Multi-degree-of-freedom space curved surface clamp

Abstract

The invention discloses a multi-degree-of-freedom spatial curved-surface clamp, relates to a curved-surface clamp, and belongs to the field of curved-surface wood processing of woodworking machine tools. In order to solve the technical defects that an existing curved surface clamp is low in machining efficiency, poor in adaptability and limited in clamping range, the curved surface clamp comprises a clamp structure with an overturning function, a suction cup auxiliary supporting structure, a clamp lifting adjusting structure and a clamp lifting frame structure. The clamp structure with the overturning function is installed at the top end of the clamp lifting frame structure and achieves lifting and overturning on the clamp lifting frame structure, the suction cup auxiliary supporting structure is installed on the clamp lifting adjusting structure, and the clamp lifting adjusting structure adjusts the height and the angle position of the suction cup auxiliary supporting structure. The clamp lifting adjusting structure is installed on the clamp lifting frame structure and adjusts the height of the top end of the clamp lifting frame structure.

Description

Technical Field

[0001] This invention relates to a curved surface fixture, specifically a multi-degree-of-freedom spatial curved surface fixture, and belongs to the field of curved wood processing in woodworking machine tools. Background Technology

[0002] In the processing of large curved wooden components, curved surface clamping fixtures are core equipment for ensuring processing accuracy and efficiency. With the increasing market demand for wooden decorative components, large wooden cultural and creative products, and customized wooden furniture, the processing requirements for large curved wooden components are rising, placing higher demands on the adaptability and ease of processing of curved surface clamps.

[0003] However, existing curved surface fixtures have many technical shortcomings in practical applications, making it difficult to meet the needs of efficient and high-precision processing of large curved wood surfaces. The specific problems are as follows:

[0004] The current curved surface fixtures suffer from low processing efficiency. They can only stably clamp a single surface of large curved wood. After machining the upper surface, the lower surface cannot be directly machined. A robotic arm must be used to flip the fixture and the curved wood together and re-clamp them before machining can begin. This flipping and re-clamping process is not only time-consuming but also prone to positioning deviations due to the secondary clamping, reducing the consistency of machining accuracy and significantly hindering the overall processing efficiency of curved wood.

[0005] Existing curved surface clamps are often unsuitable for complex bends and varying thicknesses in curved wood. Their clamping structures are mostly fixed or single-curvature adaptation types, and parameters such as the curvature of the clamping surface and the support spacing cannot be flexibly adjusted according to the actual bending shape and thickness variations of the curved wood. For large curved wood with complex bends and significant thickness fluctuations, existing clamps cannot form a clamping support surface that completely conforms to the surface of the curved wood. This leads to localized stress concentrations or clamping gaps during clamping, causing the curved wood to shift and deform during processing, making stable clamping impossible.

[0006] Effective clamping of edges and areas with varying thickness is difficult to achieve. Large curved wood edges typically exhibit abrupt changes in curvature and thinning, with areas of significant thickness variation often being critical for curved surface forming. Existing curved surface fixtures primarily focus their clamping force on the flat central area of ​​the curved wood, lacking dedicated clamping structures for edges and areas with varying thickness. This makes it impossible to generate stable and uniform clamping force for these special areas, leading to vibration and displacement issues during processing, thus affecting the edge processing accuracy and overall forming quality of the curved wood. Summary of the Invention

[0007] The present invention aims to address the technical shortcomings of existing curved surface fixtures, such as low processing efficiency, poor adaptability, and limited clamping range, and to provide a solution for a multi-degree-of-freedom spatial curved surface fixture.

[0008] To address the aforementioned problems, this application provides the following technical solution:

[0009] A multi-degree-of-freedom spatial curved surface fixture includes a fixture structure 1 with a flipping function, a suction cup auxiliary support structure 2, a fixture lifting and adjusting structure 3, and a fixture lifting frame structure 4;

[0010] A clamping structure 1 with a flipping function is installed on the top of the clamping lifting frame structure 4, and can lift and flip on the clamping lifting frame structure 4. A suction cup auxiliary support structure 2 is installed on the clamping lifting adjustment structure 3, which adjusts the height and angle position of the suction cup auxiliary support structure 2. The clamping lifting adjustment structure 3 is installed on the clamping lifting frame structure 4 and adjusts the height of the top of the clamping lifting frame structure 4.

[0011] Furthermore, the fixture structure 1 with flipping function includes a flipping fixture frame 104, two flipping fixture supports 101, a Y-direction fixture drive assembly, two X-direction fixture moving assemblies, two Y-direction fixture moving assemblies, two fixture flipping assemblies, and four flexible fixtures 113;

[0012] The flip-grip frame 104 is rotatably connected to two flip-grip brackets 101 via two flip-grip components. The two flip-grip brackets 101 are arranged in parallel relative to each other and are slidably mounted on the gripper lifting frame structure 4. Two X-direction gripper moving components are arranged in parallel relative to each other on the flip-grip frame 104, and two Y-direction gripper moving components are arranged in parallel relative to each other on the two X-direction gripper moving components. Two flexible grippers 113 are mounted on each Y-direction gripper moving component. A Y-direction gripper driving component is mounted close to the two Y-direction gripper moving components on the flip-grip frame 104 and drives the two Y-direction gripper moving components to work. The distance between the four flexible grippers 113 is adjusted by the two Y-direction gripper moving components and the two X-direction gripper moving components.

[0013] Furthermore, the clamp structure 1 with the flipping function also includes four pneumatic telescopic heads 102 and four pneumatic telescopic head fixing brackets 103;

[0014] Each flip clamp bracket 101 is provided with two pneumatic telescopic heads 102, and each pneumatic telescopic head fixing bracket 103 is installed on the top of the flip clamp bracket 101 through a pneumatic telescopic head 102. The flip clamp frame 104 is locked on the two flip clamp brackets 101 through four pneumatic telescopic head fixing brackets 103.

[0015] Furthermore, the fixture flipping assembly includes a flipping cylinder fixing member 118, a flipping cylinder 119, a flipping rack connector 121, a flipping gear 122, a flipping rack 123, a flipping drive slider 124, and a flipping drive slide rail 125;

[0016] The tilting cylinder 119 is fixedly mounted on the tilting fixture bracket 101 via the tilting cylinder fixing member 118. The tilting drive slide rail 125 is fixedly mounted on the tilting fixture bracket 101 along the extension and retraction direction of the tilting cylinder piston rod 120. The tilting rack 123 is slidably disposed on the tilting drive slide rail 125 via the tilting drive slider 124. The tilting rack 123 is fixedly connected to the tilting cylinder piston rod 120 via the tilting rack connector 121. One end of the tilting gear 122 is fixedly mounted on the tilting fixture frame 104, and the other end of the tilting gear 122 is rotatably connected to the tilting fixture bracket 101. The tilting rack 123 meshes with the tilting gear 122 and drives the tilting gear 122 to rotate.

[0017] The X-direction clamping movement assembly includes an X-direction clamping movement slide plate 106, an X-direction clamping movement forward and reverse lead screw 107, an X-direction clamping movement coupling 108, an X-direction clamping movement motor 109, and two X-direction clamping movement lead screw sliders 105.

[0018] The X-direction clamp moving motor 109 is fixedly mounted on the flip clamp frame 104. The X-direction clamp moving forward and reverse screws 107 are arranged along the axis of the output shaft of the X-direction clamp moving motor 109, and are mounted on the output shaft of the X-direction clamp moving motor 109 through the X-direction clamp moving coupling 108. The two X-direction clamp moving forward and reverse screws 107 of the flip clamp frame 104 are arranged in parallel. Each X-direction clamp moving forward and reverse screw 107 is threadedly connected to two X-direction clamp moving screw sliders 105. Two X-direction clamp moving slide plates 106 are arranged in parallel on the two X-direction clamp moving forward and reverse screws 107, and both ends of each X-direction clamp moving slide plate 106 are fixedly connected to the X-direction clamp moving screw sliders 105 on the X-direction clamp moving forward and reverse screw 107, respectively.

[0019] The Y-direction clamp moving assembly includes a Y-direction clamp moving bidirectional lead screw 112, two Y-direction clamp moving lead screw sliders 111, and two Y-direction clamp moving lead screw support seats 110; the Y-direction clamp driving assembly includes a Y-direction clamp driving worm 114, a Y-direction clamp driving motor 115, a Y-direction clamp driving coupling 116, and two Y-direction clamp driving worm wheels 117.

[0020] The Y-direction clamp drive worm gear 114 is fixed to the output shaft of the Y-direction clamp drive motor 115 via the Y-direction clamp drive coupling 116 along the direction of the output shaft of the Y-direction clamp drive motor 115. Each Y-direction clamp moving bidirectional lead screw 112 is rotatably connected to the X-direction clamp moving slide plate 106 via two Y-direction clamp moving lead screw support seats 110. Two Y-direction clamp moving lead screw sliders 111 are threadedly connected to the Y-direction clamp moving bidirectional lead screw 112. The Y-direction clamp moving lead screw sliders 111 are located on the Y-direction clamp moving bidirectional lead screw... The Y-axis moves in opposite directions or in the opposite direction. A flexible clamp 113 is fixedly installed on each Y-axis clamp moving lead screw slider 111. A Y-axis clamp driving worm gear 117 is fixedly installed on the Y-axis clamp moving bidirectional lead screw 112. Both Y-axis clamp driving worm gears 117 are connected to the Y-axis clamp driving worm 114 for transmission. Two relatively parallel Y-axis optical axes are fixedly connected to the X-axis clamp moving slide plate through Y-axis optical axis supports. The two Y-axis optical axis sliders are slidably set on the Y-axis optical axes and are fixedly connected to the flexible clamps.

