An automatic fixture device for bench work

Abstract

The application provides a vise automatic clamping device, and relates to the technical field of clamps. The vise automatic clamping device comprises a control system, a main clamp and at least one pair of clamps. The clamping area of the main clamp is different from the clamping area of the pair of clamps. The main clamp comprises two oppositely arranged main clamp assemblies, a first driving assembly and a signal acquisition assembly. The signal acquisition assembly is arranged on the main clamp assembly. The signal acquisition assembly comprises a pressure sensor. The pressure sensor is used for acquiring pressure data of the main clamp assembly when the main clamp assembly clamps a target workpiece in real time. The control system dynamically adjusts the driving range of the first driving assembly according to the pressure data and a pressure threshold corresponding to the target workpiece, so as to adjust the pressure data to be within the range of the pressure threshold. Through the arrangement, automatic positioning, self-adaptive clamping, multi-degree-of-freedom posture adjustment and composite clamping of multiple workpieces / complex special-shaped workpieces of the workpiece are realized, and the production requirements of modern manufacturing industry on high-precision, high-efficiency, flexible and intelligent bench work clamping are met.

Description

Technical Field

[0001] This invention relates to the field of clamping technology, and in particular to an automated clamping device for fitters. Background Technology

[0002] In modern manufacturing, especially in the machining field, bench work, as a fundamental and crucial process, is widely used in the assembly, positioning, finishing, and pre-processing of parts before precision machining. With the rapid development of industrial automation and intelligent manufacturing technologies, traditional bench clamping methods, primarily based on manual operation, have gradually revealed numerous limitations, failing to meet the demands of current high-precision, high-efficiency, and flexible production. Traditional bench clamping relies mainly on operators' experience to manually position and clamp workpieces, resulting in high labor intensity, low clamping efficiency, and significant susceptibility to human factors, leading to poor clamping consistency, low positioning accuracy, and insufficient repeatability. Particularly in batch production or complex, irregularly shaped workpiece processing scenarios, manual clamping struggles to guarantee the accuracy and stability of each operation, severely impacting subsequent processing quality and production efficiency. Furthermore, in scenarios involving collaborative operation with robots or automated processing equipment, traditional clamping methods cannot achieve seamless integration with automated systems, hindering the overall effectiveness of intelligent manufacturing and flexible production lines.

[0003] In recent years, with the widespread application of industrial robots in the manufacturing field, the automation and intelligentization of the fitter clamping process has become an important direction for the industry's technological development. Although some automated fixtures or mechanical clamping devices have emerged in the existing technology, there are still significant technical limitations: On the one hand, these devices generally adopt a fixed clamping structure, which can only adapt to workpieces of a single specification or specific shape, and lack the ability to adaptively adjust for workpieces of multiple types and sizes, making it difficult to meet the needs of multi-variety, small-batch, and flexible production in modern manufacturing; on the other hand, most existing fixtures lack effective force feedback and position adaptive control mechanisms, and cannot dynamically adjust the clamping force and clamping position according to the actual state of the workpiece, which can easily lead to excessive clamping that damages the workpiece surface or unstable clamping that affects machining accuracy. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide an automated clamping device for fitters to solve at least one of the technical problems in the background art.

[0005] One aspect of the present invention is to provide an automated clamping device for fitters, including a control system, a main clamp and at least one auxiliary clamp, wherein the auxiliary clamp is disposed on the side of the main clamp, and the clamping areas of the main clamp and the auxiliary clamp are different, so that the main clamp and / or the auxiliary clamp can clamp the target workpiece at multiple points in different areas. The main clamp includes two opposing main clamping components, a first driving component, and a signal acquisition component. Each main clamping component is connected to a corresponding first driving component so that the two main clamping components are synchronously driven to move closer to each other or separate from each other through the two first driving components. The signal acquisition component is mounted on the main clamping component. The signal acquisition component includes a pressure sensor. The pressure sensor is used to acquire pressure data of the main clamping component when clamping the target workpiece in real time. The control system dynamically adjusts the driving range of the first driving component according to the pressure data and the pressure threshold corresponding to the target workpiece, so as to adjust the pressure data to within the range of the pressure threshold.

[0006] Furthermore, the signal acquisition component also includes a displacement sensor, which is used to acquire the movement data of the main clamping component in real time. The control system combines the pressure data and the movement data to dynamically adjust the driving range of the first driving component so as to adjust the pressure data to the optimal pressure range.

