Clamping device and control method thereof

Abstract

The present application discloses a clamping device and a control method thereof, which relate to the field of fixture technology. The clamping device includes a rotating shaft and a chuck assembly. The chuck assembly includes a disc body, a rotating disc and a clamping claw. The rotating shaft has a receiving channel and is provided with a chuck assembly. The clamping device also includes a first drive mechanism and a second drive mechanism. The first drive mechanism drives the rotating disc to rotate so that the clamping claw clamps or disengages the workpiece. The first drive mechanism can continuously output a first target output torque so that the clamping claw has a clamping force that matches the workpiece. The second drive mechanism drives the workpiece to rotate through the rotating shaft and the disc body. The first drive mechanism continuously outputs a first target output torque and cooperates with the second drive mechanism so that the clamping claw maintains a clamping force that matches the workpiece. The present application provides a clamping device and a control method thereof to solve the technical problem that after the existing clamping device clamps the workpiece, the locking force is lost due to contact between the workpiece and the clamping claw, so that the clamping force of the clamping claw cannot adapt to the workpiece processing process.

Description

Technical Field

[0001] The present application belongs to the field of clamp technology, and specifically relates to a clamping device and a control method thereof. Background Art

[0002] In the prior art, a workpiece is processed by a machine tool. 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 clamping jaw that moves radially along the disc body. The chuck assembly also includes a turntable. The existing turntable is provided with a spiral protrusion, and the clamping jaw is provided with a guide groove that cooperates with the spiral protrusion. The turntable is driven to rotate and the clamping jaw moves to clamp the workpiece. After the clamping jaw clamps the workpiece, self-locking is achieved by relying on the cooperation between the spiral protrusion and the guide groove. At this time, the rotation of the rotating shaft drives the disc body and the workpiece to rotate, thereby processing the workpiece. Different workpieces have different materials and processing requirements, and the processing force required for the workpieces will also vary. The existing clamping device requires the user to manually rotate the turntable to clamp the workpiece, and the user's experience or visual observation is used to determine whether the workpiece is clamped. As a result, the clamping force of the jaws on the workpiece cannot be accurately adjusted, and the jaws cannot provide a clamping force that matches the workpiece. During the workpiece processing process, the workpiece is in continuous contact with the processing equipment. Since the clamping force is not compatible with the workpiece, the accuracy of the workpiece will be reduced and the wear of the jaws will be accelerated.

[0003] There is an existing technology that drives the turntable to rotate by a drive motor to avoid manual adjustment of the turntable by personnel. The output shaft of the drive motor is connected to the drive teeth through an electromagnetic clutch. The turntable is provided with a ring gear. The electromagnetic clutch is controlled to control the drive teeth to engage with the ring gear, and then the drive motor is controlled to drive the turntable to rotate, so that the claws clamp the workpiece. After the drive motor drives the turntable to clamp the workpiece, the electromagnetic clutch is controlled to disengage the drive teeth from the ring gear, thereby driving the workpiece to rotate. In the above technology, although manual locking is avoided, after the drive teeth are disengaged from the ring gear, the self-locking of the spiral protrusion and the guide groove is still used to provide the clamping force for the clamping workpiece. However, the contact between the workpiece and the claw will cause friction and elastic deformation, and the contact between the spiral protrusion and the guide groove will also cause friction and elastic deformation, which will lead to the loss of clamping force after the drive teeth are disengaged from the ring gear, resulting in a reduction in the clamping force provided by the claws to the workpiece. During the workpiece processing process, the workpiece contacts the processing equipment, making the clamping force of the claws unable to adapt to the processing process of the workpiece. Summary of the Invention

[0004] The present application provides a clamping device and a control method thereof to solve the technical problem that after the existing clamping device clamps the workpiece, the clamping force is lost due to the contact between the workpiece and the clamping claws, and the clamping force of the clamping claws cannot adapt to the workpiece processing process after the workpiece is clamped.

[0005] The first purpose of this application is to provide a clamping device, the technical solution adopted is:

[0006] A clamping device includes a rotating shaft and a chuck assembly arranged on the rotating shaft, the chuck assembly includes a disc body fixedly connected to the rotating shaft and a turntable rotatably arranged on the disc body, the chuck assembly also includes a claw moving along the radial direction of the disc body, the turntable rotates to drive the claw to move and clamp the workpiece, the rotating shaft is hollow and has a receiving channel for moving the workpiece, the rotating shaft is provided with a chuck assembly at least one end, the turntable and the rotating shaft are coaxially arranged, the clamping device also includes a first drive mechanism and a second drive mechanism, the first drive mechanism includes a motor that drives the turntable to rotate, the first drive mechanism is arranged on the radial outside of the rotating shaft, and the second drive mechanism It is arranged on the radial outside of the rotating shaft and is circumferentially staggered with the first drive mechanism on the rotating shaft. The clamping device has a first working state and a second working state. In the first working state, the first drive mechanism drives the turntable to rotate so that the clamping claws clamp or disengage the workpiece. The first drive mechanism can continuously output 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 drive mechanism drives the workpiece to rotate through the rotating shaft and the disk body. The first drive mechanism continuously outputs the first target output torque and cooperates with the second drive mechanism so that the clamping claws maintain a clamping force that matches the workpiece.

[0007] The clamping device in the first object of the present application also includes the following additional technical features:

[0008] The first drive mechanism also includes a planetary gear reducer connected to the motor. The planetary gear reducer includes a sun gear, planetary gears, an outer gear ring, and a planetary carrier connected to the planetary gears. The planetary carrier is connected to the gear shaft, and 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 ring gear is , the transmission ratio of the gear shaft to the turntable is , 、 as well as The product of is 1.

[0009] The rotating shaft is provided with a transmission gear, the outer gear ring is connected to the fixed gear, the fixed gear is rotatably set 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 is meshed with the auxiliary gear.

[0010] 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 that fits the outer contour of the workpiece.

[0011] The clamping member extends toward the accommodating channel and at least partially extends into the accommodating channel.

[0012] 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. The flexible airbag and the airway are arranged correspondingly.

[0013] Multiple groups of flexible airbags are arranged in sections along the axial direction of the rotating shaft, and each group of flexible airbags is connected to an air collecting cavity. The auxiliary positioning mechanism also includes an inflation mechanism, which is connected to the air collecting cavity through a rotating part. 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 accommodating channel.