[0021] Further, the flexible fixture 113 includes a Z-axis fixture support plate 113001, a Z-axis fixture motor 113002, a Z-axis fixture coupling 113003, a Z-axis fixture lead screw 113006, a Z-axis fixture lead screw slider 113007, a Z-axis fixture slide rail support plate 113015, a Z-axis fixture gear 113019, a Z-axis fixture gear shaft 113021, two Z-axis fixture lead screw support seats 113004, two Z-axis fixture optical shafts 113008, two Z-axis fixture optical shaft connectors 113010, two Z-axis fixture cylinder support seats 113011, two Z-axis fixture cylinders 113012, and two Z-axis fixture cylinder rod connectors 113014. Two Z-axis clamp slide rails 113016, two Z-axis clamp racks 113018, two Z-axis clamp pneumatic telescopic heads 113020, two Z-axis clamp flexible clamp bodies 113022, two Z-axis clamp flexible clamp body connectors 113023, two Z-axis clamp helical gears 113026, two Z-axis clamp helical racks 113027, two Z-axis clamp rack sliding connectors 113028, two Z-axis clamp helical drive cylinders 113029, four Z-axis clamp optical axis support seats 113009, four Z-axis clamp sliders 113017, four Z-axis clamp bearing support seats 113024, and four Z-axis clamp connecting shafts 113025;

[0022] Z-axis clamp motor 113002 is mounted on Z-axis clamp support plate 113001. Z-axis clamp screw 113006 is arranged along the length of the output shaft of Z-axis clamp motor 113002, and the output shaft of Z-axis clamp motor 113002 is fixedly connected to Z-axis clamp screw 113006 through Z-axis clamp coupling 113003. Z-axis clamp screw 113006 is rotatably mounted on Z-axis clamp support plate 113001 through two Z-axis clamp screw support seats 113004. A Z-axis clamp optical shaft is symmetrically provided on both sides of Z-axis clamp screw 113006. 113008, and both ends of each Z-axis fixture optical axis 113008 are fixedly mounted on the Z-axis fixture support plate 113001 via two Z-axis fixture optical axis support seats 113009. Each Z-axis fixture optical axis 113008 is slidably provided with a Z-axis fixture optical axis connector 113010. The Z-axis fixture lead screw slider 113007 is threadedly fitted onto the Z-axis fixture lead screw 113006, and the Z-axis fixture lead screw slider 113007 and the two Z-axis fixture optical axis connectors 113010 are all fixedly connected to one side of the Z-axis fixture slide rail support plate 113015.

[0023] Two Z-axis clamp slide rails 113016 are fixedly installed parallel to each other on the other side of the Z-axis clamp slide rail support plate 113015. Two Z-axis clamp sliders 113017 are symmetrically installed on each Z-axis clamp flexible clamp body connector 113023. The two Z-axis clamp flexible clamp body connectors 113023 are slidably connected to the two Z-axis clamp slide rails 113016 via four Z-axis clamp sliders 113017. Each Z-axis clamp rack 113018 is close to one of the Z-axis clamp slide rails 113016. Z-axis clamp slide rail 113016 and parallel to it are arranged. Each Z-axis clamp rack 113018 is fixedly connected to two Z-axis clamp sliders 113017 on the Z-axis clamp slide rail 113016. Z-axis clamp gear 113019 is rotatably connected to Z-axis clamp slide rail support plate 113015 through Z-axis clamp gear shaft 113021, and Z-axis clamp gear 113019 meshes with two Z-axis clamp racks 113018.

[0024] Two Z-axis clamping cylinders 113012 are staggered on both sides of the Z-axis clamping screw 113006. Each Z-axis clamping cylinder 113012 is fixedly mounted on both ends of the Z-axis clamping slide rail support plate 113015 via a Z-axis clamping cylinder support seat 113011. A Z-axis clamping cylinder rod connector 113014 is fixedly mounted on the end of the Z-axis clamping cylinder piston rod 113013 on each Z-axis clamping cylinder 113012, and the extension direction of the Z-axis clamping cylinder piston rod 113013 is oriented towards the other end of the Z-axis clamping slide rail support plate 113015. Each Z-axis clamping cylinder rod connector 113014 is connected to a Z-axis clamping flexible clamping body connector 113023.

[0025] The Z-axis clamp flexible clamp body connector 113023 is an L-shaped frame. Each Z-axis clamp flexible clamp body 113022 has a Z-axis clamp connecting shaft 113025 rotatably connected to the Z-axis clamp flexible clamp body connector 113023 via two Z-axis clamp bearing supports 113024. A Z-axis clamp helical gear 113026 is fixedly mounted on the Z-axis clamp connecting shaft 113025 of one of the Z-axis clamp bearing supports 113024. A corresponding Z-axis clamp helical rack 113027 is provided on the Z-axis clamp helical gear 113026. The Z-axis clamp helical rack 113027 slides through a Z-axis clamp rack sliding connector 113028. The flexible clamp body connector 113023 of the Z-axis clamp is dynamically mounted on the Z-axis clamp flexible clamp body connector 113023. A Z-axis clamp rotation drive cylinder 113029 is installed on the Z-axis clamp rotation drive cylinder 113029 to drive the Z-axis clamp rotation rack 113027 to extend and retract. The piston rod of the Z-axis clamp rotation drive cylinder 113029 is fixedly connected to the Z-axis clamp rotation rack 113027. A Z-axis clamp pneumatic telescopic head 113020 is installed on another Z-axis clamp bearing support 113024. The Z-axis clamp pneumatic telescopic head 113020 is used to lock the angular position of the Z-axis clamp flexible clamp body 113022 on the Z-axis clamp flexible clamp body connector 113023.

[0026] Furthermore, the suction cup auxiliary support structure 2 includes a suction cup support assembly, a suction cup support plate 201, two suction cup motors 202, two suction cup motor couplings 204, two suction cup drive screws 205, two suction cup screw sliders 206, two suction cup support shafts 218, two suction cup support sliders 219, four suction cup motor mounting bases 203, four suction cup screw support bases 207, and four suction cup shaft supports 217.

[0027] Each suction cup drive screw 205 is arranged along the length of the output shaft of the suction cup motor 202, and is fixedly connected to the output shaft of the suction cup motor 202 via a suction cup motor coupling 204. Two suction cup drive screws 205 are arranged vertically, and each is rotatably mounted on the suction cup support plate 201 via two suction cup screw support seats 207. The suction cup motor 202 is fixedly mounted on the suction cup support plate 201. Two suction cup support shafts 218 are vertically mounted on the suction cup support plate 201 via the suction cup screw support seats 207. The suction cup support shafts 218 are arranged in a square. Each suction cup drive screw 205 is threadedly connected to a suction cup screw slider 206. The suction cup screw slider 206 is fixedly connected to one end of the suction cup support slider 219. The other end of the suction cup support slider 219 is slidably mounted on the corresponding suction cup support shaft 218. The two suction cup support sliders 219 are arranged in a "+" shape, and the suction cup support sliders 219 are machined with strip grooves along their length. The suction cup support assembly is mounted on the two suction cup support sliders 219 arranged in a "+" shape and slides within the strip grooves of the suction cup support sliders 219.

[0028] Furthermore, the suction cup support assembly includes a suction cup assembly 208, a suction cup connecting frame 209, a suction cup rotating worm gear 210, a suction cup support frame 211, a suction cup worm 212, a suction cup drive first motor 213, a suction cup drive second motor 220, a motor fixing plate 214, a suction cup moving slider 215, a suction cup bottom support caster 216, a suction cup support plate 221, a suction cup second coupling 222, and a suction cup first coupling 223;

[0029] The suction cup assembly 208 is fixedly mounted on the suction cup connecting frame 209. The suction cup rotating worm gear 210 is rotatably connected to the suction cup support frame 211 via a rotating shaft, and both ends of the rotating shaft of the suction cup rotating worm gear 210 are fixed to the suction cup connecting frame 209. The suction cup rotating worm gear 210 rotates around its rotating shaft, simultaneously driving the suction cup assembly 208 to rotate. Both ends of the suction cup worm 212 are rotatably connected to the motor fixing plate 214 via the suction cup support plate 221, and one end of the suction cup worm 212 is fixedly connected to the output shaft of the second suction cup drive motor 220 via the first suction cup coupling 223. The suction cup worm 212 and the suction cup rotating worm gear 210 are configured to cooperate. The first suction cup drive motor 213 and the suction cup drive... The second motor 220 is fixedly mounted on the motor mounting plate 214. The output shafts of the first suction cup drive motor 213 and the second suction cup drive motor 220 are coaxially arranged. One end of the suction cup support frame 211 is rotatably connected to the suction cup worm gear 212, and the other end of the suction cup support frame 211 is fixedly connected to the output shaft of the first suction cup drive motor 213 through the second suction cup coupling 222. The suction cup moving slider 215 is fixedly mounted on the motor mounting plate 214. The suction cup bottom support universal wheel 216 is mounted on the suction cup moving slider 215. The suction cup bottom support universal wheel 216 is in contact with the suction cup support plate 201. The suction cup moving slider 215 is slidably arranged on the strip groove of the suction cup support slider 219.

[0030] Furthermore, the suction cup assembly 208 includes a suction cup housing 20801 and a suction cup assembly 20802;

[0031] The suction cup assembly 20802 is mounted on the suction cup housing 20801, and the suction cup housing 20801 is mounted on the suction cup connecting bracket 209.

[0032] The suction cup assembly 20802 includes multiple small suction cup bases 20821, multiple suction cup ball joint fixing sleeves 20822, multiple suction cup ball joints 20823, multiple suction cup springs 20824, and multiple small suction cups 20825;

[0033] Each suction cup ball attachment 20822 is fixedly installed on the small suction cup base 20821, the suction cup ball attachment 20823 is installed inside the suction cup ball attachment 20822, and the suction cup ball attachment 20823 is fixedly connected to the small suction cup 20825 through the suction cup spring 20824. Multiple small suction cup bases 20821 are installed on the suction cup outer shell 20801.

[0034] Furthermore, the clamp lifting and adjusting structure 3 includes a lifting bracket 301, a lifting worm gear 313, a lifting drive motor 314, two lifting motors 302, two lifting motor fixing frames 303, two lifting motor couplings 304, two lifting positive and negative lead screws 306, two lifting adjusting shafts 308, two lifting adjusting shafts 310, two lifting drive worm gear sets 311, two dual-shaft support seats 312, two support plate connecting blocks 316, four lifting lead screw bases 305, four lifting adjusting lead screw sliders 307, four lifting shaft couplings 309, four lifting support rods 315, and four lifting rods 317.