[0007] Furthermore, the main clamping assembly includes a clamping base plate and a main clamping seat; The clamp base plate is connected to the first drive assembly, and the pressure sensor and the displacement sensor are both located on the main clamp.

[0008] Furthermore, the clamping device includes a secondary clamp located on one side of the main clamp.

[0009] Furthermore, the clamping device includes two sets of clamps, which are located on opposite sides of the main clamp.

[0010] Furthermore, the auxiliary clamp includes a side bracket disposed on one side of the main clamp, a second drive assembly, a multi-link transmission assembly, and two clamping seats disposed on the side bracket; The two auxiliary clamps are connected to the second drive assembly via the multi-link transmission assembly. The second drive assembly is used to drive the multi-link transmission assembly to expand outward or contract inward, so that the two auxiliary clamps move away from each other or move closer to each other.

[0011] Furthermore, the sub-clamp also includes a lifting adjuster, a horizontal adjuster connected to the lifting adjuster, and a support frame connected to the horizontal adjuster; The second drive assembly, the multi-link transmission assembly, and the sub-clamp are all mounted on the support frame, so as to synchronously drive the support frame to move vertically and / or horizontally through the lifting adjuster and the horizontal adjuster, so that the sub-clamp moves to the clamping range of the target workpiece.

[0012] Furthermore, the second drive component includes a rotary driver and a disk connected to the output end of the rotary driver, the rotary driver being used to drive the disk to rotate eccentrically; The multi-link transmission assembly includes a rotating rod, a first rocker arm, a connecting rod, a second rocker arm, a first clamping arm, and a second clamping arm; The first clamping arm and the second clamping arm are respectively hinged to opposite sides of the support frame. The middle part of the first clamping arm is connected to the disk through the first swing rod and the rotating rod, and the middle part of the second clamping arm is connected to the disk through the second swing rod and the connecting rod.

[0013] Furthermore, the sub-clamp also includes a self-locking slide and a vertical actuator; The two auxiliary clamps are respectively movably connected to the first clamp arm and the second clamp arm via the corresponding vertical driver and the corresponding self-locking slide.

[0014] Furthermore, the first clamping arm and the second clamping arm are provided with adjustment openings for the self-locking slide to slide.

[0015] Compared with the prior art, the advantages of using the automated clamping device for fitters shown in this invention are as follows: 1. In the automated clamping device for fitters provided by the present invention, an automated clamping scheme for fitters with multi-mode clamping capability and intelligent sensing control is constructed by the coordinated configuration of the main clamp and the auxiliary clamp and the combination of the integrated control system. It can realize the automatic positioning of workpieces, adaptive clamping, multi-degree-of-freedom posture adjustment and composite clamping of multiple workpieces / complex irregular workpieces, and meet the production needs of modern manufacturing industry for high-precision, high-efficiency, flexible and intelligent fitter clamping.

[0016] 2. By integrating a pressure sensor and a displacement sensor into the main clamp, and combining it with two main clamping components driven by the first drive component, precise control of clamping force and position is achieved, giving the clamping system adaptive adjustment capability, effectively avoiding damage from excessive clamping or detachment from excessively loose clamping, and improving the safety, stability and repeatability of the clamping process.

[0017] 3. Through the multi-link transmission assembly and the adjustable movable clamping base, combined with the precise drive of the second drive assembly, lifting adjuster, horizontal adjuster and vertical drive, adaptive clamping and fine adjustment of local areas, complex irregular surfaces or specific feature parts of the workpiece are realized. This expands the compatibility of the clamping system with diverse workpiece shapes, and in particular enhances the clamping stability and fit of key local areas of irregular workpieces.

[0018] 4. By coordinating the collaborative actions of the main fixture and the auxiliary fixture through the control system, and based on real-time sensor data feedback and preset clamping strategies, the system achieves fully automated and intelligent control of the clamping process and multi-device linkage, which enhances the seamless integration capability of the clamping system with robots or automated production lines and meets the flexible production needs of multi-variety, small-batch, and high-precision workpieces under complex working conditions. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the automated clamping device for fitters in the first embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the automated clamping device for fitters in the second embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the auxiliary clamp in one embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the automated clamping device for fitters in the third embodiment of the present invention; Figure 5 This is a schematic diagram of the overall structure of the automated clamping device for fitters according to the fourth embodiment of the present invention. Attached image description: 1. Main clamp; 101. First drive component; 102. Upper bracket; 103. Power belt; 104. Transmission pulley; 105. Clamp base plate; 106. Main clamp seat; 2. Sub-clamp; 201. Side support; 202. Lifting adjuster; 203. Horizontal adjuster; 204. Bearing frame; 205. Rotary actuator; 206. Disc; 207. Rotating rod; 208. First swing arm; 209. Connecting rod; 210. Second swing arm; 211. First clamping arm; 212. Second clamping arm; 213. Self-locking slide column; 214. Vertical actuator; 215. Sub-clamp seat.

