Clamping arm structure and clamping assembly

Abstract

The clamping arm structure comprises an overturning part, a jacking part and a pushing part, and the overturning part comprises an overturning driving piece and a clamping arm which is driven by the overturning driving piece to move in the horizontal direction; the jacking part comprises a sliding support, a supporting plate is installed on the sliding support in a sliding mode in the vertical direction, a penetrating hole is formed in the supporting plate in the thickness direction of the supporting plate, the overturning part is fixedly installed on one side of the supporting plate, and the clamping arm penetrates through and extends out of the penetrating hole; the pushing part comprises a base, a guide sliding rail is arranged on the base in the horizontal direction, and the jacking part is installed on the guide sliding rail in a sliding mode; a pushing driving piece is further installed on the side, away from the jacking part, of the base and connected with the jacking part so as to push the jacking part to do reciprocating motion in the horizontal direction along the guide sliding rail. According to the multi-dimensional clamping arm, multi-dimensional cooperative actions of horizontal clamping, posture overturning, vertical lifting and overall horizontal transferring of the clamping arm can be achieved, and the adaptability to workpieces of different postures, heights and stations is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical equipment, in particular to a clamping arm structure and a clamping assembly. BACKGROUND

[0002] In the field of industrial production, workpiece transfer and automation processing, the clamping arm structure as the core clamping execution component is widely used in the clamping, posture adjustment and work position transfer operation of various workpieces. Its action flexibility, clamping stability and adaptability directly affect the production efficiency and workpiece processing precision.

[0003] At present, the existing clamping arm structure is mostly designed with single dimension or double dimension action, which can usually only realize horizontal clamping or simple lifting action, and it is difficult to consider the multi-dimensional cooperative operation of horizontal transfer, vertical lifting and clamping arm overturning, and the adaptability is poor. For workpieces of different heights and different placement postures, multiple sets of clamping equipment need to be equipped, which not only increases the equipment investment cost, but also reduces the production automation degree, and cannot meet the large-scale and diversified production demand.

[0004] At the same time, the action components of the existing clamping arm structure are mostly dispersedly assembled, and lack of unified guiding and linkage control structure, which leads to the phenomenon of shaking, jamming or deviation of the clamping arm during action, and the clamping precision is insufficient. It is difficult to realize the precise posture adjustment of the clamping arm, and it cannot adapt to the work scene with high requirement on clamping posture. SUMMARY

[0005] The present application aims to solve the problem that the existing clamping arm structure has multiple dispersedly assembled action components, lacks unified guiding and linkage control structure, and is prone to shaking, jamming or deviation during action. The present application provides a clamping arm structure and a clamping assembly, which can realize the multi-dimensional cooperative action of horizontal clamping, posture overturning, vertical lifting and overall horizontal transfer of the clamping arm, effectively improve the adaptability to workpieces of different postures, heights and work positions, greatly improve the stability and precision of clamping action, avoid the problem of component action interference, reduce the equipment investment cost, and improve the production automation degree.

[0006] To solve the above technical problems, the embodiment of the present application discloses a clamping arm structure, which comprises a turnover part, a jacking part and a pushing part, the turnover part comprises a turnover driving element and a clamping arm driven by the turnover driving element to move in the horizontal direction; the jacking part comprises a sliding support, a support plate is slidingly installed on the sliding support in the vertical direction, the support plate is provided with a through hole in the thickness direction thereof, the turnover part is fixedly installed on one side of the support plate, and the clamping arm passes through and extends out of the through hole; the pushing part comprises a base, a guide sliding rail is arranged on the base in the horizontal direction, and the jacking part is slidingly installed on the guide sliding rail; a pushing driving element is further installed on the side of the base away from the jacking part, and the pushing driving element is connected with the jacking part to push the jacking part to reciprocate in the horizontal direction along the guide sliding rail.

[0007] By adopting the above technical scheme, the multi-dimensional collaborative action of horizontal clamping, posture turning, vertical lifting and overall horizontal transfer of the clamping arm is realized, the adaptability to workpieces in different postures, heights and workstations is effectively improved, the stability and precision of the clamping action are greatly improved, the part action interference problem is avoided, the equipment investment cost is reduced, and the production automation degree is improved.

[0008] According to another specific embodiment of the present application, the embodiment of the present application discloses that the clamping arm comprises a telescopic driving element, a clamping rod, an elastic buffer layer and an anti-skid clamping pad, the telescopic driving element is in transmission connection with the turnover driving element and is fixedly connected with one end of the clamping rod, the elastic buffer layer is fixedly installed on the other end of the clamping rod and faces the inner side of the workpiece to be clamped, and the anti-skid clamping pad is arranged on the surface of the elastic buffer layer in a fit manner, the clamping rod is driven by the telescopic driving element to move towards or away from the workpiece to be clamped in the horizontal direction.

[0009] According to another specific embodiment of the present application, the embodiment of the present application discloses that the turnover part further comprises a pressure sensor, the pressure sensor is embedded in the inside of the elastic buffer layer, and is used to detect the extrusion force of the elastic buffer layer when the clamping arm abuts against the workpiece to be clamped to generate a pressure signal.

[0010] According to another specific embodiment of the present application, the embodiment of the present application discloses that a displacement sensor is further installed on the end of the clamping rod, and is used to detect the telescopic displacement of the clamping rod to generate a displacement signal.

[0011] According to another specific embodiment of the present application, the embodiment of the present application discloses that the clamping arm structure further comprises an external control unit, which is used to receive the signals transmitted by the pressure sensor and the displacement sensor to linkedly control the actions of the turnover driving element, the telescopic driving element and the pushing driving element.

[0012] According to another specific embodiment of the present invention, the flipping part further includes a rotating shaft, a reduction gearbox and an angle encoder. The flipping drive is a rotary motor, which is connected to the rotating shaft via the reduction gearbox. The clamping arm is fixed perpendicularly to the rotating shaft. The angle encoder is installed at the end of the rotating shaft to provide feedback on the rotation angle of the rotating shaft. The rotating shaft can drive the clamping arm to rotate synchronously.

[0013] According to another specific embodiment of the present invention, the lifting part further includes a lifting drive component, which is vertically installed at the bottom of the sliding bracket. Its output end is fixedly connected to the support plate. The lifting drive component can drive the support plate to rise and fall in the vertical direction, thereby driving the flipping part to rise and fall synchronously.

[0014] According to another specific embodiment of the present invention, the push drive is a linear drive element, and the guide slide is arranged parallel to the power output direction of the push drive. When the push drive drives the lifting part to move, it can drive the flipping part and the clamping arm to move in the horizontal direction.

[0015] According to another specific embodiment of the present invention, a clamping assembly is disclosed, comprising two symmetrically arranged clamping arm structures as described above, and further comprising a positioning detection module and a safety protection module. The positioning detection module is communicatively connected to an external control unit, and the safety protection module includes an overload protection unit and a jamming alarm unit. The positioning detection module includes a workpiece posture detector, which is mounted on the clamping arm and is used to detect the posture deviation of the workpiece after it is clamped. When the posture deviation exceeds a preset threshold, a correction signal is sent to the external control unit. The overload protection unit is signal-connected to a pressure sensor. When the clamping force detected by the pressure sensor exceeds the maximum safety threshold, the overload protection unit is triggered, and the flipping part controls the telescopic drive to reverse its movement to release the workpiece. The jamming alarm unit is linked to a displacement sensor. When the displacement sensor detects that the telescopic displacement of the clamping arm has not changed but the telescopic drive continues to work, the jamming alarm unit issues an alarm signal and triggers the equipment to stop.

