Clamping tool for wax mould

Abstract

The invention discloses a clamping tool for a wax mold. The clamping tool comprises a supporting plate, a camera, a chuck and a clamping jaw. The plate face of the supporting plate is rotationally connected to the action end of the mechanical arm. The camera is fixed to the side end of the supporting plate so as to recognize the placing posture of the wax mold. The upper end of the chuck is fixed to the bottom face of the supporting plate, and the lower end is slidably connected with a plurality of adapters in the radial direction. The clamping jaw comprises a first jaw body, a second jaw body and a third jaw body, the upper ends of the clamping jaw can be clamped with the adapter, and the lower end of the clamping jaw can clamp a wax mold; the first claw body, the second claw body and the third claw body can be pairwise matched to be matched with clamping of wax molds in different placing postures. According to the wax mold clamping device, through mutual combination of the first claw bodies, the second claw bodies and the third claw bodies of different numbers, clamping operation of wax molds at different placing positions can be achieved; according to the method, the situations encountered in the wax mold clamping process are considered in detail from the whole to details, the action that a robot replaces manual work to clamp the wax mold to move and place the wax mold can be achieved, and a feasible scheme is provided for assembly line work.

Description

Technical Field

[0001] The invention relates to the technical field of investment casting, and more particularly to a clamping tool for wax patterns. Background Art

[0002] Precision casting usually uses the investment casting process, which involves using a wax injection machine to inject medium-temperature wax liquid into a metal mold. After the medium-temperature wax mold solidifies, the wax mold is removed and a high-strength thin sand shell is made on the surface of the wax mold. Subsequently, the medium-temperature wax in the sand shell cavity is removed through a dewaxing process to obtain a hollow sand shell. Finally, molten steel is poured into the hollow sand shell. After the molten steel solidifies, the sand shell is removed to obtain high-quality castings.

[0003] The reason why the investment casting process uses medium-temperature wax as a transition product is because it has many advantages, such as high thermal stability, strong plasticity, and easy molding of complex structures. The medium-temperature wax mold made using a metal mold has small dimensional deformation and high surface accuracy. In the traditional medium-temperature wax mold making process, the wax mold is carefully removed from the metal mold by hand. Because the surface temperature of the newly made wax mold is high and the internal wax liquid is not completely solidified, the strength of the wax mold body is poor. Excessive force or deviation of the mold removal angle during manual mold removal will cause the medium-temperature wax mold to deform at the moment of removal. In order to reduce the deformation of the wax mold caused by human error during the medium-temperature wax mold removal process, the efficiency of manual mold removal must be sacrificed to improve the success rate of manual mold removal.

[0004] Medium-temperature wax patterns are characterized by low surface strength and easy deformation. With technological advancements, robots are increasingly being used in a wide range of scenarios. Due to their high repeatability, programmability, and extended operating time, many casting production lines are now using robots to replace manual wax pattern handling. However, medium-temperature wax patterns come in a wide variety of types, and even the same type of wax pattern can vary in size. This makes the need for different tooling to handle wax patterns of varying sizes and types difficult and inefficient.

[0005] Therefore, how to provide a device that can clamp wax models of different placement forms and sizes and select the position where the wax model is less damaged is a problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0006] In view of this, the present invention provides a clamping tool for wax models, which can clamp wax models with different placement postures by using different types of claws. From the overall to the details, the situations encountered in the process of clamping wax models are carefully considered, and robots can replace manual clamping and moving of wax models, providing a practical solution for assembly line operations.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A wax model gripping tool, mounted on a robot arm, comprising:

[0009] A support plate, the surface of which is rotatably connected to the action end of the robotic arm;

[0010] A camera, fixed to a side end of the support plate to identify the placement posture of the wax model;

[0011] A chuck, wherein the upper end of the chuck is fixed to the bottom surface of the support plate, and the lower end of the chuck is connected to a plurality of adapters in a radially sliding manner;

[0012] The clamping jaws include a first claw body, a second claw body and a third claw body. The upper ends of the first claw body, the second claw body and the third claw body can be clamped with the adapter, and the lower ends can clamp the wax model; the first claw body, the second claw body and the third claw body can be paired in pairs to adapt to the clamping of wax models with different placement postures.

