spiral protrusions and the guide grooves. At this time, the rotating shaft rotates to drive the disc body and the workpiece to rotate, and then the workpiece is processed. Different workpieces have different materials and processing requirements, and the processing force on the workpiece will also change. The existing clamping device requires the user to manually rotate the turntable to clamp the workpiece, and it is determined by the user's experience or visual observation whether the workpiece is clamped, resulting in the inability to accurately adjust the clamping force of the chuck on the workpiece. The chuck cannot provide a clamping force that matches the workpiece. During the processing of the workpiece, the workpiece continuously contacts the processing equipment. Due to the mismatch between the clamping force and the workpiece, the accuracy of the workpiece will be reduced and the wear of the chuck will be accelerated.

[0003] There is a prior art that drives the turntable to rotate through a driving motor to avoid manual adjustment of the turntable by personnel. The output shaft of the driving motor is connected to a driving gear through an electromagnetic clutch. The turntable is provided with a toothed ring. By controlling the electromagnetic clutch, the driving gear is engaged with the toothed ring, and then the driving motor is controlled to drive the turntable to rotate, so that the chuck clamps the workpiece. After the driving motor drives the turntable to clamp the workpiece, the electromagnetic clutch is controlled to disengage the driving gear from the toothed ring, and then the workpiece is driven to rotate. In the above technology, although manual locking is avoided, after the driving gear is disengaged from the toothed ring, the self-locking of the spiral protrusions and the guide grooves is still used to provide the clamping force for the chuck to clamp the workpiece. However, there will be friction and elastic deformation in the contact between the workpiece and the chuck, and there will also be friction and elastic deformation in the contact between the spiral protrusions and the guide grooves, which will cause the loss of clamping force after the driving gear is disengaged from the toothed ring, resulting in a reduction in the clamping force provided by the chuck for the workpiece. During the processing of the workpiece, the workpiece contacts the processing equipment, making the clamping force of the chuck unable to adapt to the processing process of the workpiece. Summary of the Invention

[0004] This application provides a clamping device and its control method to solve the technical problem that after the existing clamping device clamps the workpiece, due to the loss of clamping force such as the contact between the workpiece and the chuck, the clamping force of the chuck cannot adapt to the workpiece processing process after the workpiece is clamped.

[0005] The first object of this application is to provide a clamping device, and the technical solution adopted is: A clamping device comprises a rotating shaft and a chuck assembly arranged on the rotating shaft, the chuck assembly comprises a disc body fixedly connected to the rotating shaft and a rotating disc rotatably arranged on the disc body, the chuck assembly also comprises a clamping claw moving along the radial direction of the disc body, the rotating disc rotates to drive the clamping claw to move and clamp a workpiece, the rotating shaft is hollowly arranged to have a receiving channel for the movement of the workpiece, at least one end of the rotating shaft is provided with a chuck assembly, the rotating disc is coaxially arranged with the rotating shaft, the clamping device also comprises a first driving mechanism and a second driving mechanism, the first driving mechanism comprises a motor driving the rotating disc to rotate, the first driving mechanism is arranged on the radial outer side of the rotating shaft, and the second driving mechanism The clamping device is arranged on the radial outer side of the rotating shaft and is staggered with the first driving mechanism in the circumferential direction of the rotating shaft. The clamping device has a first working state and a second working state. In the first working state, the first driving mechanism drives the turntable to rotate so that the clamping claws clamp or disengage the workpiece. The first driving mechanism can continuously output with the first target output torque so that the clamping claws have a clamping force that matches the workpiece. In the second working state, the second driving mechanism drives the workpiece to rotate through the rotating shaft and the disk body. The first driving mechanism continuously outputs with the first target output torque and cooperates with the second driving mechanism so that the clamping claws maintain a clamping force that matches the workpiece.

[0006] The clamping device in the first object of the present application also includes the following additional technical features: The first driving mechanism also includes a planetary gear reducer connected to the motor, the planetary gear reducer includes a sun gear, a planetary gear, an outer gear ring and a planetary carrier connected to the planetary gear, the planetary carrier is connected to the gear shaft, the gear shaft is connected to the turntable, the motor drives the sun gear to rotate to drive the turntable, the shaft is connected to the outer gear ring, when the sun gear is fixed, the transmission ratio of the planetary gear reducer is , the transmission ratio between the shaft and the outer gear ring is , the transmission ratio between the gear shaft and the turntable is , , as well as The product of is 1.

[0007] The rotating shaft is provided with a transmission gear, the outer gear ring is connected to the fixed gear, the fixed gear is rotatably arranged on the gear shaft and meshes with the transmission gear, the gear shaft is also provided with a positioning gear, the turntable is connected to the auxiliary gear, and the positioning gear meshes with the auxiliary gear.

[0008] The clamping claw comprises a positioning piece and a clamping piece. The clamping piece is detachably arranged on the positioning piece, and the clamping piece is provided with a clamping surface which fits the outer contour of the workpiece.

[0009] The clamping member extends toward the accommodating channel and at least partially extends into the accommodating channel.

[0010] The clamping device further includes an auxiliary positioning mechanism. The auxiliary positioning mechanism includes a flexible airbag disposed in the accommodation channel. The auxiliary positioning mechanism clamps the workpiece through the flexible airbag. The rotating shaft is provided with an air collecting cavity, and the air collecting cavity is communicated with the flexible airbag through an air passage. The flexible airbag is correspondingly arranged with the air passage.

[0011] A plurality of groups of flexible airbags are arranged in sections along the axial direction of the rotating shaft. Each group of flexible airbags is respectively communicated with an air collecting cavity. The auxiliary positioning mechanism further includes an inflation mechanism. The inflation mechanism is connected with the air collecting cavity through a rotating member. The auxiliary positioning mechanism controls the inflation mechanism to inflate the flexible airbag at the corresponding position according to the distance information of the workpiece extending into the accommodation channel.

[0012] The second object of the present application is to provide a control method for a clamping device, which is applied to the clamping device described in the first object. The control method includes: Collect the characteristic information of the workpiece; Calculate the clamping force of the claw matching the characteristic information according to the characteristic information; Determine the first target output torque according to the clamping force; Obtain the state information of the clamping device; Adjust the output torque of the second driving mechanism according to the state information and the characteristic information; Adjust the output torque of the motor according to the state information, the characteristic information and the first target output torque.

[0013] The control method of the clamping device in the second object of the present application further includes: Adjusting the output torque of the second driving mechanism according to the state information and the characteristic information includes: The state information at least includes a first working state and a second working state; If the state information is the first working state, the second driving mechanism remains in the standby state; If the state information is the second working state, judge whether the rotation direction of the rotating shaft is the same as or opposite to the rotation direction of the turntable driving the claw to move and clamp the workpiece according to the characteristic information; If the rotation direction of the rotating shaft is the same as the rotation direction of the turntable driving the claw to move and clamp the workpiece, the clamping device adjusts the output torque of the second driving mechanism to the second output torque at the second rate according to the clamping force and the characteristic information; If the rotation direction of the rotating shaft is opposite to the rotation direction of the turntable driving the claw to move and clamp the workpiece, the second driving mechanism enters the switching state. The clamping device adjusts the output torque of the second driving mechanism to the third output torque at the third rate according to the clamping force and the characteristic information. The second driving mechanism enters the working state. The clamping device adjusts the output torque of the second driving mechanism from the third output torque to the second output torque at the fourth rate according to the clamping force and the characteristic information.

[0014] Adjusting the output torque of the motor according to the status information, feature information, and first target output torque includes: If the status information is the first working state, determine the first rate at which the output torque of the motor is adjusted to the first target output torque according to the feature information, and the clamping device adjusts the output torque of the motor to the first target output torque at the first rate; If the status information is the second working state, the motor continuously outputs at the first target output torque.

