Precise clamping device parallel connection structure capable of achieving balanced positioning swing

Abstract

The invention relates to a precise clamping device parallel structure capable of achieving balanced positioning swing. The precise clamping device parallel structure comprises a supporting base, a plurality of swing rods, a plurality of connecting rods, a plurality of balancing weights and a plurality of clamping modules. A plurality of mounting through holes are uniformly distributed in the base along a straight line; the swing rods are in an inverted L shape, the multiple swing rods are installed in the multiple installation through holes in a penetrating mode one by one, and the middles of the swing rods are connected with the base in a relative rotating mode through rotating shafts. A connecting rod is arranged at the position, close to the lower end, between every two adjacent swing rods, and the two ends of each connecting rod are hinged to the swing rods on the two sides respectively. A group of clamping modules are fixedly mounted at the end part of the transverse edge of the upper end of each swinging rod, a balancing weight is mounted at the lower end of each swinging rod, and the balancing weights are arranged on the opposite sides of the mounting sides of the clamping modules; driving shafts are installed at the lower end of the swing rod, and the swing rod is connected with an external driving mechanism through any driving shaft. According to the structure, the problem that an existing clamping device is difficult to consider positioning precision, balance performance and swing stability at the same time is solved, and the reliability and precision of precise clamping operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of clamping technology in precision machinery manufacturing, and relates to clamping structures used in precision parts processing, manufacturing and testing scenarios. Specifically, it relates to a parallel structure of a precision clamping device that achieves balanced positioning and swinging. Background Technology

[0002] In the field of precision manufacturing and testing, existing precision clamping devices mostly adopt a series structure, which suffers from large cumulative errors and is prone to imbalance due to center of gravity shift during swing. While some parallel structure clamping devices can reduce errors, they struggle to balance positioning accuracy and balancing swing function. During small-amplitude swing adjustments, insufficient structural rigidity or uneven distribution of driving force often leads to positioning lag and swing jamming, failing to meet the requirements for balanced positioning and swing in high-precision operation scenarios. To improve production efficiency and ensure product quality, a precision clamping device capable of multi-station processing needs to be designed. This device should adopt a parallel structure to meet product technical requirements, improve processing efficiency, and ensure processing quality, placing extremely high demands on the positioning accuracy, swing stability, and balance performance of the clamping device. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a parallel structure for a precision clamping device that achieves balanced positioning and swinging.

[0004] The above-mentioned objective of this invention is achieved through the following technical solution: A parallel structure of a precision clamping device capable of balanced positioning and swinging includes a support base, multiple swing rods, multiple connecting rods, multiple counterweights, and multiple sets of clamping modules; Multiple mounting through holes are evenly distributed along a straight line on the base; the swing rods are inverted L-shaped, and multiple swing rods are inserted into the multiple mounting through holes, forming a rotatable connection with the base through a rotating shaft in the middle; a connecting rod is provided near the lower end between each pair of adjacent swing rods, and the two ends of the connecting rod are respectively hinged to the swing rods on both sides, and the connecting rod is arranged parallel to the base; a set of clamping modules is fixedly installed at the upper horizontal end of each swing rod, and a counterweight is installed at the lower end of each swing rod, and the counterweight is located on the opposite side of the clamping module installation side; a drive shaft is installed at the lower end of the swing rod, and is connected to the drive mechanism of an external device through any drive shaft.

[0005] Furthermore, shaft mounting holes are vertically provided on both sides of each mounting through hole in the base, and a flange face is provided outside the shaft mounting hole on one side; the rotating shaft is installed in each shaft mounting hole, and the flange of the rotating shaft is close to the flange face of the supporting base and is fixedly connected by screws.

[0006] Furthermore, a circular hole is provided at the lower end of the swing arm for mounting the drive shaft; hinge ears are provided on both sides of the upper part of the circular hole at the lower end of the swing arm, and a shaft hole is coaxially provided at the center of the outer end of the hinge ear; each connecting rod has an ear groove at both ends that can be fitted with the hinge ear on the swing arm with a gap, and a shaft hole is provided on both sides of the ear groove; the ear grooves at both ends of the connecting rod are fitted with the hinge ears on the corresponding side of the swing arm, and are rotatably connected by a pin.

