CN117067140A - Clamping tool and gesture adjusting method - Google Patents

Abstract

The invention provides a clamping tool and a gesture adjusting method, relates to the technical field of assembly, and aims to solve the technical problem that a large cylindrical workpiece is not provided with an effective clamping tool so as to obtain adjustment of degrees of freedom in different directions. The clamping tool comprises a frame, a pitching structure, at least one limiting structure and at least one clamping structure arranged on the frame; the limiting structure is positioned at a position of the frame close to the end part and is used for fixing the end part of the workpiece; each clamping structure comprises a support and a clamping ring rotatably arranged on the support, wherein the clamping ring is a fan ring and is used for fixing the middle part of a workpiece; the pitching structure comprises a first support, a second support and a first driving mechanism located on the second support, the first support is hinged to the frame, the first driving mechanism is in transmission connection with the frame, and the first driving mechanism is used for driving the frame to rotate around the first support. The clamping tool is used for clamping a large cylindrical workpiece, can meet the adjustment of degrees of freedom in different directions in the workpiece machining process, and is simple in gesture adjustment process.

Description

Clamping tool and gesture adjusting method

Technical Field

The invention relates to the technical field of assembly, in particular to a clamping tool and a gesture adjusting method.

Background

In general, a large cylindrical workpiece refers to a workpiece having an aspect ratio of greater than 8. For cylindrical workpieces with larger length spans, the processing surface in the processing process is an arc-shaped surface, and the gesture adjustment requirements in different directions exist. The stability of the workpiece needs to be maintained during the clamping process.

In the related art, a clamping tool structure for a large cylindrical workpiece cannot meet adjustment of degrees of freedom in different directions of a tool.

Disclosure of Invention

The invention aims to provide a clamping tool and a gesture adjusting method, which are used for solving the technical problem that a large cylindrical workpiece does not have an effective clamping tool so as to obtain adjustment of degrees of freedom in different directions.

In order to achieve the above object, the present invention provides the following technical solutions:

in a first aspect, the invention provides a clamping tool for clamping a large cylindrical workpiece, wherein the tool comprises a frame, a pitching structure, at least one limiting structure and at least one clamping structure arranged on the frame;

the limiting structure is positioned at the position of the frame, which is close to the end part, and is used for fixing the end part of the workpiece;

each clamping structure comprises a support and a clamping ring rotatably arranged on the support, wherein the clamping ring is a fan ring and is used for fixing the middle part of the workpiece;

the pitching structure comprises a first support, a second support and a first driving mechanism located on the second support, wherein the first support is hinged to the frame, the first driving mechanism is in transmission connection with the frame, and the first driving mechanism is used for driving the frame to rotate around the first support.

According to at least one embodiment of the present invention, the fixture includes a plurality of the clamping structures, and each clamping structure is distributed along a first direction, where the first direction is a length direction of the rack.

According to at least one embodiment of the invention, the outer side of each snap ring is provided with a rack, the rack is positioned at the middle part of the snap ring, and each support is provided with a gear meshed with the corresponding rack.

According to at least one embodiment of the invention, each of the plurality of the holders is fixedly provided to the frame;

the gears in the supports are connected in a transmission way through coaxial transmission shafts.

According to at least one embodiment of the present invention, a part of the plurality of holders is slidably provided on the frame along the first direction, and another part of holders is fixedly provided on the frame;

the gear transmission connection is fixedly arranged in each support of the rack through a coaxial transmission shaft.

According to at least one embodiment of the invention, the end part of each clamping ring is respectively provided with a clamping part, and each clamping part positioned at the end part of the clamping ring is slidably arranged on the clamping ring along the radial direction of the clamping ring; and/or the number of the groups of groups,

the middle part of each clamping ring is provided with at least one clamping part, and each clamping part positioned at the middle part of each clamping ring is fixedly arranged at the inner side of each clamping ring.

According to at least one embodiment of the invention, the clamping portion comprises a resilient pad for conforming to a surface of the workpiece.

According to at least one embodiment of the present invention, the clamping portion includes a pad, a plurality of protruding portions and a fitting portion corresponding to each protruding portion, the plurality of protruding portions are uniformly distributed on the surface of the pad, and each fitting portion is located at an end portion of the corresponding protruding portion facing away from the pad;

the attaching parts are used for being matched and attached to the surface of the workpiece;

the orthographic projection of the convex part on the surface of the attaching part facing the cushion block is positioned in the surface of the attaching part facing the cushion block;

the cushion block, the protruding part and the attaching part are all members made of elastic materials.

According to at least one embodiment of the present invention, a second driving mechanism is further provided at an end of each snap ring, and the second driving mechanism is in transmission connection with the first clamping portion.

According to at least one embodiment of the present invention, the first driving mechanism includes a linear driving mechanism, one end of the linear driving mechanism is hinged to one side of the second bracket facing the first bracket, and the other end of the linear driving mechanism is hinged to the frame.

