Automatic micro-modification floating high-precision clamping device for thin-walled spherical shell

Abstract

The application discloses a kind of thin-walled spherical shell automation micro-variant floating high-precision clamping device, including feeding assembly, discharging assembly, floating connecting assembly and connecting plate;The feeding assembly and discharging assembly are oppositely arranged in the two sides of connecting plate;The feeding assembly includes feeding fixed disc and feeding rubber suction cup, and the feeding rubber suction cup is located in the center of feeding fixed disc, can drive spherical shell parts to contact positioning with feeding fixed disc when feeding;The discharging assembly includes discharging fixed disc and discharging rubber suction cup, and the discharging rubber suction cup is located in the center of discharging fixed disc, can drive spherical shell parts to contact positioning with discharging fixed disc when discharging;The feeding fixed disc and discharging fixed disc are respectively connected with connecting plate by floating connecting assembly, and floating direction is perpendicular to connecting plate.Using the clamping device in the application can effectively reduce the clamping deformation of thin-walled spherical shell parts, improve the clamping precision, realize the automatic clamping of thin-walled spherical shell product small gap.

Description

Technical Field

[0001] This invention relates to the field of thin-walled spherical shell parts processing technology, specifically to an automated micro-deformation floating high-precision clamping device for thin-walled spherical shells. Background Technology

[0002] Currently, the loading and unloading of high-precision thin-walled spherical shells mostly relies on manual clamping, which is labor-intensive, inefficient, and involves many technical details, making it easy for improper clamping operations to lead to unstable product quality. To address these issues, there is currently no automated device that can solve the problems of rigidity damage and positioning drift caused by clamping thin-walled parts.

[0003] To meet the demand for automated clamping of such high-precision thin-walled spherical shell parts, the industry typically uses vacuum negative pressure accompanying fixtures. These fixtures are based on the 3R standard. The standard 3R standard does not have a pressure supply system (vacuum negative pressure) during clamping and processing, requiring non-standard customized pressure holding devices and the design of special robotic pressure supply grippers. For different products and different sizes, multiple accompanying tooling, special fixtures and reference modules are required, resulting in huge investment costs.

[0004] Because this type of fixture utilizes the sealed cavity formed by the contact between the product surface and the fixture surface, and ultimately creates a pressure difference to clamp the parts, it has stringent sealing requirements. The spherical shell surface must fit perfectly with the fixture. Slight deformation or surface defects can lead to air leakage, a sudden drop in adsorption force, clamping interruption, and unstable automated operation. Summary of the Invention

[0005] The purpose of this invention is to address the problems of low repeatability, difficulty in clamping small gaps, and easy deformation under clamping force in the automated clamping of high-precision thin-walled spherical shell products. This invention provides an automated micro-deformation floating high-precision clamping device for thin-walled spherical shells. Using this device can effectively reduce part deformation during clamping, improve clamping accuracy, and realize automated clamping of thin-walled spherical shell products with small gaps.

[0006] This invention is achieved through the following technical solution: This invention provides an automated micro-deformation floating high-precision clamping device for thin-walled spherical shells, comprising a feeding assembly, a discharging assembly, a floating connection assembly, and a connecting plate; the feeding assembly and the discharging assembly are arranged opposite to each other on both sides of the connecting plate; the feeding assembly includes a feeding fixing plate and a feeding rubber suction cup, the feeding rubber suction cup being located at the center of the feeding fixing plate, which can drive the spherical shell parts to contact and position with the feeding fixing plate during feeding; The unloading assembly includes an unloading fixing plate and an unloading rubber suction cup. The unloading rubber suction cup is located at the center of the unloading fixing plate and can drive the spherical shell part to contact and position with the unloading fixing plate during unloading. The loading fixing plate and the unloading fixing plate are respectively connected to the connecting plate through the floating connection assembly, and the floating direction is perpendicular to the connecting plate.

[0007] As a further embodiment of the present invention, the floating connection assembly includes a connecting seat, a guide pin, an elastic element, and a push plate. One end of the connecting seat is fixedly connected to a connecting plate, the guide pin is slidably disposed at the other end of the connecting seat, the push plate is fixedly connected to the guide pin, the loading fixing plate and the unloading fixing plate are fixedly connected to the push plate, and the elastic element can drive the push plate to move away from the connecting seat.

