Automatic positioning and centering clamping machining tool

Abstract

The application discloses an automatic positioning and centering clamping machining tool, which comprises a centering and clamping device and a centering device. The centering and clamping device comprises a plurality of clamping jaws distributed in a circumferential shape, a clamping linkage mechanism and a driving mechanism. The clamping linkage mechanism is connected with all the clamping jaws, and the driving mechanism is connected with and drives at least one clamping jaw, so that all the clamping jaws move synchronously. The centering device comprises a supporting frame, a centering fork mechanism and a centering linkage mechanism. The supporting frame is suitable for being detachably arranged on the clamping jaws. The centering fork mechanism and the centering linkage mechanism are arranged on the supporting frame. The first end of the centering linkage mechanism penetrates through the clamping jaws and extends to the clamping side of the clamping jaws. The second end of the centering linkage mechanism is connected with the centering fork mechanism. When the clamping side of the clamping jaws is close to a workpiece, the first end of the centering linkage mechanism is suitable for contacting the workpiece and moving synchronously with the second end, so that the centering fork mechanism moves to the workpiece. The machining tool can realize quick automatic clamping and positioning of sleeve type workpieces and improve machining efficiency.

Description

Technical Field

[0001] This application relates to the field of tooling and fixture technology, specifically to an automatic positioning, centering, clamping, and machining tooling. Background Technology

[0002] The centering clamping mechanism, also known as the automatic centering clamping mechanism, is a special device in machining that simultaneously positions and clamps the workpiece. It eliminates positioning errors through the constant speed movement or uniform elastic deformation of the components, ensuring that the workpiece's axis of symmetry, plane, or centerline is precisely aligned with the machining datum. This mechanism features the coincidence of the positioning datum and the process datum, making both datum displacement error and datum non-coincidence error zero. It is suitable for machining workpieces with geometric symmetry planes as process datums.

[0003] However, existing clamping fixtures have the following drawbacks: For sleeve-type workpieces with multiple machining directions, after clamping and cutting them, traditional centering clamping mechanisms require removing the workpiece, changing the angle, and precisely correcting it before re-clamping to achieve machining of different surfaces and holes on the workpiece. Summary of the Invention

[0004] One objective of this application is to provide an automatic positioning and centering clamping tooling capable of rapid centering during self-centering clamping.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: an automatic positioning and centering clamping machining fixture, comprising a centering clamping device and a centering device. The centering clamping device includes multiple circumferentially distributed jaws, a clamping linkage mechanism, and a driving mechanism. The clamping linkage mechanism connects all the jaws, and the driving mechanism connects to and drives at least one jaw so that all the jaws move synchronously. The centering device includes a support frame, a centering fork mechanism, and a centering linkage mechanism. The support frame is adapted to be detachably mounted on the jaws. The centering fork mechanism and the centering linkage mechanism are mounted on the support frame. The first end of the centering linkage mechanism passes through the jaws and extends to the clamping side of the jaws. The second end of the centering linkage mechanism is connected to the centering fork mechanism. When the clamping side of the jaws approaches the workpiece, the first end of the centering linkage mechanism is adapted to contact the workpiece and move synchronously with the second end of the centering linkage mechanism so that the centering fork mechanism moves to the workpiece.

[0006] In some embodiments, the splitting linkage mechanism includes a top rod, a linkage rod, and a connecting seat. The front end of the top rod is the first end of the splitting linkage mechanism, and the front end of the connecting seat is the second end of the splitting linkage mechanism. Both ends of the linkage rod are telescopic and are rotatably connected to the rear end of the top rod and the rear end of the connecting seat, respectively. The two ends of the linkage rod are rotatably connected to the support frame to form a rotation fulcrum. The length from the rotation fulcrum to the point where the linkage rod connects to the top rod is less than the length from the rotation fulcrum to the point where the linkage rod connects to the connecting seat.

[0007] In some embodiments, the split fork mechanism is mounted on the front end of the connecting seat and is adapted to move with the connecting seat. The split fork mechanism includes a first split arm, a second split arm, and two adjusters. The first split arm and the second split arm are slidably disposed along a direction perpendicular to the moving direction of the connecting seat. One end of each of the two adjusters passes through the first split arm and the second split arm respectively and is rotatably connected to the connecting seat. The first split arm and the second split arm are connected to the adjuster screw. The adjuster is adapted to rotate to change the distance between the first split arm or the second split arm and the connecting seat.

