Fixture apparatus and welding device having same

Abstract

A fixture apparatus, comprising a clamping assembly (20), the clamping assembly (20) being used for clamping a workpiece to be processed (93); a rotary driving module (10); and a linear driving module (30), the linear driving module (30) being used for driving the clamping assembly (20) to reciprocate at least in the linear direction relative to the rotary driving module (10). The clamping assembly (20) is provided on the linear driving module (30), the linear driving module (30) is provided on the rotary driving module (10), and the rotary driving module (10) is used for driving the linear driving module (30) and the clamping assembly (20) to rotate. A welding device (1000) is also involved.

Description

Fixture devices and welding equipment having them

[0001] Cross-references to related applications

[0002] This disclosure is based on and claims priority to Chinese Patent Application No. 2025103199689, filed on March 17, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of clamping device technology, and more specifically, to a clamping device and welding equipment having the same. Background Technology

[0004] The main technique for welding circular arcs in related technologies is circular arc interpolation welding. The CNC system performs data calculations based on given information, continuously calculates the feed commands for each coordinate axis involved in the interpolation motion, and then drives the X-axis, Y-axis platforms and motors to produce coordinated movements so that the controlled mechanical parts move along the R-angle curve path. However, the interpolation welding process has technical defects such as inconvenient control and debugging, long cycle time, and easy error.

[0005] Application content

[0006] This disclosure aims to at least address one of the technical problems existing in the prior art. To this end, this disclosure proposes a clamping device that enables continuous welding of welding paths including arc-shaped paths. Furthermore, when welding workpieces, it enables efficient and continuous welding of workpieces with straight and arc-shaped welding paths, eliminating the need for complex motion logic. This simplifies and stabilizes the control of the clamping components and the workpiece, thereby simplifying pre-processing debugging, reducing debugging difficulty and cycle time, and improving the welding effect at arc-shaped welding points on the workpiece.

[0007] This disclosure also proposes a welding apparatus having the aforementioned clamping device.

[0008] A clamping device according to a first aspect of this disclosure includes: a clamping assembly for clamping a workpiece; a rotation drive module for rotating the clamping assembly; and a linear drive module for driving the clamping assembly to reciprocate relative to the rotation drive module in at least one direction, wherein the clamping assembly is disposed on the linear drive module, the linear drive module is disposed on the rotation drive module, and the rotation drive module drives the linear drive module and the clamping assembly to rotate.

[0009] According to the embodiments of the present disclosure, the clamping device can achieve continuity when continuously welding a welding path including an arc-shaped path. Therefore, when welding a workpiece, it can efficiently and continuously weld workpieces with straight and arc-shaped welding paths without the need for complex motion logic. This makes the control of the clamping components and the workpiece simple and stable, thereby simplifying the debugging before processing the workpiece, reducing the debugging difficulty and the debugging cycle, and improving the welding effect at the welding joints where the welding trajectory of the workpiece is arc-shaped.

[0010] In addition, the clamping device according to the above embodiments of this disclosure may also have the following additional technical features:

[0011] According to some embodiments of this disclosure, the linear drive module is used to drive the clamping assembly to reciprocate relative to the rotation drive module along a first direction or along a second direction, wherein the first direction and the second direction are perpendicular to each other.

[0012] According to some optional embodiments of this disclosure, the linear drive module includes: a first drive component disposed on the rotary drive module, used to drive the clamping component to reciprocate relative to the rotary drive module along a first direction; and a second drive component disposed on the rotary drive module, used to drive the clamping component to reciprocate relative to the rotary drive module along a second direction.

[0013] According to some specific embodiments of this disclosure, the first driving assembly includes a first housing and a first movable member. The first movable member is movably disposed on the first housing relative to the rotation driving module along the first direction. The clamping assembly is fixed to the first movable member, and the first housing is fixed to the second driving assembly. The second driving assembly drives the clamping assembly to move relative to the rotation driving module along the second direction by driving the first housing.

[0014] In some embodiments, the second drive assembly includes a second housing and a second movable member, the second movable member being movably disposed on the second housing relative to the rotation drive module along the second direction, wherein the first housing is fixed to the second movable member and the second housing is fixed to the rotation drive module.

[0015] According to some embodiments of this disclosure, the clamping device further includes a calibration element detachably disposed on the clamping assembly, the clamping assembly having a calibration position, in which the calibration element is disposed on the clamping assembly, and the vertical central axis of the calibration element coincides with the rotation central axis of the rotation drive module.

[0016] According to some alternative embodiments of this disclosure, the clamping assembly is provided with a socket, and the calibration element is detachably engaged with the socket.

[0017] According to some optional embodiments of this disclosure, there are multiple calibration elements distributed at multiple corners of the clamping assembly.

[0018] According to some specific embodiments of this disclosure, there are four calibration elements, which are adapted to be arranged in a quadrilateral.

[0019] According to some optional embodiments of this disclosure, the clamping device further includes a detection element located above the clamping assembly for detecting the positional relationship between the calibration element and the rotation drive module.

[0020] According to some embodiments of this disclosure, the clamping assembly includes a fixed limiting member and a movable limiting member, wherein the movable limiting member is reciprocating relative to the fixed limiting member to cooperate with the fixed limiting member to clamp the workpiece to be processed.

[0021] According to some optional embodiments of this disclosure, the clamping assembly includes a first fixed limiting member and a first movable limiting member arranged along a first direction, wherein the first movable limiting member is reciprocating relative to the first fixed limiting member in the first direction; the clamping assembly further includes a second fixed limiting member and a second movable limiting member arranged along a second direction, wherein the second movable limiting member is reciprocating relative to the second fixed limiting member in the second direction, and the first direction and the second direction are perpendicular to each other.

[0022] According to some specific embodiments of this disclosure, a transmission assembly is provided between the first movable limiting member and the second movable limiting member, the transmission assembly being configured to drive the other movable member to move when one of the first movable limiting member and the second movable limiting member moves.

[0023] In some embodiments, the transmission assembly includes a first mating portion and a second mating portion. The first mating portion is provided with a mating inclined surface that slides with the second mating portion. One of the first moving limit member and the second moving limit member is provided with the first mating portion and the other is provided with the second mating portion.

[0024] According to some optional embodiments of this disclosure, the clamping assembly includes a mounting base, the fixed limiting member and the movable limiting member are both disposed on the mounting base, the mounting base is connected to the rotation drive module to be driven to rotate by the rotation drive module; the linear drive module is connected to the mounting base to drive the mounting base to move.

[0025] According to some specific embodiments of this disclosure, the fixed limiting member and the movable limiting member are detachably disposed on the mounting base; and / or the clamping assembly is detachable relative to the rotation drive module and the linear drive module.

[0026] According to some specific embodiments of this disclosure, one of the mounting base and the movable limiting member is provided with a guide rail and the other is provided with a guide groove that cooperates with the guide rail.

[0027] According to some optional embodiments of this disclosure, the clamping device further includes a moving drive member, which is spaced apart from the rotation drive module, and the moving drive member is adapted to cooperate with the moving limit member to drive the moving limit member to move.