[0014] A 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:

[0015] Collect feature information of workpiece;

[0016] Calculating the clamping force of the jaws matching the characteristic information according to the characteristic information;

[0017] determining a first target output torque according to the clamping force;

[0018] Get the status information of the clamping device;

[0019] adjusting the output torque of the second driving mechanism according to the state information and the characteristic information;

[0020] The output torque of the motor is adjusted according to the state information, the characteristic information and the first target output torque.

[0021] The control method of the clamping device in the second object of the present application further includes:

[0022] Adjusting the output torque of the second driving mechanism according to the state information and the characteristic information includes:

[0023] The status information includes at least a first working status and a second working status;

[0024] If the status information is the first working state, the second driving mechanism remains in the standby state;

[0025] If the state information is the second working state, it is determined based on the characteristic information whether the working direction of the rotating shaft is the same as or opposite to the rotation direction of the turntable driving the clamping claw to move and clamp the workpiece;

[0026] 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;

[0027] 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 drive mechanism enters the switching state, and the clamping device adjusts the output torque of the second drive mechanism to the third output torque at a third rate according to the clamping force and characteristic information. The second drive mechanism enters the working state, and the clamping device adjusts the output torque of the second drive mechanism from the third output torque to the second output torque at a fourth rate according to the clamping force and characteristic information.

[0028] Adjusting the output torque of the motor according to the state information, the characteristic information, and the first target output torque includes:

[0029] If the state information is a first working state, determining a first rate at which the output torque of the motor is adjusted to a first target output torque 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;

[0030] If the state information is the second working state, the motor continues to output at the first target output torque.

[0031] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0032] 1. The present application provides a hollow shaft with a passageway for the workpiece to move through. The user can control the length of the workpiece that enters the passageway according to the length of the workpiece, allowing the clamping device to accurately clamp the portion of the workpiece to be clamped, thereby improving the applicability of the clamping device. In one embodiment, the workpiece is a long-axis workpiece. By controlling one end of the long-axis workpiece to enter the passageway, the clamping device can adapt to processing long-axis workpieces. Furthermore, by providing chuck assemblies at both ends of the shaft, the two ends of the long-axis workpiece can be clamped separately, preventing the tail of the long-axis workpiece from vibrating due to rotation and gravity during processing, which would affect the clamping of the workpiece by the claws and thus affect the processing accuracy. By arranging a first drive mechanism radially outward from the shaft and a second drive mechanism radially outward from the shaft and circumferentially offset from the first drive mechanism, the first and second drive mechanisms avoid the passageway, preventing the first and second drive mechanisms from obstructing the movement of the workpiece. This also increases the design freedom of the passageway, allowing a shaft with a passageway of appropriate size to be selected based on 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 turntable is driven to rotate by the first driving mechanism so that the claws clamp or disengage from the workpiece, thereby realizing the removal and clamping of the workpiece, and the first driving mechanism can continuously output at a first target output torque so that the claws have a clamping force that matches the workpiece. When the second driving mechanism drives the workpiece to rotate through the rotating shaft and the disk body, the first driving mechanism continuously outputs at the first target output torque to cooperate with the second driving mechanism, so that the claws maintain the clamping force that matches the workpiece, avoiding contact loss of clamping force between the turntable and the claws and between the workpiece and the claws, thereby improving the stability of the workpiece during processing.

[0033] 2. As a preferred embodiment of the present application, the first driving mechanism is provided with a planetary gear reducer, which is connected to the gear shaft through the planetary carrier, and is connected to the turntable through the gear shaft, so that the first driving mechanism drives the claw to clamp or release the workpiece. At the same time, by setting the shaft to be connected to the outer ring gear, when the shaft rotates, the outer ring gear and the planetary gear drive the gear shaft to rotate, thereby achieving synchronous rotation of the turntable and the disk body. During the operation of the shaft, the turntable and the disk body are relatively stationary, avoiding the influence of the shaft rotation on the clamping force of the claw, so that the claw maintains the clamping force that matches the workpiece. When the sun gear is fixed, the transmission ratio of the planetary gear reducer is , the transmission ratio between the shaft and the outer ring gear is , the transmission ratio of the gear shaft to the turntable is , 、 as well as The product of is 1. During the rotation of the shaft, the synchronous movement of the turntable and the shaft is achieved through the transmission with the outer ring gear, avoiding affecting the clamping force of the claws during the rotation of the shaft.

[0034] 3. As a preferred embodiment of the present application, by setting a transmission gear, the outer ring gear is connected to the fixed gear, the transmission gear and the fixed gear are meshed, and the outer ring gear is driven to rotate by the rotation of the rotating shaft. By setting a positioning gear, the turntable is connected to the auxiliary gear, and the positioning gear and the auxiliary gear are meshed 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 on the workpiece, the turntable follows the rotation of the rotating shaft. Power transmission is carried out by cooperating with the transmission gear, the fixed gear, the positioning gear and the auxiliary gear, which saves space for the clamping device and makes the layout of the clamping device compact. Gear transmission has the characteristics of smooth transmission. The meshing between the gears can ensure an accurate transmission ratio and reduce the impact and vibration during the transmission process. The meshing of the transmission gear and the fixed gear, the positioning gear and the auxiliary gear makes the power transmission more stable and reliable, so that the claw can firmly clamp the workpiece.

[0035] 4. As a preferred embodiment of the present application, the clamping jaws include positioning members and clamping members, and the clamping members are provided with a clamping surface that fits the outer contour of the workpiece. By replacing the clamping members, the clamping jaws can be adapted to different workpieces, thereby 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 clamping jaws and the workpiece, which can reasonably distribute the clamping force and reduce the risk of deformation of thin-walled or precision workpieces. During later maintenance, worn clamping members can be replaced without replacing the entire clamping jaw, thereby reducing maintenance costs and extending the service life of the entire chuck assembly.

[0036] Furthermore, by arranging the clamping member to extend toward the accommodating channel and at least partially extend into the accommodating channel, the contact area between the clamping member and the workpiece is further increased, 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 due to uneven distribution of clamping force during processing. The clamping member extending toward the accommodating channel can also provide axial constraint for the workpiece. When the workpiece is subjected to processing force or other external forces during processing, the clamping member extending toward the accommodating channel can prevent the workpiece from moving toward the accommodating channel through contact with the workpiece, so that the workpiece always maintains a stable position during processing, thereby improving processing reliability. The clamping member extending toward the accommodating channel can play the role of auxiliary support, preventing the workpiece from being easily bent and deformed due to its own weight and cutting force during processing, thereby affecting the clamping of the workpiece by the claws.

