Self-centering rotating device with detection function and flexible clamping method

Abstract

The invention provides a self-centering rotating device with a detection function and a flexible clamping method.The device comprises a workbench, an operation station and computer control software, and the workbench comprises a tray, a base, an electromagnetic chuck, a flexible clamping jaw and a conductive slip ring; the tray is installed on the base, and the conductive slip ring is installed in the center of the tray and connected with the tray and the base. The electromagnetic chuck and the flexible clamping jaw are mounted on the tray; the operation station is placed outside the workbench and used for collecting data of the position detection element and the linear motor stator and transmitting the data to the computer control software. The computer control software is installed on the operation station and used for calculating workpiece machining data, controlling the position of the flexible clamping jaw and the clamping force on the workpiece and controlling the execution action of the workbench. The self-centering rotating device can flexibly clamp workpieces with different wall thicknesses and materials, the structure is compact, the transmission efficiency is high, the workpiece clamping time can be greatly shortened, and the workpiece clamping position precision can be greatly improved.

Description

Technical Field

[0001] This invention relates to the field of automatic workpiece clamping and machining measurement technology for CNC machine tools, and more specifically, to a self-centering rotation device with detection function and a flexible clamping method. Background Technology

[0002] Industries such as aviation, aerospace, and bearings place higher demands on the precision, efficiency, flexibility, and inspection capabilities of parts due to their high precision, thin-walled nature, susceptibility to deformation, and high manufacturing efficiency requirements. Existing clamping methods, typically relying on hydraulic drive or manual mechanical locking, cannot accurately control clamping force, leading to significant damage to parts. Furthermore, mechanical structural errors or synchronization issues with hydraulic mechanisms hinder precise clamping accuracy. Additionally, the workpiece position cannot be adjusted after clamping. For example, consider a ring-shaped part from an aero-engine, approximately 900mm in outer diameter, 800mm in inner diameter, and 2.5mm thick. Current automated clamping methods using hydraulic drive and mechanical clamping suffer from difficulties achieving clamping accuracy exceeding 0.04mm, inability to adjust workpiece position and clamping force after clamping, significant workpiece deformation caused by clamping force, and high scrap rates, severely hindering the development of industries such as aviation, aerospace, and bearings. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a self-centering rotating device with detection function and a flexible clamping method. This machine tool can clamp parts from industries such as aviation, aerospace, and bearings with high precision and speed, and can automatically measure the processed workpieces to reduce processing auxiliary time and improve manufacturing efficiency.

[0004] According to a first aspect of the present invention, a self-centering rotating device with a detection function is provided, comprising: a worktable, an operator station, and computer control software, wherein, The workbench includes a tray, a base, an electromagnetic chuck, flexible claws, and a conductive slip ring; the tray is connected to the base of the base; the conductive slip ring is installed at the center of the tray and connected to the tray and the base; the electromagnetic chuck and the flexible claws are installed on the tray; The operator station is placed outside the workbench and is used to collect data from the position detection element and the linear motor stator, and transmit it to the computer control software. The computer control software is installed on the operator station and is used to calculate workpiece processing data, control the position of the flexible jaws and the clamping force on the workpiece, and control the execution actions of the worktable.

[0005] Based on the above technical solution, the present invention can also be improved as follows.

[0006] Furthermore, the tray includes a tray body, a direct drive motor stator, and a direct drive motor rotor. The direct drive motor rotor is connected to the tray body, and the tray is connected to the base of the base through the direct drive motor stator.

[0007] Furthermore, the base includes a base, a main shaft, and a bearing. The base is connected to the ground, the main shaft is mounted on the base, and the bearing is mounted on the main shaft via an inner ring.

[0008] Furthermore, the flexible gripper includes a gripper, a linear motor stator, a linear motor mover, and a position detection element. The gripper is mounted on the linear motor mover, and the linear motor mover is mounted on a guide rail. The fixed end of the position detection element is connected to the tray, and the movable end is connected to the linear motor mover. The linear motor stator, the guide rail, and the position detection element are mounted on the tray.

[0009] Furthermore, the conductive slip ring is connected to the disk body and the base via a bracket.