[0028] According to a second aspect of the present disclosure, a welding apparatus is provided, the welding apparatus comprising: a clamping device according to an embodiment of a first aspect of the present disclosure, and a welding component for welding a workpiece to be processed on the clamping assembly.

[0029] The welding equipment according to the embodiments of the present disclosure, by utilizing the clamping device described in the first aspect of the present disclosure, can achieve continuity when performing continuous welding on a welding path including an arc-shaped path. Thus, when welding a workpiece, it can efficiently and continuously weld workpieces with straight and arc-shaped welding paths without the need for complex motion logic, making the control of the clamping components and the workpiece simple and stable. This facilitates the simplification of pre-processing debugging of the workpiece, reduces debugging difficulty and shortens the debugging cycle, while improving the welding effect at the welding joints where the welding trajectory of the workpiece is arc-shaped.

[0030] In some embodiments of this disclosure, the welding equipment further includes a worktable, the rotation drive module being rotatably disposed on the worktable, and the weldment being disposed on the worktable.

[0031] In some alternative embodiments of this disclosure, the weldment can move along a first direction, a second direction, and a third direction on the worktable, with the first direction, the second direction, and the third direction being perpendicular to each other.

[0032] In some embodiments of this disclosure, the welding equipment further includes a dust removal device with its suction port facing the clamping assembly.

[0033] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 is a schematic diagram of the structure of a welding device according to an embodiment of the present disclosure;

[0036] Figure 2 is an enlarged view of point A in Figure 1;

[0037] Figure 3 is a schematic diagram of the clamping assembly, linear drive module and rotation drive module according to an embodiment of the present disclosure;

[0038] Figure 4 is a front view of the clamping assembly, linear drive module, and rotation drive module according to an embodiment of the present disclosure;

[0039] Figure 5 is an exploded view of the clamping assembly, linear drive module and rotary drive module according to an embodiment of the present disclosure;

[0040] Figure 6 is a schematic diagram of the structure of the clamping assembly according to an embodiment of the present disclosure;

[0041] Figure 7 is a schematic diagram of the structure of a moving drive according to an embodiment of the present disclosure;

[0042] Figure 8 is a structural schematic diagram of a welded component according to an embodiment of the present disclosure;

[0043] Figure 9 is a schematic diagram of the structure of the detection device according to an embodiment of the present disclosure;

[0044] Figure 10 is a schematic diagram of the structure of a dust removal device according to an embodiment of the present disclosure.

[0045] Reference numerals: 1000, Welding equipment; 10, Rotation drive module; 20, Clamping assembly; 21, Insertion hole; 22, Fixed limiting component; 221, First fixed limiting component; 222, Second fixed limiting component; 223, First guide rail; 224, Second guide rail; 23, Moving limiting component; 231, First moving limiting component; 232, Second moving limiting component; 2321, Mating column; 24, Mounting base; 241, First guide groove; 242, Second guide groove; 30, Linear drive module; 31, First drive assembly; 311, First housing; 312, First moving component; 32, Second drive assembly; 321, Second housing; 33, Drive motor; 40, Calibration component; 50, Detection component; 61, First mating part; 611, Mating inclined surface; 62, Second mating part; 70. Moving drive component; 71. Pull block; 72. First cylinder; 73. Second cylinder; 74. Support; 81. Workbench; 82. Welded component; 83. Dust removal device; 831. Dust suction port; 91. First reset component; 92. Second reset component; 93. Workpiece to be processed. Detailed Implementation

[0046] The embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this disclosure, and should not be construed as limiting this disclosure.

[0047] The clamping device according to an embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0048] As shown in Figures 1-6, the clamping device according to an embodiment of the present disclosure includes a clamping assembly 20, a rotation drive module 10, and a linear drive module 30.

[0049] The clamping assembly 20 is located in the linear drive module 30, which is located in the rotary drive module 10. The clamping assembly 20 is used to clamp the workpiece 93 to be processed.

[0050] The linear drive module 30 is used to drive the clamping assembly 20 to reciprocate at least in a straight line relative to the rotation drive module 10. When the linear drive module 30 drives the clamping assembly 20 to reciprocate in a straight line, it can simultaneously drive the workpiece 93 on the clamping assembly 20 to move together in a straight line. At this time, the welding part 82 is stationary. Therefore, the workpiece 93 reciprocates in a straight line relative to the welding part 82, so as to use the welding part 82 to perform linear welding on the workpiece 93.

[0051] It should be explained here that the above-mentioned reciprocating movement along a straight line is not limited to continuous reciprocating movement. It can be moving forward along a straight line and then stopping for a period of time, or moving forward along a straight line and then rotating at a certain angle or moving in the opposite direction along a straight line after other movements. No further restrictions are imposed here.

[0052] The rotation drive module 10 rotates, causing the linear drive module 30 and the clamping assembly 20 to rotate. When the rotation drive module 10 rotates, it also drives the workpiece 93 on the clamping assembly 20 to rotate. In this way, when the workpiece 93 is welded using the welding part 82, the welding part 82 does not need to move, and the workpiece 93 can be welded in an arc shape using the welding part 82.

[0053] Specifically, when welding the workpiece 93 on the clamping assembly 20, the position of the welding part 82 remains unchanged, and the rotation axis of the rotation drive module 10 remains constant. When the linear drive module 30 drives the clamping assembly 20 to move back and forth along a straight line, it does not affect the position of the rotation axis of the rotation drive module 10, thereby ensuring the relative position of the rotation axis of the rotation drive module 10 and the welding part 82. When the rotation drive module 10 drives the workpiece 82 to rotate, the welding part 82 can smoothly perform arc welding on the workpiece 82. At the same time, after the welding part 82 completes the arc welding, when the linear drive module 30 drives the clamping assembly 20 to move along a straight line, it can immediately perform straight welding, realizing continuous welding of the arc path and the straight path. Thus, when welding the workpiece 93, the continuity of the overall welding is achieved.

[0054] For example, on a plane perpendicular to the rotation axis of the rotation drive module 10, when the projection of the workpiece 93 is a rectangle and the adjacent sides of the rectangle are connected by arcs, the workpiece 93, whose welding path is a continuous straight line path and an arc path, can be welded using a fixture device and a welding part 82.

[0055] Specifically, when the linear drive module 30 drives the workpiece 93 to move along a straight line, the welding component 82 can weld one straight plane of the workpiece 93. After the linear drive module 30 drives the workpiece 93 to move into position along a straight line, the rotation drive module 10 drives the linear drive module 30 and the workpiece 93 to rotate together. At this time, the welding component 82 can weld the arc surface of the workpiece 93. After the rotation drive module 10 rotates into position, the linear drive module 30 can drive the workpiece 93 to move along a straight line. At this time, the welding component 82 can weld the other straight side of the workpiece 93. In this way, the straight plane and arc surface of the workpiece 93 can be welded, realizing the continuity of the welding component 82 in the welding process of the workpiece 93, thereby improving welding efficiency and welding quality.

