A part clamping device and a part processing system

Abstract

The utility model relates to a kind of part clamping device and part processing system, part clamping device includes base unit, several multi-dimensional adjusting units, fixed unit, cross-rail unit, cross clamping unit, several first driving units and second driving units.Its advantage is that, by setting multi-dimensional adjusting unit structure makes the height and angle of fixed unit can adapt to demand adjustment, and cross clamping unit moving range expands, to change original single fixture, realized from the technical leap of "rigid fixation" to "self-adapting clamping", by mechanical structure innovation and intelligent control fusion, with multiple sensing units, greatly improve overall equipment efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of part clamp, especially a part clamping device and part processing system. BACKGROUND

[0002] Clamp is one of the core process equipment of manufacturing industry, especially in the field of machining, its performance directly determines the quality, precision and production efficiency of product. The clamp fixes, supports and protects the workpiece through positioning, so that it always keeps stable in the process of machining, assembling or detecting, to resist cutting force, vibration and thermal deformation, thereby ensuring the consistency of product and the safety of machining process.

[0003] In the field of semiconductor manufacturing, this requirement is more stringent. Therefore, the clamp for semiconductor machining not only needs to provide ultra-high stability and precision, but also needs to have excellent flexibility and functionality to adapt to the production mode of rapid changeover, multi-variety and small batch.

[0004] However, the clamps for such processing in the prior art mostly have significant defects and cannot fully meet the needs of the semiconductor industry. Specifically: 1. The height of the bottom plate for fixing the workpiece is fixed and cannot be adjusted. This results in that the clamp can only be adapted to a specific type of machine tool or machining center, and lacks basic adaptability to equipment with different strokes or process requirements that require different clamping heights.

[0005] 2. The angle of the bottom plate for fixing the workpiece is fixed and cannot be adjusted. Semiconductor workpieces usually need to be processed in multiple surfaces and complex angles. The existing clamp cannot dynamically adjust the clamping angle, forcing the process to be interrupted and the workpiece to be disassembled and clamped on a special angle jig.

[0006] 3. The clamping size range is too limited. The existing clamp has limited clamping mechanism stroke and can only adapt to a very narrow range of workpiece sizes. When the product model changes, the existing clamp often cannot be fully compatible and is difficult to adapt to complex curved part machining.

[0007] 4. Lack of process monitoring, such as weighing. In semiconductor processing, the weight of the workpiece can be a key process parameter and quality criterion. For example, by measuring the weight before and after processing, the cutting amount can be indirectly monitored, the micro features can be detected whether they are processed in place, or whether there are defects. The existing clamp lacks such data acquisition function.

[0008] 5. Low degree of automation, relying on manual intervention. The existing clamp has no ability to automatically replace the workpiece. The entire feeding and discharging process highly depends on manual operation, which is not only inefficient and costly.

[0009] In summary, no effective solutions have yet been proposed to address the issues of adaptability, flexibility, versatility, intelligence, and automation in the relevant technologies. Utility Model Content

[0010] The purpose of this utility model is to address the shortcomings of the existing technology by providing a part clamping device and part processing system to solve the problems of traditional fixtures, such as difficulty in adapting to the clamping height of different machine tools and processes, inability to dynamically adjust the processing angle, limited clamping size range leading to poor versatility, lack of process monitoring, and inability to automatically change workpieces.

[0011] To achieve the above objectives, the technical solution adopted by this utility model is as follows: In a first aspect, a part clamping device is provided, comprising: Base unit; A plurality of multidimensional adjustment units are movably disposed on the top of the base unit; A fixing unit is disposed on top of several multi-dimensional adjustment units and is used to support parts and adjust their height and angle under the action of the multi-dimensional adjustment units. A cross track unit is disposed at the top of the fixed unit and along the diagonal of the fixed unit; A cross clamping unit is movably disposed on the cross track unit and is used to reciprocate along the cross track unit to clamp or release parts; A plurality of first driving units are disposed inside the base unit and are respectively connected to the bottom end of the corresponding multi-dimensional adjustment unit for driving the corresponding multi-dimensional adjustment unit to reciprocate on the base unit. The second drive unit is disposed inside the fixed unit and connected to the cross clamping unit, and is used to drive the cross clamping unit to reciprocate within the cross track unit.

[0012] In some embodiments, the base unit includes: First base component; A second base element is disposed at the top of the first base element; A receiving element is disposed at the top of the second base element for accommodating a plurality of the first drive units and for allowing the bottom ends of the plurality of multidimensional adjustment units to move. A plurality of first limiting elements are distributed on the top of the receiving element and are slidably connected to the first end of the bottom of the corresponding multidimensional adjustment unit, for limiting the movement direction of the corresponding multidimensional adjustment unit. A plurality of first rotating elements are distributed at the top of the receiving element and located on the side of the corresponding first limiting element, and are respectively rotatably connected to the second end of the bottom end of the corresponding multidimensional adjustment unit.

[0013] In some embodiments, the multidimensional adjustment unit includes: A first knotting element is movably disposed on the top of the base unit; The second winch element is movably disposed at the bottom of the fixed unit, and the bottom end of the second winch element is rotatably connected to the bottom end of the first winch element. The first sliding element is disposed at the first end of the bottom end of the first winch element and is connected to the corresponding first driving unit and slidably connected to the base unit, for reciprocating along the base unit under the action of the first driving unit; The second rotating element is disposed at the second end of the bottom end of the first winch element and is rotatably connected to the base unit; The second sliding element is disposed at the first end of the top of the second winch element and is slidably connected to the fixed unit; The third rotating element is disposed at the second end of the top of the second winch element and is rotatably connected to the fixed unit.

[0014] In some embodiments, the multidimensional adjustment unit further includes: At least one connecting winch element is disposed between the corresponding first winch element and the second winch element.

