Intelligent manufacturing multifunctional clamp device

Abstract

The invention relates to the technical field of manipulator clamps, and discloses an intelligent manufacturing multifunctional clamp device which comprises a rack and a multifunctional clamping mechanism capable of being driven to move in a three-dimensional mode. The multifunctional clamping mechanism comprises a first driver, two sets of clamping plates, a fractal clamp and a flexible clamp, and the fractal clamp and the flexible clamp clamp the side face of a workpiece at the same time. And the pneumatic contact is used for flexibly clamping the two ends of the workpiece after rotating. Synchronous action of the flexible clamp and the fractal clamp is achieved through a cooperative clamping mechanism, angle self-adaptive adjustment can rotate around the side edge of the flexible clamp through the fixing base, the clamping angle of the fractal clamp and the flexible clamp is dynamically adjusted according to the shape of a workpiece, the conditions such as inclination or dislocation are prevented, and more clamping areas are covered. The pneumatic contacts at the two ends of the fixing base rotate to wrap the ends of the workpiece, expand to be tightly attached to the end faces during pneumatic triggering, and adapt to an uneven surface through flexible deformation, so that the workpiece is prevented from being damaged by hard contact.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator clamps, and in particular to a multifunctional clamp device for intelligent manufacturing. Background Art

[0002] In intelligent manufacturing, the applicability and functionality of robots are constantly improving. As the most important piece of robotic equipment, the design and installation of fixtures have always been a key focus in robotics research. As the final actuator of industrial robots, the successful implementation of fixtures largely determines the performance of the entire industrial robot intelligent manufacturing system.

[0003] The prior art discloses an industrial robot clamp based on intelligent manufacturing, with application number CN202111145328.9, comprising a bracket for assembling with the robot's mechanical arm, a clamping mechanism installed on one side of the bracket, and a control mechanism installed in the bracket, wherein, through the cooperation of the turntable, the clamping plate, and the first driving member, the first driving member can be used to control the movement of the clamping plate and use the clamping plate to clamp the object, and the angle of the clamping plate can be adjusted by the turntable according to the orientation of the surface of the object to be clamped, so that it can fit the surface of the object more effectively, wherein, through the cooperation of the clamping plates of the two groups of clamping heads, each clamping plate is adjusted so that it is all oriented towards the center of the bracket, thereby forming a circle, which can clamp circular objects and is suitable for clamping objects of different shapes, through the action of the linkage rod and the connecting rod, the linkage rod can be driven to extend and retract under the drive of the connecting rod, thereby further adjusting the distance between the turntable and the bracket according to the specific situation of the object, making it more convenient and flexible to use.

[0004] However, the existing technology, especially this solution, still has the following problems: the clamping contact area of ​​the existing technology is insufficient, resulting in poor stability, and the end face clamping may be missing or hard contact may damage the workpiece during the clamping process. In addition, the clamp has limited adaptive adjustment capabilities. Therefore, we need to provide an intelligent manufacturing multifunctional clamping device. Summary of the Invention

[0005] The purpose of the present invention is to provide a technical solution to achieve synchronous action of a flexible clamp and a fractal clamp through a collaborative clamping mechanism, so as to obtain better stability and applicability by fitting to the surface of the workpiece, so as to solve the problems in the prior art raised in the above background technology.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An intelligent manufacturing multifunctional fixture device comprises a frame and a multifunctional clamping mechanism capable of three-dimensionally driven movement;

[0008] The multifunctional clamping mechanism includes a driver and two sets of clamping plates. The driver is used to drive the clamping movement of the two sets of clamping plates. Flexible clamps are installed on the inner sides of the two sets of clamping plates. Both sides of the flexible clamps can be driven to rotate and are connected to fixed seats.