[0016] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a clamping assembly as described above, which further includes a PLC controller. An external control unit is installed on the PLC controller. The PLC controller is communicatively connected to a flipping drive, a pushing drive, a telescopic drive, a pressure sensor, a displacement sensor, and an angle encoder, respectively, for controlling the timing linkage of clamping, lifting, pushing, and flipping actions.

[0017] The beneficial effects of this application are: it realizes multi-dimensional coordinated actions of horizontal clamping, posture flipping, vertical lifting and lowering and overall horizontal transfer of the clamping arm, effectively improves the adaptability to workpieces with different postures, heights and work positions, and at the same time greatly improves the stability and accuracy of the clamping action, avoids the problem of interference between parts, reduces equipment investment costs and improves the degree of production automation. Attached Figure Description

[0018] Figure 1 A schematic diagram of the clamping arm structure according to an embodiment of the present invention is shown. Figure 1 .

[0019] Figure 2 A schematic diagram of the clamping arm structure of an embodiment of the present invention is shown.

[0020] Figure 3 A schematic diagram of the clamping arm structure according to an embodiment of the present invention is shown. Figure 2 .

[0021] in,

[0022] 1. Flipping section; 11. Flipping drive component; 12. Clamping arm; 121. Telescopic drive component; 122. Clamping rod; 123. Elastic buffer layer; 124. Anti-slip clamping pad; 2. Lifting section; 21. Sliding bracket; 22. Support plate; 23. Lifting drive component; 211. Sliding guide structure; 212. Sliding slider; 221. Perforation; 3. Pushing part; 31. Base; 32. Guide slide rail; 33. Pushing drive component. Detailed Implementation

[0023] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to this embodiment. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0024] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0026] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0027] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0029] Reference Figures 1 to 3 This application provides a clamping arm structure, which includes a flipping part 1, a lifting part 2, and a pushing part 3. The flipping part 1 includes a flipping drive member 11 and is driven by the flipping drive member 11 to move in the horizontal direction ( Figure 1 The clamping arm 12 moves in the X direction (as shown in the middle X direction); the lifting part 2 includes a sliding bracket 21, which moves in the vertical direction (as shown in the middle X direction). Figure 1 (As shown in the Y direction), a support plate 22 is slidably mounted on the sliding bracket 21. The support plate 22 has a through hole 221 along its thickness direction. The flipping part 1 is fixedly mounted on one side of the support plate 22, and the clamping arm 12 passes through and extends out of the through hole 221. The pushing part 3 includes a base 31. A guide rail 32 is provided on the base 31 along the horizontal direction. The lifting part 2 is slidably mounted on the guide rail 32. A pushing drive member 33 is also installed on the side of the base 31 away from the lifting part 2. The pushing drive member 33 is connected to the lifting part 2 to push the lifting part 2 to reciprocate along the guide rail 32 in the horizontal direction.

[0030] In this embodiment, the pushing part 3 provides the mounting base and horizontal moving power for the entire clamping arm structure. The lifting part 2 is mounted on the pushing part 3 and can move back and forth in the horizontal direction along the pushing part 3. The flipping part 1 is fixed on the lifting part 2 and completes horizontal movement and vertical lifting with the lifting part 2. The clamping arm 12 is integrated into the flipping part 1 and can realize horizontal clamping action under the drive of the flipping part 1. At the same time, it can complete multi-position and multi-posture adjustment with the lifting part 2 and the pushing part 3. The overall assembly is compact, and the movement of each component is smooth, avoiding movement interference.

[0031] The flipping unit 1 is used to drive the clamping arm 12 to move in the horizontal direction to complete the workpiece clamping. At the same time, it can drive the clamping arm 12 to achieve the flipping action to adapt to the needs of different workpiece clamping postures. It includes a flipping drive 11 and a clamping arm 12 driven by the flipping drive 11 to move in the horizontal direction.

[0032] The flipping drive 11 uses a power element capable of forward and reverse rotation. Its output end is connected to the clamping arm 12 for transmission, driving the clamping arm 12 to flip around a preset axis and adjust the clamping angle of the clamping arm 12 to adapt to workpieces with different placement postures. A transmission connector is provided at the transmission connection between the flipping drive 11 and the clamping arm 12. The transmission connector adopts a rigid structure to ensure the stability of power transmission, avoid power loss or transmission deviation during clamping, and ensure the accuracy of the clamping arm 12's movement.

[0033] The clamping end of the clamping arm 12 is designed with an arc shape that matches the shape of the workpiece, increasing the contact area with the workpiece, improving clamping stability, and preventing the workpiece from slipping during clamping.

[0034] The lifting part 2 is used to drive the flipping part 1 and the clamping arm 12 to rise and fall in the vertical direction, adjust the vertical height of the clamping arm 12, and adapt to the clamping and transfer requirements of workpieces of different heights. It includes a sliding bracket 21. A support plate 22 is slidably installed on the sliding bracket 21 in the vertical direction. The support plate 22 has a through hole 221 along its thickness direction. The flipping part 1 is fixedly installed on one side of the support plate 22, and the clamping arm 12 passes through and extends out of the through hole 221.

[0035] The sliding bracket 21 adopts a frame structure, with symmetrical sliding guide structures 211 on both sides along the vertical direction. The two ends of the support plate 22 are adapted and connected to the sliding guide structures 211 to ensure the stability of the support plate 22 when sliding in the vertical direction and to avoid tilting or jamming. The sliding guide structure 211 adopts an embedded sliding fit to reduce frictional resistance during sliding and also plays a role in dust protection, preventing impurities from entering the sliding gap and affecting the smoothness of sliding.

[0036] The size of the perforation 221 is adapted to the cross-sectional dimensions of the clamping arm 12, with a reasonable assembly clearance. This ensures that the clamping arm 12 can pass through smoothly and move freely, while preventing excessive clearance from causing the clamping arm 12 to wobble during operation and affecting clamping accuracy. The edges of the perforation 221 are chamfered to prevent friction and wear between the clamping arm 12 and the edge of the perforation 221, thus extending the service life of the clamping arm 12.

[0037] The flipping part 1 is fixedly installed on one side of the support plate 22 by bolt assemblies. The bolt assemblies are evenly distributed on the mounting surface of the flipping part 1 to ensure that the flipping part 1 is firmly installed and to prevent loosening during clamping or flipping. The installation position of the flipping part 1 corresponds to the through hole 221 to ensure that the clamping arm 12 can remain horizontal after passing through the through hole 221, thus ensuring the stability of the clamping action.

[0038] The pushing part 3 is used to drive the lifting part 2, the flipping part 1 and the clamping arm 12 to reciprocate in the horizontal direction to realize the horizontal transfer of the workpiece. It includes a base 31, and a guide rail 32 is provided on the base 31 along the horizontal direction. The lifting part 2 is slidably mounted on the guide rail 32. A pushing drive member 33 is also installed on the side of the base 31 away from the lifting part 2. The pushing drive member 33 is connected to the lifting part 2 to push the lifting part 2 to reciprocate in the horizontal direction along the guide rail 32.