[0015] In some embodiments, the fixing unit includes: A fixing element is disposed at the top of a plurality of multi-dimensional adjustment units, the second driving unit is disposed inside the fixing element, and the top of the fixing element is disposed at the cross track unit and the cross clamping unit; A plurality of second limiting elements are disposed at the bottom end of the fixed element and are slidably connected to the first end of the top end of the corresponding multidimensional adjustment unit, for limiting the movement direction of the multidimensional adjustment unit; A plurality of fourth rotating elements are disposed at the bottom end of the fixed element and located on the side of the corresponding second limiting element, and are respectively rotatably connected to the second end of the top of the multidimensional adjustment unit.

[0016] In some embodiments, the cross-track unit includes: Four track elements are respectively disposed at the top of the fixing unit and arranged along the diagonal of the fixing unit, and the four track elements are slidably connected to the cross clamping unit.

[0017] In some embodiments, the cross-clamping unit includes: Four clamping elements are movably disposed on the cross track unit along the diagonal of the fixed unit, and are used to reciprocate along the cross track unit to clamp or release parts. Four transmission elements are connected to the corresponding clamping elements and the second drive unit respectively, and are used to drive the corresponding clamping elements to reciprocate along the cross track unit under the action of the second drive unit.

[0018] In some embodiments, the first driving unit includes: A first driving element is disposed at the top of the base unit; A first connecting element is connected to the first driving element and the first end of the bottom of the corresponding multidimensional adjustment unit, respectively, and is used to drive the first end of the bottom of the multidimensional adjustment unit to reciprocate in the horizontal direction under the action of the first driving element.

[0019] In some embodiments, the second driving unit includes: A second driving element is disposed inside the fixing unit; A first rotating element is disposed inside the fixed unit and connected to the second driving element, for rotating under the action of the second driving element; The second rotating element is disposed inside the fixed unit and coaxially arranged with the first rotating element, and is used to rotate with the first rotating element. The first movable element is disposed inside the fixed unit and surrounds the second rotating element, and is used to rotate with the second rotating element; The fourth movable element is disposed inside the fixed unit and is movably connected to the corresponding first movable element, for reciprocating motion along the first movable element; The third movable element is connected to the corresponding second movable element and the cross clamping unit, and is used to drive the cross clamping unit to reciprocate along the cross track unit under the action of the second movable element.

[0020] In some embodiments, the part clamping device further includes: A weight detection unit is disposed in the fixed unit and is used to detect the weight of the parts placed in the fixed unit.

[0021] Secondly, a parts processing system is provided, comprising: The part clamping device as described in the first aspect.

[0022] In some of these embodiments, it also includes: A robotic arm device is disposed on the side of the part clamping device and is used to transfer the part to be processed to the part clamping device or to transfer the processed part from the part clamping device to the next process.

[0023] In some embodiments, the robotic arm device includes: An arm component, which is connected to a base unit, is used for multi-degree-of-freedom movement; A gripping element used for workpiece replacement and positioning.

[0024] The present invention adopts the above technical solution and has the following technical effects compared with the prior art: 1) This utility model, by setting a multi-dimensional adjustment unit structure, enables the height and angle of the fixed unit to be adjusted to meet the requirements, and expands the range of movement of the clamping part on the fixed unit. This changes the original single fixture, enabling it to quickly adapt to the processing requirements of different machine tools, different clamping heights, different workpiece sizes, and complex multi-angle machining processes without changing the fixture or interrupting the process. It significantly improves the versatility of the fixture, realizes the technological leap from "rigid fixing" to "adaptive clamping", and provides a highly compatible clamping solution for flexible manufacturing systems. 2) This utility model integrates mechanical structure innovation with intelligent control. It is equipped with multiple sensing units, which can sense and weigh the processed workpiece, realize automatic leveling of the load, dynamic compensation of clamping force and weight data traceability. It is also equipped with sorting components to realize quick replacement and positioning of workpieces, which greatly improves the overall equipment efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a parts clamping device according to an embodiment of the present utility model; Figure 2 This is a schematic diagram of the base unit according to an embodiment of the present utility model; Figure 3 This is a schematic diagram of a multi-dimensional adjustment unit according to an embodiment of the present utility model; Figure 4This is a schematic diagram of the fixed unit and the cross track unit according to an embodiment of the present utility model; Figure 5 This is a schematic diagram of a cross-clamping unit according to an embodiment of the present utility model; Figure 6 This is a schematic diagram of the first driving unit according to an embodiment of the present utility model; Figure 7 This is a schematic diagram of the second driving unit according to an embodiment of the present utility model; Figure 8 This is a schematic diagram of a parts processing system according to an embodiment of the present utility model; Figure 9 This is a schematic diagram of a robotic arm device according to an embodiment of the present utility model.

[0026] The reference numerals in the attached figures are: 100. Parts clamping device; 110. Base unit; 111. First base element; 112. Second base element; 113. Receiving element; 114. First limiting element; 115. First rotating element; 120. Multi-dimensional adjustment unit; 121. First winch element; 122. Second winch element; 123. First sliding element; 124. Second rotating element; 125. Second sliding element; 126. Third rotating element; 130. Fixing unit; 131. Fixing element; 132. Second limiting element; 133. Fourth rotating element; 140. Cross track unit; 141. Track element; 150. Cross clamping unit; 151. Clamping element; 152. Transmission element; 160. First drive unit; 161. First drive element; 162. First connecting element; 170. Second drive unit; 171. Second drive element; 172. First rotating element; 173. Second rotating element; 174. First movable element; 175. Second movable element; 176. Third movable element; 200. Robotic arm device; 201. Arm component; 202. Gripping component. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0028] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0029] In this application, the reference to "embodiment" means that a specific 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 in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0030] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units (elements) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or apparatus. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms “multiple” / “several” used in this application refer to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can indicate: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0031] Example 1 This utility model relates to a parts clamping device.

