Multi-process flexible clamping method

Abstract

Provided in the present invention is a multi-process flexible clamping method, which is implemented by using a flexible clamp having a plurality of clamping devices, the clamping devices comprising multi-jaw chucks and multi-process clamping devices. The implementation steps of the multi-process flexible clamping method comprises: S1, comparing the appearance structures of different varieties of workpieces to find out a common feature and determine a unified positioning and clamping mode; S2, unifying a technological standard for the different varieties of workpieces, the required technological standard being determined according to the highest technological standard of different varieties of parts; S3, adjusting the positions of the clamping devices for the workpieces of different specifications; and S4, by means of the control of a digital control program, performing a loading and unloading operation. By adjusting the positions of the clamping devices, the multi-process flexible clamping method provided by the present invention can achieve the technical effect of using the same flexible clamp for machining of different varieties of workpieces, thereby reducing investment costs and risks, and being particularly suitable for early pilot stages.

Description

A multi-process flexible clamping method

[0001] This invention application is a divisional application of the parent application "A flexible clamp". The application number of the parent application is 2023115167730, and the application date is November 15, 2023. Technical Field

[0002] The present invention relates to the technical field of mechanical processing, and in particular to a multi-process flexible clamping method. Background Art

[0003] Currently, there are two common flexible manufacturing methods on the market: FMS and zero-point quick-change. These two methods offer the following combinations: 1. Multiple fixtures for multiple machines / processes; 2. Multiple fixtures for a single machine (parent-child fixtures / zero-point quick-change systems); and 3. Multiple machines sharing a single fixture (traveling pallet / fixtures). These three combinations are implemented only when production capacity planning for multiple products is relatively stable and certain. However, these methods involve high one-time investment costs and carry significant risks. They cannot solve the problem of processing multiple products and processes with a single machine and fixture set, making them particularly unsuitable for early trial production.

[0004] With the continuous development of industrial production technology, clamping devices are indispensable components of mechanical processing. Driven by the development of machine tool technology towards high speed, high efficiency, precision, compound, intelligent and environmental protection, clamping device technology is developing towards high precision, high efficiency, modularity, combination, universality and economy.

[0005] The production characteristics of the modern machinery industry are high variety, small batches, high precision, and rapid updates. This results in the following shortcomings for traditional clamping devices: a. Dedicated clamping devices are uneconomical for small-batch production using advanced processes, but are essential for high-precision, cutting-edge products; b. Current production preparation cycles are long, and clamping devices cannot meet the needs of product updates; c. The rapid pace of product updates means that the use of dedicated clamping devices can lead to backlogs; d. They cannot be applied to multiple processes.

[0006] Summary of the Invention

[0007] In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide a multi-step clamping device, a flexible clamp and a multi-step flexible clamping method, which can solve at least one of the above-mentioned problems.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A multi-process clamping device includes a first clamping part (OP10 clamping part), a second clamping part (OP20 clamping part) and a rotating part;

[0010] Wherein, the OP10 clamping part includes a first pressing assembly (OP10 pressing assembly) and a first cylinder (OP10 cylinder);

[0011] The OP20 clamping part includes a second pressing assembly (OP20 pressing assembly) and a second cylinder (OP20 cylinder);

[0012] The rotating part includes a rotating clamping assembly and a coupling; one side of the coupling is located on the OP10 cylinder body, and the other side is located on the OP20 cylinder body; the rotating clamping assembly passes through the coupling, connects the OP10 clamping part and the OP20 clamping part, and drives the OP20 clamping part to rotate through its own rotation, so as to change the relative position of the OP10 clamping assembly and the OP20 clamping assembly.

[0013] In some embodiments, the rotary clamping assembly includes a rotary clamping transmission unit and a connecting rod; the rotary clamping transmission unit is located in the OP10 cylinder body; the connecting rod passes through the coupling, one end is connected to the rotary clamping transmission unit, and the other end is connected to the OP20 cylinder body.

[0014] In some embodiments, the rotating portion further includes a speed regulating assembly associated with the rotating clamping transmission unit for regulating the movement speed of the rotating clamping transmission unit and thereby regulating the rotation speed of the rotating portion.

[0015] In some embodiments, the rotary clamping assembly is a parallel rotary cylinder; the speed regulating assembly is a speed regulating valve, which adjusts the clamping / relaxing speed of the parallel rotary cylinder by controlling the flow rate of hydraulic oil to achieve smooth rotation of the OP20 clamping part.

[0016] In some embodiments, the coupling is an end face gear disc that can be snapped and clamped.

[0017] In some embodiments, the OP10 clamping assembly includes a first pressure plate piston rod (OP10 pressure plate piston rod) and a first pressure plate (OP10 pressure plate), wherein the OP10 pressure plate piston rod is partially located in the OP10 cylinder body; one end of the OP10 pressure plate piston rod is connected to the OP10 pressure plate, and the OP10 pressure plate piston rod changes the position of the OP10 pressure plate through its own reciprocating motion and rotational motion; the OP10 pressure plate is used to clamp the workpiece;

[0018] The OP20 clamping assembly includes a second pressure plate piston rod (OP20 pressure plate piston rod) and a second pressure plate (OP20 pressure plate). The OP20 pressure plate piston rod is partially located in the OP20 cylinder body; one end of the OP20 pressure plate piston rod is connected to the OP20 pressure plate, and the OP20 pressure plate piston rod changes the position of the OP20 pressure plate through its own reciprocating motion and rotational motion; the OP20 pressure plate is used to clamp the workpiece.

[0019] In some embodiments, the OP10 clamping assembly further comprises a first positioning reference (OP10 positioning reference), a first positioning reference piston rod (OP10 positioning reference piston rod), and a first positioning reference connecting rod (OP10 positioning reference connecting rod); the OP10 positioning reference piston rod and the OP10 positioning reference connecting rod are partially located within the OP10 cylinder body;

[0020] Among them, one end of the OP10 positioning reference piston rod is connected to the OP10 positioning reference connecting rod, and the other end is connected to the OP10 positioning reference. The OP10 positioning reference connecting rod drives the OP10 positioning reference piston rod to reciprocate, thereby controlling the position change of the OP10 positioning reference; the OP10 pressure plate and the OP10 positioning reference clamp the workpiece between the two to compress the workpiece;

[0021] The OP20 clamping assembly further includes a second positioning reference (OP20 positioning reference), and the OP20 pressing plate and the OP20 positioning reference clamp the workpiece therebetween to clamp the workpiece.

[0022] In some embodiments, the OP10 cylinder body also includes a first air detection block (OP10 air detection block), which is associated with the OP10 pressure plate piston rod to detect whether the OP10 pressure plate is relaxed into place; the OP20 cylinder body also includes a second air detection block (OP20 air detection block), which is associated with the OP20 pressure plate piston rod to detect whether the OP20 pressure plate is relaxed into place.

[0023] In some embodiments, the exterior of the OP10 cylinder portion includes:

[0024] A positioning module, used in conjunction with an equipment probe on a machine tool to confirm the position of the multi-process clamping device;

[0025] a first movable driving block, which can be connected to the machine tool spindle, and the machine tool spindle controls the multi-process clamping device to move in a horizontal plane through the first movable driving block;

[0026] The positioning module and the first moving drive block must both face the machine tool spindle;

[0027] In some embodiments, the exterior of the OP10 cylinder portion includes:

[0028] The second movable drive block can be connected to the machine tool spindle, and the machine tool spindle drives the second movable drive block to move up and down, thereby controlling the reciprocating motion of the OP10 positioning reference through the OP10 positioning reference connecting rod; the second movable drive block needs to face the machine tool spindle;

[0029] The second movable driving block cover plates are arranged on both sides of the second movable driving block to limit the left and right movement of the second movable driving block.