[0008] In some embodiments, the adjuster includes an operating part and an adjusting shaft. The operating part is disposed at a first end of the adjusting shaft, and a second end of the adjusting shaft passes through the first or second split arm and is connected to the connecting seat. The adjusting shaft and the first or second split arm are connected by a lead screw. The first end of the adjusting shaft is exposed on the outside of the first or second split arm and is provided with an adjusting scale adapted to indicate the adjusting distance of the first or second split arm. The outside of the first or second split arm is provided with a contact slope. A connecting part is provided on the first or second split arm, the connecting part is parallel to the adjusting shaft, and the connecting part and the connecting seat slide in engagement along the axial direction of the adjusting shaft.

[0009] In some embodiments, the gripper is provided with a contact channel perpendicular to the gripping side, the front end of the push rod is adapted to pass through the contact channel to approach and contact the workpiece, a first enlarged hole is formed on the non-gripping side of the contact channel, a docking shaft seat is provided on the side of the support frame away from the linkage rod, the push rod passes through the docking shaft seat, the docking shaft seat is adapted to engage with the first enlarged hole when the support frame is mounted on the gripper to guide the push rod into the contact channel; a second enlarged hole is formed on the gripping side of the contact channel, the centering device further includes a flexible washer, the flexible washer is adapted to engage with and be embedded in the second enlarged hole and be circumferentially bound to the push rod, the flexible washer protrudes from the second enlarged hole, and the flexible washer is adapted to contact the workpiece before the gripper.

[0010] In some embodiments, the non-clamping side of the gripper is provided with a plurality of first fixing holes, and the gripper is adapted to be fixed by fasteners installed at the first fixing holes. The support frame is provided with a plurality of second fixing holes. When the support frame is disposed on the gripper, the second fixing holes are correspondingly engaged with the first fixing holes to be fixed by the existing fasteners of the gripper.

[0011] In some embodiments, the workpiece has a convex ring on its periphery, and the gripper is provided with a side contact surface and a top contact surface. The side contact surface is adapted to abut against the periphery of the workpiece, and the top contact surface is adapted to abut against the lower surface of the convex ring. A receiving cavity is provided in the gripper, and the upper side of the receiving cavity communicates with the top contact surface. At least one rotatable ball is installed in the receiving cavity, and the top end of the ball protrudes from the upper side of the receiving cavity out of the top contact surface.

[0012] In some embodiments, the clamping linkage mechanism includes a connecting disk and a connecting rod, the grippers are distributed circumferentially along the connecting disk and are adapted to slide radially along the connecting disk, the connecting rod connects the connecting disk and the grippers, the connecting rod is eccentrically inclined in the same direction at the connecting disk, and the driving mechanism is adapted to drive some of the grippers to slide and push the connecting disk to rotate, so that all the grippers slide synchronously.

[0013] In some embodiments, the drive mechanism includes a driver located on the movement path of one of the grippers and connected to the gripper; or, the drive mechanism includes two drivers located on the movement path of one of the grippers and connected to opposite sides of the movement path of the gripper, respectively.

[0014] In some embodiments, an elastic resetter is provided between the first end and / or the second end of the centering linkage mechanism and the support frame. The elastic resetter is adapted to cause the first end of the centering linkage mechanism to extend toward the clamping side of the gripper. The workpiece is a columnar structure with a positioning port. The positioning port communicates with the outside at least in the radial direction of the workpiece. Positioning surfaces are symmetrically arranged on both sides of the positioning port along the central axis of the workpiece. The centering fork mechanism is adapted to move into the positioning port and engage with the positioning surfaces on both sides.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: The machining fixture of this application is equipped with a centering clamping device to automatically center and clamp the sleeve, and by setting a centering device on the centering clamping device, the workpiece is centered and adjusted during the self-centering clamping process. When the machining fixture of this application is applied to equipment such as horizontal machining centers, it can achieve precise machining in multiple directions in one clamping by relying on the centering positioning in conjunction with the rotation operation of the equipment, thereby greatly improving the machining efficiency, without the need to re-clamp and adjust after each machining. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the usage state according to a preferred embodiment of this application.

[0017] Figure 2 This is an assembly diagram according to a preferred embodiment of the present application.

[0018] Figure 3 This is an initial state side view according to a preferred embodiment of the present application.

[0019] Figure 4 This is a side view of the usage state according to a preferred embodiment of this application.

[0020] Figure 5 This is a schematic diagram of the internal structure of a split fork mechanism according to a preferred embodiment of this application.

[0021] Figure 6 This is an overall structural view of a centering clamping device according to a preferred embodiment of the present application.

[0022] Figure 7 This is a schematic diagram of the structural arrangement of a centering clamping device according to a preferred embodiment of this application.