[0010] Furthermore, the electromagnetic chuck is mounted on the disc body, and the height of the electromagnetic chuck is higher than the guide rail of the guide rail pair. The guide rail of the guide rail pair is provided with a telescopic protective cover. The clamping mechanism is evenly distributed along the center of the disc body, and the circular workpiece is placed at the center of the disc body.

[0011] Furthermore, the clamping mechanism consists of a slide and flexible jaws. When the motor moves, the flexible jaws clamp the workpiece under the drive of the slide.

[0012] According to a second aspect of the present invention, a flexible clamping method for a self-centering rotating device is provided, comprising the following steps: Select the type of workpiece to be clamped on the operating station, place the workpiece on the disc, preset the coaxiality value and clamping force in the operating station, issue a clamping command on the operating station, and transmit the command signal through the conductive slip ring, causing the linear motor mover to move and execute the clamping workpiece movement. After the flexible jaws clamp the workpiece, the position detection element automatically detects the position of the flexible jaws and determines whether the coaxiality between the workpiece and the disc is less than or equal to the set coaxiality value. If the predetermined value is not reached, the computer control software will send a signal to the linear motor actuator, which will then execute an adjustment command until the coaxiality between the workpiece and the disc is less than or equal to the set coaxiality value. The computer control software will then calculate the diameter and coaxiality of the workpiece and output the data to the operation panel.

[0013] Furthermore, when the workpiece is rectangular, the length and width of the workpiece, the eccentricity of the eccentric hole along the two coordinate directions, and the coaxiality value between the center of the eccentric hole and the disc body need to be preset in the operating station.

[0014] Furthermore, when dealing with triangular workpieces, the allowable deviation of the workpiece center from the center of the disc and the clamping force need to be preset in the operating station.

[0015] The technical effects and advantages of this invention are as follows: This invention provides a self-centering rotating device with detection function and a flexible clamping method. The flexible jaws of the self-centering rotating device are driven by a linear motor, with no backlash. When switching between internal and external clamping modes, the clamping accuracy is not affected by backlash. The device has a compact structure, high transmission efficiency, and can greatly reduce workpiece clamping time. The magnetic scale position detection device in the flexible jaws and the linear motor form a fully closed-loop structure, which can improve the positional accuracy of workpiece clamping. At the same time, the coaxiality value can be preset to ensure that the clamped workpiece automatically reaches the set coaxiality. The self-centering rotating device can flexibly clamp workpieces with different wall thicknesses and materials. The clamping force is preset at the operating station, and the flexible jaws self-center and align the workpiece according to the preset clamping force. The structure of the self-centering rotating device can also be designed as a three-jaw, four-jaw, five-jaw, etc. structure as needed to automatically self-center and align irregularly shaped workpieces such as triangles, squares, and regular pentagons.

[0016] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the workpiece flexible clamping self-centering rotation device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the arrangement of the flexible clamping self-centering mechanism for workpieces provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of eccentric circular turning of a rectangular workpiece with flexible clamping provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a flexible clamping mechanism for self-centering of an equilateral triangular workpiece, provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of a flexible clamping square workpiece self-centering provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a flexible clamping mechanism for self-centering of a regular pentagonal workpiece provided in an embodiment of the present invention; Figure 7 This is a flowchart illustrating the flexible clamping and self-centering process of a workpiece according to an embodiment of the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 1. Base; 2. Direct drive motor stator; 3. Spindle; 4. Inner bearing ring; 5. Outer bearing ring; 6. Disc; 7. Direct drive motor rotor; 8. Conductive slip ring; 9. Linear motor stator mounting base; 10. Guide rail pair; 11. Slide; 12. Linear motor stator; 13. Linear motor mover; 14. Flexible chuck; 15. Magnetic scale reading head; 16. Magnetic scale; 17. Electromagnetic chuck; 18. Circular workpiece; 19. Rectangular workpiece; 20. Triangular workpiece; 21. Square workpiece; 22. Regular pentagonal workpiece; 23. Telescopic protective cover. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Understandably, given the deficiencies in the background technology, this invention proposes a self-centering rotation device with detection function. The device includes: a worktable, an operator station, and computational control software. The workbench includes a tray, a base, an electromagnetic chuck, a flexible claw 14, and a conductive slip ring 8; the tray is mounted on the base, and the conductive slip ring 8 is mounted at the center of the tray and connected to the tray and the base; the electromagnetic chuck and the flexible claw 14 are mounted on the tray.

