Floating compensation self-locking flange clamping clamp jaw

Abstract

The application provides a floating compensation self-locking flange clamping jaw, and relates to the technical field of flange fastening devices. The floating compensation self-locking flange clamping jaw comprises a mechanical arm connecting assembly, a floating assembly, a transmission assembly and a clamping assembly. The floating assembly comprises a first mounting plate, a cylinder, a first supporting column, a second mounting plate, a linear bearing, a third mounting plate, a light shaft, a guide pile, a floating joint and a fourth mounting plate. The first mounting plate is connected with the mechanical arm connecting assembly. The first supporting column is connected with the first mounting plate and the second mounting plate. The fixed end of the cylinder is connected with the first mounting plate, the telescopic end is connected with one end of the floating joint, and the other end of the floating joint is connected with the fourth mounting plate. The linear bearing is arranged on the second mounting plate. The light shaft is arranged in the linear bearing. The guide pile is arranged on the fourth mounting plate, and the third mounting plate is provided with a corresponding first guide hole. The transmission assembly is connected with the floating mechanism. The clamping assembly is drivingly connected with the transmission assembly. The floating compensation self-locking flange clamping jaw can solve the problem that the rigid mechanical arm of the traditional flange fastening device is difficult to adapt to the complex shape deviation of the flange connecting surface.

Description

Technical Field

[0001] This invention relates to the field of flange fastening device technology, and more specifically, to a floating compensated self-locking flange clamping jaw. Background Technology

[0002] In the transportation of high-risk fluids such as chemicals, oil, and natural gas, flange connections serve as the core sealing components of pipeline systems, and their sealing reliability directly impacts system operational safety. Traditional flange sealing operations rely on manual bolt tightening or simple mechanical auxiliary tools, resulting in low operational efficiency and inaccurate control of sealing force. Workers are exposed to high pressure, high temperature, or toxic media in close proximity, posing serious safety hazards. Especially under extreme conditions (such as negative pressure, vibration, or temperature fluctuations), manual operation makes it difficult to ensure uniform bolt preload, easily leading to seal failure, leakage, or even explosions.

[0003] While automated flange fastening equipment has been introduced into some industrial scenarios, it still has significant drawbacks. Among these, rigid robotic arms struggle to adapt to complex morphological deviations on flange connection surfaces (such as uneven surfaces or misaligned bolt holes), easily leading to localized stress concentrations or over-tightening / loosening of bolts. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a floating compensation self-locking flange clamping jaw, which can improve the problem that traditional flange fastening devices have rigid robotic arms that are difficult to adapt to the complex shape deviation of the flange connection surface, which can easily cause local stress concentration or bolt over-tightening / loosening.

[0005] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0006] This application provides a floating compensation self-locking flange clamping jaw, including:

[0007] Robotic arm connection components;

[0008] A floating assembly includes a fixing mechanism and a floating mechanism. The fixing mechanism includes a first mounting plate, a cylinder, a first support column, a second mounting plate, and a linear bearing. The floating mechanism includes a third mounting plate, an optical axis, a guide pile, a floating joint, and a fourth mounting plate.

[0009] The first mounting plate is fixedly connected to the robotic arm connection assembly;

[0010] The two ends of the first support column are fixedly connected to the first mounting plate and the second mounting plate, respectively;

[0011] The fixed end of the cylinder is fixedly connected to the first mounting plate, the telescopic end passes through the second mounting plate and the third mounting plate in sequence, and is fixedly connected to one end of the floating joint, and the other end of the floating joint is fixedly connected to the fourth mounting plate.

[0012] The linear bearing passes through the second mounting plate;

[0013] The optical axis passes through the linear bearing and sequentially through the second mounting plate and the third mounting plate;

[0014] The guide pile is mounted on the fourth mounting plate, and the third mounting plate has a first guide hole corresponding to the guide pile.

[0015] A transmission assembly, which is fixedly connected to the floating mechanism;

[0016] A clamping assembly, wherein the clamping assembly is drive-connected to a transmission assembly;

[0017] When the cylinder retracts, the floating mechanism moves closer to the fixed mechanism, and the guide post passes through the first guide hole, so that the floating mechanism, transmission assembly and clamping assembly are in a tight state as a whole;

[0018] When the cylinder extends, the floating mechanism moves away from the fixed mechanism, and the guide post exits the first guide hole, so that the floating mechanism, transmission assembly and clamping assembly are in a floating state as a whole.