[0008] As a further embodiment of the present invention, a lubrication seat is fixedly provided on the connecting seat, the guide pin slides through the lubrication seat, and the end of the guide pin away from the push plate has a limiting head, and the elastic element is abutted between the end face of the push plate and the lubrication seat.

[0009] As a further embodiment of the present invention, there are multiple guide pins that are evenly distributed circumferentially, and the elastic element is a cylindrical compression spring.

[0010] As a further embodiment of the present invention, a guide sleeve is fixedly provided on the connecting seat, and a hollow connecting shaft is provided inside the guide sleeve. One end of the connecting shaft is connected to the feeding rubber suction cup and the unloading rubber suction cup, and the other end is connected to the gas pipeline.

[0011] As a further embodiment of the present invention, the connecting seat has a window in the radial direction, and the window communicates with the inner cavity of the connecting seat.

[0012] As a further embodiment of the present invention, the end of the feeding fixing plate is provided with a positioning pin and a guide conical surface, the feeding rubber suction cup extends out of the feeding fixing plate, and can be adsorbed onto the inner spherical surface of the spherical shell part under negative pressure, while driving the spherical shell part to move so that its end forms contact positioning with the positioning pin and the guide conical surface.

[0013] As a further embodiment of the present invention, the inside of the feeding fixing plate is provided with a positioning spherical surface, and the feeding rubber suction cup is located inside the feeding fixing plate. Under the action of negative pressure, it can be adsorbed onto the outer spherical surface of the spherical shell part, and at the same time drive the spherical shell part to move so that its outer spherical surface forms contact and positioning with the positioning spherical surface.

[0014] As a further embodiment of the present invention, the connecting plate is provided with positive and negative pressure sensors. There are two positive and negative pressure sensors, which are used to monitor the positive and negative pressure of the feeding rubber suction cup and the unloading rubber suction cup, respectively.

[0015] As a further embodiment of the present invention, the lower end of the connecting plate is provided with a zero-point quick-change for connection with the robot, and the zero-point quick-change is connected to the lower end of the connecting plate through a first gripper transition plate and a second gripper transition plate.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. In this invention, by adopting a robot gripper structure of fixed disk + rubber suction cup, the automatic loading and unloading process of parts at different processing stages and the micro-deformation control of thin-walled spherical shell parts in mechanical clamping are realized. 2. In this invention, by designing the positioning, guiding, and floating of structures such as the fixed plate and rubber suction cup, the self-adaptive capability of the parts during the clamping process is realized, effectively avoiding the problem of insufficient positioning accuracy of the robot itself, and realizing the problem of high-precision positioning and docking of the parts with the fixed plate and rubber suction cup. 3. The robot gripper with a fixed disk + rubber suction cup structure in this invention can be used for irregular blank parts, deformed parts after heat treatment, and parts with incomplete product structures. It will not cause the product to fall due to air leakage or interrupt the automation due to the pressure not reaching the preset value, and realizes continuous and stable automated clamping of thin-walled spherical shell parts in multiple states. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a perspective view of the thin-walled spherical shell automated micro-deformation floating high-precision clamping device of the present invention; Figure 2 This is a front view of the thin-walled spherical shell automated micro-deformation floating high-precision clamping device of the present invention; Figure 3 This is a cross-sectional view of the thin-walled spherical shell automated micro-deformation floating high-precision clamping device of the present invention; Figure 4 This is a partial cross-sectional view of the guide pin in this invention; Figure 5 This is a schematic diagram of the feeding and fixing plate in this invention; Figure 6 This is a schematic diagram of the feeding and fixing plate in this invention.

[0018] The attached diagram shows the markings and corresponding component names: Zero-point quick change 1. First gripper transition plate 2. Second gripper transition plate 3. Connecting plate 4. Positive and negative pressure sensors 5. Unloading fixing plate 6. Push plate 7. Elastic element 8. Lubrication seat 9. Guide pin 10. Connecting seat 11. Guide sleeve 12. Connecting shaft 13. Loading fixing plate 14. Positioning pin 15. Loading rubber suction cup 16. Unloading rubber suction cup 17. Guide conical surface 18. Positioning spherical surface 19. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0020] 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 application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0021] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0024] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0025] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces), unless otherwise explicitly specified.