[0021] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0022] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0023] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] Example Please see Figure 1 and Figure 5 As shown, the automatic clamping device for fitters in an embodiment of the present invention includes a control system, a main clamp 1 and at least one set of clamps 2. The set of clamps 2 is located on the side of the main clamp 1. The clamping areas of the main clamp 1 and the set of clamps 2 are different, so that the main clamp 1 and / or the set of clamps 2 can clamp the target workpiece at multiple points in different areas. The main clamp 1 includes two opposing main clamping assemblies, a first driving assembly, and a signal acquisition assembly. Each main clamping assembly is connected to a corresponding first driving assembly so that the two main clamping assemblies can be synchronously driven to move closer to each other or separate from each other through the two first driving assemblies. The signal acquisition component is located on the main clamping component. The signal acquisition component includes a pressure sensor. The pressure sensor is used to acquire the pressure data of the main clamping component when clamping the target workpiece in real time. The control system dynamically adjusts the driving range of the first driving component according to the pressure data and the pressure threshold corresponding to the target workpiece, so as to adjust the pressure data to within the range of the pressure threshold.

[0026] In some preferred embodiments, the signal acquisition component further includes a displacement sensor, which is used to acquire the movement data of the main clamping component in real time. The control system combines the pressure data and the movement data to dynamically adjust the driving range of the first driving component so as to adjust the pressure data to the optimal pressure range.

[0027] In some preferred embodiments, the main clamping assembly includes a clamping base plate 105 and a main clamping seat 106; The fixture base plate 105 is connected to the first drive assembly, and the pressure sensor and displacement sensor are both located on the main clamp 106.

[0028] In some preferred embodiments, the clamping device includes a secondary clamp 2, which is located on one side of the main clamp 1.

[0029] In some preferred embodiments, the clamping device includes two clamps 2, which are located on opposite sides of the main clamp 1.

[0030] In some preferred embodiments, the auxiliary clamp 2 includes a side bracket 201 disposed on one side of the main clamp 1, a second drive assembly, a multi-link transmission assembly and two auxiliary clamp seats 215 disposed on the side bracket 201; The two clamps 215 are connected to the second drive assembly via a multi-link transmission assembly. The second drive assembly is used to drive the multi-link transmission assembly to expand outward or contract inward, so that the two clamps 215 move away from each other or move closer to each other.

[0031] In some preferred embodiments, the sub-clamp 2 further includes a lifting adjuster 202, a horizontal adjuster 203 connected to the lifting adjuster 202, and a support frame 204 connected to the horizontal adjuster 203. The second drive assembly, the multi-link transmission assembly, and the auxiliary clamp 215 are all mounted on the support frame 204, so as to drive the support frame 204 to move vertically and / or horizontally through the lifting adjuster 202 and the horizontal adjuster 203, so that the auxiliary clamp 215 moves into the clamping range of the target workpiece.

[0032] In some preferred embodiments, the second drive assembly includes a rotary driver 205 and a disk 206 connected to the output end of the rotary driver 205, wherein the rotary driver 205 is used to drive the disk 206 to rotate eccentrically. The multi-link transmission assembly includes a rotating rod 207, a first swing rod 208, a connecting rod 209, a second swing rod 210, a first clamping arm 211, and a second clamping arm 212; The first clamping arm 211 and the second clamping arm 212 are respectively hinged to the opposite sides of the support frame 204. The middle part of the first clamping arm 211 is connected to the disk 206 through the first swing rod 208 and the rotating rod 207. The middle part of the second clamping arm 212 is connected to the disk 206 through the second swing rod 210 and the connecting rod 209.

[0033] It should be noted that the connecting rod 209 adopts a V-shaped design.

[0034] In some preferred embodiments, the sub-clamp 2 further includes a self-locking slide 213 and a vertical actuator 214; The two clamping seats 215 are movably connected to the first clamping arm 211 and the second clamping arm 212 respectively through the corresponding vertical actuator 214 and the corresponding self-locking slide 213.

