A clamp having a flexible floating collet and a clamping method

Abstract

This invention relates to the field of fixture technology, and discloses a fixture with a flexible floating clamp and a clamping method. It includes a first support plate and a second support plate that are perpendicular to each other. The first support plate is used to fix the connecting flange of the workpiece. A support is provided on the second support plate. A floating clamping mechanism is located on the side of the support away from the first support plate and is used to fix the workpiece's cantilever mechanism. The floating clamping mechanism moves along a first preset path on the support to move away from or towards the cantilever mechanism. A rotary clamping mechanism is located on the side of the first support plate opposite to the second support plate and is used to laterally fix the cantilever mechanism. This invention, combined with the fixture's own working characteristics, achieves multi-directional fixation of the box-type cantilever mechanism through the floating clamping mechanism and the rotary clamping mechanism, improving the overall clamping rigidity and processing stability of the workpiece, increasing processing efficiency, stabilizing workpiece processing quality, and rationally distributing the stress points during clamping to avoid easy deformation and wear on the workpiece surface.

Description

Technical Field

[0001] This invention relates to the field of clamping technology, and in particular to a clamping fixture with a flexible floating gripper and a clamping method thereof. Background Technology

[0002] In the construction machinery industry, the clamping of the box body is usually done by positioning with two pins on one side of the flange face. The cantilever mechanism at the other end of the box body is mostly supported and clamped by manual or hydraulic means. Since the cantilever mechanism of the box body is mostly a cast blank surface, the supporting and clamping forces applied to the blank surface of the workpiece cannot be completely synchronized. This means that the force applied to the workpiece by manual or hydraulic means cannot be too large. Otherwise, the workpiece will be displaced in the direction of the force applied first, which will affect the clamping effect and machining accuracy of the box body.

[0003] For example, the gearbox housing, such as Figure 3 As shown, it mainly includes a connecting flange and a cantilever mechanism set on one side of the connecting flange. The end face of the cantilever mechanism has multiple mating parts. For this type of box structure, the cantilever mechanism mold clamping usually adopts the lower end adjustment and fixing support, the upper end pressing, and the lateral part adding support and fixing parts. Although this method can fix the box, since the contact surface of the box is mostly a cast surface, the cast surface is uneven and has paint on the surface. The box clamping is a virtual surface contact, with basically no pre-tightening force. In actual processing, in order to solve the problem of insufficient rigidity of the box clamping, the finishing process usually adopts the method of reducing the machining allowance and reducing the machining speed. This method can also meet the box processing requirements, but the processing efficiency is too low, which is not conducive to the efficient processing of the box.

[0004] Given the structural characteristics of the box blank and the problem of easy deformation during clamping, it is particularly important to design a clamp with a flexible floating gripper and a clamping method. Summary of the Invention

[0005] The purpose of this invention is to provide a clamp with a flexible floating gripper and a clamping method to solve the problems in the prior art, improve the flexibility and rigidity of box clamping, and solve the problem of low box processing efficiency.

[0006] This invention provides a clamp with a flexible floating gripper, comprising: The base includes a first support plate and a second support plate that are perpendicular to each other. The first support plate is used to fix the connecting flange of the workpiece, and the second support plate is provided with a support. A floating clamping mechanism is provided on the side of the support away from the first support plate. The floating clamping mechanism is used to fix the suspension mechanism of the workpiece. The floating clamping mechanism moves on the support along a first preset path to move away from or closer to the suspension mechanism. A rotating clamping mechanism is provided on the side of the first support plate opposite to the second support plate, and the rotating clamping mechanism is used to laterally fix the cantilever mechanism.

[0007] As described above, a clamp with a flexible floating clamp is preferably provided in which the floating clamp mechanism includes a floating seat and at least one clamping member. The bottom of the floating seat is provided with a first guide groove, and the side of the support opposite to the second support plate is provided with a first guide protrusion. The first guide groove and the first guide protrusion are slidably engaged. The clamping member is provided on the side of the floating seat facing the suspension mechanism, and the clamping member can move along a second preset path on the floating seat.