[0013] The beneficial effect of the technical solution of the present invention is that the placement posture of the wax model is identified by the camera, and different numbers of first claws, second claws and third claws are selected according to the placement posture of the wax model to pair them up in pairs, so that wax models with different placement forms can be clamped.

[0014] Preferably, the first claw body includes a first claw plate and a push post. The lower end surface of the first claw plate is provided with a first slot. The push post is slidably connected to the first slot and can be slid up and down to be inserted into the bolt hole of the wax model flower flange. The push post can be inserted into the bolt hole of the wax model flower flange, and the position of the push post can be adjusted up and down to adapt to the clamping operation of wax models of different models and structural sizes.

[0015] Preferably, the second claw body includes a second claw plate, a gasket and a boss; the gasket is fixed to a side panel at the lower end of the second claw plate and can fit with the outer wall of the wax model; the boss is fixed to the other side panel at the lower end of the second claw plate and can fit with the inner wall of the wax model; the two second claw bodies can adapt to the clamping of the vertically placed wax model by external clamping or internal support. The two second claw bodies can clamp the vertically placed wax model. When the structural size of the wax model is small, the two second claw bodies are clamped on the outer wall of the circular flange of the wax model, and the gasket abuts against the outer wall of the circular flange, and the damage to the wax model can be prevented by the gasket; when the structural size of the wax model is large, the two second claw bodies can penetrate into the inner cavity of the wax model, and the boss fits with the inner wall of the wax model to achieve supported clamping of the wax model, and the boss can be used to prevent damage to the wax model.

[0016] Preferably, the third claw body includes a third claw plate and a screw rod, and the lower end panel of the third claw plate is provided with a second slide groove, and the length direction of the slot of the second slide groove is perpendicular to the length direction of the slot of the first slide groove; the number of the screw rods is two and both are slidably connected in the second slide groove, and the two screw rods can be inserted into the flange holes of the circular flange of the wax mold; the first claw body and the third claw body are adapted to the clamping of the horizontally placed wax mold by inserting the bolt holes and the flange holes. For the horizontally placed wax mold, it can be clamped by inserting the top rod on the first claw body and the screw rod on the third claw body into the bolt holes of the flower flange and the flange holes of the circular flange respectively. The height of the top rod can be adjusted by the first slide groove to adapt to wax molds of different structural sizes, and the spacing between the two screw rods can be adjusted by the second slide groove to adapt to different hole spacings on the circular flange.

[0017] Preferably, the clamping jaw further includes a connecting plate and a connecting head; the bottom surface of the connecting plate is fixed to the upper end surface of the first claw body, the second claw body, or the third claw body; the connecting head is fixed to the top surface of the connecting plate and can be snapped into the adapter. The connecting plate connects the claw body and the connecting head, and the connecting head and the adapter are connected to each other to realize the wax model clamping.

[0018] Preferably, the adapter is fixed with a plurality of clamping cones, and the connector is provided with a plurality of clamping holes adapted to the clamping cones. The clamping cones and the clamping holes cooperate with each other to facilitate the removal of the claw body, and different types of claw bodies can be replaced to adapt to the clamping of wax models in different placement postures.

[0019] Preferably, the machine further comprises a turntable, the upper end of which is fixed to the action end of the robot arm; a side panel of the support plate is rotatably abutted against the lower end surface of the turntable, and the support plate is rotated by the turntable.

[0020] Preferably, the servo motor is further included, wherein the servo motor is fixed on the top surface of the support plate and the output shaft thereof is connected to the chuck in a transmission manner. The servo motor is used to control the opening and closing of the claw body.

