A multi-degree-of-freedom steering knuckle clamping device

Abstract

This utility model discloses a multi-degree-of-freedom steering knuckle clamping device, including a bracket, a set of side clamping assemblies, and an upper clamping assembly. The side clamping assemblies are located on one side of the bracket and connected to the bracket via a linear guide rail. The side clamping components include a mounting frame, a rotary motor, a transmission assembly, and a side clamping assembly. The mounting frame is mounted on a slider of the linear guide rail. The rotary motor and the side clamping assemblies are respectively located on both sides of the mounting frame. The rotary motor is connected to the side clamping assemblies via the transmission assembly. The upper clamping assembly includes an upper clamping mounting plate, a horizontal adjustment assembly, a height adjustment assembly, and a lower clamping assembly. This multi-degree-of-freedom steering knuckle clamping device, through the cooperation of two rotatable side clamping assemblies and the upper clamping assembly, achieves stable clamping of each rotating shaft in the multi-degree-of-freedom steering knuckle, improving production efficiency. At the same time, the height and clamping width of the side clamping assemblies are adjustable, greatly enhancing the versatility of the clamping.

Description

Technical Field

[0001] This utility model belongs to the field of steering knuckle processing, and specifically relates to a multi-degree-of-freedom steering knuckle clamping device. Background Technology

[0002] In specialized vehicles requiring multi-directional movement (such as terrain surveying vehicles), the steering knuckle often demands extremely high degrees of freedom to meet operational needs such as climbing rocks, crossing ditches, and adjusting posture. These steering knuckles are typically complex multi-joint mechanisms, similar to the wrist joint of a multi-degree-of-freedom robotic arm. They directly grant the wheel multiple (usually 2-3) independent rotational degrees of freedom relative to the vehicle body. They are no longer merely the intersection point of connecting rods, but rather the hub of active movement. Their structure is similar to a universal joint, generally integrating two or more mutually perpendicular rotational axes, each driven by multiple independent electric motors or hydraulic motors.

[0003] When machining this type of steering knuckle, its advantage of multiple degrees of freedom becomes a challenge in precision machining, often leading to unstable clamping, which in turn causes deviations in machining accuracy and affects production and use.

[0004] Therefore, the above problems urgently need to be solved. Utility Model Content

[0005] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of this utility model is to provide a multi-degree-of-freedom steering knuckle clamping device. By using two rotatable side clamping components in conjunction with the upper clamping component, stable clamping of each rotating shaft in the multi-degree-of-freedom steering knuckle is achieved, thereby improving production efficiency. At the same time, the height and clamping width of the side clamping components are adjustable, which greatly enhances the versatility of the clamping.

[0006] Technical Solution: To achieve the above objectives, this utility model provides a multi-degree-of-freedom steering knuckle clamping device, including a bracket, a set of side clamping assemblies, and an upper clamping assembly; the side clamping assemblies are disposed on one side of the bracket; the side clamping assemblies are connected to the bracket via linear guide rails, and the height is adjusted by the linear guide rails; the side clamping components include a mounting frame, a rotary motor, a transmission assembly, and a side clamping assembly; the mounting frame is mounted on the slider of the linear guide rail; the rotary motor and the side clamping assembly are respectively disposed on both sides of the mounting frame; the rotary motor is connected to the upper clamping assembly via the transmission assembly... The component is connected to the side clamping assembly, and the side clamping assembly is rotated by a rotary motor. The upper clamping assembly is located on the upper part of the bracket. The upper clamping assembly includes an upper clamping mounting plate, a horizontal adjustment assembly, a height adjustment assembly, and a lower clamping assembly. The upper clamping mounting plate is located on the upper part of the bracket. The horizontal adjustment assembly is located on the upper clamping mounting plate. The height adjustment assembly is located on the horizontal adjustment assembly. The lower clamping assembly is located below the height adjustment assembly. The horizontal adjustment assembly and the height adjustment assembly cooperate to adjust the position of the lower clamping assembly. The horizontal adjustment assembly and the height adjustment assembly of the upper clamping assembly cooperate to achieve multi-directional position adjustment of the lower clamping assembly in space. The rotary motor of the side clamping assembly is connected to the side clamping assembly through a transmission assembly, which can control the rotation of the side clamping assembly. When processing or inspecting steering knuckles, it is sometimes necessary to operate the steering knuckle from different angles. The rotation function of the side clamping assembly can easily adjust the steering knuckle to a suitable angle for clamping and fixing, improving the versatility of processing.