[0030] The present invention also provides a flexible clamp, the technical solution of which is as follows:

[0031] A flexible fixture comprising: a fixture base plate, a two-jaw chuck, a three-jaw chuck, several multi-process clamping devices and a base plate guide rail;

[0032] Wherein, the bottom plate guide rail and the three-jaw chuck are both fixed on the fixture bottom plate, and the two-jaw chuck and the plurality of multi-process clamping devices are arranged on the bottom plate guide rail and can slide along the bottom plate guide rail;

[0033] The two-jaw chuck includes two movable jaws and a set of jaw drives, and the jaw drives drive the movable jaws to extend and retract with the jaw drive as the center;

[0034] The three-jaw chuck includes three movable jaws and a set of jaw drives, and the jaw drives drive the movable jaws to extend and retract with the jaw drive as the center;

[0035] The multi-process clamping device includes a clamping part and a rotating part; the clamping part is a first clamping part (OP10 clamping part) and a second clamping part (OP20 clamping part), both of which are provided with a clamping assembly; the clamping assembly includes a pressure plate piston rod and a pressure plate; wherein, one end of the pressure plate piston rod is connected to the pressure plate, and the position of the pressure plate is changed by its own reciprocating motion and rotational motion; the pressure plate is used to clamp the workpiece; the rotating part includes a rotary clamping assembly and a coupling; one side of the coupling is located at the OP10 clamping part, and the other side is located at the OP20 clamping part; the rotary clamping assembly passes through the coupling, connects the OP10 clamping part and the OP20 clamping part, and drives the OP20 clamping part to rotate by its own rotation, so as to change the relative position of the OP10 clamping part and the OP20 clamping part;

[0036] At least one movable drive block is provided on the side of the two-jaw chuck, the side of the three-jaw chuck, and the side of the multi-process clamping device. The movable drive block can be connected to the machine tool spindle, so that the machine tool spindle drives each component to move in different directions through the movable drive block.

[0037] In some embodiments, the mobile drive block is connected to the machine tool spindle via an external mobile drive device, so that the machine tool spindle drives various components to move in different directions through the mobile drive device and the mobile drive block;

[0038] The mobile drive device includes: a positioning block, which contacts the mobile drive block and positions the mobile drive device at the position of the mobile drive block; a cylindrical ejector rod, which is ejected when the mobile drive device is connected to the mobile drive block to fill the gap between the two and stabilize the connection between the two; and a tool holder, which is connected to the main shaft of the machine tool.

[0039] In some embodiments, the side surfaces of the two-jaw chuck, the three-jaw chuck, and the multi-process clamping device are provided with positioning modules, which are used in conjunction with the equipment probe on the machine tool to confirm the position of each component.

[0040] In some embodiments, a clamping assembly and a guide rail slider are provided at the bottom of the multi-process clamping device, both of which are in contact with the bottom plate guide rail. The guide rail slider facilitates the sliding of the component along the guide rail; the clamping assembly can limit the movement of the multi-process clamping device along the guide rail when locked; the clamping assembly includes a clamping disc, a clamping block, a clamping disc connecting plate, and a guide rail clamp; one end of the clamping disc connecting plate is connected to the multi-process clamping device, and the other end is used to connect and install the clamping disc; the clamping disc is located on both sides of the bottom plate guide rail and can further limit the movement of the component along the guide rail when locked; the clamping block is located on the clamping disc, and its surface is provided with a toothed surface to increase the friction of the clamping disc; the guide rail clamp is used to lock the component to limit the sliding of the component along the guide rail.

[0041] In some embodiments, the guide rail clamp and the guide rail slider are provided at the bottom of the two-jaw chuck, and both are in contact with the base plate guide rail.

[0042] In some embodiments, a hinge structure is provided between the front and rear multi-process clamping devices, which can adjust the distance between the two multi-process clamping devices; the machine tool spindle is connected to the movable drive block on the side of the multi-process clamping device to drive the hinge structure to extend and retract.

[0043] In some embodiments, a multi-process clamping device linkage guide rail is provided between the front and rear multi-process clamping devices and passes through the two multi-process clamping devices; when the hinge structure is extended or retracted, the front and rear multi-process clamping devices slide along the multi-process clamping device linkage guide rail.

[0044] In some embodiments, the bottom plate guide rail includes a hinge structure linkage guide rail; the hinge point of the hinge structure is fixed on the hinge structure linkage guide rail and can slide along the hinge structure linkage guide rail.

[0045] In some embodiments, the claw drive includes a support rod, an expansion sleeve mounting block and a connecting rod mechanism; the expansion sleeve mounting block is provided on the outside of the support rod, the expansion sleeve mounting block is connected to the connecting rod mechanism, and the expansion sleeve mounting block is connected to the movable claw through the connecting rod mechanism; the moving drive block is connected to the expansion sleeve mounting block, and the machine tool spindle can drive the expansion sleeve mounting block to move up and down along the support rod through the moving drive block, and then drive the movable claw to extend and retract with the support rod as the center through the connecting rod mechanism.

[0046] In some embodiments, the claw drive further includes a plurality of stop elements, which are respectively installed at upper and lower sides at a certain distance from the expansion sleeve mounting block to limit the movement range of the expansion sleeve mounting block.

[0047] In some embodiments, the jaw drive also includes a driving element and an expansion sleeve; the expansion sleeve is installed in the expansion sleeve mounting block and contacts the support rod; the support rod is a piston rod; the driving element drives the expansion sleeve to hold the support rod tightly, and drives the support rod to reciprocate and thereby drive the movable jaw to extend and retract around the support rod to clamp the workpiece.

[0048] In some embodiments, the two-jaw chuck and the three-jaw chuck also include a chuck body; the chuck body includes a support plate, a base plate, and a chuck plate; the support plate located in a vertical plane and the base plate located in a horizontal plane are connected to each other and serve as a frame to support the two-jaw chuck and the three-jaw chuck; the chuck plate is connected to the support plate to place the movable jaws; the chuck plate is provided with jaw cover plates with the same number as the movable jaws to limit the up and down movement of the movable jaws.

[0049] In some embodiments, the claw drive further includes an oil guide rod, which is disposed between the base plate and the chuck plate, passes through the expansion sleeve mounting block, guides oil into the expansion sleeve mounting block, and drives the expansion sleeve to clamp.

[0050] In some embodiments, the movable jaw is a parent-child jaw structure, the parent jaw is fixed to the chuck plate, and the jaw drive drives the child jaw to extend and retract along the parent jaw with the jaw drive as the center.

[0051] The present invention also provides a multi-step flexible clamping method, the technical solution of which is as follows:

[0052] A multi-step flexible clamping method is implemented using a flexible clamp having multiple clamping devices, wherein the clamping devices include a multi-claw chuck and a multi-step clamping device. The steps for implementing the multi-step flexible clamping method include:

[0053] S1 compares the external structures of different types of workpieces, identifies common features and determines a unified positioning and clamping method;

[0054] S2 unifies the process benchmarks among different types of workpieces. The required process benchmark is determined by the highest process benchmark among different types of parts.