[0015] Due to the adoption of the above technical solution, the beneficial effects obtained by this application are: 1. In this application, by setting the shaft to be hollow, the shaft has a receiving channel for the movement of the workpiece. The user can control the length of the workpiece entering the receiving channel according to the length of the workpiece, enabling the clamping device to accurately clamp the to-be-clamped part of the workpiece and improving the applicability of the clamping device. In one embodiment, the workpiece type is a long shaft workpiece. By controlling one end of the long shaft workpiece to enter the receiving channel, the clamping device can be adapted to process the long shaft workpiece. Moreover, the two ends of the long shaft workpiece can be respectively clamped by chuck assemblies provided at both ends of the shaft, preventing the tail of the long shaft workpiece from vibrating due to rotation and gravity during the processing, which affects the clamping of the workpiece by the jaws and further affects the processing accuracy. By arranging the first driving mechanism on the radial outer side of the shaft and the second driving mechanism on the radial outer side of the shaft and circumferentially misaligned with the first driving mechanism on the shaft, the first driving mechanism and the second driving mechanism avoid the receiving channel, preventing the first driving mechanism and the second driving mechanism from hindering the movement of the workpiece. At the same time, it can also improve the design freedom of the receiving channel, and select a shaft with a receiving channel of appropriate size according to the processing range of the workpiece. By setting the clamping device to have a first working state and a second working state, in the first working state, the first driving mechanism drives the turntable to rotate to clamp or release the workpiece, realizing the removal and clamping of the workpiece. The first driving mechanism can continuously output at the first target output torque to enable the jaws to have a clamping force matching the workpiece. When the second driving mechanism drives the workpiece to rotate through the shaft and the disk body, the first driving mechanism continuously outputs at the first target output torque to cooperate with the second driving mechanism, enabling the jaws to maintain a clamping force matching the workpiece, avoiding contact loss of the clamping force between the turntable and the jaws and between the workpiece and the jaws, and improving the stability during the workpiece processing.

[0016] 2. As a preferred embodiment of the present application, the first driving mechanism further includes a planetary gear reducer. The gear shaft is connected through the planet carrier, and is in transmission connection with the turntable through the gear shaft, so that the first driving mechanism drives the claw to clamp or disengage from the workpiece. At the same time, by setting the rotating shaft to be connected to the outer gear ring, when the rotating shaft rotates, through the transmission between the outer gear ring and the planet gear, the gear shaft is driven to rotate, and then the turntable and the disk body rotate synchronously. During the working process of the rotating shaft, the turntable and the disk body are relatively stationary, avoiding the influence of the rotation of the rotating shaft on the clamping force of the claw, and enabling the claw to maintain the clamping force matching the workpiece. When the sun gear is fixed, the transmission ratio of the planetary gear reducer is , the transmission ratio between the rotating shaft and the outer gear ring is , the transmission ratio between the gear shaft and the turntable is , , and The product of is 1. During the rotation of the rotating shaft, through the transmission with the outer gear ring, the synchronous movement of the turntable and the rotating shaft is realized, avoiding the influence on the clamping force of the claw during the rotation of the rotating shaft.

[0017] 3. As a preferred embodiment of the present application, by setting a transmission gear, the outer gear ring is connected to a fixed gear, and the transmission gear meshes with the fixed gear. By rotating the rotating shaft to drive the outer gear ring to rotate, and by setting a positioning gear, the turntable is connected to an auxiliary gear, and the positioning gear meshes with the auxiliary gear to realize the synchronous transmission of the rotation of the rotating shaft to drive the turntable to rotate. While maintaining the clamping force of the claw matching the workpiece, the turntable is driven to rotate following the rotating shaft. Through the cooperation of the transmission gear, the fixed gear, the positioning gear and the auxiliary gear for power transmission, the space of the clamping device is saved, and the layout of the clamping device is made compact. The gear transmission has the characteristics of stable transmission. The meshing between gears can ensure an accurate transmission ratio, reduce the impact and vibration during the transmission process. The meshing of the transmission gear with the fixed gear and the meshing of the positioning gear with the auxiliary gear make the power transmission more stable and reliable, enabling the claw to firmly clamp the workpiece.

[0018] 4. As a preferred embodiment of the present application, by setting the claw to include a positioning member and a clamping member, the clamping member is provided with a clamping surface that fits the outer contour of the workpiece. By replacing the clamping member, the claw can be adapted to different workpieces, improving the applicability of the clamping device. At the same time, the clamping surface that fits the outer contour of the workpiece increases the contact area between the claw and the workpiece, can distribute the clamping force reasonably, and reduces the deformation risk of thin-walled or precision workpieces. During the later maintenance process, the worn clamping member can be replaced, without the need to replace the entire claw, reducing the maintenance cost and prolonging the overall service life of the chuck assembly.

[0019] Furthermore, by arranging the clamping member to extend towards the receiving channel and at least partially extend into the receiving channel, the contact area between the clamping member and the workpiece is further increased, and the clamping force can be more evenly distributed on the surface of the workpiece, reducing local stress concentration and lowering the risk of deformation of the workpiece during processing due to uneven distribution of the clamping force. The clamping member extending towards the receiving channel can also provide axial constraint to the workpiece. When the workpiece is subjected to processing forces or other external forces during processing, the clamping member extending towards the receiving channel can prevent the workpiece from moving into the receiving channel through contact with the workpiece, keeping the workpiece in a stable position during processing and improving the reliability of processing. The clamping member extending towards the receiving channel can play an auxiliary supporting role, preventing the workpiece from being easily bent and deformed due to its own gravity and cutting force during processing, thereby affecting the clamping of the workpiece by the jaws.

[0020] 5. As a preferred embodiment of the present application, by arranging that the clamping device further includes an auxiliary positioning mechanism, the auxiliary positioning mechanism includes a flexible airbag arranged in the receiving channel, and a chuck assembly is arranged at one end of the rotating shaft. When the workpiece needs to extend into the receiving channel, the workpiece is clamped by the flexible airbag, so that one end of the workpiece is clamped by the jaws and the other end is clamped by the flexible airbag. Clamping the workpiece by the flexible airbag effectively reduces the overhang and bending deformation of the workpiece, enables precise positioning of the workpiece in the receiving channel, and avoids the formation of a lever structure at the clamping position of the jaws due to the angular inclination of the workpiece, affecting the clamping force of the jaws on the workpiece. When chuck assemblies are arranged at both ends of the rotating shaft, the workpiece needs to pass through the receiving channel, and the flexible airbag supports a part of the workpiece in the receiving channel, reducing the bending deformation of the part of the workpiece in the receiving channel, and avoiding the formation of a lever structure at the clamping position of the jaws due to the angular inclination of the workpiece, affecting the clamping force of the jaws on the workpiece. By arranging the flexible airbag to be correspondingly arranged with the air duct, each flexible airbag can be independently filled with or discharged from gas according to actual needs, thereby realizing adaptive adjustment. Moreover, the air collecting chamber is communicated with the flexible airbag through the air duct, and the corresponding arrangement of the air duct and the flexible airbag can ensure uniform air supply to each flexible airbag and improve the clamping effect on the workpiece. The flexible airbag can adaptively adjust according to the outer contour of the workpiece after inflation and closely fit the surface of the workpiece. Whether the workpiece is a regular cylinder or has a certain taper or other shape changes, the flexible airbag can provide a good clamping effect, ensuring that the workpiece will not shake or displace during processing, avoiding affecting the clamping force of the jaws, and improving the processing accuracy.