[0035] In some preferred embodiments, the first clamping arm 211 and the second clamping arm 212 are provided with adjustment openings for the self-locking slide 213 to slide.

[0036] It should be noted that, in this embodiment, the pressure sensor and displacement sensor in the signal acquisition component are not marked in the accompanying drawings.

[0037] In summary, the automated clamping device for fitters provided in this embodiment has at least the following advantages compared with the automated clamping methods in the prior art: 1. This invention constructs an automated clamping solution for fitters with multi-mode clamping capabilities and intelligent sensing control through the coordinated configuration of the main clamp 1 and the auxiliary clamp 2 and the combination of an integrated control system. It can realize automatic positioning of workpieces, adaptive clamping, multi-degree-of-freedom posture adjustment, and composite clamping of multiple workpieces / complex irregular workpieces, meeting the production needs of modern manufacturing industry for high-precision, high-efficiency, flexible, and intelligent fitter clamping.

[0038] 2. By integrating a pressure sensor and a displacement sensor into the main clamp 1, and combining it with two main clamping components driven by the first drive component, precise control of clamping force and position is achieved, giving the clamping system adaptive adjustment capability, effectively avoiding damage to the workpiece due to excessive clamping or detachment due to excessive looseness, and improving the safety, stability and repeatability of the clamping process.

[0039] 3. Through the multi-link transmission assembly and the adjustable movable clamping seat 215, combined with the precise drive of the second drive assembly, lifting adjuster 202, horizontal adjuster 203 and vertical drive 214, adaptive clamping and fine adjustment of local areas, complex irregular surfaces or specific feature parts of the workpiece are realized. This expands the compatibility of the clamping system with diverse workpiece shapes and particularly enhances the clamping stability and fit of key local areas of irregular workpieces.

[0040] 4. By coordinating the collaborative actions of the main clamp 1 and the auxiliary clamp 2 through the control system, and based on real-time sensor data feedback and preset clamping strategies, the system realizes fully automated and intelligent control of the clamping process and multi-device linkage, which improves the seamless integration capability of the clamping system with robots or automated production lines and meets the flexible production needs of multi-variety, small-batch, and high-precision workpieces under complex working conditions.

[0041] First Embodiment Please see Figure 1 As shown, in the first embodiment of the present invention, the automated clamping device for fitters includes a control system and a main clamp 1. Specifically, the main clamp 1 includes two opposing main clamping components, a first driving component, and a signal acquisition component. Each main clamping component is connected to a corresponding first driving component so that the two main clamping components can be synchronously driven to move closer to each other or separate from each other through the two first driving components. The signal acquisition component is located on the main clamping component. The signal acquisition component includes a pressure sensor and a displacement sensor. The pressure sensor is used to acquire the pressure data of the main clamping component when clamping the target workpiece in real time. The control system dynamically adjusts the driving range of the first driving component according to the pressure data and the pressure threshold corresponding to the target workpiece, so as to adjust the pressure data to within the range of the pressure threshold.

[0042] The displacement sensor is used to acquire the movement data of the main clamping assembly in real time. In some preferred embodiments, the control system can also dynamically adjust the driving range of the first driving assembly by combining the pressure data and the movement data, so as to adjust the pressure data to the optimal pressure range.

[0043] In this embodiment, the main clamping assembly includes a clamping base plate 105 and a main clamping seat 106. The clamping base plate 105 is connected to the first driving assembly for transmission, and the pressure sensor and the displacement sensor are both disposed on the main clamping seat 106.

[0044] The first drive assembly may specifically include a first drive member 101, an upper bracket 102, a drive pulley, a transmission pulley 104, and a power belt 103. The two ends of the inner side of the upper bracket 102 are respectively connected to the drive pulley and the transmission pulley 104 via shafts. One side of the shaft end of the drive pulley is connected to the first drive member 101. The drive pulley and the transmission pulley 104 are linked together by the power belt 103. The clamp base plate 105 is specifically set on the upper side of the upper bracket 102. The bottom of the clamp base plate 105 is connected to the power belt 103. A main clamp seat 106 is set on the top of the clamp base plate 105. A pressure sensor and a displacement sensor are set on the main clamp seat 106. The drive of the first drive member 101 drives the power belt 103 to rotate, causing the main clamp seat 106 on it to move closer to or further away from the belt. The pressure sensor can sense the contact force between the main clamp 106 and the workpiece in real time during the clamping process, thereby accurately controlling the clamping force and avoiding damage, deformation or stress concentration on the workpiece surface due to excessive clamping. At the same time, it can prevent unstable clamping, workpiece displacement or falling off during processing due to excessively loose clamping. The displacement sensor can monitor the moving distance and position status of the main clamp 106 under the drive of the power belt 103 in real time, ensuring that the relative displacement between the two main clamps 106 is accurate and controllable, realizing adaptive clamping and positioning for workpieces of different sizes and shapes, and improving the position repeatability and consistency of the clamping process.