[0007] Furthermore, the clamping module includes a support, a clamping assembly, and a clamping force adjustment and detection assembly; The clamping assembly is used to clamp and fix the cylindrical part. The clamping assembly is installed in the mounting through hole inside the support in a manner that is movable in the axial direction and limited in the radial direction. The clamping force adjustment and detection assembly includes a pressure adjusting screw, a pressure guide rod, a pressure sliding block, a force-applying spring, and a pressure sensor. The pressure adjusting screw is threaded to the upper end of the pressure guide rod, and the lower end face of the pressure adjusting screw contacts the upper surface of the pressure sliding block during operation. The pressure guide rod passes through a first through hole on the pressure sliding block and is fixedly connected to the upper end of the pressure sensor, which is fixed to a pressure sensor mounting plane on the support. The force-applying spring is fitted onto the outer surface of the clamping assembly in a lower limiting manner. The pressure sliding block is fitted with a guide tube through a second through hole, and the pressure sliding block is pressed against the upper end of the force-applying spring. The position of the clamping assembly is adjusted by adjusting the pressure adjusting screw, thereby adjusting the magnitude of the contact force between the end face of the cylindrical part and the end face of the grinding tool.

[0008] Furthermore, a positioning guide cylindrical hole is formed in the center of the support to realize the axial movement and radial positioning of the clamping assembly along the hole. A compression movement space cylindrical hole is also formed in the center of the support to accommodate the force-applying spring. The compression movement space cylindrical hole and the positioning guide cylindrical hole are coaxially connected to form the mounting through hole. A mounting groove is connected to one side of the compression movement space cylindrical hole for mounting the clamping force adjustment and detection assembly. The bottom surface of the mounting groove forms the mounting plane of the pressure sensor. A screw mounting hole is provided at the bottom of the mounting groove. The pressure sensor is fixed by connecting the mounting screw to the threaded hole at the bottom of the pressure sensor. An opening slot is provided on one side of the mounting groove corresponding to the position where the pressure sensor is installed for leading out the signal line of the pressure sensor.

[0009] Furthermore, the clamping assembly includes a locking rod, a guide tube, and a replaceable chuck; the locking rod is a rod structure with a locking handle at the upper end and an externally threaded rod section at the lower end; the outer surface of the guide tube is composed of a large-diameter cylindrical surface and a small-diameter cylindrical surface, wherein the size of the large-diameter cylindrical surface matches the diameter of the positioning guide cylindrical hole on the support, and the small-diameter cylindrical surface is used to mount the force-applying spring of the clamping adjustment assembly and to limit the lower position of the spring; the lower end of the inner hole of the guide tube adopts a tapered hole structure; the outer surface of the replaceable chuck adopts a tapered surface, the upper part of its inner hole adopts a threaded hole, and the lower part of its inner hole is used to install cylindrical parts; the replaceable chuck is connected to the lower part of the locking rod through the threaded hole; the locking rod is inserted into the guide tube, so that the outer surface of the replaceable chuck and the tapered hole at the lower end of the guide tube form a tapered surface fit.

[0010] Furthermore, an adjusting screw is vertically fixed at the lower end of the swing arm, and the counterweight has an internal threaded hole, which is connected to the adjusting screw through the internal threaded hole.

[0011] The advantages and positive effects of this invention are as follows: 1. This invention employs a multi-branch parallel drive structure: multiple clamping modules are evenly distributed along a straight line and mounted on a parallel drive mechanism consisting of a support base, multiple swing arms, and multiple connecting rods. This allows for power input to any swing arm, satisfying mass production requirements. Compared to traditional parallel structures, this achieves power drive for any branch, improving the flexibility of structural installation and enabling modular design operability.

[0012] 2. This invention can achieve rapid balance compensation: After the structural design and assembly are completed, the weight of the counterweight can be accurately calculated using the principle of balance. Based on the inconsistency of the parts, the counterweight distance can be finely adjusted using the structural principle of threaded transmission.