[0021] Furthermore, by arranging multiple groups of flexible air bags in sections along the axis direction of the rotating shaft, and each group of flexible air bags is respectively connected to a gas collecting chamber, the auxiliary positioning mechanism can, according to the distance information, inflate the flexible air bags at the corresponding positions through the inflation mechanism according to the different distances that the workpiece extends into the accommodation channel, accurately inflate and expand the flexible air bags at the corresponding positions, so as to accurately position and support the workpiece, and adapt to workpieces of various different size specifications. At the same time, multiple groups of flexible air bags can work simultaneously to achieve segmented support for the workpiece, and can provide uniform supporting force at different parts of the workpiece, avoiding affecting the clamping force of the jaws due to single-point support or uneven supporting force, and further affecting the machining accuracy of the workpiece. By precisely controlling the inflation of the flexible air bags at different positions, the eccentricity and swing of the workpiece during the machining process can be effectively reduced. Each group of flexible air bags is respectively connected to a gas collecting chamber, so that the inflation states of each group of flexible air bags are independent of each other. If a certain group of flexible air bags or the inflation circuit fails, it will not affect the normal operation of other groups of flexible air bags, and the workpiece can still be positioned and supported, improving the stability and reliability of the system, and reducing the occurrence of affecting the workpiece machining due to the failure of a single group of flexible air bags.

[0022] 6. In the control method of the present application, by calculating the clamping force matching the feature information according to the feature information, determining the first target output torque according to the clamping force, the first driving mechanism can provide a clamping force adapted to the workpiece for the jaws, realizing stable clamping of the workpiece.

[0023] Furthermore, by determining the first rate at which the output torque of the motor is adjusted to the first target output torque according to the feature information, optimizing the application rate of the clamping force during the clamping process, and preventing damage to the workpiece surface when the jaws clamp the workpiece. By setting a rate matching the workpiece feature information to increase the torque, the jaws gradually apply the clamping force to the workpiece, and the workpiece has more time to adapt to the clamping force, reducing the deformation amount of the workpiece. Description of the Drawings

[0024] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings: Figure 1 is the overall schematic diagram of the clamping device under an embodiment of the present application; Figure 2 is Figure 1 the sectional view along the A-A direction; Figure 3 is Figure 2 the enlarged view of part A in Figure 4 is the installation schematic diagram of the auxiliary positioning mechanism under an embodiment of the present application; Figure 5Schematic diagram of the installation of chuck assemblies at both ends of the rotating shaft in an embodiment of the present application.

[0025] Reference numerals: 1. Rotating shaft; 11. Transmission gear; 12. Air collecting chamber; 13. Air passage; 14. Installation groove; 2. Chuck assembly; 21. Disc body; 22. Turntable; 23. Chuck jaw; 231. Positioning member; 232. Clamping member; 24. Auxiliary gear; 3. Accommodating channel; 4. First driving mechanism; 41. Motor; 42. Planetary gear reducer; 421. Sun gear; 422. Outer gear ring; 423. Gear shaft; 424. Positioning gear; 43. Fixed gear; 5. Second driving mechanism; 51. Electric motor; 52. Transmission shaft; 521. Driving gear; 6. Auxiliary positioning mechanism; 61. Flexible airbag; 62. Inflation mechanism; 63. Rotating member; 7. Box body. Detailed implementation mode

[0026] In order to more clearly illustrate the overall concept of the present application, the following will be described in detail by way of examples in conjunction with the accompanying drawings of the specification.

[0027] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application may be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below. It should be noted that, without conflict, the embodiments of the present application and the features in each embodiment may be combined with each other.

[0028] In addition, in the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0029] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 5As shown in the figure, a clamping device includes a rotating shaft 1 and a chuck assembly 2 provided on the rotating shaft 1. The chuck assembly 2 includes a disk body 21 fixedly connected to the rotating shaft 1 and a rotating disk 22 rotatably provided on the disk body 21. The chuck assembly 2 further includes a chuck 23 that moves radially along the disk body 21. The rotation of the rotating disk 22 drives the chuck 23 to move and clamp the workpiece (not shown in the attached drawings). The rotating shaft 1 is hollowly provided to have a receiving channel 3 for the workpiece to move. At least one end of the rotating shaft 1 is provided with the chuck assembly 2. The rotating disk 22 is coaxially arranged with the rotating shaft 1. The clamping device further includes a first driving mechanism 4 and a second driving mechanism 5. The first driving mechanism 4 includes a motor 41 that drives the rotating disk 22 to rotate. The first driving mechanism 4 is arranged on the radial outer side of the rotating shaft 1. The second driving mechanism 5 is arranged on the radial outer side of the rotating shaft 1 and is circumferentially offset from the first driving mechanism 4 on the rotating shaft 1. The clamping device has a first working state and a second working state. In the first working state, the first driving mechanism 4 drives the rotating disk 22 to rotate so that the chuck 23 clamps or disengages from the workpiece. In the second working state, the second driving mechanism 5 drives the workpiece to rotate through the rotating shaft 1 and the disk body 21. The first driving mechanism 4 continuously outputs with a first target output torque to cooperate with the second driving mechanism 5 so that the chuck 23 maintains a clamping force that matches the workpiece.

[0030] The present application provides a hollow shaft 1 so that the shaft 1 has a receiving channel 3 for moving the workpiece. The user can control the length of the workpiece entering the receiving channel 3 according to the length of the workpiece, so that the clamping device can accurately clamp the part of the workpiece to be clamped, thereby improving the applicability of the clamping device. In one embodiment, the workpiece type is a long-axis workpiece. By controlling one end of the long-axis workpiece to enter the receiving channel 3, the clamping device can be adapted to process the long-axis workpiece, and the two ends of the long-axis workpiece can be clamped separately by providing a chuck assembly 2 at both ends of the shaft 1, so as to prevent the tail of the long-axis workpiece from vibrating due to rotation and gravity during processing, thereby affecting the clamping of the workpiece by the claw 23, and further affecting the processing accuracy. By arranging the first driving mechanism 4 on the radially outer side of the rotating shaft 1 and the second driving mechanism 5 on the radially outer side of the rotating shaft 1 and being staggered with the first driving mechanism 4 in the circumferential direction of the rotating shaft 1, the first driving mechanism 4 and the second driving mechanism 5 can avoid the accommodating channel 3, thereby preventing the first driving mechanism 4 and the second driving mechanism 5 from hindering the movement of the workpiece. At the same time, the design freedom of the accommodating channel 3 can be improved. According to the processing range of the workpiece, the rotating shaft 1 with the accommodating channel 3 of appropriate size can be selected. By setting the clamping device to have a first working state and a second working state, in the first working state, the turntable 22 is driven to rotate by the first driving mechanism 4 so that the claw 23 clamps or disengages from the workpiece, thereby realizing the removal and clamping of the workpiece. The first driving mechanism 4 can continuously output with the first target output torque so that the claw 23 has a clamping force that matches the workpiece. When the second driving mechanism 5 drives the workpiece to rotate through the rotating shaft 1 and the disk body 21, the first driving mechanism 4 continuously outputs with the first target output torque to cooperate with the second driving mechanism 5, so that the claw 23 maintains the clamping force that matches the workpiece, thereby avoiding the contact loss of clamping force between the turntable 22 and the claw 23 and between the workpiece and the claw 23, thereby improving the stability of the workpiece during processing.

[0031] As a preferred implementation mode of the present application, Figure 1 , Figure 2 , Figure 3 As shown, the first driving mechanism 4 also includes a planetary gear reducer 42 that is transmission-connected to the motor 41. The planetary gear reducer 42 includes a sun gear 421, planetary gears (not shown in the drawings), an outer gear ring 422, and a planet carrier (not shown in the drawings) connected to the planetary gears. The planet carrier is connected to a gear shaft 423, and the gear shaft 423 is transmission-connected to the turntable 22. The motor 41 can drive the sun gear 421 to rotate to drive the turntable 22 to rotate. The rotating shaft 1 is transmission-connected to the outer gear ring 422. When the sun gear 421 is fixed, the transmission ratio of the planetary gear reducer 42 is , the transmission ratio between the rotating shaft 1 and the outer gear ring 422 is , the transmission ratio of the gear shaft 423 and the rotating disk 22 is , , as well as The product of is 1. It is clear to those skilled in the art that the planetary gear reducer 42 has a variety of transmission ratios, and the above description illustrates the transmission ratio when the sun gear 421 remains fixed, the outer gear ring 422 is active, and the planet carrier is passive.