[0035] The lifting bracket 301 is mounted on the clamp lifting frame structure 4. Two lifting forward and reverse lead screws 306 are arranged parallel to each other on the lifting bracket 301, and each lifting forward and reverse lead screw 306 is rotatably connected to two lifting lead screw bases 305 and mounted on the lifting bracket 301. Each lifting forward and reverse lead screw 306 is fixedly connected to the output shaft of the lifting motor 302 through a lifting motor coupling 304. The lifting motor 302 is fixedly mounted on the lifting bracket 301 through a lifting motor fixing bracket 303. The lifting forward and reverse lead screws 306 are arranged along the length direction of the output shaft of the lifting motor 302. Each lifting forward and reverse lead screw 306 is provided with two lifting adjustment lead screw sliders 307. Two support plate connecting blocks 316 are symmetrically arranged and mounted on the bottom end of the suction cup auxiliary support structure 2. The two lifting adjustment lead screw sliders 307 on each lifting forward and reverse lead screw 306 are connected to the support plate connecting blocks 316 through two lifting support rods 315.

[0036] Each lifting drive worm gear assembly 311 has its two ends connected to one end of the lifting adjustment shaft 308 and one end of the lifting adjustment shaft 310 via the lifting shaft coupling 309. The lifting worm 313 is fixedly installed on the output shaft of the lifting drive motor 314 and engages with the worm gear of the lifting drive worm gear assembly 311. The two lifting adjustment shafts 308 and 310 are rotatably connected to the lifting bracket 301 via two double-shaft support seats 312. A lifting rod 317 is fixedly installed at the other end of the lifting adjustment shaft 308 and the other end of the lifting adjustment shaft 310. The strip groove of the lifting rod 317 is set on the clamp lifting frame structure 4 to adjust the lifting height of the top of the clamp lifting frame structure 4.

[0037] Furthermore, the adjusting clamp lifting frame structure 4 includes four telescopic blocks 401, four lifting bases 402, and four sliding pins 403;

[0038] The lifting base 402 has a vertical groove machined on it. The lifting bracket 301 is fixedly installed on the four lifting bases 402. The sliding pins 403 are respectively set in the strip grooves of the lifting rods 317. Each lifting rod 317 is set in a corresponding groove of a lifting base 402. The two ends of the sliding pins 403 are slidably set on the side wall of the groove of the lifting base 402. Each telescopic block 401 is vertically slidably inserted into a lifting base 402 and contacts the lifting bracket 301.

[0039] The technical advantages of this application compared to existing technologies are as follows:

[0040] 1. This application improves processing efficiency and ensures consistent processing accuracy. Addressing the problems of existing curved surface fixtures that can only clamp a single surface and require flipping and re-clamping, resulting in low efficiency and positioning deviations during secondary clamping, this application achieves a fundamental improvement through core structural design. A fixture structure 1 with a flipping function is installed on top of the fixture lifting frame structure 4, allowing for stable clamping of the workpiece and horizontal flipping without relying on a robotic arm to flip the fixture and workpiece together. This solution enables the processing of both the upper and lower surfaces of the workpiece in a single clamping operation, completely eliminating the tedious processes of workpiece flipping, disassembly, and re-clamping, significantly reducing processing time and greatly improving overall processing efficiency. Simultaneously, because secondary clamping is eliminated, positioning deviations during re-clamping are avoided at the source, effectively ensuring the consistency of processing accuracy between the upper and lower surfaces of the workpiece, and solving the problem of balancing efficiency and accuracy in existing technologies.

[0041] 2. This application is suitable for complex curved wood surfaces with large variations in thickness, achieving stable clamping. Addressing the limitations of existing fixed or single-curvature adaptable clamps in flexibly adjusting parameters and fitting complex curved surfaces and workpieces with fluctuating thickness, this application utilizes a multi-dimensional adjustment structure to achieve adaptive clamping capability. In this application, the suction cup auxiliary support structure 2 is mounted on the clamp lifting adjustment structure 3, allowing for flexible adjustment of the suction cup's height and angle. Simultaneously, the clamp lifting adjustment structure 3 can also adjust the top height of the clamp lifting frame structure 4, working in conjunction with the clamping action of the clamping structure 1 with a flipping function to form a fully adjustable clamping support system. Compared to the fixed clamping surface parameters in existing technologies, this solution can adjust the curvature adaptation, support spacing, and support height of the clamping surface in real time according to the actual bending shape and thickness variations of large curved wood surfaces. This ensures that the suction cup auxiliary support structure forms a completely fitted support surface with the workpiece surface, avoiding localized stress concentration and clamping gaps. This design effectively suppresses movement and deformation of the workpiece during processing, and achieves stable clamping of curved wood with complex bends and large thickness fluctuations, breaking through the limitations of the existing fixture's adaptability range.

[0042] 3. This application enhances the clamping effect in areas with varying edges and thicknesses, improving overall forming quality. Addressing the issue that existing clamps concentrate their force on the central flat area and cannot effectively clamp edges and areas with varying thicknesses, this application achieves precise clamping of special areas through a structured design. In this solution, for clamping workpieces in areas with varying thicknesses, the vertical arrangement of flexible clamps and the movement of X, Y, and Z direction motion components achieve clamping in these areas. For workpieces with varying edge curvature and thickness, the horizontal arrangement of flexible clamps and the movement of X, Y, and Z components achieve clamping of workpieces with curved edges. The suction cup auxiliary support structure 2 provides supplementary clamping force in flat areas. The suction cup auxiliary support structure 2 allows for precise adjustment of height and angle through a lifting and adjusting structure, enabling targeted auxiliary support and adsorption for workpieces with abrupt changes in edge curvature, thinning areas, and critical areas of thickness variation. Simultaneously, the clamping range of the clamping structure 1 with a flipping function can cover critical areas of the workpiece, creating a synergistic clamping effect with the suction cup auxiliary structure. Compared to existing designs that lack dedicated clamping structures, the solution presented in this application can apply stable and uniform clamping and supporting forces to edges and areas with varying thicknesses, effectively solving the vibration and displacement problems during the processing of these special areas. This not only improves the processing accuracy of workpiece edges but also ensures the surface forming quality of critical areas with varying thicknesses, significantly optimizing the overall processing quality of large curved wood surfaces and meeting the stringent requirements for forming accuracy in high-end wooden decorative components, cultural and creative products, and customized furniture.

[0043] 4. The technical solution of this application integrates a flipping function, a multi-dimensional lifting and adjustment function, and a suction cup auxiliary support function to form an adaptive, efficient, and high-precision clamping system for large curved wood surfaces. Compared with existing technologies, this solution not only solves the problems of low efficiency and poor precision caused by single-surface clamping, but also overcomes the limitations of fixed structures in adapting to complex curved workpieces. Furthermore, it fills the gap in dedicated clamping structures for edge and thickness variation areas, comprehensively improving the processing efficiency, clamping stability, and forming accuracy of large curved wood components. It can fully meet the current market demand for high-end processing of large curved wood surfaces, demonstrating significant technological innovation and practical application value. Attached Figure Description

[0044] Figure 1 Assembly drawing of a multi-degree-of-freedom spatial fixture;

[0045] Figure 2 Assembly drawing of fixture structure 1 with flipping function;

[0046] Figure 3 Axonometric drawing of a fixture structure with a flipping function;

[0047] Figure 4 Exploded view of flexible clamp 113;

[0048] Figure 5 Assembly drawing for flexible fixture 113;

[0049] Figure 6 Assembly drawing for suction cup auxiliary support structure 2;

[0050] Figure 7 A partial view of the suction cup auxiliary structure;

[0051] Figure 8 Assembly drawing for 208 suction cup components;

[0052] Figure 9 Assembly diagram of suction cup assembly;

[0053] Figure 10 Assembly drawing for clamp lifting and adjusting structure 3;

[0054] Figure 11 Axonometric drawing of a multi-degree-of-freedom spatial fixture;

[0055] Figure 12 Axonometric drawing of clamping method 1;

[0056] Figure 13 Axiometric drawing for clamping method;

[0057] Figure 14 Axonometric drawing of a flexible fixture;

[0058] Figure 15 For workpieces with varying upper and lower curved surfaces;

[0059] Figure 16 For workpieces with varying left and right curved surfaces;

[0060] Figure 17 Machine tool processing diagram; Detailed Implementation

[0061] Combination Figure 1 This embodiment describes a multi-degree-of-freedom spatial curved surface fixture, which includes a fixture structure 1 with a flipping function, a suction cup auxiliary support structure 2, a fixture lifting and adjusting structure 3, and a fixture lifting frame structure 4.

[0062] A clamping structure 1 with a flipping function is installed on the top of the clamping lifting frame structure 4, and can lift and flip on the clamping lifting frame structure 4. A suction cup auxiliary support structure 2 is installed on the clamping lifting adjustment structure 3, which adjusts the height and angle position of the suction cup auxiliary support structure 2. The clamping lifting adjustment structure 3 is installed on the clamping lifting frame structure 4 and adjusts the height of the top of the clamping lifting frame structure 4.

[0063] In this embodiment, the workpiece is clamped by a clamping structure 1 with a flipping function. The clamping structure 1 with the flipping function flips in the horizontal direction, so that the workpiece can be processed by clamping it once without the need for secondary clamping. The suction cup auxiliary support structure 2 provides auxiliary support and adsorption for the workpiece. The suction cup auxiliary support structure 2 can be adjusted in height and angle. The clamping lifting adjustment structure 3 can adjust the height of the top of the clamping lifting frame structure 4 and the height of the suction cup auxiliary support structure 2.

[0064] Combination Figures 1 to 5 As shown, the fixture structure 1 with flipping function includes a flipping fixture frame 104, two flipping fixture supports 101, a Y-direction fixture drive assembly, two X-direction fixture moving assemblies, two Y-direction fixture moving assemblies, two fixture flipping assemblies, and four flexible fixtures 113.