[0013] 3. This invention incorporates a clamping force adjustment and detection component in the clamping module, enabling closed-loop force feedback control. Specifically, the pressure value is displayed via an external display device connected to the pressure sensor. The displayed value is adjusted to the target value, and the pressure adjustment screw is manually fine-tuned to adjust the advancing distance of the pressure sliding block until the pressure sensor detection value matches the target value, thus completing the clamping force adjustment. This precise adjustment of the clamping force prevents part deformation or movement, and is easy to operate. The digital display of pressure value changes and manual pressure adjustment and monitoring improve processing efficiency and reduce costs.

[0014] In summary, this invention solves the problem that existing clamping devices struggle to balance positioning accuracy, balance performance, and swing stability, thereby improving the reliability and precision of precision clamping operations. Attached Figure Description

[0015] Figure 1This is an overall structural diagram of the parallel structure of the precision clamping device that enables balanced positioning and swinging according to the present invention; Figure 2 This is a schematic diagram of the structure of the support base of the present invention; Figure 3 This is a schematic diagram of the parallel drive mechanism of the present invention; Figure 4 This is a schematic diagram of the clamping module of the present invention, wherein the support of the clamping module is shown in a half-sectional view; Figure 5 This is a schematic diagram of the support structure in the clamping module of the present invention. 5a is a cross-sectional view, and 5b is a perspective view of the exterior. Figure 6 This invention relates to a structure that achieves axial force balance through a counterweight, as shown in Figure 6a, Force Balance Dimensioning Diagram, and 6b, Perspective View. Detailed Implementation

[0016] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] For a parallel structure of a precision clamping device capable of balanced positioning and swinging, please refer to [link / reference]. Figures 1-6 The invention features a modular design for the parallel structure of the precision clamping device, which can be installed as an independent module. It mainly includes a support base 3, multiple swing rods 2, multiple connecting rods 8, multiple counterweights 5, and multiple clamping modules 1.

[0018] The support base, see Figure 2 This is a mounting support for a parallel structure of a precision clamping device. Following a modular design concept, this support base can be customized to meet the processing needs of different equipment. Multiple mounting through holes 3.1 are evenly distributed along a straight line on the base; in this invention, these through holes are rectangular. A shaft mounting hole is perpendicularly provided on both sides of each mounting through hole, and a flange face 3.2 is provided outside one side of the shaft mounting hole. Each mounting through hole is used to mount a swing rod. The shaft mounting hole is used to mount a rotating shaft 4. The flange of the rotating shaft is close to the flange face of the support base and connected by screws. The rotating shaft supports the swing rod, allowing the swing rod to swing freely around the rotating shaft within a range of ±60°.

[0019] The swing arm is inverted L-shaped, with a widened mounting surface at its upper horizontal end. A screw through-hole is provided on the mounting surface for mounting the clamping assembly. A shaft hole is provided in the middle of the swing arm, allowing a bearing or bushing to be fixed within for mating with the rotating shaft. A circular hole is provided at the lower end of the swing arm for mounting a drive shaft, which connects to the drive mechanism. Hinge lugs are provided on both sides above the circular hole at the lower end of the swing arm. The outer ends of the hinge lugs are semi-circular, and a shaft hole is coaxially provided at the center of the outer end of each hinge lug.

[0020] Each link has ear grooves at both ends that can be fitted into the hinge lugs on the swing arm with a gap, and shaft holes are provided on both sides of the ear grooves.

[0021] A connecting rod is provided between each pair of adjacent swing rods. The ear grooves at both ends of the connecting rod are fitted with the hinge ears on the corresponding side of the swing rod, and are rotatably connected by the pin 6.

[0022] The aforementioned support base, multiple swing rods, and multiple connecting rods are connected to form a parallel drive mechanism, see [link / reference]. Figure 3 In this invention, there are six swing rods and five connecting rods, with the connecting rods positioned horizontally parallel to the supporting base. Each connecting rod's two ends are rotatably connected to the swing rods on either side, forming a set of parallelograms. Utilizing the 40 TRIZ innovation principles of dimensional transformation to convert an object from one-dimensional to two-dimensional or multi-dimensional space, a set of parallelogram structures is transformed into six sets of parallelogram structures, rationally utilizing space, reducing resource waste, and improving efficiency. The working principle of the parallelograms is used to achieve the linkage of the swing rods, achieving the desired effect. Installing a power drive device at the lower end of any swing rod enables simultaneous linkage of all six swing rods, achieving power input drive.