[0007] Furthermore, the side clamping assembly includes a double-rod cylinder, a set of first clamps, a set of clamping width adjusting cylinders, and a set of second clamps. The double-rod cylinder is connected to the output end of a rotary motor via a transmission assembly. The first clamps are respectively located at the output ends on both sides of the double-rod cylinder and are controlled by the double-rod cylinder to open and close. The clamping width adjusting cylinder is located outside the first clamp, and its output stroke direction is perpendicular to the clamping surface of the first clamp. The second clamp is located at the output end of the clamping width adjusting cylinder and is arranged parallel to the first clamp on the same side. The clamping width adjusting cylinder allows the clamping assembly to be dynamically adjusted according to the size of the steering knuckle, which can adapt to steering knuckle shafts of different diameters or widths without stopping the machine to change clamps, greatly improving production efficiency. The parallel arrangement of the first and second clamps further enhances the adaptability of the clamping, ensuring that the clamping assembly can evenly clamp both sides of the steering knuckle shaft and guaranteeing the stability of the clamping.

[0008] Furthermore, the transmission assembly includes a driving gear, a rotating shaft, and a driven gear; the driving gear is located at the output end of the rotary motor; the rotating shaft passes through the mounting bracket and connects to the double-rod cylinder; the driven gear is located at the end of the rotating shaft away from the double-rod cylinder; the driving gear meshes with the driven gear. Gear transmission is a highly efficient mechanical transmission method that can accurately transmit the power of the rotary motor to the double-rod cylinder, with high transmission efficiency, low energy loss, and ensure full utilization of power.

[0009] Furthermore, both the first and second clamps are equipped with contoured chucks at their clamping ends. These contoured chucks can better conform to the surface of the steering knuckle, resulting in a more secure clamping and reducing the risk of the steering knuckle loosening or falling off during processing or inspection.

[0010] Furthermore, the leveling assembly includes a height-adjusting mounting plate, a leveling cylinder, and a leveling drive plate; the height-adjusting mounting plate is slidably connected to the upper clamping mounting plate; the leveling cylinder is mounted on the upper clamping mounting plate and located between the upper clamping mounting plate and the height-adjusting mounting plate; the height-adjusting mounting plate is provided with a leveling drive plate; the leveling drive plate is connected to the output end of the leveling cylinder. The leveling cylinder can precisely control the horizontal position of the leveling drive plate; through the stroke adjustment of the leveling cylinder, the leveling assembly can adapt to steering knuckles of different sizes and shapes. For example, for steering knuckle shafts of different widths, the position of the leveling drive plate can be quickly adjusted by the leveling cylinder to ensure that the clamping assembly can accurately align with the clamping position of the steering knuckle.

[0011] Furthermore, the height adjustment assembly includes a height adjustment plate, a set of telescopic rods, and a set of height adjustment cylinders; the height adjustment plate is slidably connected to the height adjustment mounting plate; the telescopic rods are vertically arranged along both sides of the height adjustment plate, and their two ends are respectively connected to the height adjustment mounting plate and the side of the height adjustment plate; the height adjustment cylinders are mounted on the telescopic rods and can control the extension and retraction of the telescopic rods. The arrangement of the height adjustment cylinders in conjunction with the telescopic rods ensures the stability of the height adjustment assembly during movement; the vertical arrangement of the telescopic rods reduces offset and swaying during movement, thereby improving the stability of the assembly; at the same time, the height adjustment cylinders can precisely control the height position of the height adjustment plate, reducing the risk of equipment damage due to inaccurate clamping position during processing or inspection.

[0012] Furthermore, the lower clamping assembly includes a lower clamping mounting plate, a set of lower clamping fixtures, a lower clamping cylinder, and a clamping control rod. The lower clamping mounting plate is located below the height adjustment plate. The lower clamping fixtures are located on both sides below the lower clamping mounting plate and are slidably connected to it. The lower clamping cylinder is located on the outside of the lower clamping fixtures. The two ends of the clamping control rod are respectively connected to the output end of the lower clamping cylinder and the lower clamping fixture away from the lower clamping cylinder. The lower clamping cylinder controls the opening and closing of the lower clamping fixture by controlling the extension and retraction of the clamping control rod. The lower clamping fixture is slidably connected to the lower clamping mounting plate, allowing the lower clamping fixture to open and close under the control of the lower clamping cylinder and the clamping control rod. Simultaneously, the clamping force can be evenly distributed on the lower clamping fixture, avoiding localized stress concentration caused by uneven clamping force, thereby reducing deformation and damage to the target component during processing or inspection.