[0008] In the aforementioned clamp with a flexible floating gripper, preferably, the bottom of the gripper is provided with a second guide groove, the floating seat is provided with a second guide protrusion, the second guide groove and the second guide protrusion are slidably engaged, the side of the gripper facing the suspension mechanism has symmetrical extensions, the two extensions are spaced at a preset distance, and the extensions are provided with locking members. When the floating gripper approaches the workpiece, the mating part at the end of the suspension mechanism is positioned between the two extensions, and the locking members are used to lock or unlock the mating part.

[0009] In the clamp with flexible floating gripping as described above, preferably, the locking member includes a first fixing member and a first protrusion, the first fixing member passing through one of the extensions, and the first protrusion being disposed on the side of the other extension facing the first fixing member.

[0010] In the aforementioned clamp with a flexible floating clamp, preferably, the rotary clamping mechanism is adapted to the upper surface of the workpiece, the first end of the rotary clamping mechanism is mounted on the first support plate via a second fixing member, the rotary clamping mechanism can rotate circumferentially around the axis of the second fixing member, the second end of the rotary clamping mechanism extends to the support and is connected to a first mating mechanism mounted on the support, and at least one third fixing member is provided in the middle of the rotary clamping mechanism.

[0011] In the above-described clamp with a flexible floating gripper, preferably, the first mating mechanism includes a first fixed base and a fourth fixing member, the fourth fixing member being disposed on the first fixed base, and a groove being provided on the side of the second end of the rotary clamping mechanism facing the fourth fixing member, wherein when the rotary clamping mechanism rotates to the first mating mechanism, the inner wall surface of the groove abuts against the fourth fixing member.

[0012] In the aforementioned clamp with a flexible floating gripper, preferably, the support is further provided with a second mating mechanism. The second mating mechanism includes a pressing member and a supporting member. The supporting member is disposed on the side close to the second support plate, and the pressing member is disposed on the side away from the second support plate. The pressing member can move along a third preset path. When the pressing member moves to the end of the third preset path, the pressing member and the supporting member are positioned opposite each other.

[0013] As described above, in a clamp with a flexible floating gripper, preferably, the lower pressing member includes a second fixed seat, a pressure plate, a fifth fixing member, and a top rod. The second fixed seat is disposed on one side of the floating gripper mechanism. The fifth fixing member and the top rod are both disposed on the second fixed seat. The pressure plate has a first waist hole, and the fifth fixing member passes through the first waist hole. The pressure plate can move on the fifth fixing member, and one end of the pressure plate abuts against the top rod.

[0014] In the aforementioned clamp with a flexible floating gripper, preferably, a first mounting hole is provided on the first support plate, and a plurality of sixth fixing members are evenly arranged around the first mounting hole. One end of the connecting flange extends into the first mounting hole, and the sixth fixing members are fixed along the circumference of the connecting flange.

[0015] The present invention also provides a clamping method, which uses the above-mentioned clamp with flexible floating gripper for clamping, including the following steps: When loading the workpiece, the floating clamping mechanism is moved to the beginning of the first preset path, the rotary clamping mechanism is moved to the outside of the base, and the workpiece is placed inside the base. Fix the connecting flange to the first support plate, and the cantilever mechanism is located within the projection area of ​​the second support plate; A first cooperating mechanism and a second cooperating mechanism are respectively provided on both sides of the floating clamping mechanism. The second cooperating mechanism presses against the upper and lower sides of the end of the cantilever mechanism. A clamping component is set on the floating clamping mechanism. The floating clamping mechanism is moved to the end of the first preset path. When the extension mechanism is placed inside the floating clamping mechanism, the floating clamping mechanism is first fixed, and then the clamping component is adjusted to clamp the mating part located at the end of the extension mechanism. The movable rotary clamping mechanism is fixed to the first cooperating mechanism; The slewing clamping mechanism and the cantilever mechanism are laterally fixed.