[0055] S3 adjusts the position of the clamping device for workpieces of different specifications;

[0056] S4 is controlled by a digital control program to perform loading and unloading operations:

[0057] S41 switches the pressing assembly of the multi-step clamping device and adjusts the position of the multi-step clamping device according to the required process:

[0058] The clamping assembly switching steps are as follows: the clamping assembly of the multi-process clamping device is divided into a first clamping assembly (OP10 clamping assembly) and a second clamping assembly (OP20 clamping assembly); when it is necessary to clamp the workpiece of the first process (process 10), the clamping surface of the OP10 clamping assembly is parallel to the position of the workpiece to be clamped, and the clamping surface of the OP20 clamping assembly is not parallel to the position of the workpiece to be clamped; when it is necessary to clamp the workpiece of the second process (process 20), the OP20 clamping assembly rotates around the OP10 clamping assembly so that the clamping surface of the OP20 clamping assembly is parallel to the position of the workpiece to be clamped and is higher than the clamping surface of the OP10 clamping assembly;

[0059] S42 loading:

[0060] S43 cutting.

[0061] In some embodiments, step S3 is divided into:

[0062] S31 automatically calls the digital control program according to the workpiece parameter information to adjust the position of the positioning module of the clamping device;

[0063] The equipment probe on the S32 machine tool confirms the position of each clamping device positioning module, and feeds back the clamping device positioning module that has not reached the specified position to the numerical control program, and the numerical control program adjusts its position again;

[0064] S33 repeats step S32 until each clamping device positioning module reaches the specified position, and feeds back the result to the digital control program.

[0065] In some embodiments,

[0066] S42 loading:

[0067] Adjusting the extension and retraction degree of the jaws of the multi-jaw chuck according to the parameters of the workpiece to adjust the pre-clamping diameter, and further eliminating the gap between the jaws and the workpiece;

[0068] Adjusting the position of the clamping assembly of the multi-process clamping device according to the workpiece parameters to clamp the workpiece;

[0069] S43 blanking:

[0070] adjusting the position of the clamping assembly of the multi-process clamping device according to the workpiece parameters to release the workpiece;

[0071] The gap between the clamping jaws and the workpiece is eliminated and the extension and contraction degree of the clamping jaws of the multi-jaw chuck is adjusted according to the parameters of the workpiece to release the workpiece.

[0072] In some embodiments, the step of adjusting the position of the multi-process clamping device in S41 is: automatically calling the numerical control program according to the parameter information of the workpiece to adjust the position of the multi-process clamping device positioning module; the equipment probe on the machine tool confirms the position of the multi-process clamping device positioning module, and feeds back the multi-process clamping device positioning module that has not reached the specified position to the numerical control program, and the numerical control program adjusts its position again; repeat the previous step until all required multi-process clamping device positioning modules reach the specified position, and feed back the result to the numerical control program. Beneficial effects:

[0073] The multi-process clamping device provided by the present invention is provided with a rotating part, and the OP20 clamping part can be rotated to adapt to the applicability of different processes, thereby achieving the effect of one set of clamping devices being applicable to two processes.

[0074] The flexible clamp provided by the present invention is provided with a movable two-jaw chuck and a multi-process clamping device. In addition, the two-jaw chuck and the three-jaw chuck themselves can adjust the clamping diameter of the jaws, and the multi-process clamping device can also adjust its own pressure plate position, which can achieve the technical effect of using the same set of flexible clamps to process different types of workpieces, reduce investment costs and risks, and is particularly suitable for the early trial production stage.

[0075] The multi-process flexible clamping method provided by the present invention can achieve the technical effect of using the same set of flexible clamps to process different types of workpieces by adjusting the position of the clamping device, reducing investment costs and risks, and is particularly suitable for the early trial production stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0077] Figure 1 is a front view of the flexible clamp (OP10 state).

[0078] FIG2 is a top view of the flexible clamp (OP10 state).

[0079] FIG3 is a front view of the flexible clamp (OP20 state).

[0080] FIG4 is a top view of the flexible clamp (OP20 state).

[0081] FIG5 is a left side view of the flexible clamp (OP20 state).

[0082] FIG6 is a perspective view of the multi-step clamping device (OP10 state).

[0083] FIG7 is a partial exploded view of the multi-process clamping device (OP10 state).

[0084] FIG8 is a front view of the multi-step clamping device (OP10 state).

[0085] FIG9 is a left side view of the multi-step clamping device (OP10 state).

[0086] FIG10 is a top view of the multi-step clamping device (OP10 state).

[0087] FIG11 is a right side view of the multi-step clamping device (OP10 state).

[0088] FIG12 is a cross-sectional view taken along line AA corresponding to FIG8 .

[0089] FIG13 is a cross section BB corresponding to FIG10 .

[0090] FIG. 14 is a cross section CC corresponding to FIG. 10 .

[0091] FIG15 is a perspective view of a multi-step clamping device (OP20 state).

[0092] FIG16 is a partial exploded view of the multi-process clamping device (OP20 state).

[0093] FIG17 is a front view of the multi-step clamping device (OP20 state).

[0094] FIG18 is a top view of the multi-step clamping device (OP20 state).

[0095] FIG19 is a cross-sectional view taken along line AA corresponding to FIG17 .

[0096] FIG20 is a cross-sectional view BB corresponding to FIG18.

[0097] Figure 21 is a schematic diagram of the hinged structure of the multi-process clamping device.

[0098] FIG22 is a perspective view of a two-jaw chuck.

[0099] Figure 23 is a front view of the two-jaw chuck.

[0100] Figure 24 is a left side view of the two-jaw chuck.

[0101] Figure 25 is a top view of the two-jaw chuck.

[0102] FIG26 is a cross-sectional view taken along line AA corresponding to FIG25 .

[0103] FIG27 is a perspective view of a three-jaw chuck.

[0104] Figure 28 is a front view of the three-jaw chuck.

[0105] Figure 29 is a left side view of the three-jaw chuck.

[0106] Figure 30 is a top view of the three-jaw chuck.

[0107] FIG31 is a cross-sectional view AA corresponding to FIG30 .

[0108] FIG32 is a perspective view of the mobile drive device.

[0109] FIG33 is a front view of the mobile drive device.

[0110] FIG34 is a cross-sectional view AA corresponding to FIG33 .

[0111] 1. Multi-process clamping device, 11. OP10 clamping part, 111. OP10 pressure plate piston rod, 112. OP10 pressure plate, 113. OP10 pressure plate pressure point, 114. OP10 positioning reference, 115. OP10 positioning reference piston rod, 116. OP10 positioning reference connecting rod, 117. OP10 pressure plate nut, 118. OP10 air detection block, 119. Second mobile drive block cover, 110. Dust cover, 12. OP20 clamping part, 121. OP20 pressure plate piston rod, 122, OP20 pressure plate, 123, OP20 positioning reference, 124, OP20 pressure plate nut, 125, OP20 air detection block, 126, rotary clamping transmission unit connecting block, 131, rotary clamping transmission unit, 132, connecting rod, 133, coupling, 134, speed control assembly, 14, hinge structure, 15, hinge point, 16, connecting block, 17, connecting plate, 2a, two-jaw chuck, 2b, three-jaw chuck, 211, sub-jaw, 212, mother jaw, 221 support plate, 222, bottom plate, 22 3. Chuck plate, 224. T-block, 231. Support rod, 232. Expansion sleeve mounting block, 233. Connecting rod mechanism, 234. Stop element, 235. Oil guide rod, 236. Driving element, 237. Claw cover plate, 311. Clamping disc, 312. Clamping block, 313. Clamping disc connecting plate, 314. Guide rail clamp, 32. Guide rail slider, 4. Bottom plate guide rail, 41. Multi-process clamping device X-to-guide rail, 42. Hinge structure linkage guide rail, 43. Two-jaw chuck X-to-guide rail, 5. Fixture base plate, 6. Mobile Drive device, 61, positioning block, 62, cylindrical push rod, 63, tool holder, 64, cylindrical pin, 65, equal height bolt, 66, O-ring, 67, gasket, 68, flange nut, 69, drive device body, 7, multi-process clamping device linkage guide rail, 81, positioning module, 82, equipment probe, 83, positioning device, 9, mobile drive block, 9a, first mobile drive block, 9b, second mobile drive block, 101, expansion sleeve, 102 threaded plug, 103, spring, 104, oil pipe joint, 105, bushing,

[0112] Note: OP10 refers to process 10, and OP20 refers to process 20. Please note that process numbers are for convenience of description only and have no restrictive effect. DETAILED DESCRIPTION

[0113] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0114] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present invention described herein. In addition, the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0115] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0116] One of the embodiments of the present invention, as shown in Figures 1 to 5, is a flexible clamp, which includes: a clamp base plate 5, a positioning device 83, a clamping device (a two-jaw chuck 2a, a three-jaw chuck 2b, and several multi-process clamping devices 1) and a base plate guide rail 4. In this embodiment, four multi-process clamping devices 1 are symmetrically arranged at the four corners of the clamp.