According to at least one embodiment of the present invention, the linear driving mechanism is one of an electric cylinder, a cylinder or a hydraulic cylinder;

when the linear driving mechanism is an electric cylinder, the number of the electric cylinders is two, and the two electric cylinders are respectively positioned in the bottom area of the frame close to the side edge;

the first driving mechanism further comprises a motor, the motor is located in the middle between the two electric cylinders, and the motor is in transmission connection with the two electric cylinders respectively.

According to at least one embodiment of the invention, the limiting structure comprises a clamping plate and a clamping device arranged on the frame in a sliding manner, and the clamping plate is arranged on one side of the clamping device facing the workpiece in a sliding manner;

the sliding direction of the clamping device on the rack and the sliding direction of the clamping plate on the clamping device are both the first direction;

the clamping plate is used for being attached to one end of the workpiece.

According to at least one embodiment of the invention, the clamping device comprises a sliding plate and a lifting mechanism arranged on the sliding plate, and the sliding plate is arranged on the frame in a sliding manner;

the lifting mechanism comprises a base and a screw rod connected to the bottom of the base, the screw rod is movably arranged on the sliding plate, and the clamping plate is arranged on one side of the base, facing the workpiece, in a sliding manner;

the lifting mechanism further comprises a third driving mechanism, and the third driving mechanism is in transmission connection with the screw rod.

According to at least one embodiment of the invention, the tool further comprises two laser scanners, one of which is located on the ground and the other of which is located on the frame;

when the rack is in a horizontal state, the two laser scanners are positioned on the same horizontal plane.

In a second aspect, the present invention further provides a method for adjusting a pose of a workpiece, where the workpiece is a large cylindrical workpiece, and the pose is adjusted by using the tool set in the first aspect, and the method includes:

hoisting the workpiece to the installation position, and clamping the workpiece by each clamping structure fixedly arranged on the frame;

positioning and clamping the workpiece by each clamping structure which is arranged on the rack in a sliding way;

positioning and fixing each limiting structure at two ends of the workpiece respectively;

and acquiring the position information of the workpiece, and adjusting the pitching angle and the rotation angle around the axis of the workpiece.

In a second aspect, the invention further provides a clamping assembly, which comprises the clamping tool and an inflatable bag, wherein the inflatable bag is used for filling a cavity of the workpiece so as to support the inner wall of the workpiece.

In one or more of the technical solutions provided in the exemplary embodiments of the present invention, at least one of the following advantages may be achieved.

According to the clamping tool for the large cylindrical workpiece, disclosed by the embodiment of the invention, the middle part of the workpiece is fixed through the clamping ring of the at least one clamping structure, and meanwhile, the clamping ring can rotate along the support, namely the frame, so that the cylindrical workpiece can adjust the rotation angle of the cylindrical workpiece around the axis of the cylindrical workpiece through the rotation of the clamping ring. Through setting up at least one limit structure at the tip of work piece for avoid the work piece to slide along its axial, based on this, under joint structure and limit structure's cooperation, the work piece can be fixed in the frame steadily.

Further, every single move structure includes first support, second support and is located the first actuating mechanism of second support, can make the frame rotate around the pin joint of first support and frame through the drive of first actuating mechanism, also can adjust the every single move angle of work piece promptly, because limit structure and joint structure's cooperation each other, even the every single move angle of work piece changes, the work piece also can not take place to slide with clamping frock between, has stability. Compared with clamping tools in the prior art, the tool provided by the invention has the advantages that the adjustment of degrees of freedom in different directions in the workpiece processing process can be met, the tool structure is simple, the whole gesture adjusting process is simple, the stability is improved, and the large workpiece is not easy to deform.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention;

FIG. 1 is a schematic structural view of a clamping tool according to an embodiment of the invention;

fig. 2 is a schematic view of a clamping structure according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a snap ring structure according to an embodiment of the invention;

FIG. 4 is a schematic illustration of a stand structure according to an embodiment of the present invention;

FIG. 5 is a schematic view of a second carriage and a first drive mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic view of a first bracket structure according to an embodiment of the present invention;

FIG. 7 is a schematic illustration of a spacing structure according to an embodiment of the present invention;

FIG. 8 is a schematic view of a spacing structure according to another embodiment of the present invention;

FIG. 9 is another view of a spacing structure according to another embodiment of the present invention;

fig. 10 is a schematic diagram of a rack structure according to an embodiment of the present invention.