[0065] The flip-grip frame 104 is rotatably connected to two flip-grip brackets 101 via two flip-grip components. The two flip-grip brackets 101 are arranged in parallel relative to each other and are slidably mounted on the gripper lifting frame structure 4. Two X-direction gripper moving components are arranged in parallel relative to each other on the flip-grip frame 104, and two Y-direction gripper moving components are arranged in parallel relative to each other on the two X-direction gripper moving components. Two flexible grippers 113 are mounted on each Y-direction gripper moving component. A Y-direction gripper driving component is mounted close to the two Y-direction gripper moving components on the flip-grip frame 104 and drives the two Y-direction gripper moving components to work. The distance between the four flexible grippers 113 is adjusted by the two Y-direction gripper moving components and the two X-direction gripper moving components.

[0066] In this embodiment, the workpiece is clamped in the Z or X direction by the flexible clamp 113. The flip clamp frame 104 is flipped 180 degrees on the flip clamp bracket 101 by two clamp flipping components. The position of the four flexible clamps 113 in the X direction is adjusted by the X direction clamp moving component, and the position of the four flexible clamps 113 in the Y direction is adjusted by the Y direction clamp moving component.

[0067] Combination Figure 2 As shown, the clamp structure 1 with flipping function also includes four pneumatic telescopic heads 102 and four pneumatic telescopic head fixing brackets 103;

[0068] Each flip clamp bracket 101 is provided with two pneumatic telescopic heads 102, and each pneumatic telescopic head fixing bracket 103 is installed on the top of the flip clamp bracket 101 through a pneumatic telescopic head 102. The flip clamp frame 104 is locked on the two flip clamp brackets 101 through four pneumatic telescopic head fixing brackets 103.

[0069] In this embodiment, when the pneumatic telescopic head 102 extends, the flipping fixture frame 104 is locked on the flipping fixture bracket 101. When the pneumatic telescopic head 102 retracts, the lock is released, and the flipping fixture frame 104 is flipped by the fixture flipping assembly.

[0070] Combination Figure 2 and Figure 3 As shown, the clamp flipping assembly includes a flipping cylinder fixing part 118, a flipping cylinder 119, a flipping rack connector 121, a flipping gear 122, a flipping rack 123, a flipping drive slider 124, and a flipping drive slide rail 125.

[0071] The tilting cylinder 119 is fixedly mounted on the tilting fixture bracket 101 via the tilting cylinder fixing member 118. The tilting drive slide rail 125 is fixedly mounted on the tilting fixture bracket 101 along the extension and retraction direction of the tilting cylinder piston rod 120. The tilting rack 123 is slidably disposed on the tilting drive slide rail 125 via the tilting drive slider 124. The tilting rack 123 is fixedly connected to the tilting cylinder piston rod 120 via the tilting rack connector 121. One end of the tilting gear 122 is fixedly mounted on the tilting fixture frame 104, and the other end of the tilting gear 122 is rotatably connected to the tilting fixture bracket 101. The tilting rack 123 meshes with the tilting gear 122 and drives the tilting gear 122 to rotate.

[0072] The X-direction clamping movement assembly includes an X-direction clamping movement slide plate 106, an X-direction clamping movement forward and reverse lead screw 107, an X-direction clamping movement coupling 108, an X-direction clamping movement motor 109, and two X-direction clamping movement lead screw sliders 105.

[0073] The X-direction clamp moving motor 109 is fixedly mounted on the flip clamp frame 104. The X-direction clamp moving forward and reverse screws 107 are arranged along the axis of the output shaft of the X-direction clamp moving motor 109, and are mounted on the output shaft of the X-direction clamp moving motor 109 through the X-direction clamp moving coupling 108. The two X-direction clamp moving forward and reverse screws 107 of the flip clamp frame 104 are arranged in parallel. Each X-direction clamp moving forward and reverse screw 107 is threadedly connected to two X-direction clamp moving screw sliders 105. Two X-direction clamp moving slide plates 106 are arranged in parallel on the two X-direction clamp moving forward and reverse screws 107, and both ends of each X-direction clamp moving slide plate 106 are fixedly connected to the X-direction clamp moving screw sliders 105 on the X-direction clamp moving forward and reverse screw 107, respectively.

[0074] The Y-direction clamp moving assembly includes a Y-direction clamp moving bidirectional lead screw 112, two Y-direction clamp moving lead screw sliders 111, two Y-direction clamp moving lead screw support seats 110, two Y-direction optical shafts 126, four Y-direction optical shaft sliders 127, and four Y-direction optical shaft supports 128; the Y-direction clamp driving assembly includes a Y-direction clamp driving worm gear 114, a Y-direction clamp driving motor 115, a Y-direction clamp driving coupling 116, and two Y-direction clamp driving worm wheels 117;

[0075] The Y-direction clamp drive worm gear 114 is fixed to the output shaft of the Y-direction clamp drive motor 115 via the Y-direction clamp drive coupling 116 along the direction of the output shaft of the Y-direction clamp drive motor 115. Each Y-direction clamp moving bidirectional lead screw 112 is rotatably connected to the X-direction clamp moving slide plate 106 via two Y-direction clamp moving lead screw support seats 110. Two Y-direction clamp moving lead screw sliders 111 are threadedly connected to the Y-direction clamp moving bidirectional lead screw 112. The Y-direction clamp moving lead screw sliders 111 face each other or move in opposite directions on the Y-direction clamp moving bidirectional lead screw 112. The movement is achieved by fixing a flexible clamp 113 on each Y-direction clamp moving lead screw slider 111, fixing a Y-direction clamp driving worm gear 117 on the Y-direction clamp moving bidirectional lead screw 112, and driving the two Y-direction clamp driving worm gears 117 to the Y-direction clamp driving worm 114. Two relatively parallel Y-direction optical axes 126 are fixedly connected to the X-direction clamp moving slide plate 106 through Y-direction optical axis supports 128. Two Y-direction optical axis sliders 127 are slidably disposed on the Y-direction optical axes 126, and the Y-direction optical axis sliders are fixedly connected to the flexible clamp 113.

[0076] In this embodiment, the two flipping cylinders 119 work synchronously to drive the flipping rack 123 and the flipping drive slider 124 to slide on the flipping drive slide rail 125, and drive the flipping gear 122 and the flipping fixture frame 104 to flip on the flipping fixture bracket 101.

[0077] The threads at both ends of the X-direction clamping moving screw 107 are set in opposite directions. The two synchronously set X-direction clamping moving motors 109 work to drive the two X-direction clamping moving screw sliders 105 on the X-direction clamping moving screw 107 to move towards each other or in opposite directions, thereby adjusting the movement of the two X-direction clamping moving slide plates 106.

[0078] The Y-direction clamp drive motor 115 drives the Y-direction clamp drive worm 114 to rotate via the Y-direction clamp drive coupling 116. The Y-direction clamp drive worm 114 drives two Y-direction clamp drive worm wheels 117 to rotate. The Y-direction clamp drive worm wheels 117 drive the Y-direction clamp moving bidirectional lead screw 112 to rotate, and drive the Y-direction clamp moving lead screw slider 111 and the flexible clamp 113 to move along the Y-direction.

[0079] This enables the four flexible clamps 113 to move synchronously in the XY direction, moving closer and further away simultaneously.

[0080] Combination Figures 3 to 5 As shown, the flexible clamp 113 includes a Z-axis clamp support plate 113001, a Z-axis clamp motor 113002, a Z-axis clamp coupling 113003, a Z-axis clamp lead screw 113006, a Z-axis clamp lead screw slider 113007, a Z-axis clamp slide rail support plate 113015, a Z-axis clamp gear 113019, a Z-axis clamp gear shaft 113021, two Z-axis clamp lead screw support seats 113004, two Z-axis clamp optical shafts 113008, two Z-axis clamp optical shaft connectors 113010, two Z-axis clamp cylinder support seats 113011, two Z-axis clamp cylinders 113012, and two Z-axis clamp cylinder rod connectors 113014. Two Z-axis clamp slide rails 113016, two Z-axis clamp racks 113018, two Z-axis clamp pneumatic telescopic heads 113020, two Z-axis clamp flexible clamp bodies 113022, two Z-axis clamp flexible clamp body connectors 113023, two Z-axis clamp helical gears 113026, two Z-axis clamp helical racks 113027, two Z-axis clamp rack sliding connectors 113028, two Z-axis clamp helical drive cylinders 113029, four Z-axis clamp optical axis support seats 113009, four Z-axis clamp sliders 113017, four Z-axis clamp bearing support seats 113024, and four Z-axis clamp connecting shafts 113025;

[0081] Z-axis clamp motor 113002 is mounted on Z-axis clamp support plate 113001. Z-axis clamp screw 113006 is arranged along the length of the output shaft of Z-axis clamp motor 113002, and the output shaft of Z-axis clamp motor 113002 is fixedly connected to Z-axis clamp screw 113006 through Z-axis clamp coupling 113003. Z-axis clamp screw 113006 is rotatably mounted on Z-axis clamp support plate 113001 through two Z-axis clamp screw support seats 113004. A Z-axis clamp optical shaft is symmetrically provided on both sides of Z-axis clamp screw 113006. 113008, and both ends of each Z-axis fixture optical axis 113008 are fixedly mounted on the Z-axis fixture support plate 113001 via two Z-axis fixture optical axis support seats 113009. Each Z-axis fixture optical axis 113008 is slidably provided with a Z-axis fixture optical axis connector 113010. The Z-axis fixture lead screw slider 113007 is threadedly fitted onto the Z-axis fixture lead screw 113006, and the Z-axis fixture lead screw slider 113007 and the two Z-axis fixture optical axis connectors 113010 are all fixedly connected to one side of the Z-axis fixture slide rail support plate 113015.

[0082] Two Z-axis clamp slide rails 113016 are fixedly installed parallel to each other on the other side of the Z-axis clamp slide rail support plate 113015. Two Z-axis clamp sliders 113017 are symmetrically installed on each Z-axis clamp flexible clamp body connector 113023. The two Z-axis clamp flexible clamp body connectors 113023 are slidably connected to the two Z-axis clamp slide rails 113016 via four Z-axis clamp sliders 113017. Each Z-axis clamp rack 113018 is close to one of the Z-axis clamp slide rails 113016. Z-axis clamp slide rail 113016 and parallel to it are arranged. Each Z-axis clamp rack 113018 is fixedly connected to two Z-axis clamp sliders 113017 on the Z-axis clamp slide rail 113016. Z-axis clamp gear 113019 is rotatably connected to Z-axis clamp slide rail support plate 113015 through Z-axis clamp gear shaft 113021, and Z-axis clamp gear 113019 meshes with two Z-axis clamp racks 113018.

