A u-shaped multi-degree of freedom clamping device and a method of using the same

Abstract

The present application relates to the technical field of clamping devices, in particular to a U-shaped multi-degree-of-freedom clamping device and a using method thereof, which is used for clamping large-size workpieces. The clamping device comprises a base, a supporting rotation module, a first swing module, a U-shaped frame and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at two ends of the U-shaped frame. Each set of clamping modules comprises a second swing module, a lifting module and a clamp. The supporting rotation module is used for driving the U-shaped frame to rotate. The first swing module is used for driving the U-shaped frame to swing around a first rotation pair through a first driving assembly. The second swing module is used for driving the corresponding lifting module to swing through a second driving assembly. The lifting module is used for driving the clamp to move up and down through a third driving assembly. Through the clamping device and the using method thereof, multi-degree-of-freedom high-precision pose adjustment and positioning can be realized, six completely decoupled degrees of freedom are provided, and the problem of high-load fine adjustment can be solved, so that precise clamping of large-size workpieces can be realized.

Description

Technical Field

[0001] This invention relates to the field of clamping device technology, and in particular to a U-shaped multi-degree-of-freedom clamping device and its method of use. Background Technology

[0002] Multi-degree-of-freedom clamping devices have wide applications in industrial production, automated assembly, and experimental testing. Their main function is to grip, fix, and adjust the orientation of workpieces to meet the needs of different working scenarios. Existing clamping devices typically include simple mechanical grippers or single-degree-of-freedom rotational and lifting structures, capable of performing basic clamping tasks.

[0003] For example, in the prior art, Chinese utility model patent document with publication number CN221834359U and publication date October 15, 2024, discloses the following technical solution: combining a multi-degree-of-freedom robotic arm and axially and circumferentially adjustable grippers to achieve flexible gripping of bent structural components. In the above technical solution, the gripper driving method is complex, requiring high power and control precision, making it unsuitable for small or lightweight applications.

[0004] In the prior art, a Chinese invention patent document with publication number CN117103223A and publication date of November 24, 2023 has also been proposed. The technical solution disclosed in this patent document is as follows: movement is achieved by a moving device, rotation is achieved by a rotating base, tilting is achieved by a tilting device, and the clamping distance and clamping angle of the clamping device are controlled by a robotic arm.

[0005] The above-mentioned technical solutions have three-way rotational degrees of freedom coupling, lack of coordination capability, and cannot be adapted to high loads, making them unsuitable for clamping large-size workpieces that require simultaneous dual-area coordinated adjustment, high-load precise fine-tuning, and strict alignment of spatial references. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes a U-shaped multi-degree-of-freedom clamping device and its usage method, which can achieve high-precision attitude adjustment and positioning with multiple degrees of freedom, and has six completely decoupled degrees of freedom. It can solve the problem of fine adjustment under high load, has a compact structure, and is easy to operate, ultimately achieving precision clamping of large-sized workpieces in complex environments.

[0007] This invention is achieved by adopting the following technical solution:

[0008] A U-shaped multi-degree-of-freedom clamping device for clamping large workpieces includes a base, a supporting rotation module, a first swing module, a U-shaped frame, and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at both ends of the U-shaped frame. Each clamping module includes a second swing module, a lifting module, and a fixture. The U-shaped frame is positioned above the supporting rotation module via a first revolute joint. The supporting rotation module drives the U-shaped frame to rotate and adjust its azimuth angle. The first swing module drives the U-shaped frame to swing around the first revolute joint via a first drive component, ensuring that the fixture and the workpiece assembly surface remain coplanar or coaxial. The second swing module is connected to the end of the U-shaped frame and drives the corresponding lifting module to swing via a second drive component, adjusting the pitch direction of the fixture. The output flange of the lifting module is connected to the fixture and drives the fixture to move up and down via a third drive component.

[0009] The supporting rotation module includes a turntable, a drive mechanism, and a brake module. The turntable is connected to the base and the U-shaped frame, respectively. The drive mechanism is used to drive the turntable to rotate. The brake module is used to clamp or release the turntable.