[0039] The base 31 adopts a rigid flat plate structure, providing a stable mounting foundation for the entire clamping arm structure. Mounting holes can be provided at its bottom to facilitate fixing the entire clamping arm structure to the work equipment or the ground, improving the overall structural stability. Guide rails 32 are arranged along the length of the base 31, with at least two rails symmetrically distributed on the base 31 to ensure balanced force distribution during the sliding of the lifting section 2 and prevent tilting.

[0040] The bottom of the lifting section 2 is equipped with a sliding block 212 that is adapted to the guide rail 32. The sliding block 212 and the guide rail 32 are embedded and slide in a sliding fit. The sliding block 212 has a lubrication structure inside, which can reduce frictional resistance during sliding, improve sliding smoothness, and extend the service life of the guide rail 32 and the sliding block 212. The sliding block 212 is fixedly connected to the bottom of the lifting section 2 in a rigid connection manner to ensure that when the driving component 33 is pushed, the power can be synchronously transmitted to the lifting section 2.

[0041] The drive component 33 uses a linear power element, and its power output direction is parallel to the extension direction of the guide rail 32, ensuring that the driving force is transmitted horizontally and avoiding lateral force that could cause the lifting part 2 to slide and jam. The fixed end of the drive component 33 is fixedly connected to the side of the base 31 away from the lifting part 2, and the fixing method is bolt fastening to ensure a firm installation. The output end of the drive component 33 is fixedly connected to the bottom or side of the lifting part 2, and a buffer connector is provided at the connection point. The buffer connector can absorb the impact force during the pushing process, avoid rigid collisions during power transmission, and protect the structural integrity of each component.

[0042] When this clamping arm structure is in operation, firstly, by pushing the drive component 33, the lifting part 2 is moved horizontally along the guide rail 32, moving the clamping arm 12 to the corresponding horizontal position of the workpiece to be clamped; then, the lifting part 2 drives the support plate 22 to rise and fall vertically, adjusting the vertical height of the clamping arm 12 so that the clamping arm 12 is aligned with the clamping position of the workpiece to be clamped; next, the flipping drive component 11 drives the clamping arm 12 to move horizontally, so that the clamping arm 12 approaches and clamps the workpiece to be clamped; if it is necessary to adjust the workpiece posture, the flipping drive component 11 can drive the clamping arm 12 to flip, thereby adjusting the workpiece posture; after the workpiece is clamped, the workpiece can be moved to a preset position by the coordinated action of the drive component 33 and the lifting part 2; finally, the flipping drive component 11 drives the clamping arm 12 to move in the opposite direction, releasing the workpiece and completing one clamping operation.

[0043] This clamping arm structure, through the coordinated operation of the flipping part 1, the lifting part 2 and the pushing part 3, realizes multi-dimensional actions of horizontal movement, vertical lifting, flipping and overall horizontal transfer of the clamping arm 12, adapting to the clamping requirements of workpieces of different specifications, postures and positions, and has strong clamping stability.

[0044] By adopting the above technical solution, multi-dimensional coordinated actions of horizontal clamping, posture flipping, vertical lifting and lowering and overall horizontal transfer of the clamping arm 12 are realized, which effectively improves the adaptability to workpieces with different postures, heights and work positions, while greatly improving the stability and accuracy of clamping actions, avoiding the problem of component movement interference, reducing equipment investment costs and improving the degree of production automation.

[0045] In one feasible embodiment, the clamping arm 12 includes a telescopic drive 121, a clamping rod 122, an elastic buffer layer 123, and an anti-slip clamping pad 124. The telescopic drive 121 is pulsatorically connected to the flipping drive 11 and fixedly connected to one end of the clamping rod 122. The elastic buffer layer 123 is fixedly installed on the other end of the clamping rod 122 and faces the inside of the workpiece to be clamped. The anti-slip clamping pad 124 is attached to the surface of the elastic buffer layer 123. Under the drive of the telescopic drive 121, the clamping rod 122 moves closer to or away from the workpiece to be clamped along the horizontal direction.

[0046] In this embodiment, the clamping arm 12 serves as the execution component for workpiece clamping, and is used to achieve flexible clamping and stable limiting of the workpiece to be clamped. Specifically, it includes a telescopic drive component 121, a clamping rod 122, an elastic buffer layer 123, and an anti-slip clamping pad 124. The components work together to balance clamping reliability and workpiece protection, and to avoid damage or slippage of the workpiece during the clamping process.

[0047] The telescopic drive component 121 is connected to the flipping drive component 11 and is rigidly fixed to one end of the clamping rod 122. The connection is tight and secure, ensuring that the flipping drive component 11 can synchronously drive the entire clamping arm 12 to complete the flipping action. The telescopic drive component 121 can independently output power to drive the clamping rod 122 to move horizontally, thereby enabling the clamping arm 12 to move closer to or away from the workpiece to be clamped, completing the clamping and releasing actions. A linkage limit structure is provided at the transmission interface between the telescopic drive component 121 and the flipping drive component 11 to avoid interference between their actions, ensuring that the clamping arm 12 can maintain the synchronicity and stability of its telescopic movement during the flipping process, adapting to multi-posture clamping requirements.

[0048] The clamping rod 122 is made of rigid material and has an overall elongated structure. Its length can be flexibly set to suit the specifications of the workpiece to be clamped. One end of the clamping rod 122 is fixed to the telescopic drive component 121, and the other end is used to install the elastic buffer layer 123. The overall structural strength meets the force requirements of the clamping operation, avoiding bending or deformation during clamping. The end of the clamping rod 122 near the elastic buffer layer 123 is provided with a stepped mounting surface, which facilitates the positioning and installation of the elastic buffer layer 123, improves assembly stability, and prevents the elastic buffer layer 123 from shifting or falling off when clamping under force.

[0049] The elastic buffer layer 123 is fixedly installed on the stepped mounting surface of the clamping rod 122, facing inward towards the workpiece to be clamped. The elastic buffer layer 123 is made of a material with a certain elastic recovery capability, allowing it to undergo elastic deformation during clamping, absorbing clamping impact and preventing indentations or damage to the workpiece surface caused by rigid clamping. It can also adapt to minor unevenness on the workpiece surface, improving the clamping fit. The elastic buffer layer 123 and the clamping rod 122 are fixed in a close and tight manner, ensuring a firm connection without relative slippage, while not affecting the deformation function of the elastic buffer layer 123.

[0050] The anti-slip clamping pad 124 is fitted onto the surface of the elastic buffer layer 123, facing the workpiece to be clamped. The anti-slip clamping pad 124 is made of a material with an anti-slip texture, which increases the friction between the clamping arm 12 and the workpiece, effectively preventing the workpiece from sliding or falling off during clamping, transfer, or flipping, thus improving clamping stability. The anti-slip clamping pad 124 and the elastic buffer layer 123 are tightly fitted together to ensure synchronous deformation and prevent delamination or detachment. Simultaneously, the edge of the anti-slip clamping pad 124 is aligned with the edge of the elastic buffer layer 123 to avoid edge protrusion affecting the clamping fit.