[0019] In this technical solution, intelligent adjustment of flange clamping is achieved through the synergistic effect of floating compensation and a self-locking mechanism. The robotic arm connecting assembly serves as the mounting base for the overall structure, rigidly connected to the fixing mechanism of the floating assembly via a first mounting plate, ensuring the positioning accuracy of the clamping system comprised of the floating assembly, transmission assembly, and clamping assembly. The combination of the first support column and the double mounting plates (first mounting plate and second mounting plate) in the fixing mechanism forms a stable frame structure, providing anti-torque support for the cylinder. The cylinder employs a floating joint design to connect to the fourth mounting plate, allowing for radial displacement compensation space during axial extension and retraction, effectively absorbing positional deviations during flange docking. Thus, floating compensation is provided for the positioning of the grippers during flange tightening.

[0020] In some optional embodiments, the robotic arm connection assembly includes a first connecting plate, a second support column, and a second connecting plate. One end of the second support column is fixedly connected to the first connecting plate, and the other end is fixedly connected to the second connecting plate. The second connecting plate is fixedly connected to the first mounting plate.

[0021] In this technical solution, the robotic arm connecting assembly serves as the mounting interface for the robotic arm, ensuring connection stability through planar contact with the first connecting plate. The second support column acts as the core force-transmitting component, with both ends forming rigid vertical connections to the first and second connecting plates respectively, effectively resisting torsional torque during operation. The fixed connection between the second connecting plate and the first mounting plate forms a secondary support structure, ensuring the spatial positioning accuracy of the clamping system and distributing the load transmitted by the robotic arm through a three-point support system. The axial arrangement of the second support column is orthogonal to the motion axis of the clamping system; this spatial layout effectively suppresses lateral vibration, and the distributed support of the multi-level connecting plates enhances the overall structure's resistance to deformation under dynamic loads.

[0022] In some optional embodiments, the transmission assembly includes a third support column with one end fixedly connected to the third mounting plate, and a transmission connecting plate fixedly connected to the other end of the third support column. A hollow motor mounting plate is provided on the side of the transmission connecting plate near the floating mechanism, and a motor is mounted on the motor mounting plate. A coupling that is driven and connected to the output end of the motor is provided in the hollow part of the motor mounting plate. A driving gear that is driven and connected to the coupling is provided on the side of the transmission connecting plate away from the floating mechanism. A lead screw is rotatably mounted on the transmission connecting plate, and a driven gear that meshes with the driving gear is fixedly connected to the lead screw.

[0023] In this technical solution, the third support column, as a rigid connecting component, maintains the relative position of the transmission connecting plate and the floating mechanism while allowing the transmission components to move synchronously when the floating mechanism is displaced as a whole, ensuring the stability of the transmission path. The hollow motor mounting plate design embeds the motor output end into the structure, and the axial alignment connection between the motor and the drive gear is achieved through a coupling, which reduces the assembly error of the transmission path and forms a compact transmission layout. The meshing relationship between the drive gear and the driven gear accurately transmits the motor torque to the lead screw. The rotational motion of the lead screw is converted into the linear displacement of the subsequent transmission components used to control the gripper through the threaded pair. This two-stage transmission mechanism effectively amplifies the output torque of the motor, and at the same time, the precise control of the clamping action is achieved through the coordination of the gear reduction ratio and the lead screw lead. The transmission connecting plate, as an integrated load-bearing platform, forms a spatial orthogonal layout of the motor, gear set and lead screw, significantly reducing the radial dimension of the device while ensuring power transmission efficiency.

[0024] In some alternative embodiments, the clamping assembly includes a mounting bracket, a transmission element, a flange contact plate, a fourth support column, and a pair of gripper mechanisms, each of the pair of gripper mechanisms including a first gripper arm, a second gripper arm, and a gripper.

[0025] The two ends of the fourth support column are fixedly connected to the transmission connecting plate and the mounting bracket, respectively. The transmission component is connected to the transmission assembly. The transmission component is hinged to one end of the first gripper arm. The other end of the first gripper arm is hinged to one end of the second gripper arm. The other end of the second gripper arm is fixedly connected to the gripper. The second gripper arm is also hinged to the mounting bracket. The flange contact plate is installed on the side of the mounting bracket away from the transmission component and is used to press the flange.

[0026] When the transmission assembly drives the transmission component to move, the displacement of the transmission component drives the first gripper arm and the second gripper arm, and the hinge position of the second gripper arm and the mounting bracket serves as the fulcrum, causing the grippers in the pair of gripper mechanisms to move closer to or further away from the flange contact plate.