[0010] The driving mechanism is a handwheel drive mechanism, including a handwheel, a drive shaft and a coupling. The handwheel is installed at one end of the drive shaft, and the other end of the drive shaft is connected to the rotating main shaft of the turntable through the coupling.

[0011] The brake module consists of an upper clamp, a lower clamp, and a brake handwheel; the brake handwheel drives the lower clamp to move up and down via a screw mechanism.

[0012] The two lifting modules are connected to the torque shaft via a universal joint.

[0013] The lifting module is equipped with a right-angle transmission bracket, which has two bevel gears. One bevel gear is connected to the torque shaft via a universal joint, and the other bevel gear is connected to the third drive assembly.

[0014] The first swing module includes a swing support base and a swing support plate. The swing support base is disposed on the support rotation module. One end of the swing support plate is connected to the swing support base through a rotating joint, and the other end is connected to the first driving member. The first driving member includes a support rod that can be raised and lowered. The other end of the support rod is connected to the U-shaped frame through a rotating joint, so that the U-shaped frame can perform lateral swinging motion.

[0015] The first rotating pair includes a swing shaft and rolling bearings located at both ends of the swing shaft.

[0016] The fixture includes several support columns disposed on the output flange surface of the lifting module, and the height and position of the support columns are adjustable.

[0017] A method of using a U-shaped multi-degree-of-freedom clamping device includes the following steps:

[0018] Step S1. By adjusting the support rotation module, the first drive assembly, and the second drive assembly, the coordinate system of the fixture is roughly aligned with the clamping reference of the workpiece to be clamped.

[0019] Step S2. By adjusting the third drive component, the clamp is moved vertically to the preset elevation;

[0020] Step S3. By adjusting the position and spacing of the fixture, make the fixture make multi-point contact with the surface of the workpiece to be clamped;

[0021] Step S4. Fix the workpiece to be clamped to the fixture and hold the workpiece in place;

[0022] Step S5. Fine-tune the support rotation module, the first drive assembly, and the second drive assembly again to ensure that the center line of the clamping device is coaxial or on the same plane as the workpiece assembly baseline, and then complete the locking.

[0023] Step S6. Open the clamp after the work is completed.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. Since clamping large workpieces requires at least two clamping areas that are relatively far apart, this invention addresses this issue by using a U-shaped frame and a design that precisely matches the relative positions of the two clamping modules with the clamping area of ​​the large workpiece, avoiding the coordination error problem inherent in existing independent clamping devices. Furthermore, by using a supporting rotation module and a first swing module, the two clamping modules can be synchronously linked to quickly match the spatial position of the large workpiece, thus solving the problems of difficult independent adjustment and low alignment efficiency in existing technologies. Further, based on synchronous matching, a second swing module (for clamp pitch adjustment) and a lifting module (for clamp vertical fine-tuning) enable precise positioning of individual clamping areas, ensuring clamping accuracy.

[0026] This clamping device, through ingenious combination and positioning design of existing conventional clamping units, boasts advantages such as simple and compact structure, high flexibility, and ease of operation. Furthermore, this device possesses six completely decoupled degrees of freedom, including three translational and three rotational degrees of freedom, with adjustments to each degree of freedom independent of each other. This design offers significant advantages in clamping large workpieces, greatly simplifying operation and improving accuracy—something that conventional coupled-degree-of-freedom solutions cannot achieve. Moreover, through the aforementioned structure, this device can precisely grip irregularly shaped workpieces.

[0027] 2. In this invention, the driving mechanism is a handwheel drive mechanism, which can precisely adjust the angle of the turntable by rotating the handwheel, ensuring a smooth and accurate rotation process, and is suitable for high-load and fine angle calibration scenarios for clamping large-sized workpieces.

[0028] 3. The two lifting modules are connected to the torque shaft via a universal joint, which ensures that the two lifting modules lift and lower synchronously, ensuring that the multiple clamping areas of large workpieces are subjected to balanced force and avoiding deformation or loosening; on the other hand, the universal joint can be adapted to the attitude adjustment of the first swing module and the second swing module, so that attitude adjustment and synchronous lifting do not interfere with each other.

