An intelligent machining clamping device with self-adaptive clamping function

Abstract

This utility model discloses an intelligent machining clamping device with adaptive clamping function, belonging to the technical field of intelligent machining clamping devices. It includes a clamping mechanism, a sensing module, a control module, and an execution module. The clamping mechanism comprises a base, a support arm, and multiple gripper assemblies. Each gripper assembly includes a gripping jaw, a slider, and a driving component. The driving component moves the slider along a guide rail to open or close the gripping jaw. The sensing module is mounted on the gripper or its connecting structure to detect pressure or displacement changes during the clamping process and provide workpiece status information to the control module. The control module generates control commands based on feedback from the sensing module. The execution module includes a servo motor or electro-hydraulic actuator to drive the gripper assemblies to dynamically adjust the clamping force. This invention solves the technical problem of clamping failure caused by the lack of real-time sensing and clamping force adjustment capabilities in traditional clamping devices.

Description

Technical Field

[0001] This utility model relates to the field of distributed connection device technology, specifically to an intelligent machining clamping device with adaptive clamping function. Background Technology

[0002] In modern intelligent manufacturing systems, machining clamping devices are key components for achieving efficient and stable machining, playing a crucial role, especially in CNC machining centers, automated production lines, and robotic flexible machining systems. Traditional machining clamping devices typically control the clamping action through preset programs to fix the workpiece. However, such devices have significant limitations in practical applications, namely, the lack of real-time sensing and feedback adjustment capabilities regarding the workpiece's state during the clamping process.

[0003] Specifically, when the clamping area of ​​the workpiece has certain shape deviations or surface roughness differences, or when the deformation of the workpiece changes due to factors such as workpiece material deformation, traditional fixtures are prone to failure to clamp tightly or even break the workpiece if they cannot dynamically adjust the clamping force according to the actual situation. This type of problem is particularly prominent in scenarios involving high-precision or complex contour machining, seriously affecting machining quality and efficiency, and may even cause the workpiece to be scrapped.

[0004] Therefore, there is an urgent need for an intelligent clamping device that can adaptively adjust the clamping force based on real-time workpiece feedback to improve the stability and flexibility of machining, especially in the field of high-precision machining, where it has significant practical application value. Utility Model Content

[0005] The purpose of this invention is to provide an intelligent machining clamping device with adaptive clamping function to solve the problems mentioned in the background art.

[0006] To address the aforementioned technical problems, this utility model provides an intelligent machining clamping device with adaptive clamping function, comprising: a clamping mechanism, a sensing module, a control module, and an execution module; wherein, the clamping mechanism includes a base, a support arm, and multiple symmetrically arranged gripper assemblies, each gripper assembly including a gripping jaw, a slider, and a drive component connected to the execution module, the gripper assembly being mounted on the support arm, the slider sliding in a guide rail, and the drive component driving the slider to move along the guide rail, thereby causing the gripping jaw to open or close, achieving workpiece clamping; the sensing module is mounted on the gripper or its connecting structure, used to detect pressure or displacement changes generated during clamping and provide workpiece status information to the control module; the control module is connected to the sensing module and the execution module, used to generate control commands based on the workpiece status information fed back by the sensing module; the execution module includes a servo motor or electro-hydraulic actuator, connected to the drive component of each gripper assembly, receiving control commands from the control module, and driving each gripper assembly to achieve dynamic adjustment of clamping force.

[0007] In one possible implementation, the gripping claw is made of a flexible metal material, and its gripping surface is provided with anti-slip texture to improve gripping stability and adapt to the surface morphology of the workpiece.

[0008] In one possible implementation, the driving component is a lead screw transmission mechanism, and the servo motor drives the lead screw to rotate through a coupling. The lead screw is threadedly connected to the slider, thereby realizing the opening and closing action of the gripper.

[0009] In one possible implementation, the sensing module includes a piezoelectric force sensor disposed inside the gripper or in contact with the bottom of the gripper, and a displacement sensor mounted on the slider travel path.

[0010] In one possible implementation, the control module includes a processor, an adaptive control algorithm unit, and a data interface module. The data interface module is used to communicate with a host computer or robot control system to receive or send processing synchronization control signals.

[0011] In one possible implementation, multiple gripper assemblies are independently controlled by a control module. The control module can output different control commands to each gripper assembly to adapt to local surface differences of the workpiece and achieve variable clamping in different areas.