[0021] Preferably, the chuck includes a disc body, a transmission disc, and a slider. The disc body is fixed to the bottom surface of the support plate; the lower end of the disc body is provided with a plurality of receiving slots; the transmission disc is disposed within the disc body, and its circumference is in rotational contact with the inner wall of the disc body; the middle portion of the upper surface of the transmission disc is fixed to the output shaft of the servo motor, and the lower surface is provided with a flat thread; the slider is placed within the receiving slot, and its upper surface is fixed with teeth that engage with the thread grooves of the flat thread; the lower surface of the slider is bolted to the adapter. The engagement of the slider with the transmission disc converts the rotation of the transmission disc into radial linear motion of the slider relative to the transmission disc, thereby achieving the opening and closing of the chuck jaws.

[0022] Preferably, a force sensor is fixed on the support plate to monitor the clamping force of the clamping claw on the wax model. The force sensor detects the clamping force of the clamping claw on the wax model to prevent the wax model from being damaged due to excessive clamping force.

[0023] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a clamping tool for wax models, which can realize the clamping operation of wax models in different placement positions through the mutual combination of different numbers of first claws, second claws and third claws; the present invention carefully considers the situations encountered in the process of clamping wax models from the overall to the details, and can realize the action of robots replacing manual clamping and moving of wax models, providing a practical solution for assembly line operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the structure of the clamping tool provided by the present invention;

[0026] Figure 2 A schematic diagram of the bottom-up structure of the chuck provided by the present invention;

[0027] Figure 3 A schematic diagram of the claw structure provided by the present invention;

[0028] Figure 4 A schematic diagram of the structure of the third claw provided by the present invention;

[0029] Figure 5 A schematic diagram of a horizontally placed wax model clamping device provided by the present invention;

[0030] Figure 6 This is a schematic diagram of the vertically placed wax model outer clamp provided by the present invention;

[0031] Figure 7 This is a schematic diagram of the vertically placed wax mold inner support provided by the present invention.

[0032] Among them, 1-turntable; 2-support plate; 3-servo motor; 4-chuck; 41-disc body; 42-slider; 43-adapter; 44-cone; 5-claw; 51-connector; 511-hole; 52-first claw; 521-first slide; 522-top column; 53-second claw; 531-gasket; 532-boss; 54-third claw; 541-second slide; 542-screw; 6-camera; 7-wax mold; 8-force sensor. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Participate in the Figures 1 to 4According to an embodiment of the present invention, a clamping tool for wax models is installed on the robot's mechanical arm. It can adaptively adjust wax models of different placement postures and sizes and then clamp the wax models. From the overall to the details, the situations encountered in the process of clamping the wax models are carefully considered, and the robot can replace the manual clamping and moving of the wax models to provide a practical solution for assembly line operations. It includes a support plate 2, a camera 6, a chuck 4 and a clamping claw 5; the plate surface of the support plate 2 is rotatably connected to the action end of the mechanical arm; The machine 6 is fixed to the side end of the support plate 2 to identify the placement of the wax model 7; the upper end of the chuck 4 is fixed to the bottom surface of the support plate 2, and the lower end of the chuck 4 is connected to multiple adapters 43 along its radial sliding direction; the clamping jaw 5 includes a first claw body 52, a second claw body 53, and a third claw body 54. The upper ends of the first claw body 52, the second claw body 53, and the third claw body 54 can all be engaged with the adapter 43, and the lower ends can clamp the wax model 7; the first claw body 52, the second claw body 53, and the third claw body 54 can be paired in pairs to adapt to the clamping of wax models 7 with different placement postures. The number of adapters 43 is four, and the two adapters 43 arranged opposite each other can be connected to the two claws to adapt to the placement of the wax model. In this embodiment, the four adapters 43 are each engaged with two claws; the wax model 7 is clamped by at least two claws. The clamping jaw 5 also includes a connecting plate 55 and a connector 51. The bottom surface of the connecting plate 55 is fixed to the upper end surface of the first claw 52, ​​the second claw 53, or the third claw 54. The connector 51 is fixed to the top surface of the connecting plate 55 and can be engaged with the adapter 43. The first claw 52, ​​the second claw 53, and the third claw 54 are each equipped with a connecting plate 55 and a connector 51, which can be engaged with the adapter 43 through the connector 51. The adapter 43 is fixed with multiple clamping cones 44, and the connector 51 is provided with multiple clamping holes 511 that adapt to the clamping cones 44. The clamping cones 44 are inserted into the clamping holes 511 to achieve the clamping connection between the adapter 43 and the connector 51.