[0029] 4. In this invention, the first swing module includes a swing support base, a swing support plate, and a liftable support rod. Through this structural design, one end of the swing support plate is hinged to the swing support base via a revolute joint, allowing it to rotate freely with the lateral swing of the U-shaped frame. This achieves complete rotational freedom, ensuring that the liftable support rod moves only vertically and does not need to rotate with the U-shaped frame, thus completely avoiding interference between the driven workpiece and the frame. This design significantly expands the lateral swing range of the U-shaped frame, adapting to the assembly requirements of large-sized workpieces at different angles, while ensuring stable vertical driving force of the support rod and improving posture adjustment accuracy.

[0030] 5. Rolling bearings are installed at both ends of the swing shaft, which greatly reduces the swing resistance and ensures that large workpieces swing smoothly without jamming under high load; at the same time, the rolling bearings have a stronger load-bearing capacity and can be adapted to clamping workpieces with greater weight, improving the reliability and service life of the device and meeting the assembly needs of industrial-grade large workpieces.

[0031] 6. Since there are several support columns, and their height and position are adjustable, the extension length and distribution position of the support columns can be adjusted individually according to the clamping hole position and diameter of the large workpiece. This achieves multi-point precise support without adjusting the overall module posture. It has stronger adaptability and can improve the clamping stability of large workpieces through multi-point support, avoiding workpiece shaking caused by single-point clamping and further ensuring assembly accuracy.

[0032] 7. The method of use of this invention, through the synchronous linkage of two sets of clamping modules on the U-shaped frame, enables the two sets of clamps to simultaneously match the two clamping areas of the workpiece, avoiding coordination errors caused by independent adjustments. Simultaneously, by employing the logic of first synchronously aligning the reference and then independently and actively adapting the clamping points, it perfectly solves the need for both coordination and adaptability of large-sized workpieces. This method transforms the disordered trial-and-error process into a precise and controllable process, forming a highly efficient, precise, and safe operating scheme specifically adapted to large-sized workpieces. Attached Figure Description

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, wherein:

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0035] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0036] Figure 3 This is a partially enlarged schematic diagram of the supporting rotation module and the first swing module in this invention;

[0037] Figure 4 This is a partially enlarged schematic diagram of the second swing module and the lifting module in this invention;

[0038] Marked in the image:

[0039] 1. Brake seat; 2. Lower clamp; 3. Upper clamp; 4. Brake handwheel; 5. Turntable; 7. Linear displacement handwheel; 8. Right-angle transmission bracket; 9. Output flange; 11. Fixing plate; 12. Guide rail; 15. Support column; 16. Universal joint; 17. Torque shaft; 18. Worm gear reducer; 19. Lateral rotation handwheel; 20. Swing handwheel; 21. Screw jack; 22. Swing support plate; 23. Swing support seat; I. Base; II. Support rotation module; III. First swing module; IV. U-shaped frame; V. Second swing module; VI. Lifting module; VII. Clamp. Detailed Implementation

[0040] Example 1

[0041] As a basic embodiment of the present invention, the present invention includes a U-shaped multi-degree-of-freedom clamping device for clamping large-sized workpieces. The clamping device includes a base I, a support rotation module II, a first swing module III, a U-shaped frame IV, and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at both ends of the U-shaped frame IV. Each set of clamping modules includes a second swing module V, a lifting module VI, and a clamp VII. The U-shaped frame IV is disposed above the support rotation module II via a first revolute joint. The support rotation module II is used to drive the U-shaped frame IV to rotate, adjusting the azimuth angle of the U-shaped frame IV. The first swing module III is used to drive the U-shaped frame IV to swing around the first revolute joint via a first drive component, so that the clamp VII and the workpiece assembly surface remain coplanar or coaxial. The second swing module V is connected to the end of the U-shaped frame IV, and is used to drive the corresponding lifting module VI to swing via a second drive component, achieving pitch adjustment of the clamp VII. The output flange 9 of the lifting module VI is connected to the clamp VII, and is used to drive the clamp VII to move up and down through the third drive assembly.