[0009] The inner side surface of the fixed seat is provided with multiple groups of telescopic rods distributed in an array, and fractal clamps are installed on the telescopic rods. When the multifunctional clamping mechanism clamps the workpiece, the flexible clamp and the fractal clamp clamp the side of the workpiece at the same time; after the fixed seat rotates on the side of the flexible clamp, the fractal clamp and the flexible clamp clamp the two side surfaces of the workpiece from different angles; both ends of the two groups of fixed seats can be driven to rotate and are equipped with pneumatic contacts, which are used for flexible clamping of the two ends of the workpiece after rotation. At the same time, the pneumatic contacts fully fit the end face of the workpiece after pneumatic triggering.

[0010] Preferably, a drive sprocket is installed on the flexible clamp through driver 2, a drive chain is provided on the drive sprocket, both ends of the drive chain are respectively connected to two groups of fixed seats, and driver 2 rotates and drives the two groups of fixed seats through the drive sprocket and the drive chain.

[0011] Preferably, when the driving sprocket reels the driving chain, the driving sprocket pulls the two sets of fixed seats, and when the driving sprocket unwinds the driving chain, that is, when it rotates in the opposite direction of rewinding, the driving sprocket supports the two sets of fixed seats, and a chain groove is provided on the fixed seat. The driving sprocket moves along a set trajectory in the chain groove to drive the opening and closing rotation of the two sets of fixed seats.

[0012] Preferably, a processing fixture is further provided on the machine frame, and the processing fixture is used to receive and clamp workpieces of different shapes clamped by the multifunctional clamping mechanism.

[0013] Preferably, the processing fixture and the multifunctional clamping mechanism are also provided with a through-beam sensor and a proximity sensor. When the multifunctional clamping mechanism moves to above the target processing fixture, the through-beam sensor identifies the opening of the processing fixture. When the proximity sensor identifies that the proximity distance between the processing fixture and the multifunctional clamping mechanism meets the set distance, the multifunctional clamping mechanism releases the workpiece, and the processing fixture clamps the workpiece to complete the workpiece clamping and transfer process.

[0014] Preferably, the flexible clamp is rotationally connected to the fixed seat through a rotating shaft hinge 1, and the pneumatic contact is rotationally installed on the end of the fixed seat through a rotating shaft hinge 2. A driver for rotating the pneumatic contact is provided at the rotating shaft hinge 2. The driver can be set as a servo motor, etc. The expansion and contraction drive of the pneumatic contact itself is realized by pipeline and air source drive.

[0015] Preferably, the fractal clamp at the top of the telescopic rod includes multiple sets of fractal chucks, the rotation planes of the multiple sets of fractal chucks are arranged parallel to the rotation plane of the fixed seat, and the multiple sets of fractal chucks of the fractal clamp are all in contact with the side of the workpiece during clamping.

[0016] Preferably, torque sensors are provided on the rotating shaft hinge 1 and the rotating shaft hinge 2, and pressure sensors are provided on the clamp head of the flexible clamp and the telescopic rod of the fixed seat. The torque sensor is used to monitor the force applied between the flexible clamp and the fixed seat, and the pressure sensor is used to detect the clamping force between the flexible clamp, the top part of the telescopic rod and the workpiece.

[0017] Preferably, the telescopic rod is configured as a telescopic sleeve structure with a spring inside. The telescopic rod has an adaptive buffering and telescopic function, which is used to assist the fractal clamp to fit the side of the workpiece. Multiple groups of telescopic rods are distributed in an array on the fixed seat.

[0018] Preferably, the flexible clamp, the fractal clamp on the fixing seat and the pneumatic contact form a surrounding structure to clamp the side of the workpiece.