[0012] In one possible implementation, the base is a ring-shaped or rectangular platform with each gripper assembly evenly distributed along its edge. Through a modular structure, it can be replaced with gripper assemblies of different sizes or clamping ranges to accommodate different types of workpieces.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This utility model features an intelligent machining clamping device with adaptive clamping function. Through the coordinated operation of the clamping mechanism, sensing module, control module, and execution module, it achieves dynamic clamping adjustment of the gripper assembly. It can automatically adjust the clamping force according to the workpiece status information, improving the stability and adaptability of the clamping process. It solves the problems of traditional clamping devices being unable to adapt to different workpiece shapes and unable to intelligently adjust the clamping force. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] In the diagram: 1. Clamping mechanism; 2. Sensing module; 3. Control module; 4. Execution module; 5. Base; 6. Support arm; 7. Gripper assembly; 8. Gripper; 9. Slider; 10. Drive component; 11. Guide rail; 12. Servo motor; 13. Electro-hydraulic actuator; 14. Lead screw transmission mechanism; 15. Coupling; 16. Lead screw; 17. Piezoelectric pressure sensor; 18. Displacement sensor; 19. Processor; 20. Adaptive control algorithm unit; 21. Data interface module; 22. Host computer; 23. Robot control system. Detailed Implementation

[0017] 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.

[0018] Please see Figure 1 An intelligent machining clamping device with adaptive clamping function includes a clamping mechanism, a sensing module, a control module, and an execution module. The clamping mechanism includes a base, a support arm, and multiple symmetrically arranged gripper assemblies. Each gripper assembly includes a gripping jaw, a slider, and a drive component connected to the execution module. The gripper assembly is mounted on the support arm, and the slider can slide in a guide rail. The drive component drives the slider to move along the guide rail, thereby causing the gripping jaw to open or close, achieving workpiece clamping. The sensing module is mounted on the gripper or its connecting structure to detect pressure or displacement changes during clamping and provide workpiece status information to the control module. The control module is connected to the sensing module and the execution module to generate control commands based on the workpiece status information fed back by the sensing module. The execution module includes a servo motor or electro-hydraulic actuator connected to the drive component of each gripper assembly, receives control commands from the control module, and drives each gripper assembly to dynamically adjust the clamping force.

[0019] In the above scheme, the clamping mechanism achieves clamping action through the linkage of the slider and the driving component. The driving component can adopt a linear drive mode (such as lead screw transmission) to improve response speed and clamping accuracy. The sensing module can determine whether the workpiece is in a stable state during the clamping process by monitoring changes in clamping force in real time, thereby avoiding workpiece slippage or damage caused by insufficient or excessive clamping force. The adaptive algorithm in the control module can adjust the control strategy based on pressure, displacement, and workpiece characteristic information to achieve flexible clamping operation and improve the automation and intelligence level of the clamping process.

[0020] Specifically, the gripping jaws are made of flexible metal material, and their gripping surfaces are textured with anti-slip textures to improve gripping stability and adapt to the surface morphology of the workpiece. The flexible metal material has a certain degree of elastic deformation capability, allowing it to cover or conform to workpieces with complex shapes without damaging the workpiece surface, thus improving gripping adaptability. The anti-slip texture can be a micron-level concave-convex structure or a woven arrangement of protrusions, which, combined with the flexible material, effectively increases the coefficient of friction during clamping, further ensuring clamping stability, and is especially suitable for irregularly shaped workpieces or workpieces with uneven surface roughness.

[0021] Specifically, the driving component is a lead screw transmission mechanism. A servo motor drives the lead screw to rotate via a coupling. The lead screw is threadedly connected to the slider, thereby realizing the opening and closing action of the gripper. The lead screw transmission has high transmission efficiency and good position holding capability. Through precise control of the servo motor, minute displacement control of the slider can be achieved, thereby finely adjusting the position of the gripper and improving the accuracy and controllability of the clamping process. The coupling buffers the errors and impacts between the servo motor and the lead screw, extending the service life of the transmission system.

[0022] Specifically, the sensing module includes a piezoelectric force sensor located inside the gripper jaws or in contact with the bottom of the gripper jaws, and a displacement sensor installed along the slide's travel path. The piezoelectric force sensor measures the clamping force applied by the gripper jaws to the workpiece in real time and feeds it back to the control module via an electrical signal, assisting in achieving closed-loop control of the clamping force. The displacement sensor (such as an optical encoder or magnetostrictive displacement sensor) is used to detect the slide position, determine the clamping stroke and clamping degree, thereby further improving the accuracy and stability of the clamping action.