[0023] Each clamping module consists of a support 1.1, a clamping assembly, and a clamping force adjustment and detection assembly, both of which are mounted on the support.

[0024] The structural form of the support is as follows: A positioning guide cylindrical hole 1.1.2 is formed in the center of the support for positioning the clamping assembly, enabling axial movement and radial positioning of the clamping assembly along the hole. A compression movement space cylindrical hole 1.1.1 is also formed in the center of the support to accommodate the force-applying spring of the pressure adjustment assembly. The compression movement space cylindrical hole and the positioning guide cylindrical hole are coaxially connected. A mounting groove 1.1.3 is connected to one side of the compression movement space cylindrical hole. The mounting groove is used to install the pressure force adjustment and detection assembly, and the bottom surface of the mounting groove forms a pressure sensor mounting plane 1.1.4. To fix the pressure sensor, a screw mounting hole 1.1.5 is provided at the bottom corresponding to the mounting groove. The screw mounting hole is a stepped hole for installing a screw, which connects to the threaded hole at the bottom of the pressure sensor to fix the pressure sensor. Additionally, an opening groove 1.1.6 is provided on one side of the mounting groove corresponding to the position where the pressure sensor is installed, for leading out the signal line of the pressure sensor.

[0025] The precision clamping device of this invention is designed as an independent control module. Multiple threaded holes 1.1.7 are made on the side of the support opposite to the mounting groove. The multiple threaded holes are aligned with the screw through holes at the upper end of the corresponding swing rod. The clamping component is fixed to the swing rod by the mounting screw.

[0026] Clamping components: The clamping assembly is used to clamp and fix cylindrical parts, and mainly includes a locking rod 1.2, a guide tube 1.3, and a replaceable chuck 1.4.

[0027] The locking rod is a rod structure with a locking handle at the upper end and an externally threaded rod section at the lower end. The outer surface of the guide tube is composed of a large-diameter cylindrical surface and a small-diameter cylindrical surface. The size of the large-diameter cylindrical surface matches the diameter of the positioning guide cylindrical hole on the support. The small-diameter cylindrical surface is used to mount the force-applying spring of the clamping adjustment assembly and to limit the lower position of the spring. The lower end of the inner hole of the guide tube adopts a tapered hole structure for mating with the outer surface of the replaceable chuck. The outer surface of the replaceable chuck adopts a tapered surface, and the upper part of its inner hole adopts a threaded hole, while the lower part of its inner hole is used to install cylindrical parts. The replaceable chuck is connected to the lower part of the locking rod through the threaded hole. The locking rod passes through the guide tube, so that the outer surface of the replaceable chuck and the tapered hole at the lower end of the guide tube form a tapered surface fit. Specifically: The replaceable chuck can adopt a split elastic gripper structure. Its outer surface is a tapered surface that matches the tapered hole at the lower end of the guide tube, and the lower part of the inner hole is a clamping hole that matches the outer circle of the cylindrical part to be clamped. The side wall of the replaceable chuck is evenly provided with 3-4 elastic grooves along the axial direction. The elastic grooves penetrate to the inner wall of the clamping hole, so that the replaceable chuck has the elastic deformation capability of radial contraction and opening.

[0028] The circumferential positioning of the replaceable chuck and the guide tube is achieved through an anti-rotation keyway mating structure: a rectangular positioning key is set on the upper end face of the tapered surface of the replaceable chuck, and an axial positioning groove adapted to the positioning key is opened on the inner wall of the tapered hole at the lower end of the guide tube; when the replaceable chuck and the tapered surface of the guide tube are mated, the positioning key is embedded in the positioning groove, which can completely restrict the circumferential rotation of the replaceable chuck relative to the guide tube, thereby ensuring that the cylindrical part to be ground has no circumferential movement during the processing.