[0042] Example 2

[0043] In a preferred embodiment of the present invention, the present invention includes a U-shaped multi-degree-of-freedom clamping device for clamping large-sized workpieces. The clamping device includes a base I, a supporting rotation module II, a first swing module III, a U-shaped frame IV, and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at both ends of the U-shaped frame IV. Each set of clamping modules includes a second swing module V, a lifting module VI, and a clamp VII. The U-shaped frame IV is disposed above the supporting rotation module II via a first revolute joint.

[0044] Specifically, the supporting rotation module II includes a turntable 5, a drive mechanism, and a brake module. The turntable 5 is connected to the base I and the U-shaped frame IV. The drive mechanism drives the turntable 5 to rotate, further rotating the U-shaped frame IV and adjusting the azimuth angle of the U-shaped frame IV. The brake module clamps or releases the turntable 5 to fix the azimuth angle of the U-shaped frame IV.

[0045] The first swing module III is used to drive the U-shaped frame IV to swing around the first revolute joint via the first drive assembly, so as to keep the fixture VII and the workpiece assembly surface coplanar or coaxial. The second swing module V is connected to the end of the U-shaped frame IV, and is used to drive the corresponding lifting module VI to swing via the second drive assembly, so as to adjust the pitch direction of the fixture VII. The output flange 9 of the lifting module VI is connected to the fixture VII, and is used to drive the fixture VII to move up and down via the third drive assembly. Further, the two lifting modules VI are connected to the torque shaft 17 via a universal joint 16. Specifically, the lifting module VI is provided with a right-angle transmission bracket 8, and the right-angle transmission bracket 8 is provided with two bevel gears. One bevel gear is connected to the torque shaft 17 via the universal joint 16, and the other bevel gear is connected to the third drive assembly. Through this design, the lifting module VI can drive the two fixtures VII to move up and down synchronously.

[0046] Example 3

[0047] In another preferred embodiment of the present invention, a U-shaped multi-degree-of-freedom clamping device is provided for clamping large workpieces. The clamping device includes a base I, a supporting rotation module II, a first swing module III, a U-shaped frame IV, and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at both ends of the U-shaped frame IV. Each clamping module includes a second swing module V, a lifting module VI, and a clamp VII. The U-shaped frame IV is mounted above the supporting rotation module II via a first rotating joint, which includes a swing shaft and rolling bearings located at both ends of the swing shaft. The supporting rotation module II is used to drive the U-shaped frame IV to rotate, adjusting the azimuth angle of the U-shaped frame IV.

[0048] The first swing module III includes a swing support base 23 and a swing support plate 22. The swing support base 23 is disposed on the support rotation module II. One end of the swing support plate 22 is connected to the swing support base 23 via a revolute joint, and the other end is connected to a first driving member. The first driving member includes a support rod that can be raised and lowered. The other end of the support rod is connected to the U-shaped frame IV via a revolute joint, causing the U-shaped frame IV to perform lateral swinging motion. The first swing module III is used to drive the U-shaped frame IV to swing around the first revolute joint through the first driving component, so as to keep the fixture VII and the workpiece assembly surface coplanar or coaxial.

[0049] The second swing module V is connected to the end of the U-shaped frame IV, and is used to drive the corresponding lifting module VI to swing via the second drive assembly, thereby adjusting the pitch of the clamp VII. The output flange 9 of the lifting module VI is connected to the clamp VII, and is used to drive the clamp VII to move up and down via the third drive assembly.

[0050] Example 4

[0051] As another preferred embodiment of the present invention, please refer to the appendix to the specification. Figure 1 Included with instruction manual Figure 2 This invention includes a U-shaped multi-degree-of-freedom clamping device for clamping large workpieces. The clamping device includes a base I, a supporting rotation module II, a first swing module III, a U-shaped frame IV, and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at both ends of the U-shaped frame IV. Each clamping module includes a second swing module V, a lifting module VI, and a clamp VII. The supporting rotation module II, the first swing module III, the U-shaped frame IV, the second swing module V, the lifting module VI, the clamp VII, and the base I together constitute the multi-degree-of-freedom clamping device.