[0117] As shown in Figures 1-5, the base plate guide rails 4 and the three-jaw chuck 2b are both fixed to the fixture base plate 5. The base plate guide rails 4 are divided into a multi-step clamping device X-direction guide rail 41, a hinged structure linkage guide rail 42, and a two-jaw chuck X-direction guide rail 43. The four multi-step clamping devices 1 are mounted on the multi-step clamping device X-direction guide rail 41, and the two-jaw chuck 2a is mounted on the two-jaw chuck X-direction guide rail 43, and can slide along the corresponding guide rails. The positioning device 83 is equipped with a positioning module 81.

[0118] As shown in Figures 6 to 21 (the clamping assembly, guide rail clamp 314, and guide rail slider 32 arranged at the bottom of the multi-process clamping device 1 and interacting with the guide rail 41 of the multi-process clamping device X are not shown in the figure), the multi-process clamping device 1 includes an OP10 clamping part 11, an OP20 clamping part 12 and a rotating part.

[0119] As shown in Figures 6 and 9, the OP10 clamping part 11 includes an OP10 pressing assembly and an OP10 cylinder.

[0120] The OP10 clamping assembly includes an OP10 pressure plate piston rod 111, an OP10 pressure plate 112, an OP10 positioning reference 114, an OP10 positioning reference piston rod 115 and an OP10 positioning reference connecting rod 116. The OP10 pressure plate piston rod 111, the OP10 positioning reference piston rod 115 and the OP10 positioning reference connecting rod 116 are partially located in the OP10 cylinder body; as shown in Figure 14, one end of the OP10 pressure plate piston rod 111 is connected to the OP10 pressure plate 112, and the OP10 pressure plate piston rod 111 controls the up and down movement of the OP10 pressure plate 112 along the Y-axis and the rotational movement around the Y-axis through its own reciprocating motion and rotational motion. An OP10 pressure plate pressure point 113 is provided on the OP10 pressure plate 112; as shown in Figure 13, one end of the OP10 positioning reference piston rod 115 is connected to the OP10 positioning reference The OP10 positioning reference connecting rod 116 is connected, and the other end is connected to the OP10 positioning reference 114. The other end of the OP10 positioning reference connecting rod 116 is connected to the second mobile drive block 9b outside the OP10 cylinder body. The machine tool spindle drives the mobile drive device 6, inserts the mobile drive device 6 into the second mobile drive block 9b and adjusts the Y-axis position change of the OP10 positioning reference piston rod 115 through the OP10 positioning reference connecting rod 116, thereby controlling the Y-axis position change of the OP10 positioning reference 114; the OP10 pressure plate pressure point 113 and the OP10 positioning reference 114 clamp the workpiece between the two to limit the movement of the workpiece.

[0121] As shown in FIG9 , the OP10 clamping assembly further includes an OP10 pressure plate nut 1117 for locking the OP10 pressure plate and the OP10 pressure plate piston rod, a threaded plug 102 for sealing the two piston rods, and an expansion sleeve 101 for clamping and fixing the OP10 positioning reference piston rod.

[0122] As shown in Figure 14, the OP10 cylinder also includes an OP10 pneumatic detection block 118, which is associated with the OP10 pressure plate piston rod 111 to detect whether the OP10 pressure plate 112 is fully relaxed. Specifically, when the OP10 pressure plate piston rod 111 is not fully relaxed, the OP10 pneumatic detection block 118 is stressed, and the spring 103 is in a compressed state. When the OP10 pressure plate piston rod 111 is fully relaxed, the OP10 pneumatic detection block 118 is unstressed and extends toward the OP10 pressure plate piston rod 111, and the spring 103 is in an extended state.

[0123] As shown in Figure 9, the exterior of the OP10 cylinder includes a positioning module 81, two mobile drive blocks 9 (divided into a first mobile drive block 9a and a second mobile drive block 9b based on their functions), and a second mobile drive block cover 119. The positioning module 81, in conjunction with the positioning device 83, the positioning module 81 on the positioning device 83, and the equipment probe 82 on the machine tool (Figure 2), is used to confirm the position of the multi-process clamping device. The first mobile drive block 9a is connected to the machine tool spindle via the mobile drive device 6. The machine tool spindle controls the movement of the multi-process clamping device 1 along the multi-process clamping device X-direction guide rail 41 through the first mobile drive block 9a. The second mobile drive block 9b functions as described above. The second mobile drive block cover 119 is located on both sides of the second mobile drive block 9b to limit the left and right movement of the second mobile drive block 9b. The positioning module 81 and the first and second mobile drive blocks 9a, 9b must all face the machine tool spindle.

[0124] As shown in FIG6 , the outside of the OP10 cylinder body is also provided with a dust cover 110 for sealing the cylinder body to prevent dust from entering, and an oil pipe connector 104 which is connected to the oil pipe connecting plate at one end and to the oil pipe at the other end for transporting oil.

[0125] As shown in Figure 15, the OP20 clamping assembly includes an OP20 pressure plate piston rod 121, an OP20 pressure plate 122, and an OP20 positioning datum 123. As shown in Figure 20, the OP20 pressure plate piston rod 121 is partially located within the OP20 cylinder body; one end of the OP20 pressure plate piston rod 121 is connected to the OP20 pressure plate 122. The OP20 pressure plate piston rod 121 controls the OP20 pressure plate 122's vertical movement along the Y-axis and its rotational movement around the Y-axis through its own reciprocating and rotational motion. The OP20 pressure plate 122 and the OP20 positioning datum 123 clamp the workpiece between them to restrict its movement.

[0126] As shown in Figures 15 and 20, the OP20 pressing assembly further includes an OP20 pressing plate nut 124 for locking the OP20 pressing plate and the OP20 pressing plate piston rod, and a threaded plug 102 for sealing the two piston rods.

[0127] As shown in Figure 20, the OP20 cylinder also includes an OP20 pneumatic detection block 125, which is associated with the OP20 pressure plate piston rod 121 to detect whether the OP20 pressure plate 122 is fully relaxed. Specifically, when the OP20 pressure plate piston rod 121 is not fully relaxed, the OP20 pneumatic detection block 125 is stressed, and the spring is in a compressed state. When the OP20 pressure plate piston rod is fully relaxed, the OP20 pneumatic detection block 125 is unstressed and extends toward the OP20 pressure plate piston rod 121, and the spring is in an extended state.