[0023] Figure 8 This is a preferred embodiment according to this application. Figure 6 A magnified view of point a in the middle.

[0024] In the diagram: 1. Centering clamping device; 11. Clamping jaw; 111. First fixing hole; 112. First enlarged hole; 113. Second enlarged hole; 114. Side contact surface; 115. Top contact surface; 1151. Receiving cavity; 116. Ball bearing; 12. Connecting plate; 13. Connecting rod; 14. Driver; 2. Centering device; 21. Support frame; 211. Second fixing hole; 212. Connecting shaft seat; 22. Centering fork mechanism; 221. First splitting arm; 222, Second splitting arm; 223, Adjuster; 2231, Operating part; 2232, Adjusting shaft; 224, Contact slope; 225, Connecting part; 23, Splitting linkage mechanism; 231, Top rod; 232, Linkage rod; 2321, Rotation fulcrum; 233, Connecting seat; 24, Elastic resetter; 25, Flexible washer; 3, Workpiece; 31, Positioning port; 311, Positioning surface; 32, Protruding ring. Detailed Implementation

[0025] The present application will be further described below with reference to specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0026] In the description of this application, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this application.

[0027] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0028] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0029] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0030] like Figures 1 to 8As shown, this application provides an automatic positioning, centering, and clamping machining fixture, including a centering clamping device 1 and a centering device 2. The centering clamping device 1 includes a plurality of circumferentially distributed grippers 11, a clamping linkage mechanism, and a driving mechanism. The clamping linkage mechanism connects all the grippers 11, and the driving mechanism is adapted to connect to and drive at least one gripper 11 so that all the grippers 11 move synchronously, moving towards or away from the same endpoint along a fixed path, thereby achieving self-centering clamping. The fixed path of the grippers 11 can be limited by the form of guide rails or the like.

[0031] The centering device 2 includes a support frame 21, a centering fork mechanism 22, and a centering linkage mechanism 23. The support frame 21 is detachably mounted on the gripper 11. The centering fork mechanism 22 and the centering linkage mechanism 23 are mounted on the support frame 21. The first end of the centering linkage mechanism 23 passes through the gripper 11 and extends to the gripping side of the gripper 11. The second end of the centering linkage mechanism 23 is connected to the centering fork mechanism 22. When the gripping side of the gripper 11 is close to the workpiece 3, the first end of the centering linkage mechanism 23 is adapted to contact the workpiece 3 and move synchronously with the second end of the centering linkage mechanism 23 so that the centering fork mechanism 22 moves to the workpiece 3. The centering linkage mechanism 23 uses the gripping action of the gripper 11 to enable the centering fork mechanism 22 to automatically unfold and cooperate with the workpiece 3 for positioning and centering.

[0032] Understandably, since the centering fork mechanism 22 needs to extend to the workpiece 3 to cooperate with it for precise positioning and centering, if the centering fork mechanism 22 is a fixed structure and directly arranged on the gripper 11, and if the opening range of the gripper 11 is too small, the centering fork mechanism 22 will interfere with the placement of the workpiece 3, making it more difficult to stably clamp the workpiece 3 between the gripper 11. If the opening range of the gripper 11 is too large, the initial positioning between the workpiece 3 and the gripper 11 will be more difficult. Before the gripper 11 initially contacts the workpiece 3, the operator needs to always pick up the workpiece 3 and keep it suspended near the clamping position, which will further increase the difficulty of the operator's operation. Therefore, the unfolding and folding design of the centering fork mechanism 22 is necessary.

[0033] like Figures 1 to 4 In the embodiment shown, the overall structure of the support frame 21 is C-shaped. The splitting fork mechanism 22 is located at the top of the support frame 21, and the splitting linkage mechanism 23 is located in the lower middle part of the support frame 21. The components of the splitting linkage mechanism 23 are accommodated by the bending structure of the support frame 21, thereby improving the structural compactness, reducing the volume and weight, and facilitating the installation of the machining fixture on the horizontal machining center.

[0034] like Figure 1In the illustrated embodiment, the machining fixture of this application is suitable for stably clamping a cylindrical sleeve-type workpiece 3. The gripper 11 can approach the workpiece 3 radially. Typically, the workpiece 3 needs to have a positioning port 31 or a similar structure. The positioning port 31 is connected to the outside at least radially. Positioning surfaces 311 are symmetrically arranged on both sides of the positioning port 31 along the central axis of the workpiece 3. When the split fork mechanism 22 moves into the positioning port 31, it is suitable to engage and abut with the positioning surfaces 311 on both sides of the positioning port 31. When the workpiece 3 has a certain amount of deflection relative to the split fork mechanism 22, it can be compensated by the split fork mechanism 22, or facilitate the operator to observe and adjust, so that the operator can position and adjust the position of the workpiece 3 in time before the workpiece 3 is fully clamped by the gripper 11.