[0052] The U-shaped frame IV, as the core connecting component of this device, connects to the supporting rotating module II, the first swing module III, and the second swing module V, serving a load-bearing and supporting function. The U-shaped frame IV is made of lightweight, high-strength material, reducing overall weight while ensuring structural rigidity. The top of the U-shaped frame IV has multiple mounting interfaces for fixing the second swing module V and the lifting module VI, while also reserving additional interfaces to support future functional expansion.

[0053] Preferably, the supporting rotation module II serves as the basic module of this device, mounted above the base I, and can rotate around the Z-axis to adjust the azimuth angle of the U-shaped frame IV. The supporting rotation module II includes a turntable 5, a drive mechanism, and a brake module. The turntable 5 is fixed to the base I via a mechanical connector. The base I is a high-rigidity platform capable of providing stable support under complex working conditions. The turntable surface has multiple mounting holes for mounting the U-shaped frame IV and other modules. The U-shaped frame IV is mounted on the supporting rotation module II via a first revolute joint. The supporting rotation module II drives the U-shaped frame IV to rotate, adjusting its azimuth angle.

[0054] Specifically, the drive mechanism is a handwheel drive mechanism, including a handwheel, a reducer, a drive shaft, and a coupling. The handwheel is mounted on one end of the drive shaft, and the other end of the drive shaft is connected to the coupling via the reducer. The coupling is then connected to the rotating main shaft of the turntable 5. The user can precisely adjust the angle of the turntable 5 by rotating the handwheel, ensuring smooth and accurate rotation and adapting to high-load rotation requirements.

[0055] Refer to the instruction manual appendix Figure 3 The brake module comprises a brake seat 1, an upper clamp 3, a lower clamp 2, and a brake handwheel 4, used to clamp or release the turntable 5. The brake seat 1 is mounted on the base I, and the lower clamp 2 is mounted on the brake seat 1. The brake handwheel 4 drives the lower clamp 2 to move up and down via a screw mechanism. Specifically, rotating the brake handwheel 4 drives the lower clamp 2 to move upward, cooperating with the upper clamp 3 to clamp the turntable 5, thus locking the rotating support module II and ensuring azimuth stability in a static state. Reverse rotation of the brake handwheel 4 drives the lower clamp 2 to move downward, releasing the rotating support module II.

[0056] Preferably, the first swing module III includes a swing support base 23 and a swing support plate 22, with the swing support base 23 mounted on the turntable 5. One end of the swing support plate 22 is connected to the swing support base 23 via a revolute joint, and the other end is connected to the first driving component. Specifically, the first driving component includes a liftable support rod. In this embodiment, the first driving component may include a screw jack 21 and a swing handwheel 20, so the liftable support rod can be the slider in the screw jack 21. The other end of the support rod, i.e., the slider, is connected to the U-shaped frame IV via a revolute joint. By rotating the swing handwheel 20, the height of the screw jack 21 is adjusted, thereby driving the U-shaped frame IV to swing around the first swing axis, which is used to achieve fine compensation in the lateral tilt direction, so that the fixture VII and the workpiece assembly surface remain coplanar or coaxial, meeting the multi-angle gripping requirements in complex environments.

[0057] The first rotating pair has rolling bearings installed at both ends of its swing shaft, which effectively reduces frictional resistance during the swing process, ensuring smooth and uninterrupted swing while also improving load-bearing capacity. (Refer to the attached instruction manual.) Figure 4 The second swing module V is mounted on the top of the U-shaped frame IV, and drives the corresponding lifting module VI to swing around the second swing axis via the second drive assembly. The second drive assembly can be a worm gear mechanism, specifically including a lateral rotating handwheel 19, a worm gear reducer 18, and a fixed plate 11. By rotating the lateral rotating handwheel 19, the worm gear reducer is driven, which in turn drives the fixed plate 11, which is mounted on the output shaft of the worm gear reducer 18, to rotate, thereby adjusting the pitch attitude of the clamp VII. This allows the clamp VII to be quickly aligned with clamping references of different heights and angles, significantly improving the device's adaptability to complex working conditions. The worm gear adopts a self-locking design to ensure that the position of the lifting module VI is fixed when operation is stopped, preventing positional displacement caused by external forces.