[0037] 5. As a preferred embodiment of the present application, the clamping device also includes an auxiliary positioning mechanism, which includes a flexible airbag arranged in the accommodating channel. A chuck assembly is arranged at one end of the rotating shaft. When the workpiece needs to be inserted into the accommodating channel, the workpiece is clamped by the flexible airbag, so that one end of the workpiece is clamped by the claw 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, allowing the workpiece to be accurately positioned in the accommodating channel, avoiding the angle of the workpiece tilting at the clamping point of the claw to form a lever structure, which affects the clamping force of the claw on the workpiece. When the chuck assembly is arranged at both ends of the rotating shaft, the workpiece needs to pass through the accommodating channel, and the flexible airbag supports the part of the workpiece in the accommodating channel, reducing the bending deformation of the part of the workpiece in the accommodating channel, avoiding the angle of the workpiece tilting at the clamping point of the claw to form a lever structure, which affects the clamping force of the claw on the workpiece. By arranging the flexible airbags and the airway correspondingly, each flexible airbag can be independently filled or discharged with gas according to actual needs, thereby achieving adaptive adjustment. The air collecting chamber is connected to the flexible airbags via air ducts. The corresponding placement of the air ducts and flexible airbags ensures uniform air supply to each flexible airbag, enhancing workpiece clamping effectiveness. Once inflated, the flexible airbags adapt to the workpiece's contours, tightly fitting the surface. Whether the workpiece is cylindrical, tapered, or otherwise shaped, the flexible airbags provide excellent clamping, preventing workpiece movement or displacement during machining, thereby reducing the impact on the jaws' grip and improving machining accuracy.

[0038] Furthermore, by setting up multiple groups of flexible airbags in sections along the axis of the rotating shaft, and each group of flexible airbags is connected to a gas collecting chamber, the auxiliary positioning mechanism can inflate the flexible airbags in the corresponding positions through the inflation mechanism according to the distance information and the different distances that the workpiece extends into the accommodating channel, and accurately inflate the flexible airbags in the corresponding positions, thereby accurately positioning and supporting the workpiece and adapting to a variety of workpieces of different sizes. At the same time, multiple groups of flexible airbags can work simultaneously to achieve segmented support for the workpiece, and can provide uniform support force at different parts of the workpiece, avoiding the impact of single-point support or uneven support force on the clamping force of the claws, thereby affecting the processing accuracy of the workpiece. By precisely controlling the inflation of flexible airbags in different positions, the eccentricity and swing of the workpiece during the processing process can be effectively reduced. Each group of flexible airbags is connected to an air collecting chamber so that the inflation status of each group of flexible airbags is independent of each other. If a group of flexible airbags or the inflation circuit fails, it will not affect the normal operation of other groups of flexible airbags, and the workpiece can still be positioned and supported, thereby improving the stability and reliability of the system and reducing the occurrence of workpiece processing being affected by the failure of a single group of flexible airbags.

[0039] 6. In the control method of the present application, by calculating the clamping force that matches the characteristic information based on the characteristic information and determining the first target output torque based on the clamping force, the first drive mechanism can provide the clamping force that is adapted to the workpiece to the claw, thereby achieving stable clamping of the workpiece.

[0040] Furthermore, by determining a first rate at which the motor's output torque is adjusted to a first target output torque based on the characteristic information, the speed at which the clamping force is applied during the clamping process is optimized to prevent damage to the workpiece surface caused by the jaws gripping the workpiece. By increasing the torque at a rate that matches the workpiece's characteristic information, the jaws gradually apply the clamping force to the workpiece, giving the workpiece more time to adapt to the clamping force and reducing deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0042] Figure 1 This is an overall schematic diagram of a clamping device according to one embodiment of the present application;

[0043] Figure 2 for Figure 1 Cross-section along AA direction;

[0044] Figure 3 for Figure 2 A magnified view of part A in the middle;

[0045] Figure 4 This is a schematic diagram of the installation of the auxiliary positioning mechanism in one embodiment of the present application;

[0046] Figure 5 This is a schematic diagram of the installation of chuck assemblies at both ends of the lower shaft in one embodiment of the present application.

[0047] Reference numerals:

[0048] 1. Rotating shaft; 11. Transmission gear; 12. Gas collecting chamber; 13. Air duct; 14. Mounting slot;

[0049] 2. Chuck assembly; 21. Chuck body; 22. Turntable; 23. Clamping claw; 231. Positioning member; 232. Clamping member; 24. Auxiliary gear;

[0050] 3. Accommodate channel;

[0051] 4. First drive mechanism; 41. Motor; 42. Planetary gear reducer; 421. Sun gear; 422. Outer ring gear; 423. Gear shaft; 424. Positioning gear; 43. Fixed gear;

[0052] 5. Second drive mechanism; 51. Electric power machine; 52. Transmission shaft; 521. Drive gear;

[0053] 6. Auxiliary positioning mechanism; 61. Flexible airbag; 62. Inflating mechanism; 63. Rotating member;

[0054] 7. Box body. DETAILED DESCRIPTION

[0055] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0056] The following description sets forth many specific details to facilitate a thorough understanding of the present application. However, the present application may also be implemented in other ways than those described herein, and therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below. It should be noted that the embodiments of the present application and the features of each embodiment may be combined with each other unless there is a conflict.

[0057] In addition, in the description of the present application, it should be understood that the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present application.

[0058] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 5As shown, a clamping device includes a rotating shaft 1 and a chuck assembly 2 arranged on the rotating shaft 1. The chuck assembly 2 includes a disk body 21 fixedly connected to the rotating shaft 1 and a turntable 22 rotatably arranged on the turntable body 21. The chuck assembly 2 also includes a claw 23 that moves along the radial direction of the turntable body 21. The turntable 22 rotates to drive the claw 23 to move and clamp a workpiece (not shown in the drawings). The rotating shaft 1 is hollow and has a receiving channel 3 for moving the workpiece. The rotating shaft 1 is provided with a chuck assembly 2 at least at one end. The turntable 22 is coaxially arranged with the rotating shaft 1. The clamping device also includes a first driving mechanism 4 and a second driving mechanism 5. The first driving mechanism 4 includes a driving mechanism for driving the turntable 2 2 is a rotating motor 41, a first drive mechanism 4 is arranged on the radial outside of the rotating shaft 1, and a second drive mechanism 5 is arranged on the radial outside of the rotating shaft 1 and is staggered with the first drive mechanism 4 in the circumferential direction of the rotating shaft 1. The clamping device has a first working state and a second working state. In the first working state, the first drive mechanism 4 drives the rotating disk 22 to rotate so that the clamping claw 23 clamps or releases the workpiece. In the second working state, the second drive mechanism 5 drives the workpiece to rotate through the rotating shaft 1 and the disk body 21. The first drive mechanism 4 continuously outputs the first target output torque to cooperate with the second drive mechanism 5, so that the clamping claw 23 maintains the clamping force that cooperates with the workpiece.