[0056] When it is necessary to perform arc-shaped welding on the workpiece 93, it is only necessary to rotate the drive module 10 to drive the workpiece 93 to rotate. There is no need for complex motion logic, which makes the control of the clamping component 20 and the workpiece 93 simple and stable. This simplifies the debugging process of the workpiece 93, reduces the debugging difficulty and the debugging cycle, and improves the welding effect of the workpiece 93 with an arc-shaped welding trajectory.

[0057] According to the embodiments of the present disclosure, the clamping device can achieve continuity when continuously welding a welding path including an arc-shaped path. Therefore, when welding the workpiece 93, it can efficiently and continuously weld the workpiece with a straight path and an arc-shaped path without the need for complex motion logic. This makes the control of the clamping component 20 and the workpiece 93 simple and stable, thereby simplifying the debugging before processing the workpiece 93, reducing the debugging difficulty and the debugging cycle, and improving the welding effect at the welding point where the welding trajectory of the workpiece 93 is arc-shaped.

[0058] The clamping device according to a specific embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0059] In some specific embodiments of this disclosure, as shown in Figures 1-6, the clamping device includes a rotation drive module 10, a clamping assembly 20, and a linear drive module 30.

[0060] In some embodiments of this disclosure, the linear drive module 30 is used to drive the clamping assembly 20 to reciprocate relative to the rotation drive module 10 along a first direction or along a second direction. The first and second directions are perpendicular to each other so that different planes of the workpiece 93 can be processed. The first direction extends along the X direction in FIG6, and the second direction extends along the Y direction in FIG6.

[0061] It should be explained here that the reciprocating movement along the first direction is not limited to continuous reciprocating movement. It can be moving in the first direction forward and then stopping for a period of time, or moving in the first direction forward and then rotating at a certain angle, or moving in the first direction backward after other movements. No further restrictions are imposed here.

[0062] The reciprocating movement along the second direction is not limited to continuous reciprocating movement. It can be moving in the positive direction along the second direction and then stopping for a period of time, or moving in the positive direction along the second direction and then rotating at a certain angle, or moving in the opposite direction along the second direction after other movements. No further restrictions are imposed here.

[0063] In some embodiments, as shown in FIG3, the linear drive module 30 includes a drive motor 33 to drive the clamping assembly 20 to reciprocate in a first direction or a second direction relative to the rotation drive module 10.

[0064] In some optional embodiments of this disclosure, the linear drive module 30 includes a first drive component 31 and a second drive component 32. The first drive component 31 is disposed on the rotary drive module 10 and is used to drive the clamping component 20 to reciprocate relative to the rotary drive module 10 in a first direction. The second drive component 32 is disposed on the rotary drive module 10 and is used to drive the clamping component 20 to reciprocate relative to the rotary drive module 10 in a second direction. When the clamping component 20 is moved using the first drive component 31 and the second drive component 32, the welding component 82 can weld different planes of the workpiece 93 to be processed, thereby achieving continuity in welding the workpiece 93 to be processed and improving the efficiency of welding the workpiece 93 to be processed.

[0065] For example, on a plane perpendicular to the rotation axis of the rotation drive module 10, the projection of the workpiece 93 is rectangular. The workpiece 93 includes a first to a fourth linear plane connected in sequence. When the first drive assembly 31 drives the clamping assembly 20 to move relative to the rotation drive module 10 in a first direction, the welding part 82 can weld the first linear plane of the workpiece 93. Then, after the rotation drive module 10 rotates 90°, when the second drive assembly 32 drives the clamping assembly 20 to move relative to the rotation drive module 10 in a second direction, the welding part 82 can weld the workpiece 93. Welding is performed on the second straight plane of the workpiece 93; then, after the rotation drive module 10 rotates 90° again, when the first drive component 31 drives the clamping component 20 to move relative to the rotation drive module 10 along the first direction, the welding part 82 can weld on the third straight plane of the workpiece 93 to be processed; then, after the rotation drive module 10 rotates 90° again, when the second drive component 32 drives the clamping component 20 to move relative to the rotation drive module 10 along the second direction, the welding part 82 can weld on the fourth straight plane of the workpiece 93 to be processed, so as to complete the welding of the workpiece 82 to be welded.

[0066] Furthermore, if two adjacent planes are connected by an arc surface, the welding part 82 can also weld the arc surface of the workpiece 93 when the rotation drive module 10 drives the clamping assembly 20 to rotate.

[0067] Specifically, the welding part 82 will not move when welding the workpiece 93. Since the rotation drive module 10 will rotate 90° first when the linear drive module 30 drives the clamping assembly 20 to move relative to the rotation drive module 10 in the first or second direction, the movement direction of the clamping assembly 20 and the workpiece 93 on the clamping assembly 20 is the same relative to the welding part 82 when the first drive assembly 31 and the second drive assembly 32 drive the clamping assembly 20 to move.

[0068] In this process, before welding different planes of the workpiece 93, the drive module 10 needs to be rotated to adjust the position of the workpiece 93 and the relative position of the workpiece 82 to ensure that the workpiece 82 can be smoothly welded to the plane of the workpiece 93, thus ensuring welding efficiency and welding quality.

[0069] In some specific embodiments of this disclosure, as shown in Figures 3 and 5, the first driving component 31 includes a first housing 311 and a first moving member 312. The first moving member 312 is movably disposed on the first housing 311 relative to the rotation driving module 10 along a first direction. The clamping component 20 is fixed to the first moving member 312. When the first moving member 312 moves relative to the rotation driving module 10 along the first direction, the first moving member 312 drives the clamping component 20 to move relative to the rotation driving module 10 along the first direction, thereby achieving the purpose of driving the workpiece 93 to be processed to move relative to the rotation driving module 10 along the first direction. The first direction extends along the X direction in Figure 6.

[0070] The first housing 311 is fixed to the second driving assembly 32. The second driving assembly 32 drives the clamping assembly 20 to move relative to the rotation driving module 10 in the second direction by driving the first housing 311. When the second driving assembly 32 drives the clamping assembly 20 to move in the second direction, the second driving assembly 32 simultaneously drives the first driving assembly 31 and the clamping assembly 20 to move together in the second direction, so as to achieve the purpose of driving the workpiece 93 to be processed to move relative to the rotation driving module 10 in the second direction. The second direction extends along the Y direction in 6.

[0071] Specifically, taking the projection of the workpiece 93 onto a plane perpendicular to the rotation axis of the rotation drive module 10 as an example, the workpiece 93 includes a first to a fourth linear plane connected in sequence. When the first moving member 312 drives the clamping assembly 20 to move relative to the rotation drive module 10 along a first direction, the welding member 82 can weld the first linear plane of the workpiece 93. Then, after the rotation drive module 10 rotates 90°, when the second driving assembly 32 drives the first housing 311 and the clamping assembly 20 to move relative to the rotation drive module 10 along a second direction, the welding member 82 can weld the workpiece 93. Welding is performed on the second straight plane of the workpiece 93; then, after the rotation drive module 10 rotates 90° again, when the first moving component 312 drives the clamping assembly 20 to move relative to the rotation drive module 10 along the first direction, the welding component 82 can weld on the third straight plane of the workpiece 93; then, after the rotation drive module 10 rotates 90° again, when the second drive assembly 32 drives the first housing 311 and the clamping assembly 20 to move relative to the rotation drive module 10 along the second direction, the welding component 82 can weld on the fourth straight plane of the workpiece 93 to complete the welding of the workpiece 82.