[0032] An illustrative embodiment of this utility model, such as Figure 1 As shown, a part clamping device 100 includes a base unit 110, several multi-dimensional adjustment units 120, a fixing unit 130, a cross track unit 140, a cross clamping unit 150, several first drive units 160, and a second drive unit 170. Among them, a plurality of multi-dimensional adjustment units 120 are movably disposed on the top of the base unit 110; a fixing unit 130 is disposed on the top of the plurality of multi-dimensional adjustment units 120, and is used to support parts and adjust the height and angle under the action of the multi-dimensional adjustment units 120; a cross track unit 140 is disposed on the top of the fixing unit 130 and is arranged along the diagonal of the fixing unit 130; a cross clamping unit 150 is movably disposed on the cross track unit 140, and is used to reciprocate along the cross track unit 140 to clamp or release parts; a plurality of first drive units 160 are disposed inside the base unit 110 and are respectively connected to the bottom end of the corresponding multi-dimensional adjustment unit 120, and are used to drive the corresponding multi-dimensional adjustment unit 120 to reciprocate on the base unit 110; a second drive unit 170 is disposed inside the fixing unit 130 and is connected to the cross clamping unit 150, and is used to drive the cross clamping unit 150 to reciprocate within the cross track unit 140.

[0033] In this invention, the number of first drive units 160 is equal to the number of multi-dimensional adjustment units 120.

[0034] In this invention, the number of multi-dimensional adjustment units 120 is two or four. If there are two multi-dimensional adjustment units 120, the two multi-dimensional adjustment units 120 are arranged symmetrically. If there are four multi-dimensional adjustment units 120, the four multi-dimensional adjustment units 120 are arranged in a ring around each other.

[0035] like Figure 2 As shown, the base unit 110 includes a first base element 111, a second base element 112, a receiving element 113, two first limiting elements 114, and two first rotating elements 115. The second base element 112 is disposed at the top of the first base element 111; the receiving element 113 is disposed at the top of the second base element 112, for housing a plurality of first driving units 160 and for allowing the bottom ends of a plurality of multi-dimensional adjustment units 120 to move; the plurality of first limiting elements 114 are distributed at the top of the receiving element 113 and are slidably connected to the first end of the bottom end of the corresponding multi-dimensional adjustment unit 120, for limiting the movement direction of the corresponding multi-dimensional adjustment unit 120; the plurality of first rotating elements 115 are distributed at the top of the receiving element 113 and located on the side of the corresponding first limiting elements 114, and are rotatably connected to the second end of the bottom end of the corresponding multi-dimensional adjustment unit 120.

[0036] In this invention, the first base element 111 has a rectangular cross-section. Alternatively, the first base element 111 may also adopt other shapes that provide a stable bottom surface and facilitate a secure connection with the second base element 112.

[0037] In some of these embodiments, the first base element 111 includes, but is not limited to, a fixed base.

[0038] In this invention, the cross-section of the second base element 112 is rectangular. Preferably, the cross-section of the second base element 112 is square.

[0039] In this utility model, the second base element 112 is fixedly connected to the first base element 111, including but not limited to welding, integral molding, etc.

[0040] In this invention, the second base element 112 is disposed at the center of the first base element 111.

[0041] In this invention, the length of the second base element 112 is not greater than the length of the first base element 111, and the width of the second base element 112 is not greater than the width of the first base element 111. Generally, the length of the second base element 112 is less than the length of the first base element 111, and the width of the second base element 112 is less than the width of the first base element 111.

[0042] In some of these embodiments, the second base element 112 includes, but is not limited to, a mounting base.

[0043] The receiving element 113 is formed at the top of the second base element 112. Generally, it is formed by machining methods (such as stamping).

[0044] In this invention, the cross-section of the receiving element 113 is rectangular.

[0045] In this invention, the receiving element 113 is disposed at the center of the second base element 112.

[0046] In this invention, the length of the receiving element 113 is less than the length of the second base element 112, and the width of the receiving element 113 is less than the width of the second base element 112.

[0047] In some of these embodiments, the receiving element 113 includes, but is not limited to, a mounting groove, a receiving groove, etc.

[0048] In this invention, the number of first limiting elements 114 is equal to the number of multidimensional adjustment units 120.

[0049] In this invention, the number of first limiting elements 114 is two or four. If the number of first limiting elements 114 is two, the two first limiting elements 114 are symmetrically arranged on the top of the second base element 112. If the number of first limiting elements 114 is four, the four first limiting elements 114 are arranged around the top of the second base element 112.

[0050] In this utility model, the first limiting element 114 and the second base element 112 are fixedly connected or detachably connected, including but not limited to welding, bolt connection, etc.

[0051] In some embodiments, the first limiting element 114 includes a first limiting plate and a first limiting groove. The first limiting plate is disposed at the top of the second base element 112; the first limiting groove passes through the first limiting plate and is slidably connected to the first end of the bottom of the multi-dimensional adjustment unit 120, for allowing the bottom of the multi-dimensional adjustment unit 120 to reciprocate along the first limiting groove.

[0052] In this invention, the number of first rotating elements 115 is equal to the number of multi-dimensional adjustment units 120, which is equal to the number of first limiting elements 114.

[0053] In this invention, the number of first rotating elements 115 is two or four. If the number of first rotating elements 115 is two, the two first rotating elements 115 are symmetrically arranged on the top of the second base element 112. If the number of first rotating elements 115 is four, the four first rotating elements 115 are arranged around the top of the second base element 112.

[0054] In this utility model, the first rotating element 115 and the second base element 112 are fixedly connected or detachably connected, including but not limited to welding, bolt connection, etc.

[0055] In some embodiments, the first rotating element 115 includes a first rotating bracket and a first rotating hole. The first rotating bracket is disposed at the top of the second base element 112; the first rotating hole passes through the first rotating bracket and is rotatably connected to the second end of the bottom of the multi-dimensional adjustment unit 120, for allowing the bottom of the multi-dimensional adjustment unit 120 to rotate along the first rotating hole.