[0019] Technical effects and advantages of the present invention: Compared with the prior art, the intelligent manufacturing multifunctional fixture device proposed by the present invention has the following advantages:

[0020] The present invention achieves synchronous action of the flexible clamp and the fractal clamp through a collaborative clamping mechanism: when the driver drives the two sets of clamps to close, the flexible clamp directly clamps the side of the workpiece, and at the same time, the telescopic rod on the inner side of the fixed seat drives the fractal clamp to fit the side of the workpiece, forming a multi-point contact that combines rigidity and flexibility. The angle is adaptively adjusted, and the fixed seat can rotate around the side of the flexible clamp. The fractal clamp and the flexible clamp dynamically adjust the clamping angle according to the shape of the workpiece to prevent situations such as tilting or misalignment, and cover more clamping areas. The end face is flexibly fitted, and the pneumatic contacts at both ends of the fixed seat wrap around the end of the workpiece after rotation. When pneumatically triggered, they expand and fit tightly to the end face, adapting to uneven surfaces through flexible deformation to avoid hard contact and damage to the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the clamp device of the present invention;

[0022] Figure 2 This is a front structural schematic diagram of the clamp device of the present invention;

[0023] Figure 3 It is a side structural schematic diagram of the clamp device of the present invention;

[0024] Figure 4 It is a partial structural schematic diagram of the clamp device of the present invention;

[0025] Figure 5Schematic diagram of the structure of the support bracket and the processing fixture in the fixture device of the present invention;

[0026] Figure 6 A schematic diagram of the structures of the lifting module and the multifunctional clamping mechanism in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of a multifunctional clamping mechanism and other structures in an embodiment of the present invention;

[0028] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure at B in the middle;

[0029] Figure 9 This is one of the planar structural schematic diagrams of the multifunctional clamping mechanism in an embodiment of the present invention;

[0030] Figure 10 This is the second schematic diagram of the planar structure of the multifunctional clamping mechanism in an embodiment of the present invention;

[0031] Figure 11 Schematic diagram of the flexible clamp, fixing base, and pneumatic contact structure in an embodiment of the present invention;

[0032] Figure 12 Schematic diagram of the structure of the fractal fixture in an embodiment of the present invention;

[0033] Figure 13 Schematic diagram of the clamping method of the flexible clamp, the fixing seat and the pneumatic contact structure in an embodiment of the present invention;

[0034] Figure 14 Schematic diagram of the structure of the multifunctional clamping mechanism and part of the clamped workpiece in an embodiment of the present invention.

[0035] In the picture:

[0036] 11. Frame; 12. Mobile module 1; 13. Mobile module 2; 14. Lifting module; 15. Load-bearing bracket; 16. Processing fixture;

[0037] 2. Multifunctional clamping mechanism; 21. Driver 1; 22. Clamp; 23. Flexible clamp; 24. Fixed seat; 25. Pneumatic contact; 26. Rotating hinge 1; 27. Telescopic rod; 28. Fractal clamp; 29. ​​Drive sprocket; 210. Drive chain; 211. Driver 2; 212. Fixed piece; 213. Rotating hinge 2; 214. Fractal chuck; 215. Chain slot. DETAILED DESCRIPTION

[0038] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed solely to enable those skilled in the art to better understand and implement the subject matter described herein, and that the functions and arrangements of the elements discussed may be varied without departing from the scope of this specification. Various examples may omit, substitute, or add various processes or components as needed. Furthermore, features described for some examples may be combined in other examples.

[0039] The present invention provides Figures 1 to 14 , an intelligent manufacturing multifunctional clamping device, comprising: a frame 11 and a multifunctional clamping mechanism 2 capable of three-dimensionally driven movement;

[0040] The multifunctional clamping mechanism 2 includes a driver 21 and two sets of clamping plates 22. The driver 21 is used to drive the clamping movement of the two sets of clamping plates 22. Flexible clamps 23 are installed on the inner sides of the two sets of clamping plates 22. Both sides of the flexible clamps 23 are rotatably connected to fixed seats 24.