[0072] Furthermore, if two adjacent planes are connected by an arc surface, the welding part 82 can also weld the arc surface of the workpiece 93 when the rotation drive module 10 drives the clamping assembly 20 to rotate.

[0073] In some embodiments, the second drive assembly 32 includes a second housing 321 and a second movable member. The second movable member is movably disposed on the second housing 321 relative to the rotation drive module 10 along a second direction. The first housing 311 is fixed to the second movable member, and the second housing 321 is fixed to the rotation drive module 10.

[0074] The first housing 311 is mounted on the second moving part, and the clamping assembly 20 is mounted on the first housing 311. The rotation drive module 10 synchronously drives the first drive assembly 31 and the second drive assembly 32 to rotate. When the rotation drive module 10 rotates, the relative positions of the first drive assembly 31, the second drive assembly 32 and the workpiece 82 to be welded remain unchanged. When the second drive assembly 32 moves, the relative positions of the first drive assembly 31 and the workpiece 82 to be welded remain unchanged, which facilitates the positioning of the workpiece 82 to be welded and thus facilitates the determination of the position of the workpiece 82 to be welded, so as to accurately process the workpiece 82 to be welded.

[0075] In some embodiments of this disclosure, as shown in FIG2, the clamping device further includes a calibration element 40, which is detachably disposed on the clamping assembly 20. The clamping assembly 20 has a calibration position. In the calibration position, the calibration element 40 is disposed on the clamping assembly 20, and the vertical central axis of the calibration element 40 is aligned with the rotation central axis of the rotation drive module 10. The calibration element 40 is used to determine the relative position of the workpiece 93 to be processed and the clamping assembly 20, so that the vertical central axis of the arc surface of the workpiece 93 to be processed is aligned with the rotation central axis of the rotation drive module 10. In this way, when the rotation drive module 10 drives the clamping assembly 20 and the workpiece 93 to rotate, the welding part 82 can smoothly weld the arc surface.

[0076] Specifically, the calibration component 40 is a copy of the arc surface portion of the workpiece 93 to be processed. After the calibration component 40 is placed on the clamping assembly 20, the vertical center axis of the calibration component 40 is aligned with the rotation center axis of the rotation drive module 10. This facilitates determining the position of the workpiece 93 to be processed when welding the arc shape based on the position of the calibration component 40, thereby determining the movement logic of the linear drive module 30 in driving the clamping assembly 20 and the rotation logic of the rotation drive module 10.

[0077] In some optional embodiments of this disclosure, as shown in FIG6, the clamping assembly 20 is provided with a socket 21, and the calibration member 40 is detachably engaged with the socket 21 to limit the position of the calibration member 40, so as to prevent the calibration member 40 from disengaging from the clamping assembly 20 when the rotation drive module 10 drives the clamping assembly 20 to rotate or the linear drive module 30 drives the clamping assembly 20 to move, thereby ensuring that the workpiece 93 to be processed can be processed stably and quickly.

[0078] In some optional embodiments of this disclosure, as shown in FIG2, there are multiple calibration elements 40, which are distributed at multiple corners of the clamping assembly 20 to adapt to the case where the workpiece 93 has multiple arc surfaces. At the same time, the movement logic of the linear drive module 30 can be determined according to the position of the multiple calibration elements 40, thereby realizing the continuity when welding the linear plane and arc surface of the workpiece 93.

[0079] In some embodiments, the projection of the workpiece 93 on the plane perpendicular to the rotation center of the rotation drive module 10 is rectangular. The workpiece 93 includes a first to a fourth linear plane connected in sequence, and two adjacent linear planes are connected by an arc surface.

[0080] The calibration component 40 is a model of the arc-shaped part of the workpiece 93 to be processed. There are four calibration components 40, which are distributed at the four corners of the clamping assembly 20. Before the rotation drive module 10 rotates, the linear drive module 30 drives the clamping assembly 20 to move so that the vertical central axis of the calibration component 40 coincides with the rotation center of the rotation drive module 10. The moving distance of the linear drive module 30 determines the rotation angle of the rotation drive module 10, so that when the workpiece 93 to be processed is placed on the clamping assembly 20, the welding component 82 can weld the straight plane of the workpiece 93 to be processed and then smoothly weld the arc surface of the workpiece 93 to be processed.

[0081] Specifically, the distance between the vertical center axes of two adjacent calibration components 40 can be used to determine the moving distance that the linear drive module 30 should drive the clamping assembly 20 to move. After the rotation drive module 10 drives the clamping assembly 20 to rotate and the welding component 82 welds the arc surface of the workpiece 93, the rotation drive module 10 stops rotating. At this time, the linear drive module 30 can immediately drive the clamping assembly 20 to move, so that the welding component 82 can weld the straight plane. In this way, when the welding component 82 welds the workpiece 93, the continuity of the welding steps can be guaranteed, thereby improving welding efficiency and welding quality.

[0082] In some specific embodiments of this disclosure, as shown in FIG2, there are four calibration elements 40, which are adapted to be arranged in a quadrilateral to adapt to the shape of the workpiece 93 to be processed, so that the movement logic of the linear drive module 30 and the rotation logic of the rotation drive module 10 determined according to the calibration elements 40 can adapt to the workpiece 93 to be processed, thereby realizing the precise processing of the workpiece 93 to be processed.

[0083] In some optional embodiments of this disclosure, as shown in FIG1, the clamping device further includes a detection element 50, which is located above the clamping assembly 20. The detection element 50 is used to detect the positional relationship between the calibration element 40 and the rotation drive module 10, so that when the rotation drive module 10 rotates, if the vertical central axis of the calibration element 40 is offset from the rotation center of the rotation drive module 10, the positions of the detection element 50 and the rotation drive module 10 can be adjusted in time.

[0084] Specifically, the detection component 50 communicates with the linear drive module 30. When the detection component 50 detects that the vertical center axis of the calibration component 40 is offset from the rotation center of the rotation drive module 10, it controls the linear drive module 30 to adjust the position of the detection component 50 so that the vertical center axis of the detection component 50 coincides with the rotation center of the rotation drive module 10. This ensures that when the rotation drive module 10 rotates, the welding component 82 can be smoothly welded to the arc surface of the component to be welded.

[0085] Furthermore, the calibration component 40 is a copy of at least a portion of the workpiece 82 to be welded. After the motion logic of the linear drive module 30 and the rotary drive module 10 is determined using the calibration component 40, the expected processing of the workpiece 93 to be processed can also be achieved using the motion logic after the workpiece 93 to be processed is placed on the fixture device.

[0086] In some embodiments, the workpiece 93 includes a first to a fourth linear plane connected in sequence, with adjacent linear planes connected by an arc surface.