[0026] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to 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 limitations on the embodiments of this application.

[0027] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0028] The thin-walled spherical shell part in this application has a hemispherical shell and an end flange. The end flange is in the shape of a circular plate and is located at the edge of the open end of the hemispherical shell (i.e., the inner diameter of the end flange matches the diameter of the hemispherical shell). The two form an integral structure, and its overall shape resembles a cymbal (a metal disc with a central hemispherical bulge). Due to the limitations of its shape and structure, this thin-walled spherical shell part is difficult to clamp. It is prone to deformation during the clamping process using traditional mechanical clamping methods. Currently, it is mostly installed on the machine tool machining station by manual clamping. In order to use robots for loading and unloading this thin-walled spherical shell part, the following problems need to be addressed when converting from manual clamping to automated clamping: 1) Due to limitations in processing technology, the current positioning accuracy of high-precision multi-joint robots is ≥0.8mm, and the repeatability is ≥±0.02mm, which cannot meet the clamping accuracy requirements of parts; 2) The robot's soft floating function is limited by the sensitivity and accuracy of soft floating force control response, making it impossible to achieve floating clamping of thin-walled spherical shell parts; 3) The robot's direct gripping method cannot achieve humanized flexible floating clamping, and cannot achieve automated clamping of such products.

[0029] In view of this, in order to address the problems of low repeatability, difficulty in clamping small gaps, and easy deformation under clamping force in the automated clamping of high-precision thin-walled spherical shell products, an automated clamping device for thin-walled spherical shells is proposed. This device can effectively reduce the deformation of parts during clamping, improve the clamping accuracy, and realize the automated clamping of thin-walled spherical shell products with small gaps.

[0030] Please refer to Figures 1 to 6This application provides an automated micro-deformation floating high-precision clamping device for thin-walled spherical shells, comprising a feeding assembly, a discharging assembly, a floating connection assembly, and a connecting plate 4; the feeding assembly and the discharging assembly are arranged opposite to each other on both sides of the connecting plate 4; the feeding assembly includes a feeding fixing plate 14 and a feeding rubber suction cup 16, the feeding rubber suction cup 16 being located at the center of the feeding fixing plate 14, which can drive the spherical shell parts to contact and position with the feeding fixing plate 14 during feeding; The unloading assembly includes an unloading fixing plate 6 and an unloading rubber suction cup 17. The unloading rubber suction cup 17 is located at the center of the unloading fixing plate 6 and can drive the spherical shell part to contact and position with the unloading fixing plate 6 during unloading. The loading fixing plate 14 and the unloading fixing plate 6 are respectively connected to the connecting plate 4 by the floating connection assembly, and the floating direction is perpendicular to the connecting plate 4.

[0031] The aforementioned loading and unloading components are arranged opposite each other on both sides of the connecting plate 4 along its thickness direction. The lower end of the connecting plate 4 is used to connect to the robot, thereby driving the entire device to move. The loading component is used to pick up parts and, driven by the robot, clamp them at the machine tool processing position; the unloading component is used to pick up parts from the machine tool processing position and, driven by the robot, transfer them to the corresponding storage location.

[0032] The aforementioned floating connection assembly allows the loading and unloading fixed plates 14 and 6 to float a certain amount relative to the thickness direction of the connecting plate 4. When the rubber suction cup picks up the part, the rubber suction cup deforms under negative pressure, which can drive the part to move axially. At the same time, the fixed plate can float in a direction perpendicular to the connecting plate 4.

[0033] According to some embodiments of this application, the floating connection assembly includes a connecting seat 11, a guide pin 10, an elastic element 8, and a push plate 7. One end of the connecting seat 11 is fixedly connected to the connecting plate 4, the guide pin 10 is slidably disposed at the other end of the connecting seat 11, the push plate 7 is fixedly connected to the guide pin 10, the loading fixing plate 14 and the unloading fixing plate 6 are fixedly connected to the push plate 7, and the elastic element 8 can drive the push plate 7 to move away from the connecting seat 11.