[0051] During operation, the telescopic drive 121 outputs power under the control of the external control unit, driving the clamping rod 122 to move horizontally toward the workpiece to be clamped until the anti-slip clamping pad 124 is in contact with the workpiece surface. As the clamping rod 122 continues to move, the elastic buffer layer 123 undergoes elastic deformation due to the reaction force of the workpiece until the preset clamping force is reached, thus achieving flexible clamping of the workpiece. After clamping is completed, the telescopic drive 121 moves in the opposite direction, driving the clamping rod 122 away from the workpiece, and the elastic buffer layer 123 returns to its original state, completing the action of releasing the workpiece.

[0052] In one feasible embodiment, the clamping arm structure further includes an external control unit, and the flipping part 1 further includes a pressure sensor embedded inside the elastic buffer layer 123. The pressure sensor is used to detect the compressive force on the elastic buffer layer 123 when the clamping arm 12 abuts against the workpiece to be clamped, thereby generating a pressure signal. The pressure sensor is communicatively connected to the external control unit to transmit the pressure signal. A displacement sensor is also included, mounted at the end of the clamping rod 122, for detecting the amount of extension and retraction displacement of the clamping rod 122 to generate a displacement signal. The displacement sensor is communicatively connected to the external control unit to transmit the displacement signal.

[0053] In this embodiment, a pressure sensor is added to the flipping part 1 to monitor the clamping force of the clamping arm 12 in real time. This sensor, in conjunction with an external control unit, adjusts the clamping force to prevent damage to the workpiece from excessive clamping or slippage from excessive clamping. The pressure sensor is embedded inside the elastic buffer layer 123, with its installation position corresponding to the pressure-bearing area between the clamping arm 12 and the workpiece to be clamped. This ensures that the sensor can capture the compressive force on the elastic buffer layer 123, reducing detection errors.

[0054] The pressure sensor is embedded and fixed using an embedded structure, fitting tightly inside the elastic buffer layer 123 without damaging the overall structure and elastic deformation function of the elastic buffer layer 123. This also prevents displacement or detachment of the pressure sensor during clamping, ensuring detection stability. The elastic buffer layer 123 has a pre-reserved mounting groove corresponding to the pressure sensor's mounting area. The size of the mounting groove matches the pressure sensor, achieving both accurate positioning and protection by the elastic buffer layer 123, reducing damage from external impurities and impacts, and extending its service life.

[0055] The core function of the pressure sensor is to detect the compressive force on the elastic buffer layer 123 when the clamping arm 12 comes into contact with the workpiece to be clamped, and to convert this compressive force into a transmittable pressure signal. When the clamping arm 12 clamps the workpiece, the elastic buffer layer 123 deforms and generates compressive force. The pressure sensor synchronously captures this compressive force signal, ensuring that the detection action is synchronized with the clamping action, and providing real-time data support for subsequent force control.

[0056] The clamping arm structure is equipped with a displacement sensor to monitor the telescopic displacement of the clamping rod 122 in real time. This sensor, in conjunction with an external control unit and a pressure sensor, enables dual control of the clamping action, improving the consistency and reliability of the clamping operation. The displacement sensor is installed at the end of the clamping rod 122, avoiding the assembly area of ​​the elastic buffer layer 123 and the anti-slip clamping pad 124. This ensures it does not interfere with the clamping action of the clamping arm 12 or the deformation of the elastic buffer layer 123, while also closely following the telescopic trajectory of the clamping rod 122 to ensure accurate displacement detection.

[0057] The displacement sensor and clamping rod 122 are rigidly connected, and the connection is equipped with an anti-loosening structure to prevent vibration during the extension and retraction of clamping rod 122 from causing displacement sensor displacement and affecting detection accuracy. The detection direction of the displacement sensor is consistent with the extension and retraction direction of clamping rod 122, which can fully capture the reciprocating displacement changes of clamping rod 122 in the horizontal direction, generate corresponding displacement signals in real time, and provide feedback on the extension and retraction stroke of clamping rod 122 and the clamping position.

[0058] The clamping arm structure is equipped with an external control unit, which serves as the control core of the entire clamping arm structure. It is used to receive and process the signals transmitted by the pressure sensor and displacement sensor, and to control the actions of the power components such as the flipping drive 11, the telescopic drive 121, and the pushing drive 33 in conjunction with each other, so as to realize the automation and control of the clamping operation.

[0059] The external control unit connects to the pressure and displacement sensors via wired or wireless communication. The stable communication link ensures rapid transmission of pressure and displacement signals, avoiding control deviations caused by signal delays. The external control unit has a built-in signal processing module that analyzes and processes the received pressure and displacement signals to determine if the clamping force meets preset requirements and if the clamping rod 122 has extended or retracted sufficiently, thereby outputting corresponding control commands.

[0060] When the pressure sensor detects that the compressive force reaches the preset clamping force threshold, the external control unit outputs a stop command to control the telescopic drive component 121 to stop moving, preventing excessive clamping. If the compressive force does not reach the threshold, the external control unit controls the telescopic drive component 121 to continue moving until the preset force is reached. When the displacement sensor detects that the extension displacement of the clamping rod 122 reaches the preset stroke, the external control unit synchronously links the telescopic drive component 121 to stop moving, forming a double limit and further improving clamping accuracy. At the same time, the displacement signal can provide feedback on the extension and retraction status of the clamping rod 122, providing data support for the movement control of the clamping arm 12 and ensuring smooth and coordinated movement of the entire clamping arm structure.

[0061] In one feasible embodiment, the flipping part 1 further includes a rotating shaft, a reduction gearbox, and an angle encoder. The flipping drive 11 is a rotary motor, which is connected to the rotating shaft via the reduction gearbox. The clamping arm 12 is fixed perpendicularly to the rotating shaft. The angle encoder is installed at the end of the rotating shaft to provide feedback on the rotation angle of the rotating shaft. The rotating shaft can drive the clamping arm 12 to rotate synchronously.

[0062] In this embodiment, the flipping drive 11 of the flipping part 1 is a rotary motor. A rotary shaft, a reduction gearbox and an angle encoder are also added. Through the transmission cooperation and signal feedback of each component, the power output of the flipping action of the clamping arm 12 and the real-time monitoring of the rotation angle are realized, ensuring the controllability and accuracy of the flipping posture of the clamping arm 12 and adapting to the workpiece clamping posture adjustment requirements under different working conditions.

[0063] The power output end of the rotary motor is connected to the input end of the gearbox, and the output end of the gearbox is connected to the rotary shaft. The gearbox, located between the rotary motor and the rotary shaft, reduces the power output of the rotary motor and increases its torque to meet the power requirements of the clamping arm 12 during its flipping operation. Simultaneously, it reduces the rotational speed of the rotary shaft, improving the stability of the clamping arm 12's flipping process and preventing the clamped workpiece from shaking or shifting due to excessive speed. The transmission connections of the rotary motor, gearbox, and rotary shaft all employ a coaxial centering assembly structure to ensure coaxiality of power transmission, reduce power loss and radial runout during transmission, and guarantee the stability and reliability of power transmission.