[0087] The four calibration pieces 40 are for modeling the arc-shaped parts of the workpiece 93 to be processed. The operating logic of the rotation drive module 10 and the linear drive module 30 determined by the calibration pieces 40 can also be applied to the workpiece 93 to be processed. Specifically, after the workpiece 93 to be processed is placed on the clamping assembly 20, the linear drive module 30 and the rotation drive module 10 move according to the determined operating logic, thereby driving the workpiece 93 to move relative to the welding piece 82, so that the welding piece 82 can be used to weld the straight plane and the arc surface of the workpiece 93 to be processed.

[0088] The detection component 50 is located above the clamping assembly 20. When the workpiece 93 is placed on the clamping assembly 20, the detection component 50 can detect the positional relationship between the workpiece 93 and the rotation drive module 10, so that before the rotation drive module 10 rotates, the central axis of the arc surface of the workpiece 93 coincides with the rotation center of the rotation drive module 10, so that the rotation drive module 10 can accurately weld the arc surface and improve the welding quality.

[0089] In some examples, the workpiece 93 includes a first to a fourth linear plane connected in sequence. Adjacent linear planes are connected by an arc surface. On a plane perpendicular to the rotation center of the rotation drive module 10, the projections of the first to fourth linear planes are the first line, the second line, the third line, and the fourth line, respectively. The projection of the arc surface is an arc with a central angle of 90°.

[0090] The four calibration components 40 are respectively the first to the fourth calibration components. The first and second calibration components are arranged along the first direction relative to the rotation drive module 10. The distance between the central axis of the first calibration component and the central axis of the second calibration component is x1. x1 corresponds to the distance of the first straight line, which determines that the distance x1 that the first drive component 31 needs to drive the clamping component 20 to move relative to the rotation drive module 10 along the first direction is x1.

[0091] The second and third calibration components are arranged along the second direction relative to the rotation drive module 10. The distance between the central axis of the second calibration component and the central axis of the third calibration component is x2. x2 corresponds to the distance of the second straight line. It can be determined that the second drive assembly 32 needs to drive the clamping assembly 20 to move a distance of x2 relative to the rotation drive module 10 along the second direction.

[0092] The third and fourth calibration components are arranged along the first direction relative to the rotation drive module 10. The distance between the central axis of the third calibration component and the central axis of the fourth calibration component is x3. x3 corresponds to the distance of the third straight line. It can be determined that the distance x3 that the first drive component 31 needs to drive the clamping component 20 to move relative to the rotation drive module 10 along the first direction is x3.

[0093] The fourth calibration component and the first calibration component are arranged along the second direction relative to the rotation drive module 10. The distance between the central axis of the fourth calibration component and the central axis of the first calibration component is x4. x4 corresponds to the distance of the fourth straight line. It can be determined that the second drive component 32 needs to drive the clamping component 20 to move a distance of x4 relative to the rotation drive module 10 along the second direction.

[0094] The first direction extends along the X direction in Figure 6, the second direction extends along the Y direction in Figure 6, the first linear plane and the second linear plane are connected by a first arc surface, the second linear plane and the third linear plane are connected by a second arc surface, the third linear plane and the fourth linear plane are connected by a third arc surface, and the fourth linear plane and the first linear plane are connected by a fourth arc surface.

[0095] In summary, the motion logic of the linear drive module 30 and the rotation drive module 10 can be determined as follows: the first drive component 31 drives the clamping component 20 to move a distance x relative to the rotation drive module 10 along the first direction, where x ≤ x1. At this time, the welding part 82 welds at least a portion of the first linear plane. When the central axis of the first arc surface coincides with the rotation center of the rotation drive module 10, the first drive component 31 stops driving, and the rotation drive module 10 rotates 90°. At this time, the welding part 82 achieves welding of the first arc surface.

[0096] The second drive assembly 32 drives the clamping assembly 20 to move a distance x2 relative to the rotation drive module 10 along the second direction, at which point the welding piece 82 welds onto the second linear plane; the second drive assembly 32 stops driving, the rotation drive module 10 rotates 90°, and the welding piece 82 welds onto the second arc surface; the first drive assembly 31 drives the clamping assembly 20 to move a distance x3 relative to the rotation drive module 10 along the first direction, at which point the welding piece 82 welds onto the third linear plane; the first drive assembly 31 stops driving, the rotation drive module 10 rotates 90°, and the welding piece 82 welds onto the third arc surface; the second drive assembly 32 drives the clamping assembly 20 to move a distance x4 relative to the rotation drive module 10 along the second direction, at which point the welding piece 82 welds onto the fourth linear plane; the second drive assembly 32 stops driving, the rotation drive module 10 rotates 90°, and the welding piece 82 welds onto the fourth arc surface.

[0097] Then the first drive assembly 31 drives the clamping assembly 20 to move a distance x1-x relative to the rotation drive module 10 along the first direction. At this time, the welding part 82 welds the remaining part of the first straight plane, thereby completing the welding of all the workpiece 93 to be processed.

[0098] In the above process, the workpiece moves in only one direction in each step. Specifically, the clamping component 20 is driven in one of three ways: rotating around the rotation axis of the rotation drive module 10, moving along the first direction, or moving along the second direction. This avoids the clamping component 20 moving in multiple directions at the same time, simplifies the motion logic, and makes it easier to reduce the possibility of gaps when welding the workpiece 93, reduce the difficulty of debugging, and improve the quality of welding.

[0099] Specifically, by locating the vertical center axis of the four calibration components 40, the operating logic of the linear drive module 30 and the rotation drive module 10 can be determined, which simplifies the debugging steps of the fixture device, reduces the debugging difficulty, and facilitates a reduction in the debugging cycle.

[0100] In some embodiments, x1 equals x3, and x2 equals x4.

[0101] In some embodiments of this disclosure, as shown in FIG6, the clamping assembly 20 includes a fixed limiting member 22 and a movable limiting member 23. The movable limiting member 23 can reciprocate relative to the fixed limiting member 22 to cooperate with the fixed limiting member 22 to clamp the workpiece 93 to be processed, thereby fixing the workpiece 93 to be processed on the clamping assembly 20 and preventing the workpiece 93 to be processed from falling off the clamping assembly 20.

[0102] The movable limiting member 23 can reciprocate relative to the fixed limiting member 22 to accommodate workpieces 93 of different sizes, thereby enabling workpieces 93 of different sizes to be fixed on the clamping assembly 20, improving the adaptability of the clamping assembly 20 and reducing the difficulty of setting the workpieces 93 on the clamping assembly 20.

[0103] In some optional embodiments of this disclosure, as shown in FIG6, the clamping assembly 20 includes a first fixed limiting member 221 and a first movable limiting member 231 arranged along a first direction. The first movable limiting member 231 is reciprocating relative to the first fixed limiting member 221 in the first direction so that the distance between the first movable limiting member 231 and the first fixed limiting member 221 in the first direction can be adjusted according to the size of the workpiece 93 in the first direction, thereby adapting to the size of the workpiece 93 in the first direction, so that the workpiece 93 can be clamped between the first fixed limiting member 221 and the first movable limiting member 231. The first direction extends along the X direction in FIG6.