[0013] As can be seen from the above technical solution, this utility model has the following beneficial effects:

[0014] 1. This utility model provides a multi-degree-of-freedom steering knuckle clamping device, which achieves stable clamping of each rotating shaft in the multi-degree-of-freedom steering knuckle by using two rotatable side clamping components in conjunction with the upper clamping component, thereby improving production efficiency.

[0015] 2. This utility model provides a multi-degree-of-freedom steering knuckle clamping device, which greatly improves the versatility of clamping by setting the side clamping components to have adjustable height and clamping width. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom steering knuckle clamping device according to the present invention;

[0017] Figure 2 This is a schematic diagram of the side clamping assembly in a multi-degree-of-freedom steering knuckle clamping device according to the present invention;

[0018] Figure 3 This is a schematic diagram of the transmission component in a multi-degree-of-freedom steering knuckle clamping device according to the present invention (several baffles around the transmission component are hidden).

[0019] Figure 4 This is a schematic diagram of the upper clamping assembly in a multi-degree-of-freedom steering knuckle clamping device according to the present invention;

[0020] Figure 5 This is a schematic diagram of the horizontal adjustment component in a multi-degree-of-freedom steering knuckle clamping device according to the present invention (the upper clamping mounting plate is hidden).

[0021] Figure 6This is a schematic diagram of the lower clamping assembly in a multi-degree-of-freedom steering knuckle clamping device according to the present invention;

[0022] In the picture:

[0023] 1-Bracket; 11-Linear guide rail;

[0024] 2-Side clamping assembly; 21-Mounting bracket; 22-Rotary motor; 23-Transmission assembly; 24-Side clamping assembly; 231-Driving gear; 232-Rotating shaft; 233-Driven gear; 241-Double-rod cylinder; 242-First clamp; 243-Clamping width adjusting cylinder; 244-Second clamp; 2421-Contouring chuck;

[0025] 3-Upper clamping assembly; 31-Upper clamping mounting plate; 32-Horizontal adjustment assembly; 33-Height adjustment assembly; 34-Lower clamping assembly; 321-Height adjustment mounting plate; 322-Horizontal adjustment cylinder; 323-Horizontal drive plate; 331-Height adjustment plate; 332-Telescopic rod; 333-Height adjustment cylinder; 341-Lower clamping mounting plate; 342-Lower clamping fixture; 343-Lower clamping cylinder; 344-Clamping control rod. Detailed Implementation

[0026] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. Example

[0027] In this embodiment, as Figures 1 to 6This utility model discloses a multi-degree-of-freedom steering knuckle clamping device, including a bracket 1, a set of side clamping components 2, and an upper clamping component 3; the side clamping components 2 are disposed on one side of the bracket 1; the side clamping components 2 are connected to the bracket 1 through a linear guide rail 11, and the height is adjusted by the linear guide rail 11; the side clamping components 2 include a mounting frame 21, a rotary motor 22, a transmission component 23, and a side clamping component 24; the mounting frame 21 is mounted on the slider of the linear guide rail 11; the rotary motor 22 and the side clamping component 24 are respectively disposed on both sides of the mounting frame 21; the rotary motor 22 is connected to the side clamping component 24 through the transmission component 23. 4. The side clamping assembly 24 is rotated by a rotary motor 22; the upper clamping assembly 3 is located on the upper part of the bracket 1; the upper clamping assembly 3 includes an upper clamping mounting plate 31, a horizontal adjustment assembly 32, a height adjustment assembly 33, and a lower clamping assembly 34; the upper clamping mounting plate 31 is located on the upper part of the bracket 1; the horizontal adjustment assembly 32 is located on the upper clamping mounting plate 31; the height adjustment assembly 33 is located on the horizontal adjustment assembly 32; the lower clamping assembly 34 is located below the height adjustment assembly 33; the horizontal adjustment assembly 32 and the height adjustment assembly 33 cooperate to adjust the position of the lower clamping assembly 34.

[0028] Specifically, bracket 1 can be installed on a workbench, with equipment for processing steering knuckles on the side; in use, for the multiple rotating shafts of the multi-degree-of-freedom steering knuckle, the upper clamping assembly 3 and the side clamping assembly 2 clamp the multiple rotating shafts of the steering knuckle in sequence, thereby realizing subsequent processing.