[0027] In this technical solution, the dynamic adjustment and adaptability of the clamping force are achieved through the cooperation of a multi-stage hinge mechanism and a transmission component. The mounting frame, as the overall support structure, provides a fixed foundation for the gripper mechanism, ensuring operational stability. The direct transmission connection between the transmission component and the transmission assembly converts linear displacement into gripper movement, forming a mechanical linkage. The double-layer hinge design of the first and second gripper arms forms a lever-like structure. When the transmission component moves, a torque amplification effect is generated through the hinge fulcrum between the second gripper arm and the mounting frame, causing the gripper to produce a proportional clamping displacement. The independent mounting design of the flange contact plate achieves active clamping of the flange reference surface, forming a three-point clamping system with the gripper. During the gripper closing process, this ensures both clamping positioning accuracy and disperses contact stress. When the transmission component drives the gripper mechanism, the hinge structure allows the gripper to make slight adaptive adjustments when contacting the flange, offsetting installation errors caused by flange shape and position deviations and avoiding local overload caused by rigid clamping. This combined mechanical structure, through the separate design of the transmission and actuation components, provides the end effector with necessary flexible compensation capabilities while maintaining clamping rigidity.

[0028] In some alternative implementations, the floating assembly further includes support piles disposed on the side of the third mounting plate adjacent to the second mounting plate.

[0029] By adding support piles to the contact surface of the third mounting plate near the second mounting plate, when the cylinder retracts and moves the third mounting plate closer to the second mounting plate, the support piles directly make physical contact with the second mounting plate. In this structure, when the floating mechanism enters the tightened state, the displacement constraint of the third mounting plate is transformed into rigid support through the support piles, effectively dispersing the reaction force from the clamping components and preventing deformation of the third mounting plate due to single-point stress. The axial support characteristics of the support piles limit the vertical vibration displacement of the third mounting plate, while their planar contact characteristics prevent lateral displacement, thereby improving the structural stability of the entire floating compensation system in the locked state.

[0030] In some alternative embodiments, the floating assembly further includes a "T"-shaped support member disposed on the side of the second mounting plate near the third mounting plate and passing through the third mounting plate, for limiting the third mounting plate by means of the lateral portion of the support member.

[0031] In this technical solution, by adding a support member with a specific structure to the floating assembly, mechanical limitation is achieved for the vertical displacement of the third mounting plate, and lateral displacement (including rotation and lateral movement) of the third mounting plate is limited through holes on the third mounting plate for the support member to pass through. This avoids excessive displacement of the third mounting plate in the floating state, which would cause the guide pile and guide hole to be difficult to position during the cylinder retraction process of the floating mechanism. The "T"-shaped support member passes through the third mounting plate, and its lateral portion acts as a physical blocking surface, forming a contact constraint with the third mounting plate. When the cylinder drives the floating mechanism to move up and down, the contact interface between the lateral portion of the support member and the third mounting plate forms a hard limit, effectively suppressing excessive vertical displacement of the third mounting plate. This rigid limiting design ensures the positional stability of the floating mechanism in the non-working state and avoids the drift error that may occur with traditional pure pneumatic control, ensuring that the clamping assembly always maintains the predetermined height reference when switching between the fixed and floating states.

[0032] In some optional embodiments, the guide pile is a three-section integrated structure. The first section of the guide pile is a cylinder with a bottom diameter larger than the diameter of the guide hole. The second section of the guide pile is a cylinder with a bottom diameter equal to the diameter of the guide hole. The third section of the guide pile is a cone with a bottom diameter equal to the diameter of the guide hole. The second mounting plate has a fixing hole with a diameter smaller than the guide hole.

[0033] When the cylinder retracts, the guide pile moves closer to the third mounting plate and the second mounting plate. The upper end of the first section of the guide pile abuts against the third mounting plate, the second section of the guide pile passes through the guide hole, and the third section of the guide pile is engaged in the fixing hole to fasten the third mounting plate through the guide pile.

[0034] In this technical solution, a composite structure design of a three-section guide pile achieves multi-level positioning and locking functions for both the floating and fixed mechanisms. The first section, a cylindrical body with a diameter larger than the guide hole, forms a limiting constraint upon contact with the third mounting plate, preventing excessive compression and structural deformation. The equal-diameter fit between the second section's cylinder and the guide hole ensures the floating mechanism accurately returns to its preset position. The third section, a conical body, forms an interference fit with the smaller-diameter fixed hole, utilizing the self-locking effect of the conical surface to enhance axial constraint. When the cylinder retracts, the three sections sequentially complete the limiting buffer, axial positioning, and radial locking actions, forming a gradual transition from a floating state to a rigid connection. This graded locking mechanism not only compensates for positional deviations during flange assembly but also forms stable multi-point contact support when fully tightened, effectively eliminating the gap loosening or localized stress concentration problems present in traditional single-stage guide structures.