[0064] The rotating shaft is arranged horizontally and is vertically fixedly connected to the clamping arm 12. The fixing part is located in the middle area of ​​the clamping arm 12, so that the clamping arm 12 is subjected to balanced force and avoids the clamping arm 12 from swinging or structural deformation due to force imbalance during the flipping process. The rotating shaft and the clamping arm 12 are fixed by a rigid fastening method to ensure that the rotating shaft can drive the clamping arm 12 to rotate synchronously without relative slippage, realizing the effective transmission of flipping power and ensuring that the clamping arm 12 completes the flipping action of the predetermined angle with the rotating shaft.

[0065] The angle encoder is mounted coaxially at the end of the rotating shaft, with its detection end fixedly connected to the end of the rotating shaft. This ensures that the angle encoder rotates synchronously with the rotating shaft, capturing the real-time rotation angle and converting it into a transmittable electrical signal for real-time feedback. The angle encoder's mounting structure features anti-loosening and positioning functions to prevent installation misalignment caused by high-speed rotation of the rotating shaft or equipment vibration, thus preventing signal deviation. Furthermore, the angle encoder has an external protective structure to reduce damage from external dust, debris, and impacts, extending its service life.

[0066] The working logic of the flipping unit 1 is as follows: the external control unit outputs a flipping control command to the rotary motor, the rotary motor starts and outputs power, which is then transmitted to the rotary shaft after being reduced in speed and torque by the reduction gearbox. This drives the rotary shaft to rotate around its own axis. The clamping arm 12, which is fixed perpendicularly to the rotary shaft, rotates synchronously with the rotary shaft, thereby achieving the flipping of the clamping arm 12. During the rotation of the rotary shaft, the angle encoder installed at its end detects the rotation angle of the rotary shaft in real time and continuously feeds back the angle signal to the external control unit. When the rotation angle of the rotary shaft reaches the flipping angle threshold preset by the external control unit, the external control unit outputs a stop command, the rotary motor stops running, and the clamping arm 12 completes the flipping of the predetermined angle and maintains the posture, thereby achieving the control of the flipping angle of the clamping arm 12.

[0067] The overall assembly structure of the rotary motor, gearbox, and rotary shaft is compatible with other components of the tilting part 1. The layout of each transmission and detection component is compact, avoiding interference with the lifting part 2, pushing part 3, and clamping arm 12. At the same time, the overall structure is easy to disassemble and maintain, and is suitable for the overall operation requirements of the clamping arm structure.

[0068] In one feasible embodiment, the lifting part 2 further includes a lifting drive 23, which is vertically installed at the bottom of the sliding bracket 21. Its output end is fixedly connected to the support plate 22. The lifting drive 23 can drive the support plate 22 to rise and fall in the vertical direction, thereby driving the flipping part 1 to rise and fall synchronously.

[0069] In this embodiment, the lifting part 2 is equipped with a lifting drive component 23, which serves as the power source for the lifting part 2 to achieve vertical lifting and lowering. The power output of the lifting drive component 23 drives the support plate 22 to move back and forth in the vertical direction, thereby driving the flipping part 1 and the clamping arm 12 fixed on the support plate 22 to simultaneously complete the vertical height adjustment, adapting to the workpiece clamping and transfer requirements at different height positions. Moreover, the assembly and operation of the lifting drive component 23 are compatible with the original structure of the lifting part 2, without any interference.

[0070] The lifting drive component 23 is coaxially mounted vertically at the bottom center of the sliding bracket 21. This mounting arrangement ensures that the power output of the lifting drive component 23 is transmitted along the center of gravity axis of the support plate 22, guaranteeing balanced force distribution during the lifting and lowering of the support plate 22 and preventing issues such as unilateral tilting or jamming, thus improving the stability of the vertical lifting and lowering motion. The fixed end of the lifting drive component 23 is rigidly and securely connected to the bottom of the sliding bracket 21, with a reinforced positioning structure at the connection point to prevent loosening or misalignment of the lifting drive component 23 during power output and load-bearing processes, ensuring the stability of power transmission.

[0071] The power output end of the lifting drive component 23 is fixedly connected to the bottom center of the support plate 22. The connection surface between the output end and the support plate 22 is tightly fitted, and an integrated fixing structure is adopted to ensure that the vertical driving force output by the lifting drive component 23 can be transmitted to the support plate 22 without loss, avoiding power loss or lag in lifting action caused by connection gaps. This connection structure can also bear the overall weight of the support plate 22, the tilting part 1, and the clamping arm 12, meeting the load-bearing requirements of the lifting operation, without the risk of deformation or loosening.

[0072] The jacking drive component 23 is assembled with the sliding bracket 21 and the support plate 22 to adapt to the original sliding guide structure 211 of the jacking part 2. When the jacking drive component 23 outputs power to drive the support plate 22 to rise and fall, the two ends of the support plate 22 slide synchronously along the vertical sliding guide structure 211 on both sides of the sliding bracket 21. The sliding guide structure 211 forms a precise limit on the rising and falling trajectory of the support plate 22, so that the support plate 22 always maintains a horizontal state and moves back and forth in a straight line in the vertical direction, further ensuring the stability and accuracy of the lifting action and avoiding the support plate 22 from swaying or jamming.

[0073] The vertical lifting logic of the lifting part 2 is as follows: the external control unit outputs a lifting control command, the lifting drive 23 starts and outputs a vertical driving force, driving the support plate 22 fixed thereto to move up or down along the sliding guide structure 211 of the sliding bracket 21; since the flipping part 1 is fixed to one side of the support plate 22 by bolt assembly, and the clamping arm 12 is integrated into the support plate 22 along with the flipping part 1, the support plate 22 can synchronously drive the flipping part 1 and the clamping arm 12 to rise and fall in the vertical direction during the lifting process, so as to achieve precise adjustment of the vertical height of the clamping arm 12; when the clamping arm 12 rises or falls to the height position preset by the external control unit, the lifting drive 23 stops the power output, and the support plate 22, the flipping part 1, and the clamping arm 12 maintain the current height position, completing the vertical height adjustment to meet the height clamping requirements of the workpiece to be clamped.

[0074] The overall assembly structure of the lifting drive component 23 is compatible with the layout of the lifting part 2 and the tilting part 1. It is installed in the idle space at the bottom of the sliding bracket 21, making the overall structure of the lifting part 2 compact and not occupying additional working space. At the same time, it avoids interference with the components and movement trajectory of the pushing part 3 and the tilting part 1. The movement of the lifting drive component 23, the horizontal movement of the pushing part 3, and the tilting movement of the tilting part 1 can be independently controlled and coordinated through an external control unit, which meets the operational requirements of the multi-dimensional movement of the clamping arm structure and improves the overall operational flexibility.

[0075] In one feasible embodiment, the push drive 33 is a linear drive element, and the guide slide rail 32 is arranged parallel to the power output direction of the push drive 33. When the push drive 33 drives the lifting part 2 to move, it can drive the flipping part 1 and the clamping arm 12 to move in the horizontal direction.

[0076] In this embodiment, the push drive 33 adopts a linear drive element as the power source for the push part 3 to realize the horizontal transfer action. With the trajectory limiting function of the guide slide rail 32, it drives the lifting part 2 to move smoothly back and forth in the horizontal direction, thereby synchronously driving the flipping part 1 and the clamping arm 12 to complete the horizontal position adjustment, realizing the precise transfer of the workpiece, adapting to the clamping operation requirements between different workstations, and adapting to the original base 31 and sliding slider 212 structure of the push part 3, ensuring smooth overall action linkage.