[0059] The present application provides a hollow shaft 1 with a receiving channel 3 for the movement of 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 adapt to the processing of long-axis workpieces. In addition, the chuck assembly 2 is provided at both ends of the shaft 1 to clamp the two ends of the long-axis workpiece separately, thereby preventing the tail of the long-axis workpiece from vibrating due to the influence of rotation and gravity during the processing, affecting the clamping of the workpiece by the claw 23, and thus affecting the processing accuracy. By arranging the first drive mechanism 4 on the radially outer side of the rotating shaft 1 and the second drive mechanism 5 on the radially outer side of the rotating shaft 1 and being staggered with the first drive mechanism 4 in the circumferential direction of the rotating shaft 1, the first drive mechanism 4 and the second drive mechanism 5 avoid the accommodating channel 3, thereby preventing the first drive mechanism 4 and the second drive mechanism 5 from obstructing the movement of the workpiece. At the same time, the design freedom of the accommodating channel 3 is improved, and the rotating shaft 1 with an accommodating channel 3 of appropriate size is selected 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 4 drives the turntable 22 to rotate so that the claws 23 clamp or disengage from the workpiece, thereby realizing the removal and clamping of the workpiece, and the first driving mechanism 4 can continuously output at a first target output torque so that the claws 23 have 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 continues to output at a first target output torque to cooperate with the second driving mechanism 5, so that the claws 23 maintain a clamping force that matches the workpiece, avoiding contact loss of clamping force between the turntable 22 and the claws 23 and between the workpiece and the claws 23, thereby improving the stability of the workpiece during processing.

[0060] As a preferred embodiment 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 planetary carrier (not shown in the drawings) connected to the planetary gears. The planetary 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 shaft 1 and the outer gear ring 422 is , the transmission ratio of the gear shaft 423 and the turntable 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. The above description shows the transmission ratio when the sun gear 421 remains fixed, the outer ring gear 422 is active, and the planet carrier is passive.

[0061] By setting the first driving mechanism 4 to also include a planetary gear reducer 42, connected to the gear shaft 423 through the planetary carrier, and connected to the turntable 22 through the gear shaft 423, the first driving mechanism 4 drives the claw 23 to clamp or release the workpiece. At the same time, by setting the rotating shaft 1 to be connected to the outer ring gear 422, when the rotating shaft 1 rotates, the outer ring gear 422 and the planetary gear drive the gear shaft 423 to rotate, thereby achieving synchronous rotation of the turntable 22 and the disk body 21. During the operation of the rotating shaft 1, the turntable 22 and the disk body 21 are relatively stationary, so that the claw 23 maintains the clamping force that matches the workpiece. By setting it when the sun gear 421 is fixed, the transmission ratio of the planetary gear reducer 42 is , the transmission ratio between the shaft 1 and the outer gear ring 422 is The transmission ratio of the gear shaft 423 and the turntable 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.

[0062] As a preferred embodiment 1 of the implementation method: Figure 1 、 Figure 2 、 Figure 3As shown, the rotating shaft 1 is provided with a transmission gear 11, and the outer ring gear 422 is connected to the fixed gear 43. The fixed gear 43 is rotatably mounted on the gear shaft 423 and meshes with the transmission gear 11. The gear shaft 423 is also provided with a positioning gear 424. The rotating disk 22 is connected to the 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), and the first and second synchronous pulleys are connected by a synchronous belt (not shown in the drawings). The second driving mechanism 5 is connected by transmission to the transmission gear 11. The gear shaft 423 is provided with a bearing, and the fixed gear 43 is provided with a gear hole that cooperates with the bearing. The fixed gear 43 is rotatably mounted on the gear shaft 423 via the bearing. The clamping device also includes a housing 7, wherein the rotating shaft 1 is rotatably mounted in the housing 7 via a bearing or other structure, the first drive mechanism 4 is mounted in the housing 7, and the second drive mechanism 5 includes an electric motor 51 and a transmission shaft 52 rotatably mounted in the housing via a bearing or other structure. The transmission shaft 52 is provided with a drive gear 521 that meshes with the transmission gear 11. A drive gear 521 is provided at one end of the transmission shaft 52, and a synchronous pulley (not shown in the drawings) is provided at the other end. The output shaft of the electric motor 51 is provided with a synchronous pulley, and the second drive mechanism 5 connects the two synchronous pulleys via a synchronous belt to drive the transmission shaft 52 to rotate. Preferably, the electric motor 51 is located outside the housing 7 along the radial direction of the rotating shaft 1, avoiding space in the axial direction of the rotating shaft 1 to facilitate the operator's operation of moving the workpiece into and out of the accommodating channel 3. It will be clear to those skilled in the art that the housing 7 can also provide a storage space and a protective function for the components of the present application to prevent foreign objects from entering.

[0063] By providing a transmission gear 11, the outer ring gear 422 is connected to the fixed gear 43, and the transmission gear 11 and the fixed gear 43 are meshed. The outer ring gear 422 is driven to rotate by the rotation of the rotating shaft 1. By providing a positioning gear 424, the turntable 22 is connected to the auxiliary gear 24, and the positioning gear 424 and the auxiliary gear 24 are meshed to achieve synchronous transmission of the rotation of the rotating shaft 1 and drive the turntable 22 to rotate. While maintaining the clamping force of the claw 23 on the workpiece, the turntable 22 is driven to rotate with the rotating shaft 1. The transmission gear 11, the fixed gear 43, the positioning gear 424 and the auxiliary gear 24 cooperate to transmit power, saving space in the clamping device and making the layout of the clamping device compact. The gear transmission has the characteristics of smooth transmission. The meshing between the gears can ensure an accurate transmission ratio and reduce impact and vibration during the transmission process. The meshing of the transmission gear 11 and the fixed gear 43, and the positioning gear 424 and the auxiliary gear 24 makes the power transmission more stable and reliable, and enables the claw 23 to firmly clamp the workpiece.