[0035] At this time, the positioning surface 311 is parallel to the moving direction of the gripper 11. Since the moving direction of the gripper 11 is the radial direction of the workpiece 3, the horizontal machining center can be positioned according to the gripper 11 (or the split fork mechanism 22) of the machining fixture installed on it, so as to achieve rapid positioning between the horizontal machining center and the workpiece 3. After the positioning is completed, the workpiece 3 does not need to be clamped and adjusted again. The horizontal machining center only needs to rotate according to the preset parameters to perform operations such as drilling and cutting on different positions, different parts and different surfaces of the workpiece 3, so as to achieve rapid processing.

[0036] In some embodiments, an elastic resetter 24 is provided between the first end and / or the second end of the centering linkage mechanism 23 and the support frame 21. The elastic resetter 24 is adapted to cause the first end of the centering linkage mechanism 23 to extend toward the clamping side of the gripper 11. For details, please refer to... Figure 3 The diagram shows the setting of the elastic resetter 24 between the rear end of the center rod 231 and the support frame 21. Similarly, a similar setting can be made between the connecting seat 233 and the support frame 21 to achieve the automatic restoration of the centering linkage mechanism 23.

[0037] In some embodiments, the resilient resetter 24 is selected as a spring.

[0038] It is understandable that setting the elastic resetter 24 is the preferred way to reset the centering device 2, but in practice the centering device 2 can also be reset manually, and those skilled in the art can improve the stability of the centering device 2 by setting appropriate damping at the joints of various mechanisms.

[0039] like Figures 1 to 4In the embodiment shown, a plurality of first fixing holes 111 are provided on the non-clamping side of the gripper 11. The gripper 11 is adapted to be fixed by fasteners installed at the first fixing holes 111. A plurality of second fixing holes 211 are provided on the support frame 21. When the support frame 21 is disposed on the gripper 11, the second fixing holes 211 are correspondingly matched with the first fixing holes 111 to be fixed by the existing fasteners of the gripper 11.

[0040] It is understood that the centering clamping device 1 and the centering device 2 of this application are designed for free installation and combination. The centering device 2 can be quickly installed and removed from any of the grippers 11. Furthermore, the installation of the centering device 2 utilizes the original fastening structure and fastening components of the grippers 11, without the need to add additional fasteners. This effectively reduces the installation difficulty and improves the overall structural compactness. Users can choose to install it according to their needs. If necessary, the centering device 2 can even be installed on multiple grippers 11 to position the complex workpiece 3 at different locations.

[0041] like Figures 1 to 5 In the embodiment shown, the centering linkage mechanism 23 includes a top rod 231, a linkage rod 232, and a connecting seat 233. The front end of the top rod 231 is the first end of the centering linkage mechanism 23, and the front end of the connecting seat 233 is the second end of the centering linkage mechanism 23. The two ends of the linkage rod 232 are telescopic and are rotatably connected to the rear end of the top rod 231 and the rear end of the connecting seat 233, respectively. The position between the two ends of the linkage rod 232 is rotatably connected to the support frame 21 to form a rotation fulcrum 2321. When the top rod 231 moves, it can push the connecting seat 233 to move through the lever principle, so that the centering fork mechanism 22 on the connecting seat 233 can be simultaneously unfolded and approach the workpiece 3. The centering linkage mechanism 23 of this application has many advantages such as simple structure, compact size, practicality and stability, and low failure rate.

[0042] The length from the pivot point 2321 to the point where the linkage rod 232 connects to the top rod 231 is less than the length from the pivot point 2321 to the point where the linkage rod 232 connects to the connecting seat 233. It can be understood that the ratio of the length from the pivot point 2321 to the point where the linkage rod 232 connects to the top rod 231 to the length from the pivot point 2321 to the point where the linkage rod 232 connects to the connecting seat 233 is the ratio of the moving distance of the top rod 231 to the moving distance of the connecting seat 233. Therefore, the closer the pivot point 2321 is to the top rod 231, the longer the connecting seat 233 can move, under the condition that other conditions remain unchanged, so that the folding and unfolding range of the splitting fork mechanism 22 can be larger.