[0077] The drive component 33 is fixedly installed on the side of the base 31 away from the lifting part 2. The fixed end is rigidly fastened to the base 31 and is fitted together. The connection part is provided with a positioning boss and anti-loosening components to ensure that the drive component 33 is firmly installed and to prevent displacement or shaking during power output, thus ensuring the stability of the driving force transmission. The power output direction of the drive component 33 is parallel to the extension direction of the guide rail 32, so that the driving force can be accurately transmitted to the lifting part 2 along the trajectory of the guide rail 32. This avoids the generation of lateral force that could cause the lifting part 2 to slide, jam, or deviate, while maximizing the power transmission efficiency and reducing power loss.

[0078] The guide rails 32 are laid along the horizontal length of the base 31, precisely parallel to the power output direction of the driving component 33. At least two guide rails 32 are symmetrically distributed on the upper surface of the base 31, forming a stable horizontal sliding support structure. The guide rails 32 and the sliding slider 212 at the bottom of the lifting part 2 adopt an embedded fitting structure. The sliding slider 212 can smoothly slide along the extension direction of the guide rails 32. A lubricating protective layer is provided on the mating surfaces of the two, which reduces frictional resistance during sliding, improves the stability of horizontal movement, prevents impurities from entering the mating gap, and extends the service life of the guide rails 32 and the sliding slider 212.

[0079] The connection between the drive component 33 and the lifting unit 2 adopts a flexible linkage structure. A buffer joint is installed at the connection point to absorb the impact force generated when the drive component 33 starts and stops, avoiding component wear caused by rigid connections. It also compensates for minor assembly deviations between the lifting unit 2 and the drive component 33, ensuring smooth power transmission. The buffer joint is rigidly fixed to the output end of the drive component 33 and the bottom of the lifting unit 2, balancing linkage stability and buffering effect to meet the power transmission requirements during horizontal transfer.

[0080] The horizontal transfer logic of the push unit 3 is as follows: the external control unit outputs a transfer command to the push drive 33, the push drive 33 starts and outputs a linear driving force in the horizontal direction, which is transmitted to the lifting unit 2 through the buffer joint; under the action of the driving force, the lifting unit 2 drives the bottom sliding slider 212 to move horizontally back and forth along the guide rail 32. Since the flipping part 1 is fixed on the support plate 22 of the lifting unit 2 and the clamping arm 12 is integrated into the flipping part 1, the lifting unit 2 can simultaneously drive the flipping part 1 and the clamping arm 12 to move in the horizontal direction when it moves, so as to realize the horizontal position adjustment of the clamping arm 12 and the workpiece to be clamped; when the lifting unit 2 moves to the work position preset by the external control unit, the push drive 33 stops the power output, and the lifting unit 2, the flipping part 1, and the clamping arm 12 maintain the current horizontal position, thus completing the horizontal transfer action.

[0081] The coordinated operation of the drive component 33 and the guide rail 32 ensures precise and controllable horizontal movement of the lifting section 2, resulting in smooth and deviation-free transfer. Simultaneously, the drive component 33 can output power in both directions, meeting the reciprocating transfer requirements of the lifting section 2. Its overall structure is compatible with the layout of the push section 3 and the lifting section 2, resulting in a compact installation that does not occupy additional working space. Furthermore, the movement of the drive component 33 can be coordinated with the flipping action of the tilting section 1, the lifting action of the lifting section 2, and the clamping action of the clamping arm 12 via an external control unit, thereby improving the overall operating efficiency and automation level of the clamping arm structure.

[0082] This application also provides a clamping assembly, including two symmetrically arranged clamping arm structures as described above, further including a positioning detection module and a safety protection module. The positioning detection module is communicatively connected to an external control unit, and the safety protection module includes an overload protection unit and a jamming alarm unit. The positioning detection module includes a workpiece posture detector, which is installed on the clamping arm 12 and is used to detect the posture deviation of the workpiece after it is clamped. When the posture deviation exceeds a preset threshold, a correction signal is sent to the external control unit. The overload protection unit is signal-connected to a pressure sensor. When the clamping force detected by the pressure sensor exceeds the maximum safety threshold, the overload protection unit is triggered, and the flipping part 1 controls the telescopic drive 121 to reverse its movement to release the workpiece. The jamming alarm unit is linked to a displacement sensor. When the displacement sensor detects that the telescopic displacement of the clamping arm 12 has not changed but the telescopic drive 121 continues to work, the jamming alarm unit issues an alarm signal and triggers the equipment to stop.

[0083] In this embodiment, the clamping assembly uses two symmetrically arranged clamping arm structures as the core execution components. It achieves stable positioning of the workpiece to be clamped through symmetrical clamping. At the same time, a positioning detection module and a safety protection module are added to form a closed-loop control with the external control unit. This takes into account clamping stability, posture accuracy and operation safety, and is suitable for efficient clamping and transfer of various workpieces, avoiding workpiece damage, falling off or equipment failure during the clamping process.

[0084] The two clamping arms are arranged symmetrically, with their center of symmetry aligned with the central axis of the workpiece to be clamped. This ensures that the clamping arms 12 of both arms can simultaneously move closer to or further away from the workpiece, achieving symmetrical clamping from both sides. This balances the force on the workpiece and prevents posture shifts or workpiece damage caused by unilateral clamping. The pusher 3 and base 31 of the two clamping arms can be integrated and fixed to form a unified installation foundation, improving the overall structural stability of the assembly. Simultaneously, both clamping arms are communicatively connected to an external control unit, enabling synchronized and coordinated clamping, lifting, flipping, and horizontal transfer actions, adapting to the clamping requirements of workpieces of different sizes and postures.

[0085] The clamping arms 12 of the two clamping arm structure are arranged opposite each other, and the anti-slip clamping pads 124 at the clamping ends face each other to ensure that they can simultaneously fit against both sides of the workpiece during clamping, thereby improving clamping stability. The actions of the flipping part 1 and the lifting part 2 are synchronized and linked, which can drive the two clamping arms 12 to flip and lift synchronously, thereby achieving synchronous adjustment of the workpiece posture. The pushing part 3 can drive the two clamping arm structures to move horizontally synchronously, ensuring that the workpiece maintains a stable posture during the transfer process and avoiding deviation or shaking.

[0086] The positioning and detection module is communicatively connected to an external control unit. Its core component is a workpiece attitude detector, which is used to detect the attitude deviation of the workpiece after it is clamped in real time, so as to achieve accurate attitude correction and ensure the accuracy of clamping and transfer operations. The workpiece attitude detector is fixedly installed on the clamping arm 12, with the installation position close to the clamping end and avoiding the anti-slip clamping pad 124 and the elastic buffer layer 123. It does not interfere with the clamping action of the clamping arm 12, and at the same time, it can accurately capture the attitude changes of the workpiece and avoid detection blind spots.

[0087] The workpiece posture detector is rigidly connected to the clamping arm 12 with an anti-loosening structure to prevent the detector from shifting due to the movement of the clamping arm 12 or equipment vibration, thus ensuring detection accuracy. Its detection direction is towards the workpiece to be clamped, enabling it to comprehensively capture the workpiece's posture offset in both the horizontal and vertical directions. The offset data is converted into correction signals and transmitted to the external control unit in real time.