[0041] The inner side surface of the fixed seat 24 is provided with multiple groups of telescopic rods 27 distributed in an array, and fractal clamps 28 are installed on the telescopic rods 27. When the multifunctional clamping mechanism 2 clamps the workpiece, the flexible clamp 23 and the fractal clamp 28 clamp the side of the workpiece at the same time; after the fixed seat 24 rotates on the side of the flexible clamp 23, the fractal clamp 28 and the flexible clamp 23 clamp the two side surfaces of the workpiece from different angles; both ends of the two groups of fixed seats 24 can be driven to rotate and are equipped with pneumatic contacts 25. After rotation, the pneumatic contacts 25 are used for flexible clamping of the two ends of the workpiece. At the same time, the pneumatic contacts 25 fully fit the end face of the workpiece after pneumatic triggering.

[0042] Working principle: The flexible clamp 23 and the fractal clamp 28 work synchronously through a collaborative clamping mechanism: when the driver 21 drives the two sets of clamps 22 to close, the flexible clamp 23 directly clamps the side of the workpiece, while the telescopic rod 27 on the inner side of the fixed seat 24 drives the fractal clamp 28 to fit the side of the workpiece, forming a multi-point contact that combines rigidity and flexibility. Angle adaptive adjustment: the fixed seat 24 can rotate around the side of the flexible clamp 23. The fractal clamp 28 and the flexible clamp 23 dynamically adjust the clamping angle according to the shape of the workpiece to prevent situations such as tilting or misalignment, and cover more clamping areas. The end face is flexibly fitted: the pneumatic contacts 25 at both ends of the fixed seat 24 rotate to wrap around the end of the workpiece. When pneumatically triggered, they expand and fit tightly to the end face. They adapt to uneven surfaces through flexible deformation and avoid damage to the workpiece by hard contact.

[0043] Composite clamping stability: The flexible clamp 23 provides basic clamping force, and the fractal clamp 28 disperses pressure through the array telescopic rod 27. Combined with the end face limit of the pneumatic contact 25, it forms a side and end face encirclement constraint, significantly improving the anti-slip ability. Strong shape compatibility: The fixed seat 24 has an adjustable rotation angle. Combined with the telescopic adaptive characteristics of the fractal clamp 28, it can adapt to different side shapes such as flat, curved, and special shapes; the expansion clamping of the pneumatic contact 25 adapts to concave and convex end faces, covering the needs of various types of workpieces. Anti-damage design: The elastic buffer of the flexible clamp 23 and the distributed contact of the fractal clamp 28 reduce local pressure concentration. The pneumatic expansion of the pneumatic contact 25 avoids rigid impact and reduces the risk of clamping thin-walled or fragile workpieces.

[0044] Regarding the rotational drive method for the fixed seats 24 at both ends on the flexible clamp 23, chain pulling or support is used to support the rotation of the fixed seats 24. Compared to directly installing a drive structure at the position of the rotating shaft hinge 1 26, it can obtain greater torque and also provide clamping force in more directions. The flexible clamp 23 is driven by a second driver 211 and is equipped with a drive sprocket 29. The drive sprocket 29 is equipped with a drive chain 210. The two ends of the drive chain 210 are respectively connected to the two sets of fixed seats 24. The second driver 211 rotates and drives the two sets of fixed seats 24 through the drive sprocket 29 and the drive chain 210.

[0045] Specifically, the drive chain 210 is configured as a unidirectional rotating chain, meaning that the drive chain 210 does not rotate arbitrarily. Its transmission method is unlike a conventional chain. When the drive sprocket 29 reels the drive chain 210, the drive sprocket 29 pulls the two sets of fixed seats 24. When the drive sprocket 29 unwinds the drive chain 210, that is, when rotating in the opposite direction of rewinding, the drive sprocket 29 supports the two sets of fixed seats 24. To make the drive method more stable, a chain groove 215 is provided on the fixed seat 24. The drive sprocket 29 needs to move along a set trajectory in the chain groove 215 to effectively drive the opening and closing rotation of the two sets of fixed seats 24. The fixed seat 24 is provided with a fixing member 212, and the second driver 211 is mounted on the fixed seat 24 via the fixing member 212. The second driver 211 can be configured as a servo motor, etc.