[0128] As shown in Figures 6 and 12, the bottom of the multi-step clamping device 1 is also equipped with a clamping assembly and a guide rail slider 32. The connecting plate at the bottom of the OP10 cylinder body is used to connect the OP10 cylinder body, the clamping assembly, and the guide rail slider 32. The guide rail slider 32 facilitates the sliding of the various components of the clamping part along the guide rail. When the clamping assembly is locked, it restricts the movement of the multi-step clamping device along the guide rail of the multi-step clamping device X. The clamping assembly includes a clamping plate 311, a clamping block 312, a clamping plate connecting plate 313, and a guide rail clamp 314. Among them, one end of the clamping disk connecting plate 313 is connected to the bottom of the multi-process clamping device 1, and the other end is used to connect and install the clamping disk 311; the clamping disk 311 is located on both sides of the multi-process clamping device X to the guide rail 41, and when locked, it can further limit the movement of the multi-process clamping device 1 along the multi-process clamping device X to the guide rail 41; the clamping block 312 is located on the clamping disk 311, and its surface is made into a toothed surface to increase the friction force of the clamping disk 311; the guide rail clamp 314 is used to lock the multi-process clamping device 1 to limit the sliding of the multi-process clamping device 1 along the multi-process clamping device X to the guide rail 41 (Figure 2).

[0129] As shown in FIG21 , a hinge structure 14 is further provided between the front and rear multi-process clamping devices 1 , and the two ends of the hinge structure 14 are respectively connected to the OP10 cylinder bodies of the two multi-process clamping devices 1 ( FIG21 has made an image angle adjustment to clearly show the hinge structure 14, so the connection relationship between the hinge structure 14 and the OP10 cylinder body is not shown), so that the two multi-process clamping devices 1 can be extended and retracted along the Z-axis direction, thereby adjusting the position of the multi-process clamping device 1 in the Z-axis direction; the hinge point 15 of the hinge structure 14 is fixed to the hinge structure linkage guide rail 42 in the bottom plate guide rail 4 through the connecting plate 17, and can slide along the hinge structure linkage guide rail 42, and the hinge structure linkage guide rail 42 is also provided with a guide rail slider 32 to facilitate the hinge point 15 The hinge structure linkage guide rail 42 is fixed to the fixture base plate 5 via a connecting block. A multi-step clamping device linkage guide rail 7 is also provided between the front and rear multi-step clamping devices 1. Similar to the bottom of the multi-step clamping device 1, it is also equipped with a clamping assembly and a guide rail slider 32. When the hinge structure 14 is extended or retracted, the front and rear multi-step clamping devices 1 slide back and forth along the multi-step clamping device linkage guide rail 7. The machine tool spindle is connected to the first movable drive block 9a on the side of the multi-step clamping device 1 via a movable drive device 9, driving the front and rear multi-step clamping devices 1 to slide along the multi-step clamping device linkage guide rail 7, that is, to extend or retract along the Z-axis direction. At the same time, the hinge structure's hinge point 15 slides in the X-direction along the hinge structure linkage guide rail 42. The multi-step clamping device linkage guide rail 7 and the multi-step clamping device X-direction guide rail are at different heights. In some embodiments, the multi-step clamping device linkage guide rail 7 and the multi-step clamping device X-direction guide rail 41 can also be both provided on the fixture base plate 5 and at the same height.

[0130] In some embodiments, the flexible fixture includes three multi-step clamping devices, with two on one side and only one on the other. In this case, the independent multi-step clamping device lacks a hinge structure and does not need to move along the Z-axis. Alternatively, a Z-direction guide rail can be provided on the fixture base to allow the multi-step clamping device to move along the Z-direction guide rail.

[0131] As shown in Figures 7 to 19, the rotating portion includes a rotating clamping assembly, a coupling 133, and a speed regulating assembly 134. As shown in Figures 7 and 16, in this embodiment, coupling 133 is a face gear that can be engaged and clamped. One side of coupling 133 (one toothed disc of the face gear) is located in the OP10 cylinder body, and the other side (the other toothed disc of the face gear) is located in the OP20 cylinder body. The rotary clamping assembly includes a rotary clamping transmission unit 131 and a connecting rod 132. The rotary clamping transmission unit 131 is located within the OP10 cylinder body. The connecting rod 132 extends through a coupling 133, with one end connected to the rotary clamping transmission unit 131 and the other end connected to the OP20 cylinder body. The connecting rod 132 rotates to drive the OP20 clamping portion 12 to change the relative position of the OP10 clamping assembly and the OP20 clamping assembly. The speed regulating assembly 132 is associated with the rotary clamping transmission unit 131 and is used to adjust the movement speed of the rotary clamping transmission unit 131 and thus the rotation speed of the rotating portion. The rotary clamping transmission unit connecting block 126 connects the rotary clamping transmission unit 131 to the OP10 cylinder body. In this embodiment, the rotary clamping transmission unit 131 is a parallel rotating oil cylinder. In other embodiments, it can be a parallel rotating air cylinder, etc. The speed regulating assembly 134 is a speed regulating valve. The speed regulating valve adjusts the clamping / relaxing speed of the parallel rotating oil cylinder by controlling the flow of hydraulic oil to achieve smooth rotation of the OP20 clamping portion 12.

[0132] In the OP10 state (Figures 6 to 14), the OP20 pressure plate piston rod 121 is in a horizontal state. At this time, the parallel rotating cylinder is relaxed and the two gear discs of the gear plate are separated. When it is necessary to switch to the OP20 state, the parallel rotating cylinder drives the connecting rod 132 and the gear plate to rotate, so that the OP20 clamping part 12 rotates upward by 90° (there may be a deviation of, for example, ±0.005°, which is determined by the tooth gap of the gear plate and can be adjusted as needed) until the OP20 pressure plate piston rod 121 is in a vertical state, and then the parallel rotating cylinder is clamped and the gear discs engage and clamp each other. At this time, the multi-process clamping device 1 is in the OP20 state.

[0133] When the OP20 state switches to the OP10 state (Figures 15-21), the parallel rotation cylinder is released, the intermeshing gear discs are separated, and the connecting rod and gear discs rotate. The OP20 clamping portion 12 is rotated downward by 90° (again, the degree of deviation is determined by the tooth gap clearance of the gear disc and can be adjusted as needed) until the OP20 pressure plate piston rod 121 is horizontal. At this time, the multi-process clamping device 1 returns to the OP10 state.

[0134] In some embodiments, the rotation angle of the OP20 clamping portion is not limited to 90°. ， It can be adjusted according to processing needs, such as rotating 30°, 60°, 120°, etc.

[0135] As shown in Figures 22 to 26, the two-jaw chuck 2a includes two movable jaws, a set of jaw driving and a chuck body. The jaw driving drives the two movable jaws to extend and retract with the jaw driving as the center.

[0136] As shown in Figures 22 and 23, the chuck body includes a support plate 221, a base plate 222, a chuck plate 223, a positioning module 81, and a T-block 224. The support plate 221, located in the vertical plane, and the base plate 222, located in the horizontal plane, are connected to each other and serve as a frame to support the two-jaw chuck 2a. The chuck plate 223 is connected to the support plate 221 to accommodate the movable jaws. The chuck plate 223 is provided with a jaw cover plate 237 having the same number of movable jaws as the movable jaws to limit the upward and downward movement of the movable jaws. The positioning module 81, or zero point confirmation block, is located on the support plate 221 and is used in conjunction with the positioning device 83, the positioning module 81 on the positioning device 83, and the equipment probe 82 on the machine tool (Figure 2) to confirm the position of the two-jaw chuck 2a. The T-block 224 is located on the base plate to connect and install the corresponding components.

[0137] The chuck body also includes an oil pipe connector 104 ， Used to connect oil pipes to transport oil.