[0035] In other specific embodiments, Figure 2 and 4 As shown, an assembly hole is provided in the middle of the connector 51, and a bearing is fixed to the lower end of the adapter 43. When the adapter 43 is engaged with the connector 51, the bearing can be embedded in the assembly hole, and the bearing is used to realize the rotation of the first claw 52, ​​the second claw 53 or the third claw 54 relative to the adapter 43. The clamping angle of the wax model 7 can be adjusted by rotation, and the wax model of the opposite sex can be clamped.

[0036] In this embodiment, the camera is a visual camera connected to a control system that can detect different placement postures of the wax model. According to the placement posture of the wax model, the control system drives the movement of the robotic arm and the rotation of the support plate, so that the connecting head selects the claw body corresponding to the placement posture of the wax model to be clamped. After the corresponding claw body is installed, the opening and closing of the two claw bodies are adjusted by the chuck to adapt to the size of the wax model to achieve the clamping of the wax model.

[0037] In order to further optimize the above technical solution and better realize the rotation of the support plate, it also includes a turntable 1, the upper end of which is fixed to the action end of the robotic arm; a side panel of the support plate 2 is rotatably abutted against the lower end surface of the turntable 1.

[0038] The turntable is fixed at the action end of the robotic arm, and the middle part of the turntable is connected to a rotating shaft, which is rotated by the driving mechanism of the robotic arm. The lower end of the rotating shaft is fixed to the plate surface of the support plate, and the rotation of the support plate is realized by the rotating shaft.

[0039] In order to further optimize the above technical solution, the relative distance between the two claws can be adjusted, that is, the degree of opening and closing between the two claws can be adjusted. A servo motor 3 is also included. The servo motor 3 is fixed to the top surface of the support plate 2 and its output shaft is connected to the chuck 4. The chuck 4 includes a disc body 41, a transmission disc, and a slider 42. The disc body 41 is fixed to the bottom surface of the support plate 2; the lower end of the disc body 41 is provided with a plurality of receiving grooves; the transmission disc is arranged in the disc body 41 and its circumference is in rotational contact with the inner wall of the disc body; the middle portion of the upper surface of the transmission disc is fixed to the output shaft of the servo motor 3, and the lower surface is provided with a flat thread; the slider 42 is placed in the receiving groove and its upper surface is fixed with teeth that mesh with the thread grooves of the flat thread; the lower surface of the slider 42 is bolted to the adapter 43.

[0040] like Figure 1 As shown, the turntable and servo motor are both located on the top surface of the support plate, with the camera positioned on the side of the support plate closest to the turntable. The disk is fixed to the bottom surface of the support plate and is in transmission connection with the servo motor. The center of the transmission disk is keyed to the output shaft of the servo motor. The bottom surface of the transmission disk utilizes flat threads that mesh with the teeth on the slider. The transmission mechanism between the slider and the transmission disk is similar to that of a worm gear. The rotational motion of the transmission disk is converted into radial linear motion of the slider relative to the transmission disk, and the sliding of the slider realizes the opening and closing of the claws.

[0041] In this embodiment, the wax model placed vertically can be clamped by external clamping or internal support. Figure 6 and 7 As shown, the second claw body 53 includes a second claw plate, a gasket 531 and a boss 532; the gasket 531 is fixed on a side panel at the lower end of the second claw plate and can fit with the outer wall of the wax model 7; the boss 532 is fixed on the other side panel at the lower end of the second claw plate and can fit with the inner wall of the wax model 7; the two second claw bodies 53 can be adapted to clamp the vertically placed wax model 7 by external clamping or internal support.