[0029] In addition, a guide groove 1.3.1 is formed along the axial direction at the outer circle of the upper end of the guide tube.

[0030] This clamping assembly utilizes a clockwise rotation of the locking rod to drive the replaceable chuck upwards axially. The conical surface then tightens the chuck radially, locking and positioning cylindrical parts. Conversely, counter-clockwise rotation of the locking rod drives the chuck downwards axially, releasing the radial tightening effect and allowing the cylindrical parts to be released and disassembled. Different replaceable chucks can be selected for different diameters within a certain range, offering high versatility and eliminating the need to replace the entire assembly, thus reducing operating costs.

[0031] Clamping force adjustment detection component: The clamping force adjustment and detection assembly includes a pressure adjusting screw 1.5, a pressure guide rod 1.6, a pressure sliding block 1.7, a force application spring 1.8, a clamp one 1.9, a clamp two 1.10, and a pressure sensor 1.11.

[0032] The pressure adjusting screw is threaded to the upper end of the pressure guide rod. The lower end face of the pressure adjusting screw is arc-shaped and contacts the upper surface of the pressure sliding block during operation. The rotation of the thread moves the pressure sliding block. The pressure guide rod passes through the first through hole on the pressure sliding block and is fixedly connected to the upper end of the pressure sensor. The pressure sensor is fixed to the pressure sensor mounting plane of the support. The force spring is fitted onto the guide tube, and the lower end of the force spring contacts the stepped surface on the guide tube. The pressure sliding block passes through the guide tube through the second through hole, and the pressure sliding block presses against the upper end of the force spring. The position of the clamping assembly is adjusted by adjusting the pressure adjusting screw, thereby adjusting the contact force between the end face of the cylindrical part and the end face of the grinding tool. In actual use, after the pressure is adjusted to the correct position, clamp one and clamp two are installed opposite each other on the upper end of the guide tube. The two clamps are connected by screws to hold the guide tube tightly. The two clamps contact the upper end face of the support to maintain a stable clamping force. In addition, a guide platform is provided in the second through hole of the pressure sliding block. The guide platform cooperates with the guide groove 1.3.1 on the guide tube to realize the sliding of the clamping assembly along the axis and restrict rotation, thus providing stability for the entire device. In this invention, the guide groove and the guide platform adopt a square groove and square platform cooperation form.

[0033] The usage method of this clamping module is as follows: Step 1, Part Positioning: Place the cylindrical part to be ground into the replaceable chuck of the clamping assembly. Adjust the axial dimension chain of the clamping assembly guide tube with the appropriate thickness according to the part diameter to ensure that the part axis coincides with the grinding axis. Step 2, Initial clamping: Manually rotate the pressure adjusting screw to push the pressure sliding block towards the part until the pressure sensor detects the initial clamping force. The initial pressure value is preset to 50-100N, which is set according to the material of the part. Step 3, Pressure Adjustment: The pressure value is displayed on the external display device connected to the pressure sensor. Adjust the displayed value to the target value, and manually fine-tune the pressure adjustment screw to adjust the advance distance of the pressure sliding block until the pressure sensor detection value matches the target value. This completes the clamping force adjustment. Precise adjustment of clamping force prevents parts from deforming or shifting. The operation is convenient. The pressure value change is displayed digitally, and manual pressure adjustment and monitoring improve processing efficiency and reduce costs.

[0034] Step 4, Grinding Process: Start the grinding equipment to grind the end face of the part. During the grinding process, the pressure sensor continuously monitors the clamping force. If the clamping force fluctuates by more than ±3N, continue to adjust the advancing distance of the pressure sliding block to maintain a stable clamping force. The stability is high. The inner hole of the replaceable chuck fits tightly with the outer circle of the part. With the help of pressure closed-loop control, the clamping force fluctuation during the grinding process is small, ensuring that the end face shape and position grinding error is ≤0.001mm.