[0016] Compared with existing technologies, this invention combines the working characteristics of the fixture itself and achieves precise clamping of the box through the floating nature of the floating clamping mechanism. It can effectively avoid uneven clamping force and achieve multi-directional fixation of the box cantilever mechanism through the floating clamping mechanism and the rotary clamping mechanism, thereby improving the overall clamping rigidity and processing stability of the workpiece, improving processing efficiency, stabilizing the processing quality of the workpiece, and the device reasonably distributes the force points during clamping to avoid easy deformation of the clamping and wear on the surface of the workpiece. Attached Figure Description

[0017] Figure 1 This is a perspective view of a clamp with a flexible floating gripper provided in an embodiment of the present invention; Figure 2 This is a perspective view of the clamp with flexible floating grip provided in an embodiment of the present invention from another angle; Figure 3 This is a perspective view of the gearbox housing provided in an embodiment of the present invention; Figure 4 This is a diagram showing the state of the workpiece being loaded using a fixture with a flexible floating clamp, as provided in an embodiment of the present invention. Figure 5 This is a diagram showing the state of the workpiece after the fixture with flexible floating clamp provided in the embodiment of the present invention is fixed. Figure 6 This is a perspective view of the support provided in an embodiment of the present invention; Figure 7 This is a perspective view of the floating clamping mechanism provided in an embodiment of the present invention; Figure 8 This is a perspective view of the floating seat provided in an embodiment of the present invention; Figure 9 This is a perspective view of the floating seat provided in an embodiment of the present invention from another angle; Figure 10 This is a perspective view of the clamping component provided in an embodiment of the present invention; Figure 11 This is another perspective view of the clamping member provided in an embodiment of the present invention; Figure 12 This is a diagram showing the state of the floating clamping device and the support after they are fixed, as provided in an embodiment of the present invention. Figure 13 This is a perspective view of the rotary clamping mechanism provided in an embodiment of the present invention; Figure 14 This is a diagram showing the state in which the first mating mechanism and the rotary clamping mechanism are fixed, as provided in an embodiment of the present invention. Figure 15 This is a perspective view of the second mating mechanism provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 10-Base, 11-First support plate, 110-First mounting hole, 111-Sixth fastener, 12-Second support plate; 20-Support, 21-First guide protrusion, 22-Third support plate, 23-Fourth support plate, 230-First screw hole; 30-Floating clamping mechanism, 31-Floating seat, 310-First guide groove, 311-Second guide protrusion, 312-Second waist hole, 313-Fifth support plate, 314-Second screw hole, 32-Clamping part, 320-Second guide groove, 321-Extension, 322-Third waist hole, 33-Locking part, 330-First fixing part, 331-First protrusion; 40 - Rotary clamping mechanism; 41 - Second fixing component; 42 - Third fixing component; 43 - Groove; 50 - First mating mechanism; 51 - First fixed seat; 52 - Fourth fixing component; 60-Second mating mechanism, 61-Pressing member, 610-Second fixed seat, 611-Pressing plate, 6110-First waist hole, 612-Fifth fixed member, 613-Push rod, 62-Support member; 70-Workpiece, 700-Connecting flange, 701-Cantilever mechanism, 702-Matching part; D1 - First direction, D2 - Second direction, D3 - Third direction. Detailed Implementation

[0019] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0020] See Figure 3 As shown, the gearbox housing includes a connecting flange 700 and a suspension mechanism 701. The suspension mechanism 701 has multiple mating parts 702. The suspension mechanism 701 is usually fixed by using a lower adjusting screw for support, an upper pressing screw, and a side support screw. However, since the surface of the housing is mostly cast, the cast surface is uneven and has paint, so the clamping of the suspension mechanism 701 is mostly a virtual contact with almost no preload. The rigidity is insufficient during clamping. If the rigidity is increased, the parts that are tightened first will be stressed first, which will lead to uneven stress and cause clamping offset or wear of the contact surface.

[0021] Therefore, the present invention provides a clamp with a flexible floating clamp, comprising a base 10, a floating clamping mechanism 30, and a rotary clamping mechanism 40, wherein: See Figure 1-5As shown, the base 10 includes a first support plate 11 and a second support plate 12 that are perpendicular to each other. The first support plate 11 is used to fix the connecting flange 700 of the workpiece 70. The workpiece 70 in this application is a gearbox housing, but other housings with connecting flanges 700 and cantilever mechanisms 701 are also applicable, such as gearbox housings or other irregular housings. The first support plate 11 is used to fix the connecting flange 700. A support 20 is provided on the second support plate 12. The cantilever mechanism 701 is suspended in the accommodating space formed by the first support plate 11 and the second support plate 12. The first support plate 11 is arranged along the first direction D1, which is the direction of gravity. The second support plate 12 is arranged along the second direction D2.