[0043] like Figures 1 to 4In the embodiment shown, the linkage 232 is designed with multiple sections, which can slide and extend and retract with each other. This can be achieved by connecting the sections with sleeves to compensate for the structural interference caused when the first and second ends of the split linkage mechanism 23 move. In addition, springs and other components can be set between different sections to improve the sliding and extension stability and length reset between different sections.

[0044] like Figures 1 to 4 In the illustrated embodiment, the centering fork mechanism 22 is mounted on the front end of the connecting seat 233 and is adapted to move with the connecting seat 233. The centering fork mechanism 22 includes a first centering arm 221, a second centering arm 222, and two adjusters 223. The first centering arm 221 and the second centering arm 222 are slidably arranged along the direction perpendicular to the moving direction of the connecting seat 233. One end of each of the two adjusters 223 passes through the first centering arm 221 and the second centering arm 222 respectively and is rotatably connected to the connecting seat 233. The first centering arm 221 and the second centering arm 222 are connected to the adjuster 223 by a lead screw. The adjuster 223 is adapted to rotate to change the distance between the first centering arm 221 or the second centering arm 222 and the connecting seat 233. The first centering arm 221 and the second centering arm 222 are adjusted and controlled by an adjuster 223 to change the width of the centering fork mechanism 22. The lead screw connection method not only ensures the stability after adjustment but also greatly improves the adjustment accuracy, meeting the positioning and centering requirements of the workpiece 3.

[0045] like Figure 5 In the illustrated embodiment, the adjuster 223 includes an operating part 2231 and an adjusting shaft 2232. The operating part 2231 is disposed at the first end of the adjusting shaft 2232. The second end of the adjusting shaft 2232 passes through the first dividing arm 221 or the second dividing arm 222 and is connected to the connecting seat 233. The adjusting shaft 2232 and the first dividing arm 221 are connected by a lead screw, and the adjusting shaft 2232 and the second dividing arm 222 are also connected by a lead screw. The first end of the adjusting shaft 2232 is exposed on the outside of the first dividing arm 221 or the second dividing arm 222 and is provided with an adjustment scale. The adjustment scale is suitable for indicating the adjustment distance of the first dividing arm 221 or the second dividing arm 222. The adjustment structure is simple and easy to operate, and can meet the high-precision adjustment requirements to a certain extent, reducing the dependence on high-precision measuring tools.

[0046] Specifically, the exposed length of the first end of the adjusting shaft 2232 is the maximum adjustment distance of the first split arm 221 or the second split arm 222. As the adjusting shaft 2232 is rotated, the first split arm 221 and the second split arm 222 can move away from the connecting seat 233 and gradually approach the first end of the adjusting shaft 2232, while covering the scale set at the originally exposed part of the first end of the adjusting shaft 2232. By observing the scale corresponding to the outer position of the first split arm 221 and the second split arm 222, the current adjustment position can be determined.

[0047] Understandably, the purpose of designing the first centering arm 221 and the second centering arm 222 as adjustable is not only to allow the width of the centering fork mechanism 22 to be adjustable to suit the positioning and centering of different workpieces 3, but also to facilitate adjustment and repositioning when the first centering arm 221 or the second centering arm 222 experiences minor wear after long-term use, thus avoiding affecting the positioning accuracy.

[0048] like Figure 1 , 2 In the embodiment shown in Figure 5, the outer sides of the first split arm 221 and the second split arm 222 are provided with contact slopes 224, which makes the front end of the split fork mechanism 22 have a tapered shape. When the split fork mechanism 22 moves toward the workpiece 3, the contact slopes 224 can reduce the jamming at the contact position between the first split arm 221 and the second split arm 222 and the workpiece 3, help the workpiece 3 rotate to the correct position, reduce wear, and reduce the probability of pressure damage between the first split arm 221 and the second split arm 222 and the workpiece 3.

[0049] Furthermore, since the first split arm 221 and the second split arm 222 can be adjusted by the adjuster 223 to move away from the connecting seat 233, for workpieces 3 with a wider positioning port 31, the split fork mechanism 22 can achieve the cooperation between the contact slope 224 and the positioning port 31 by increasing the overall width.

[0050] like Figure 5 In the embodiment shown, the first split arm 221 and the second split arm 222 are provided with connecting portions 225. The connecting portions 225 are parallel to the adjusting shaft 2232. The connecting portions 225 and the connecting seat 233 slide along the axial direction of the adjusting shaft 2232. The connecting portions 225 are used to improve the sliding stability between the first split arm 221 and the second split arm 222 and the connecting seat 233, ensuring that the first split arm 221 and the second split arm 222 can translate relative to the connecting seat 233 without flipping. At the same time, it can strengthen the connection strength between the first split arm 221 and the second split arm 222 and the connecting seat 233, improve the structural stability, and thus help the workpiece 3 to be positioned more stably.