[0021] Specifically, the tray includes a tray body 6, a direct drive motor stator 2, and a direct drive motor rotor 7. The direct drive motor rotor 7 is connected to the tray body 6, and the direct drive motor stator 2 is connected to the base 1. The base includes a base 1, a main shaft 3 and a bearing. The base 1 is connected to the ground, the main shaft 3 is mounted on the base 1, and the bearing is mounted on the main shaft 3 through an inner ring. The flexible gripper 14 includes a gripper, a linear motor stator 12, a linear motor mover 13, and a position detection element. The guide rail, the linear motor stator 12, and the position detection element are mounted on the tray. The linear motor mover 13 is mounted on the guide rail, and the flexible gripper 14 is mounted on the linear motor mover 13. The fixed end of the position detection element is connected to the tray, and the movable end is connected to the linear motor mover 13.

[0022] It should be noted that the flexible jaws 14 of this self-centering rotary device are driven by a linear motor, eliminating backlash. When switching between internal and external clamping modes, backlash does not affect clamping accuracy. The device features a compact structure, high transmission efficiency, and significantly reduces workpiece clamping time. The magnetic scale 16 position detection device within the flexible jaws 14, together with the linear motor, forms a fully closed-loop structure, improving workpiece clamping position accuracy. Furthermore, coaxiality values ​​can be preset to ensure that the clamped workpiece automatically reaches the set coaxiality.

[0023] The operating station is placed outside the workbench and connected to the conductive slip ring 8 via a data cable. The conductive slip ring 8 is connected to the position detection element and the linear motor stator 12 via a data cable. The operating station collects data from the position detection element and the linear motor stator 12 and transmits it to the calculation and control software to calculate the workpiece processing data and control the position of the flexible chuck 14 and the clamping force on the workpiece.

[0024] With a preset clamping force at the operating station, the flexible jaws self-center and align the workpiece according to the preset clamping force. Thus, the self-centering rotation device can flexibly clamp workpieces with different wall thicknesses and materials. The computer control software is installed on the operator station and is used for data processing and controlling the execution of actions by the system.

[0025] The self-centering rotary device of the present invention can be equipped with a telescopic protective cover 23 on the guide rail used for clamping linear motion, which can prevent workpiece iron filings from entering the guide rail and avoid damaging the guide rail.

[0026] Through the above technical solutions, this invention can achieve high-precision automatic clamping and positioning of parts, adjust the workpiece clamping force, reduce workpiece clamping deformation, and detect the size and shape tolerances of the processed workpiece. It can also meet the automatic clamping requirements for machining eccentric inner holes in rectangular workpieces, and at the same time meet the self-centering clamping requirements for workpieces such as equilateral triangles, squares, regular pentagons, and regular hexagons, greatly improving the clamping efficiency and accuracy of parts.

[0027] Appendix Figure 1This is a schematic diagram of a self-centering rotating device with flexible workpiece clamping and detection functions. As shown in the figure, the base 1 is fixed to the ground by anchor bolts, the direct drive motor stator 2 is connected to the base 1 by screws, and the main shaft 3 is connected to the base 1 by screws and pins. The bearing serves as the load-bearing component, with the inner ring 4 fixed to the main shaft 3 and the outer ring 5 fixed to the disc 6. The conductive slip ring 8 is installed in the center of the tray and connected to the disc 6 and the base 1 by a bracket. The direct drive motor rotor 7 is fixed to the lower part of the disc 6, and the linear motor stator mounting seat 9 is fixed to the upper part of the disc 6. The guide rails of the guide rail pair 10, the linear motor stator 12, and the magnetic scale 16 are installed on the mounting seat 9. The slider of the guide rail pair 10, the linear motor stator 13, and the magnetic scale reading head 15 are installed on the lower part of the slide 11, and the flexible claw 14 is installed on the upper part of the slide 11.

[0028] Appendix Figure 2 This is a schematic diagram showing the arrangement of the self-centering mechanism with flexible workpiece clamping and detection functions on the disk body 6. As shown in the figure, the electromagnetic chuck 17 is mounted on the disk body 6, and its height is higher than the guide rail of the guide rail pair 10. The guide rail of the guide rail pair 10 is equipped with a telescopic protective cover 23 to prevent workpiece chips from entering the guide rail pair. The self-centering mechanism with flexible workpiece clamping and detection functions is evenly distributed along the center of the disk body 6, and the circular workpiece 18 is placed at the center of the disk body 6.