[0023] Specifically, the control module includes a processor, an adaptive control algorithm unit, and a data interface module. The data interface module communicates with the host computer or robot control system to receive or send processing synchronization control signals. Through its built-in adaptive control algorithm, the control module dynamically adjusts its control strategy based on feedback data to adapt to different workpieces or clamping conditions, achieving intelligent clamping control. The data interface module adopts industrial bus protocols such as EtherCAT and CANopen, enabling collaborative work with external devices and facilitating integration into automated production lines or robot systems to achieve coordinated operation during the processing.

[0024] Specifically, multiple gripper assemblies are independently controlled by a control module. The control module can output different control commands to each gripper assembly to adapt to local surface differences in the workpiece, achieving variable clamping in different areas. Independent control of each gripper assembly gives the system greater flexibility and adaptability, making it suitable for clamping irregularly shaped workpieces. By adjusting the clamping force locally, overall clamping stability can be ensured while preventing excessive local clamping force from damaging the workpiece, thereby improving the consistency and yield rate during workpiece processing.

[0025] Specifically, the base is a ring-shaped or rectangular platform with gripper assemblies evenly distributed along its edges. Its modular structure allows for replacement with gripper assemblies of different sizes or clamping ranges to accommodate various workpiece types. The ring-shaped or rectangular base allows for flexible arrangement of gripper assemblies based on workpiece size and clamping requirements, while the modular design simplifies maintenance and upgrade processes. Users can quickly replace the clamping structure with different specifications according to processing needs, significantly improving the versatility and reusability of the clamping device. It is suitable for processing multi-variety, small-batch, or complex geometric workpieces.

[0026] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and detail may be made to the present invention without departing from the spirit and scope of the appended claims.

Claims

1. An intelligent machining clamping device with adaptive clamping function, characterized in that, include: Clamping mechanism, sensing module, control module, and execution module; The clamping mechanism includes a base, a support arm, and multiple symmetrically arranged gripper assemblies. Each gripper assembly includes a gripping jaw, a slider, and a drive unit connected to the execution module. The gripper assembly is mounted on the support arm. The slider can slide in the guide rail. The drive unit drives the slider to move along the guide rail, thereby causing the gripping jaw to open or close, thus achieving the clamping of the workpiece. The sensing module is installed on the gripper or its connecting structure to detect pressure or displacement changes generated during the clamping process and to provide workpiece status information to the control module. The control module is connected to the sensing module and the execution module, and is used to generate control commands based on the workpiece status information fed back by the sensing module. The execution module includes a servo motor or electro-hydraulic actuator, which is connected to the drive components of each gripper assembly, receives control commands from the control module, and drives each gripper assembly to dynamically adjust the clamping force.

2. The clamping device according to claim 1, characterized in that, The clamping claws are made of flexible metal material, and their clamping surfaces are provided with anti-slip textures to improve clamping stability and adapt to the surface morphology of the workpiece.

3. The clamping device according to claim 1, characterized in that, The driving component is a lead screw transmission mechanism. The servo motor drives the lead screw to rotate through a coupling. The lead screw is threadedly connected to the slider, thereby realizing the opening and closing action of the gripper.

4. The clamping device according to claim 1, characterized in that, The sensing module includes a piezoelectric force sensor located inside the gripper or in contact with the bottom of the gripper, and a displacement sensor installed on the slider travel path.

5. The clamping device according to claim 1, characterized in that, The control module includes a processor, an adaptive control algorithm unit, and a data interface module. The data interface module is used to communicate with a host computer or robot control system to receive or send processing synchronization control signals.

6. The clamping device according to claim 1, characterized in that, Multiple gripper assemblies are independently controlled by a control module. The control module can output different control commands to each gripper assembly to adapt to local surface differences of the workpiece and achieve variable clamping in different areas.

7. The clamping device according to claim 1, characterized in that, The base is a ring-shaped or rectangular platform with each gripper assembly evenly distributed along its edge. Through a modular structure, it can be replaced with gripper assemblies of different sizes or clamping ranges to adapt to the clamping of different types of workpieces.

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