[0022] The floating clamping mechanism 30 is located on the side of the support 20 away from the first support plate 11. The floating clamping mechanism 30 is used to fix the suspension mechanism 701. The floating clamping mechanism 30 moves along the first preset path on the support 20 to move away from or close to the suspension mechanism 701. The first preset path is parallel to the second direction D2. The support 20 is used to support the floating clamping mechanism 30. When loading, the floating clamping mechanism 30 is located at the beginning of the first preset path, leaving enough space for placing the workpiece 70. By moving the position of the floating clamping mechanism 30 on the first preset path, it can be brought closer to the extension mechanism 701. It can be flexibly adjusted according to the specific size and position of the workpiece 70, so as to achieve precise positioning of workpieces 70 of different specifications. When the floating clamping mechanism 30 abuts against the extension mechanism 701, the floating clamping mechanism 30 and the extension mechanism 701 are fixed. The floating characteristic of the floating clamping mechanism 30 can make a certain degree of adaptive adjustment according to the shape and position of the surface of the workpiece 70 when it abuts against the workpiece 70, so as to improve the rigid fixation while avoiding excessive pressure or damage to the surface of the workpiece 70.

[0023] In this embodiment, see Figure 1 As shown, in order to facilitate the adaptation of the floating clamping mechanism 30 to the workpiece 70, the support 20 includes a third support plate 22 and a fourth support plate 23. The third support plate 22 is fixed on the second support plate 12, and the fourth support plate 23 is arranged above the third support plate 22 along the first direction D1. There is a preset distance between the third support plate 22 and the fourth support plate 23. The floating clamping mechanism 30 is arranged on the fourth support plate 23, thereby raising the floating clamping mechanism 30 to a certain height.

[0024] See Figure 1-2 and Figure 4-5As shown, the rotary clamping mechanism 40 is located on the side of the first support 20 opposite to the second support 20. The rotary clamping mechanism 40 is used to laterally fix the cantilever mechanism 701. By applying pressure from the side of the cantilever mechanism 701, pressure can be applied to the workpiece 70 in multiple directions, making the workpiece 70 more securely fixed to the base 10 during processing or other operations, preventing the workpiece 70 from shifting laterally, achieving multi-directional fixation of the workpiece 70, and further improving the fixation effect of the workpiece 70.

[0025] In this embodiment, see Figure 6-8 As shown, the floating clamping mechanism 30 includes a floating seat 31 and at least one clamping member 32. The bottom of the floating seat 31 is provided with a first guide groove 310. The support 20 is provided with a first guide protrusion 21 on the side away from the second support plate 12. The first guide groove 310 and the first guide protrusion 21 are slidably engaged. The clamping member 32 is provided on the side of the floating seat 31 facing the suspension mechanism 701. The clamping member 32 can move along a second preset path on the floating seat 31. In the embodiments provided in this application, the first guide protrusion 21 is disposed on the fourth support plate 23 along the second direction D2. The first guide protrusion 21 can be a guide key. The first guide groove 310 slides with the first guide protrusion 21, which can provide precise guidance and positioning for the floating seat 31, so that it moves along the first preset path, ensuring the accuracy of the movement of the floating clamping mechanism 30. At the same time, this sliding engagement also allows the floating seat 31 to float within a certain range, which can adapt to the position and shape changes of the workpiece 70, avoiding the situation of loose clamping or damage to the workpiece 70 due to the size deviation or inaccurate position of the workpiece 70, thus improving the versatility and adaptability of the clamping mechanism.