[0034] The main body of the connecting seat 11 is cylindrical with a hollow interior. Both ends of the main body have circular discs. One disc is fixedly connected to the side of the connecting plate 4 by bolts, while the guide pin 10 is slidably mounted on the other disc. The push plate 7 is located at the end of the connecting seat 11 furthest from the connecting plate 4, and is fixedly connected to the end of the guide pin 10 by bolts. The two slide as a whole. The loading fixing plate 14 and the unloading fixing plate 6 are fixedly connected to the push plate 7 by bolts. In other words, the fixing plate, push plate 7, and guide pin 10 are connected as a single structure, and slide together when floating occurs.

[0035] The aforementioned elastic element 8 is arranged between the push plate 7 and the connecting seat 11. When the loading fixing plate 14 and the unloading fixing plate 6 are subjected to force, the push plate 7 will slide towards the connecting seat 11. At this time, the elastic element 8 will generate elastic compression deformation and store force. After the loading fixing plate 14 and the unloading fixing plate 6 are subjected to force, the elastic element 8 will drive the push plate 7 to slide away from the connecting seat 11 under the action of elastic restoring force.

[0036] According to some embodiments of this application, a lubrication seat 9 is fixedly provided on the connecting seat 11, the guide pin 10 is slidably disposed on the lubrication seat 9, and the end of the guide pin 10 away from the push plate 7 has a limiting head, and the elastic member 8 is abutted between the end face of the push plate 7 and the lubrication seat 9.

[0037] The aforementioned lubrication seat 9 is fixed to the end face of the connecting seat 11 by bolts. The center of the lubrication seat 9 has a through hole that matches the guide pin 10, and the disc body at this end of the connecting seat 11 also has a corresponding through hole. The two ends of the elastic member 8 abut against the end face of the push plate 7 and the lubrication seat 9. When the push plate 7 slides toward the connecting seat 11, the elastic member 8 is compressed, and the guide pin 10 slides through the lubrication seat 9. The radial dimension of the limiting head at the end of the guide pin 10 is larger than the diameter of the through hole opened on the disc body of the connecting seat 11, thereby forming an axial limit.

[0038] According to some embodiments of this application, there are multiple guide pins 10 evenly distributed circumferentially, and the elastic element 8 is a cylindrical compression spring. In this application, three guide pins 10 are evenly arranged circumferentially, and three lubrication seats 9 and three elastic elements 8 are correspondingly arranged. The elastic element 8 is a cylindrical compression spring and is fitted onto the guide pins 10. It should be noted that the above-mentioned elastic element 8 can also be in other forms, such as a spring sheet, a disc spring, etc.

[0039] According to some embodiments of this application, a guide sleeve 12 is fixedly disposed on the connecting seat 11, and a hollow connecting shaft 13 is disposed inside the guide sleeve 12. One end of the connecting shaft 13 is connected to the feeding rubber suction cup 16 and the unloading rubber suction cup 17, and the other end is connected to the gas pipeline. The guide sleeve 12 is located at the end of the connecting seat 11 near the push plate 7, and the guide sleeve 12 is fixed to the plate body of the connecting seat 11 by bolts. The guide sleeve 12 has a through hole adapted to the connecting shaft 13. The connecting shaft 13 is slidably disposed inside the guide sleeve 12, and one end of the connecting shaft 13 extends into the inner cavity of the connecting seat 11 for connecting the gas pipeline, and the other end extends into the feeding fixing plate 14 and the unloading fixing plate 6 for connecting the feeding rubber suction cup 16 and the unloading rubber suction cup 17.

[0040] According to some embodiments of this application, the connecting seat 11 has a window in the radial direction, and the window communicates with the inner cavity of the connecting seat 11. The window is opened on the main body of the connecting seat 11, and multiple windows can be evenly opened in the circumferential direction. The window can be roughly rectangular, and the gas pipeline can be connected to one end of the connecting shaft 13 through the window to realize gas extraction or gas supply.