[0045] In some preferred embodiments, the main clamp 106 is a flexible floating clamp.

[0046] In some other preferred embodiments, the control system acquires the detection data of the pressure sensor and displacement sensor on the main clamping seat 106 in real time through the signal acquisition module, and sends control commands to the first driving component 101 through the drive signal output module based on the preset clamping strategy. The communication interface is used to realize data interaction and command transmission with the external robot control system or host computer, thereby realizing the automated and intelligent control of the clamping fixture and the collaborative operation of multiple devices.

[0047] Working principle: By integrating the main clamp 1 with the control system, an automated clamping solution for fitters with automatic sensing, precise control and intelligent collaboration capabilities is constructed. During operation, driven by the first driving component 101, the clamp base plate 105 and the main clamping seat 106 mounted on it move towards or away from each other through the linkage of the driving pulley, transmission pulley 104 and power belt 103, thereby achieving main positioning and adaptive clamping of the workpiece. The pressure sensor integrated on the main clamping seat 106 senses the contact force between the clamp and the workpiece in real time, ensuring that the clamping force is accurate and controllable, avoiding damage to the workpiece due to excessive tightness or instability due to excessive looseness. The displacement sensor simultaneously monitors the moving distance and position status of the main clamping seat 106, ensuring high-precision repeatability and consistency of the clamping position for workpieces of different sizes and shapes. The main controller in the control system acquires force and position data in real time through the sensor signal acquisition module, sends precise control commands to the first driving component 101 through the drive signal output module based on the preset clamping strategy, and realizes data interaction and collaborative command transmission with the external robot control system or host computer through the communication interface, thereby achieving seamless connection and intelligent decision-making between the clamping process and the robot or automated production line.

[0048] Second Embodiment Please see Figure 2 and Figure 3 As shown, this is an automated clamping device for fitters according to the second embodiment of the present invention. The automated clamping device for fitters in the second embodiment is basically the same as that in the first embodiment. The difference is that the automated clamping device for fitters in this example includes a control system, a main clamp 1 and a secondary clamp 2. The secondary clamp 2 is located on the side of the main clamp 1. The clamping areas of the main clamp 1 and the secondary clamp 2 are different, so that the main clamp 1 and / or the secondary clamp 2 can clamp the target workpiece at multiple points in different areas. Specifically, the auxiliary clamp 2 is located on one side of the main clamp 1.

[0049] The auxiliary clamp 2 includes a side bracket 201 located on one side of the main clamp 1, a second drive assembly, a multi-link transmission assembly, and two auxiliary clamps 215 located on the side bracket 201; The two clamps 215 are connected to the second drive assembly via a multi-link transmission assembly. The second drive assembly is used to drive the multi-link transmission assembly to expand outward or contract inward, so that the two clamps 215 move away from each other or move closer to each other.

[0050] The auxiliary clamp 2 also includes a lifting adjuster 202, a horizontal adjuster 203 connected to the lifting adjuster 202, and a support frame 204 connected to the horizontal adjuster 203; The second drive assembly, the multi-link transmission assembly, and the auxiliary clamp 215 are all mounted on the support frame 204, so as to drive the support frame 204 to move vertically and / or horizontally through the lifting adjuster 202 and the horizontal adjuster 203, so that the auxiliary clamp 215 moves into the clamping range of the target workpiece.

[0051] The second drive assembly includes a rotary driver 205 and a disk 206 connected to the output end of the rotary driver 205. The rotary driver 205 is used to drive the disk 206 to rotate eccentrically. The multi-link transmission assembly includes a rotating rod 207, a first swing rod 208, a connecting rod 209, a second swing rod 210, a first clamping arm 211, and a second clamping arm 212; The first clamping arm 211 and the second clamping arm 212 are respectively hinged to the opposite sides of the support frame 204. The middle part of the first clamping arm 211 is connected to the disk 206 through the first swing rod 208 and the rotating rod 207. The middle part of the second clamping arm 212 is connected to the disk 206 through the second swing rod 210 and the connecting rod 209.