[0088] The attitude correction logic is as follows: After the two clamping arms complete workpiece clamping, the workpiece attitude detector starts and continuously monitors the workpiece attitude, providing real-time feedback on the offset. The external control unit receives the offset data and compares it with a preset threshold. If the offset does not exceed the preset threshold, the workpiece maintains its current attitude for subsequent transfer operations. If the offset exceeds the preset threshold, the workpiece attitude detector immediately sends a correction signal to the external control unit. The external control unit quickly analyzes the offset direction and degree and outputs a corresponding correction command. The correction command can trigger the operation of the flipping part 1, lifting part 2, or pushing part 3 of the two clamping arms to adjust the position and attitude of the clamping arms 12 until the workpiece attitude offset drops below the preset threshold, completing the attitude correction and ensuring the accuracy of subsequent workpiece transfer and processing.

[0089] The safety protection module integrates an overload protection unit and a jamming alarm unit, which are linked with pressure sensors and displacement sensors respectively. Together with the external control unit, it achieves dual safety protection for clamping operations, avoiding workpiece damage or equipment failure caused by clamping overload and component jamming, and improving the safety and reliability of component operations.

[0090] The overload protection unit is connected to the pressure sensor signal and can receive the clamping force signal transmitted by the pressure sensor in real time to achieve overload protection of the clamping force, avoiding damage to the workpiece or the structure of the clamping arm 12 due to excessive clamping. The pressure sensor is embedded in the elastic buffer layer 123 of the clamping arm 12, which detects the squeezing force during clamping in real time and transmits it to the overload protection unit, while simultaneously feeding it back to the external control unit, forming a dual monitoring system.

[0091] When the clamping arm 12 clamps the workpiece, the pressure sensor continuously detects the clamping force, and the overload protection unit simultaneously monitors the force data. If the detected clamping force exceeds the preset maximum safety threshold, it indicates that there is a risk of clamping overload. The overload protection unit immediately triggers the protection mechanism and simultaneously sends an overload signal to the external control unit. After receiving the signal, the external control unit quickly outputs a control command to control the telescopic drive 121 of the flipping part 1 to move in the opposite direction, causing the clamping rod 122 to move away from the workpiece, thereby releasing the workpiece and avoiding damage to the workpiece and components caused by continuous overload. After the overload risk is eliminated, the overload protection unit can be reset through the external control unit to restart the clamping operation.

[0092] The jamming alarm unit is linked with the displacement sensor to monitor the extension and retraction status of the clamping arm 12, preventing equipment failure or component damage caused by jamming of the clamping arm 12 during the operation of the extension and retraction drive 121. The displacement sensor is installed at the end of the clamping rod 122 to detect the extension and retraction displacement of the clamping rod 122 in real time, and transmits the displacement signal synchronously to the jamming alarm unit and the external control unit to realize real-time monitoring of the jamming state.

[0093] The jamming protection logic is as follows: When the telescopic drive component 121 starts and drives the clamping rod 122 to extend and retract, the displacement sensor continuously detects the amount of extension and retraction displacement and feeds back the displacement change signal to the jamming alarm unit. If the clamping rod 122 extends and retracts smoothly and the displacement continues to change, the jamming alarm unit remains in standby mode. If the clamping arm 12 jams, the displacement sensor detects no change in the extension and retraction displacement of the clamping rod 122, but the telescopic drive component 121 continues to output power and maintain its working state, indicating a jamming fault. The jamming alarm unit immediately triggers the alarm mechanism, issues a clear alarm signal, and simultaneously sends a jamming signal to the external control unit. After receiving the signal, the external control unit quickly outputs a stop command, triggering the overall shutdown of the equipment to prevent the telescopic drive component 121 from continuing to work and causing wear and damage to the components. At the same time, it reminds the staff to check for jamming hazards. After the hazard is checked, the jamming alarm unit can be reset through the external control unit to restart the equipment operation.

[0094] The entire clamping assembly enhances stability through a symmetrical clamping layout, ensures posture accuracy through a positioning detection module, and mitigates operational risks through a safety protection module. All components work in conjunction with the external control unit to form a closed-loop control system, balancing operational efficiency, clamping accuracy, and operational safety. It is widely adaptable to workpiece clamping and transfer operations under various working conditions.

[0095] In one feasible embodiment, a PLC controller is also included. An external control unit is installed on the PLC controller. The PLC controller is communicatively connected to the flipping drive 11, the pushing drive 33, the telescopic drive 121, the pressure sensor, the displacement sensor, and the angle encoder, respectively, for controlling the timing linkage of clamping, lifting, pushing, and flipping actions.

[0096] In this embodiment, a PLC controller is added to the clamping assembly as the core control terminal of the entire assembly. The external control unit is integrated and installed on the PLC controller, realizing the integrated control function, simplifying the structural layout, and improving the control response efficiency. The PLC controller establishes a stable connection with each power component and detection component through a wired communication link, and coordinates and regulates the timing of all actions of the clamping arm structure and clamping assembly to achieve precise coordination of clamping, lifting, pushing, and flipping actions. At the same time, it integrates detection signals and protection signals to ensure the automation, precision, and safety of the operation.

[0097] The PLC controller adopts a modular assembly structure, which can be fixedly installed on the base 31 of the clamping assembly or on a dedicated mounting bracket. The installation position avoids the movement trajectory of each component, preventing interference with the pushing part 3, lifting part 2, and tilting part 1, while also facilitating wiring, inspection, and maintenance. The external control unit, as the core functional module of the PLC controller, is integrated inside the PLC controller, requiring no additional installation space. This simplifies the overall wiring and structural layout of the clamping assembly, reduces interference during signal transmission, and improves control stability.

[0098] The PLC controller is rigidly fixed during installation, featuring anti-vibration and anti-loosening structures to prevent vibrations during equipment operation from causing the PLC controller to shift or loosen, thus ensuring stable operation of the control terminal. It is equipped with a protective casing that provides dustproof, moisture-proof, and impact-proof protection, safeguarding internal electronic components, extending the PLC controller's lifespan, and adapting to complex industrial operating conditions.

[0099] The PLC controller establishes bidirectional communication connections with the tilting drive 11 (rotary motor), the push drive 33, the telescopic drive 121, the pressure sensor, the displacement sensor, and the angle encoder, respectively, to achieve precise issuance of control commands and real-time feedback of detection signals, forming a complete closed-loop control link. The communication interfaces of each power component, detection component, and PLC controller are compatible, and the wiring is neat and orderly, ensuring smooth signal transmission without significant delay or loss, providing reliable support for timing-based linkage control.

[0100] The signal interaction logic is divided into two categories: First, instruction issuance. The PLC controller outputs corresponding control instructions to each power component according to the preset program or detection signal, controlling the start, stop, forward and reverse rotation and action speed of the rotary motor, push drive 33 and telescopic drive 121, so as to achieve precise control of flipping, pushing, lifting and clamping actions; Second, signal feedback. Each detection component (pressure sensor, displacement sensor, angle encoder and workpiece posture detector) transmits the pressure signal, displacement signal, rotation angle signal and posture offset signal detected in real time to the PLC controller, providing data support for the PLC controller to adjust the control instructions.