[0064] The clamping process of the clamping device and the rotation process of the shaft 1 are described using Example 1. 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 planetary gears and the planetary carrier to rotate, the planetary carrier drives the gear shaft 423 to rotate, and the gear shaft 423 drives the auxiliary gear 24 to rotate through the positioning gear 424, thereby driving the turntable 22 to rotate, and the claw 23 moves radially along the disk body 21 to clamp the workpiece. At this time, the first drive mechanism 4 continues to output 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, and 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 ring gear 422 to rotate through the transmission gear 11. The outer ring gear 422 rotates and then 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, so that the rotation of the rotating shaft 1 synchronously drives the rotation of the turntable 22. During the rotation of the rotating shaft 1, the first driving mechanism 4 can continuously use the first target output torque to keep the clamping force of the claw 23 matching the workpiece. The clamping process and workpiece rotation of Example 1 are analyzed. 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, 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 and drives 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 clockwise. The clockwise rotation of the rotating shaft 1 drives the workpiece to rotate while driving the outer ring gear 422 to rotate counterclockwise, and then drives the gear shaft 423 to rotate counterclockwise, thereby driving the turntable 22 to rotate clockwise, so that 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 driving mechanism 4 continues to output at the first target output torque, and the second driving mechanism 5 drives the rotating shaft 1 and the disk body 21 to rotate counterclockwise. The counterclockwise rotation of the rotating shaft 1 drives 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 ring gear 422, and on the other hand, the disk body 21 has a tendency to rotate counterclockwise relative to the turntable 22, gradually providing clamping force for the claw 23. After the second drive mechanism 5 provides 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 ring gear 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 that matches the workpiece.

[0065] 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 rotating shaft 1 by increasing the first torque, or 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 converted. While the second drive mechanism 5 drives the rotating shaft 1 to rotate, the motor 41 drives the turntable 22 to rotate synchronously with the rotating shaft 1, so that in the second working state, during the rotation of the rotating shaft 1, the claw 23 can maintain the clamping force that cooperates with the workpiece.

[0066] In the present application, the chuck assembly 2 may be arranged in any of the following embodiments:

[0067] 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 connected to the sun gear 421 of the planetary gear reducer 42, and the planetary gear reducer 42 is connected to the turntable 22.

[0068] Implementation method three: Figure 1 、 Figure 2 、 Figure 3 、 Figure 5As shown, a chuck assembly 2 is provided at both ends of the rotating shaft 1, and the clamping device includes two first drive mechanisms 4. The first drive mechanism 4 includes a motor 41 and a planetary gear reducer 42. The output shaft of the motor 41 is connected to the sun gear 421 of the planetary gear reducer 42. The planetary gear reducer 42 is connected to the turntable 22. The two chuck assemblies 2 can clamp the workpiece together.

[0069] Furthermore, the output shaft of the motor 41 is connected to the first synchronous pulley, the sun gear 421 is connected to the 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 drive mechanisms 4 are arranged relative to each other, and the two first drive mechanisms 4 are located above the second drive mechanism 5, forming an avoidance space in the axial direction of the rotating shaft 1, which is convenient for the staff to adjust the workpiece into the accommodating channel 3.

[0070] Embodiment 4: This embodiment 4 is not shown in the accompanying drawings. A chuck assembly is provided at both ends of the rotating shaft. The clamping device includes a first drive mechanism. The first drive mechanism includes a motor and two planetary gear reducers. The output shaft of the motor is connected to the first synchronous pulley. The sun gears of the two planetary gear reducers are connected to the second synchronous pulley for transmission. The output shafts of the two planetary gear reducers are respectively connected to the turntables of the two chuck assemblies for transmission. The two chuck assemblies are driven by the motor to clamp the workpiece together.

[0071] It is clear to those skilled in the art that, in the present application, a motor 41 can be provided to drive the sun gear 421 to rotate by connecting the first synchronous pulley and the second synchronous pulley through a synchronous belt, or it can be achieved by a transmission method of a chain and a sprocket, or by providing a gear set.

[0072] In this application, the claw setting method can be any of the following embodiments:

[0073] Implementation method five: Figure 1 、 Figure 2 、 Figure 3 As shown, the claw 23 includes a positioning member 231 and a clamping member 232. The clamping member 232 is detachably mounted on the positioning member 231 and has a clamping surface that conforms to the outer contour of the workpiece (not shown in the figures). Preferably, the disc 21 is provided with a guide groove (not shown in the figures) extending radially along the disc 21. The positioning member 231 is movably mounted in the guide groove. The positioning member 231 has a guide groove (not shown in the figures). The turntable 22 is provided with a spiral protrusion (not shown in the figures) that cooperates with the guide groove. The rotation of the turntable 22 drives the movement of the claw 23 through the cooperation of the spiral protrusion and the guide groove. It will be clear to those skilled in the art that the clamping member 232 can be connected to the positioning member 231 via bolts. The positioning member 231 has a countersunk hole that cooperates with the bolts.

[0074] By providing the clamping jaw 23 with a positioning member 231 and a clamping member 232, the clamping member 232 is provided with a clamping surface that conforms to the outer contour of the workpiece. By replacing the clamping member 232, the clamping jaw 23 can be adapted to different workpieces, thereby improving the applicability of the clamping device. At the same time, the clamping surface that conforms to the outer contour of the workpiece increases the contact area between the clamping jaw 23 and the workpiece, which can reasonably distribute the clamping force and reduce the risk of deformation of thin-walled or precision workpieces. During later maintenance, worn clamping members 232 can be replaced without replacing the entire clamping jaw 23, thereby reducing maintenance costs and extending the service life of the chuck assembly 2 as a whole.

[0075] Embodiment 6: This embodiment 6 is not shown in the figure. The clamping claw includes a positioning member and a clamping member. The clamping member is fixedly provided on the positioning member, and the clamping claw is detachably provided on the disc body. The clamping claw can be replaced to adapt to different types of workpieces.