[0035] In some alternative embodiments, the transmission component is annular, and the inner wall of the transmission component is provided with an internal thread that mates with the lead screw. When the lead screw rotates, the transmission component moves up and down along the lead screw.

[0036] In this technical solution, the transmission component is designed as a ring structure with an internal thread matching the lead screw on its inner wall, allowing the lead screw to directly drive the transmission component to perform axial linear motion when rotating. The internal thread of the ring structure meshes with the thread of the lead screw to form a helical pair, converting the rotational motion of the motor into the linear displacement of the transmission component. This threaded engagement method can precisely control the displacement of the transmission component, while the symmetry of the ring structure ensures uniform force distribution on the transmission component, avoiding motion jamming or displacement deviation caused by eccentricity. Through the threaded transmission relationship between the lead screw and the transmission component, high-precision adjustment of the opening and closing amount of the grippers is achieved, thereby adapting to the form and position tolerances of the flange connection surface, ensuring uniform distribution of the preload force applied by the grippers to the flange during clamping, and eliminating the problem of local stress concentration caused by rigid clamping.

[0037] In some alternative embodiments, a pressure sensor is also mounted on the end of the gripper away from the second gripper arm.

[0038] In this technical solution, a pressure sensor is installed at the end of the gripper to monitor the contact pressure between the gripper and the flange in real time, overcoming the limitation of traditional mechanical clamping processes that rely solely on the rigidity of the mechanical structure and cannot dynamically sense the clamping force. This pressure sensor is directly integrated into the clamping execution end, accurately capturing pressure changes between the gripper and the flange contact surface, and achieving precise adjustment of the clamping force through closed-loop control. When flange deformation or abnormal bolt preload occurs during clamping, the pressure sensor can provide real-time pressure data feedback, avoiding the risk of flange sealing surface damage due to excessive clamping force or sealing failure due to insufficient clamping force. This design overcomes the technical bottleneck of traditional rigid clamping tools that cannot simultaneously achieve adaptive compensation and force control accuracy, providing dynamic force control assurance for flange sealing operations under complex working conditions.

[0039] In some alternative embodiments, a camera mounting plate is also provided on the side of the mounting bracket, and a camera is mounted on the camera mounting plate.

[0040] In this technical solution, a dedicated camera mounting plate is installed on the side of the clamping assembly's mounting bracket, housing a camera, enabling real-time visual positioning of the flange connection surface. The mounting bracket serves as the load-bearing structure for the gripper mechanism, and the camera mounting plate on its side directly extends the camera's visual range to the clamping work area, allowing the camera to acquire high-precision image data of the flange end face at the shortest distance. The camera mounting plate, as a rigid support structure, eliminates the image jitter problem caused by mechanical vibration or installation gaps in traditional external cameras. Based on this mounting position, the camera can directly capture features such as flange bolt hole positions and sealing surface morphology, providing real-time visual feedback for subsequent floating compensation and self-locking actions of the gripper mechanism, thereby solving the clamping inaccuracy problem caused by flatness deviation or hole offset during flange docking.

[0041] The invention employing the above technical solution has the following advantages:

[0042] In the technical solution provided in this application, a precision guiding system is constructed through the cooperation of an optical axis and a linear bearing. This system constrains the movement trajectory of the floating mechanism when the cylinder actuates, preventing jamming caused by lateral offset. The insertion mechanism between the guide post and the first guide hole forms a physical limit. When the cylinder retracts, a self-locking effect is generated through the conical engagement of the three-section guide post and the fixed hole, causing the clamping system to enter a rigid fastening state. When the cylinder extends, the guide post completely disengages, releasing all constraints and forming a floating compensation state. Thus, through a dual-mode switching design, the clamping system can adapt to the morphological deviations of the flange surface and form a rigid lock after clamping, ensuring a uniform distribution of bolt preload. This improves upon the problem of traditional flange fastening devices where rigid robotic arms cannot adapt to complex morphological deviations of the flange connection surface, easily causing local stress concentration or bolt over-tightening / loosening. Attached Figure Description

[0043] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate certain embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0044] Figure 1 This is a schematic diagram of a floating compensation self-locking flange clamping jaw provided in an embodiment of this application.