[0052] Sub-clamp 2 also includes a self-locking slide 213 and a vertical actuator 214; The two clamping seats 215 are movably connected to the first clamping arm 211 and the second clamping arm 212 respectively through the corresponding vertical actuator 214 and the corresponding self-locking slide 213.

[0053] The rotary actuator 205 drives the disk 206 to rotate. The rotational motion is converted into the synchronous opening and closing action of the first clamping arm 211 and the second clamping arm 212 through a multi-link transmission assembly consisting of the rotating rod 207, the first swing rod 208, the connecting rod 209, and the second swing rod 210. The rotary actuator 205 is fixed to the lower side of the support frame 204 and its shaft end is connected to the disk 206. The eccentric side of the end face of the disk 206 is hinged to the rotating rod 207. The first swing rod 208 and the connecting rod 209 are both hinged to the free end of the rotating rod 207. The connecting rod 209 is movably connected to the bottom side of the support frame 204. The upper end of the connecting rod 209 is hinged to the second swing rod 210. The end of the second swing rod 210 is hinged to the second clamping arm 212. The end of the first swing rod 208 is hinged to the first clamping arm 211.

[0054] In one embodiment of the present invention, the first clamping arm 211 and the second clamping arm 212 are provided with adjustment openings for sliding of the self-locking slide column 213. In specific implementation, the upper end of the self-locking slide column 213 is slidably connected to the adjustment opening, and the lower end of the self-locking slide column 213 is connected to the vertical actuator 214. The shaft end of the vertical actuator 214 is connected to the sub-clamping seat 215 through a bearing. The sub-clamping module forms a structurally complete and functionally independent clamping unit with the support frame 204 and the multi-link transmission assembly. It can achieve coarse positioning and overall displacement adjustment in conjunction with the horizontal adjuster 203, and can also achieve independent control of clamping action and local fine adjustment through the rotary actuator 205 and the vertical actuator 214, respectively. Combined with the vertical actuator 214 driving the sub-clamping seat 215 to make axial fine adjustments, the sub-clamping seat 215 on each side clamping arm can be finely adjusted in local position and posture according to the actual contour and contact state of the workpiece, improving the clamping adaptability and fit of the fixture for complex irregular workpieces, irregular surfaces or local feature areas.

[0055] It should be noted that in this example, the lifting adjuster 202, the horizontal adjuster 203, and the vertical drive 214 can all be electric cylinders in the prior art, and the rotary drive 205 can be a servo motor in the prior art.

[0056] Working principle: The auxiliary clamp 2 is bolted to one side of the upper bracket 102 via the side bracket 201. Its vertically arranged lifting adjuster 202 can drive the horizontal adjuster 203 to move up and down in the vertical direction, achieving coarse positioning and alignment with the workpiece to be clamped in the height direction. Subsequently, the horizontal adjuster 203 moves, pushing the carrier frame 204 to move closer to or away from the workpiece in the horizontal direction, completing the initial adjustment of the clamping position. The rotary driver 205 drives the disc 206 to rotate eccentrically. Through the multi-link transmission assembly composed of the rotating rod 207, the first swing rod 208, the connecting rod 209, and the second swing rod 210, the rotational motion of the disc 206 is precisely converted into the synchronous opening and closing action of the first clamping arm 211 and the second clamping arm 212, forming a clamping force output on the local area of ​​the workpiece (such as edges, protrusions, or irregular parts). The adjustment openings on the first clamping arm 211 and the second clamping arm 212 The opening, combined with the self-locking sliding column 213 and the vertical actuator 214, allows the secondary clamp 215 to slide along the adjustment opening and achieve axial fine adjustment. Combined with the precise extension and retraction control of the vertical actuator 214, the secondary clamp 215 on each side clamping arm can perform dynamic position and posture fine compensation according to the actual contour, surface condition or local features of the workpiece, ensuring close contact with complex irregular workpieces, irregular surfaces or local key areas during clamping. Since this embodiment is a mode for the secondary clamp 2 to be used alone, it forms a structurally complete and functionally independent clamping unit through the support frame 204 and the multi-link transmission assembly. It can complete the precise clamping of local or specific areas of the workpiece without relying on the main clamp 1. This ensures the independence and flexibility of the clamping action, and effectively improves the system's adaptability to complex working conditions through the multi-degree-of-freedom adjustment mechanism (lifting, translation, opening and closing, local fine adjustment).