[0046] Further, such as Figure 4 and Figure 5As shown, the frame 11 is also provided with a processing fixture 16. This fixture is used to receive and clamp workpieces of various shapes held by the multifunctional clamping mechanism 2. Specifically, the workpieces gripped by the multifunctional clamping mechanism 2 are ultimately placed on the processing fixture 16 for machining. The processing fixture 16 includes a chuck fixture and a locking fixture, which are adaptable to various workpieces. The frame 11 is also provided with a support bracket 15 for initial workpiece placement. This support bracket 15 is used for initial workpiece placement, i.e., the workpiece is placed on the support bracket 15 before being clamped.

[0047] Furthermore, the processing fixture 16 and the multifunctional clamping mechanism 2 are also provided with a through-beam sensor and a proximity sensor. When the multifunctional clamping mechanism 2 moves to above the target processing fixture 16, the through-beam sensor recognizes the opening of the processing fixture 16. When the proximity sensor recognizes that the proximity distance between the processing fixture 16 and the multifunctional clamping mechanism 2 meets the set distance, the multifunctional clamping mechanism 2 releases the workpiece, and the processing fixture 16 clamps the workpiece, completing the workpiece clamping and transfer process.

[0048] The purpose of setting the set distance is to control the clamping and handover between the processing fixture 16 and the multifunctional clamping mechanism. Regarding the method of determining the set distance, since different processing fixtures 16 require corresponding different set distances, different set distances on the processing fixture 16 are different. The specific method of determining the set distance is as follows: When the multifunctional clamping mechanism 2 clamps the workpiece and moves it to the target clamping position on the processing fixture 16, the processing fixture 16 can directly clamp the workpiece. In this case, the distance between the multifunctional clamping mechanism 2 and the processing fixture 16 is the set distance of the proximity sensor.

[0049] Specifically, both the processing fixture 16 and the multifunctional clamping mechanism 2 are equipped with through-beam sensors and proximity sensors. Furthermore, multiple sets of processing fixtures 16 are each equipped with sensors that correspond to sensors on the multifunctional clamping mechanism 2. This means that there is a "many-to-one" relationship between the sensors on the multiple processing fixtures 16 and the sensors on the multifunctional clamping mechanism 2. Not shown in the accompanying drawings, the placement of the through-beam sensors and proximity sensors on the processing fixture 16 and the multifunctional clamping mechanism 2 is not critical. The functionality described herein can be achieved by installing the sensors in any location where sensor recognition is possible. Similar sensor models are available on the market, and are not described in detail here.

[0050] like Figures 6 to 13As shown, for workpieces with different side shapes, a more multi-directional and complex clamping effect can be achieved, adapting to the clamping of workpieces of various shapes and sizes, thus distinguishing itself from the clamping methods of the prior art. The flexible clamp 23 is rotatably connected to the fixed base 24 via a first rotating shaft hinge 26. The pneumatic contact 25 is rotatably mounted on the end of the fixed base 24 via a second rotating shaft hinge 213. A driver for rotating the pneumatic contact 25 is provided at the second rotating shaft hinge 213. The driver can be a servo motor, etc. The expansion and contraction of the pneumatic contact 25 itself is driven by a pipeline and an air source.

[0051] The fractal clamp 28 at the top of the telescopic rod 27 includes multiple sets of fractal chucks 214. The rotation planes of the multiple sets of fractal chucks 214 are arranged parallel to the rotation plane of the fixed base 24. During clamping, the multiple sets of fractal chucks 214 of the fractal clamp 28 all conform to the side of the workpiece. The number of multiple sets of fractal chucks 214 needs to be adjusted according to the shape of the workpiece to be clamped. The specific number of multiple sets of fractal chucks 214 is based on the requirement that all fractal chucks 214 at the end of the fractal clamp 28 can fully conform to the surface of the workpiece during the actual clamping process.