[0076] As a preferred embodiment 2 under the fifth and sixth embodiments, Figure 1 、 Figure 2 、 Figure 3 As shown, the clamping member 232 extends toward the accommodating channel 3 and at least partially extends into the accommodating channel 3. By setting the clamping member 232 to extend toward the accommodating channel 3 and at least partially extend into the accommodating channel 3, the contact area between the clamping member 232 and the workpiece is further increased, the clamping force can be more evenly distributed on the workpiece surface, reducing local stress concentration, and reducing the risk of deformation of the workpiece due to uneven distribution of clamping force during processing. The clamping member 232 extending toward the accommodating channel 3 can also provide axial constraint for the workpiece. When the workpiece is subjected to processing force or other external forces during processing, the clamping member 232 extending toward the accommodating channel 3 can prevent the workpiece from moving toward the accommodating channel 3 through contact with the workpiece, so that the workpiece always maintains a stable position during processing, improving processing reliability. The clamping member 232 extending toward the accommodating channel 3 can play the role of auxiliary support, preventing the workpiece from being easily bent and deformed due to its own weight and cutting force during processing, thereby affecting the clamping of the workpiece by the claw 23.

[0077] In this application, the auxiliary clamping arrangement of the clamping device on the workpiece can be any of the following embodiments:

[0078] Implementation method seven: Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, the clamping device also includes an auxiliary positioning mechanism 6, which includes a flexible airbag 61 arranged in the accommodating 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 chamber 12, and the air collecting chamber 12 is connected to the flexible airbag 61 through the air channel 13. The flexible airbag 61 and the air channel 13 are arranged correspondingly.

[0079] By setting the clamping device also including an auxiliary positioning mechanism 6, the auxiliary positioning mechanism 6 includes a flexible airbag 61 arranged in the accommodating channel 3. When the chuck assembly 2 is set at one end of the rotating shaft 1, when the workpiece needs to be extended 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 clamping of the workpiece by the flexible airbag 61 effectively reduces the overhang and bending deformation of the workpiece, so that the workpiece is accurately positioned in the accommodating channel 3, and avoids the angle of the workpiece tilting to form a lever structure at the clamping point of the clamping claw 23, which affects the clamping force of the clamping claw 23 on the workpiece. When the chuck assembly 2 is set at both ends of the rotating shaft 1, the workpiece needs to pass through the accommodating channel 3, and the flexible airbag 61 supports part of the workpiece in the accommodating channel 3, reducing the bending deformation of the part of the workpiece in the accommodating channel 3, and avoids the angle of the workpiece tilting to form a lever structure at the clamping point 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 channel 13, each flexible airbag 61 can be independently filled with or discharged of 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 channel 13. The corresponding setting of the air channel 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.

[0080] In the seventh embodiment, the corresponding arrangement of the flexible airbag 61 and the air passage 13 can be one flexible airbag 61 corresponding to one air passage 13, or one flexible airbag 61 corresponding to multiple air passages 13, which is not limited in this application.

[0081] Embodiment 8: This embodiment 8 is not shown in the figures. 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 support surface that cooperates with the outer surface of the workpiece.

[0082] In the seventh embodiment, the flexible airbag 61 may be arranged in any of the following embodiments:

[0083] Example 3: Figure 1 、 Figure 2 、 Figure 3 、 Figure 4As shown, at least two flexible airbags 61 are disposed along the circumference of the accommodating channel 3, with the two flexible airbags 61 being disposed opposite each other along the axis of the rotating shaft 1. By using two or more flexible airbags 61 disposed opposite each other along the axis of the rotating shaft 1, the workpiece's degrees of freedom can be constrained in multiple directions, making the workpiece more stable during machining and less susceptible to displacement or shaking. This prevents shaking or displacement from affecting the clamping force on the workpiece, thereby improving machining stability, quality, and efficiency.

[0084] Embodiment 4: This embodiment 4 is not shown in the figure. The flexible airbag is an annular airbag, and the flexible airbag fits the outer contour of the accommodating channel.

[0085] In the seventh embodiment, the auxiliary positioning mechanism 6 may be arranged in any one of the following embodiments:

[0086] Example 5: Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, multiple groups of flexible airbags 61 are segmented along the axial direction of the rotating shaft 1, and each group of flexible airbags 61 is connected to a gas collecting chamber 12. The auxiliary positioning mechanism 6 also includes an inflation mechanism 62, and the inflation mechanism 62 is connected to the gas collecting chamber 12 through a rotating member 63. The auxiliary positioning mechanism 6 controls the inflation mechanism 62 to inflate the flexible airbag 61 at the corresponding position according to the distance information of the workpiece extending into the accommodating channel 3.

[0087] By providing multiple groups of flexible airbags 61 segmented along the axis of the rotating shaft 1, and each group of flexible airbags 61 is connected to a respective air collecting chamber 12, the auxiliary positioning mechanism 6 can, based on the distance information and the different distances that the workpiece extends into the accommodating channel 3, inflate the flexible airbags 61 at the corresponding positions through the inflation mechanism 62, accurately inflating the flexible airbags 61 at the corresponding positions, thereby accurately positioning and supporting the workpiece and adapting to a variety of workpieces of different sizes. At the same time, multiple groups of flexible airbags 61 can work simultaneously to achieve segmented support for the workpiece, providing uniform support force at different parts of the workpiece, avoiding the impact of single-point support or uneven support force on the clamping force of the claws 23, thereby affecting the processing accuracy of the workpiece. By precisely controlling the inflation of the flexible airbags 61 at different positions, the eccentricity and swing of the workpiece during the processing process can be effectively reduced. Each group of flexible airbags 61 is connected to a respective air collecting chamber 12, so that the inflation states of each group of flexible airbags 61 are independent of each other. A failure of one group of flexible airbags 61 or the inflation circuit will not affect the normal operation of other groups of flexible airbags 61, and the workpiece can still be positioned and supported, thereby improving the stability and reliability of the system and reducing the possibility of workpiece processing being affected by the failure of a single group of flexible airbags 61. It will be clear to those skilled in the art that each group of flexible airbags 61 can be arranged to include multiple flexible airbags 61 or a single annular flexible airbag 61.

[0088] Example 6: This Example 6 is not shown in the figure. The difference from Example 5 is that multiple groups of flexible airbags are arranged in sections along the axial direction of the rotating shaft. Each group of flexible airbags can be detachably arranged in the accommodating channel, and a corresponding number of flexible airbags are set according to the distance information of the workpiece extending into the accommodating channel.