[0057] Third Embodiment Please see Figure 4 As shown, this is an automated clamping device for fitters according to the third embodiment of the present invention. The automated clamping device for fitters in the third embodiment is basically the same as that in the second embodiment, except that it is a modular clamping device for automatically clamping, positioning, and adjusting the posture of workpieces. This modular clamping device includes a main clamp 1, a secondary clamp 2, and an integrated control system. The secondary clamp 2 is mounted on one side of the upper support 102 and configured to work in conjunction with the main clamp 1 to complete the composite clamping of multiple workpieces or complex irregularly shaped workpieces. The main clamp 106 is a flexible floating chuck. The clamping surfaces of the main clamp 106 and the auxiliary clamp 215 are matched. The clamping surfaces of the main clamp 106 and the auxiliary clamp 215 are covered with a friction-enhancing and wear-resistant material layer. The shape of the clamping surfaces can be designed as V-shaped, flat or contoured curved surface according to the shape of the workpiece.

[0058] The control system acquires the detection data of the pressure sensor and displacement sensor on the main clamp 106 in real time through the signal acquisition component, and sends control commands to the first drive component 101, adjustment commands to the horizontal adjuster 203, and local fine-tuning commands to the vertical driver 214 through the drive signal output module based on the preset clamping strategy, thereby realizing the coordinated control and precise adjustment of the main clamp 1 and the auxiliary clamp 2.

[0059] Working Principle: The third embodiment demonstrates the collaborative operation of the main clamp 1 and the auxiliary clamp 2 to jointly complete the composite clamping process for multiple workpieces or complex irregular-shaped workpieces. In this mode, the auxiliary clamp 2 is mounted on one side of the upper support 102 and configured towards the main clamp 1. By adjusting the orientation of the auxiliary clamping seats 215 on the auxiliary clamp 2, the clamping surfaces of the two auxiliary clamping seats 215 face the main clamping seat 106 of the main clamp 1, forming a spatial arrangement of the main clamp 1 and the auxiliary clamp 2. During operation, the main clamp 1 achieves the main positioning and basic clamping of the workpiece through its movement. At the same time, the auxiliary clamp 2 adjusts its height and aligns with the workpiece through the lifting adjuster 202. The driving of the horizontal adjuster 203 can bring the auxiliary clamping seats 215 closer to the workpiece. The rotary driver 205 drives the first clamping arm 211 and the second clamping arm 21 through the multi-link transmission assembly. 2. The synchronous opening and closing allows the secondary clamp 215 to contact the workpiece surface. By coordinating with the clamping action of the main clamp 106, it forms multi-point synchronous clamping of different parts of two or more workpieces, or targeted clamping of irregular areas on the surface of complex and irregular workpieces. This collaborative clamping mechanism not only expands the number of workpieces that can be clamped in a single setup, but also provides global stable positioning through the main clamp 1 and achieves local precise clamping and attitude fine adjustment through the secondary clamp 2. Together, it improves the system's adaptability, stability and accuracy for parallel processing of multiple workpieces or overall clamping of complex and irregular workpieces, meeting the automated clamping needs of multi-variety, small-batch, and highly complex workpieces in modern manufacturing.

[0060] Fourth embodiment Please see Figure 5 As shown, this is the automatic clamping device for fitters in the fourth embodiment of the present invention. The automatic clamping device for fitters in the fourth embodiment is basically the same as the automatic clamping device for fitters in the first embodiment. The difference is that the automatic clamping device for fitters in this example includes two sets of clamps 2, which are located on opposite sides of the main clamp 1.

[0061] By configuring auxiliary clamps 2 on both sides of the upper support 102, the function of simultaneous clamping of large-diameter cylindrical workpieces on both sides is realized. During operation, the two auxiliary clamps 2 are respectively installed on both sides of the upper support 102 and arranged towards the workpiece, forming a symmetrical clamping layout. Based on the preset clamping strategy, the control system sends forward and backward control commands to the horizontal adjusters 203 on both sides through the drive signal output module, adjusting the auxiliary clamps 2 to move closer to or further away from the workpiece to achieve coarse positioning and alignment. At the same time, it sends fine-tuning control commands to the vertical actuators 214 on both sides to precisely control the local posture and contact pressure of the auxiliary clamp 215. The two auxiliary clamps 2 perform clamping actions in linkage. The multi-link transmission assembly on its support frame 204 drives the first clamping arm 211 and the second clamping arm 215 to perform clamping actions in linkage. The two clamping arms 212 open and close synchronously, allowing the secondary clamping seat 215 to fit against the surface of the large-diameter cylindrical workpiece. Through synchronous clamping on both sides, the clamping force is effectively dispersed, avoiding workpiece tilting or deformation caused by concentrated force on one side, thus improving the clamping stability and positioning accuracy of large-diameter cylindrical workpieces. This configuration makes full use of the spatial symmetry of the two secondary clamps 2, and achieves coordinated matching of clamping force and position through a synchronous control strategy. This not only enhances the clamping capability of large-diameter workpieces, but also expands the adaptability of the clamping system to cylindrical workpieces of different diameter ranges, meeting the technical requirements of automated and high-precision clamping of large and heavy cylindrical workpieces in the manufacturing industry.