[0029] Specifically, high-precision position sensors can be installed on the linear guide rail 11, the horizontal adjustment component 32, and the height adjustment component 33 to monitor the position status of each component in real time and transmit the signals to an external feedback control system, thereby achieving precise and automated position adjustment and control.

[0030] Specifically, an emergency stop button can be integrated to ensure that the clamping action can be stopped quickly in abnormal situations, protecting the safety of the equipment and operators.

[0031] In particular, the rotary motor 22 can preferably be an adjustable speed motor.

[0032] In this embodiment, as Figures 1 to 3The side clamping assembly 24 includes a double-rod cylinder 241, a set of first clamps 242, a set of clamping width adjusting cylinders 243, and a set of second clamps 244. The double-rod cylinder 241 is connected to the output end of the rotary motor 22 via a transmission assembly 23. The first clamps 242 are respectively located at the output ends on both sides of the double-rod cylinder 241 and are controlled by the double-rod cylinder 241 to open and close. The clamping width adjusting cylinder 243 is located outside the first clamps 242, and its output stroke direction is perpendicular to the clamping surface of the first clamps 242. The second clamps 244 are located at the output end of the clamping width adjusting cylinder 243. The second clamps 244 are arranged parallel to the first clamps 242 on the same side.

[0033] Specifically, force sensors can be installed on the first clamp 242 and the second clamp 244 to monitor the clamping force in real time. Through force feedback control, the driving force of the double-rod cylinder 241 can be automatically adjusted to ensure that the clamping force is within a safe range and to avoid damage to the steering knuckle shaft. In addition, an overload protection device can be added between the double-rod cylinder 241 and the first clamp 242 to prevent equipment damage caused by excessive clamping force.

[0034] In this embodiment, as Figures 1 to 3 The transmission assembly 23 includes a drive gear 231, a rotating shaft 232, and a driven gear 233; the drive gear 231 is located at the output end of the rotary motor 22; the rotating shaft 232 passes through the mounting bracket 21 and is connected to the double-rod cylinder 241; the driven gear 233 is provided at the end of the rotating shaft 232 away from the double-rod cylinder 241; the drive gear 231 meshes with the driven gear 233.

[0035] Specifically, a position sensor can be installed on the driven gear 233 or the rotating shaft 232 to monitor the rotation angle and position of the rotating shaft 232 in real time; through sensor feedback, precise motion control can be achieved to ensure precise control of the rotation angle.

[0036] In this embodiment, as Figures 1 to 3 The clamping ends of the first clamp 242 and the second clamp 244 are both provided with contour chucks 2421.

[0037] Specifically, soft materials such as rubber or polyurethane can be added to the clamping surface of the conformal chuck 2421 to reduce damage to the surface of the steering knuckle shaft and increase the clamping friction.

[0038] In this embodiment, as Figure 1 , Figure 4 and Figure 5The horizontal adjustment assembly 32 includes a height adjustment mounting plate 321, a horizontal adjustment cylinder 322, and a horizontal driving plate 323; the height adjustment mounting plate 321 is slidably connected to the upper clamping mounting plate 31; the horizontal adjustment cylinder 322 is disposed on the upper clamping mounting plate 31 and is located between the upper clamping mounting plate 31 and the height adjustment mounting plate 321; the height adjustment mounting plate 321 is provided with the horizontal driving plate 323; the horizontal driving plate 323 is connected to the output end of the horizontal adjustment cylinder 322.

[0039] Specifically, the upper clamping mounting plate 31 has a set of slide rails on one side near the height adjustment mounting plate 321; the height adjustment mounting plate 321 has several sliders on one side near the upper clamping mounting plate 31; the slide rails and sliders are slidably connected, thereby realizing the sliding connection between the height adjustment mounting plate 321 and the upper clamping mounting plate 31; when adjustment is required, since the horizontal adjustment cylinder 322 is located on the upper clamping mounting plate 31, and the output end of the upper clamping mounting plate 31 is connected to the horizontal driving plate 323 on the height adjustment mounting plate 321, the relative sliding between the height adjustment mounting plate 321 and the upper clamping mounting plate 31 is realized.