[0035] Step 5, Processing Completed: After the grinding process is completed, rotate the locking rod of the clamping assembly counterclockwise to drive the replaceable chuck to move axially downward along the inner hole of the guide tube, releasing the radial tightening force caused by the conical surface fit, allowing the replaceable chuck to elastically reset and release the cylindrical part; then lift the locking rod upward, driving the guide tube and the replaceable chuck to move upward synchronously. At this time, the force spring fitted on the outer surface of the guide tube is compressed upward, and the cylindrical hole of the compression movement space provides sufficient upward movement stroke. After the part is completely out of the clamping range of the replaceable chuck, the part can be directly removed.

[0036] To achieve processing stability and ensure the quality of precision machining, this invention connects the swing rod and the support base via a rotating shaft. During operation, the rotating shaft only supports rotation; no component force due to uneven weight distribution is allowed along its axial direction to prevent localized wear and ensure machining quality over prolonged use. To achieve force balance along the axial direction of the rotating shaft, a counterweight 5 is installed on the opposite side of the clamping module mounting side at the lower end of each swing rod. The counterweight is connected to the swing rod via a threaded drive. Specifically, an adjusting screw 7 is vertically fixed at the lower end of the swing rod. The counterweight has an internal threaded hole that precisely engages with the adjusting screw, forming a stable threaded connection with the swing rod after assembly. This ensures a secure connection and provides a transmission basis for subsequent fine-tuning. The counterweight adjustment is achieved as follows: 1. Preliminary accurate calculation: After the device structure design and assembly are completed, based on the principle of balance and combined with the consistency deviations caused by the processing and assembly of each component, the weight of the counterweight required to meet the overall balance is accurately calculated, and the core counterweight benchmark is determined.

[0037] 2. Distance fine-tuning compensation: Based on the determined weight of the counterweight, the screw feed principle of the screw drive is used to rotate the counterweight in the forward or reverse direction, so that it moves linearly along the adjusting screw, thereby changing the lever arm distance of the counterweight relative to the swing fulcrum.

[0038] This counterweight method, through precise fine-tuning of the lever arm length, adapts to balance deviations caused by inconsistencies in parts. It can quickly achieve dynamic or static balance compensation of the entire device without replacing counterweights of different weights, and is precise in adjustment and convenient in operation.

[0039] See Figure 6 The weight of the counterweight is calculated as follows: The principle of balance is used: G1*L1= G2*L2, where G1 is the weight of the high-density counterweight, L1 is the distance between the center of gravity of the counterweight and the middle cross-section of the corresponding rotation axis, G2 is the weight of the clamping module, and L2 is the distance between the center of gravity of the clamping module and the middle cross-section of the corresponding rotation axis. The force balance of the structure is achieved by a swing rod. The weight of the counterweight is calculated based on the inherent weight of the clamping module, and the corresponding counterweight is made to achieve the balance of the structure. When the weight of the clamped parts changes, the force balance is maintained by fine-tuning the distance of the counterweight.

[0040] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A parallel structure of a precision clamping device capable of achieving balanced positioning and swinging, characterized in that: It includes a support base, multiple swing rods, multiple connecting rods, multiple counterweights, and multiple sets of clamping modules; Multiple mounting through holes are evenly distributed along a straight line on the base; the swing rods are inverted L-shaped, and multiple swing rods are inserted into the multiple mounting through holes, forming a rotatable connection with the base through a rotating shaft in the middle; a connecting rod is provided near the lower end between each pair of adjacent swing rods, and the two ends of the connecting rod are respectively hinged to the swing rods on both sides, and the connecting rod is arranged parallel to the base; a set of clamping modules is fixedly installed at the upper horizontal end of each swing rod, and a counterweight is installed at the lower end of each swing rod, with the counterweight located on the opposite side of the clamping module installation side; a drive shaft is installed at the lower end of the swing rod, and is connected to the drive mechanism of an external device through any drive shaft.

2. The parallel structure of the precision clamping device capable of balanced positioning and swinging according to claim 1, characterized in that: A shaft mounting hole is vertically provided on both sides of each mounting through hole in the base, and a flange face is provided outside the shaft mounting hole on one side; the rotating shaft is installed in each shaft mounting hole, and the flange of the rotating shaft is close to the flange face of the supporting base and is fixedly connected by screws.