[0062] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. An automated clamping device for fitters, characterized in that: The system includes a control system, a main fixture, and at least one auxiliary fixture, wherein the auxiliary fixture is located on the side of the main fixture, and the clamping areas of the main fixture and the auxiliary fixture are different, so that the main fixture and / or the auxiliary fixture can clamp the target workpiece at multiple points in different areas. The main clamp includes two opposing main clamping components, a first driving component, and a signal acquisition component. Each main clamping component is connected to a corresponding first driving component so that the two main clamping components are synchronously driven to move closer to each other or separate from each other through the two first driving components. The signal acquisition component is mounted on the main clamping component. The signal acquisition component includes a pressure sensor. The pressure sensor is used to acquire pressure data of the main clamping component when clamping the target workpiece in real time. The control system dynamically adjusts the driving range of the first driving component according to the pressure data and the pressure threshold corresponding to the target workpiece, so as to adjust the pressure data to within the range of the pressure threshold.

2. The automated clamping device for fitters according to claim 1, characterized in that, The signal acquisition component also includes a displacement sensor, which is used to acquire the movement data of the main clamping component in real time. The control system combines the pressure data and the movement data to dynamically adjust the driving range of the first driving component so as to adjust the pressure data to the optimal pressure range.

3. The automated clamping device for fitters according to claim 2, characterized in that, The main clamping assembly includes a clamping base plate and a main clamping seat; The clamp base plate is connected to the first drive assembly, and the pressure sensor and the displacement sensor are both located on the main clamp.

4. The automated clamping device for fitters according to claim 1, characterized in that, The clamping device includes a secondary clamp located on one side of the main clamp.

5. The automated clamping device for fitters according to claim 1, characterized in that, The clamping device includes two sets of clamps, which are located on opposite sides of the main clamp.

6. The automated clamping device for fitters according to any one of claims 4-5, characterized in that, The auxiliary clamp includes a side bracket disposed on one side of the main clamp, a second drive assembly, a multi-link transmission assembly, and two clamping seats disposed on the side bracket; The two auxiliary clamps are connected to the second drive assembly via the multi-link transmission assembly. The second drive assembly is used to drive the multi-link transmission assembly to expand outward or contract inward, so that the two auxiliary clamps move away from each other or move closer to each other.

7. The automated clamping device for fitters according to claim 6, characterized in that, The auxiliary clamp also includes a lifting adjuster, a horizontal adjuster connected to the lifting adjuster, and a support frame connected to the horizontal adjuster; The second drive assembly, the multi-link transmission assembly, and the sub-clamp are all mounted on the support frame, so as to synchronously drive the support frame to move vertically and / or horizontally through the lifting adjuster and the horizontal adjuster, so that the sub-clamp moves to the clamping range of the target workpiece.

8. The automated clamping device for fitters according to claim 7, characterized in that, The second drive assembly includes a rotary driver and a disk connected to the output end of the rotary driver, the rotary driver being used to drive the disk to rotate eccentrically; The multi-link transmission assembly includes a rotating rod, a first rocker arm, a connecting rod, a second rocker arm, a first clamping arm, and a second clamping arm; The first clamping arm and the second clamping arm are respectively hinged to opposite sides of the support frame. The middle part of the first clamping arm is connected to the disk through the first swing rod and the rotating rod, and the middle part of the second clamping arm is connected to the disk through the second swing rod and the connecting rod.

9. The automated clamping device for fitters according to claim 8, characterized in that, The secondary clamp also includes a self-locking slide and a vertical actuator; The two auxiliary clamps are respectively movably connected to the first clamp arm and the second clamp arm via the corresponding vertical driver and the corresponding self-locking slide.

10. The automated clamping device for fitters according to claim 9, characterized in that, The first clamping arm and the second clamping arm are provided with adjustment openings for the self-locking slide to slide.

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