[0052] Regarding the control method of the flexible clamp 23, the fixed seat 24, and the pneumatic contact 25, as shown in FIG. Figures 11 to 13 As shown, torque sensors are provided on the rotating shaft hinge 1 26 and the rotating shaft hinge 2 213, and pressure sensors are provided on the clamp head of the flexible clamp 23 and the telescopic rod 27 of the fixed seat 24. The torque sensor is used to monitor the force applied between the flexible clamp 23 and the fixed seat 24, and the pressure sensor is used to detect the clamping force between the flexible clamp 23, the top part of the telescopic rod 27 and the workpiece. The torque sensor, more specifically, the dynamic torque sensor is set to a resistive strain type dynamic torque sensor, for example, a VDT85 torque sensor can be used, and the pressure sensor is also set to a resistive strain type sensor, and the model can be an SBT641 pressure sensor. The clamp device also includes a controller for receiving these sensor data, and the controller can be set to a small controller such as a single-chip microcomputer.

[0053] Specifically, the telescopic rod 27 is configured as a telescopic sleeve structure with a spring inside. The telescopic rod 27 has an adaptive buffering and telescopic function, which is used to assist the fractal clamp 28 to fit the side of the clamped workpiece. Multiple groups of telescopic rods 27 are distributed in an array on the fixed seat 24.

[0054] Regarding the overall working method of the clamping device, the flexible clamp 23, the fractal clamp 28 on the fixed base 24, and the pneumatic contact 25 form a surrounding structure to clamp the side of the workpiece. This surrounding clamping improves the stability and applicability of the clamping from the perspectives of increasing friction, increasing the clamping contact area, and clamping at multiple angles.

[0055] like Figure 11 and Figure 13 As shown, after the pneumatic contact 25 rotates, it forms a surrounding posture with the flexible clamp 23 and the fixed seat 24, which can completely clamp multiple sides of the workpiece. This complete side clamping method can achieve a better clamping effect when applying appropriate clamping force. From the perspective of clamping stability, this solution increases the clamping contact area and clamping friction, and clamps the workpiece from multiple directions through the transformable clamp. The above-mentioned deformable method not only improves the clamping stability, but also has good applicability for workpieces of different shapes.

[0056] like Figure 14 As shown, in the process of intelligent manufacturing, there are many shapes of workpieces that need to be clamped. Taking the four workpiece shapes in the figure as an example, the workpieces in the figure include fork workpieces, round workpieces, rectangular workpieces, and I-shaped workpieces. For workpieces with relatively weak strength, excessive clamping force will cause damage to the workpiece, while excessive clamping force and inappropriate clamping methods will cause problems in clamping, which will affect the subsequent process.

[0057] like Figures 1 to 4 As shown, regarding the three-dimensional driven movement of the multifunctional clamping mechanism 2 on the frame 11, two groups of mobile modules 1 12 are installed on the frame 11 through the bracket, and the two groups of mobile modules 1 12 are driven to install mobile modules 2 13, and the mobile slider of mobile module 2 13 is installed with a lifting module 14. The multifunctional clamping mechanism 2 is set on the lifting module 14 and is lifted and lowered by the lifting module 14. The multifunctional clamping mechanism 2 is driven to move in three dimensions through the mobile module 1 12, the mobile module 2 13 and the lifting module 14. The mobile drive of the multifunctional clamping mechanism 2 also needs to be controlled by a single-chip microcomputer or a drive controller such as a PLC controller, and can be controlled by a Gcode method similar to CNC. This is common knowledge for those skilled in the art and will not be elaborated here.