[0026] See Figure 7-9 As shown, in the embodiment provided in this application, second waist holes 312 are respectively opened on both sides of the first guide groove 310, and multiple first screw holes 230 are opened on the fourth support plate 23. When the floating seat 31 moves to a suitable position, the second waist holes 312 and the first screw holes 230 are fixed by bolts or screws passing through them. Multiple clamping members 32 can be provided to increase contact with the mating portion 702 at the end of the suspension mechanism 701, thereby increasing the stability of the clamping. In this application, since the suspension mechanism 701 of the gearbox housing has multiple mating portions 702, two clamping members 32 are provided, and the two clamping members 32 are symmetrically arranged vertically along the first direction D1, respectively forming a mating with the mating portion 702. In order to fix the two clamping members 32, the floating seat 31 is provided with a fifth support plate 313 parallel to the floating seat 31 along the first direction D1, and the other clamping member 32 is provided on the fifth support plate 313.

[0027] See Figure 8-12As shown, the bottom of the clamping member 32 is provided with a second guide groove 320, and the floating seat 31 is provided with a second guide protrusion 311. The second guide groove 320 and the second guide protrusion 311 are slidably engaged. The side of the clamping member 32 facing the mating part 702 has symmetrical extensions 321. There is a preset distance between the two extensions 321. A locking member 33 is provided on the extensions 321. When the floating clamping mechanism 30 approaches the suspension mechanism 701, the mating part 702 is placed between the two extensions 321. The locking member 33 is used to lock or unlock the mating part 702. During the process of the floating clamping mechanism 30 approaching the workpiece 70, the second guide groove 320 slides in conjunction with the second guide protrusion 311, allowing the clamping member 32 to move along the second preset path and accurately reach the preset position of the cantilever mechanism 701, thus improving the positioning accuracy. A preset distance is provided between the two extensions 321, which can widely adapt to various specifications of workpieces 70, greatly enhancing the versatility of the floating clamping mechanism 30. The second preset path is parallel to the third direction D3. By moving the clamping member 32 along the third direction D3, its position corresponds to that of the mating part 702. The third direction D3 is perpendicular to the second direction D2.

[0028] In the embodiments provided in this application, see Figure 8-10 As shown, the second guide groove 320 has third waist holes 322 on both sides, and the second guide protrusion 311 has second screw holes 314 on both sides. When the clamping member 32 moves to the appropriate position, the clamping member 32 and the floating seat 31 are fixed by bolts or screws passing through the third waist holes 322 and the second screw holes 314. In addition, for the convenience of processing, the second guide protrusion 311 on the floating seat 31 is set as a guide pin, and the second guide protrusion 311 on the fifth support plate 313 is set as a guide key.

[0029] See Figure 10-11 As shown, the locking member 33 includes a first fixing member 330 and a first protrusion 331. The first fixing member 330 passes through one of the extensions 321, and the first protrusion 331 is disposed on the side of the other extension 321 facing the first fixing member 330. The first fixing member 330 can be fixed by bolts or studs with nuts. When the extension mechanism 701 extends between the two extensions 321, by adjusting the position of the clamping member 32 and the floating seat 31, the mating part 702 first abuts against the first protrusion 331, and then the first fixing member 330 is screwed on, so that the clamping member 32 and the mating part 702 are rigidly fixed as one unit, with a preload force of not less than 100N.

[0030] See also in this application. Figure 13-14As shown, the rotary clamping mechanism 40 is adapted to the upper surface of the workpiece 70. The first end of the rotary clamping mechanism 40 is mounted on the first support plate 11 via a second fixing member 41. The rotary clamping mechanism 40 can rotate circumferentially around the axis of the second fixing member 41. The second end of the rotary clamping mechanism 40 extends to the support 20 and is connected to the first mating mechanism 50 mounted on the support 20. At least one third fixing member 42 is provided in the middle of the rotary clamping mechanism 40. The shape of the rotary clamping mechanism 40 is adapted to the shape of the upper surface of the workpiece 70, which can better fit the workpiece 70 and increase the contact area with the workpiece 70. When applied to other boxes, the shape of the rotary clamping mechanism 40 can also be adjusted accordingly. The second end of the rotary clamping mechanism 40 extends to the support 20 and is connected to the first mating mechanism 50 mounted on the support 20. This structure with fixed ends enhances the stability of the rotary clamping mechanism 40. When clamping the workpiece 70 and performing various operations, it can withstand greater external forces and torques, reducing deformation and vibration of the mechanism. In the embodiments provided in this application, the second fixing member 41 and the third fixing member 42 are bolts or studs, which cooperate with nuts. Multiple third fixing members 42 are provided and are arranged along the first direction D1 and the third direction D3, respectively, so that the workpiece 70 can be fixed laterally at multiple points, increasing clamping stability.