[0045] Figure 2 This is a schematic diagram of the structure of the floating component provided in an embodiment of this application.

[0046] Figure 3 This is a schematic diagram of the transmission assembly provided in an embodiment of this application.

[0047] Figure 4 This is a schematic diagram of the clamping assembly provided in an embodiment of this application.

[0048] Icons: 101-First connecting plate; 102-Second support column; 103-Second connecting plate; 201-First mounting plate; 202-First support column; 203-Cylinder; 204-Linear bearing; 205-Optical axis; 206-Guide pile; 207-Support component; 208-Floating joint; 209-Support pile; 210-Fourth mounting plate; 211-Second mounting plate; 212-Third mounting plate; 301-Motor; 302-Motor mounting plate; 303- Coupling; 304-Transmission connecting plate; 305-Driven gear; 306-Driving gear; 307-Screw; 400-Mounting bracket; 401-First gripper arm; 402-Second gripper arm; 403-Gripper; 404-Pressure sensor; 501-Camera mounting plate; 502-Camera; 601-Flange contact plate 1; 602-Flange contact plate 2; 603-Flange; 701-Third support column; 702-Fourth support column; 703-Fifth support column. Detailed Implementation

[0049] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0050] Please refer to Figure 1 This application provides a floating compensation self-locking flange clamping gripper, which includes a robotic arm connection assembly, a floating assembly, a transmission assembly, and a clamping assembly.

[0051] The robotic arm connection assembly includes a second support column 102, a first connecting plate 101 and a second connecting plate 103 arranged horizontally. The upper end of the second support column 102 is fixedly connected to the first connecting plate 101, and the lower end is fixedly connected to the upper surface of the second connecting plate 103. The lower surface of the second connecting plate 103 is fixedly connected to the first mounting plate 201.

[0052] Please refer to Figure 1 and Figure 2 The floating assembly includes a fixed mechanism and a floating mechanism. The fixed mechanism includes a first mounting plate 201, a cylinder 203, two first support columns 202, a second mounting plate 211, and three linear bearings 204. The floating mechanism includes a third mounting plate 212, three optical axes 205, two guide piles 206, a floating joint 208, two support piles 209, three "T"-shaped support members 207, and a fourth mounting plate 210.

[0053] The upper surface of the first mounting plate 201 is welded to the lower surface of the robotic arm connection assembly.

[0054] The two ends of the first support column 202 are fixedly connected to the first mounting plate 201 and the second mounting plate 211, respectively.

[0055] The fixed end of the cylinder 203 is fixedly connected to the first mounting plate 201, and the telescopic end passes through the second mounting plate 211 and the third mounting plate 212 in sequence, and is fixedly connected to one end of the floating joint 208. The other end of the floating joint 208 is fixedly connected to the fourth mounting plate 210.

[0056] The linear bearing 204 is mounted on the second mounting plate 211 from top to bottom.

[0057] The optical axis 205 passes through the linear bearing 204 and sequentially through the second mounting plate 211 and the third mounting plate 212, so as to act as a guide rail when the cylinder 203 drives the floating mechanism to move up and down.

[0058] The guide pile 206 is mounted on the fourth mounting plate 210, and the third mounting plate 212 has a first guide hole corresponding to the guide pile 206. The guide pile 206 is a three-section integrated structure. The first section of the guide pile 206 is a cylinder with a bottom diameter larger than the diameter of the guide hole. The second section of the guide pile 206 is a cylinder with a bottom diameter equal to the diameter of the guide hole. The third section of the guide pile 206 is a cone with a bottom diameter equal to the diameter of the guide hole. The second mounting plate 211 has a fixing hole with a diameter smaller than the guide hole. In this way, when the cylinder 203 retracts, the three sections sequentially complete the limiting buffer, axial positioning and radial locking actions, forming a gradual transition from a floating state to a rigid connection, which is highly practical.

[0059] The support pile 209 is set on the upper surface of the third mounting plate 212, so that when the cylinder 203 retracts and drives the third mounting plate 212 to move closer to the second mounting plate 211, the support pile 209 directly forms physical contact with the second mounting plate 211, effectively dispersing the reaction force from the clamping component, and avoiding deformation of the third mounting plate 212 due to single-point force. The structure is simple and highly practical.