[0083] Two Z-axis clamping cylinders 113012 are staggered on both sides of the Z-axis clamping screw 113006. Each Z-axis clamping cylinder 113012 is fixedly mounted on both ends of the Z-axis clamping slide rail support plate 113015 via a Z-axis clamping cylinder support seat 113011. A Z-axis clamping cylinder rod connector 113014 is fixedly mounted on the end of the Z-axis clamping cylinder piston rod 113013 on each Z-axis clamping cylinder 113012, and the extension direction of the Z-axis clamping cylinder piston rod 113013 is oriented towards the other end of the Z-axis clamping slide rail support plate 113015. Each Z-axis clamping cylinder rod connector 113014 is connected to a Z-axis clamping flexible clamping body connector 113023.

[0084] The Z-axis clamp flexible clamp body connector 113023 is an L-shaped frame. Each Z-axis clamp flexible clamp body 113022 has a Z-axis clamp connecting shaft 113025 rotatably connected to the Z-axis clamp flexible clamp body connector 113023 via two Z-axis clamp bearing supports 113024. A Z-axis clamp helical gear 113026 is fixedly mounted on the Z-axis clamp connecting shaft 113025 of one of the Z-axis clamp bearing supports 113024. A corresponding Z-axis clamp helical rack 113027 is provided on the Z-axis clamp helical gear 113026. The Z-axis clamp helical rack 113027 slides through a Z-axis clamp rack sliding connector 113028. The flexible clamp body connector 113023 of the Z-axis clamp is dynamically mounted on the Z-axis clamp flexible clamp body connector 113023. A Z-axis clamp rotation drive cylinder 113029 is installed on the Z-axis clamp rotation drive cylinder 113029 to drive the Z-axis clamp rotation rack 113027 to extend and retract. The piston rod of the Z-axis clamp rotation drive cylinder 113029 is fixedly connected to the Z-axis clamp rotation rack 113027. A Z-axis clamp pneumatic telescopic head 113020 is installed on another Z-axis clamp bearing support 113024. The Z-axis clamp pneumatic telescopic head 113020 is used to lock the angular position of the Z-axis clamp flexible clamp body 113022 on the Z-axis clamp flexible clamp body connector 113023.

[0085] In this embodiment, the Z-axis clamp motor 113002 rotates, driving the Z-axis clamp screw 113006 to rotate and driving the Z-axis clamp screw slider 113007 to move along the length of the Z-axis clamp screw 113006. This also causes the Z-axis clamp slide rail support plate 113015 to slide on the Z-axis clamp optical axis 113008, adjusting the position of the flexible clamp 113 in the Z-axis direction. Simultaneously, the two Z-axis clamp cylinders 113012 work synchronously, driving the two oppositely arranged Z-axis clamp flexible clamp body connectors 113023 and Z-axis clamp flexible clamp body 113022 to move, thereby achieving the adjustment of the position of the flexible clamp 113 in the Z-axis direction. The workpiece is clamped by the engagement of the Z-axis clamping gear 113019 and two Z-axis clamping racks 113018, which enables the synchronous movement of two oppositely positioned Z-axis clamping flexible fixture body connectors 113023. The Z-axis clamping rotation drive cylinder 113029, via the Z-axis clamping flexible fixture body 113022, is positioned at an angle relative to the Z-axis clamping flexible fixture body connector 113023. When the two Z-axis clamping flexible fixture bodies 113022 are positioned opposite each other, they are used to clamp the two sides of the workpiece. This is suitable for clamping workpieces with irregular curved surfaces, such as... Figure 15 As shown, the clamping method is as follows Figure 5 , 12As shown. When the two Z-axis flexible clamping bodies 113022 are arranged in parallel, the four flexible clamps 113 squeeze and hold the side of the workpiece, which can realize the clamping of workpieces with irregular curved surfaces. For example, the workpiece... Figure 16 As shown, the clamping method is as follows Figure 13 , 14 As shown. This embodiment can realize the synchronous movement of the Z-axis clamping flexible fixture body 113022, as well as the up and down movement of the Z-axis clamping flexible fixture body 113022 in the Z direction. By flipping the Z-axis clamping flexible fixture body 113022, clamping of irregular edge fixtures can be achieved.

[0086] Combination Figures 6 to 9 As shown, the suction cup auxiliary support structure 2 includes a suction cup support assembly, a suction cup support plate 201, two suction cup motors 202, two suction cup motor couplings 204, two suction cup drive screws 205, two suction cup screw sliders 206, two suction cup support shafts 218, two suction cup support sliders 219, four suction cup motor mounting bases 203, four suction cup screw support bases 207, and four suction cup shaft supports 217.

[0087] Each suction cup drive screw 205 is arranged along the length of the output shaft of the suction cup motor 202, and the suction cup drive screw 205 is fixedly connected to the output shaft of the suction cup motor 202 through a suction cup motor coupling 204. Two suction cup drive screws 205 are arranged vertically, and each suction cup drive screw 205 is rotatably connected to the suction cup support plate 201 through two suction cup screw support seats 207. The suction cup motor 202 is fixedly mounted on the suction cup support plate 201. Two suction cup support shafts 218 are vertically mounted on the suction cup support plate 201 through suction cup shaft supports 217. The two suction cup drive screws 205 and... Two suction cup support shafts 218 are arranged in a square. Each suction cup drive screw 205 is threadedly connected to a suction cup screw slider 206. The suction cup screw slider 206 is fixedly connected to one end of the suction cup support slider 219. The other end of the suction cup support slider 219 is slidably mounted on the corresponding suction cup support shaft 218. The two suction cup support sliders 219 are arranged in a "+" shape, and the suction cup support sliders 219 are machined with strip grooves along their length. The suction cup support assembly is mounted on the two suction cup support sliders 219 arranged in a "+" shape and slides within the strip grooves of the suction cup support sliders 219.

[0088] Combination Figures 6 to 9 As shown, the suction cup support assembly includes a suction cup assembly 208, a suction cup connecting frame 209, a suction cup rotating worm gear 210, a suction cup support frame 211, a suction cup worm 212, a suction cup drive first motor 213, a suction cup drive second motor 220, a motor fixing plate 214, a suction cup moving slider 215, a suction cup bottom support caster 216, a suction cup support plate 221, a suction cup second coupling 222, and a suction cup first coupling 223;

[0089] The suction cup assembly 208 is fixedly mounted on the suction cup connecting frame 209. The suction cup rotating worm gear 210 is rotatably connected to the suction cup support frame 211 via a rotating shaft, and both ends of the rotating shaft of the suction cup rotating worm gear 210 are fixed to the suction cup connecting frame 209. The suction cup rotating worm gear 210 rotates around its rotating shaft, simultaneously driving the suction cup assembly 208 to rotate. Both ends of the suction cup worm 212 are rotatably connected to the motor fixing plate 214 via the suction cup support plate 221, and one end of the suction cup worm 212 is fixedly connected to the output shaft of the second suction cup drive motor 220 via the first suction cup coupling 223. The suction cup worm 212 and the suction cup rotating worm gear 210 are configured to cooperate. The first suction cup drive motor 213 and the suction cup drive... The second motor 220 is fixedly mounted on the motor mounting plate 214. The output shafts of the first suction cup drive motor 213 and the second suction cup drive motor 220 are coaxially arranged. One end of the suction cup support frame 211 is rotatably connected to the suction cup worm gear 212, and the other end of the suction cup support frame 211 is fixedly connected to the output shaft of the first suction cup drive motor 213 through the second suction cup coupling 222. The suction cup moving slider 215 is fixedly mounted on the motor mounting plate 214. The suction cup bottom support universal wheel 216 is mounted on the suction cup moving slider 215. The suction cup bottom support universal wheel 216 is in contact with the suction cup support plate 201. The suction cup moving slider 215 is slidably arranged on the strip groove of the suction cup support slider 219.

[0090] In this embodiment, the suction cup support frame 211 is driven to rotate around the output shaft of the suction cup drive first motor 213 by the suction cup drive first motor 213, and the suction cup drive second motor 220 is driven to rotate the output shaft of the suction cup drive second motor 220 and the suction cup worm 212. The rotation of the suction cup worm 212 drives the suction cup rotating worm wheel 210 to rotate, and the suction cup connecting frame 209, which is fixed to the rotating shaft of the suction cup rotating worm wheel 210, rotates.

[0091] Combination Figure 8 and Figure 9 As shown, the suction cup assembly 208 includes a suction cup housing 20801 and a suction cup assembly 20802;

[0092] The suction cup assembly 20802 is mounted on the suction cup housing 20801, and the suction cup housing 20801 is mounted on the suction cup connecting bracket 209.

[0093] The suction cup assembly 20802 includes multiple small suction cup bases 20821, multiple suction cup ball joint fixing sleeves 20822, multiple suction cup ball joints 20823, multiple suction cup springs 20824, and multiple small suction cups 20825;

[0094] Each suction cup ball attachment 20822 is fixedly installed on the small suction cup base 20821, the suction cup ball attachment 20823 is installed inside the suction cup ball attachment 20822, and the suction cup ball attachment 20823 is fixedly connected to the small suction cup 20825 through the suction cup spring 20824. Multiple small suction cup bases 20821 are installed on the suction cup outer shell 20801.

[0095] Combination Figure 10 As shown, the clamp lifting and adjusting structure 3 includes a lifting bracket 301, a lifting worm gear 313, a lifting drive motor 314, two lifting motors 302, two lifting motor fixing frames 303, two lifting motor couplings 304, two lifting positive and negative lead screws 306, two lifting adjusting shafts 308, two lifting adjusting shafts 310, two lifting drive worm gear sets 311, two dual-shaft support seats 312, two support plate connecting blocks 316, four lifting lead screw bases 305, four lifting adjusting lead screw sliders 307, four lifting shaft couplings 309, four lifting support rods 315, and four lifting rods 317.