Reference numerals: 10. a frame; 11. a first slide rail; 12. a second slide rail; 13. a third slide rail; 20. a clamping structure; 21. a clasp; 211. a rack; 22. a support; 221. a transmission shaft; 222. a gear; 23. a clamping part; 231. a cushion block; 232. a boss; 233. a bonding part; 24. a second driving mechanism; 30. a limit structure; 31. a clamping plate; 32. a clamping device; 321. a base; 322. a slide plate; 323. a third driving mechanism; 324. a screw rod; 41. a first bracket; 42. a second bracket; 43. an electric cylinder; 44. and a motor.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the 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 for purposes of illustration only and are not intended to limit the scope of the invention.

For large cylindrical workpieces, multiple degrees of freedom of pose adjustment are required to be realized in the machining process so as to meet the machining process requirements. Because the length of the large cylindrical workpiece is longer, if the clamping supporting point is selected improperly, additional stress is generated, so that the wall surface of the workpiece is obviously deformed. Therefore, a clamping tool is needed, and on the basis of reducing workpiece clamping deformation as much as possible, the reliability and stability of workpiece clamping can be ensured in the process of adjusting the gesture of the tool.

In view of the above problems, the clamping tool provided by the exemplary embodiment of the invention comprises a frame, a pitching structure, at least one limiting structure and at least one clamping structure arranged on the frame, wherein the middle part of the tool is fixed by the clamping structure, and the clamping structure can rotate around the axis of the clamping structure. On the other hand, a limiting structure for limiting is further arranged at the end part of the workpiece. When one end of the workpiece is tilted up or down by the pitching structure, the workpiece is kept in place and does not slide. Therefore, after the workpiece is placed on the clamping tool, the workpiece can be clamped stably and reliably all the time in the process of rotating around the axis of the workpiece and pitching the workpiece.

It should be noted that, the clamping tool provided by the exemplary embodiment of the invention is not only suitable for fixing and clamping large cylindrical workpieces, but also suitable for fixing and clamping large cylindrical workpieces or workpieces with circular cross sections.

Fig. 1 is a schematic structural diagram of a clamping tool according to an embodiment of the invention. As shown in fig. 1, the tooling provided by the exemplary embodiment of the invention comprises a frame 10, a pitching structure, at least one limiting structure 30 and at least one clamping structure 20 arranged on the frame 10; the limiting structure 30 is positioned at a position of the frame 10 close to the end, and the limiting structure 30 is used for fixing the end of the workpiece; each clamping structure 20 comprises a support 22 and a clamping ring 21 rotatably arranged on the support 22, wherein the clamping ring 21 is a fan ring, and the clamping ring 21 is used for fixing the middle part of a workpiece; the pitching mechanism comprises a first bracket 41, a second bracket 42 and a first driving mechanism positioned on the second bracket 42, wherein the first bracket 41 is hinged with the frame 10, the first driving mechanism is in transmission connection with the frame 10, and the first driving mechanism is used for driving the frame 10 to rotate around the first bracket 41.

In practical application, the limiting structure 30 may be one, and when the tool rotates around the first bracket 41 to generate pitching, the limiting structure 30 may be disposed at the end of the workpiece located at the lower position to limit the workpiece from sliding obliquely downwards. The number of the limiting structures 30 can be two, that is, the limiting structures 30 are arranged at the two ends of the workpiece, and the two limiting structures 30 can ensure the stability and the reliability of the workpiece no matter whether the workpiece is pitching to any one of the two directions.

Further, the number of the clamping structures 20 may be one, and when the length span of the workpiece is not large, one clamping structure 20 may be used to clamp the middle area of the workpiece, so as to complete the rotation and pitching of the workpiece and maintain stable clamping. The number of the clamping structures 20 may be plural, and when the length span of the work is sufficiently large, for example, when the length-diameter ratio of the work is 8 or more, the middle portion of the work may be clamped by using 4 clamping structures 20 as shown in fig. 1. The distribution of the plurality of clamping structures 20 should be along the length direction of the frame 10, that is, the first direction, and the specific position of each clamping structure 20 may be selected according to the supporting point required by the workpiece, so as to prevent additional stress. The plurality of clamping structures 20 are arranged to facilitate rotation of the workpiece about its own axis.

In order to adapt to the shape of a large cylindrical workpiece to clamp the workpiece, the clamping ring 21 of the clamping structure 20 is a fan ring, and the workpiece can be installed in place at a notch of the fan ring. Illustratively, a central angle of the arcuate segment of the snap ring 21 greater than 180 may be suitable for more workpieces of different diameters. The snap ring 21 is rotatably arranged on the support 22, wherein the rotation arrangement means that the snap ring 21 can rotate around its central axis.

Fig. 2 is a schematic view of a clamping structure according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a snap ring structure according to an embodiment of the invention; fig. 4 is a schematic view of a stand structure according to an embodiment of the present invention. As shown in fig. 3, the outer side surface of each snap ring 21 has a rack 211, and the rack 211 is located at the middle part of the snap ring 21; as shown in fig. 4, each of the holders 22 has a gear 222 engaged with the corresponding rack 211.