[0060] A T-shaped support member 207 is disposed on the lower surface of the second mounting plate 211. Its vertical portion passes through the third mounting plate 212, and the horizontal portion at the end of the vertical portion of the support member 207 limits the third mounting plate 212. In this way, its horizontal portion acts as a physical blocking surface, forming a contact constraint with the third mounting plate 212. When the cylinder 203 drives the floating mechanism to move up and down, the contact interface between the horizontal portion of the support member 207 and the third mounting plate 212 forms a hard limit, effectively suppressing the excessive vertical displacement of the third mounting plate 212. At the same time, by limiting the diameter of the hole through which the support member 207 passes through the third mounting plate 212, excessive horizontal displacement of the third mounting plate 212 is avoided, which would make it difficult to position the guide pile 206 and the guide hole. The structure is simple and highly practical.

[0061] In practical applications, the number of the first support column 202, linear bearing 204, optical axis 205, guide pile 206, support pile 209 and support member 207 can be flexibly set to achieve the technical effect proposed in this embodiment.

[0062] Please refer to Figure 1 and Figure 3 The transmission assembly is fixedly connected to the floating mechanism. The transmission assembly includes four third support columns 701 whose upper ends are fixedly connected to the third mounting plate 212. A transmission connecting plate 304 is fixedly connected to the lower end of the third support columns 701. A hollow motor mounting plate 302 is provided on the upper surface of the transmission connecting plate 304. A motor 301 with its output end facing downward is mounted on the upper surface of the motor mounting plate 302. A coupling 303 that is driven and connected to the output end of the motor 301 is provided in the hollow part inside the motor mounting plate 302. A drive gear 306 that is driven and connected to the coupling 303 is provided on the lower surface of the transmission connecting plate 304. A lead screw 307 is rotatably mounted on the transmission connecting plate 304. A driven gear 305 that meshes with the drive gear 306 is fixedly connected to the lead screw 307. Thus, the motor 301 drives the coupling 303 and the drive gear 306 to rotate. During the rotation of the drive gear 306, the driven gear 305, which meshes with the drive gear 306, drives the lead screw 307 to rotate. The rotational motion of the lead screw 307 is then converted into linear displacement of the transmission component 308 in the clamping assembly through the threaded joint. Finally, through the two-stage transmission mechanism of the gear set and the lead screw 307, the output torque of the motor 301 is amplified, achieving precise control of the clamping action.

[0063] In practical applications, the number of third support columns 701 can be flexibly set to achieve the same support effect as in this application.

[0064] Please refer to Figure 1 and Figure 4 The clamping assembly is connected to the transmission assembly. The clamping assembly may include a mounting bracket 400, a transmission component 308, a flange contact plate 1601, a fifth support column 703, a flange contact plate 2602, four fourth support columns 702, four pressure sensors 404, a camera mounting plate 501, a camera 502, and a pair of gripper mechanisms. Each gripper mechanism in the pair of gripper mechanisms includes a first gripper arm 401, a second gripper arm 402, and a gripper 403. Each gripper 403 includes two gripper branches, and a pressure sensor 404 is disposed at the end of each gripper branch.

[0065] The fourth support column 702 is fixedly connected at both ends to the transmission connecting plate 304 and the mounting bracket 400, respectively. The transmission component 308 is annular, and its inner wall is provided with an internal thread that mates with the lead screw 307. When the lead screw 307 rotates, the transmission component 308 moves up and down along the lead screw 307. The transmission component 308 is hinged to one end of the first gripper arm 401, and the other end of the first gripper arm 401 is hinged to one end of the second gripper arm 402. The other end of the second gripper arm 402 is fixedly connected to the gripper 403. The middle position of the second gripper arm 402 is also hinged to the mounting bracket 400. The flange contact plate 1601 is installed on the lower surface of the mounting bracket 400. The flange contact plate 2602 is fixedly connected to the flange contact plate 1601 through the fifth support column 703. The flange contact plate 2602 is used to directly contact and press the flange 603. The camera mounting plate 501 is fixedly connected to the side of the mounting bracket 400, and the camera 502 is mounted on the camera mounting plate 501.

[0066] When the transmission assembly drives the transmission member 308 to move upward along the lead screw 307, the transmission member 308 drives the first gripper arm 401 to deflect to the lower right. The second gripper arm 402 and the mounting frame 400 form a lever structure. When the first gripper arm 401 deflects to the lower right, the end of the second gripper arm 402 with the gripper 403 installed moves closer to the center under the action of the mounting frame 400 and the first gripper arm 401, thereby achieving the purpose of pressing the flange 603. Conversely, when the transmission assembly drives the transmission member 308 to move downward along the lead screw 307, the end of the second gripper arm 402 with the gripper 403 separates to both sides.