[0029] Appendix Figure 3 A schematic diagram of eccentric circular turning for flexibly clamping a rectangular workpiece is shown in the figure. The outer rectangle of the rectangular workpiece 19 is the workpiece shape, and the inner circle is the eccentric circle to be machined.

[0030] The structure of this self-centering rotary device can be designed as a three-jaw, four-jaw, or five-jaw structure as needed, and can automatically center and align irregularly shaped workpieces such as triangles, squares, and regular pentagons.

[0031] Appendix Figure 4 The diagram shows a flexible clamping mechanism for self-centering of an equilateral triangular workpiece. As shown in the figure, the number of self-centering mechanisms on the disc 6 is reduced to three sets, which are evenly distributed along the center of the disc 6. The equilateral triangular workpiece 20 is self-centered by the three sets of flexible jaws.

[0032] Appendix Figure 5 The diagram shows a flexible clamping mechanism for self-centering of a square workpiece. As shown, the number of self-centering mechanisms on the disc 6 is reduced to four sets, which are evenly distributed along the center of the disc 6. The square workpiece 21 is self-centered by the four sets of flexible jaws.

[0033] Appendix Figure 6 The diagram shows a flexible clamping mechanism for self-centering of a regular pentagonal workpiece. As shown in the figure, the number of self-centering mechanisms on the disc 6 is reduced to five sets and evenly distributed along the center of the disc 6. The regular pentagonal workpiece 22 is self-centered by the five sets of flexible jaws.

[0034] In summary, the self-centering rotating device with detection function provided by this invention has the functions of flexible workpiece clamping and detection compared with existing self-centering rotating devices. It can flexibly clamp workpieces with different wall thicknesses and materials. The clamping force is preset at the operating station, and the flexible jaws perform self-centering and alignment of the workpiece according to the preset clamping force. If the clamping force needs to be readjusted after the workpiece is clamped, it can also be adjusted by inputting a value at the operating station. The guide rail used for clamping linear motion of this self-centering rotating device is equipped with a telescopic protective cover to prevent iron filings from entering the guide rail and avoid damaging the guide rail.

[0035] Additionally, this invention also provides a flexible clamping method for a self-centering rotating device, used in the aforementioned flexible clamping device for a self-centering rotating device, the method comprising the following steps: Select the type of workpiece to be clamped on the operating station, place the workpiece on the disc, preset the coaxiality value and clamping force in the operating station, issue a clamping command on the operating station, and transmit the command signal through the conductive slip ring, causing the linear motor mover to move and execute the clamping workpiece movement. After the flexible jaws clamp the workpiece, the position detection element automatically detects the position of the flexible jaws and determines whether the coaxiality between the workpiece and the disc is less than or equal to the set coaxiality value. If the predetermined value is not reached, the computer control software will send a signal to the linear motor actuator, which will then execute an adjustment command until the coaxiality between the workpiece and the disc is less than or equal to the set coaxiality value. The computer control software will then calculate the diameter and coaxiality of the workpiece and output the data to the operation panel.

[0036] Specifically, the clamping device of this self-centering rotating device flexible clamping method can be designed as a three-jaw, four-jaw, or five-jaw structure as needed, and can automatically perform self-centering and alignment of irregularly shaped workpieces such as triangles, squares, and regular pentagons.