[0051] In some embodiments, the connecting portion 225 is a columnar structure, and its cross-section can be a common geometric shape such as a circle or a polygon.

[0052] In some embodiments, disc springs are adapted to be provided between the first split arm 221 and the connecting seat 233 and between the second split arm 222 and the connecting seat 233. For example, they can be sleeved on the adjusting shaft 2232 and / or the connecting part 225. When the first split arm 221 (second split arm 222) moves away from the connecting seat 233, the disc springs can open to maintain the abutting engagement between the first split arm 221 (second split arm 222) and the connecting seat 233, thereby improving the positional stability of the first split arm 221 and the second split arm 222 before and after movement, thereby ensuring the accuracy of positioning the workpiece 3.

[0053] like Figures 1 to 4 In the embodiment shown in Figure 8, the gripper 11 is provided with a contact channel perpendicular to the gripping side. The front end of the push rod 231 is adapted to pass through the contact channel so as to approach and contact the workpiece 3. The contact channel guides the push rod 231. The structural strength of the gripper 11 is used to improve the stability of the contact between the push rod 231 and the workpiece 3, and to avoid the push rod 231 bending and breaking due to excessive force.

[0054] A first enlarged hole 112 is formed on the non-clamping side of the contact channel. A docking seat 212 is provided on the side of the support frame 21 away from the linkage rod 232. The push rod 231 passes through the docking seat 212 and is adapted to move relative to the docking seat 212 along the axial direction of the docking seat 212. The front end of the docking seat 212 is cylindrical, and its cross-section is adapted to the cross-section of the first enlarged hole 112. The docking seat 212 is adapted to be inserted into the first enlarged hole 112 when the support frame 21 is installed on the gripper 11 to guide the push rod 231 into the contact channel. It can be understood that the docking seat 212 can improve the movement stability of the push rod 231, and also improve the bonding strength and stability between the support frame 21 and the gripper 11, thereby being able to withstand greater forces.

[0055] The clamping side of the contact channel has a second enlarged hole 113. The centering device 2 also includes a flexible washer 25. The flexible washer 25 is adapted to fit into the second enlarged hole 113 and is wrapped around the periphery of the push rod 231. The flexible washer 25 protrudes from the second enlarged hole 113. The flexible washer 25 is adapted to contact the workpiece 3 before the gripper 11. The flexible washer 25 is used to guide the push rod 231 to move along the contact channel. At the same time, it can also make flexible contact between the gripper 11 and the workpiece 3, thereby initially positioning the workpiece 3. At this time, the centering fork mechanism 22 can position and compensate the skewed workpiece 3 in the positioning port 31, reducing the situation where the centering fork mechanism 22 cannot position the workpiece 3 due to the gripper 11 clamping the workpiece 3 too quickly.

[0056] like Figure 1 , 4In the embodiment shown in Figure 8, the workpiece 3 has a convex ring 32 on its periphery, and the gripper 11 is provided with a side contact surface 114 and a top contact surface 115. The side contact surface 114 is adapted to abut against the periphery of the workpiece 3, and the top contact surface 115 is adapted to abut against the lower surface of the convex ring 32. A receiving cavity 1151 is provided in the gripper 11, and the upper side of the receiving cavity 1151 communicates with the top contact surface 115. At least one rotatable ball 116 is installed in the receiving cavity 1151, and the top end of the ball 116 protrudes from the upper side of the receiving cavity 1151 out of the top contact surface 115.

[0057] The workpiece 3 can be automatically positioned on the centering clamping device 1 in the vertical direction by its own weight. The top contact surface 115 of the clamping jaw 11 can support the workpiece 3. Even if the lower surface of the convex ring 32 is uneven, when the clamping jaw 11 is clamped, the workpiece 3 can be in an upright state by the side contact surface 114 of the clamping jaw 11 abutting against the periphery of the workpiece 3. The uneven part of the convex ring 32 will automatically move away from the clamping jaw 11. The final positioning is based on the side contact surface 114 of the clamping jaw 11.