[0101] The rotation angle signal from the angle encoder helps the PLC controller precisely control the flipping angle of the clamping arm 12, ensuring that the flipping posture meets the preset requirements. The feedback signals from the pressure sensor and displacement sensor take into account both clamping force and extension stroke monitoring, providing data for overload protection, jamming alarm and clamping accuracy adjustment. The feedback signal from the workpiece posture detector supports the PLC controller to complete workpiece posture correction, ensuring operational accuracy and safety in all aspects.

[0102] The core function of the PLC controller is to realize the timing linkage of various actions of the clamping components, coordinate the actions of flipping, lifting, pushing, clamping, posture correction and safety protection, and ensure that the entire operation process is smooth, accurate and safe, and adapt to the needs of automated clamping operations.

[0103] The timing linkage control process is as follows: First, the PLC controller sends a push command to control the push drive component 33 of the two clamping arm structure to move synchronously, driving the lifting part 2, the flipping part 1 and the clamping arm 12 to move horizontally along the guide rail 32 until the clamping arm 12 reaches the preset positions on both sides of the workpiece to be clamped; then, the PLC controller sends a lifting command to control the lifting drive component 23 to move, adjusting the vertical height of the clamping arm 12 so that the clamping arm 12 is aligned with the workpiece clamping position; if the workpiece posture needs to be adjusted, the PLC controller sends a flipping command to control the rotary motor to start, and after the reduction gearbox reduces the speed and increases the torque, it drives the rotary shaft to rotate, and the clamping arm 12 is flipped synchronously to the preset angle. The angle encoder provides real-time feedback of the rotation angle to ensure that the flipping is in place.

[0104] After the above actions are completed, the PLC controller issues a clamping command to control the telescopic drive component 121 to move, causing the clamping arms 12 of the two clamping arm structures to synchronously approach the workpiece and complete symmetrical clamping. During the clamping process, the pressure sensor provides real-time feedback on the clamping force, and the displacement sensor provides feedback on the telescopic stroke. The PLC controller monitors these parameters synchronously. When both the force and stroke reach preset values, the telescopic drive component 121 is stopped. At the same time, the workpiece posture detector is activated to detect the workpiece posture offset. If the offset exceeds the standard, the PLC controller issues a correction command to adjust the relevant components in conjunction to complete the posture correction.

[0105] During operation, the PLC controller continuously monitors various detection signals. If the pressure sensor detects an overload, it immediately activates the overload protection unit, controlling the telescopic drive component 121 to reverse and release the workpiece. If the displacement sensor detects jamming, it activates the jamming alarm unit to issue an alarm and trigger the equipment to stop. After the workpiece is transferred to the preset station, the PLC controller issues a release command, controlling the telescopic drive component 121 to reverse and release the workpiece. Subsequently, it coordinates and controls all components to reset, completing a full automated clamping operation.

[0106] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. A clamping arm structure, characterized in that, include: The flipping part includes a flipping drive and a clamping arm driven by the flipping drive to move in a horizontal direction. The lifting part includes a sliding bracket along the vertical direction, on which a support plate is slidably mounted. The support plate has a through hole along its thickness direction. The flipping part is fixedly mounted on one side of the support plate, and the clamping arm passes through and extends out of the through hole. The pushing part includes a base, and a guide rail is provided on the base along the horizontal direction. The lifting part is slidably mounted on the guide rail. A push drive component is also installed on the side of the base away from the lifting part. The push drive component is connected to the lifting part to push the lifting part to reciprocate along the guide rail in the horizontal direction.

2. The clamping arm structure as described in claim 1, characterized in that, The clamping arm includes a telescopic drive component, a clamping rod, an elastic buffer layer, and an anti-slip clamping pad. The telescopic drive component is pulsatorically connected to the flipping drive component and fixedly connected to one end of the clamping rod. The elastic buffer layer is fixedly installed on the other end of the clamping rod and faces the inside of the workpiece to be clamped. The anti-slip clamping pad is fitted onto the surface of the elastic buffer layer. Under the drive of the telescopic drive component, the clamping rod moves closer to or away from the workpiece to be clamped along the horizontal direction.

3. The clamping arm structure as described in claim 2, characterized in that, The flipping section also includes a pressure sensor embedded inside the elastic buffer layer, which is used to detect the squeezing force on the elastic buffer layer when the clamping arm comes into contact with the workpiece to be clamped, so as to generate a pressure signal.

4. The clamping arm structure as described in claim 3, characterized in that, It also includes a displacement sensor, which is installed at the end of the clamping rod to detect the amount of extension and retraction of the clamping rod to generate a displacement signal.

5. The clamping arm structure as described in claim 4, characterized in that, The clamping arm structure also includes an external control unit for receiving signals transmitted by the pressure sensor and the displacement sensor, so as to control the operation of the flipping drive, the telescopic drive and the pushing drive.

6. The clamping arm structure as described in claim 1, characterized in that, The flipping part also includes a rotating shaft, a reduction gearbox, and an angle encoder. The flipping drive is a rotary motor. The rotary motor is connected to the rotating shaft via the reduction gearbox. The clamping arm is fixed perpendicularly to the rotating shaft. The angle encoder is installed at the end of the rotating shaft to provide feedback on the rotation angle of the rotating shaft. The rotating shaft can drive the clamping arm to rotate synchronously.

7. The clamping arm structure as described in claim 1, characterized in that, The lifting part also includes a lifting drive component, which is vertically installed at the bottom of the sliding bracket. Its output end is fixedly connected to the support plate. The lifting drive component can drive the support plate to rise and fall in the vertical direction, thereby driving the flipping part to rise and fall synchronously.

8. The clamping arm structure as described in claim 1, characterized in that, The push drive component is a linear drive element. The guide slide rail is arranged parallel to the power output direction of the push drive component. When the push drive component drives the lifting part to move, it can drive the flipping part and the clamping arm to move along the horizontal direction.

9. A clamping assembly comprising two symmetrically arranged clamping arm structures as described in any one of claims 1-8, characterized in that, It also includes a positioning detection module and a safety protection module. The positioning detection module is communicatively connected to the external control unit, and the safety protection module includes an overload protection unit and a jamming alarm unit. The positioning detection module includes a workpiece posture detector, which is installed on the clamping arm and is used to detect the posture offset of the workpiece after it is clamped. When the posture offset exceeds a preset threshold, a correction signal is sent to the external control unit. The overload protection unit is connected to the pressure sensor signal. When the clamping force detected by the pressure sensor exceeds the maximum safety threshold, the overload protection unit is triggered, and the flipping part controls the telescopic drive to reverse its movement to release the workpiece. The jamming alarm unit is linked to the displacement sensor. When the displacement sensor detects that the extension and retraction displacement of the clamping arm has not changed but the extension and retraction drive continues to work, the jamming alarm unit sends an alarm signal and triggers the equipment to stop.

10. The clamping assembly as claimed in claim 9, characterized in that, It also includes a PLC controller, on which the external control unit is installed. The PLC controller is communicatively connected to the flipping drive, the pushing drive, the telescopic drive, the pressure sensor, the displacement sensor, and the angle encoder, and is used to control the timing linkage of clamping, lifting, pushing, and flipping actions.

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