[0042] When two second claws are used to clamp the wax model, the two second claws are arranged relative to each other, and the gaskets on the two second claws are also arranged relative to each other. The gasket is made of nylon and has a V-shaped groove on the side of the gasket away from the first claw plate. When the vertically placed wax model is clamped using the external clamping method, the gasket contacts the outer peripheral surface of the circular flange of the wax model. The nylon gasket has a certain degree of deformation ability, which can prevent damage to the wax model. When the vertically placed wax model is clamped using the internal support method, the two first claws penetrate deep into the inner cavity of the wax model, and the boss contacts the inner wall of the wax model. The boss is made of rubber material and has flexible deformation ability, which can prevent damage to the wax model.

[0043] In other specific embodiments, when the wax mold is hard, the gasket or boss can be removed, and the wax mold can be clamped by directly abutting the plate surface of the second claw plate against the outer wall of the circular flange or the inner wall of the wax mold using the clamping force between the two second claws.

[0044] For wax models placed horizontally, they can be clamped by hooking the bolt holes of the wax model's flower flange and the flange holes on the round flange. The first claw body 52 includes a first claw plate and a top column 522. A first slide 521 is provided on the lower end plate surface of the first claw plate. The top column 522 is slidably connected in the first slide 521 and can be slid up and down to be inserted into the bolt hole of the flower flange of the wax model 7. The third claw body 54 includes a third claw plate and a screw 542. A second slide 541 is provided on the lower end panel of the third claw plate. The length direction of the slot of the second slide 541 is perpendicular to the length direction of the slot of the first slide 521. There are two screws 542 and both are slidably connected in the second slide 541. The two screws 542 can be inserted into the flange holes of the round flange of the wax model 7. The first claw body 52 and the third claw body 54 are adapted to the clamping of the horizontally placed wax model 7 by inserting the bolt holes and the flange holes.

[0045] like Figure 5 As shown, the push rod is inserted into the bolt hole of the wax model flower flange, and the screw rod is inserted into the flange hole of the wax model circular flange. The cooperation of the push rod and the screw rod can realize the clamping of the horizontally placed wax model. For wax models of different structural sizes, the relative position of the push rod and the first slide groove is adjusted up and down. The push rod can be limited by a nut or a pin. Specifically, after the position of the push rod is adjusted, the nut is tightened or the pin is inserted to limit the sliding of the push rod. The up and down adjustment of the push rod can adapt to wax models of different heights (corresponding to horizontal placement). The two screw rods can slide along the second slide groove. Similarly, the sliding of the two screw rods can be limited by nuts or pins. By adjusting the spacing between the two screw rods, the different spacings between the two adjacent flange holes on the circular flange can be adapted. By adjusting the screw rod and the push rod, wax models of different types and different structural sizes can be clamped.

[0046] In other specific embodiments, for wax models placed horizontally, two first claws or two fourth claws can be selected for clamping, or a second claw gasket or boss can be used to contact the surface of the round flange or flower flange, and a first claw or a third claw can be inserted into the bolt hole or flange hole of the flower flange or round flange for clamping.

[0047] In other specific embodiments, for a vertically placed wax model, the two first claws may be respectively in contact with the surface of a circular flange or a flower flange for clamping.

[0048] In this embodiment, to prevent damage to the wax model due to excessive clamping force, a force sensor 8 is fixed to the support plate 2 to monitor the clamping force of the clamping jaws 5 on the wax model 7. The force sensor is communicatively connected to the control system and electrically connected to the connector. The opening and closing of the two jaws are adjusted by the forward or reverse rotation of the servo motor. The force sensor detects the clamping force between the two connectors and provides feedback to the control system. Based on the feedback, the control system fine-tunes the forward or reverse rotation of the servo motor to fine-tune the opening and closing of the two jaws, thereby ensuring that the clamping force between the two jaws is within an appropriate range and does not damage the wax model.