[0032] By setting the first driving mechanism 4 to also include a planetary gear reducer 42, the gear shaft 423 is connected to the rotating disk 22 through the planetary carrier, and the gear shaft 423 is connected to the rotating disk 22 through transmission, so that the first driving mechanism 4 drives the claw 23 to clamp or disengage the workpiece. At the same time, by setting the rotating shaft 1 to be connected to the outer gear ring 422, when the rotating shaft 1 rotates, the gear shaft 423 is driven to rotate through the transmission of the outer gear ring 422 and the planetary gear, thereby realizing the synchronous rotation of the rotating disk 22 and the disk body 21. During the operation of the rotating shaft 1, the rotating disk 22 and the disk body 21 are relatively stationary, so that the claw 23 maintains the clamping force that matches the workpiece. When the sun gear 421 is fixed, the transmission ratio of the planetary gear reducer 42 is , the transmission ratio between the rotating shaft 1 and the outer gear ring 422 is , the transmission ratio between the gear shaft 423 and the rotating disk 22 is , , as well as The product of is 1. During the rotation of the shaft 1, the synchronous movement of the turntable 22 and the shaft 1 is achieved through the transmission with the outer gear ring 422, thereby avoiding affecting the clamping force of the claw 23 during the rotation of the shaft 1.

[0033] As a preferred embodiment 1 of the implementation method: Figure 1 , Figure 2 , Figure 3As shown in the figure, the rotating shaft 1 is provided with a transmission gear 11. The outer gear ring 422 is connected to a fixed gear 43. The fixed gear 43 is rotatably arranged on the gear shaft 423 and meshes with the transmission gear 11. The gear shaft 423 is further provided with a positioning gear 424. The turntable 22 is connected to an auxiliary gear 24, and the positioning gear 424 meshes with the auxiliary gear 24. Preferably, the output shaft of the motor 41 is connected to a first synchronous pulley (not shown in the drawings), the sun gear 421 is connected to a second synchronous pulley (not shown in the drawings), the first synchronous pulley and the second synchronous pulley are drivingly connected through a synchronous belt (not shown in the drawings), the second driving mechanism 5 is drivingly connected to the transmission gear 11, the gear shaft 423 is provided with bearings, the fixed gear 43 is provided with a gear hole that cooperates with the bearings, and the fixed gear 43 is rotatably arranged on the gear shaft 423 through the bearings. The clamping device further includes a box body 7. The rotating shaft 1 is rotatably arranged in the box body 7 through structures such as bearings. The first driving mechanism 4 is arranged in the box body 7. The second driving mechanism 5 includes an electric motor 51 and a transmission shaft 52 that is rotatably arranged in the box body through structures such as bearings. The transmission shaft 52 is provided with a driving gear 521 that meshes with the transmission gear 11. One end of the transmission shaft 52 is provided with the driving gear 521, and the other end is provided with a synchronous pulley (not shown in the drawings). The output shaft of the electric motor 51 is provided with a synchronous pulley. The second driving mechanism 5 drives the two synchronous pulleys through a synchronous belt to drive the transmission shaft 52 to rotate. Preferably, the electric motor 51 is located outside the box body 7 along the radial direction of the rotating shaft 1, avoiding the space in the axial direction of the rotating shaft 1, so as to facilitate the operator to move the workpiece into and out of the receiving channel 3. Those skilled in the art can clearly understand that the box body 7 can also provide a receiving space and a protective function for the components of the present application, preventing foreign objects from entering.

[0034] By providing the transmission gear 11, the outer gear ring 422 is connected to the fixed gear 43, the transmission gear 11 meshes with the fixed gear 43, and the rotation of the rotating shaft 1 drives the rotation of the outer gear ring 422. By providing the positioning gear 424, the turntable 22 is connected to the auxiliary gear 24, and the meshing of the positioning gear 424 and the auxiliary gear 24 realizes the synchronous transmission of the rotation of the rotating shaft 1 to drive the rotation of the turntable 22. While maintaining the clamping force of the jaws 23 on the workpiece, the turntable 22 follows the rotation of the rotating shaft 1. Through the cooperation of the transmission gear 11, the fixed gear 43, the positioning gear 424, and the auxiliary gear 24 for power transmission, the space of the clamping device is saved, and the layout of the clamping device is made compact. Gear transmission has the characteristics of stable transmission. The meshing between gears can ensure an accurate transmission ratio, reduce the impact and vibration during transmission. The meshing of the transmission gear 11 and the fixed gear 43, and the meshing of the positioning gear 424 and the auxiliary gear 24 make the power transmission more stable and reliable, enabling the jaws 23 to firmly clamp the workpiece.

[0035] Taking Embodiment 1 as an example to illustrate the clamping process of the clamping device and the rotation process of the rotating shaft 1, as Figure 1 、 Figure 2 、 Figure 3As shown, the workpiece is placed in the position to be clamped, and the clamping device enters the first working state. The motor 41 drives the sun gear 421 to rotate. The sun gear 421 drives the planet gears and the planet carrier to rotate. The planet carrier drives the gear shaft 423 to rotate. The gear shaft 423 drives the auxiliary gear 24 to rotate through the positioning gear 424, and then drives the turntable 22 to rotate. The claw 23 moves radially along the disk body 21 to clamp the workpiece. At this time, the first driving mechanism 4 continuously outputs at the first target output torque so that the claw 23 has a clamping force that matches the workpiece. The clamping device enters the second working state. The second driving mechanism 5 drives the rotating shaft 1 to rotate, and then drives the disk body 21 to rotate. At the same time, the rotating shaft 1 drives the fixed gear 43 and the outer gear ring 422 to rotate through the transmission gear 11. The rotation of the outer gear ring 422 drives the gear shaft 423 to rotate. The gear shaft 423 drives the auxiliary gear 24 to rotate through the positioning gear 424, and then drives the turntable 22 to rotate, realizing that the rotation of the rotating shaft 1 synchronously drives the turntable 22 to rotate. During the rotation of the rotating shaft 1, the first driving mechanism 4 can continuously output at the first target output torque to keep the claw 23 in a clamping force that matches the workpiece. Analyze the clamping process and the rotation of the workpiece in Embodiment 1. When the rotation direction of the rotating shaft 1 is the same as the rotation direction of the turntable 22 driving the claw 23 to move and clamp the workpiece, taking the turntable 22 rotating clockwise to drive the claw 23 to clamp the workpiece as an example, the motor 41 drives the sun gear 421 to rotate counterclockwise to drive the gear shaft 423 to rotate counterclockwise. After the claw 23 clamps the workpiece, the first driving mechanism 4 continuously outputs at the first target output torque. The second driving mechanism 5 drives the rotating shaft 1 and the disk body 21 to rotate clockwise. The clockwise rotation of the rotating shaft 1 drives the workpiece to rotate and at the same time drives the outer gear ring 422 to rotate counterclockwise, and then drives the gear shaft 423 to rotate counterclockwise, thereby driving the turntable 22 to rotate clockwise, making the turntable 22 and the disk body 21 rotate synchronously and remain relatively stationary.In order to adapt to the processing needs of special workpieces, such as the need to grind the workpiece surface evenly, at this time, the rotation direction of the rotating shaft 1 is opposite to the rotation direction of the turntable 22 driving the claw 23 to move and clamp the workpiece. For example, the turntable 22 rotates clockwise to drive the claw 23 to clamp the workpiece. The motor 41 drives the sun gear 421 to rotate counterclockwise to drive the gear shaft 423 to rotate counterclockwise. After the claw 23 clamps the workpiece, the first drive mechanism 4 continues to output at the first target output torque, and the second drive mechanism 5 drives the rotating shaft 1 and the disk body 21 to rotate counterclockwise. The rotating shaft 1 rotates counterclockwise to drive the workpiece to rotate while driving the outer gear ring 422 to rotate clockwise. As the output torque of the second drive mechanism 5 gradually increases, on the one hand, the first target output torque is overcome by the outer gear ring 422, and on the other hand, the disk body 21 has a tendency to rotate counterclockwise relative to the turntable 22, gradually providing a clamping force for the claw 23. After the second drive mechanism 5 provides the clamping force for the claw 23 and overcomes the first target output torque, the second drive mechanism 5 drives the rotating shaft 1 and the disk body 21 to rotate counterclockwise, and at the same time, the rotating shaft 1 drives the outer gear ring 422 to rotate clockwise and then drives the gear shaft 423 to rotate clockwise, thereby driving the turntable 22 to rotate counterclockwise following the disk body 21, so that the claw 23 maintains the clamping force matching the workpiece.