[0040] In this embodiment, as Figure 1 , Figure 4 and Figure 5 The height adjustment assembly 33 includes a height adjustment plate 331, a set of telescopic rods 332, and a set of height adjustment cylinders 333; the height adjustment plate 331 is slidably connected to the height adjustment mounting plate 321; the telescopic rods 332 are vertically arranged along both sides of the height adjustment plate 331, and both ends are respectively connected to the height adjustment mounting plate 321 and the side of the height adjustment plate 331; the height adjustment cylinders 333 are disposed on the telescopic rods 332 and can control the extension and retraction of the telescopic rods 332.

[0041] Specifically, a set of slide rails is provided on one side of the height adjustment plate 331 near the height adjustment mounting plate 321 along the vertical direction; a plurality of sliders are provided on one side of the height adjustment mounting plate 321 near the height adjustment plate 331; the slide rails and sliders are slidably connected, thereby realizing the sliding connection between the height adjustment plate 331 and the height adjustment mounting plate 321; when moving, the height adjustment cylinder 333 controls the extension and retraction of the telescopic rod 332, thereby realizing the relative sliding between the height adjustment plate 331 and the height adjustment mounting plate 321.

[0042] Specifically, linear bearing cylinders are preferred for the height adjustment cylinder 333.

[0043] In this embodiment, as Figure 5 and Figure 6The lower clamping assembly 34 includes a lower clamping mounting plate 341, a set of lower clamping fixtures 342, a lower clamping cylinder 343, and a clamping control rod 344. The lower clamping mounting plate 341 is located below the height adjustment plate 331. The lower clamping fixtures 342 are located on both sides below the lower clamping mounting plate 341 and are slidably connected to the lower clamping mounting plate 341. The lower clamping cylinder 343 is located outside the lower clamping fixtures 342. The two ends of the clamping control rod 344 are respectively connected to the output end of the lower clamping cylinder 343 and the lower clamping fixtures 342 away from the lower clamping cylinder 343. The lower clamping cylinder 343 controls the opening and closing of the lower clamping fixtures 342 by controlling the extension and retraction of the clamping control rod 344.

[0044] Specifically, the lower supporting mounting plate 341 is provided with a set of slide rails at its lower end; the lower supporting clamp 342 is provided with a plurality of sliders at its upper end; the sliders are slidably connected to the slide rails, thereby realizing the slidable connection between the lower supporting clamp 342 and the lower supporting mounting plate 341; when clamping, the lower clamping cylinder 343 drives the clamping control rod 344 to extend and retract, causing the lower supporting clamp 342 and the lower supporting mounting plate 341 to slide relative to each other, thereby realizing clamping.

[0045] The working principle of the above embodiments is as follows:

[0046] This utility model discloses a multi-degree-of-freedom steering knuckle clamping device. In use, for the multiple rotating axes of the multi-degree-of-freedom steering knuckle, the horizontal adjustment cylinder 322 and the height adjustment cylinder 333 adjust the spatial position of the lower clamping component 34 so that the lower clamping clamp 342 moves to one of the rotating axes of the steering knuckle, and the lower clamping cylinder 343 drives the clamping control rod 344 to achieve the lower clamping clamp 342 clamping it.

[0047] Then, depending on the number of rotation axes of the steering knuckle, it is determined whether to use one or two side clamping components 2; when there are two rotation axes of the steering knuckle, only one side clamping component 2 needs to be called; if there are three rotation axes of the steering knuckle, both side clamping components 2 need to be called.

[0048] The horizontal adjustment cylinder 322 and the height adjustment cylinder 333 adjust the height of the steering knuckle; the linear guide rail 11 adjusts the height of the side clamping assembly 2; the rotary motor 22 adjusts the horizontal angle of the double-rod cylinder 241 through the transmission assembly 23; the clamping width adjustment cylinder 243 drives the second clamp 244 to adjust the clamping width; the double-rod cylinder 241 drives the first clamp 242 to close, and at the same time drives the second clamp 244 to close to complete the clamping.

[0049] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present utility model, and these improvements should also be considered within the protection scope of the present utility model.