[0058] In summary, the present invention has the following comprehensive effects:

[0059] The flexible clamp 23 and the fractal clamp 28 work together. The flexible clamp 23 provides the basic clamping force, while the fractal clamp 28 adaptively conforms to the workpiece's sides through multiple sets of fractal chucks 214. The fixed base 24 can be rotated to adjust its angle, and combined with the pneumatic contact 25 to adaptively expand and clamp the workpiece end face, a multi-directional, multi-angle, enveloping clamping structure is formed. The chain drives the fixed base 24: Driver 211 controls the rotation of the fixed base 24 via a unidirectional drive chain 210, pulling the fixed base 24 closed during rewinding and supporting it to expand during unwinding, providing greater torque and flexibility. Adaptive adjustment and feedback control: The sensing system: A torque sensor at the hinge of the rotating shaft monitors the applied force, and a pressure sensor provides real-time feedback on the clamping force. The controller dynamically adjusts clamping parameters based on this data, such as the driver speed and the pressure of the pneumatic contact 25, to avoid overload or under-clamping. The spring cushioning function of the telescopic rod 27: The spring inside the telescopic rod 27 provides the fractal clamp 28 with adaptive cushioning, adapting to uneven workpiece surfaces or sudden changes in shape. In the automated collaborative process, the multifunctional clamping mechanism 2 realizes the workpiece grasping and transportation through the three-dimensional mobile module; the processing fixture 16 is linked with the clamping mechanism through the through-beam and proximity sensors to accurately complete the workpiece handover and ensure the processing position accuracy.

[0060] High applicability and stability, the array-type chuck of the fractal fixture 28, the deformation ability of the flexible fixture 23, and the end-face fitting design of the pneumatic contact 25 can adapt to complex workpieces such as shift forks, round, rectangular, and I-shaped workpieces. The contact area is increased, the friction is improved, and the clamping stability is significantly better than that of a single fixture solution. Damage prevention and precision control, the sensor monitors the clamping force in real time, and automatically adjusts in combination with the controller to avoid deformation of the workpiece due to over-tightening or slippage due to over-loosening. It is especially suitable for thin-walled or precision workpieces with weak strength. Efficient automation integration, the collaborative operation of the three-dimensional drive and the processing fixture 16 realizes unmanned operation. The sensor system ensures seamless transfer of the workpiece, reduces manual intervention, and improves the efficiency of the intelligent manufacturing production line. Structural innovation improves drive performance. The chain drive replaces the traditional shaft direct drive, with greater torque output, and the chain groove 215 constrains the chain trajectory, enhancing the stability of the rotation of the fixed seat 24, which is suitable for clamping large-size or high-load workpieces. The above describes the embodiments of the present invention, but the present invention is not limited to the above specific implementation methods. The above specific implementation methods are merely illustrative and not restrictive. Ordinary technicians in this field can also make many forms under the guidance of the present invention, all of which are protected by the present invention.

Claims

1. A multifunctional fixture device for intelligent manufacturing, characterized in that: It comprises a frame (11) and a multifunctional clamping mechanism (2) capable of three-dimensionally driven movement; The multifunctional clamping mechanism (2) comprises a driver (21) and two groups of clamping plates (22), wherein the driver (21) is used to drive the clamping movement of the two groups of clamping plates (22), and flexible clamps (23) are installed on the inner sides of the two groups of clamping plates (22), and both sides of the flexible clamps (23) are rotatably connected to fixed seats (24); The inner side surface of the fixed seat (24) is provided with a plurality of groups of telescopic rods (27) distributed in an array, and a fractal clamp (28) is installed on the telescopic rod (27); after the fixed seat (24) rotates on the side of the flexible clamp (23), the fractal clamp (28) and the flexible clamp (23) clamp the two side surfaces of the workpiece from different angles; both ends of the two groups of fixed seats (24) are driven to rotate and pneumatic contacts (25) are installed, and the pneumatic contacts (25) are used for flexible clamping of the two ends of the workpiece after rotation, and the pneumatic contacts (25) fully fit the end surface of the workpiece after pneumatic triggering.