[0058] Furthermore, since the top contact surface 115 serves as the initial support between the workpiece 3 and the gripper 11, the protruding ring 32 of the workpiece 3 will always be in contact with the top contact surface 115 before the gripper 11 fully clamps the workpiece 3. The ball bearings 116 provided on the top contact surface 115 can reduce the friction between the workpiece 3 and the top contact surface 115. The more ball bearings 116 there are, the smaller the friction between the workpiece 3 and the top contact surface 115, which makes it easier for the split fork mechanism 22 to position and adjust the positioning port 31 of the workpiece 3. With the flexible washer 25 provided in the second enlarged hole 113 in the above embodiment, the state of the workpiece 3 can be gradually stabilized and secured as the gripper 11 clamps.

[0059] like Figure 6 and 7 In the illustrated embodiment, the clamping linkage mechanism includes a connecting disk 12 and a connecting rod 13. The grippers 11 are distributed circumferentially along the connecting disk 12 and are adapted to slide radially along the connecting disk 12. The connecting rod 13 connects the connecting disk 12 and the grippers 11, and the connecting rod 13 is in the same direction at the connecting disk 12 (refer to...). Figure 7 The connecting end of the connecting rod 13 and the connecting plate 12 are offset from the other end in the clockwise direction of the connecting plate 12. The drive mechanism is adapted to drive some of the grippers 11 to slide and push the connecting plate 12 to rotate. The rotation of the connecting plate 12 pulls the connecting rod 13, and the connecting rod 13 drives the remaining grippers 11 to move, so that all the grippers 11 slide synchronously. Through the design of the connecting plate 12 and the connecting rod 13, the grippers 11 can be linked together and the grippers 11 can be stably locked. The grippers 11 are not easy to loosen and cause the workpiece 3 to fall.

[0060] In some embodiments, the grippers 11 are evenly distributed around the circumference of the connecting disk 12, which makes the clamping of the workpiece 3 circumference more stable.

[0061] In some embodiments, the drive mechanism includes a driver 14 located on the movement path of one of the grippers 11 and connected to the gripper 11. The single driver 14 can drive the device in a way that results in better structural compactness and lower weight, and can be applied to small-volume processing equipment.

[0062] like Figures 1 to 4 In the embodiments shown in 6 and 7, the driving mechanism includes two drivers 14. The two drivers 14 are located on the moving path of one of the grippers 11 and are connected to both sides of the moving path of the gripper 11, respectively, to ensure that both drivers 14 can drive the gripper 11 to move by pushing or pulling, so that the force received by the gripper 11 when moving back and forth is the same, thus ensuring the stability of clamping.

[0063] It is worth noting that in the configuration of the two drivers 14, one driver 14 is located on one side of the connecting plate 12, which may interfere with the connecting plate 12. In this case, an extension frame can be set on the driver 14 to connect across the connecting plate 12 and the gripper 11 to drive the gripper 11.

[0064] In some embodiments, the actuator 14 uses a hydraulic cylinder, which has a simple structure, stable operation, and can generate stronger thrust.

[0065] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are only the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope of this application. All such changes and modifications fall within the scope of this application as claimed. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. An automatic positioning, centering, clamping, and machining fixture, characterized in that: The device includes a centering clamping device and a centering device. The centering clamping device includes multiple circumferentially distributed jaws, a clamping linkage mechanism, and a driving mechanism. The clamping linkage mechanism connects all the jaws, and the driving mechanism connects to and drives at least one jaw so that all the jaws move synchronously. The centering device includes a support frame, a centering fork mechanism, and a centering linkage mechanism. The support frame is adapted to be detachably mounted on the jaws. The centering fork mechanism and the centering linkage mechanism are mounted on the support frame. The first end of the centering linkage mechanism passes through the jaws and extends to the clamping side of the jaws. The second end of the centering linkage mechanism is connected to the centering fork mechanism. When the clamping side of the jaws is close to the workpiece, the first end of the centering linkage mechanism is adapted to contact the workpiece and move synchronously with the second end of the centering linkage mechanism so that the centering fork mechanism moves to the workpiece. The workpiece has a positioning port, which is connected to the outside at least in the radial direction of the workpiece. Positioning surfaces are symmetrically arranged on both sides of the positioning port along the central axis of the workpiece. The split fork mechanism is adapted to move into the positioning port and engage with the positioning surfaces on both sides.

2. The automatic positioning, centering, clamping, and machining fixture as described in claim 1, characterized in that: The centering linkage mechanism includes a top rod, a linkage rod, and a connecting seat. The front end of the top rod is the first end of the centering linkage mechanism, and the front end of the connecting seat is the second end of the centering linkage mechanism. Both ends of the linkage rod are telescopic and are rotatably connected to the rear end of the top rod and the rear end of the connecting seat, respectively. The two ends of the linkage rod are rotatably connected to the support frame to form a rotation fulcrum. The length from the rotation fulcrum to the point where the linkage rod connects to the top rod is less than the length from the rotation fulcrum to the point where the linkage rod connects to the connecting seat.