In practice, the arc length of the rack 211 depends on the angle by which the workpiece actually needs to rotate about its own axis. The rack 211 is positioned near the middle of the clamping ring 21 and has an arc matching the arc of the clamping ring 21. The support 22 is internally provided with a gear 222 meshed with the rack 211, and the rotation of the gear 222 drives the rack 211 to move through the transmission of a power device, so that the rotation of the clamping ring 21 is realized.

As shown in fig. 2-4, when the snap ring 21 is matched with the support 22, a plurality of rollers are arranged at the bottom of the support along the circumferential direction of the snap ring 21 and are used for being attached to the outer side surface of the snap ring 21, correspondingly, a plurality of rollers are also arranged at the top of the support and are attached to the inner side surface of the snap ring 21, and a plurality of rollers located on the inner side surface and the outer side surface of the snap ring 21 are matched.

When the clamping fixture is provided with a plurality of clamping structures 20, each of the plurality of supports 22 is fixedly arranged on the frame 10 in consideration of the synchronism of the rotation of the plurality of clamping structures 20; the gears 222 in the respective holders 22 are drivingly connected by coaxial drive shafts 221.

As shown in fig. 1, three clamping structures 20 located at the right side of the frame 10 are fixedly provided on the frame 10, thereby maintaining stability of the clamping structures 20. Meanwhile, the gears 222 in the supports 22 of the three clamping structures 20 are all in transmission connection through one or more transmission shafts 221, the transmission shafts 221 can be connected through a coupler, and the transmission shafts 221 of the same shaft line are driven through the same servo motor, so that the three clamping structures 20 are ensured to be kept synchronous when the clamping rings 21 rotate, the stability and the stress balance of a workpiece are ensured, and the stress concentration is reduced.

As shown in fig. 1, considering the adaptability of the clamping tool to workpieces with multiple types and the flexibility of supporting points, for example, for workpieces with longer spans, one part of the plurality of supports 22 is slidably arranged on the stand 10 along the first direction, and the other part of supports 22 is fixedly arranged on the stand 10; wherein gears 222 provided in the respective holders 22 of the frame 10 are fixedly connected in a driving manner by means of coaxial driving shafts 221. For example, the clamping structure 20 may slide and be positioned along the first direction.

Fig. 10 is a schematic diagram of a rack structure according to an embodiment of the present invention. As shown in fig. 1 and 10, the support 22 of the clamping structure 20 located at the leftmost side of the frame 10 is slidably disposed on the second slide rail 12 on the frame 10, and the supports 22 of the three clamping structures 20 located at the right side of the frame 10 are fixedly disposed on the frame 10. Illustratively, the snap-fit structure 20 slidably mounted on the frame 10 is substantially identical in structure to the snap-fit structure 20 fixedly mounted on the frame 10, except that the snap-fit structure 20 slidably mounted on the frame 10 not only has a servo motor that individually drives the gear 222 in the support 22, but also provides a drive means at a corresponding location on the frame 10 to push the support 22 to slide, which may be, for example, a hydraulic cylinder, an electric cylinder or other linear motion mechanism coupled to the support 22, without further limitation in some embodiments.

As shown in fig. 1 and 2, each of the end portions of the snap rings 21 has a clamping portion 23, and each of the clamping portions 23 at the end portions of the snap rings 21 is slidably provided to the snap ring 21 in the radial direction of the snap ring 21.

Both end portions of the snap ring 21 are provided with the clamping portions 23, and the clamping portions 23 are slidably positioned along the radial direction of the snap ring 21. Based on this, when the diameter of frock is great, also accessible adjustment tip two clamping parts 23 for the frock can be installed in the snap ring 21, and then through two clamping part 23 sliding distance of readjustment tip, make two clamping parts 23 carry out fixed centre gripping to the frock in the both sides of frock. As can be seen from the above, the clamping ring 21 according to the exemplary embodiment of the present invention can adapt to workpieces with different diameters, so that the universality of the clamping tool is better.

In order to adjust the radial position of the clamping portions 23 at the two ends of the clamping rings 21, the clamping tool is further provided with a second driving mechanism 24 at the end of each clamping ring 21, and the second driving mechanism 24 is in driving connection with the corresponding clamping portion 23 at the end of the clamping ring 21. For example, the second drive mechanism 24 may be one of an electric cylinder, a hydraulic cylinder, or a cylinder. Taking a cylinder as an example for illustration, the end of the snap ring 21 is provided with a fixing seat, wherein the clamping part 23 is slidably arranged on the fixing seat, one side of the fixing seat, which is away from the clamping part 23, is provided with the cylinder, and in order to keep the motion stability and the clamping stability of the clamping part 23, the number of the cylinders is two, and the cylinders are respectively positioned at positions, close to two sides, of the clamping part 23. Wherein the telescopic end of the cylinder is connected with the clamping part 23, so as to drive the clamping part 23 to approach or separate from the workpiece.