[0089] In Example 5 and Example 6, the configuration of the rotating member may be any one of the following specific examples:

[0090] Specific example 1: if Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, a plurality of arc-shaped mounting grooves 14 are provided at intervals along the axial direction of the rotating shaft 1. A rotating member 63 is rotatably provided in the mounting groove 14. The rotating member 63 is spaced apart from the bottom of the mounting groove 14 to form a gas collecting chamber 12. An air channel 13 is provided at the bottom of the mounting groove 14. Multiple air channels 13 are spaced apart along the circumference of the rotating shaft 1. The air channels 13 extend radially along the rotating shaft 1 and are exposed on the surface of the accommodating channel 3. The rotating member 63 is in gas communication with the inflation mechanism 62. When the inflation mechanism 62 is inflated, the gas enters the accommodating space and then enters the flexible airbag 61 through the air channel 13. The rotating shaft 1 rotates, and the rotating member 63 and the inflation mechanism 62 remain stable. Preferably, the first drive mechanism 4, the inflation mechanism 62, and the second drive mechanism 5 are staggered in the circumferential direction of the rotating shaft 1 to further avoid the accommodating channel 3. In Specific Example 1, the rotating member 63 includes a mounting member (not shown in the accompanying drawings) and a connecting member (not shown in the accompanying drawings). Positioning grooves (not shown in the accompanying drawings) are provided on both sides of the mounting groove 14 along the axial direction of the rotating shaft 1. The rotating member 63 includes two mounting members, each of which is provided in the two positioning grooves. The connecting member extends axially along the rotating shaft and is rotatably connected to the mounting member. The connecting member is spaced apart from the bottom of the mounting groove 14, and a sealing kit (not shown in the accompanying drawings) is provided between the connecting member and the mounting member. Furthermore, the connecting member is connected to the mounting member via a bearing. It will be clear to those skilled in the art that the mounting groove 14 can be provided in an arc shape or an annular shape, and this application does not limit this.

[0091] Specific Example 2: This specific example 2 is not shown in the figure. A chuck assembly is provided at one end of the rotating shaft, and an inflation mechanism is provided at the other end. A mounting groove is provided at the end of the rotating shaft where the inflation mechanism is provided. The mounting groove extends along the axial direction of the rotating shaft. The air duct includes a connecting section extending radially along the rotating shaft and connected to the flexible airbag, and an extending section extending axially along the rotating shaft. The air duct is provided in the mounting groove. The rotating part can be rotatably provided in the mounting groove. The rotating part includes a rotating section provided in the mounting groove. The rotating section is spaced apart from the bottom of the mounting groove to form an air collecting chamber. The rotating part also includes a fixing part connected to the rotating section and rotatably provided with the rotating section. The rotating part is provided with an air outlet. The inflation mechanism inflates the air into the air collecting chamber through the air outlet so that the flexible airbag clamps the workpiece.

[0092] This application discloses a control method for a clamping device, which is applied to the clamping device disclosed in this application. The control method includes:

[0093] Collect feature information of workpiece;

[0094] Calculating the clamping force of the jaws matching the characteristic information according to the characteristic information;

[0095] determining a first target output torque according to the clamping force;

[0096] Get the status information of the clamping device;

[0097] adjusting the output torque of the second driving mechanism according to the state information and the characteristic information;

[0098] The output torque of the motor is adjusted according to the state information, the characteristic information and the first target output torque.

[0099] The feature information of the collected workpiece includes:

[0100] The characteristic information includes at least 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 this application, a camera recognition device can be set to identify the type of workpiece to determine the characteristic information of the workpiece, or the characteristic information of the workpiece can be collected by the system by obtaining the name of the workpiece;

[0101] Calculating the clamping force of the jaws matching the characteristic information based on the characteristic information includes:

[0102] Determine the force acting on the workpiece according to the workpiece processing technology. If the workpiece needs to be cut, obtain the cutting force during the cutting process. Alternatively, sensors can be set on the jaws to collect the force conditions during the workpiece processing process, or the force acting on the workpiece can be determined from the metal processing manual, and then the clamping force of the jaws can be determined based on the force.

[0103] The first target output torque is determined according to the clamping force. Preferably, in this application, the motor is a torque motor, the turntable is provided with a rectangular thread, and the claw is provided with a guide groove that matches the rectangular thread. The torque of the turntable is calculated as follows:

[0104]

[0105] Where F is the clamping force, T is the torque of the turntable, p is the pitch of the rectangular thread, d is the median 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 achieve clamping the workpiece with the clamping force of the workpiece and smoothly release the clamping of the workpiece.

[0106] This application also provides another method for calculating the torque of the turntable, which is as follows:

[0107]

[0108] Where F is the clamping force, T is the torque of the turntable, p is the pitch of the rectangular thread, η is the energy transfer efficiency between the turntable and the claw, is the rotation speed of the turntable.

[0109]

[0110] is the first output torque, is the transmission ratio between the motor and the turntable.

[0111] In this application, a planetary gear reducer is used to connect the motor transmission, the gear shaft is connected through the planetary carrier, 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, is calculated as follows:

[0112]

[0113] 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:

[0114]

[0115] The number of teeth on the sun gear is , the speed is , the number of teeth of the outer ring gear is , the speed is , the number of teeth of the planetary gear , the speed is , the planet carrier speed is , when the outer ring gear is in the holding state, , at this time the planetary gear reduction ratio is , we can conclude that: .

[0116] 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 ring gear 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 ring gear is , the transmission ratio of the gear shaft to the turntable is , by setting 、 as well as The product of is 1, which realizes the synchronous rotation of the gear shaft and the turntable, so that the clamping claws continuously apply a clamping force that matches the workpiece to the workpiece.

[0117] Acquiring status information of the clamping device, the status information including at least a first working state and a second working state, wherein in the first working state, the first drive mechanism drives the turntable to rotate so that the clamping claws clamp or release the workpiece, and in the second working state, the second drive mechanism drives the workpiece to rotate via the rotating shaft and the turntable, and adjusting the output torque of the second drive mechanism according to the status information and the characteristic information;

[0118] The output torque of the motor is adjusted according to the state information, the characteristic information and the first target output torque.

[0119] Adjusting the output torque of the second driving mechanism according to the state information and the characteristic information includes:

[0120] The status information includes at least a first working status and a second working status;

[0121] If the status information is the first working state, the second driving mechanism remains in the standby state;

[0122] If the state information is the second working state, it is determined based on the characteristic information whether the working direction of the rotating shaft is the same as or opposite to the rotation direction of the turntable driving the clamping claw to move and clamp the workpiece;

[0123] If the rotation direction of the rotating shaft is the same as the rotation direction of the turntable 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, determines the rotation speed of the workpiece according to the characteristic information, and determines the second rate according to the characteristic information. The characteristic information at least includes: the workpiece is a brittle material, the material is processed with high precision, or it is a slender shaft workpiece, etc. The rotation speed of the workpiece is gradually increased at a second rate that matches the workpiece to adapt to the material and quality of the workpiece. When the required speed of the workpiece is reached, the second driving mechanism continues to output at the second output torque.