[0058] Preferably, the output flange 9 of the lifting module VI is connected to the clamp VII, and is used to drive the clamp VII to move up and down via a third drive assembly. The third drive assembly can be a lead screw and slider mechanism. The lead screw is driven by a linear displacement handwheel 7, which drives the slider to slide along the guide rail 12 to achieve high-precision vertical adjustment. The slider is equipped with a locking device to ensure stable position after adjustment; the surface of the guide rail 12 is hardened, providing wear resistance and high load capacity.

[0059] Preferably, the clamp VII is the workpiece directly manipulated by the present invention. The clamp VII includes several support columns 15 disposed on the output flange 9 of the lifting module VI. The height and position of the support columns 15 are adjustable to accommodate the clamping requirements of workpieces of different sizes. The clamp VII adopts a modular design and can also be replaced with parallel grippers, vacuum suction cups, or magnetic adsorption devices according to specific actual needs. The two lifting modules VI are connected to the torque shaft 17 via a universal joint 16. The lifting module VI is provided with a right-angle transmission bracket 8, which is provided with two bevel gears. One bevel gear is connected to the torque shaft 17 via the universal joint 16, and the other bevel gear is connected to the third drive assembly. The two lifting modules VI are connected to the torque shaft 17 to ensure synchronous lifting, that is, rotating one of the linear displacement handwheels 7 disposed on both symmetrical sides can synchronously realize the lifting of the two lifting modules VI.

[0060] In this embodiment, a lead screw and slider mechanism and a worm gear self-locking design are employed, which, combined with an angle feedback sensor, ensures high precision performance of the clamping device during dynamic attitude adjustment and static fixation. In precision assembly tasks, positional and angular errors are controlled within a minimal range, effectively improving work quality and reliability.

[0061] In this embodiment, all drive modules are manually controlled by handwheels, which can be equipped with handwheels of various sizes, significantly reducing the torque requirements for user operation. The handwheels are designed in various sizes according to actual needs, taking into account both operational comfort and control precision, making the equipment easy to use and efficient in completing tasks.

[0062] Example 5

[0063] In another preferred embodiment of the present invention, the present invention includes a method of using a U-shaped multi-degree-of-freedom clamping device, which is implemented based on a U-shaped multi-degree-of-freedom clamping device described in any of Embodiments 1 to 4. The method of use includes the following steps:

[0064] Step S1. Attitude pre-adjustment: The operator rotates the turntable 5 in the support rotation module II, the swing handwheel 20 of the first drive component, and the lateral rotation handwheel 19 of the second drive component in sequence, so that the coordinate system of the fixture VII is roughly aligned with the clamping reference of the workpiece to be clamped.

[0065] Step S2. Height positioning: By adjusting the third drive component, namely rotating the linear displacement handwheel 7 of the lifting module VI to drive the lead screw slider mechanism, the clamp VII moves vertically to the preset elevation.

[0066] Step S3. Grip point setting: By adjusting the position and spacing of clamp VII, that is, adjusting the position and spacing of the support column 15 or the parallel jaws, suction cups and other workpieces, the clamp VII can make multi-point contact with the surface of the workpiece to be clamped.

[0067] Step S4. Place the workpiece: Slowly fix the workpiece to be assembled to the fixture VII, so that the support column 15 (or gripper) contacts the workpiece and holds the workpiece.

[0068] Step S5. Fine-tuning and locking: Fine-tune the support rotation module II, the first drive assembly and the second drive assembly again to ensure that the center line of the clamping device is coaxial or on the same plane as the workpiece assembly baseline. Then, lock the worm gear self-locking mechanism and the brake handwheel 4 in sequence to achieve rigid fixation.

[0069] Step S6. After the operation is completed, open the clamp: reverse the operation, release the constraint of the support column 15 (or the clamp), and safely remove the workpiece.

[0070] In summary, any other corresponding modifications made by those skilled in the art after reading this invention document, without requiring creative mental effort, based on the technical solutions and concepts of this invention, are all within the scope of protection of this invention.