In consideration of the fact that cylindrical workpieces, particularly large thin-walled cylindrical workpieces, are prone to deformation and stress concentration. At the end of the clamping portion 23 facing the workpiece to be clamped, a cushion block 231 having elasticity is provided, and the cushion block 231 having elasticity is used for adhering to the surface of the workpiece. Illustratively, the clamping portion 23 includes a clamping plate connected to the telescopic end of the cylinder, and the surface of the clamping plate is provided with an elastic pad 231. For example, the pad 231 may be a rubber pad or a membrane with bumps, and the clamping is prevented from generating stress concentration on the workpiece by the flexible fit between the pad 231 and the workpiece.

In some embodiments, the clamping portion 23 includes a pad 231, a plurality of protrusions 232, and a fitting portion 233 corresponding to each protrusion 232, the plurality of protrusions 232 being uniformly distributed on a surface of the pad 231, each fitting portion 233 being located at an end of the corresponding protrusion 232 facing away from the pad 231; the plurality of attaching parts 233 are used for matching and attaching to the surface of the workpiece; the orthographic projection of the protruding part 232 on the surface of the attaching part 233 facing the cushion block 231 is positioned in the surface of the attaching part 233 facing the cushion block 231; the pad 231, the protruding portion 232, and the attaching portion 233 are all members made of elastic materials. Illustratively, the pad 231, the protruding portion 232, and the attaching portion 233 are all made of rubber, and the three may be integrally formed. Alternatively, the pad 231 and the protruding portion 232 may be a multi-point film structure, and the attaching portion 232 is a flexible block with a certain thickness and is disposed at an end portion of the protruding portion 232. Compared with the clamping mode in the prior art, in the exemplary embodiment of the invention, by arranging the attaching parts 233 with larger areas at the end parts of the protruding parts 232, the total area of each attaching part 23 is approximately the same as the area of the surface of the cushion block 231, and when the clamping part 23 clamps the workpiece, the arc-shaped surface can be completely attached, so that the workpiece is uniformly stressed, the conversion from point force to surface force is realized, and the flexible self-adaptive clamping of the workpieces with different diameters can be realized. It is understood that the surface of the pad 231 may be a plane or a curved surface with a certain radian. When the surface of the pad 231 is planar, the height of each protrusion 232 protruding from the surface of the pad 231 is the same.

In another alternative embodiment, as shown in fig. 2-3, at least one clamping portion 23 is provided at a middle portion of each clamping ring 21, and illustratively, two clamping portions 23 are provided at positions of the clamping ring 21 near the middle portion, and the two clamping portions 23 are illustratively symmetrically provided at inner side positions of the clamping ring 21 for supporting and clamping the bottom of the workpiece. Since the two clamping portions 23 are not required to be radially adjusted, they are both fixedly provided on the inner side of the snap ring 21, and thus are not required to be slidably provided on the snap ring 21. The two clamping parts 23 at the middle part have a specific structure similar to that of the two clamping parts 23 at the end parts, and also comprise clamping plates and cushion blocks 231 arranged on the clamping plates.

Illustratively, the surface of the pad 231 disposed on each clamping portion 23, which is abutted against the workpiece, is an arc-shaped surface so as to be abutted against the arc-shaped surface of the workpiece. Alternatively, the pad 231 may be removably attached to the clamping plate of the clamping portion 23, which may be replaced to accommodate the curvature of the surface of different workpieces.

FIG. 5 is a schematic view of a second carriage and a first drive mechanism according to an embodiment of the present invention; fig. 6 is a schematic view of a first bracket structure according to an embodiment of the present invention. As shown in fig. 5 and 6, the pitch structure of the exemplary embodiment of the present invention forms a rotational (pitch) motion to the frame 10 by the first bracket 41, the first driving mechanism, and the second bracket 42. The first driving mechanism includes a linear driving mechanism, one end of which is hinged to one side of the second bracket 42 facing the first bracket 41, and the other end of which is hinged to the frame 10.

Illustratively, the linear drive mechanism includes one of an electric cylinder 43, a pneumatic cylinder, or a hydraulic cylinder. For convenience of description, an electric cylinder will be described as an example.

The number of the electric cylinders 43 is two, and the two electric cylinders 43 are respectively positioned at the bottom area of the frame 10 near the side edge, wherein the first driving mechanism further comprises a motor 44, the motor 44 is positioned at the middle part between the two electric cylinders 43, and the motor 44 is respectively connected with the two electric cylinders 43 in a transmission way. As shown in fig. 5, the fixed end of each electric cylinder 43 is hinged to one side of the second bracket 42 facing the first bracket 41, the telescopic end of each electric cylinder 43 is hinged to the bottom of the frame 10, and the two electric cylinders 43 are respectively positioned near two sides of the width direction of the frame 10, so as to provide uniform and stable power for the rotation of the frame 10 along the first bracket 41.