[0138] As shown in Figures 24 and 26, the jaw drive includes a support rod 231, an expansion sleeve mounting block 232, a connecting rod mechanism 233, a movable drive block 9, several stop elements 234, an oil guide rod 235, a drive element 236, and an expansion sleeve. The expansion sleeve mounting block 232 is located outside the support rod. The expansion sleeve is mounted within the expansion sleeve mounting block 232 and contacts the support rod 231. The expansion sleeve mounting block 232 is connected to the connecting rod mechanism 233, which in turn connects the movable jaw. The movable drive block 9 is connected to the expansion sleeve mounting block 232. The machine tool spindle can be connected to the movable drive block 9 via a movable drive device 6, driving the expansion sleeve mounting block 232 to move up and down along the support rod 231. This, in turn, drives the movable jaw to extend and retract around the support rod 231 via the connecting rod mechanism 233 to adjust the pre-clamping diameter of the two-jaw chuck. Furthermore, the machine tool spindle can also use the movable drive device to drive the two-jaw chuck 2a to move along the two-jaw chuck X guide rail 43 (Figure 2). In this embodiment, the stopping element 234 is a stop screw, and several stop screws are respectively installed between the T-block 224 and the chuck plate 223, and the hard limit of the stroke of the movable jaws of the two-jaw chuck 2a is realized by limiting the movable range of the expansion sleeve mounting block 231; the support rod 231 is a piston rod; the driving element 236 (a square oil cylinder in this embodiment) drives the expansion sleeve to clamp the support rod 231, and drives the support rod 231 to reciprocate and thereby drive the movable jaws to extend and retract with the support rod 231 as the center, eliminating the gap between the movable jaws and the workpiece to clamp the workpiece; the oil guide rod 235 is arranged between the T-block 224 and the chuck plate 223 on the base plate 222, passes through the expansion sleeve mounting block 232, guides the oil into the expansion sleeve mounting block 232, and drives the expansion sleeve to clamp.

[0139] The claw drive further comprises a bushing 105 and a threaded plug 102 for sealing the piston rod.

[0140] As shown in Figure 23, a guide rail clamp 314 and a guide rail slider 32 are also provided at the bottom of the two-jaw chuck 2a, both of which contact the guide rail 43 of the two-jaw chuck X. The guide rail slider 32 facilitates the sliding of the two-jaw chuck 2a along the two-jaw chuck X toward the guide rail 43. The guide rail clamp 32 is used to lock the two-jaw chuck 2a to limit the sliding of the two-jaw chuck 2a along the two-jaw chuck X toward the guide rail 43 (Figure 2).

[0141] As shown in Figures 27 to 31, the three-jaw chuck 2b includes three movable jaws, a set of jaw drivers and a chuck body. The jaw drivers drive the three movable jaws to extend and retract with the jaw drivers as the center.

[0142] As shown in Figures 27 and 28, the chuck body and jaw drive of the three-jaw chuck 2b are similar to those of the two-jaw chuck. The difference is that (1) the chuck body does not have an oil pipe joint. ；(2) There is no guide rail clamp 314 and guide rail slider 32 at the bottom of the three-jaw chuck 2b, but it is directly fixed to the fixture base plate 5 by positioning plates and screws. Therefore, the machine tool spindle can only drive the expansion sleeve mounting block 232 to move up and down along the support rod 231 by connecting the mobile drive block 9 through the mobile drive device 6, and then drive the movable clamping jaw to extend and retract around the support rod 231 through the connecting rod mechanism 233 to adjust the pre-clamping diameter of the three-jaw chuck 2b. It cannot drive the three-jaw chuck 2b to move in the X direction along the corresponding guide rail.

[0143] In this embodiment, the movable jaws of the two-jaw chuck 2a and the three-jaw chuck 2b are of a parent-child jaw structure, with the parent jaw 212 fixed to the chuck plate 223. The jaw drive drives the child jaw 211 to extend and retract along the parent jaw 212 with the jaw drive as the center. In some embodiments, the movable jaws can be an integrated structure.

[0144] As shown in Figure 4, the external mobile drive device 6 is connected to the machine tool spindle, allowing the machine tool spindle to drive the various fixture components in different directions through the mobile drive device 6 and the mobile drive block 9. As shown in Figure 34, the mobile drive device 6 includes: a positioning block 61, which contacts the mobile drive block and positions the mobile drive device at the mobile drive block; a cylindrical push rod 62, which is ejected when the mobile drive device and the mobile drive block are connected to fill the gap between them and stabilize the connection; a tool holder 63, which is connected to the machine tool spindle; a cylindrical pin 64, which fixes the cylindrical push rod; a uniform height bolt 65, which fixes the positioning block; an O-ring 66, a washer 67, and a flange nut 68, which seal and tighten the cylindrical push rod; and a drive device body 69, which acts as a load-bearing device.

[0145] In some embodiments, the machine tool can be connected to the fixture components directly through the mobile drive block without the need for a mobile drive device.

[0146] Another embodiment provided by the present invention is a method for using the flexible clamp described above (note that some steps are not in order for ease of reading). This method can meet the processing requirements of multiple workpieces and multiple processes with one device and one set of clamps. The method includes two aspects. The first aspect is for multiple workpieces, and its implementation method is as follows:

[0147] In step 10:

[0148] S1 compares the external structures of different types of workpieces, identifies common features and determines a unified positioning and clamping method;

[0149] S2 unifies the process benchmarks among different types of workpieces. The required process benchmark is determined by the highest process benchmark among different types of parts.

[0150] S3 adjusts the position of the clamping device for workpieces of different specifications (assuming that the two multi-process clamping devices 1 on the X+ side are designated at position A1, the two multi-process clamping devices 1 on the X- side are designated at position A2, and the two-jaw chuck 2a is designated at position C):

[0151] a. All clamping devices are in the disabled state (relaxed state), ensuring that the multi-process clamping device 1 and the two-jaw chuck 2a can move normally in the X / Y / Z directions;

[0152] b. Use the machine tool spindle to drive the mobile drive device 6, insert the mobile drive device 6 into the multi-process clamping device mobile drive block (first mobile drive block 9a) on the X+ side, drive the multi-process clamping device 1 to move along the base plate guide rail 4 in the X direction, and at the same time drive the hinge structure 14 of the multi-process clamping device to expand and contract to adjust the Z-axis position of the two multi-process clamping devices 1 in the Z direction, and finally move to the A1 position. Insert the mobile drive device 6 into the mobile drive block 9 of the two-jaw chuck 2a, drive the multi-process clamping device 1 to move along the base plate guide rail 4 in the X direction, move to the C position, and lock the six guide rail clamps 314 and 24 clamping disks 311 (each multi-process clamping device is equipped with two guide rail clamps and 12 clamping disks, and the two-jaw chuck is equipped with two guide rail clamps);

[0153] c. Use the equipment probe 82 to detect the position of the positioning module 81 to determine whether the multi-process clamping device 1 on the X+ side has reached the specified position A1 and whether the two-jaw chuck 2a has reached the C position: (1) Correct, go to step d; (2) Incorrect, release the 6 guide rail clamps 314 and 24 clamping disks 311 in step b, and repeat step b until the multi-process clamping device 1 and the two-jaw chuck 2a on the X+ side reach the specified positions A1 and C respectively.

[0154] d. Use the machine tool spindle to drive the mobile drive unit 6. Insert the mobile drive unit 6 into the mobile drive block (first mobile drive block 9a) of the multi-step clamping device 1 on the X-side. This moves the multi-step clamping device 1 along the base plate guide rail 4 in the X direction. Simultaneously, the hinge structure 14 of the multi-step clamping device expands and contracts to adjust the Z-axis position of the two multi-step clamping devices 1 in the Z direction, ultimately moving them to position A2. Lock the four guide rail clamps 314 and the 24 clamping discs 311.