[0096] The lifting bracket 301 is mounted on the clamp lifting frame structure 4. Two lifting forward and reverse lead screws 306 are arranged parallel to each other on the lifting bracket 301, and each lifting forward and reverse lead screw 306 is rotatably connected to two lifting lead screw bases 305 and mounted on the lifting bracket 301. Each lifting forward and reverse lead screw 306 is fixedly connected to the output shaft of the lifting motor 302 through a lifting motor coupling 304. The lifting motor 302 is fixedly mounted on the lifting bracket 301 through a lifting motor fixing bracket 303. The lifting forward and reverse lead screws 306 are arranged along the length direction of the output shaft of the lifting motor 302. Each lifting forward and reverse lead screw 306 is provided with two lifting adjustment lead screw sliders 307. Two support plate connecting blocks 316 are symmetrically arranged and mounted on the bottom end of the suction cup auxiliary support structure 2. The two lifting adjustment lead screw sliders 307 on each lifting forward and reverse lead screw 306 are connected to the support plate connecting blocks 316 through two lifting support rods 315.

[0097] Each lifting drive worm gear assembly 311 has its two ends connected to one end of the lifting adjustment shaft 308 and one end of the lifting adjustment shaft 310 via the lifting shaft coupling 309. The lifting worm 313 is fixedly installed on the output shaft of the lifting drive motor 314 and engages with the worm gear of the lifting drive worm gear assembly 311. The two lifting adjustment shafts 308 and 310 are rotatably connected to the lifting bracket 301 via two double-shaft support seats 312. A lifting rod 317 is fixedly installed at the other end of the lifting adjustment shaft 308 and the other end of the lifting adjustment shaft 310. The strip groove of the lifting rod 317 is set on the clamp lifting frame structure 4 to adjust the lifting height of the top of the clamp lifting frame structure 4.

[0098] In this embodiment, the rotation of the lifting motor 302 drives the lifting forward and reverse lead screws 306 to rotate, which in turn drives the two lifting adjustment lead screw sliders 307 on the lifting forward and reverse lead screws 306 to move in opposite directions. The height of the support plate connecting block 316 is adjusted by the lifting support rod 315 on the lifting adjustment lead screw slider 307. The rotation of the lifting drive motor 314 drives the lifting worm gear 313 to connect with the worm gear transmission of the two lifting drive worm gear sets 311, which in turn drives the lifting adjustment shaft 308 and the lifting adjustment shaft 310 on the lifting drive worm gear set 311 to rotate. This drives the corresponding lifting rod 317 to rotate, and the height of the top of the adjusting clamp lifting frame structure 4 is adjusted by the strip groove of the lifting rod 317.

[0099] Combination Figure 11 As shown, the multi-degree-of-freedom spatial curved surface fixture, the adjustable fixture lifting frame structure 4 includes four telescopic blocks 401, four lifting bases 402 and four sliding pins 403;

[0100] The lifting base 402 has a vertical groove machined on it. The lifting bracket 301 is fixedly installed on the four lifting bases 402. The sliding pins 403 are respectively set in the strip grooves of the lifting rods 317. Each lifting rod 317 is set in a corresponding groove of a lifting base 402. The two ends of the sliding pins 403 are slidably set on the side wall of the groove of the lifting base 402. Each telescopic block 401 is vertically slidably inserted into a lifting base 402 and contacts the lifting bracket 301.

[0101] In this embodiment, the lifting rod 317 is driven to rotate around the lifting adjustment shaft 308 or the lifting adjustment shaft 310 by the rotation of the lifting adjustment shaft 308 or the lifting adjustment shaft 310. The lifting rod 317 lifts the telescopic block 401. The height of the clamp structure 1 with the flipping function can be adjusted by adjusting the height of the telescopic block 401. The sliding pin 403 is a cylindrical pin or a ball to ensure that the lifting rod 317 slides fully in the groove of the lifting base 402.

[0102] Invention principle: When using a multi-functional fixture, the schematic diagram of its installation on the machine tool is as follows. Figure 17 As shown. This applies to curved wooden parts with varying thicknesses on the upper and lower surfaces, such as... Figure 15 As shown, the flexible clamp 113 at this time has the following shape. Figure 5As shown, the threads at both ends of the X-direction clamping screw 107 are set in opposite directions. Two synchronously configured X-direction clamping motors 109 drive the two X-direction clamping screw sliders 105 on the X-direction clamping screw 107 to move in opposite directions, thus adjusting the movement of the two X-direction clamping sliding plates 106. The Y-direction clamping drive motor 115 drives the Y-direction clamping drive worm 114 to rotate via the Y-direction clamping drive coupling 116. The Y-direction clamping drive worm 114 then drives two Y-direction clamping drive worm wheels 117 to rotate. These worm wheels, in turn, drive the Y-direction clamping bidirectional screw 112 to rotate, causing the Y-direction clamping screw slider 111 and the flexible clamp 113 to move along the Y-direction, achieving dimensional centering of the curved wooden parts. For curved wooden parts with different thicknesses at the four corners, the Z-direction clamping motor 11300... 2. The rotation drives the Z-axis clamping screw 113006 to rotate and drives the Z-axis clamping screw slider 113007 to move along the length of the Z-axis clamping screw 113006. This causes the Z-axis clamping slide rail support plate 113015 to slide on the Z-axis clamping optical axis 113008, adjusting the position of the flexible clamp 113 in the Z-axis. At the same time, the two Z-axis clamping cylinders 113012 work synchronously to drive the two oppositely arranged Z-axis clamping flexible clamping body connectors 113023 and Z-axis clamping flexible clamping body 113022 to move, thereby achieving the clamping of the workpiece to be processed.

[0103] After the upper surface is machined, two rotating cylinders 119 work synchronously to drive the rotating rack 123 and rotating drive slider 124 to slide on the rotating drive slide rail 125, and drive the rotating gear 122 and rotating fixture frame 104 to rotate on the rotating fixture bracket 101, thus machining the lower surface. During the machining of the upper and lower surfaces, for cases where additional clamping force is needed for relatively flat curved surfaces, the suction cup assembly 208 can be passively adjusted according to the shape of the workpiece. The universal caster 216 supporting the bottom of the suction cup, installed on the suction cup moving slider 215, moves to the appropriate position on the suction cup support plate 201, controlling the second suction cup drive motor 220 to drive the fixedly connected suction cup worm gear 212 to rotate, which in turn drives the suction cup rotating worm wheel 210, which is set in cooperation with the suction cup worm gear 212, to rotate, driving the suction cup connecting frame 209 to rotate; the first suction cup drive motor 213 drives the suction cup support frame 211 to rotate, thus achieving passive adjustment of the position of the suction cup assembly 208. After adsorbing the workpiece surface, the lifting motor 302 drives the lifting positive and negative lead screws 306 to rotate.

[0104] The two lifting adjustment screw sliders 307 move, driving the lifting support rod 315 to move, so that the suction cup support plate 201 moves downward, thereby achieving additional clamping of the workpiece.

[0105] For curved wooden parts with varying thicknesses on the upper and lower surfaces and different edge variations, such as Figure 16As shown, the Z-axis clamp pneumatic telescopic head 113020 retracts, and the Z-axis clamp rotation drive cylinder 113029 drives the Z-axis clamp rotation rack 113027, causing the Z-axis clamp rotation gear 113026, which meshes with the Z-axis clamp rotation rack 113027, to rotate 90°, so that the Z-axis clamp flexible clamp body 113022 is set in parallel. At this time, the shape of the flexible clamp 113 is as follows. Figure 5 As shown,

[0106] The screw threads at both ends of the X-direction clamping moving screw 107 are set in opposite directions. Two synchronously configured X-direction clamping moving motors 109 drive the two X-direction clamping moving screw sliders 105 on the X-direction clamping moving screw 107 to move in opposite directions, thus adjusting the movement of the two X-direction clamping moving slide plates 106. The Y-direction clamping drive motor 115 drives the Y-direction clamping drive worm 114 to rotate via the Y-direction clamping drive coupling 116. The Y-direction clamping drive worm 114 then drives two Y-direction clamping drive worm wheels 117 to rotate. These worm wheels, in turn, drive the Y-direction clamping moving bidirectional screw 112 to rotate, causing the Y-direction clamping moving screw slider 111 and the flexible clamp 113 to move along the Y-direction, achieving dimensional centering of the curved wooden part. For curved wooden parts with different thicknesses at the four corners and varying edge changes, the Z-direction clamping motor 1... The rotation of 13002 drives the Z-axis clamping screw 113006 to rotate and drives the Z-axis clamping screw slider 113007 to move along the length of the Z-axis clamping screw 113006. This also drives the Z-axis clamping slide rail support plate 113015 to slide on the Z-axis clamping optical axis 113008, adjusting the position of the flexible clamp 113 in the Z-axis. At the same time, the two Z-axis clamping cylinders 113012 work synchronously to drive the two oppositely arranged Z-axis clamping flexible clamping body connectors 113023 and Z-axis clamping flexible clamping body 113022 to move, thereby achieving the clamping of the workpiece to be processed.

[0107] After the upper surface is machined, two rotating cylinders 119 work synchronously to drive the rotating rack 123 and rotating drive slider 124 to slide on the rotating drive slide rail 125, and drive the rotating gear 122 and rotating fixture frame 104 to rotate on the rotating fixture bracket 101 to achieve machining of the lower surface. During the machining of the upper and lower surfaces, for cases where the curved surface is relatively flat and additional clamping force is required, the suction cup assembly 208 can be passively adjusted according to the shape of the workpiece. The universal caster 216 of the suction cup bottom support, which is installed on the suction cup moving slider 215, moves to the appropriate position on the suction cup support plate 201, controls the second suction cup drive motor 220 to drive the fixedly connected suction cup worm gear 212 to rotate, and then drives the suction cup rotating worm wheel 210, which is set with the suction cup worm gear 212, to rotate, and drives the suction cup connecting frame 209 to rotate; the first suction cup drive motor 213 drives the suction cup support frame 211 to rotate, realizing the passive adjustment of the position of the suction cup assembly 208. After adsorbing the workpiece surface, the lifting motor 302 drives the lifting positive and negative lead screw 306 to rotate;

[0108] The two lifting adjustment screw sliders 307 move, driving the lifting support rod 315 to move, thereby causing the suction cup support plate 201 to move downward, achieving supplementary clamping of the workpiece. This enables machining of both sides of the curved surface in a single clamping operation, and provides excellent clamping for different sizes, thicknesses, and edge surface variations, improving clamping adaptability and machining efficiency.