[0037] When the workpiece is a circular workpiece 18, the circular workpiece 18 is placed on the disk 6 and held in place by the electromagnetic chuck 17. According to the wall thickness and coaxiality requirements of different workpieces, the coaxiality value and clamping force are preset in the operating station. The operating station issues a clamping command and transmits the command signal through the conductive slip ring 8. The linear motor mover 13 drives the floating flexible jaw 14 and the magnetic scale reading head 15 to perform the clamping movement. After the floating flexible jaw 14 clamps the workpiece, the magnetic scale reading head 15 automatically detects the position of the floating flexible jaw 14. The computer control software determines whether the coaxiality between the workpiece and the disk 6 is less than or equal to the set coaxiality value. If the predetermined value is not reached, the computer control software feeds back the signal to the linear motor mover 13 and executes the adjustment command until the coaxiality between the workpiece and the disk 6 is less than or equal to the set coaxiality value. Then the computer control software calculates the diameter and coaxiality of the workpiece and outputs the data to the operation panel. When the workpiece is a rectangular workpiece 19, it is eccentrically clamped onto the disc 6, and an inner hole is machined at the eccentric point. The length and width of the workpiece, the eccentricity of the eccentric hole along two coordinate directions, and the coaxiality value between the center of the eccentric hole and the disc 6 are preset in the operating station. The operating station issues a clamping command, and the four sets of linear motor movers 13 execute the clamping motion according to the stroke calculated by the computer control software. After the flexible jaw 14 clamps the workpiece, the magnetic scale reading head 15 automatically detects the position of the flexible jaw 14. If the flexible jaw 14 does not reach the predetermined position, the computer control software feeds back the signal to the respective linear motor movers 13 to execute the adjustment command until the coaxiality of the eccentric hole of the rectangular workpiece 19 is less than or equal to the set coaxiality value. Then, the computer control software calculates the coaxiality between the eccentric hole and the disc 6 and outputs the data to the operating panel. When the workpiece is a triangular workpiece 20, it is placed on the disk 6 and held in place by the electromagnetic chuck 17. The allowable deviation of the workpiece center from the center of the disk 6 and the clamping force are preset in the operating station. The operating station issues a clamping command, which is transmitted through the conductive slip ring 8. The linear motor mover 13 drives the flexible jaw 14 and the magnetic scale reading head 15 to perform the clamping movement. After the flexible jaw 14 clamps the workpiece, the magnetic scale reading head 15 automatically detects the position of the flexible jaw 14. The computer control software determines whether the deviation between the workpiece and the center of the disk 6 is less than or equal to the set value. If the predetermined value is not reached, the computer control software feeds back the signal to the linear motor mover 13 to execute the adjustment command until the deviation between the center of the equilateral triangular workpiece 20 and the center of the disk 6 reaches the allowable value. Then the computer control software calculates the diameter and coaxiality of the workpiece and outputs the data to the operating panel.

[0038] Appendix Figure 5 Square workpiece 21 and attached Figure 6The regular pentagon 22 in the diagram can also be self-centered using the steps described above. For regular hexagonal workpieces, this can also be achieved through attachment... Figure 4 The three self-centering mechanisms in the middle perform self-centering, and the implementation steps are the same.

[0039] Appendix Figure 7 This is a flowchart of the workpiece flexible clamping self-centering and coaxiality automatic detection process. The workpiece flexible clamping control program includes the following steps: Select the type of workpiece to be clamped on the operator station, such as a cylindrical type; Enter the theoretical radius value of the outer circle of the cylindrical workpiece on the operator screen; Input the clamping torque and coaxiality tolerance range on the operator station; The control program calculates the given position values ​​of the four grippers according to the following formula; X1 given position value = X1 current position value + r workpiece outer radius X2 given position value = X2 current position value - r workpiece outer radius Y1 given position value = Y1 current position value + r workpiece outer radius Y2 given position value = Y2 current position value - r workpiece outer radius Based on the process parameters input in the above four steps, the control program issues commands to drive the chucks to perform workpiece clamping actions; The control program determines whether the center of the workpiece and the center of the worktable are within the required tolerance range based on the position values ​​fed back by the magnetic scales of the four jaws; If within tolerance, proceed to the next step; if outside tolerance, continue clamping. If any of the four jaws fails to reach the given position within the specified time, the control program will issue an alarm and indicate the cause of the malfunction to the operator. The control program calculates the maximum and minimum values ​​of the workpiece's outer diameter based on the actual positions of the four jaws, and displays the workpiece's outer diameter values ​​on the operator station.

[0040] Through the above technical solutions, the embodiments of the present invention provide a self-centering rotating device and a flexible clamping method with detection function. The flexible jaws of the self-centering rotating device are driven by a linear motor, with no backlash. When switching between internal and external clamping modes, the clamping accuracy is not affected by backlash. The structure is compact, the transmission efficiency is high, and the workpiece clamping time can be greatly reduced. The magnetic scale position detection device in the flexible jaws and the linear motor form a fully closed-loop structure, which can improve the positional accuracy of workpiece clamping. At the same time, the coaxiality value can be preset to ensure that the clamped workpiece automatically reaches the set coaxiality.