[0031] In one possible implementation, see [link to implementation details]. Figure 13-14 As shown, the first mating mechanism 50 includes a first fixed base 51 and a fourth fixing member 52. The fourth fixing member 52 is disposed on the first fixed base 51. A groove 43 is provided on the side of the second end of the rotary clamping mechanism 40 facing the fourth fixing member 52. When the rotary clamping mechanism 40 rotates to the first mating mechanism 50, the inner wall of the groove 43 abuts against the fourth fixing member 52. The abutment between the fourth fixing member 52 and the inner wall of the groove 43 restricts further rotation or shaking of the rotary clamping mechanism 40 at this position, increases the stability of the entire mechanism in the working state, and also ensures that the position of the rotary clamping mechanism 40 has a high degree of repeatability and accuracy after each rotation, providing a reliable position reference for subsequent precise processing or operation of the workpiece 70. The fourth fixing member 52 can be a stud or bolt, and cooperates with a nut to lock or unlock the second end of the rotary clamping mechanism 40.

[0032] In this embodiment, see Figure 1-5 and Figure 15As shown, a second mating mechanism 60 is also provided on the support 20. The second mating mechanism 60 includes a pressing member 61 and a supporting member 62. The supporting member 62 is located on the side close to the second support plate 12, and the pressing member 61 is located on the side away from the second support plate 12. The pressing member 61 can move along a third preset path. When the pressing member 61 moves to the end of the third preset path, the pressing member 61 and the supporting member 62 are positioned opposite each other. In the embodiment provided in this application, the supporting member 62 can be a support rod, which is set on the third support plate 22, and the pressing member 61 is set on the fourth support plate 23. The supporting member 62 and the pressing member 61 cooperate with each other to fix the surface of the cantilever mechanism 701. The pressing member 61 can move along the third preset path. The purpose is to move the pressing member 61 to avoid the workpiece 70 when the workpiece 70 enters the base 10. After the workpiece 70 is arranged, the pressing member 61 and the supporting member 62 cooperate to fix the workpiece 70.

[0033] See Figure 15 As shown, in one feasible embodiment, the lower pressure member 61 includes a second fixed seat 610, a pressure plate 611, a fifth fixing member 612, and a push rod 613. The second fixed seat 610 is disposed on one side of the floating clamping mechanism 30. The fifth fixing member 612 and the push rod 613 are both disposed on the second fixed seat 610. The pressure plate 611 has a first waist hole 6110. The fifth fixing member 612 passes through the first waist hole 6110, and the pressure plate 611 can move on the fifth fixing member 612. One end of the pressure plate 611 abuts against the push rod 613. In the embodiment provided in this application, the second fixed seat 610 is disposed on the fourth support plate 23. The pressure plate 611 slides on the fifth fixing member 612 along the length direction of the first waist hole 6110. The fifth fixing member 612 can be a screw or a stud and can be used with a nut to fix the pressure plate 611. The push rod 613 is used to provide a reverse force to the pressure plate 611 to press the workpiece 70.

[0034] In this embodiment, see Figure 1 As shown, a first mounting hole 110 is provided on the first support plate 11. Multiple sixth fasteners 111 are evenly arranged circumferentially around the first mounting hole 110. One end of the connecting flange 700 extends into the first mounting hole 110, and the sixth fasteners 111 are fixed along the circumferential direction of the connecting flange 700. The sixth fasteners 111 can be locating pins, pressure blocks, or other structures. The connecting flange 700 of the gearbox housing is fixed to the first support plate 11 by locating pins and pressure blocks. Furthermore, a support assembly for supporting the lower surface of the workpiece 70 is also provided on the third support plate 22. The fixing of the connecting flange 700 and the support assembly are existing technologies and are not limited here.