[0067] Thus, through the cooperation of multi-stage hinge mechanisms and transmission components, dynamic adjustment and adaptability of clamping force are achieved. The mounting frame 400, as the overall support structure, provides a fixed foundation for the gripper 403 mechanism, ensuring operational stability. The direct transmission connection between the transmission component 308 and the transmission assembly converts linear displacement into the movement of the gripper 403, forming a mechanical linkage. The double-layer hinge design of the first gripper arm 401 and the second gripper arm 402 forms a lever-like structure. When the transmission component 308 moves, a torque amplification effect is generated through the hinge fulcrum between the second gripper arm 402 and the mounting frame 400, causing the gripper 403 to produce a proportional clamping displacement. The independent mounting design of the flange contact plate enables active clamping of the flange reference surface, forming a three-point clamping system with the gripper 403. During the closing process of the gripper 403, both clamping positioning accuracy and contact stress are distributed. When the transmission component 308 drives the gripper mechanism, the hinged structure allows the gripper 403 to make slight adaptive adjustments when contacting the flange 603, offsetting installation errors caused by the form and position deviations of the flange 603 and avoiding local overload caused by rigid clamping. This combined mechanical structure, through the separate design of the transmission and actuation components, provides the end effector with the necessary flexible compensation capability while maintaining clamping rigidity. In addition, the camera 502 and pressure sensor 404 provide a real-time feedback mechanism for the clamping state of the flange 603, flexibly adjusting the clamping force according to the feedback results to ensure that the clamped flange 603 meets the sealing requirements.

[0068] In practical applications, the number of the fourth support column 702, the gripper 403 branch, and the pressure sensor 404 can be flexibly set to achieve the same technical effect as in this embodiment.

[0069] In the use of the floating compensation self-locking flange clamping jaws of this application, when it is necessary to clamp the flange 603, the controller, which is electrically connected to the floating compensation self-locking flange clamping jaws, works in conjunction with the camera 502 to control the displacement of the robotic arm, causing the floating compensation self-locking flange clamping jaws to align with the flange 603. Then, the controller controls the extension end of the cylinder 203 to extend downwards, and the floating mechanism, using the optical axis 205 and the linear bearing 204 as guide rails, moves downwards until the guide post 206 exits the guide hole, releasing the lock of the third mounting plate 212. The floating component, transmission component, and clamping component, as a clamping system, are in a floating state to compensate for the positioning of the jaws 403 and the flange 603. Then the controller controls the motor 301 to rotate forward, driving the coupling 303 to rotate, which in turn drives the lead screw 307 to rotate under the action of the gear set transmission. Then, through the threaded pair between the lead screw 307 and the transmission component 308, the transmission component 308 moves upward along the lead screw 307, which in turn drives the first gripper arm 401 to push the second gripper arm 402 to the lower right corner. Under the thrust of the first gripper arm 401 and the lever action of the mounting bracket 400, the second gripper arm 402 drives the gripper 403 at the end of the second gripper arm 402 to move closer to the flange 603 in the middle and press the gripper 403.

[0070] During this process, pressure sensor 404 feeds back pressure data to the controller in real time, allowing the controller to adjust the pressure applied to flange 603 by gripper 403 in real time via motor 301 based on the pressure data. After the flange 603 is clamped, motor 301 is first reversed, causing gripper 403 to gradually move away from flange 603. After flange 603 is completely released, cylinder 203 is retracted, and guide post 206 enters guide hole until third mounting plate 212 is locked, and the clamping system is in a locked state. Then, the robotic arm is controlled to remove the floating compensated self-locking flange clamping gripper from above flange 603, thus completing the clamping of flange 603.

[0071] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A floating compensation self-locking flange clamp, characterized in that, include: Robotic arm connection components; A floating assembly includes a fixing mechanism and a floating mechanism. The fixing mechanism includes a first mounting plate, a cylinder, a first support column, a second mounting plate, and a linear bearing. The floating mechanism includes a third mounting plate, an optical axis, a guide pile, a floating joint, and a fourth mounting plate. The first mounting plate is fixedly connected to the robotic arm connection assembly; The two ends of the first support column are fixedly connected to the first mounting plate and the second mounting plate, respectively; The fixed end of the cylinder is fixedly connected to the first mounting plate, the telescopic end passes through the second mounting plate and the third mounting plate in sequence, and is fixedly connected to one end of the floating joint, and the other end of the floating joint is fixedly connected to the fourth mounting plate. The linear bearing passes through the second mounting plate; The optical axis passes through the linear bearing and sequentially through the second mounting plate and the third mounting plate; The guide pile is mounted on the fourth mounting plate, and the third mounting plate has a first guide hole corresponding to the guide pile. A transmission assembly, which is fixedly connected to the floating mechanism; A clamping assembly, wherein the clamping assembly is drive-connected to a transmission assembly; When the cylinder retracts, the floating mechanism moves closer to the fixed mechanism, and the guide post passes through the first guide hole, so that the floating mechanism, transmission assembly and clamping assembly are in a tight state as a whole; When the cylinder extends, the floating mechanism moves away from the fixed mechanism, and the guide post exits the first guide hole, so that the floating mechanism, transmission assembly and clamping assembly are in a floating state as a whole.