[0155] e. Use the equipment probe 82 to detect the position of the positioning module 81 to determine whether the multi-process clamping device 1 on the X-side has reached the specified position A2: (1) Correct, go to step f, (2) Incorrect, release the 4 guide rail clamps 314 and 24 clamping disks 311 in step d, and repeat step d until it reaches the specified position A2.

[0156] S4 is controlled by a digital control program to perform loading and unloading operations:

[0157] a, loading

[0158] b. Clamp the workpiece after loading: Use the machine tool spindle to drive the mobile drive device 6, and insert the mobile drive device 6 into the mobile drive block 9 of the two-jaw chuck 2a and the three-jaw chuck 2b in turn, drive the expansion sleeve mounting block 232 to move up and down along the support rod 231, and then drive the movable clamping jaw to extend and retract around the support rod 231 through the connecting rod mechanism 233 to adjust the pre-clamping diameter of the two-jaw chuck 2a and the three-jaw chuck 2b; then the driving element 236 (a square cylinder in this embodiment) drives the expansion sleeve 101 to hold the support rod 231 tightly, and drives the support rod 231 to reciprocate and thereby drive the movable clamping jaw to extend and retract around the support rod 231, eliminating the gap between the movable clamping jaw and the workpiece to clamp the workpiece. The machine tool spindle drives the mobile drive device 6, and the mobile drive device 6 is inserted into the mobile drive block (second mobile drive block 9b) of the multi-process clamping device 1 on the X+ / - side in sequence. The OP10 positioning reference piston rod 115 is adjusted through the OP10 positioning reference connecting rod 116 and the position change of the OP10 positioning reference Y axis 114 is controlled; the hydraulic oil drives the OP10 pressure plate piston rod 111 to generate its own reciprocating motion and rotational motion, thereby controlling the OP10 pressure plate 112 to move up and down along the Y axis and rotate around the Y axis. The OP10 pressure plate 112 is provided with an OP10 pressure plate pressure point 113; the OP10 pressure plate pressure point 113 and the OP10 positioning reference 114 clamp the workpiece between the two to limit the movement of the workpiece.

[0159] c. Loosen the workpiece before unloading: The drive element 236 (a square cylinder in this embodiment) of the two-jaw chuck 2a and the three-jaw chuck 2b drives the support rod 231 to reciprocate, thereby driving the movable jaws to extend and retract around the support rod 231, re-establishing the gap between the movable jaws and the workpiece to release the workpiece. The expansion sleeve 101 releases the support rod 231. The machine tool spindle drives the mobile drive device 6, which is sequentially inserted into the mobile drive block 9 of the two-jaw chuck 2a and the three-jaw chuck 2b, driving the expansion sleeve mounting block 232 to move up and down along the support rod 231. The movable jaws are then retracted around the support rod 231 through the connecting rod mechanism 233 to reduce the pre-clamping diameter of the two-jaw chuck 2a and the three-jaw chuck 2b to facilitate unloading. Adjust the position of the OP10 pressure plate pressure point 113 and the OP10 positioning reference 114 as in step b to loosen the workpiece.

[0160] d. Cutting.

[0161] In process 20, the adjustment steps are similar to process 10, with the following differences:

[0162] S4 is controlled by a digital control program to perform loading and unloading operations:

[0163] a, loading

[0164] b. Clamp the workpiece after loading: Use the machine tool spindle to drive the mobile drive device 6, and insert the mobile drive device 6 into the mobile drive block 9 of the two-jaw chuck 2a and the three-jaw chuck 2b in turn, drive the expansion sleeve mounting block 232 to move up and down along the support rod 231, and then drive the movable clamping jaw to extend and retract with the support rod 231 as the center through the connecting rod mechanism 233 to adjust the pre-clamping diameter of the two-jaw chuck 2a and the three-jaw chuck 2b; then the driving element 236 (a square cylinder in this embodiment) drives the expansion sleeve 101 to hold the support rod 231 tightly, and drives the support rod 231 to reciprocate and thereby drive the movable clamping jaw to extend and retract with the support rod 231 as the center, eliminating the gap between the movable clamping jaw and the workpiece to clamp the workpiece. The hydraulic oil drives the OP20 pressure plate piston rod 121 to generate its own reciprocating motion and rotational motion, thereby controlling the OP20 pressure plate 122 to move up and down along the Y-axis and rotate around the Y-axis; the position change of the OP20 pressure plate 122 cooperates with the OP20 positioning reference 123 to clamp the workpiece.

[0165] c. Loosen the workpiece before unloading: The drive element 236 (a square cylinder in this embodiment) of the two-jaw chuck 2a and the three-jaw chuck 2b drives the support rod 231 back and forth, thereby causing the movable jaws to extend and retract around the support rod 231, resetting the gap between the movable jaws and the workpiece to release the workpiece. The expansion sleeve 101 releases the support rod 231. The machine tool spindle drives the mobile drive device 6, which is then inserted into the mobile drive block 9 of the two-jaw chuck 2a and the three-jaw chuck 2b, driving the expansion sleeve mounting block 232 to move up and down along the support rod 231. The movable jaws are then retracted around the support rod 231 via the connecting rod mechanism 233, reducing the pre-clamping diameter of the two-jaw chuck 2a and the three-jaw chuck 2b to facilitate unloading. Adjust the OP20 pressure plate 122 as in step b to loosen the workpiece.

[0166] Another aspect is the multi-process processing requirements, which can be achieved by:

[0167] 1. When the processing operation of process 20 (OP20) is currently required, the multi-process clamping device 1 is first switched to the OP20 state and then moved to the designated position. The various movable devices of the flexible clamp can be moved as needed. The movement process is the same as described in the first aspect. The switching and movement process of the multi-process clamping device 1 is as follows (assuming that the designated position of the two multi-process clamping devices 1 on the X+ side is A1, and the designated position of the two multi-process clamping devices 1 on the X- side is A2):

[0168] a. The four multi-process clamping devices 1 are in a disabled state (relaxed state), ensuring that all multi-process clamping devices 1 can move normally in the X / Y / Z directions;

[0169] b. Drive the four parallel rotating cylinders of the multi-process clamping device 1, clamp the cylinder, drive the gear plate and the connecting rod 132 to rotate, so that the OP20 clamping portion 12 is in a vertical state, and the gear plate engages and holds the OP20 clamping portion 12 in a vertical state;

[0170] c. Use the machine tool spindle to drive the mobile drive unit 6. Insert the mobile drive unit 6 into the mobile drive block (first mobile drive block 9a) of the multi-step clamping device 1 on the X+ side, driving the multi-step clamping device 1 to move along the base plate guide rail 4 in the X direction. Simultaneously, the hinge structure 14 of the multi-step clamping device is extended and retracted to adjust the Z-axis position of the two multi-step clamping devices 1 in the Z direction, ultimately moving them to position A1. Lock the four guide rail clamps 314 and 24 clamping discs 311 (each multi-step clamping device is equipped with two guide rail clamps and 12 clamping discs).

[0171] d. Use the equipment probe 82 to detect the position of the positioning module 81 to determine whether the multi-process clamping device 1 on the X+ side has reached the specified position A1: (1) Correct, go to step e; (2) Incorrect, release the 4 guide rail clamps 314 and 24 clamping disks 311 in step c, and repeat step c until it reaches the specified position A1.

[0172] e. Use the machine tool spindle to drive the mobile drive unit 6. Insert the mobile drive unit 6 into the mobile drive block (first mobile drive block 9a) of the multi-step clamping device 1 on the X-side. This moves the multi-step clamping device 1 along the base plate guide rail 4 in the X direction. Simultaneously, the hinge structure 14 of the multi-step clamping device 14 is extended and retracted to adjust the Z-axis position of the two multi-step clamping devices 14 in the Z direction, ultimately moving the device to position A2. Lock the four guide rail clamps 314 and the 24 clamping discs 311.