[0036] At the same time, the present application also provides technical inspiration for real-time adjustment of the output torque of the motor 41 to cooperate with the second drive mechanism 5 so that the claw 23 maintains the clamping force that cooperates with the workpiece. For example, in the first working state, the output torque of the motor 41 clamps the workpiece with the first torque. When the second drive mechanism 5 rotates, the turntable 22 rotates synchronously with the shaft 1 by increasing the first torque. Alternatively, the first torque is gradually reduced. After the clamping force is provided by the second drive mechanism 5, the torque output direction of the motor 41 is changed. While the second drive mechanism 5 drives the shaft 1 to rotate, the motor 41 drives the turntable 22 to rotate synchronously with the shaft 1, so that in the second working state, during the rotation of the shaft 1, the claw 23 can maintain the clamping force that cooperates with the workpiece.

[0037] In the present application, the chuck assembly 2 may be arranged in any of the following embodiments: Implementation method 2: Figure 1 , Figure 2 , Figure 3 As shown, a chuck assembly 2 is provided at one end of the rotating shaft 1, and the first driving mechanism 4 includes a motor 41 and a planetary gear reducer 42, the output shaft of the motor 41 is transmission-connected to the sun gear 421 of the planetary gear reducer 42, and the planetary gear reducer 42 is transmission-connected to the turntable 22.

[0038] Implementation method three: Figure 1 , Figure 2 , Figure 3 , Figure 5As shown, chuck assemblies 2 are provided at both ends of the rotating shaft 1. The clamping device includes two first driving mechanisms 4. The first driving mechanism 4 includes a motor 41 and a planetary gear reducer 42. The output shaft of the motor 41 is drivingly connected to the sun gear 421 of the planetary gear reducer 42. The planetary gear reducer 42 is drivingly connected to the turntable 22. The two chuck assemblies 2 can jointly clamp the workpiece.

[0039] Further, the output shaft of the motor 41 is connected to a first synchronous pulley, and the sun gear 421 is connected to a second synchronous pulley. The motor 41 is connected to the first synchronous pulley and the second synchronous pulley through a synchronous belt. The two first driving mechanisms 4 are arranged at intervals relative to each other. The two first driving mechanisms 4 are located above the second driving mechanism 5, forming an avoidance space in the axial direction of the rotating shaft 1, facilitating the staff to adjust the workpiece to enter the accommodation channel 3.

[0040] Embodiment 4: Not shown in the drawings of this embodiment 4. Chuck assemblies are provided at both ends of the rotating shaft. The clamping device includes a first driving mechanism. The first driving mechanism includes a motor and two planetary gear reducers. The output shaft of the motor is connected to a first synchronous pulley. The sun gears of the two planetary gear reducers are drivingly connected to the second synchronous pulley. The output shafts of the two planetary gear reducers are respectively drivingly connected to the turntables of the two chuck assemblies. The two chuck assemblies are driven by the motor to jointly clamp the workpiece.

[0041] Those skilled in the art can clearly understand that in this application, it can be set that the motor 41 drives the sun gear 421 to rotate by connecting the first synchronous pulley and the second synchronous pulley through a synchronous belt, or by the transmission method of a chain and a sprocket, or by setting a gear set.

[0042] In this application, the clamping jaw setting method can be any one of the following embodiments: Embodiment 5: As Figure 1 、 Figure 2 、 Figure 3 shown, the clamping jaw 23 includes a positioning member 231 and a clamping member 232. The clamping member 232 is detachably arranged on the positioning member 231. The clamping member 232 is provided with a clamping surface (not shown in the drawings) that fits the outer contour of the workpiece. Preferably, the disk body 21 is provided with a guiding groove (not shown in the drawings) extending radially along the disk body 21. The positioning member 231 is movably arranged in the guiding groove. The positioning member 231 has a guiding groove (not shown in the drawings). The turntable 22 is provided with a spiral protrusion (not shown in the drawings) that cooperates with the guiding groove. The rotation of the turntable 22 drives the clamping jaw 23 to move through the cooperation of the spiral protrusion and the guiding groove. Those skilled in the art can clearly understand that the clamping member 232 can be connected to the positioning member 231 by bolts. The positioning member 231 is provided with a counterbore that cooperates with the bolts.

[0043] By setting the jaw 23 to include a positioning member 231 and a clamping member 232, the clamping member 232 is provided with a clamping surface that fits the outer contour of the workpiece. By replacing the clamping member 232, the jaw 23 can be adapted to different workpieces, improving the applicability of the clamping device. At the same time, the clamping surface that fits the outer contour of the workpiece increases the contact area between the jaw 23 and the workpiece, enabling the clamping force to be reasonably distributed and reducing the risk of deformation of thin-walled or precision workpieces. During the later maintenance process, the worn clamping member 232 can be replaced, and there is no need to replace the entire jaw 23, reducing the maintenance cost and extending the overall service life of the chuck assembly 2.

[0044] Embodiment Six: Not shown in this embodiment six, the jaw includes a positioning member and a clamping member. The clamping member is fixedly arranged on the positioning member, and the jaw is detachably arranged on the disk body. By replacing the jaw, it can be adapted to different types of workpieces.

[0045] As the preferred embodiment 2 under Embodiment Five and Embodiment Six, as Figure 1 、 Figure 2 、 Figure 3 shown, the clamping member 232 extends towards the receiving channel 3 and at least partially extends into the receiving channel 3. By setting the clamping member 232 to extend towards the receiving channel 3 and at least partially extend into the receiving channel 3, the contact area between the clamping member 232 and the workpiece is further increased, and the clamping force can be more evenly distributed on the surface of the workpiece, reducing local stress concentration and reducing the risk of deformation of the workpiece during processing due to uneven distribution of the clamping force. The clamping member 232 extending towards the receiving channel 3 can also provide axial restraint for the workpiece. When the workpiece is subjected to processing forces or other external forces during processing, the clamping member 232 extending towards the receiving channel 3 can prevent the workpiece from moving into the receiving channel 3 through contact with the workpiece, keeping the workpiece in a stable position during processing and improving the reliability of processing. The clamping member 232 extending towards the receiving channel 3 can play an auxiliary supporting role, preventing the workpiece from being easily bent and deformed due to its own gravity and cutting force during processing, thereby affecting the clamping of the workpiece by the jaw 23.

[0046] In this application, the auxiliary clamping setting of the clamping device for the workpiece can be any one of the following embodiments: Embodiment Seven: As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 shown, the clamping device further includes an auxiliary positioning mechanism 6. The auxiliary positioning mechanism 6 includes a flexible airbag 61 arranged in the receiving channel 3. The auxiliary positioning mechanism 6 clamps the workpiece through the flexible airbag 61. The rotating shaft 1 is provided with an air collecting cavity 12, and the air collecting cavity 12 is communicated with the flexible airbag 61 through an air channel 13. The flexible airbag 61 is correspondingly arranged with the air channel 13.