[0056] like Figure 3As shown, the multidimensional adjustment unit 120 includes a first winch element 121, a second winch element 122, a first sliding element 123, a second rotating element 124, a second sliding element 125, and a third rotating element 126. The first winch element 121 is movably disposed on the top of the base unit 110; the second winch element 122 is movably disposed on the bottom of the fixing unit 130, with the bottom end of the second winch element 122 rotatably connected to the bottom end of the first winch element 121; the first sliding element 123 is disposed at the first end of the bottom of the first winch element 121 and is connected to the corresponding first driving unit 160, and is slidably connected to the base unit 110, for reciprocating motion along the base unit 110 under the action of the first driving unit 160; the second rotating element 124 is disposed at the second end of the bottom of the first winch element 121 and is rotatably connected to the base unit 110; the second sliding element 125 is disposed at the first end of the top of the second winch element 122 and is slidably connected to the fixing unit 130; and the third rotating element 126 is disposed at the second end of the top of the second winch element 122 and is rotatably connected to the fixing unit 130.

[0057] Specifically, the first hinge element 121 is movably disposed on the top of the second base element 112; the first sliding element 123 is slidably connected to the first limiting element 114; and the second rotating element 124 is rotatably connected to the first rotating element 115.

[0058] In this utility model, the first winch element 121 includes a first winch member and a second winch member. The bottom end of the first winch member is provided with a first sliding element 123, and the top end of the first winch member is hinged to the second end of the bottom end of the second winch element 122. The bottom end of the second winch member is provided with a second rotating element 124, the middle part of the second winch member is hinged to the middle part of the first winch member, and the top end of the second winch member is hinged to the first end of the bottom end of the second winch element 122.

[0059] In this invention, the second winch element 122 includes a third winch member and a fourth winch member. The third winch member has a second sliding element 125 at its top end and its bottom end hinged to the top end of the second winch member. The fourth winch member has a third rotating element 126 at its top end, its middle portion hinged to the middle portion of the third winch member, and its bottom end hinged to the top end of the first winch member.

[0060] The first sliding element 123 is rotatably connected to the first winch element 121 without separation.

[0061] In this invention, the cross-section of the first sliding element 123 is circular.

[0062] In this invention, the diameter of the first sliding element 123 is approximately equal to the size of the first limiting groove of the first limiting element 114, and the length of the first sliding element 123 is greater than the thickness of the first limiting plate of the first limiting element 114.

[0063] In some of these embodiments, the first sliding element 123 includes, but is not limited to, a sliding post or a sliding rod.

[0064] The second rotating element 124 is rotatably connected to the second winch member of the first winch element 121.

[0065] In some embodiments, the second rotating element 124 includes a first rotating rod, a first anti-detachment component, and a second anti-detachment component. The first rotating rod is rotatably connected to both the first rotating element 115 (first rotating hole) and the second winch element 122. The first anti-detachment component is disposed at the first end of the first rotating rod to prevent separation between the first rotating rod and the first rotating element 115. The second anti-detachment component is disposed at the second end of the first rotating rod to prevent separation between the first rotating rod and the second winch element 122.

[0066] The radial dimension (such as diameter, length, and width) of the first anti-detachment component is greater than the diameter of the first rotating rod.

[0067] The radial dimension (such as diameter, length, and width) of the second anti-detachment component is greater than the diameter of the first rotating rod.

[0068] The second sliding element 125 is rotatably connected to the second winch element 122 without separation.

[0069] In this invention, the cross-section of the second sliding element 125 is circular.

[0070] In some embodiments, the second sliding element 125 includes, but is not limited to, a sliding post or a sliding rod.

[0071] The third rotating element 126 is rotatably connected to the fourth winch member of the second winch element 122.

[0072] In some embodiments, the third rotating element 126 includes a second rotating rod, a third anti-detachment component, and a fourth anti-detachment component. The second rotating rod is rotatably connected to the fixing unit 130 and the fourth winch component, respectively. The third anti-detachment component is disposed at the first end of the third rotating rod to prevent the third rotating rod from separating from the fixing unit 130. The fourth anti-detachment component is disposed at the second end of the third rotating rod to prevent the fourth rotating rod from separating from the fourth winch component.

[0073] The radial dimension (such as diameter, length, and width) of the third anti-detachment component is greater than the diameter of the third rotating rod.

[0074] The radial dimension (such as diameter, length, and width) of the fourth anti-detachment component is greater than the diameter of the third rotating rod.

[0075] Furthermore, the multi-dimensional adjustment unit 120 also includes at least one connecting winch element. The connecting winch element is disposed between the first winch element 121 and the second winch element 122.

[0076] In this invention, the connecting winch element includes a first connecting winch member and a second connecting winch member. The bottom end of the first connecting winch member is hinged to the top end of the second winch member of the first winch element 121, and the top end of the first connecting winch member is hinged to the bottom end of the third winch member of the second winch element 122. The bottom end of the second connecting winch member is hinged to the top end of the first winch member of the first winch element 121, and the top end of the second connecting winch member is hinged to the bottom end of the fourth winch member of the second winch element 122.

[0077] In some embodiments, there are multiple connecting hinge members. These multiple connecting hinge members are hinged together between the first hinge element 121 and the second hinge element 122 to expand the height range of the multidimensional adjustment unit 120.

[0078] like Figure 4 As shown, the fixing unit 130 includes a fixing element 131, a plurality of second limiting elements 132, and a plurality of fourth rotating elements 133. The fixing element 131 is disposed at the top of a plurality of multi-dimensional adjustment units 120, and a second driving unit 170 is disposed inside the fixing element 131. The top of the fixing element 131 is disposed at a cross track unit 140 and a cross clamping unit 150. The plurality of second limiting elements 132 are disposed at the bottom of the fixing element 131 and are slidably connected to the first end of the top of the corresponding multi-dimensional adjustment unit 120, thereby limiting the movement direction of the multi-dimensional adjustment unit 120. The plurality of fourth rotating elements 133 are disposed at the bottom of the fixing element 131 and are located on the side of the corresponding second limiting elements 132, and are rotatably connected to the second end of the top of the multi-dimensional adjustment unit 120.

[0079] Specifically, the fixing element 131 is disposed at the top of a plurality of second hinge elements 122; a plurality of second limiting elements 132 are slidably connected to the corresponding second sliding elements 125 respectively; and a plurality of fourth rotating elements 133 are rotatably connected to the corresponding third rotating elements 126 respectively.