3. The parallel structure of the precision clamping device capable of balanced positioning and swinging according to claim 1, characterized in that: A circular hole is provided at the lower end of the swing arm for mounting the drive shaft; hinge ears are provided on both sides of the upper part of the circular hole at the lower end of the swing arm, and a shaft hole is provided coaxially at the center of the outer end of the hinge ear; each connecting rod has an ear groove at both ends that can be fitted with the hinge ear on the swing arm with a gap, and a shaft hole is provided on both sides of the ear groove; the ear grooves at both ends of the connecting rod are fitted with the hinge ears on the corresponding side of the swing arm, and are rotatedly connected by a pin.

4. The parallel structure of the precision clamping device capable of balanced positioning and swinging according to claim 1, characterized in that: The clamping module includes a support, a clamping assembly, and a clamping force adjustment and detection assembly; The clamping assembly is used to clamp and fix the cylindrical part. The clamping assembly is installed in the mounting through hole inside the support in a manner that is movable in the axial direction and limited in the radial direction. The clamping force adjustment and detection assembly includes a pressure adjusting screw, a pressure guide rod, a pressure sliding block, a force-applying spring, and a pressure sensor. The pressure adjusting screw is threaded to the upper end of the pressure guide rod, and the lower end face of the pressure adjusting screw contacts the upper surface of the pressure sliding block during operation. The pressure guide rod passes through a first through hole on the pressure sliding block and is fixedly connected to the upper end of the pressure sensor, which is fixed to a pressure sensor mounting plane on the support. The force-applying spring is fitted onto the outer surface of the clamping assembly in a lower limiting manner. The pressure sliding block is fitted with a guide tube through a second through hole, and the pressure sliding block is pressed against the upper end of the force-applying spring. The position of the clamping assembly is adjusted by adjusting the pressure adjusting screw, thereby adjusting the magnitude of the contact force between the end face of the cylindrical part and the end face of the grinding tool.

5. The parallel structure of the precision clamping device capable of balanced positioning and swinging according to claim 4, characterized in that: A positioning guide cylindrical hole is formed in the center of the support to enable the clamping assembly to move axially and be positioned radially along the hole. A compression movement space cylindrical hole is also formed in the center of the support to accommodate the force-applying spring. The compression movement space cylindrical hole and the positioning guide cylindrical hole are coaxially connected, forming the mounting through hole. A mounting groove is connected to one side of the compression movement space cylindrical hole for mounting the clamping force adjustment and detection assembly. The bottom surface of the mounting groove forms the mounting plane of the pressure sensor. A screw mounting hole is provided at the bottom corresponding to the mounting groove. A mounting screw connects to the threaded hole at the bottom of the pressure sensor to fix the pressure sensor. An opening slot is provided on one side of the mounting groove corresponding to the position where the pressure sensor is installed, for leading out the signal line of the pressure sensor.

6. The parallel structure of the precision clamping device capable of balanced positioning and swinging according to claim 1, characterized in that: The clamping assembly includes a locking rod, a guide tube, and a replaceable chuck. The locking rod is a rod structure with a locking handle at the upper end and an externally threaded rod section at the lower end. The outer surface of the guide tube is composed of a large-diameter cylindrical surface and a small-diameter cylindrical surface. The size of the large-diameter cylindrical surface matches the diameter of the positioning guide cylindrical hole on the support. The small-diameter cylindrical surface is used to mount the force-applying spring of the clamping and adjusting assembly and to limit the lower position of the spring. The lower end of the inner hole of the guide tube adopts a tapered hole structure. The outer surface of the replaceable chuck adopts a tapered surface, and the upper part of its inner hole adopts a threaded hole, while the lower part of its inner hole is used to install cylindrical parts. The replaceable chuck is connected to the lower part of the locking rod through the threaded hole. The locking rod passes through the guide tube, so that the outer surface of the replaceable chuck and the tapered hole at the lower end of the guide tube form a tapered surface fit.

7. The parallel structure of the precision clamping device capable of balanced positioning and swinging according to claim 1, characterized in that: An adjusting screw is vertically fixed at the lower end of the swing arm, and the counterweight has an internal threaded hole, which is connected to the adjusting screw through the internal threaded hole.

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