2. The intelligent manufacturing multifunctional fixture device according to claim 1, characterized in that: A driving sprocket (29) is installed on the flexible clamp (23) through a second driver (211), a driving chain (210) is provided on the driving sprocket (29), two ends of the driving chain (210) are respectively connected to two groups of fixed seats (24), and the second driver (211) rotates and drives the two groups of fixed seats (24) through the driving sprocket (29) and the driving chain (210).

3. The intelligent manufacturing multifunctional fixture device according to claim 2, characterized in that: When the driving sprocket (29) reels the driving chain (210), the driving sprocket (29) pulls the two groups of fixed seats (24). When the driving sprocket (29) unwinds the driving chain (210), that is, when the driving sprocket (29) rotates in the opposite direction to the rewinding direction, the driving sprocket (29) supports the two groups of fixed seats (24). The fixed seats (24) are provided with chain grooves (215). The driving sprocket (29) moves along a set trajectory in the chain grooves (215) to drive the opening and closing rotation of the two groups of fixed seats (24).

4. The intelligent manufacturing multifunctional fixture device according to claim 1, characterized in that: A processing fixture (16) is also provided on the machine frame (11), and the processing fixture (16) is used to receive and clamp workpieces of different shapes clamped by the multifunctional clamping mechanism (2).

5. The intelligent manufacturing multifunctional fixture device according to claim 4, characterized in that: The processing fixture (16) and the multifunctional clamping mechanism (2) are also provided with a through-beam sensor and a proximity sensor. When the multifunctional clamping mechanism (2) moves to above the target processing fixture (16), the through-beam sensor recognizes that the processing fixture (16) is opened. When the proximity sensor recognizes that the proximity distance between the processing fixture and the multifunctional clamping mechanism meets the set distance, the multifunctional clamping mechanism (2) releases the workpiece, and the processing fixture (16) clamps the workpiece, thereby completing the workpiece clamping and transfer process.

6. The intelligent manufacturing multifunctional fixture device according to claim 1, characterized in that: The flexible clamp (23) is rotatably connected to the fixed seat (24) via a first rotating shaft hinge (26); the pneumatic contact (25) is rotatably mounted on the end of the fixed seat (24) via a second rotating shaft hinge (213); a driver for rotating the pneumatic contact (25) is provided at the second rotating shaft hinge (213); and the expansion and contraction drive of the pneumatic contact (25) itself is realized by driving a pipeline and an air source.

7. The intelligent manufacturing multifunctional fixture device according to claim 6, characterized in that: The fractal clamp (28) at the top of the telescopic rod (27) includes a plurality of fractal clamps (214), the rotation planes of the plurality of fractal clamps (214) and the rotation plane of the fixed seat (24) are arranged in parallel, and the plurality of fractal clamps (214) of the fractal clamp (28) are all attached to the side of the workpiece during clamping.

8. The intelligent manufacturing multifunctional fixture device according to claim 7, characterized in that: The first rotating shaft hinge (26) and the second rotating shaft hinge (213) are provided with torque sensors, and the clamp head of the flexible clamp (23) and the telescopic rod (27) of the fixed seat (24) are provided with pressure sensors. The torque sensor is used to monitor the force applied between the flexible clamp (23) and the fixed seat (24), and the pressure sensor is used to detect the clamping force between the flexible clamp (23), the top part of the telescopic rod (27) and the workpiece.

9. The intelligent manufacturing multifunctional fixture device according to claim 1, characterized in that: The telescopic rod (27) is configured as a telescopic sleeve structure with a spring inside. The telescopic rod (27) has an adaptive buffer telescopic function and is used to assist the fractal clamp (28) in fitting the side of the clamped workpiece. Multiple groups of telescopic rods (27) are distributed in an array on the fixed seat (24).

10. The intelligent manufacturing multifunctional fixture device according to claim 9, characterized in that: The flexible clamp (23), the fractal clamp (28) on the fixing seat (24), and the pneumatic contact (25) are in a surrounding structure to clamp the side of the workpiece.

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