Claims

1. A multi-degree-of-freedom spatial surface fixture, characterized by: It includes clamp structure (1) with turnover function, suction cup auxiliary support structure (2), clamp lifting adjustment structure (3) and clamp lifting frame structure (4); The clamp structure (1) with turnover function is installed on the top end of the clamp lifting frame structure (4) and realizes lifting and turnover on the clamp lifting frame structure (4). The suction cup auxiliary support structure (2) is installed on the clamp lifting adjustment structure (3). The clamp lifting adjustment structure (3) adjusts the height and angle position of the suction cup auxiliary support structure (2). The clamp lifting adjustment structure (3) is installed on the clamp lifting frame structure (4) and adjusts the height of the top end of the clamp lifting frame structure (4).

2. The multi-degree-of-freedom spatial surface gripper according to claim 1, wherein: The clamp structure (1) with turnover function includes turnover clamp frame (104), two turnover clamp supports (101), Y-direction clamp driving assembly, two X-direction clamp moving assemblies, two Y-direction clamp moving assemblies, two clamp turnover assemblies and four flexible clamps (113); The turnover clamp frame (104) is rotatably connected and installed on the two turnover clamp supports (101) through the two clamp turnover assemblies. The two turnover clamp supports (101) are arranged in relative parallelism and are slidably arranged and installed on the clamp lifting frame structure (4). The two X-direction clamp moving assemblies are arranged in relative parallelism on the turnover clamp frame (104). The two Y-direction clamp moving assemblies are arranged in relative parallelism on the two X-direction clamp moving assemblies. Each Y-direction clamp moving assembly is provided with two flexible clamps (113). The Y-direction clamp driving assembly is installed on the turnover clamp frame (104) close to the two Y-direction clamp moving assemblies and drives the two Y-direction clamp moving assemblies to work. The distance of the four flexible clamps (113) is adjusted through the two Y-direction clamp moving assemblies and the two X-direction clamp moving assemblies.

3. The multi-degree-of-freedom spatial surface gripper of claim 2, wherein: The clamp structure (1) with turnover function further includes four pneumatic telescopic heads (102) and four pneumatic telescopic head fixing supports (103); Each turnover clamp support (101) is provided with two pneumatic telescopic heads (102). Each pneumatic telescopic head fixing support (103) is installed on the top end of the turnover clamp support (101) through one pneumatic telescopic head (102). The turnover clamp frame (104) is locked on the two turnover clamp supports (101) through the four pneumatic telescopic head fixing supports (103).

4. The multi-degree-of-freedom spatial surface gripper of claim 3, wherein: The clamp turnover assembly includes turnover cylinder fixing piece (118), turnover cylinder (119), turnover rack connecting piece (121), turnover gear (122), turnover rack (123), turnover driving sliding block (124) and turnover driving sliding rail (125); The turnover cylinder (119) is fixedly installed on the turnover clamp support (101) through a turnover cylinder fixing piece (118), a turnover driving slide rail (125) is fixedly installed on the turnover clamp support (101) along the extension direction of a turnover cylinder piston rod (120), a turnover rack (123) is slidably arranged on the turnover driving slide rail (125) through a turnover driving slide block (124), the turnover rack (123) is fixedly connected with the turnover cylinder piston rod (120) through a turnover rack connecting piece (121), one end of a turnover gear (122) is fixedly installed on the turnover clamp frame (104), the other end of the turnover gear (122) is rotatably connected and installed on the turnover clamp support (101), and the turnover rack (123) is engaged with the turnover gear (122) and drives the turnover gear (122) to rotate, The X-direction clamp moving assembly comprises an X-direction clamp moving slide plate (106), an X-direction clamp moving lead screw (107), an X-direction clamp moving coupling (108), an X-direction clamp moving motor (109) and two X-direction clamp moving lead screw sliding blocks (105); The X-direction clamp moving motor (109) is fixedly installed on the turnover clamp frame (104), the X-direction clamp moving lead screw (107) is arranged along the axis direction of the output shaft of the X-direction clamp moving motor (109), the X-direction clamp moving lead screw (107) is installed on the output shaft of the X-direction clamp moving motor (109) through the X-direction clamp moving coupling (108), and the two X-direction clamp moving lead screws (107) of the turnover clamp frame (104) are arranged in parallel, two X-direction clamp moving lead screw sliding blocks (105) are threadedly connected and installed on each X-direction clamp moving lead screw (107), two X-direction clamp moving slide plates (106) are arranged in parallel on the two X-direction clamp moving lead screws (107), and the two ends of each X-direction clamp moving slide plate (106) are fixedly connected with the X-direction clamp moving lead screw sliding blocks (105) on the X-direction clamp moving lead screw (107), The Y-direction clamp moving assembly comprises a Y-direction clamp moving bidirectional lead screw (112), two Y-direction clamp moving lead screw sliding blocks (111), two Y-direction clamp moving lead screw support seats (110), two Y-direction optical shafts (126), four Y-direction optical shaft sliding blocks (127) and four Y-direction optical shaft support seats (128), and the Y-direction clamp driving assembly comprises a Y-direction clamp driving worm (114), a Y-direction clamp driving motor (115), a Y-direction clamp driving coupling (116) and two Y-direction clamp driving worm gears (117); The Y-direction clamp driving worm (114) is fixed on the output shaft of the Y-direction clamp driving motor (115) in the direction of the output shaft of the Y-direction clamp driving motor (115) through the Y-direction clamp driving coupling (116), each Y-direction clamp moving bidirectional screw (112) is rotatably connected and installed on the X-direction clamp moving sliding plate (106) through the two Y-direction clamp moving screw support seats (110), and the two Y-direction clamp moving screw blocks (111) are threadedly connected and installed on the Y-direction clamp moving bidirectional screw (112); the Y-direction clamp moving screw blocks (111) move towards or away from each other on the Y-direction clamp moving bidirectional screw (112), one flexible clamp (113) is fixedly installed on each Y-direction clamp moving screw block (111), a Y-direction clamp driving worm wheel (117) is fixedly installed on the Y-direction clamp moving bidirectional screw (112), the two Y-direction clamp driving worm wheels (117) are in transmission connection with the Y-direction clamp driving worm (114), two Y-direction optical shafts (126) are fixedly connected on the X-direction clamp moving sliding plate (106) through the Y-direction optical shaft support (128), two Y-direction optical shaft blocks (127) are slidably arranged on the Y-direction optical shaft (126), and the Y-direction optical shaft blocks are fixedly connected with the flexible clamp (113).

5. The multi-degree-of-freedom spatial surface gripper according to claim 2 or 4, characterized in that: The flexible clamp (113) comprises a Z-direction clamp support plate (113001), a Z-direction clamp motor (113002), a Z-direction clamp coupling (113003), a Z-direction clamp screw (113006), a Z-direction clamp screw block (113007), a Z-direction clamp sliding rail support plate (113015), a Z-direction clamp gear (113019), a Z-direction clamp gear shaft (113021), two Z-direction clamp screw support seats (113004), two Z-direction clamp optical shafts (113008), two Z-direction clamp optical shaft connectors (113010), two Z-direction clamp cylinder support seats (113011), two Z-direction clamp cylinders (113012), two Z-direction clamp cylinder rod connectors (113014), two Z-direction clamp sliding rails (113016), two Z-direction clamp racks (113018), two Z-direction clamp pneumatic telescopic heads (113020), two Z-direction clamp flexible clamp bodies (113022), two Z-direction clamp flexible clamp body connectors (113023), two Z-direction clamp rotation direction gears (113026), two Z-direction clamp rotation direction racks (113027), two Z-direction clamp rack sliding connectors (113028), two Z-direction clamp rotation direction driving cylinders (113029), four Z-direction clamp optical shaft support seats (113009), four Z-direction clamp blocks (113017), four Z-direction clamp bearing support seats (113024) and four Z-direction clamp connecting shafts (113025). A Z-direction clamp motor (113002) is installed on a Z-direction clamp support plate (113001), a Z-direction clamp lead screw (113006) is arranged along the length direction of the output shaft of the Z-direction clamp motor (113002), and the output shaft of the Z-direction clamp motor (113002) is fixedly connected with the Z-direction clamp lead screw (113006) through a Z-direction clamp coupling (113003), the Z-direction clamp lead screw (113006) is rotatably connected and installed on the Z-direction clamp support plate (113001) through two Z-direction clamp lead screw support seats (113004), one Z-direction clamp optical axis (113008) is symmetrically arranged on both sides of the Z-direction clamp lead screw (113006), and both ends of each Z-direction clamp optical axis (113008) are fixedly installed on the Z-direction clamp support plate (113001) through two Z-direction clamp optical axis support seats (113009), one Z-direction clamp optical axis connector (113010) is slidably arranged on each Z-direction clamp optical axis (113008), a Z-direction clamp lead screw sliding block (113007) is threadedly connected and sleeved on the Z-direction clamp lead screw (113006), and the Z-direction clamp lead screw sliding block (113007) and the two Z-direction clamp optical axis connectors (113010) are fixedly connected with one side of a Z-direction clamp sliding rail support plate (113015), The other side of the Z-direction clamp sliding rail support plate (113015) is fixedly installed in parallel with two Z-direction clamp sliding rails (113016), two Z-direction clamp sliding blocks (113017) are symmetrically installed on each Z-direction clamp flexible clamp body connector (113023), the two Z-direction clamp flexible clamp body connectors (113023) are slidably arranged with the two Z-direction clamp sliding rails (113016) through the four Z-direction clamp sliding blocks (113017), each Z-direction clamp rack (113018) is arranged close to and parallel to a Z-direction clamp sliding rail (113016), each Z-direction clamp rack (113018) is fixedly connected with the two Z-direction clamp sliding blocks (113017) on the Z-direction clamp sliding rail (113016), a Z-direction clamp gear (113019) is rotatably connected with the Z-direction clamp sliding rail support plate (113015) through a Z-direction clamp gear shaft (113021), and the Z-direction clamp gear (113019) is engaged with the two Z-direction clamp racks (113018), Two Z-direction clamp air cylinders (113012) are staggered arranged on the two sides of the Z-direction clamp lead screw (113006), each Z-direction clamp air cylinder (113012) is fixedly installed on the two ends of the Z-direction clamp sliding rail support plate (113015) through a Z-direction clamp air cylinder support seat (113011), the end of the Z-direction clamp air cylinder piston rod (113013) on each Z-direction clamp air cylinder (113012) is fixedly installed with a Z-direction clamp air cylinder rod connecting piece (113014), and the elongation direction of the Z-direction clamp air cylinder piston rod (113013) is arranged towards the other end of the Z-direction clamp sliding rail support plate (113015), each Z-direction clamp air cylinder rod connecting piece (113014) is connected with a Z-direction clamp flexible clamp body connecting piece (113023), The Z-direction clamp flexible clamp body connecting piece (113023) is an L-shaped frame body, the Z-direction clamp connecting shaft (113025) on each Z-direction clamp flexible clamp body (113022) is rotationally connected with the Z-direction clamp flexible clamp body connecting piece (113023) through two Z-direction clamp bearing support seats (113024), the Z-direction clamp connecting shaft (113025) on one of the Z-direction clamp bearing support seats (113024) is fixedly installed with a Z-direction clamp rotary gear (113026), the Z-direction clamp rotary gear (113026) is provided with a Z-direction clamp rotary rack (113027) corresponding, the Z-direction clamp rotary rack (113027) is slidably arranged on the Z-direction clamp flexible clamp body connecting piece (113023) through a Z-direction clamp rack sliding connecting piece (113028), the Z-direction clamp flexible clamp body connecting piece (113023) is installed with a Z-direction clamp rotary drive air cylinder (113029) for driving the Z-direction clamp rotary rack (113027) to stretch and retract, the piston rod of the Z-direction clamp rotary drive air cylinder (113029) is fixedly connected with the Z-direction clamp rotary rack (113027), the other Z-direction clamp bearing support seat (113024) is installed with a Z-direction clamp pneumatic telescopic head (113020), and the Z-direction clamp pneumatic telescopic head (113020) is used for locking the angle position of the Z-direction clamp flexible clamp body (113022) on the Z-direction clamp flexible clamp body connecting piece (113023).