[0047] The clamping device also includes an auxiliary positioning mechanism 6, and the auxiliary positioning mechanism 6 includes a flexible airbag 61 arranged in the accommodating channel 3. When the chuck assembly 2 is arranged at one end of the rotating shaft 1, when the workpiece needs to extend into the accommodating channel 3, the workpiece is clamped by the flexible airbag 61, so that one end of the workpiece is clamped by the clamping claw 23 and the other end is clamped by the flexible airbag 61. The flexible airbag 61 clamps the workpiece to effectively reduce the overhang and bending deformation of the workpiece, so that the workpiece is accurately positioned in the accommodating channel 3, and the angle of the workpiece is prevented from being tilted to form a lever structure at the clamping position of the clamping claw 23, which affects the clamping force of the clamping claw 23 on the workpiece. When the chuck assembly 2 is arranged at both ends of the rotating shaft 1, the workpiece needs to pass through the accommodating channel 3, and the flexible airbag 61 is used to support part of the workpiece in the accommodating channel 3, thereby reducing the bending deformation of part of the workpiece in the accommodating channel 3, and preventing the angle of the workpiece from being tilted to form a lever structure at the clamping position of the clamping claw 23, which affects the clamping force of the clamping claw 23 on the workpiece. By setting the flexible airbag 61 to correspond to the air duct 13, each flexible airbag 61 can be independently filled or discharged with gas according to actual needs, thereby achieving adaptive adjustment. Moreover, the air collecting chamber 12 is connected to the flexible airbag 61 through the air duct 13. The corresponding setting of the air duct 13 and the flexible airbag 61 can ensure that each flexible airbag 61 is evenly supplied with air, thereby improving the clamping effect of the workpiece. After inflation, the flexible airbag 61 can be adaptively adjusted according to the outer contour of the workpiece and fit closely to the surface of the workpiece. Regardless of whether the workpiece is a regular cylindrical shape or has a certain taper or other shape changes, the flexible airbag 61 can provide a good clamping effect, ensuring that the workpiece will not shake or shift during the processing process, avoiding affecting the clamping force of the claw 23, and improving the processing accuracy.

[0048] In the seventh embodiment, the corresponding arrangement of the flexible airbag 61 and the airway 13 may be one flexible airbag 61 corresponding to one airway 13, or one flexible airbag 61 corresponding to multiple airways 13, which is not limited in the present application.

[0049] Embodiment 8: This embodiment 8 is not shown in the figure. The clamping device includes an auxiliary positioning mechanism. The accommodating channel is provided with an installation groove. The auxiliary positioning mechanism includes a main body arranged in the installation groove, and a telescopic arm telescopically arranged on the main body. A support member is provided at one end of the telescopic arm away from the main body. The support member has a supporting surface that cooperates with the outer surface of the workpiece.

[0050] In the seventh embodiment, the flexible airbag 61 may be arranged in any one of the following embodiments: Example 3: Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, at least two flexible air bags 61 are arranged circumferentially along the accommodation channel 3, and the two flexible air bags 61 are arranged oppositely in the axial direction of the rotating shaft 1. By using two or more flexible air bags 61 arranged oppositely along the axis of the rotating shaft 1, the degrees of freedom of the workpiece can be restricted in multiple directions, making the workpiece more stable during the machining process, not prone to displacement or shaking, avoiding the influence of shaking or displacement on the clamping force of the workpiece, thereby improving the stability of the machining process and the machining quality and efficiency.

[0051] Embodiment 4: Not shown in this Embodiment 4, the flexible air bag is an annular air bag, and the flexible air bag fits the outer contour of the accommodation channel.

[0052] In Embodiment 7, the setting mode of the auxiliary positioning mechanism 6 can be any one of the following embodiments: Embodiment 5: As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, multiple groups of flexible air bags 61 are arranged in sections along the axial direction of the rotating shaft 1, each group of flexible air bags 61 is respectively communicated with a gas collecting cavity 12, the auxiliary positioning mechanism 6 further includes an air inflation mechanism 62, the air inflation mechanism 62 is connected with the gas collecting cavity 12 through a rotating part 63, and the auxiliary positioning mechanism 6 controls the air inflation mechanism 62 to inflate the flexible air bags 61 at the corresponding positions according to the distance information of the workpiece extending into the accommodation channel 3.

[0053] By arranging multiple groups of flexible air bags 61 in sections along the axial direction of the rotating shaft 1, and each group of flexible air bags 61 is respectively communicated with a gas collecting cavity 12, the auxiliary positioning mechanism 6 can, according to the distance information, according to the different distances of the workpiece extending into the accommodation channel 3, inflate the flexible air bags 61 at the corresponding positions through the air inflation mechanism 62, accurately inflate and expand the flexible air bags 61 at the corresponding positions, thereby accurately positioning and supporting the workpiece and adapting to workpieces of various different size specifications. At the same time, multiple groups of flexible air bags 61 can work simultaneously to realize sectional support for the workpiece, and can provide uniform supporting force at different parts of the workpiece, avoiding the influence of single-point support or uneven supporting force on the clamping force of the claw 23 and further affecting the machining accuracy of the workpiece. By accurately controlling the inflation of the flexible air bags 61 at different positions, the eccentricity and swing of the workpiece during the machining process can be effectively reduced. Each group of flexible air bags 61 is respectively communicated with a gas collecting cavity 12, so that the inflation states of each group of flexible air bags 61 are independent of each other. If a certain group of flexible air bags 61 or the air inflation circuit fails, it will not affect the normal operation of other groups of flexible air bags 61, and the workpiece can still be positioned and supported, improving the stability and reliability of the system and reducing the occurrence of the situation that the machining of the workpiece is affected due to the failure of a single group of flexible air bags 61. Those skilled in the art can clearly understand that the setting mode of each group of flexible air bags 61 can be that each group of flexible air bags 61 includes multiple flexible air bags 61 or includes a single annular flexible air bag 61.

[0054] Embodiment 6: Embodiment 6 is not illustrated. The difference from Embodiment 5 is that multiple groups of flexible air bags are arranged in sections along the axial direction of the rotating shaft. Each group of flexible air bags is detachably arranged in the accommodation channel, and the corresponding number of flexible air bags is set according to the distance information of the workpiece extending into the accommodation channel.

[0055] In Embodiment 5 and Embodiment 6, the setting manner of the rotating member can be any one of the following specific examples: Specific Example 1: As Figure 1 , Figure 2 , Figure 3 , Figure 4 shown, a plurality of arc-shaped installation grooves 14 are arranged at intervals along the axial direction of the rotating shaft 1. The rotating member 63 is rotatably arranged in the installation groove 14. The rotating member 63 is spaced from the bottom of the installation groove 14 to form a gas collection cavity 12. An air duct 13 is provided at the bottom of the installation groove 14. A plurality of air ducts 13 are arranged at intervals along the circumferential direction of the rotating shaft 1. The air duct 13 extends radially along the rotating shaft 1 and exposes the surface of the accommodation channel 3. The rotating member 63 is in gas communication with the inflation mechanism 62. When the inflation mechanism 62 inflates, the gas enters the accommodation space and then enters the flexible air bag 61 through the air duct 13. When the rotating shaft 1 rotates, the rotating member 63 and the inflation mechanism 62 remain stable. Preferably, the first driving mechanism 4, the inflation mechanism 62, and the second driving mechanism 5 are distributed in a circumferential offset manner on the rotating shaft 1 to further avoid the accommodation channel 3. In Specific Example 1, the rotating member 63 includes a mounting member (not shown in the drawings) and a connecting member (not shown in the drawings). Positioning grooves (not shown in the drawings) are provided on both sides of the installation groove 14 along the axial direction of the rotating shaft 1. The rotating member 63 includes two mounting members, and the two mounting members are respectively arranged in the two positioning grooves. The connecting member extends along the axial direction of the rotating shaft and is rotatably connected to the mounting member. The connecting member is spaced from the bottom of the installation groove 14, and a sealing kit (not shown in the drawings) is provided between the connecting member and the mounting member. Further, the connecting member is connected to the mounting member through a bearing. Those skilled in the art can clearly understand that the installation groove 14 can be arc-shaped or annular, and the present application does not make a limitation.