[0080] In this invention, the cross-section of the fixing unit 130 is rectangular, and preferably, the cross-section of the fixing unit 130 is square.

[0081] In this invention, the length of the fixing unit 130 is not greater than the length of the first base element 111, and the width of the fixing unit 130 is not greater than the width of the first base element 111. Generally, the length of the fixing unit 130 is less than the length of the first base element 111, and the width of the fixing unit 130 is less than the width of the first base element 111.

[0082] In this invention, the length of the fixing unit 130 is not greater than the length of the second base element 112, and the width of the fixing unit 130 is not greater than the width of the second base element 112. Generally, the length of the fixing unit 130 is less than or equal to the length of the second base element 112, and the width of the fixing unit 130 is less than or equal to the width of the second base element 112.

[0083] In this utility model, the second limiting element 132 is vertically fixedly connected to the bottom of the fixing unit 130. The fixed connection includes, but is not limited to, welding, integral molding, etc.

[0084] In this invention, the cross-section of the second limiting element 132 is rectangular. Preferably, the cross-section of the second limiting element 132 is a rounded rectangle.

[0085] In this invention, the length of the second limiting element 132 is equal to the length of the first limiting element 114, and the width of the second limiting element 132 is equal to the width of the first limiting element 114.

[0086] Furthermore, the second limiting element 132 includes a second limiting plate and a second limiting groove. The second limiting plate is disposed at the bottom end of the fixing unit 130; the second limiting groove passes through the second limiting plate and is slidably connected to the end of the second hinge element 122 of the multi-dimensional adjustment unit 120 through the second sliding element 125, so as to allow the top end of the multi-dimensional adjustment unit 120 to reciprocate along the second limiting groove.

[0087] In this invention, the thickness of the second limiting plate is less than the length of the second sliding element 125.

[0088] In this invention, the size of the second limiting groove is approximately equal to the diameter of the second sliding element 125.

[0089] In this invention, the length of the second limiting groove is equal to that of the first limiting groove, and the width is greater than the diameter of the second sliding element 125.

[0090] In this invention, the number of second limiting elements 132 is equal to the number of multidimensional adjustment units 120.

[0091] In this invention, the number of second limiting elements 132 is two or four. If there are two second limiting elements 132, the two second limiting elements 132 are symmetrically arranged on the bottom surface of the fixing unit 130. If there are four second limiting elements 132, the four second limiting elements 132 are arranged around the bottom surface of the fixing unit 130.

[0092] In this invention, the number of fourth rotating elements 133 is equal to the number of multi-dimensional adjustment units 120, which is equal to the number of second limiting elements 132.

[0093] In this invention, the number of fourth rotating elements 133 is two or four. If there are two fourth rotating elements 133, they are arranged in parallel and symmetrically at the bottom end of the fixed element 131. If there are four fourth rotating elements 133, they are arranged around the bottom end of the fixed element 131.

[0094] In this utility model, the fourth rotating element 133 is fixedly connected to the fixed element 131 or detachably connected, including but not limited to welding, bolt connection, etc.

[0095] In some embodiments, the fourth rotating element 133 includes a fourth rotating bracket and a fourth rotating hole. The fourth rotating bracket is disposed at the bottom end of the fixed element 131; the fourth rotating hole passes through the fourth rotating bracket and is rotatably connected to the third rotating element 126, for allowing the top end of the second winch element 122 to rotate along the fourth rotating hole.

[0096] like Figure 4 As shown, the cross track unit 140 includes four track elements 141. The four track elements 141 are respectively disposed along the diagonal of the fixing unit 130 at the top of the fixing unit 130, and are slidably connected to the cross clamping unit 150.

[0097] Specifically, the four track elements 141 are respectively arranged at the top of the fixing element 131 along the diagonal of the fixing element 131.

[0098] The track element 141 extends along the diagonal direction of the fixing element 131.

[0099] Generally, the length of the track element 141 is less than the length of the diagonal of the fixing element 131. Preferably, the length of the track element 141 is less than half the length of the diagonal of the fixing element 131. In this invention, the sum of the lengths of the two oppositely arranged track elements 141 is less than the length of the diagonal of the fixing element 131.

[0100] In some of these embodiments, the track element 141 includes, but is not limited to, a linear guide.

[0101] like Figure 5 As shown, the cross clamping unit 150 includes four clamping elements 151 and four transmission elements 152. The four clamping elements 151 are movably disposed on the cross track unit 140 along the diagonal of the fixed unit 130, and are used to reciprocate along the cross track unit 140 to clamp or release parts. The four transmission elements 152 are respectively connected to the corresponding clamping elements 151 and the second drive unit 180, and are used to drive the corresponding clamping elements 151 to reciprocate along the cross track unit 140 under the action of the second drive unit 170.

[0102] Specifically, the four clamping elements 151 are respectively arranged along the diagonal of the fixed element 131 and movably arranged on the four track elements 141 for reciprocating motion along the corresponding track elements 141.

[0103] Specifically, the four clamping elements 151 form a closed shape when they are near the cross track unit 140 for clamping the workpiece.

[0104] In this invention, the clamping element 151 has a rectangular cross-section.

[0105] In this invention, the length of the clamping element 151 is greater than the width of the track element 141, and the thickness of the clamping element 151 is less than the length of the track element 141.

[0106] In this invention, the extending direction of the clamping element 151 is perpendicular to the extending direction of the track element 141.

[0107] In some embodiments, the clamping element 151 includes, but is not limited to, a clamping plate.

[0108] In this utility model, the transmission element 152 and the clamping element 151 are fixedly connected or detachably connected, including but not limited to welding and threaded connection.

[0109] In this invention, the width of the transmission element 152 is slightly smaller than the width of the track element 141, and it is used to move within the track element 141.

[0110] In this invention, the length of the transmission element 152 is less than the length of the clamping element 151, and the width of the transmission element 152 is less than the width of the clamping element 151.

[0111] In some of these embodiments, the transmission element 152 includes, but is not limited to, a transmission block.