6. The multi-degree-of-freedom spatial surface gripper according to claim 2 or 4, wherein: The suction cup auxiliary support structure (2) comprises a suction cup support assembly, a suction cup support plate (201), two suction cup motors (202), two suction cup motor couplings (204), two suction cup drive lead screws (205), two suction cup lead screw sliding blocks (206), two suction cup support shafts (218), two suction cup support sliding blocks (219), four suction cup motor fixing seats (203), four suction cup lead screw support seats (207), and four suction cup shaft support seats (217); Each suction cup driving screw (205) is arranged along the length direction of the output shaft of the suction cup motor (202), and the suction cup driving screw (205) is fixedly connected with the output shaft of the suction cup motor (202) through the suction cup motor coupling (204). The two suction cup driving screws (205) are arranged vertically, each suction cup driving screw (205) is rotatably connected and installed on the suction cup support plate (201) through two suction cup screw support seats (207), the suction cup motor (202) is fixedly installed on the suction cup support plate (201), two suction cup support shafts (218) are vertically arranged and installed on the suction cup support plate (201) through a suction cup shaft support (217), the two suction cup driving screws (205) and the two suction cup support shafts (218) are arranged in a square shape, a suction cup screw block (206) is threadedly connected on each suction cup driving screw (205), the suction cup screw block (206) is fixedly connected with one end of a suction cup support block (219), the other end of the suction cup support block (219) is slidably arranged on the corresponding suction cup support shaft (218), the two suction cup support blocks (219) are arranged in a cross shape, and a strip-shaped groove is formed in the length direction of the suction cup support block (219), a suction cup support assembly is arranged on the two suction cup support blocks (219) arranged in a cross shape and slides in the strip-shaped groove of the suction cup support block (219).

7. The multi-degree-of-freedom spatially curved surface gripper of claim 6, wherein: The suction cup support assembly comprises a suction cup assembly (208), a suction cup connecting frame (209), a suction cup rotating worm wheel (210), a suction cup support frame (211), a suction cup worm (212), a suction cup driving first motor (213), a suction cup driving second motor (220), a motor fixing plate (214), a suction cup moving block (215), a suction cup bottom support universal wheel (216), a suction cup support plate (221), a suction cup second coupling (222), and a suction cup first coupling (223). The suction cup assembly (208) is fixedly installed on the suction cup connecting frame (209), the suction cup rotating worm gear (210) is rotatably connected and installed on the suction cup supporting frame (211) through a rotating shaft, and the two ends of the suction cup rotating worm gear (210) rotating shaft are fixed on the suction cup connecting frame (209). The suction cup rotating worm gear (210) rotates around the suction cup rotating worm gear (210) rotating shaft, and drives the suction cup assembly (208) to rotate. The two ends of the suction cup worm (212) are rotatably connected and installed on the motor fixing plate (214) through the suction cup supporting plate (221), one end of the suction cup worm (212) is fixedly connected with the suction cup driving second motor (220) output shaft suction cup first coupling (223), the suction cup worm (212) is matched with the suction cup rotating worm gear (210), the suction cup driving first motor (213) and the suction cup driving second motor (220) are fixedly installed on the motor fixing plate (214), the suction cup driving first motor (213) output shaft and the suction cup driving second motor (220) output shaft are coaxially arranged, one connecting end of the suction cup supporting frame (211) is rotatably connected with the suction cup worm (212), the other connecting end of the suction cup supporting frame (211) is fixedly connected with the suction cup driving first motor (213) output shaft suction cup second coupling (222), the suction cup moving slider (215) is fixedly installed on the motor fixing plate (214), the suction cup bottom supporting universal wheel (216) is installed on the suction cup moving slider (215), the suction cup bottom supporting universal wheel (216) is in contact with the suction cup supporting plate (201), and the suction cup moving slider (215) is slidably arranged on the suction cup supporting slider (219) strip-shaped groove.

8. The multi-degree-of-freedom spatially curved fixture of claim 7, wherein: The suction cup assembly (208) comprises a suction cup shell (20801) and a suction cup assembly (20802); The suction cup assembly (20802) is installed on the suction cup shell (20801), the suction cup shell (20801) is installed on the suction cup connecting frame (209), The suction cup assembly (20802) comprises a plurality of small suction cup bases (20821), a plurality of suction cup ball pair fixing sleeves (20822), a plurality of suction cup ball pairs (20823), a plurality of suction cup springs (20824) and a plurality of small suction cups (20825); Each suction cup ball pair fixing sleeve (20822) is fixedly installed on the small suction cup base (20821), the suction cup ball pair (20823) is installed in the suction cup ball pair fixing sleeve (20822), and the suction cup ball pair (20823) is fixedly connected with the small suction cup (20825) through the suction cup spring (20824), and the plurality of small suction cup bases (20821) are installed on the suction cup shell (20801).

9. The multi-degree-of-freedom spatially curved surface gripper of claim 1, wherein: The clamp lifting adjusting structure (3) comprises a lifting support (301), a lifting worm (313), a lifting drive motor (314), two lifting motors (302), two lifting motor fixing frames (303), two lifting motor couplings (304), two lifting positive and negative lead screws (306), two lifting adjusting first shafts (308), two lifting adjusting second shafts (310), two lifting drive worm gear sets (311), two double-shaft support seats (312), two support plate connecting blocks (316), four lifting lead screw bases (305), four lifting adjusting lead screw sliders (307), four lifting shaft couplings (309), four lifting support rods (315) and four lifting rods (317); The lifting support (301) is installed on the clamp lifting frame structure (4), the two lifting positive and negative lead screws (306) are arranged in parallel on the lifting support (301), each lifting positive and negative lead screw (306) is rotatably connected with the two lifting lead screw bases (305) and is installed on the lifting support (301), each lifting positive and negative lead screw (306) is fixedly connected with the output shaft of the lifting motor (302) through the lifting motor coupling (304), the lifting motor (302) is fixedly installed on the lifting support (301) through the lifting motor fixing frame (303), the lifting positive and negative lead screw (306) is arranged along the length direction of the output shaft of the lifting motor (302), each lifting positive and negative lead screw (306) is provided with two lifting adjusting lead screw sliders (307), the two support plate connecting blocks (316) are symmetrically arranged and installed on the bottom end of the suction cup auxiliary support structure (2), the two lifting adjusting lead screw sliders (307) on each lifting positive and negative lead screw (306) are connected with the support plate connecting block (316) through the two lifting support rods (315), Each lifting drive worm gear set (311) is connected with one end of the lifting adjusting first shaft (308) and one end of the lifting adjusting second shaft (310) through the lifting shaft coupling (309) at both ends of the worm gear, the lifting worm (313) is fixedly installed on the output shaft of the lifting drive motor (314), the lifting worm (313) is matched with the worm gear of the lifting drive worm gear set (311), the two lifting adjusting first shafts (308) and the two lifting adjusting second shafts (310) are rotatably connected and installed on the lifting support (301) through the two double-shaft support seats (312), the other end of the lifting adjusting first shaft (308) and the other end of the lifting adjusting second shaft (310) are respectively fixedly installed with one lifting rod (317), the strip-shaped groove of the lifting rod (317) is arranged on the clamp lifting frame structure (4), and the lifting height of the top end of the clamp lifting frame structure (4) is adjusted.

10. The multi-degree-of-freedom spatial surface gripper according to claim 1 or 9, wherein: The clamp lifting frame structure (4) comprises four telescopic blocks (401), four lifting bases (402) and four sliding pins (403). The lifting base (402) is processed with a sliding groove in the vertical direction, the lifting support (301) is fixedly installed on the four lifting bases (402), the sliding pin (403) is arranged in the strip-shaped groove of the lifting rod (317) respectively, each lifting rod (317) is arranged in the sliding groove of one lifting base (402) correspondingly, and the two ends of the sliding pin (403) are slidably arranged on the side wall of the sliding groove of the lifting base (402), and each telescopic block (401) is correspondingly vertically slidably inserted into one lifting base (402) and in contact with the lifting support (301).

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