[0104] The clamping assembly 20 also includes a second fixed limiting member 222 and a second movable limiting member 232 arranged along a second direction. The second movable limiting member 232 is reciprocating relative to the second fixed limiting member 222 in the second direction. The first direction and the second direction are perpendicularly arranged so that the second movable limiting member 232 is reciprocating relative to the second fixed limiting member 222 in the second direction. This allows the distance between the second movable limiting member 232 and the second fixed limiting member 222 in the second direction to be adjusted according to the size of the workpiece 93 in the second direction, thereby adapting to the size of the workpiece 93 in the second direction and allowing the workpiece 93 to be clamped between the second fixed limiting member 222 and the second movable limiting member 232. The second direction extends along the Y direction in 6.

[0105] Specifically, when the workpiece 93 is placed on the clamping assembly 20, the first movable limiting member 231 is moved away from the first fixed limiting member 221 along the first direction, and the second movable limiting member 232 is moved away from the second fixed limiting member 222 along the second direction, so that there is a large space between the first movable limiting member 231 and the first fixed limiting member 221, and a large space between the second movable limiting member 232 and the second fixed limiting member 222, so that the workpiece 93 can be smoothly placed between the first movable limiting member 231 and the first fixed limiting member 221, and between the second movable limiting member 232 and the second fixed limiting member 222.

[0106] After the position of the workpiece 93 to be processed is initially set, the first movable limiting member 231 is moved along the first direction toward the first fixed limiting member 221 so that the first movable limiting member 231 and the first fixed limiting member 221 clamp the workpiece 93 to be processed. The second movable limiting member 232 is moved along the second direction toward the second fixed limiting member 222 so that the second movable limiting member 232 and the second fixed limiting member 222 clamp the workpiece 93 to be processed, thereby fixing the workpiece 93 to be processed on the clamping assembly 20.

[0107] In some embodiments, as shown in FIG6, the clamping assembly 20 further includes a first reset member 91 and a second reset member 92. One end of the first reset member 91 is connected to the first movable limiting member 231 and exerts a force on the first movable limiting member 231 to move toward the first fixed limiting member 221. One end of the second reset member 92 is connected to the second movable limiting member 232 and exerts a force on the second movable limiting member 232 to move toward the second fixed limiting member 222. After applying the force to move the first movable limiting member 231 away from the first fixed limiting member 221 along a first direction and to move the second movable limiting member 232 away from the second fixed limiting member 222 along a second direction, and after the workpiece 93 to be processed is placed between the first movable limiting member 231 and the first fixed limiting member 221, and between the second movable limiting member 232 and the second fixed limiting member 222, the workpiece 93 to be processed is placed between the first movable limiting member 231 and the first fixed limiting member 221, and between the second movable limiting member 232 and the second fixed limiting member 222.

[0108] When the force applied to the first movable limiting member 231 and the second movable limiting member 232 is released, under the action of the first reset member 91, the first movable limiting member 231 moves along the first direction toward the first fixed limiting member 221 to clamp the workpiece 93 to be processed between the first movable limiting member 231 and the first fixed limiting member 221. Under the action of the second reset member 92, the second movable limiting member 232 moves along the second direction toward the second fixed limiting member 222 to clamp the workpiece 93 to be processed between the second movable limiting member 232 and the second fixed limiting member 222.

[0109] In some specific embodiments of this disclosure, a transmission assembly is provided between the first movable limiting member 231 and the second movable limiting member 232. The transmission assembly is configured such that when one of the first movable limiting member 231 and the second movable limiting member 232 moves, the other moves through the transmission assembly. In this way, when one of the first movable limiting member 231 and the second movable limiting member 232 is driven to move, the other can be driven to move simultaneously by the transmission assembly, thereby enabling the first movable limiting member 231 and the second movable limiting member 232 to move simultaneously. This facilitates the simultaneous clamping of the workpiece 93 to be processed between the first movable limiting member 231 and the first fixed limiting member 221, and between the second movable limiting member 232 and the second fixed limiting member 222, thereby achieving rapid installation of the workpiece 93 to be processed.

[0110] In some embodiments, as shown in FIG6, the transmission assembly includes a first mating part 61 and a second mating part 62. The first mating part 61 is provided with a mating inclined surface 611 that slides with the second mating part 62. One of the first moving limiting member 231 and the second moving limiting member 232 is provided with the first mating part 61 and the other is provided with the second mating part 62.

[0111] For example, as shown in Figure 6, the second movable limiting member 232 is provided with a first mating part 61, and the first mating part 61 has a mating inclined surface 611. On the plane perpendicular to the rotation axis of the rotation drive module 10, the projection of the mating inclined surface 611 on the rotation axis is an oblique line. The oblique line extends away from the first fixed limiting member 221 in the first direction and extends towards the second fixed limiting member 222 in the second direction. The first movable limiting member 231 is provided with a second mating part 62, and the second mating part 62 slides in contact with the mating inclined surface 611.

[0112] Specifically, the first direction extends along the X direction in Figure 6, and the second direction extends along the Y direction in Figure 6. When the second moving limit member 232 moves away from the second fixed limit member 222 along the second direction, the second moving limit member 232 drives the first mating part 61 to move along the second direction. At the same time, the second mating part 62 and the mating inclined surface 611 slide relative to each other. Under the action of the mating inclined surface 611, the first mating part 61 moves away from the first fixed limit member 221 along the first direction, and at the same time drives the first moving limit member 231 to move away from the first fixed limit member 221, so as to reserve enough space for the workpiece 93 to be processed, so as to conveniently and quickly clamp the workpiece 93 between the first moving limit member 231 and the first fixed limit member 221, and clamp the workpiece 93 between the second moving limit member 232 and the second fixed limit member 222.

[0113] In some optional embodiments of this disclosure, as shown in FIG6, the clamping assembly 20 includes a mounting base 24, a fixed limiting member 22 and a movable limiting member 23, both disposed on the mounting base 24. The mounting base 24 is connected to the rotation drive module 10 so that it can be driven to rotate by the rotation drive module 10. Specifically, when the rotation drive module 10 rotates, the rotation drive module 10 can drive the clamping assembly 20 to rotate, thereby driving the workpiece 93 to be processed to rotate, so as to realize the welding of the arc surface of the workpiece 93 to be processed using the welding part 82.

[0114] The linear drive module 30 is connected to the mounting base 24 to drive the mounting base 24 to move. At this time, the linear drive module 30 can drive the clamping assembly 20 to move, and then drive the workpiece 93 to move, so as to realize the welding of the linear plane of the workpiece 93 using the welding part 82.

[0115] In some specific embodiments of this disclosure, the fixed limiting member 22 and the movable limiting member 23 are detachably disposed on the mounting base 24 to facilitate maintenance and replacement.

[0116] For example, fixed limiting members 22 and movable limiting members 23 of different sizes are suitable for workpieces 93 within a certain size range, so that fixed limiting members 22 and movable limiting members 23 are detachably mounted on the mounting base 24, so that when working on workpieces 93 of different sizes, appropriate sizes of fixed limiting members 22 and movable limiting members 23 can be selected to facilitate clamping workpieces 93 of different sizes and types.