[0112] Furthermore, the cross-clamping unit 150 also includes four anti-slip elements. The four anti-slip elements are respectively disposed on the side of the corresponding clamping element 151 to increase the friction between the clamping element 151 and the part.

[0113] In some of these embodiments, the anti-slip elements include, but are not limited to, grooves / raised patterns, granules / bumps, and anti-slip sand / emery.

[0114] like Figure 6 As shown, the first driving unit 160 includes a first driving element 161 and a first connecting element 162. The first driving element 161 is disposed at the top of the base unit 110; the first connecting element 162 is connected to the first driving element 161 and the first end of the bottom of the corresponding multi-dimensional adjustment unit 120, respectively, and is used to drive the first end of the bottom of the multi-dimensional adjustment unit 120 to reciprocate in the horizontal direction under the action of the first driving element 161.

[0115] Specifically, the first driving element 161 is disposed inside the receiving element 113; the first connecting element 162 is connected to the first sliding element 123 and is used to drive the first sliding element 123 to reciprocate along the first limiting element 114.

[0116] The first drive element 161 is detachably connected to the second base element 112, including but not limited to bolt connections.

[0117] In some of these embodiments, the first drive element 161 includes, but is not limited to, a power output device such as a motor, hydraulic cylinder, or pneumatic actuator, and is directly or indirectly connected to the first connecting element 162 via a coupling, drive shaft, or linkage mechanism.

[0118] The first connecting element 162 and the first sliding element 123 reciprocate on the first limiting element 114.

[0119] Generally, the maximum stroke of the first connecting element 162 is greater than the maximum distance between it and the first limiting element 114.

[0120] In this invention, the first connecting element 162 and the first driving element 161 are rigidly connected or flexibly connected, depending on the power source of the first driving unit 160.

[0121] In this invention, when the first driving element 161 is a hydraulic cylinder, the first connecting element 162 is a piston rod.

[0122] In this invention, the first connecting element 162 includes a first connecting rod and a second connecting rod. The first connecting rod is connected to the first driving element 161 and is used to move under the action of the first driving element 161; the second connecting rod is connected to the first sliding element 123 and is movably connected to the first connecting rod, and is used to transmit power to the first sliding element 123 so that it reciprocates in the first limiting element 114.

[0123] like Figure 7As shown, the second drive unit 170 includes a second drive element 171, a first rotating element 172, a second rotating element 173, four first movable elements 174, four second movable elements 175, and four third movable elements 176. The second drive element 171 is disposed inside the fixed unit 130; the first rotating element 172 is disposed inside the fixed unit 130 and connected to the second drive element 171, for rotating under the action of the second drive element 171; the second rotating element 173 is disposed inside the fixed unit 130 and coaxially arranged with the first rotating element 172, for following the first... Rotating element 172 rotates; first movable element 174 is disposed inside fixed unit 130 and surrounds second rotating element 173, for rotating with second rotating element 173; second movable element 175 is disposed inside fixed unit 130 and is movably connected to corresponding first movable element 174, for reciprocating along first movable element 174; third movable element 176 is connected to corresponding second movable element 175 and cross clamping unit 150, for driving cross clamping unit 150 to reciprocate along cross track unit 140 under the action of second movable element 175.

[0124] Specifically, the second driving element 171 is disposed inside the fixed element 131; the four third movable elements 176 are respectively connected to the four transmission elements 152, and are used to drive the transmission elements 152 to reciprocate in the track element 141.

[0125] In some embodiments, the second drive element 171 includes, but is not limited to, a power output device such as a motor, and uses a worm gear and worm to convert the high-speed horizontal rotation of the motor into a low-speed, high-torque vertical rotation, and utilizes self-locking characteristics to ensure the accuracy and stability of the slider position.

[0126] Furthermore, the cross-section of the first rotating element 172 is circular. Preferably, the first rotating element 172 is cylindrical.

[0127] In some of these embodiments, the first rotating element 172 includes, but is not limited to, a rotating column.

[0128] In this invention, the second rotating element 173 is in the shape of a disk.

[0129] In this invention, the diameter of the second rotating element 173 is larger than the diameter of the first rotating element 172, and the height of the second rotating element 173 is smaller than the height of the first rotating element 172.

[0130] In some of these embodiments, the second rotating element 173 includes, but is not limited to, a rotating disk.

[0131] The first movable element 174 and the second rotating element 173 are fixedly connected, including but not limited to welding and integral molding.

[0132] The four first movable elements 174 are arranged around the second rotating element 173. That is, the included angle between any two adjacent first movable elements 174 is 90°.

[0133] In this invention, the first movable element 174 includes a first movable plate and a first movable groove. The first end of the first movable plate is connected to the second rotating element 173; the first movable groove passes through the first movable plate and is movably connected to the second movable element 175.

[0134] In this invention, the second movable element 175 includes a first movable body and a fifth anti-detachment component. The first movable body is movably connected to the first movable groove of the first movable element 174 and connected to the third movable element 176; the fifth anti-detachment component is disposed at the end of the first movable body to prevent the first movable body from separating from the first movable groove.

[0135] Furthermore, the radial dimension (such as diameter, length, or width) of the first movable body is smaller than the width or diameter of the first movable groove.

[0136] Furthermore, the fifth anti-detachment component is located on the upper surface of the first movable groove. The radial dimension (such as diameter, length, and width) of the fifth anti-detachment component is greater than the width or diameter of the first movable groove.

[0137] The third movable element 176 is fixedly connected to the second movable element 175 and the transmission element 152, including but not limited to the third movable plate.

[0138] In this invention, the third movable element 176 has a rectangular cross-section.

[0139] In some of these embodiments, the third movable element 176 includes, but is not limited to, a movable lever.

[0140] Furthermore, the part clamping device 100 also includes a weight detection unit. The weight detection unit is disposed in the fixing unit 130 and is used to detect the weight of the part placed in the fixing unit 130.

[0141] Specifically, the weight detection unit is located on the fixed element 131 in the central area where the ends of the track elements 141 converge.