[0124] If the rotation direction of the rotating shaft is opposite to the rotation direction of the turntable driving the clamping jaws to move and clamp the workpiece, the second drive mechanism enters a switching state. The clamping device adjusts the output torque of the second drive mechanism to a third output torque at a third rate based on the clamping force and characteristic information. The second drive mechanism enters an operating state. The clamping device adjusts the output torque of the second drive mechanism from the third output torque to the second output torque at a fourth rate based on the clamping force and characteristic information. In the switching state, because the rotation direction of the rotating shaft is opposite to the rotation direction of the turntable driving the clamping jaws to move and clamp the workpiece, when the output torque of the second drive mechanism is adjusted to the third output torque, the clamping force of the clamping jaws is gradually switched from the first drive mechanism to the second drive mechanism until the second drive mechanism provides the clamping force of all the clamping jaws. The third rate is determined based on characteristic information such as the elastic modulus of the workpiece to ensure smooth switching of the clamping force. In the working state, the second drive mechanism drives the rotating shaft and the turntable to rotate, and determines the fourth speed based on the characteristic information. The characteristic information includes at least: the workpiece is made of brittle material, the material is processed with high precision, or it is a slender shaft workpiece, etc., so as to gradually increase the rotation speed of the workpiece to adapt to the material and quality of the workpiece. When the speed required by the workpiece is reached, the second drive mechanism continues to output at the second output torque.

[0125] Adjusting the output torque of the motor according to the state information, the characteristic information, and the first target output torque includes:

[0126] If the state information is the first working state, the first rate at which the output torque of the motor is adjusted to the first target output torque is determined based on the characteristic information. The characteristic information includes at least 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 speed of applying the clamping force adapts to the material of the workpiece and avoids the clamping force being applied too quickly and colliding with the workpiece, causing deformation of the workpiece. It is clear to those skilled in the art that whether the clamping jaw is in contact with the workpiece can be detected by measuring the moving distance of the clamping jaw or by providing a sensing device. After the clamping jaw is in contact with 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 clamping jaw.

[0127] If the state information is the second working state, the motor continues to output at the first target output torque.

[0128] When the clamping device includes an auxiliary positioning mechanism, the control method further includes, in the first operating state, controlling the inflation of a flexible airbag at a corresponding position based on the characteristic information and information about the distance the workpiece extends into the receiving passage. The pressure of the flexible airbag is determined based on the characteristic information, and the position of the flexible airbag at the corresponding position is determined based on the distance information.

[0129] By calculating the clamping force that matches the characteristic information based on the characteristic information and determining the first target output torque based on the clamping force, the first drive mechanism can provide the clamping force that matches the workpiece to the claw, thereby achieving stable clamping of the workpiece.

[0130] Furthermore, by determining a first rate at which the motor's output torque is adjusted to a first target output torque based on the characteristic information, the speed at which the clamping force is applied during the clamping process is optimized to prevent damage to the workpiece surface caused by the clamping jaws. By increasing the torque at a rate that matches the workpiece's characteristic information, the clamping force is gradually applied to the workpiece by the clamping jaws, giving the workpiece more time to adapt to the clamping force and reducing deformation. Preferably, the material of the airbag is determined based on the workpiece's characteristic information, such as surface roughness and workpiece material, or protrusions that mate with the workpiece are added to the airbag surface to improve the stability of the workpiece clamping.

[0131] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0132] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0133] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A clamping device comprising a rotating shaft and a chuck assembly disposed on the rotating shaft, wherein the chuck assembly comprises a disc body fixedly connected to the rotating shaft and a turntable rotatably disposed on the disc body, the chuck assembly further comprising a clamping claw that moves radially along the disc body, and the rotation of the turntable drives the clamping claw to move and clamp a workpiece, characterized in that: The first and second drive mechanisms are configured to move the first and second drive mechanisms relative to each other in a direction of rotation relative to the first drive mechanism, the first and second drive mechanisms being configured to move the first and second drive mechanisms relative to each other in a direction of rotation relative to the first drive mechanism. The first drive mechanism also includes a planetary gear reducer connected to the motor, the planetary gear reducer includes a sun gear, planetary gears, an outer ring gear and a planetary carrier connected to the planetary gears, the planetary 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 rotating shaft is connected to the outer ring gear, 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.

2. A clamping device according to claim 1, 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.

3. A clamping device according to claim 1, characterized in that: The clamping claw includes 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 that fits the outer contour of the workpiece.

4. A clamping device according to claim 3, characterized in that: The clamping member extends toward the accommodating channel and at least partially extends into the accommodating channel.

5. 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. The flexible airbag and the airway are arranged correspondingly.

6. A clamping device according to claim 5, characterized in that: A plurality of groups of flexible airbags are arranged in sections along the axial direction of the rotating shaft, and each group of flexible airbags is connected to one of the air collecting chambers. The auxiliary positioning mechanism also includes an inflation mechanism, which 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 the corresponding position according to the distance information of the workpiece extending into the accommodating channel.

7. A method for controlling a clamping device, applied to the clamping device according to any one of claims 1 to 6, characterized in that: The control method includes: collecting feature information of the workpiece; Calculating the clamping force of the clamping jaws that matches 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.

8. The method for controlling a clamping device according to claim 7, wherein: The adjusting the output torque of the second driving mechanism according to the state information and the characteristic information includes: 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 based on the characteristic information that the working direction of the rotating shaft is the same as or opposite to the rotation direction of the turntable 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 a 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 drive mechanism enters a switching state, and the clamping device adjusts the output torque of the second drive mechanism to the third output torque at a third rate according to the clamping force and the characteristic information. The second drive mechanism enters a working state, and the clamping device adjusts the output torque of the second drive mechanism from the third output torque to the second output torque at a fourth rate according to the clamping force and the characteristic information.

9. The method for controlling a clamping device according to claim 8, wherein: The adjusting the output torque of the motor according to the state information, the characteristic information and the first target output torque includes: If the state information is the first working state, determining a first rate at which the output torque of the motor is adjusted to the first target output torque based on the characteristic information, and adjusting the output torque of the motor to the first target output torque at the first rate by the clamping device; If the state information is the second operating state, the motor continues to output at the first target output torque.

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