[0041] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0042] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A self-centering rotating device with detection function, characterized in that, This includes a workbench, an operator station, and computer control software, among which... The workbench includes a tray, a base, an electromagnetic chuck, a flexible claw (14), and a conductive slip ring (8); the tray is connected to the base (1) of the base; the conductive slip ring (8) is installed at the center of the tray and connected to the tray and the base; the electromagnetic chuck and the flexible claw (14) are installed on the tray; The operating station is placed outside the workbench and is used to collect data from the position detection element and the linear motor stator (12) and transmit it to the computer control software; The computer control software is installed on the operator station and is used to calculate workpiece processing data and control the position of the flexible jaws (14) and the clamping force on the workpiece, and control the execution actions of the worktable.

2. The self-centering rotating device with detection function according to claim 1, characterized in that, The tray includes a tray body (6), a direct drive motor stator (2) and a direct drive motor rotor (7). The direct drive motor rotor (7) is connected to the tray body (6), and the tray is connected to the base (1) of the base through the direct drive motor stator (2).

3. The self-centering rotating device with detection function according to claim 1, characterized in that, The base includes a base (1), a main shaft (3) and a bearing. The base (1) is connected to the ground, the main shaft (3) is mounted on the base (1), and the bearing is mounted on the main shaft (3) via an inner ring.

4. The self-centering rotating device with detection function according to claim 1, characterized in that, The flexible gripper (14) includes a gripper, a linear motor stator (12), a linear motor mover (13), and a position detection element. The gripper is mounted on the linear motor mover (13), and the linear motor mover (13) is mounted on a guide rail. The fixed end of the position detection element is connected to the tray, and the movable end is connected to the linear motor mover (13). The linear motor stator (12), the guide rail, and the position detection element are all mounted on the tray.

5. A self-centering rotating device with detection function according to claim 1, characterized in that, The conductive slip ring (8) is connected to the disk body (6) and the base (1) via a bracket.

6. The self-centering rotating device with detection function according to claim 1, characterized in that, The electromagnetic chuck is installed on the disc body (6). The height of the electromagnetic chuck is higher than the guide rail of the guide rail pair (10). The guide rail of the guide rail pair (10) is provided with a telescopic protective cover. The clamping mechanism is evenly distributed along the center of the disc body (6). The workpiece is placed at the center of the disc body (6).

7. A self-centering rotating device with detection function according to claim 1, characterized in that, The clamping mechanism consists of a slide (11) and a flexible jaw (14). When the motor moves, the flexible jaw (14) clamps the workpiece under the drive of the slide (11).

8. A flexible clamping method for the self-centering rotating device according to any one of claims 1 to 7, characterized in that, Includes the following steps: Select the type of workpiece to be clamped on the operating station, place the workpiece on the disc (6), pre-set the coaxiality value and clamping force in the operating station, issue a clamping command on the operating station, and transmit the command signal through the conductive slip ring (8) to cause the linear motor mover (13) to move and perform the clamping workpiece movement. After the flexible jaw (14) clamps the workpiece, the position detection element automatically detects the position of the flexible jaw (14) and determines whether the coaxiality between the workpiece and the disc (6) is less than or equal to the set coaxiality value. If the predetermined value is not reached, the computer control software will feed back the signal to the linear motor mover (13). The linear motor mover (13) will execute the adjustment command until the coaxiality between the workpiece and the disc (6) is less than or equal to the set coaxiality value. Then the feedback will stop. The computer control software will calculate the diameter and coaxiality of the workpiece and output the data to the operation panel.

9. The self-centering rotation method with detection function according to claim 8, characterized in that, When the type of workpiece to be clamped is a rectangular workpiece (19), the length and width of the workpiece, the eccentricity of the eccentric hole along the two coordinate directions, and the coaxiality value of the center of the eccentric hole and the disc (6) need to be preset in the operating station.

10. A self-centering rotation method with detection function according to claim 8, characterized in that, When the type of workpiece to be clamped is a triangular workpiece (20), the allowable value of the deviation of the workpiece center from the center of the disc (6) and the clamping force need to be preset in the operating station.

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