[0142] In some embodiments, the weight detection unit includes, but is not limited to, a weighing sensor employing the piezoelectric principle, which achieves high-precision weight measurement by sensing changes in electrical signals generated by pressure.

[0143] Furthermore, the part clamping device 100 also includes a strain unit. The strain unit is disposed on the upper surface of the fixing unit 130 and is used to measure stress changes. In this invention, the strain unit is located in the central region where the cross-track units 140 converge, and is used to convert minute mechanical deformation (strain) of the material surface into resistance changes, thereby achieving accurate measurement of physical quantities such as force and stress.

[0144] In this invention, the number of strain units is two or four. If there are two strain units, they are arranged symmetrically. If there are four strain units, adjacent strain units are arranged at 90° to each other.

[0145] In some of these embodiments, the strain element includes, but is not limited to, strain gauges.

[0146] The method of using this utility model is as follows: (a) Adjusting the height of the fixing element 131 The relevant height data are set by the workers before operation. After the corresponding unit receives the information, the first driving element 161 in its housing element 113 will provide power to the first sliding element 123. The first sliding element 123 will slide in the first limiting element 114, thereby driving the first winch element 121 and the second winch element 122, so that the overall height of the entire multi-dimensional adjustment unit 120 rises or falls. After reaching the set height, it stops sliding. At this time, the height of the entire fixed element 131 is changed.

[0147] (ii) Adjusting the angle of fixing element 131 The height data and angle data of the angle transformation are set by the worker before operation. After receiving the information, the corresponding unit changes the height of the two multi-dimensional adjustment units 120. The heights of the two multi-dimensional adjustment units 120 are different, so that the two multi-dimensional adjustment units 120 form a certain height difference, thereby causing the fixed element 131 located on the multi-dimensional adjustment unit 120 to tilt due to the height difference. At this time, the angle of the entire fixed element 131 is transformed.

[0148] (III) Parts machining Processing procedure: The second driving element 171 drives the first rotating element 172, which in turn drives the first movable element 174 on the second rotating element 173 to move. The third movable element 176 is synchronously driven by the second movable element 175 and the first movable element 174, thereby driving the cross clamping unit 150 at the end of the third movable element 176. The cross track unit 140 restricts the workpiece to move from the outside to the inside along the path of the track element 141, clamping the workpiece of different sizes or complex curved surfaces. The multi-dimensional adjustment unit 120 raises and lowers to change the height of the fixed unit 130, forming a height difference to change the angle of the fixed unit 130. After the set height and angle are reached, the workpiece is processed. After processing is completed, the cross clamping unit 150 automatically releases, completing the workpiece processing and placing it in the storage basket.

[0149] (iv) Weighing of parts When the workpiece is placed in the fixing element 131, the cross clamping unit 150 will automatically release. The integrated piezoelectric weighing sensor in the fixing element 131 records and stores the weight data of the workpiece before processing. The workpiece can also be weighed during processing, and there is dynamic compensation for clamping force. The strain gauge can also provide real-time feedback on pressure distribution, realizing dynamic monitoring before, during and after processing and storing the corresponding records for easy subsequent traceability.

[0150] The technical effects of this utility model are as follows: By setting up multi-dimensional adjustment units, the height and angle of the fixed unit can be adjusted to meet the needs, and the movement range of the cross clamping units on the fixed unit is expanded. This changes the original single fixture, enabling it to quickly adapt to the machining requirements of different machine tools, different clamping heights, different workpiece sizes, and complex multi-angle machining processes without changing fixtures or interrupting the process. This significantly improves the versatility of the fixture and realizes a technological leap from "rigid fixing" to "adaptive clamping," providing a highly compatible clamping solution for flexible manufacturing systems. Through the integration of mechanical structure innovation and intelligent control, multiple weight detection units and strain gauges are set up to sense and weigh the workpiece being processed, realizing automatic leveling of the load, dynamic compensation of clamping force, and weight data traceability.

[0151] Example 2 This embodiment is a modified embodiment of Embodiment 1. The difference between this embodiment and Embodiment 1 is that the number of multi-dimensional adjustment units 120 is different. Specifically, in this utility model, the number of multi-dimensional adjustment units 120 is four.

[0152] The usage method of this embodiment is as follows: (a) Changes in altitude and angle for east, south, west, and north: Adjust the height of the multi-dimensional adjustment unit 120 in the corresponding direction to obtain the height change in the corresponding direction; adjust the height in the corresponding direction and the height of the multi-dimensional adjustment unit 120 in the other three directions to form a height difference, and the angle presented is the obtained angle.

[0153] (ii) Angle transformation in the four directions of southeast, southwest, northeast, and northwest Adjust the height of the multi-dimensional adjustment unit 120 in the corresponding two directions to form a height difference with the height of the other two multi-dimensional adjustment units 120, and the angle presented is the obtained angle.

[0154] The technical effects of this embodiment are as follows: while solving the above problems, it adds several more directional adjustments and transformations, making it suitable for processing workpieces that require continuous changes in angle and height, and providing support for omnidirectional processing of complex irregular workpieces.

[0155] Example 3 This embodiment relates to the parts processing system of this utility model.

[0156] An illustrative embodiment of this utility model, such as Figure 8 As shown, a parts processing system includes a parts clamping device 100 as described in Embodiments 1 and 2.

[0157] Furthermore, the parts processing system also includes a robotic arm device 200. The robotic arm device 200 is disposed on the side of the parts clamping device 100 and is used to transfer the parts to be processed to the parts clamping device 100 or to transfer the processed parts from the parts clamping device 100 to the next process.

[0158] like Figure 9 As shown, the robotic arm device 200 includes an arm component 201 and a gripping component 202. The arm component 201 is connected to the base unit 110 and is used for multi-degree-of-freedom movement; the gripping component 202 is connected to the arm component 201 and is used for workpiece replacement and positioning.

[0159] Specifically, the arm component 201 is connected to the first base component 111.

[0160] Specifically, the gripping element 202 is a three-jaw gripping structure, with three fingers of its electric gripper to adapt to gripping different workpieces.