Claims

1. A multi-degree of freedom knuckle clamping device, characterized by: include: A bracket (1) and a set of side clamping components (2) are provided on one side of the bracket (1); the side clamping components (2) are connected to the bracket (1) through a linear guide rail (11) and the height is adjusted by the linear guide rail (11); The side clamping assembly (2) includes a mounting bracket (21), a rotary motor (22), a transmission assembly (23), and a side clamping assembly (24). The mounting bracket (21) is mounted on the slider of the linear guide rail (11); the rotary motor (22) and the side clamping assembly (24) are respectively located on both sides of the mounting bracket (21); the rotary motor (22) is connected to the side clamping assembly (24) through the transmission assembly (23), and the side clamping assembly (24) is controlled by the rotary motor (22) to rotate; Upper clamping assembly (3), the upper clamping assembly (3) is disposed on the upper part of the bracket (1); The upper clamping assembly (3) includes an upper clamping mounting plate (31), a horizontal adjustment assembly (32), a height adjustment assembly (33), and a lower clamping assembly (34). The upper clamping mounting plate (31) is located on the upper part of the bracket (1); the horizontal adjustment component (32) is located on the upper clamping mounting plate (31); the height adjustment component (33) is located on the horizontal adjustment component (32); the lower clamping component (34) is located below the height adjustment component (33); the horizontal adjustment component (32) and the height adjustment component (33) cooperate to realize the position adjustment of the lower clamping component (34).

2. The multi-degree of freedom knuckle clamping device of claim 1, wherein: The side clamping assembly (24) includes a double-rod cylinder (241), a set of first clamps (242), a set of clamping width adjusting cylinders (243), and a set of second clamps (244). The double-rod cylinder (241) is connected to the output end of the rotary motor (22) via the transmission assembly (23); the first clamp (242) is respectively located at the output ends on both sides of the double-rod cylinder (241) and is controlled by the double-rod cylinder (241) to open and close; the clamping width adjusting cylinder (243) is located outside the first clamp (242) and its output stroke direction is perpendicular to the clamping surface of the first clamp (242); the second clamp (244) is located at the output end of the clamping width adjusting cylinder (243); the second clamp (244) is set parallel to the first clamp (242) on the same side.

3. The multi-DOF knuckle gripping device of claim 2, wherein: The transmission assembly (23) includes a driving gear (231), a rotating shaft (232), and a driven gear (233). The driving gear (231) is located at the output end of the rotary motor (22); the rotating shaft (232) passes through the mounting bracket (21) and is connected to the double-rod cylinder (241); the end of the rotating shaft (232) away from the double-rod cylinder (241) is provided with a driven gear (233); the driving gear (231) meshes with the driven gear (233).

4. The multi-degree of freedom knuckle clamping device of claim 2, wherein: The clamping ends of the first clamp (242) and the second clamp (244) are both provided with a contour chuck (2421).

5. The multi-degree of freedom knuckle clamping device of claim 1, wherein: The horizontal adjustment assembly (32) includes a height adjustment mounting plate (321), a horizontal adjustment cylinder (322), and a horizontal drive plate (323); The height adjustment mounting plate (321) is slidably connected to the upper clamping mounting plate (31); the horizontal adjustment cylinder (322) is located on the upper clamping mounting plate (31) and between the upper clamping mounting plate (31) and the height adjustment mounting plate (321); the height adjustment mounting plate (321) is provided with a horizontal driving plate (323); the horizontal driving plate (323) is connected to the output end of the horizontal adjustment cylinder (322).

6. The multi-degree of freedom knuckle clamping device of claim 5, wherein: The height adjustment assembly (33) includes a height adjustment plate (331), a set of telescopic rods (332), and a set of height adjustment cylinders (333). The height adjustment plate (331) is slidably connected to the height adjustment mounting plate (321); the telescopic rod (332) is vertically arranged along both sides of the height adjustment plate (331), and its two ends are respectively connected to the height adjustment mounting plate (321) and the side of the height adjustment plate (331); the height adjustment cylinder (333) is provided on the telescopic rod (332) and can control the extension and retraction of the telescopic rod (332).

7. The multi-degree of freedom knuckle clamping device of claim 6, wherein: The lower clamping assembly (34) includes a lower clamping mounting plate (341), a set of lower clamping clamps (342), a lower clamping cylinder (343), and a clamping control rod (344). The lower holding mounting plate (341) is located below the height adjustment plate (331); the lower holding clamp (342) is located on both sides below the lower holding mounting plate (341) and is slidably connected to the lower holding mounting plate (341); the lower clamping cylinder (343) is located outside the lower holding clamp (342); the two ends of the clamping control rod (344) are respectively connected to the output end of the lower clamping cylinder (343) and the lower holding clamp (342) away from the lower clamping cylinder (343); the lower clamping cylinder (343) controls the opening and closing of the lower holding clamp (342) by controlling the extension and retraction of the clamping control rod (344).

Images