3. The automatic positioning, centering, clamping, and machining fixture as described in claim 2, characterized in that: The split-center fork mechanism is mounted on the front end of the connecting seat and is adapted to move with the connecting seat. The split-center fork mechanism includes a first split-center arm, a second split-center arm, and two adjusters. The first split-center arm and the second split-center arm are slidably arranged along the direction perpendicular to the movement of the connecting seat. One end of each of the two adjusters passes through the first split-center arm and the second split-center arm respectively and is rotatably connected to the connecting seat. The first split-center arm and the second split-center arm are connected to the adjuster screw. The adjuster is adapted to rotate to change the distance between the first split-center arm or the second split-center arm and the connecting seat.

4. The automatic positioning, centering, clamping, and machining fixture as described in claim 3, characterized in that: The adjuster includes an operating part and an adjusting shaft. The operating part is disposed at a first end of the adjusting shaft, and the second end of the adjusting shaft passes through the first or second split arm and is connected to the connecting seat. The adjusting shaft and the first or second split arm are connected by a lead screw. The first end of the adjusting shaft is exposed on the outside of the first or second split arm and is provided with an adjusting scale. The adjusting scale is adapted to indicate the adjusting distance of the first or second split arm. The outside of the first or second split arm is provided with a contact slope. The first or second split arm is provided with a connecting part, which is parallel to the adjusting shaft. The connecting part and the connecting seat slide in a axial fit along the adjusting shaft.

5. The automatic positioning, centering, clamping, and machining fixture as described in claim 2, characterized in that: The gripper has a contact channel perpendicular to the gripping side. The front end of the push rod is adapted to pass through the contact channel to approach and contact the workpiece. A first enlarged hole is formed on the non-gripping side of the contact channel. A docking shaft seat is provided on the side of the support frame away from the linkage rod. The push rod passes through the docking shaft seat. The docking shaft seat is adapted to be inserted into the first enlarged hole when the support frame is mounted on the gripper to guide the push rod into the contact channel. A second enlarged hole is formed on the gripping side of the contact channel. The centering device also includes a flexible washer. The flexible washer is adapted to be embedded in the second enlarged hole and to be wrapped around the periphery of the push rod. The flexible washer protrudes from the second enlarged hole and is adapted to contact the workpiece before the gripper.

6. The automatic positioning, centering, clamping, and machining fixture as described in claim 1, characterized in that: The non-clamping side of the gripper is provided with a plurality of first fixing holes. The gripper is adapted to be fixed by fasteners installed at the first fixing holes. The support frame is provided with a plurality of second fixing holes. When the support frame is set on the gripper, the second fixing holes are correspondingly matched with the first fixing holes to be fixed by the existing fasteners of the gripper.

7. The automatic positioning, centering, clamping, and machining fixture as described in claim 1, characterized in that: The workpiece has a convex ring on its periphery. The gripper is provided with a side contact surface and a top contact surface. The side contact surface is adapted to abut against the periphery of the workpiece, and the top contact surface is adapted to abut against the lower surface of the convex ring. A receiving cavity is provided in the gripper. The upper side of the receiving cavity communicates with the top contact surface. At least one rotatable ball is installed in the receiving cavity. The top end of the ball protrudes from the upper side of the receiving cavity out of the top contact surface.

8. The automatic positioning, centering, clamping, and machining fixture as described in claim 1, characterized in that: The clamping linkage mechanism includes a connecting plate and a connecting rod. The grippers are distributed circumferentially along the connecting plate and are adapted to slide radially along the connecting plate. The connecting rod connects the connecting plate and the grippers. The connecting rod is eccentrically inclined in the same direction at the connecting plate. The driving mechanism is adapted to drive some of the grippers to slide and push the connecting plate to rotate, so that all the grippers slide synchronously.

9. The automatic positioning, centering, clamping, and machining fixture as described in claim 8, characterized in that: The driving mechanism includes a driver located on the movement path of one of the grippers and connected to the gripper; or, the driving mechanism includes two drivers located on the movement path of one of the grippers and connected to both sides of the movement path of the gripper, respectively.

10. The automatic positioning, centering, clamping, and machining fixture as described in claim 1, characterized in that: An elastic resetter is provided between the first end and / or the second end of the centering linkage mechanism and the support frame. The elastic resetter is adapted to cause the first end of the centering linkage mechanism to extend toward the clamping side of the gripper. The workpiece is a columnar structure.

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