[0161] The method of using this utility model is as follows: Before processing, the joints in the arm component 201 of the robotic arm device 200 interact with each other, causing it to move along a predetermined trajectory in three-dimensional space. When the gripping element 202 is positioned above the workpiece, the electric gripper opens and holds the workpiece stably and without damage. At the same time, the arm component 201 operates again and is precisely placed in the predetermined position according to the trajectory planned by the control system.

[0162] The technical effects of this embodiment are as follows: it can solve the above problems while realizing the rapid replacement and positioning of workpieces, and greatly improve the overall equipment efficiency.

[0163] The above are merely preferred embodiments of the present utility model and are not intended to limit the implementation methods and protection scope of the present utility model. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A part clamping device, characterized in that, include: Base unit; A plurality of multidimensional adjustment units are movably disposed on the top of the base unit; A fixing unit is disposed on top of several multi-dimensional adjustment units and is used to support parts and adjust their height and angle under the action of the multi-dimensional adjustment units. A cross track unit is disposed at the top of the fixed unit and along the diagonal of the fixed unit; A cross clamping unit is movably disposed on the cross track unit and is used to reciprocate along the cross track unit to clamp or release parts; A plurality of first driving units are disposed inside the base unit and are respectively connected to the bottom end of the corresponding multi-dimensional adjustment unit for driving the corresponding multi-dimensional adjustment unit to reciprocate on the base unit. The second drive unit is disposed inside the fixed unit and connected to the cross clamping unit, and is used to drive the cross clamping unit to reciprocate within the cross track unit.

2. The part clamping device according to claim 1, characterized in that, The base unit includes: First base component; A second base element is disposed at the top of the first base element; A receiving element is disposed at the top of the second base element for accommodating a plurality of the first drive units and for allowing the bottom ends of the plurality of multidimensional adjustment units to move. A plurality of first limiting elements are distributed on the top of the receiving element and are slidably connected to the first end of the bottom of the corresponding multidimensional adjustment unit, for limiting the movement direction of the corresponding multidimensional adjustment unit. A plurality of first rotating elements are distributed at the top of the receiving element and located on the side of the corresponding first limiting element, and are respectively rotatably connected to the second end of the bottom end of the corresponding multidimensional adjustment unit.

3. The part clamping device according to claim 1, characterized in that, The multidimensional adjustment unit includes: A first knotting element is movably disposed on the top of the base unit; The second winch element is movably disposed at the bottom of the fixed unit, and the bottom end of the second winch element is rotatably connected to the bottom end of the first winch element. The first sliding element is disposed at the first end of the bottom end of the first winch element and is connected to the corresponding first driving unit and slidably connected to the base unit, for reciprocating along the base unit under the action of the first driving unit; The second rotating element is disposed at the second end of the bottom end of the first winch element and is rotatably connected to the base unit; The second sliding element is disposed at the first end of the top of the second winch element and is slidably connected to the fixed unit; The third rotating element is disposed at the second end of the top of the second winch element and is rotatably connected to the fixed unit.

4. The part clamping device according to claim 3, characterized in that, The multidimensional adjustment unit also includes: At least one connecting winch element is disposed between the corresponding first winch element and the second winch element.

5. The part clamping device according to claim 1, characterized in that, The fixing unit includes: A fixing element is disposed at the top of a plurality of multi-dimensional adjustment units, the second driving unit is disposed inside the fixing element, and the top of the fixing element is disposed at the cross track unit and the cross clamping unit; A plurality of second limiting elements are disposed at the bottom end of the fixed element and are slidably connected to the first end of the top end of the corresponding multidimensional adjustment unit, for limiting the movement direction of the multidimensional adjustment unit; A plurality of fourth rotating elements are disposed at the bottom end of the fixed element and located on the side of the corresponding second limiting element, and are respectively rotatably connected to the second end of the top of the multidimensional adjustment unit.

6. The part clamping device according to claim 1, characterized in that, The cross-track unit includes: Four track elements are respectively disposed at the top of the fixing unit and arranged along the diagonal of the fixing unit, and the four track elements are slidably connected to the cross clamping unit; and / or The cross-clamping unit includes: Four clamping elements are movably disposed on the cross track unit along the diagonal of the fixed unit, and are used to reciprocate along the cross track unit to clamp or release parts; Four transmission elements are connected to the corresponding clamping elements and the second drive unit respectively, and are used to drive the corresponding clamping elements to reciprocate along the cross track unit under the action of the second drive unit.

7. The part clamping device according to claim 1, characterized in that, The first driving unit includes: A first driving element is disposed at the top of the base unit; A first connecting element is connected to the first driving element and the first end of the bottom of the corresponding multi-dimensional adjustment unit, respectively, for driving the first end of the bottom of the multi-dimensional adjustment unit to reciprocate horizontally under the action of the first driving element; and / or The second drive unit includes: A second driving element is disposed inside the fixing unit; A first rotating element is disposed inside the fixed unit and connected to the second driving element, for rotating under the action of the second driving element; The second rotating element is disposed inside the fixed unit and coaxially arranged with the first rotating element, and is used to rotate with the first rotating element. The first movable element is disposed inside the fixed unit and surrounds the second rotating element, and is used to rotate with the second rotating element; The fourth movable element is disposed inside the fixed unit and is movably connected to the corresponding first movable element, for reciprocating motion along the first movable element; The third movable element is connected to the corresponding second movable element and the cross clamping unit, and is used to drive the cross clamping unit to reciprocate along the cross track unit under the action of the second movable element.

8. The part clamping device according to any one of claims 1 to 7, characterized in that, Also includes: A weight detection unit is disposed in the fixed unit and is used to detect the weight of the parts placed in the fixed unit.

9. A parts processing system, characterized in that, include: The part clamping device as described in any one of claims 1 to 8.

10. The parts processing system according to claim 9, characterized in that, Also includes: A robotic arm device is disposed on the side of the part clamping device and is used to transfer the part to be processed to the part clamping device or to transfer the processed part from the part clamping device to the next process.

Images