Claims

1. A U-shaped multi-degree-of-freedom clamping device, characterized in that: For clamping large workpieces, the device includes a base (I), a support rotation module (II), a first swing module (III), a U-shaped frame (IV), and two sets of clamping modules. The two sets of clamping modules are symmetrically arranged at both ends of the U-shaped frame (IV). Each clamping module includes a second swing module (V), a lifting module (VI), and a fixture (VII). The U-shaped frame (IV) is positioned above the support rotation module (II) via a first revolute joint. The support rotation module (II) drives the U-shaped frame (IV) to rotate, adjusting its azimuth angle. The first swing module (III) drives the U-shaped frame (IV) to swing around the first revolute joint via a first drive assembly, ensuring that the fixture (VII) and the workpiece assembly surface remain coplanar or coaxial. The second swing module (V) is connected to the end of the U-shaped frame (IV) and is used to... The drive assembly drives the corresponding lifting module (VI) to swing, which is used to adjust the pitch direction of the clamp (VII); the output flange (9) of the lifting module (VI) is connected to the clamp (VII), which is used to drive the clamp (VII) to move up and down through the third drive assembly; the two lifting modules (VI) are connected to the torsion shaft (17) through the universal joint (16) to ensure synchronous lifting; the first swing module (III) includes a swing support base (23) and a swing support plate (22), the swing support base (23) is set on the support rotation module (II); one end of the swing support plate (22) is connected to the swing support base (23) through a rotating joint, and the other end is connected to the first drive component, the first drive component includes a support rod that can be lifted and lowered, and the other end of the support rod is connected to the U-shaped frame (IV) through a rotating joint, so that the U-shaped frame (IV) can perform side swinging motion.

2. The U-shaped multi-degree-of-freedom clamping device according to claim 1, characterized in that: The supporting rotation module (II) includes a turntable (5), a drive mechanism and a brake module. The turntable (5) is connected to the base (I) and the U-shaped frame (IV) respectively. The drive mechanism is used to drive the turntable (5) to rotate. The brake module is used to clamp or release the turntable (5).

3. The U-shaped multi-degree-of-freedom clamping device according to claim 2, characterized in that: The driving mechanism is a handwheel drive mechanism, including a handwheel, a drive shaft and a coupling. The handwheel is installed at one end of the drive shaft, and the other end of the drive shaft is connected to the rotating main shaft of the turntable (5) through the coupling.

4. The U-shaped multi-degree-of-freedom clamping device according to claim 2, characterized in that: The brake module consists of an upper clamp (3), a lower clamp (2) and a brake handwheel (4); the brake handwheel (4) drives the lower clamp (2) to move up and down through a screw mechanism.

5. The U-shaped multi-degree-of-freedom clamping device according to claim 1, characterized in that: The lifting module (VI) is provided with a right-angle transmission bracket (8), and the right-angle transmission bracket (8) is provided with two bevel gears. One bevel gear is connected to the torque shaft (17) through a universal joint (16), and the other bevel gear is connected to the third drive assembly.

6. The U-shaped multi-degree-of-freedom clamping device according to claim 1, characterized in that: The first rotating pair includes a swing shaft and rolling bearings located at both ends of the swing shaft.

7. The U-shaped multi-degree-of-freedom clamping device according to claim 1, characterized in that: The clamp (VII) includes several support columns (15) disposed on the output flange (9) surface of the lifting module (VI), and the height and position of the support columns (15) are adjustable.

8. A method of using a U-shaped multi-degree-of-freedom clamping device according to any one of claims 1 to 7, characterized in that: Includes the following steps: Step S1. By adjusting the support rotation module (II), the first drive assembly and the second drive assembly, the coordinate system of the fixture (VII) is roughly aligned with the clamping reference of the workpiece to be clamped; Step S2. By adjusting the third drive component, the clamp (VII) is moved vertically to the preset elevation; Step S3. By adjusting the position and spacing of the clamp (VII), the clamp (VII) makes multi-point contact with the surface of the workpiece to be clamped; Step S4. Fix the workpiece to be clamped to the fixture (VII) and hold the workpiece in place; Step S5. Fine-tune the support rotation module (II), the first drive assembly, and the second drive assembly again to ensure that the center line of the clamping device is coaxial or on the same plane as the workpiece assembly baseline, and then complete the locking. Step S6. Open the clamp after the work is completed.

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