[0035] The present invention also provides a clamping method, which uses the above-mentioned clamp with flexible floating gripper for clamping, including the following steps: When loading the workpiece, the floating clamping mechanism 30 is moved to the beginning of the first preset path, the rotary clamping mechanism 40 is moved to the outside of the base 10, and the workpiece 70 is placed inside the base 10. In this embodiment, by adjusting the second fixing member 41 and the fourth fixing member 52, the rotary clamping mechanism 40 is rotated to the outside, and the floating clamping mechanism 30 is moved to the initial position of the first preset path. The purpose is to allow the workpiece 70 to enter the mold and avoid it. The connecting flange 700 is fixed to the first support plate 11, and the cantilever mechanism 701 is located in the projection area of ​​the second support plate 12. In this embodiment, the box body is first manually hoisted and positioned by two pins on one side, and then the connecting flange 700 is circumferentially fixed by the sixth fixing member 111. A first cooperating mechanism 50 and a second cooperating mechanism 60 are respectively provided on both sides of the floating clamping mechanism 30. The second cooperating mechanism 60 presses against the upper and lower sides of the end of the suspension mechanism 701. In this embodiment, the fifth fixing member 612 is adjusted so that the pressure plate 611 is pressed against the upper end surface of the suspension mechanism 701, so that it cooperates and is fixed with the support member 62 pressing against the lower end surface of the suspension mechanism 701. The suspension mechanism 701 is initially fixed by the cooperation of the pressure plate 611 and the support member 62. A clamping member 32 is provided on the floating clamping mechanism 30. The floating clamping mechanism 30 is moved to the end of the first preset path. When the cantilever mechanism 701 is placed inside the floating clamping mechanism 30, the floating clamping mechanism 30 is first fixed, and then the clamping member 32 is adjusted to clamp the mating part 702 located at the end of the cantilever mechanism 701. In this embodiment, the floating seat 31 is pushed to move along the first preset path. After it is adjusted to a suitable position, the floating seat 31 is fixed to the support 20. The purpose is to perform a first-level floating lock on the workpiece 70, so that the floating clamping mechanism 30 and the support 20 are fixed as one unit. Then the second guide groove 320 is adjusted and... The second guide protrusion 311 causes the clamping member 32 to abut against the mating part 702. In this step, the first protrusion 331 is first pressed against one side of the mating part 702, and the first fixing member 330 is tightened to press against the other side of the mating part 702. After adjusting to the appropriate position, the clamping member 32 is fixed to the floating seat 31. The two clamping blocks are manually adjusted in sequence along the direction of the second guide groove 320. The purpose is to perform secondary floating locking on the workpiece 70, so that the clamping member 32 and the workpiece 70 are rigidly fixed together. The first fixing member 330 is manually tightened to perform tertiary floating locking, so that the clamping member 32 and the floating seat 31 are fixed together. Move the rotary clamping mechanism 40 and fix the movable end of the rotary clamping mechanism 40 with the first mating mechanism 50; in this embodiment, rotate the rotary clamping mechanism 40, and when the inner wall surface of the groove 43 abuts against the fourth fixing member 52, first lock the fourth fixing member 52 and the second end of the rotary clamping mechanism 40, then lock the second fixing member 41 to fix the rotary clamping mechanism 40 with the first support plate 11; The rotary clamping mechanism 40 is laterally fixed to the cantilever mechanism 701. In this embodiment, the third fixing member 42 is adjusted to laterally fix it to the cantilever mechanism 701. By fixing the workpiece 70 laterally through the third fixing member 42, multi-directional constraint of the workpiece 70 can be achieved, conforming to the shape of the box and enhancing the overall rigidity of the equipment.

[0036] When feeding materials, all actions are the complete reverse of the feeding sequence.