The above-mentioned motor 44 is disposed in the middle of the two electric cylinders 43, and is in driving connection with each electric cylinder 43 via a corresponding shaft, for example. Since the two shafts are positioned on the same axis and the lengths of the two shafts are the same, the two electric cylinders 43 positioned on both sides of the motor 44 have good synchronization and are relatively balanced in the received driving force, so that stable rotation can be performed during the pitching of the frame 10.

As shown in fig. 6, the hinge between the first bracket 41 and the frame 10 is also hinged by two pins located near both sides in the width direction of the frame 10, since the two hinge positions are also located at the same axis. Thus, the rotation of the frame 10 is also smoother during the course of the frame 10 around the first bracket 41.

FIG. 7 is a schematic illustration of a spacing structure according to an embodiment of the present invention; FIG. 8 is a schematic view of a spacing structure according to another embodiment of the present invention; fig. 9 is another view of a spacing structure according to another embodiment of the present invention. As shown in fig. 7-8, the spacing structure 30 can take a variety of forms, and two different spacing structures are described below as examples.

In an alternative embodiment, as shown in fig. 7, the stop structure 30 is a highly fixed stop structure for defining the end of the workpiece. The limiting structure 30 comprises a clamping plate 31 and a clamping device 32 which is arranged on the frame 10 in a sliding manner, wherein the clamping plate 31 is arranged on one side of the clamping device 32 facing to a workpiece in a sliding manner; the sliding direction of the clamping device 32 on the frame 10 and the sliding direction of the clamping plate 31 on the clamping device 32 are both the first directions; the clamping plate 31 is used for being attached to one end of a workpiece.

Illustratively, as shown in fig. 10, the clamping device 32 is slidably disposed on the first rail 11 on the frame 10, specifically, the clamping device 32 is connected to a telescopic end of a linear motion mechanism, such as a cylinder, a hydraulic cylinder, or an electric cylinder. The position of the clamping device 32 on the first slide rail 11 can be adjusted by controlling the linear motion mechanism, so that the clamping plate 31 positioned on the clamping device 32 is attached to or is far away from the end of the workpiece to form limit. Illustratively, in order to further improve the accuracy of the position adjustment between the clamping plate 31 and the workpiece, in addition to the clamping device 32 being slidably disposed on the first slide rail 11, the clamping plate 31 is slidably disposed on the clamping device 32, and it is understood that the sliding direction of the clamping plate 31 is also the first direction, that is, the length direction of the frame 10, so as to be close to or far from the end of the workpiece. Illustratively, the slide control mechanism of the clamping plate 31 is driven by a mechanism having a precise adjustment function, such as a cylinder, without further limitation in some embodiments.

The spacing structure 30 described above and shown in fig. 10 is suitable for use with a planar end of a workpiece, such as the bottom end of a rocket. When the end of the workpiece is tapered, such as the head of a rocket, the use of a fixed height clamp plate 31 may not be suitable for restraining it. Based on this, the exemplary embodiment of the present invention provides a limiting structure 30 in which the clamping plate 31 can be adjusted in height to accommodate different workpiece portions to be clamped. Thereby improving the universality of the clamping tool.

As shown in fig. 8 to 9, in the clamping tool according to the exemplary embodiment of the present invention, the clamping device 32 of the limiting structure 30 includes a sliding plate 322 and a lifting mechanism provided on the sliding plate 322, and the sliding plate 322 is slidably provided on the frame 10; the lifting mechanism comprises a base 321 and a screw rod 324 connected to the bottom of the base 321, the screw rod 324 is movably arranged on the sliding plate 322, and the clamping plate 31 is arranged on one side of the base 321 facing the workpiece in a sliding manner; the lifting mechanism further comprises a third driving mechanism 323, and the third driving mechanism 323 is in transmission connection with the screw rod 324.

As shown in fig. 8 and 10, the bottom of the sliding plate 322 has a sliding groove, which is provided on the third sliding rail 13 of the rack 10. The driving mechanism of the slide plate 322 may be a cylinder, a hydraulic cylinder, or the like, and the slide plate 322 may be slid and positioned along the third slide rail 13 by control of the driving mechanism. It will be appreciated that the second slide rail 12 and the third slide rail 13 may be adjacent to each other, which is determined according to practical situations. Since the clamping plate 31 is slidably disposed at the side of the base 321 facing the workpiece, the height of the clamping plate 31, that is, the distance between the frame 10 and the clamping plate 31 can be adjusted by lifting the base 321 to adapt to the limit of the end of different workpieces. In this embodiment, the base 321 is movably connected to the sliding plate 322 by a screw rod 324, specifically, one end of the screw rod 324 is fixedly connected to the bottom of the base 321, and the other end of the screw rod 324 penetrates through the sliding plate 322. In order to keep the base 321 stable during the lifting process, two optical axes are illustratively disposed at two sides of the bottom of the base 321, and two holes through which the optical axes pass are disposed on the sliding plate 322, where the two optical axes can slide, so as to limit the freedom of the base 321.

