A fixture capable of four-arm synchronization and automatic centering

Abstract

The utility model relates to the technical field of clamp, concretely to a four-arm synchronous and automatic centering clamp, four same structure clamping arms are installed around the clamp body respectively, the automatic centering function of the utility model greatly shortens the time of the clamp alignment workpiece center, improves the processing efficiency, does not need manual intervention, reduces the labor intensity of operating personnel, the high-precision detection ability of sensor ensures that the clamping jaw can accurately align workpiece center, improves the processing precision, is applicable to the workpiece of super -large size and shape, strengthens the adaptability and flexibility of clamp, the automatic centering function avoids the workpiece toppling risk caused by the clamping jaw deflection, improves the safety of working process, reduces the operation failure and harm that can occur because of manual adjustment.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically a clamping device that can synchronize four arms and automatically center. Background Technology

[0002] In existing cylindrical object gripping systems, precise gripping is primarily used for small objects. Larger objects typically lack automatic centering capabilities. For fixtures where the object is fixed and immovable, with only the tooling moving to grip it, operators must spend considerable time manually adjusting the fixture's position to find and align it with the workpiece's center. This manual adjustment process is particularly inefficient and poses safety hazards when dealing with fragile and heavy objects. If the fixture attempts to clamp the workpiece without aligning it with its center, the workpiece may tip over and break due to uneven force, causing equipment damage or personal injury. Furthermore, the precision of visual adjustment is limited and cannot meet the demands of high-precision machining.

[0003] In summary, a fixture capable of simultaneous operation of four arms and automatic centering is needed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a clamp that can synchronize four arms and automatically center, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] This utility model provides a clamp that can synchronize four arms and automatically center, including a clamp body. The clamp body includes four support arms. One end of each support arm is mounted on a synchronous mechanical commutator. A reducer is mounted on the synchronous mechanical commutator. A servo motor is mounted on one side of the reducer. The servo motor drives the reducer to rotate. The reducer drives the lead screw to rotate through a linkage device synchronous mechanical commutator. A clamping arm is mounted at the bottom of each support arm. A gripper is mounted at the end of each clamping arm. A support rod is mounted on the top of the clamp body.

[0007] Preferably, four sensors are mounted on the support rod to sense force signals in four directions. Compared with the prior art, the beneficial effects of this utility model are: the automatic centering function of this utility model greatly shortens the time for the fixture to align with the center of the workpiece, improves processing efficiency, eliminates the need for manual intervention, reduces the labor intensity of operators, the high-precision detection capability of the sensors ensures that the jaws can accurately align with the center of the workpiece, improves processing accuracy, is suitable for workpieces of extra-large size and shape, enhances the adaptability and flexibility of the fixture, and the automatic centering function avoids the risk of workpiece tipping due to jaw misalignment, improves the safety of the working process, and reduces possible operational errors and injuries caused by manual adjustment. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0009] In the diagram: 1. Fixture body; 2. Clamping arm; 3. Synchronous mechanical commutator; 4. Support arm; 5. Reducer; 6. Gripper; 7. Lead screw; 8. Servo motor; 9. Support rod. Detailed Implementation

[0010] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0011] Please see Figure 1 This utility model provides a clamp that can synchronize four arms and automatically center, including a clamp body 1. The clamp body 1 includes four support arms 4. One end of each support arm 4 is mounted on a synchronous mechanical commutator 3 on the clamp body 1. A reducer 5 is mounted on the synchronous mechanical commutator 3. A servo motor 8 is mounted on one side of the reducer 5. The servo motor 8 drives the reducer 5 to rotate. The reducer 5 drives the lead screw 7 to rotate through the synchronous mechanical commutator 3 via a linkage device. A clamping arm 2 is mounted at the bottom of each support arm 4. A gripper 6 is mounted at the end of each clamping arm 2. A support rod 9 is mounted at the top of the clamp body 1.

[0012] Furthermore, four sensors are mounted on the support rod 9 to sense force signals in four directions. Detailed implementation method:

[0014] In practical applications, the support arm 4 of the fixture body 1 is composed of four identical components. One end of each support arm 4 is mounted on a synchronous mechanical commutator 3 on the fixture body 1. A reducer 5 is mounted on the synchronous mechanical commutator 3, and a servo motor 8 is mounted on the side of the reducer 5. The servo motor 8 drives the reducer 5 to rotate. The reducer 5 drives the lead screw 7 to rotate through the linkage device synchronous mechanical commutator 3, thereby driving the opening and closing of the clamping arm 2 and the gripper 6. Thus, the reducer drives four axes from one shaft and achieves synchronization of the four axes, enabling the fixture body 1 to simultaneously and synchronously clamp the workpiece from four directions, improving the synchronous stability and accuracy of clamping. The high-precision control characteristics of the servo motor 8 allow the opening and closing of the gripper 6 to be synchronously and precisely controlled, adapting to workpieces of different sizes and shapes, especially large workpieces. In practical applications of this invention, all sensors are in an initial state without force or displacement, with no signal output. When the gripper 6 on the fixture body 1 begins to clamp the workpiece, if the gripper 6 If the gripper 6 is not aligned with the workpiece center, one or more grippers 6 will contact the workpiece first. The gripper 6 that contacts first will be blocked by the workpiece and subjected to force. Four sensors are installed on the support rod 9 to detect signals in four directions. This force will be transmitted to the sensors on the support rod 9, which will detect changes in force, or the gripper 6 sensors will detect minute distances. The sensors convert this signal into an electrical signal and transmit it to the control system. After receiving the sensor signals, the system will determine the direction of the gripper 6's deflection based on the source of the signal. When the sensor in the positive X direction sends a signal, it means that the gripper is deflected in the positive X direction, and vice versa in the positive Y direction. Based on the judgment result, the control system will control the moving mechanism of the equipment to perform motion compensation in the opposite direction. When the gripper is deflected in the positive X direction, the moving mechanism will drive the fixture to move in the negative X direction until the sensor signal disappears, or in the Y direction. If the workpiece deviates in the positive or other directions, the corresponding adjustment is made. When all the signals from the sensors disappear, it means that the gripper no longer has any bias force, that is, the center of gripper 6 coincides with the center of the workpiece, and the alignment is successful. Through such feedback and automatic adjustment mechanism, the fixture can automatically find and clamp the center position of the workpiece, improving the machining accuracy and efficiency.

[0015] In the description of this utility model, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "one side," and "top" are used interchangeably.

[0016] The terms "inner", "front", "center", "both ends", etc., 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 this utility model 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 limitations on this utility model.

[0017] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of those features.

[0018] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", etc., 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. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0019] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A clamp capable of simultaneous four-arm operation and automatic centering, comprising a clamp body (1), characterized in that, The fixture body (1) includes four support arms (4), one end of each support arm (4) is mounted on a synchronous mechanical commutator (3) on 1, a reducer (5) is mounted on the synchronous mechanical commutator (3), a servo motor (8) is mounted on one side of the reducer (5), the servo motor (8) drives the reducer (5) to rotate, the reducer (5) drives the lead screw (7) to rotate through the linkage device synchronous mechanical commutator (3), a clamping arm (2) is mounted at the bottom of the support arm (4), a clamping claw (6) is mounted at the end of the clamping arm (2), and a support rod (9) is mounted on the top of the fixture body (1).

2. The clamping device with four arms that can synchronize and automatically center according to claim 1, characterized in that: Four sensors are mounted on the support rod (9) to sense force signals in four directions.

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