[0037] The above description, based on the embodiments shown in the figures, details the structure, features, and effects of the present invention. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A gripper having a flexible floating clamp, characterized by, include: The base includes a first support plate and a second support plate that are perpendicular to each other. The first support plate is used to fix the connecting flange of the workpiece, and the second support plate is provided with a support. A floating clamping mechanism is provided on the side of the support away from the first support plate. The floating clamping mechanism is used to fix the suspension mechanism of the workpiece. The floating clamping mechanism moves on the support along a first preset path to move away from or closer to the suspension mechanism. A rotary clamping mechanism is provided on the side of the first support plate opposite to the second support plate, and the rotary clamping mechanism is used to laterally fix the cantilever mechanism. The floating clamping mechanism includes a floating seat and at least one clamping member. The bottom of the floating seat is provided with a first guide groove, and the side of the support away from the second support plate is provided with a first guide protrusion. The first guide groove and the first guide protrusion are slidably engaged. The clamping member is provided on the side of the floating seat facing the suspension mechanism, and the clamping member can move along a second preset path on the floating seat. The bottom of the clamping member is provided with a second guide groove, and the floating seat is provided with a second guide protrusion. The second guide groove and the second guide protrusion are slidably engaged. The side of the clamping member facing the suspension mechanism has symmetrical extensions with a preset distance between the two extensions. The extensions are provided with locking members. When the floating clamping mechanism approaches the workpiece, the mating part at the end of the suspension mechanism is placed between the two extensions. The locking members are used to lock or unlock the mating parts. The rotary clamping mechanism is adapted to the upper surface of the workpiece. The first end of the rotary clamping mechanism is mounted on the first support plate through the second fixing member. The rotary clamping mechanism can rotate circumferentially around the axis of the second fixing member. The second end of the rotary clamping mechanism extends to the support and is connected to the first mating mechanism mounted on the support. At least one third fixing member is provided in the middle of the rotary clamping mechanism. The first mating mechanism includes a first fixed base and a fourth fixed member. The fourth fixed member is disposed on the first fixed base. A groove is provided on the side of the second end of the rotary clamping mechanism facing the fourth fixed member. When the rotary clamping mechanism rotates to the first mating mechanism, the inner wall of the groove abuts against the fourth fixed member.

2. The clamp with flexible floating gripper according to claim 1, characterized in that, The locking member includes a first fixing member and a first protrusion, the first fixing member extending through one of the extensions, and the first protrusion disposed on the side of the other extension facing the first fixing member.

3. The clamp with flexible floating gripper according to claim 1, characterized in that, The support is also provided with a second mating mechanism, which includes a pressing member and a supporting member. The supporting member is located on the side close to the second support plate, and the pressing member is located on the side away from the second support plate. The pressing member can move along a third preset path. When the pressing member moves to the end of the third preset path, the pressing member and the supporting member are positioned opposite each other.

4. The clamp with flexible floating gripper according to claim 3, characterized in that, The pressing component includes a second fixed seat, a pressure plate, a fifth fixed component, and a top rod. The second fixed seat is disposed on one side of the floating clamping mechanism. The fifth fixed component and the top rod are both disposed on the second fixed seat. The pressure plate has a first waist hole. The fifth fixed component passes through the first waist hole. The pressure plate can move on the fifth fixed component. One end of the pressure plate abuts against the top rod.

5. The clamp with flexible floating gripper according to claim 1, characterized in that, The first support plate has a first mounting hole, and a plurality of sixth fasteners are evenly arranged around the first mounting hole. One end of the connecting flange extends into the first mounting hole, and the sixth fasteners are fixed along the circumference of the connecting flange.

6. A clamping method, characterized in that, Clamping using a clamp with a flexible floating gripper as described in any one of claims 1-5 includes the following steps: When loading the workpiece, the floating clamping mechanism is moved to the beginning of the first preset path, the rotary clamping mechanism is moved to the outside of the base, and the workpiece is placed inside the base. Fix the connecting flange to the first support plate, and the cantilever mechanism is located within the projection area of ​​the second support plate; A first cooperating mechanism and a second cooperating mechanism are respectively provided on both sides of the floating clamping mechanism. The second cooperating mechanism presses against the upper and lower sides of the end of the cantilever mechanism. A clamping component is set on the floating clamping mechanism. The floating clamping mechanism is moved to the end of the first preset path. When the extension mechanism is placed inside the floating clamping mechanism, the floating clamping mechanism is first fixed, and then the clamping component is adjusted to clamp the mating part located at the end of the extension mechanism. The movable rotary clamping mechanism is fixed to the first cooperating mechanism; The slewing clamping mechanism and the cantilever mechanism are laterally fixed.

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