[0041] According to some embodiments of this application, the end of the feeding fixing plate 14 is provided with a positioning pin 15 and a guide cone surface 18. The feeding rubber suction cup 16 extends out of the feeding fixing plate 14 and can be adsorbed onto the inner spherical surface of the spherical shell part under negative pressure, while driving the spherical shell part to move so that its end forms contact positioning with the positioning pin 15 and the guide cone surface 18.

[0042] The aforementioned guide conical surface 18 is disposed on the positioning protrusion ring on the end face of the loading fixing plate 14, while the positioning pin 15 is located on the end face of the loading fixing plate 14. Since the loading rubber suction cup 16 is adsorbed onto the inner spherical surface of the spherical shell part, the spherical shell part will move axially during the adsorption process. The opening of the inner spherical surface of the spherical shell part will cooperate with the end positioning protrusion ring of the loading fixing plate 14 under the guidance of the guide conical surface 18. At the same time, the positioning pin 15 enters the positioning hole on the flange of the end face of the spherical shell part to realize the loading and positioning of the part.

[0043] According to some embodiments of this application, the unloading fixing plate 6 is provided with a positioning spherical surface 19 inside, and the unloading rubber suction cup 17 is located inside the unloading fixing plate 6. Under negative pressure, it can be adsorbed onto the outer spherical surface of the spherical shell part, and at the same time drive the spherical shell part to move so that its outer spherical surface makes contact with the positioning spherical surface 19 for positioning. It should be noted that the unloading and picking of the part does not require positioning in the circumferential direction of the part.

[0044] According to some embodiments of this application, the connecting plate 4 is provided with positive and negative pressure sensors 5. There are two positive and negative pressure sensors 5, which are used to monitor the positive and negative pressure of the loading rubber suction cup 16 and the unloading rubber suction cup 17, respectively. Since air needs to be drawn to create negative pressure when the rubber suction cup adsorbs parts during the loading and unloading process, and gas is introduced into the gas pipe when parts need to be placed, causing the rubber suction cup to expand under positive pressure, the positive and negative pressure sensors 5 are provided in this application to monitor the positive and negative pressure of the rubber suction cups.

[0045] According to some embodiments of this application, the lower end of the connecting plate 4 is provided with a zero-point quick-change module 1 for connection with the robot. The zero-point quick-change module 1 is connected to the lower end of the connecting plate 4 through a first gripper transition plate 2 and a second gripper transition plate 3. It should be noted that the above-mentioned zero-point quick-change module 1 is a commonly used quick-change module, which will not be described in detail here.

[0046] This device employs a robotic gripper structure consisting of a fixed disk and a rubber suction cup. During operation, the device connects to the robot via a zero-point quick-change mechanism. The robot moves to the gripping point, and the loading rubber suction cup 16 first presses against the inner spherical surface of the part to form a vacuum cavity. The negative pressure is then applied, and under its suction force, the loading rubber suction cup 16 deforms further, adhering more closely to the part, causing axial movement. The part moves onto the loading fixed disk 14 via the guide cone surface 18 and positioning pin 15, achieving precise positioning. The robot then moves the device to the machine tool's loading point, closes the negative pressure on the loading rubber suction cup 16, and restores its deformation. The part moves and contacts the machine tool's positioning suction device. The machine tool's vacuum negative pressure is activated, and the loading rubber suction cup 16's positive pressure is also activated. Under the combined action of the machine tool's negative pressure and the loading rubber suction cup 16's positive pressure, the part moves axially again, achieving precise positioning on the machine tool.

[0047] This application innovatively proposes a robot gripper structure consisting of a fixed disk and a rubber suction cup, providing a new method for the automated clamping of thin-walled spherical shell products. Simultaneously, it innovatively utilizes the controllable deformation characteristics of the rubber suction cup under three states: positive pressure expansion, no pressure natural movement, and negative pressure contraction. Combined with the adaptive capabilities of its soft material, this achieves automated, non-destructive floating clamping of thin-walled spherical shell products. Furthermore, this application can construct a four-level pressure-time control model. Through a three-stage airflow coordination of the pre-contact stage, adsorption and locking stage, and floating maintenance stage, the synchronization accuracy between air pressure switching and robot motion trajectory is controlled within 2ms. Based on a dual closed-loop feedback of air pressure-deformation-displacement, millimeter-level floating micro-connections are achieved during the gripping and transfer process of the thin-walled spherical shell, significantly reducing positioning drift.