[0117] In some specific embodiments of this disclosure, the clamping assembly 20 is detachable from the rotation drive module 10 and the linear drive module 30 to facilitate the replacement of clamping assemblies 20 with different shapes.

[0118] Specifically, for workpieces 93 of different shapes, clamping components 20 of different shapes are required to clamp them, so that the clamping components 20 are detachable from the rotation drive module 10 and the linear drive module 30, so as to facilitate the selection of different shapes and types of clamping components 20 according to the specific shape of the workpiece 93.

[0119] In some specific embodiments of this disclosure, as shown in FIG6, one of the mounting base 24 and the movable limiting member 23 is provided with a guide rail and the other is provided with a guide groove that cooperates with the guide rail, so that the movable limiting member 23 can move along the extension direction of the guide rail or the guide groove, and the movable limiting member 23 can move smoothly.

[0120] In some embodiments, the mounting base 24 is provided with a first guide groove 241 and a second guide groove 242. The first guide groove 241 extends relative to the rotation drive module 10 along a first direction, and the second guide groove 242 extends relative to the rotation drive module 10 along a second direction. The first moving limit member 231 has a first guide rail 223, which slides with the first guide groove 241 so that the first moving limit member 231 can move smoothly along the first direction. The first direction extends along the X direction in FIG6, and the second direction extends along the Y direction in FIG6.

[0121] The second moving limit member 232 has a second guide rail 224, which slides in conjunction with the second guide groove 242 so that the second moving limit member 232 can move smoothly along the second direction.

[0122] In some optional embodiments of this disclosure, as shown in Figures 1 and 7, the clamping device further includes a moving drive component 70, which is spaced apart from the rotation drive module 10. The moving drive component 70 is adapted to cooperate with the moving limit component 23 to drive the moving limit component 23 to move, so as to realize the automatic driving of the moving drive component 70. Under the action of the moving drive component 70, the moving limit component 23 can automatically move away from the fixed limit component 22, thereby improving the automation of the equipment and reducing the operation of the operator.

[0123] In some embodiments, as shown in Figures 6 and 7, the moving drive 70 consists of a pull block 71, a first cylinder 72, a second cylinder 73, and a bracket 74. The bracket 74 is supported on the worktable 81 of the welding equipment 1000. The pull block 71 is provided with a mating hole, and the second moving limit member 232 is provided with a mating post 2321. The first cylinder 72 is adapted to drive the pull block 71 to move along a second direction, and the second cylinder 73 is adapted to drive the pull block 71 to move along a third direction, which extends along the Z direction in Figure 7.

[0124] Specifically, the third direction extends vertically, driving the pull block 71 to move downwards so that the mating post 2321 enters the mating hole, thus achieving the mating of the mating post 2321 and the mating hole. Then, the first cylinder 72 drives the pull block 71 to move in the second direction, thereby driving the second moving limit member 232 to move in the second direction away from the second fixed limit member 222. At the same time, driven by the transmission assembly, the first moving limit member 231 moves in the first direction away from the first fixed limit member 221 to reserve a position for fixing the workpiece 93 to be processed.

[0125] When the second cylinder 73 drives the pull block 71 to move upward, the mating post 2321 disengages from the mating hole. Under the action of the first reset member 91 and the second reset member 92, the first moving limit member 231 moves along the first direction toward the first fixed limit member 221, and the second moving limit member 232 moves along the second direction toward the second fixed limit member 222. This clamps the workpiece 93 to be processed between the first moving limit member 231 and the first fixed limit member 221, and between the second moving limit member 232 and the second fixed limit member 222, thereby fixing the workpiece 93 to be processed.

[0126] The welding apparatus 1000 according to an embodiment of the present disclosure is described below. The welding apparatus 1000 according to an embodiment of the present disclosure includes a clamping device and a welding component 82 according to the above embodiments of the present disclosure.

[0127] The welding component 82 is used to weld the workpiece 93 to be processed on the clamping assembly 20. When the rotation drive module 10 drives the clamping assembly 20 to rotate, the welding component 82 is fixed when welding the workpiece 93 to be processed. At this time, the welding component 82 can weld the arc surface of the workpiece 93 to be processed. The welding method is simple and it is easy to improve the welding quality.

[0128] According to the embodiments of the present disclosure, the welding equipment 1000 can achieve continuity when performing continuous welding on a welding path including an arc-shaped path by utilizing the clamping device according to the above embodiments of the present disclosure. Therefore, when welding the workpiece 93, it can perform efficient and continuous welding on the workpiece 93 with a welding path of both a straight path and an arc-shaped path, without the need for complex motion logic. This makes the control of the clamping assembly 20 and the workpiece 93 simple and stable, thereby simplifying the debugging before processing the workpiece 93, reducing the debugging difficulty, shortening the debugging cycle, and improving the welding effect at the welding point where the welding trajectory of the workpiece 93 is arc-shaped.

[0129] In some embodiments of this disclosure, the welding equipment 1000 further includes a worktable 81, a rotation drive module 10 is rotatably disposed on the worktable 81, and a welding component 82 is disposed on the worktable 81, so as to use the worktable 81 to position the relative position of the workpiece 93 to be processed and the welding component 82, so that the welding component 82 can smoothly and accurately weld the workpiece 93 to be processed.

[0130] In some optional embodiments of this disclosure, the welding component 82 can move on the worktable 81 along a first direction, a second direction, and a third direction. The first direction, the second direction, and the third direction are arranged perpendicularly to each other. Specifically, before welding the workpiece 93, the position of the welding component 82 can be adjusted along the first direction, the second direction, and the third direction. On the one hand, the welding component 82 can be set at a preset welding position. On the other hand, before installing the workpiece 93 onto the fixture device, the position of the welding component 82 can be moved so that the welding component 82 avoids the workpiece 93 and prevents the welding component 82 from colliding with the workpiece 93.

[0131] The first direction extends along the X direction in Figure 6, the second direction extends along the Y direction in Figure 6, and the third direction extends along the Z direction in Figure 7.

[0132] Furthermore, when welding workpiece 82 is welding workpiece 93, the fixture device can drive workpiece 93 to rotate or move, while welding workpiece 82 is stationary relative to worktable 81, so as to improve the stability and welding quality of welding workpiece 82 to workpiece 93.

[0133] In some optional embodiments of this disclosure, the welding component 82 is a collimating welding machine. The core principle of the collimating welding machine is to transmit a high-energy laser beam through an optical fiber, transmit it over a long distance, collimate it into parallel light through a collimating lens, and then focus it onto the workpiece 93 to be processed for welding. This equipment has greater flexibility for welding hard-to-reach parts, can achieve non-contact welding, and can perform multi-beam simultaneous processing through optical fiber transmission, providing conditions for more precise welding and facilitating the welding of arc shapes.

[0134] Specifically, by adjusting the position of the weldment 82 on the worktable 81 along the first, second, and third directions, the focus of the weldment 82 can be adjusted when the rotation drive module 10 drives the fixture assembly and the workpiece 93 to rotate, so that the focus of the weldment 82 is located at the starting position of the arc surface, thereby enabling the weldment 82 to weld the arc surface when the rotation drive module 10 rotates.