[0056] Specific Example 2: Specific Example 2 is not illustrated. A chuck assembly is provided at one end of the rotating shaft, and an inflation mechanism is provided at the other end. An installation groove is provided at the end of the rotating shaft where the inflation mechanism is provided. The installation groove extends along the axial direction of the rotating shaft. The air duct includes a connection section extending radially along the rotating shaft and communicating with the flexible air bag, and an extension section extending along the axial direction of the rotating shaft. The air duct is arranged in the installation groove. The rotating member is rotatably arranged in the installation groove. The rotating member includes a rotating section arranged in the installation groove. The rotating section is spaced from the bottom of the installation groove to form a gas collection cavity. The rotating member further includes a fixing member connected to the rotating section and rotatably arranged with the rotating section. The rotating member is provided with an air outlet. The inflation mechanism inflates the gas collection cavity through the air outlet so that the flexible air bag clamps the workpiece.

[0057] The present application discloses a control method for a clamping device, which is applied to the clamping device disclosed in the present application. The control method includes: Collecting characteristic information of the workpiece; Calculating the clamping force of the jaw that matches the characteristic information according to the characteristic information; Determining a first target output torque according to the clamping force; Obtaining the status information of the clamping device; Adjusting the output torque of the second driving mechanism according to the status information and the characteristic information; Adjusting the output torque of the motor according to the status information, the characteristic information, and the first target output torque.

[0058] Collecting the characteristic information of the workpiece includes: The characteristic information at least includes the mass of the workpiece, the rotation radius of the workpiece, the speed at which the workpiece needs to rotate, and the processing technology of the workpiece. In the present application, the type of the workpiece can be identified by setting up a camera recognition device to determine the characteristic information of the workpiece, or the characteristic information of the workpiece can be collected through the system by obtaining the workpiece name, etc.; Calculating the clamping force of the jaw that matches the characteristic information according to the characteristic information includes: Determining the acting force on the workpiece according to the processing technology of the workpiece. For example, if cutting operation needs to be performed on the workpiece, the cutting force during the cutting process is obtained. The force on the workpiece during the processing can also be collected by setting sensors on the jaws, or the acting force on the workpiece can be determined through a metal processing manual, and then the clamping force of the jaws is determined through the acting force; Determining a first target output torque according to the clamping force. Preferably, in the present application, the motor is a torque motor, a rectangular thread is provided on the turntable, and a guide groove that matches the rectangular thread is provided on the jaw. The torque calculation method of the turntable is as follows:

[0059] Where F is the clamping force, T is the torque of the turntable, p is the pitch of the rectangular thread, d is the pitch diameter of the rectangular thread, μ is the friction coefficient between the rectangular thread and the guide groove, and n is the safety factor, 1.5 ≤ n ≤ 3. By setting the safety factor, it can be ensured that the motor can overcome the self-locking of the rectangular thread and the guide groove to clamp the workpiece with the clamping force that matches the workpiece and smoothly release the clamping of the workpiece.

[0060] The present application also provides another torque calculation method for the turntable. The calculation method is as follows:

[0061] Where F is the clamping force, T is the torque of the turntable, p is the pitch of the rectangular thread, and η is the energy transfer efficiency between the turntable and the jaw. is the rotational speed of the turntable.

[0062]

[0063] is the first output torque, is the transmission ratio between the motor and the turntable.

[0064] In the present application, a planetary gear reducer is used to connect with the motor transmission, the gear shaft is connected through the planetary frame, the gear shaft is provided with a positioning gear, the turntable is provided with an auxiliary gear, the positioning gear is meshed with the auxiliary gear to realize the power transmission of the motor, in the first working state, The calculation method is as follows:

[0065] in is the transmission ratio between the motor and the planetary gear, is the transmission ratio of the planetary gear reducer when the outer ring gear is in the holding state, is the transmission ratio between the gear shaft and the turntable. The transmission ratio of the planetary gear reducer is calculated as follows:

[0066] The number of teeth on the sun gear is , the rotation speed is , the number of teeth on the outer ring gear is , the rotation speed is , the number of teeth of the planetary gear , the rotation speed is , the rotation speed of the planet carrier is , when the outer gear ring is in the holding state, , at this time the planetary gear reduction ratio is , we can conclude that: .

[0067] When the motor outputs the first output torque, the sun gear is in a balanced state. , at this time the planetary gear reduction ratio is , we can conclude that: At this time, by setting a transmission gear on the rotating shaft and connecting the outer gear ring to the fixed gear, the rotating shaft drives the turntable to rotate through the transmission gear, planetary gear reducer, gear shaft, positioning gear and auxiliary gear. The transmission ratio of the rotating shaft and the outer gear ring is , the transmission ratio between the gear shaft and the turntable is , by setting , as well as The product of is 1, realizing the synchronous rotation of the gear shaft and the turntable, so that the clamping claw continuously applies a clamping force that matches the workpiece to the workpiece.

[0068] Obtain the status information of the clamping device. The status information includes at least a first working state and a second working state. In the first working state, the first driving mechanism drives the turntable to rotate so that the jaws clamp or release the workpiece. In the second working state, the second driving mechanism drives the workpiece to rotate through the rotating shaft and the disk body. Adjust the output torque of the second driving mechanism according to the status information and the characteristic information; Adjust the output torque of the motor according to the status information, the characteristic information, and the first target output torque.

[0069] Adjusting the output torque of the second driving mechanism according to the status information and the characteristic information includes: The status information includes at least a first working state and a second working state; If the status information is the first working state, the second driving mechanism remains in a standby state; If the status information is the second working state, judge whether the rotation direction of the rotating shaft is the same as or opposite to the rotation direction of the turntable driving the jaws to move and clamp the workpiece according to the characteristic information; If the rotation direction of the rotating shaft is the same as the rotation direction of the turntable driving the jaws to move and clamp the workpiece, clamp the workpiece at a second rate to adjust the output torque of the second driving mechanism to a second output torque according to the clamping force and the characteristic information. Determine the rotation speed of the workpiece according to the characteristic information, and determine the second rate according to the characteristic information. The characteristic information includes at least: the workpiece is a brittle material, high-precision machining of the material, or a slender shaft workpiece, etc. Gradually increase the rotation speed of the workpiece at a second rate matching the workpiece to adapt to the material and quality of the workpiece. When reaching the required speed of the workpiece, the second driving mechanism continuously outputs at the second output torque.

[0070] If the rotation direction of the rotating shaft is opposite to the rotation direction of the turntable driving the claw to move and clamp the workpiece, the second driving mechanism enters the switching state. According to the clamping force and characteristic information, the clamping device adjusts the output torque of the second driving mechanism to the third output torque at the third rate. The second driving mechanism enters the working state. According to the clamping force and characteristic information, the clamping device adjusts the output torque of the second driving mechanism from the third output torque to the second output torque at the fourth rate. In the switching state, since the rotation direction of the rotating shaft is opposite to the rotation direction of the turntable driving the claw to move and clamp the workpiece, when the output torque of the second driving mechanism is adjusted to the third output torque, the clamping force of the claw is gradually replaced from being provided by the first driving mechanism to being provided by the second driving mechanism until the second driving mechanism provides the clamping force of all claws. Determine the third rate according to characteristic information such as the elastic modulus of the workpiece to ensure a smooth replacement of the clamping force. In the working state, the second driving mechanism drives the rotating shaft and the turntable to rotate. Determine the fourth rate according to characteristic information. The characteristic information at least includes: the workpiece is a brittle material, high-precision machining is performed on the material, or the workpiece is a slender shaft workpiece, etc., to gradually increase the rotation speed of the workpiece, adapt to the material and quality of the workpiece, and when reaching the required speed of the workpiece, the second driving mechanism continuously outputs at the second output torque.