[0049] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0050] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clamping tool for wax models, mounted on a robot arm, characterized in that: include: A support plate (2), the surface of the support plate (2) being rotatably connected to the action end of the robotic arm; A camera (6), the camera (6) being fixed to a side end of the support plate (2) to identify the placement posture of the wax model (7); A chuck (4), the upper end of the chuck (4) being fixed to the bottom surface of the support plate (2), and the lower end of the chuck (4) being slidably connected to a plurality of adapters (43) along its radial direction; The clamping jaw (5) comprises a first claw body (52), a second claw body (53) and a third claw body (54); the upper ends of the first claw body (52), the second claw body (53) and the third claw body (54) can be engaged with the adapter (43), and the lower ends can clamp the wax model (7); the first claw body (52), the second claw body (53) and the third claw body (54) can be paired in pairs to adapt to the clamping of wax models (7) with different placement postures.

2. A clamping tool for wax models according to claim 1, characterized in that: The first claw body (52) includes a first claw plate and a top column (522), a first sliding groove (521) is provided on the lower end plate surface of the first claw plate, and the top column (522) is slidably connected in the first sliding groove (521) and can be slid up and down to be inserted into the bolt hole of the flower flange of the wax mold (7).

3. A clamping tool for wax models according to claim 2, characterized in that: The second claw body (53) comprises a second claw plate, a gasket (531) and a boss (532); the gasket (531) is fixed on a side panel at the lower end of the second claw plate and can fit with the outer wall of the wax model (7); the boss (532) is fixed on the other side panel at the lower end of the second claw plate and can fit with the inner wall of the wax model (7); the two second claw bodies (53) can be adapted to clamp the vertically placed wax model (7) by external clamping or internal supporting.

4. A clamping tool for wax models according to claim 3, characterized in that: The third claw body (54) includes a third claw plate and a screw rod (542), and the lower end panel of the third claw plate is provided with a second slide groove (541), and the length direction of the slot of the second slide groove (541) is perpendicular to the length direction of the slot of the first slide groove (521); there are two screw rods (542) and both are slidably connected in the second slide groove (541), and the two screw rods (542) can be inserted into the flange hole of the circular flange of the wax mold (7); the first claw body (52) and the third claw body (54) are adapted to the clamping of the horizontally placed wax mold (7) by inserting the bolt hole and the flange hole.

5. A clamping tool for wax models according to any one of claims 1 to 4, characterized in that: The clamping jaw (5) further comprises a connecting plate (55) and a connecting head (51); the bottom surface of the connecting plate (55) is fixed to the upper end surface of the first claw body (52), the second claw body (53) or the third claw body (54); the connecting head (51) is fixed to the top surface of the connecting plate (55) and can be clamped with the adapter (43).

6. A clamping tool for wax models according to claim 5, characterized in that: A plurality of clamping cones (44) are fixed on the adapter (43), and a plurality of clamping holes (511) adapted to the clamping cones (44) are provided on the connector (51).

7. A wax model clamping tool according to claim 1, characterized in that: It also includes a turntable (1), the upper end of which is fixed to the action end of the robotic arm; and a side panel of the support plate (2) is in rotational contact with the lower end surface of the turntable (1).

8. The clamping tool for wax model according to claim 1, characterized in that: It also includes a servo motor (3), which is fixed on the top surface of the support plate (2) and has an output shaft that is connected to the chuck (4) in a transmission manner.

9. A clamping tool for wax models according to claim 8, characterized in that: The chuck (4) comprises a disc body (41), a transmission disc and a slider (42), wherein the disc body (41) is fixed to the bottom surface of the support plate (2); a plurality of receiving grooves are provided at the lower end of the disc body (41); the transmission disc is arranged in the disc body (41) and its peripheral surface is rotatably abutted against the inner wall of the disc body; the middle portion of the upper surface of the transmission disc is fixed to the output shaft of the servo motor (3), and a flat thread is provided on the lower surface; the slider (42) is placed in the receiving groove and teeth are fixed on its upper surface to engage with the thread groove of the flat thread; the lower surface of the slider (42) is bolted to the adapter (43).

10. The clamping tool for wax model according to claim 1, characterized in that: A force sensor (8) is fixed on the support plate (2) to monitor the clamping force of the clamping jaws (5) on the wax model (7).

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