As shown in fig. 9, in order to control the lifting of the base 321, the lifting mechanism further includes a third driving mechanism 323, and the third driving mechanism 323 is illustratively a hand wheel, and the screw rod 324 can be lifted through the hand wheel by the cooperation of the screw rod nut, so as to control the height of the base 321 and further adjust the height of the clamping plate 31. By manual control of the hand wheel, the lifting system is prevented from being complicated, for example, compared with complicated circuit control and accurate measurement, the manual control is simpler and the requirements of the clamping plate 31 on the height can be completely met.

It should be noted that the two limiting structures 30 may be disposed at two ends of the frame 10. The same limiting structure 30 can be respectively arranged at two ends of the frame 10, and the limiting structure is determined according to the end parts of the actual workpieces to be limited.

In some embodiments, in order to meet the requirement of the workpiece on accurate posture adjustment, the clamping tool of the exemplary embodiment of the present invention further includes two laser scanners, one of which is located on the ground, and the other of which is located on the frame 10; when the gantry 10 is in a horizontal position, the two laser scanners are located at the same horizontal plane.

In practical application, the workpiece position information is read through the two installed laser scanners and fed back to the control console, so that the clamping tool can be controlled to accurately position and adjust the workpiece according to the workpiece position information, and the gesture adjustment precision is ensured. The control console is in communication connection with each driving device, and can control the relative movement of each moving part, such as the adjustment of pitching angles, the sliding adjustment of each clamping part and the limiting structure, the clamping structure arranged on the frame in a sliding manner, and the like. Illustratively, one of the two laser scanners is mounted on the floor at one side of the console, and the other is mounted on the frame, for example, at a position in the middle of two clamping structures 20 fixedly arranged on the frame 10, and the heights of the two laser scanners are consistent, so that the detection and feedback of the level and angle of the workpiece in the posture adjustment process are realized.

The invention further provides a clamping assembly, which comprises the clamping tool and the inflatable bag, wherein the inflatable bag is used for filling the cavity of the workpiece so as to support the inner wall of the workpiece.

When the workpiece is a cylindrical thin-wall workpiece, the stress concentration caused by deformation of the workpiece in the clamping process is prevented in order to realize self-adaptive flexible clamping of the workpiece. An inflatable bag can be placed in a cavity of the workpiece, so that the whole workpiece is supported, and the inflatable bag and the clamping part are mutually matched to fix and clamp the workpiece.

In another alternative embodiment, the interior of the workpiece cavity is filled with a high pressure gas so that the interior of the workpiece is sufficiently rigid so as not to deform during subsequent milling operations and the like. For example, the sealing clamping plates are arranged at two ends of the workpiece through manufacturing the sealing clamping plates, so that a closed space is formed in a region to be clamped of the workpiece, and high-pressure inflation is performed in the corresponding space, so that the inside of a part to be clamped of the workpiece is provided with a certain support, and the self-adaptive flexible clamping of the workpiece is realized through cooperation with the clamping part.

The exemplary embodiment of the invention also provides a workpiece posture adjustment method, wherein the workpiece is a large cylindrical workpiece, and the workpiece posture adjustment method comprises the following steps of:

step 1101: the work pieces are hoisted to the mounting positions, and the clamping structures 20 fixedly arranged on the machine frame 10 clamp the work pieces.

Filling high-pressure gas into the cavity of the workpiece, or placing an air filling bag into the cavity of the workpiece to internally support the workpiece;

hoisting the workpiece to the installation position by a special hoist, for example, hoisting the workpiece from the opening position of the snap ring 21 into the clamping part 23 fixedly arranged on the inner side of the snap ring 21;

the clamping part 23 at the end part of the clamping ring 21 is controlled to slide and the cushion block 231 is attached to the surface of the workpiece, so that preliminary fixing is formed on the workpiece, and the lifting appliance is removed.

Step 1102: the clamping structures 20 slidably provided on the frame 10 are each positioned and clamped to the workpiece.

According to a set program, for example, according to the length of the workpiece and the setting of an appropriate supporting point, the clamping structure 20 slidably arranged on the frame 10 is driven by the driving mechanism to slide to a preset position and fixed, and then the clamping part 23 at the end position of the clamping ring 21 is controlled to slide and the cushion block 231 is attached to the surface of the workpiece.

Step 1103: and positioning and respectively fixing each limiting structure at two ends of the workpiece.