[0135] In some embodiments of this disclosure, the welding equipment 1000 includes a dust removal device 83 with a dust suction port 831 facing the clamping assembly 20. This allows the dust removal device 83 to absorb the fumes and welding slag generated during welding when the welding workpiece 82 is welding the workpiece 93, thereby reducing dust interference and improving the welding quality of the welding workpiece 82 on the workpiece 93.

[0136] Other configurations and operations of the welding equipment 1000 according to embodiments of this disclosure are known to those skilled in the art and will not be described in detail here.

[0137] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more. In the description of this disclosure, "above" or "below" a second feature may include direct contact between the first and second features, or it may include contact between the first and second features not in direct contact but through another feature between them.

[0138] In the description of this disclosure, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0139] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0140] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0141] Although embodiments of this disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A clamping device, wherein, include: A clamping assembly (20) is used to clamp the workpiece (93) to be processed; A rotation drive module (10) is used to drive the clamping assembly (20) to rotate; A linear drive module (30) is provided to drive the clamping assembly (20) to reciprocate relative to the rotation drive module (10) at least along a straight line. The clamping component (20) is located in the linear drive module (30), the linear drive module (30) is located in the rotation drive module (10), and the rotation drive module (10) is used to drive the linear drive module (30) and the clamping component (20) to rotate.

2. The clamping device according to claim 1, wherein, The linear drive module (30) is used to drive the clamping assembly (20) to reciprocate relative to the rotation drive module (10) along a first direction or along a second direction, wherein the first direction and the second direction are perpendicular to each other.

3. The clamping device according to claim 2, wherein, The linear drive module (30) includes: A first driving component (31) is disposed on the rotation driving module (10) and is used to drive the clamping component (20) to reciprocate relative to the rotation driving module (10) in a first direction; The second drive component (32) is disposed on the rotation drive module (10) and is used to drive the clamping component (20) to reciprocate relative to the rotation drive module (10) in a second direction.

4. The clamping device according to claim 3, wherein, The first drive assembly (31) includes a first housing (311) and a first moving member (312), the first moving member (312) being movably disposed on the first housing (311) relative to the rotation drive module (10) along the first direction. The clamping assembly (20) is fixed to the first moving member (312), the first housing (311) is fixed to the second driving assembly (32), and the second driving assembly (32) drives the clamping assembly (20) to move relative to the rotation driving module (10) in the second direction by driving the first housing (311).

5. The clamping device according to claim 4, wherein, The second drive assembly (32) includes a second housing (321) and a second movable member, the second movable member being movably disposed in the second housing (321) relative to the rotation drive module (10) along the second direction. The first housing (311) is fixed to the second moving part, and the second housing (321) is fixed to the rotation drive module (10).

6. The clamping device according to any one of claims 1-5, wherein, It also includes a calibration component (40), which is detachably disposed on the clamping assembly (20). The clamping assembly (20) has a calibration position in which the calibration component (40) is disposed on the clamping assembly (20), and the vertical central axis of the calibration component (40) coincides with the rotation central axis of the rotation drive module (10).

7. The clamping device according to claim 6, wherein, The clamping assembly (20) is provided with a socket (21), and the calibration component (40) is detachably engaged with the socket (21).

8. The clamping device according to claim 6 or 7, wherein, There are multiple calibration elements (40), and the multiple calibration elements (40) are distributed at multiple corners of the clamping assembly (20).

9. The clamping device according to claim 8, wherein, There are four calibration elements (40), and the four calibration elements (40) are adapted to be arranged in a quadrilateral.

10. The clamping device according to any one of claims 6-9, wherein, It also includes a detection element (50), which is located above the clamping assembly (20) and is used to detect the positional relationship between the calibration element (40) and the rotation drive module (10).

11. The clamping device according to any one of claims 1-10, wherein, The clamping assembly (20) includes a fixed limiting member (22) and a movable limiting member (23). The movable limiting member (23) is reciprocating relative to the fixed limiting member (22) to cooperate with the fixed limiting member (22) to clamp the workpiece (93) to be processed.

12. The clamping device according to claim 11, wherein, The clamping assembly (20) includes a first fixed limiting member (221) and a first movable limiting member (231) arranged along a first direction. The first movable limiting member (231) is reciprocating relative to the first fixed limiting member (221) in the first direction. The clamping assembly (20) further includes a second fixed limiting member (222) and a second movable limiting member (232) arranged along the second direction. The second movable limiting member (232) is reciprocating relative to the second fixed limiting member (222) in the second direction. The first direction and the second direction are perpendicular to each other.

13. The clamping device according to claim 12, wherein, A transmission assembly is provided between the first movable limiting member (231) and the second movable limiting member (232), the transmission assembly being configured to drive the other movable member to move when one of the first movable limiting member (231) and the second movable limiting member (232) moves.

14. The clamping device according to claim 13, wherein, The transmission assembly includes a first mating part (61) and a second mating part (62). The first mating part (61) is provided with a mating inclined surface (611) that slides with the second mating part (62). One of the first movable limiting member (231) and the second movable limiting member (232) is provided with the first mating part (61) and the other is provided with the second mating part (62).

15. The clamping device according to any one of claims 11-14, wherein, The clamping assembly (20) includes a mounting base (24), the fixed limiting member (22) and the movable limiting member (23) are both disposed on the mounting base (24), and the mounting base (24) is connected to the rotation drive module (10) so that it can be driven to rotate by the rotation drive module (10). The linear drive module (30) is connected to the mounting base (24) to drive the mounting base (24) to move.

16. The clamping device according to claim 15, wherein, The fixed limiting member (22) and the movable limiting member (23) are detachably disposed on the mounting base (24); and / or The clamping assembly (20) is detachable from the rotation drive module (10) and the linear drive module (30).

17. The clamping device according to claim 15 or 16, wherein, One of the mounting base (24) and the movable limiting member (23) is provided with a guide rail and the other is provided with a guide groove that cooperates with the guide rail.

18. The clamping device according to any one of claims 11-17, wherein, It also includes a moving drive (70), which is spaced apart from the rotation drive module (10), and the moving drive (70) is adapted to cooperate with the moving limit member (23) to drive the moving limit member (23) to move.

19. A welding apparatus (1000), wherein, include: The clamping device according to any one of claims 1-18; A welding component (82) is used to weld the workpiece (93) on the clamping assembly (20).

20. The welding equipment (1000) according to claim 19, wherein, Also includes: The workbench (81) is rotatably mounted on the workbench (81), and the welding component (82) is mounted on the workbench (81).

21. The welding equipment (1000) according to claim 20, wherein, The welded component (82) can move on the worktable (81) along a first direction, a second direction and a third direction, with the first direction, the second direction and the third direction being perpendicular to each other.

22. The welding equipment (1000) according to any one of claims 19-21, wherein, It also includes a dust removal device (83) with its suction port (831) facing the clamping assembly (20).

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