[0071] Adjusting the output torque of the motor according to the state information, characteristic information, and the first target output torque includes: If the state information is the first working state, determine the first rate at which the output torque of the motor is adjusted to the first target output torque according to the characteristic information. The characteristic information at least includes the elastic modulus of the workpiece. A workpiece with a large elastic modulus can withstand a fast application speed of the clamping force, and a workpiece with a small elastic modulus can withstand a slow application speed of the clamping force. The clamping device adjusts the output torque of the motor to the first target output torque at the first rate so that the application speed of the clamping force adapts to the material of the workpiece and avoids the workpiece being deformed due to the clamping force being applied too fast and colliding with the workpiece. Those skilled in the art can clearly understand that the movement distance of the claw or an induction device can be set to detect whether the claw contacts the workpiece. After the claw contacts the workpiece, the output torque of the motor is adjusted to the first target output torque at the first rate to optimize the clamping process of the claw.

[0072] If the state information is the second working state, the motor continuously outputs at the first target output torque.

[0073] When the clamping device includes an auxiliary positioning mechanism, the control method further includes, in the first working state, controlling the inflation of the flexible airbag at the corresponding position according to the characteristic information and the distance information of the workpiece extending into the accommodation channel. Determine the pressure of the flexible airbag according to the characteristic information and determine the flexible airbag at the corresponding position according to the distance information.

[0074] By calculating the clamping force that matches the characteristic information according to the characteristic information, and determining the first target output torque according to the clamping force, the first driving mechanism can provide a clamping force adapted to the workpiece for the jaw, realizing stable clamping of the workpiece.

[0075] Furthermore, by determining the first rate at which the output torque of the motor is adjusted to the first target output torque according to the characteristic information, the application speed of the clamping force during the clamping process is optimized, preventing damage to the surface of the workpiece when the jaw clamps the workpiece. By setting a rate that matches the characteristic information of the workpiece to increase the torque, the jaw gradually applies a clamping force to the workpiece, giving the workpiece more time to adapt to the clamping force and reducing the deformation of the workpiece. Preferably, according to the characteristic information of the workpiece such as surface roughness and workpiece material, the material of the airbag is determined, or protrusions matching the workpiece are added to the surface of the airbag to improve the stability of clamping the workpiece.

[0076] What is not described in this application can be realized by adopting or referring to the existing technology.

[0077] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments.

[0078] The above are only the embodiments of this application and are not used to limit this application. For those skilled in the art, various changes and modifications can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims

1. A clamping device, comprising a rotating shaft and a chuck assembly arranged on the rotating shaft, wherein the chuck assembly comprises a disc body fixedly connected to the rotating shaft and a rotating disc rotatably arranged on the disc body, and the chuck assembly further comprises a clamping claw moving along the radial direction of the disc body, wherein the rotating disc rotates to drive the clamping claw to move and clamp a workpiece, characterized in that: The rotating shaft is hollowly arranged to have a receiving channel for moving the workpiece, the chuck assembly is provided at least at one end of the rotating shaft, the turntable is coaxially arranged with the rotating shaft, the clamping device also includes a first driving mechanism and a second driving mechanism, the first driving mechanism includes a motor that drives the turntable to rotate, the first driving mechanism is arranged on the radial outer side of the rotating shaft, the second driving mechanism is arranged on the radial outer side of the rotating shaft and is staggered with the first driving mechanism in the circumferential direction of the rotating shaft, the clamping device has a first working state and a second working state, in the first working state, the first driving mechanism drives the turntable to rotate so that the clamping claw clamps or disengages from the workpiece, the first driving mechanism can continuously output with a first target output torque so that the clamping claw has a clamping force that matches the workpiece, in the second working state, the second driving mechanism drives the workpiece to rotate through the rotating shaft and the disk body, the first driving mechanism continuously outputs with the first target output torque and cooperates with the second driving mechanism so that the clamping claw maintains a clamping force that matches the workpiece.

2. A clamping device according to claim 1, characterized in that: The first driving mechanism also includes a planetary gear reducer connected to the motor, the planetary gear reducer includes a sun gear, a planetary gear, an outer gear ring and a planet carrier connected to the planetary gear, the planet carrier is connected to a gear shaft, the gear shaft is connected to the turntable, the motor drives the sun gear to rotate to drive the turntable, the shaft is connected to the outer gear ring, and when the sun gear is fixed, the transmission ratio of the planetary gear reducer is , the transmission ratio of the rotating shaft and the outer gear ring is , the transmission ratio of the gear shaft to the turntable is , , as well as The product of is 1.

3. A clamping device according to claim 2, characterized in that: The rotating shaft is provided with a transmission gear, the outer gear ring is connected to a fixed gear, the fixed gear is rotatably arranged on the gear shaft and meshes with the transmission gear, the gear shaft is also provided with a positioning gear, the turntable is connected to an auxiliary gear, and the positioning gear meshes with the auxiliary gear.

4. A clamping device according to claim 1, characterized in that: The clamping claw comprises a positioning piece and a clamping piece. The clamping piece is detachably arranged on the positioning piece. The clamping piece is provided with a clamping surface which fits the outer contour of the workpiece.

5. A clamping device according to claim 4, characterized in that: The clamping member extends toward the accommodating channel and at least partially extends into the accommodating channel.

6. A clamping device according to claim 1, characterized in that: The clamping device also includes an auxiliary positioning mechanism, which includes a flexible airbag arranged in the accommodating channel. The auxiliary positioning mechanism clamps the workpiece through the flexible airbag. The rotating shaft is provided with an air collecting cavity, which is connected to the flexible airbag through an airway, and the flexible airbag and the airway are arranged correspondingly.

7. A clamping device according to claim 6, characterized in that: A plurality of groups of the flexible airbags are arranged in sections along the axial direction of the rotating shaft, and each group of the flexible airbags is respectively connected to one of the air collecting chambers. The auxiliary positioning mechanism also includes an inflation mechanism, and the inflation mechanism is connected to the air collecting chamber through a rotating part. The auxiliary positioning mechanism controls the inflation mechanism to inflate the flexible airbags at corresponding positions according to the distance information of the workpiece extending into the accommodating channel.

8. A method for controlling a clamping device, applied to the clamping device according to any one of claims 1 to 7, characterized in that: The control method comprises: Collecting feature information of the workpiece; Calculating the clamping force of the clamping claw matching the characteristic information according to the characteristic information; determining the first target output torque according to the clamping force; Acquiring status information of the clamping device; adjusting the output torque of the second driving mechanism according to the state information and the characteristic information; The output torque of the motor is adjusted according to the state information, the characteristic information and the first target output torque.

9. A method for controlling a clamping device according to claim 8, characterized in that: The adjusting the output torque of the second driving mechanism according to the state information and the characteristic information comprises: The status information includes at least the first working status and the second working status; If the state information is the first working state, the second driving mechanism remains in a standby state; If the state information is the second working state, it is determined according to the characteristic information that the working direction of the rotating shaft is the same as or opposite to the rotation direction of the rotating disk driving the clamping claw to move and clamp the workpiece; If the rotation direction of the rotating shaft is the same as the rotation direction of the rotating disk driving the clamping claw to move and clamp the workpiece, the clamping device adjusts the output torque of the second driving mechanism to the second output torque at a second rate according to the clamping force and the characteristic information; If the rotation direction of the rotating shaft is opposite to the rotation direction of the turntable driving the clamping claw to move and clamp the workpiece, the second driving mechanism enters a switching state, and the clamping device adjusts the output torque of the second driving mechanism to the third output torque at a third rate according to the clamping force and the characteristic information, and the second driving mechanism enters a working state, and the clamping device adjusts the output torque of the second driving mechanism from the third output torque to the second output torque at a fourth rate according to the clamping force and the characteristic information.

10. A method for controlling a clamping device according to claim 9, characterized in that: The adjusting the output torque of the motor according to the state information, the characteristic information and the first target output torque comprises: If the state information is the first working state, a first rate at which the output torque of the motor is adjusted to the first target output torque is determined according to the characteristic information, and the clamping device adjusts the output torque of the motor to the first target output torque at the first rate; If the state information is the second working state, the motor continues to output at the first target output torque.

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