The driving mechanism of each limit structure is controlled by the control console, the limit structure 30 is slid to a preset position and fixed, and then the position of the clamping plate 31 in the first direction is adjusted, so that the clamping plate 31 is attached to the corresponding end of the workpiece. When the height of the position to be limited of the end of the workpiece is inconsistent with the height of the clamping plate 31, the lifting mechanism is controlled by the control console, for example, the height of the base 321 where the clamping plate 31 is positioned is controlled, so that the clamping plate 31 reaches the position corresponding to the end of the workpiece. Thereby positioning and clamping on the two end surfaces of the workpiece.

Step 1104: and acquiring position information of the workpiece, and adjusting the pitching angle and the rotation angle around the axis of the workpiece.

The workpiece position information is read and fed back to the control console through two laser scanners (not shown in the figure), and the control console adjusts the pitching angle of the workpiece and the states of two degrees of freedom around the axis direction through the control of the motion mechanism.

According to the clamping tool disclosed by the invention, the gesture adjustment of two degrees of freedom of rotation and pitching around the axis is realized for a large thin-wall cylindrical workpiece, the rotation synchronism among all clamping rings is realized through the coupling around the axis direction gesture adjustment, the gesture adjustment difficulty is simplified, and the lifting and the descending of the whole gesture adjustment tool are realized through the cylinder below the frame by pitching angle adjustment. The gesture adjustment in other directions is ensured by the structure of the tool, so that the complexity of the tool can be reduced, and the gesture adjustment efficiency and the gesture adjustment precision of the tool can be improved.

Further, through the mutual cooperation of a plurality of fixed clamping structures and a clamping structure, the clamping gesture adjustment of thin-wall cylindrical workpieces with different diameters and lengths can be realized, and the flexible clamping of products can be realized while the higher clamping rigidity and stability can be provided for workpiece processing.

It will be appreciated by persons skilled in the art that the above embodiments are provided for clarity of illustration only and are not intended to limit the scope of the invention. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present invention.

Claims (10)

1. The clamping tool is characterized by being used for clamping a large cylindrical workpiece and comprising a frame, a pitching structure, at least one limiting structure and at least one clamping structure arranged on the frame;

the limiting structure is positioned at the position of the frame, which is close to the end part, and is used for fixing the end part of the workpiece;

each clamping structure comprises a support and a clamping ring rotatably arranged on the support, wherein the clamping ring is a fan ring and is used for fixing the middle part of the workpiece;

the pitching structure comprises a first support, a second support and a first driving mechanism located on the second support, wherein the first support is hinged to the frame, the first driving mechanism is in transmission connection with the frame, and the first driving mechanism is used for driving the frame to rotate around the first support.

2. The tooling of claim 1, wherein the tooling comprises a plurality of the clamping structures, each clamping structure being distributed along a first direction, the first direction being a length direction of the frame.

3. The tooling of claim 2, wherein each of said snap rings has a rack on an outer side thereof, said rack being located in a middle portion of said snap ring, and each of said holders has a gear engaged with a corresponding one of said racks.

4. A tooling according to claim 3, wherein each of the plurality of supports is fixedly mounted to the frame;

the gears in the supports are connected in a transmission way through coaxial transmission shafts.

5. A tooling according to claim 3, wherein the end of each snap ring is provided with a clamping part, and each clamping part positioned at the end of the snap ring is slidably arranged on the snap ring along the radial direction of the snap ring; and/or the number of the groups of groups,

the middle part of each clamping ring is provided with at least one clamping part, and each clamping part positioned at the middle part of each clamping ring is fixedly arranged at the inner side of each clamping ring.

6. The tooling of claim 5, wherein the clamping portion comprises a cushion block, a plurality of protruding portions and a fitting portion corresponding to each protruding portion, the protruding portions are uniformly distributed on the surface of the cushion block, and each fitting portion is located at an end portion of the corresponding protruding portion, which is away from the cushion block;

the attaching parts are used for being matched and attached to the surface of the workpiece;

the orthographic projection of the convex part on the surface of the attaching part facing the cushion block is positioned in the surface of the attaching part facing the cushion block;

the cushion block, the protruding part and the attaching part are all members made of elastic materials.

7. The tooling of claim 5, wherein each end of the snap ring is further provided with a second drive mechanism in driving connection with the corresponding clamping portion at the end of the snap ring.

8. The tooling of any one of claims 1-7, wherein the first drive mechanism comprises a linear drive mechanism, one end of the linear drive mechanism is hinged to a side of the second bracket facing the first bracket, and the other end of the linear drive mechanism is hinged to the frame.

9. The tooling of any one of claims 1-7, further comprising two laser scanners, one of the two laser scanners being located on the ground and the other being located on the frame;

when the rack is in a horizontal state, the two laser scanners are positioned on the same horizontal plane.

10. A method for adjusting the pose of a workpiece, characterized in that the workpiece is a large cylindrical workpiece, and the tool according to any one of claims 1-9 is used for adjusting the pose.