[0048] By precisely controlling the elastic deformation of the rubber suction cup with air pressure, a millimeter-level micro-displacement floating mechanism is formed, allowing the suction cup to dynamically conform to the spherical contour, eliminating local stress concentration (surface pressure gradient ≤5%), and preventing part deformation. At the same time, the self-sealing effect of the deformation process is used to block air source leakage (leakage rate <0.05kPa / s), and closed-loop control based on the mapping relationship between air pressure, deformation, and clamping stability is used to achieve clamping accuracy of ±0.01mm and adaptive tilt of ±1.5°. This compensates for the technical problems of clamping jamming and part deformation caused by insufficient positioning accuracy of the robot, and fundamentally solves the problems of rigid damage and positioning drift in the clamping of thin-walled spherical parts.

[0049] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-precision, micro-variable floating clamping device for thin-walled spherical shells, characterized in that, It includes a feeding assembly, a discharging assembly, a floating connection assembly, and a connecting plate; the feeding assembly and the discharging assembly are arranged opposite to each other on both sides of the connecting plate; the feeding assembly includes a feeding fixing plate and a feeding rubber suction cup, the feeding rubber suction cup is located at the center of the feeding fixing plate, and can drive the spherical shell part to contact and position with the feeding fixing plate during feeding; The unloading assembly includes an unloading fixing plate and an unloading rubber suction cup. The unloading rubber suction cup is located at the center of the unloading fixing plate and can drive the spherical shell part to contact and position with the unloading fixing plate during unloading. The loading fixing plate and the unloading fixing plate are respectively connected to the connecting plate through the floating connection assembly, and the floating direction is perpendicular to the connecting plate.

2. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 1, characterized in that, The floating connection assembly includes a connecting seat, a guide pin, an elastic element, and a push plate. One end of the connecting seat is fixedly connected to the connecting plate, the guide pin is slidably disposed at the other end of the connecting seat, the push plate is fixedly connected to the guide pin, the loading plate and the unloading plate are fixedly connected to the push plate, and the elastic element can drive the push plate to move away from the connecting seat.

3. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 2, characterized in that, A lubrication seat is fixedly provided on the connecting seat, the guide pin slides through the lubrication seat, and the end of the guide pin away from the push plate has a limiting head. The elastic element is abutted between the end face of the push plate and the lubrication seat.

4. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 3, characterized in that, The guide pins are multiple and evenly distributed circumferentially, and the elastic element is a cylindrical compression spring.

5. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 2, characterized in that, A guide sleeve is fixedly installed on the connecting seat, and a hollow connecting shaft is installed inside the guide sleeve. One end of the connecting shaft is connected to the feeding rubber suction cup and the unloading rubber suction cup, and the other end is connected to the gas pipeline.

6. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 5, characterized in that, The connector has a window in the radial direction, and the window communicates with the inner cavity of the connector.

7. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 1, characterized in that, The end of the feeding fixing plate is provided with a positioning pin and a guide cone surface. The feeding rubber suction cup extends out of the feeding fixing plate and can be adsorbed onto the inner spherical surface of the spherical shell part under negative pressure. At the same time, it drives the spherical shell part to move so that its end contacts and is positioned with the positioning pin and the guide cone surface.

8. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 1, characterized in that, The material feeding fixing plate has a positioning spherical surface inside. The material feeding rubber suction cup is located inside the material feeding fixing plate and can be adsorbed onto the outer spherical surface of the spherical shell part under negative pressure. At the same time, it drives the spherical shell part to move so that its outer spherical surface makes contact with the positioning spherical surface for positioning.

9. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 1, characterized in that, The connecting plate is equipped with two positive and negative pressure sensors, which are used to monitor the positive and negative pressure of the feeding rubber suction cup and the unloading rubber suction cup, respectively.

10. The automated micro-deformation floating high-precision clamping device for thin-walled spherical shells according to claim 1, characterized in that, The lower end of the connecting plate is provided with a zero-point quick-change for connecting with the robot. The zero-point quick-change is connected to the lower end of the connecting plate through a first gripper transition plate and a second gripper transition plate.

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