[0173] f. Use the device probe 82 to detect the position of the positioning module 81 to determine whether the multi-process clamping device 1 on the X-side has reached the A2 specified position: (1) Correct, complete the switching, (2) Incorrect, release the 4 guide rail clamps 314 and 24 clamping disks in step e, and repeat step e until it reaches the A2 specified position 311.

[0174] g. Hydraulic oil drives the OP20 pressure plate piston rod 121 to generate its own reciprocating motion and rotational motion, thereby controlling the OP20 pressure plate 122's up and down motion along the Y-axis and its rotational motion around the Y-axis. The position change of the OP20 pressure plate 122 cooperates with the OP20 positioning reference 123 to clamp and release different types of workpieces in different processes.

[0175] 2. When the processing operation of process 10 (OP10) is currently required, the multi-process clamping device 1 is first switched to the OP10 state and then moved to the designated position. The various movable devices of the flexible clamp can be moved as needed. The movement process is the same as described in the first aspect. The switching and movement process of the multi-process clamping device 1 is as follows (assuming that the designated position of the two multi-process clamping devices on the X+ side is B1, and the designated position of the two multi-process clamping devices on the X- side is B2):

[0176] a. All multi-process clamping devices 1 are in the disabled state (relaxed state) to ensure that the multi-process clamping device 1 of the fixture can move normally in the X / Y / Z directions;

[0177] b. Drive the four multi-step parallel rotation cylinders of the clamping device 1, relax the cylinder, separate the gear plates, and rotate the parallel rotation cylinders to rotate the gear plates and the connecting rod 132, so that the OP20 clamping portion 12 is in a horizontal state;

[0178] c. Use the machine tool spindle to drive the mobile drive unit 6. Insert the mobile drive unit 6 into the mobile drive block (first mobile drive block 9a) of the multi-step clamping device 1 on the X+ side, driving the multi-step clamping device 1 to move along the base plate guide rail 4 in the X direction. Simultaneously, the hinge structure 14 of the multi-step clamping device is extended and retracted to adjust the Z-axis position of the two multi-step clamping devices 1 in the Z direction, ultimately moving them to position B1. Lock the four guide rail clamps 314 and the 24 clamping discs 311.

[0179] d. Use the equipment probe 82 to detect the position of the positioning module 81 to determine whether the multi-process clamping device 1 on the X+ side has reached the specified position B1: (1) Correct, go to step e; (2) Incorrect, release the 4 guide rail clamps 314 and 24 clamping disks 311 in step c, and repeat step c until it reaches the specified position B1.

[0180] e. Use the machine tool spindle to drive the mobile drive unit 6. Insert the mobile drive unit 6 into the mobile drive block (first mobile drive block 9a) of the multi-step clamping device 1 on the X-side. This moves the multi-step clamping device 1 along the base plate guide rail 4 in the X direction. Simultaneously, the hinge structure 14 of the multi-step clamping device 1 expands and contracts to adjust the Z-axis position of the two multi-step clamping devices 1 in the Z direction, ultimately moving them to position B2. Lock the four guide rail clamps 314 and the 24 clamping discs 311.

[0181] f. Use the equipment probe 82 to detect the position of the positioning module 81 to determine whether the multi-process clamping device 1 on the X+ side has reached the specified position B2: (1) Correct, go to step e; (2) Incorrect, release the 4 guide rail clamps 314 and 24 clamping disks 311 in step e, and repeat step e until it reaches the specified position B2.

[0182] g. Use the machine tool spindle to drive the mobile drive device 6, and insert the mobile drive device 6 into the mobile drive block (second mobile drive block 9b) of the multi-process clamping device 1 on the X+ / - side in sequence. Adjust the OP10 positioning reference piston rod 115 through the OP10 positioning reference connecting rod 116 and control the Y-axis position change of the OP10 positioning reference 114; hydraulic oil drives the OP10 pressure plate piston rod 111 to generate its own reciprocating motion and rotational motion, thereby controlling the OP10 pressure plate 112 to move up and down along the Y-axis direction and rotate around the Y-axis. The OP10 pressure plate 112 is provided with an OP10 pressure plate pressure point 113; the position of the OP10 pressure plate pressure point 113 and the OP10 positioning reference 114 changes to clamp and release different types of workpieces in different processes.

[0183] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, deformations and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-step flexible clamping method, which is implemented using a flexible clamp having multiple clamping devices, wherein the clamping device includes a multi-claw chuck and a multi-step clamping device, and the implementation steps of the multi-step flexible clamping method include: S1 compares the appearance and structure of different types of workpieces, finds out the common features and determines a unified positioning and clamping method; S2 unifies the process benchmarks between different types of workpieces, and the required process benchmark is determined by the highest process benchmark among different types of parts; S3 adjusts the position of the clamping device for workpieces of different specifications; S4 is controlled by digital control program to carry out loading and unloading operations: S41 switches the clamping assembly of the multi-process clamping device according to the required process and adjusts the position of the multi-process clamping device: The clamping assembly switching steps are as follows: the clamping assembly of the multi-process clamping device is divided into a first clamping assembly and a second clamping assembly; when the workpiece of the first process needs to be clamped, the clamping surface of the first clamping assembly is in a parallel position with the position of the workpiece to be clamped, and the clamping surface of the second clamping assembly is not in a parallel position with the position of the workpiece to be clamped; when the workpiece of the second process needs to be clamped, the second clamping assembly rotates around the first clamping assembly so that the clamping surface of the second clamping assembly is in a parallel position with the position of the workpiece to be clamped and is higher than the clamping surface of the first clamping assembly; S42 loading: S43 cutting.

2. The multi-step flexible manufacturing method according to claim 1, characterized in that: The S3 step is divided into: S31 automatically calls the digital control program according to the parameter information of the workpiece to adjust the position of the positioning module of the clamping device; The equipment probe on the S32 machine tool confirms the position of each clamping device positioning module, and feeds back the clamping device positioning module that has not reached the specified position to the digital control program, and the digital control program adjusts its position again. Location; S33 repeats step S32 until each clamping device positioning module reaches the specified position, and feeds back the result to the digital control program.

3. The multi-step flexible manufacturing method according to claim 1, characterized in that: S42 loading: The extension and retraction degree of the jaws of the multi-jaw chuck is adjusted according to the parameters of the workpiece to adjust the pre-clamping diameter, and further eliminate the gap between the jaws and the workpiece; Adjust the position of the clamping assembly of the multi-process clamping device according to the workpiece parameters to clamp the workpiece; S43 blanking: adjusting the position of the clamping assembly of the multi-process clamping device according to the workpiece parameters to release the workpiece; The gap between the clamping jaws and the workpiece is eliminated and the extension and retraction degree of the clamping jaws of the multi-jaw chuck is adjusted according to the parameters of the workpiece to release the workpiece.

4. The multi-step flexible manufacturing method according to claim 1, characterized in that: The step of adjusting the position of the multi-process clamping device in S41 is: automatically calling the numerical control program according to the parameter information of the workpiece to adjust the position of the positioning module of the multi-process clamping device; the equipment probe on the machine tool confirms the position of the positioning module of the multi-process clamping device, and feeds back the positioning module of the multi-process clamping device that has not reached the specified position to the numerical control program, and the numerical control program adjusts its position again; Repeat the previous step until all required multi-process clamping device positioning modules have reached the specified position, and feed the results back to the digital control program.

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