2. The floating compensation self-locking flange clamping jaws according to claim 1, characterized in that, The robotic arm connection assembly includes a first connecting plate, a second support column, and a second connecting plate. One end of the second support column is fixedly connected to the first connecting plate, and the other end is fixedly connected to the second connecting plate. The second connecting plate is fixedly connected to the first mounting plate.

3. The floating compensation self-locking flange clamping jaws according to claim 1, characterized in that, The transmission assembly includes a third support column with one end fixedly connected to the third mounting plate, and a transmission connecting plate fixedly connected to the other end of the third support column. A hollow motor mounting plate is provided on the side of the transmission connecting plate near the floating mechanism, and a motor is mounted on the motor mounting plate. A coupling that is driven and connected to the output end of the motor is provided in the hollow part of the motor mounting plate. A drive gear that is driven and connected to the coupling is provided on the side of the transmission connecting plate away from the floating mechanism. A lead screw is rotatably mounted on the transmission connecting plate, and a driven gear that meshes with the drive gear is fixedly connected to the lead screw.

4. The floating compensation self-locking flange clamping jaws according to claim 3, characterized in that, The clamping assembly includes a mounting frame, a transmission component, a flange contact plate, a fourth support column, and a pair of gripper mechanisms. Each of the pair of gripper mechanisms includes a first gripper arm, a second gripper arm, and a gripper. The two ends of the fourth support column are fixedly connected to the transmission connecting plate and the mounting bracket, respectively. The transmission component is connected to the transmission assembly. The transmission component is hinged to one end of the first gripper arm. The other end of the first gripper arm is hinged to one end of the second gripper arm. The other end of the second gripper arm is fixedly connected to the gripper. The second gripper arm is also hinged to the mounting bracket. The flange contact plate is installed on the side of the mounting bracket away from the transmission component and is used to press the flange. When the transmission assembly drives the transmission component to move, the displacement of the transmission component drives the first gripper arm and the second gripper arm, and the hinge position of the second gripper arm and the mounting bracket serves as the fulcrum, causing the grippers in the pair of gripper mechanisms to move closer to or further away from the flange contact plate.

5. The floating compensation self-locking flange clamping jaws according to claim 1, characterized in that, The floating assembly also includes support piles disposed on the side of the third mounting plate near the second mounting plate.

6. The floating compensation self-locking flange clamping jaws according to claim 1, characterized in that, The floating component also includes a "T"-shaped support member, which is disposed on the side of the second mounting plate near the third mounting plate and passes through the third mounting plate, and is used to limit the third mounting plate by means of the lateral portion of the support member.

7. The floating compensation self-locking flange clamping jaws according to claim 1, characterized in that, The guide pile is a three-section integrated structure. The first section of the guide pile is a cylinder with a bottom diameter larger than the diameter of the guide hole. The second section of the guide pile is a cylinder with a bottom diameter equal to the diameter of the guide hole. The third section of the guide pile is a cone with a bottom diameter equal to the diameter of the guide hole. The second mounting plate has a fixing hole with a diameter smaller than the guide hole. When the cylinder retracts, the guide pile moves closer to the third mounting plate and the second mounting plate. The upper end of the first section of the guide pile abuts against the third mounting plate, the second section of the guide pile passes through the guide hole, and the third section of the guide pile is engaged in the fixing hole to fasten the third mounting plate through the guide pile.

8. The floating compensation self-locking flange clamping jaws according to claim 4, characterized in that, The transmission component is annular, and its inner wall is provided with an internal thread that mates with the lead screw. When the lead screw rotates, the transmission component moves up and down along the lead screw.

9. The floating compensation self-locking flange clamping jaws according to claim 4, characterized in that, A pressure sensor is also installed at the end of the gripper away from the second gripper arm.

10. The floating compensation self-locking flange clamping jaws according to claim 4, characterized in that, The side of the mounting bracket is also provided with a camera mounting plate, on which a camera is mounted.

Images