Multi-freedom-degree manipulator fixture

Abstract

The invention relates to a multi-freedom-degree manipulator fixture, which comprises a manipulator main machine, a clamping mechanism, a connecting arm which is used for connecting the manipulator main machine and the clamping mechanism, and a controller. The clamping mechanism comprises a pair of rotatable grips which is used for clamping a workpiece, a clamping device which is used for adjusting X-axis distance between the two grips, and a moving device which is used for driving the grips to move along a Y-axis, wherein the clamping device and the moving device are electrically connected with the controller. The multi-freedom-degree manipulator fixture has the advantages that the structure is simple, the multi-freedom-degree clamping of workpieces with different sizes and shapes can be realized, the operation is safe and convenient to perform, the universality is high, the grips can move linearly along the Y-axis, the requirement on the fine adjustment of the workpieces during clamping and placing, the 180-degree turnover of the workpieces can be realized, the clamping force of the grips can also be adjusted and the requirement on different clamping force for clamping different workpieces is met.

Description

Technical field [0001] The invention relates to a clamp, in particular to a multi-degree-of-freedom manipulator clamp. Background technique [0002] Existing power-assisted manipulator jaw clamping fixture mechanisms are mostly dedicated fixtures with low versatility. Generally, there are the following problems: 1. The mechanism has a small degree of freedom and is difficult to adapt to the needs of workpieces of various sizes. 2. It is difficult to turn the workpiece. Even if it is turned, it is difficult to accurately locate the position of the workpiece. After turning the workpiece, it needs to be repositioned and then clamped. The clamping efficiency is not high, and it is time-consuming and difficult to operate. 3. It is difficult to adjust the clamping force of the workpiece. Different workpieces have different requirements on the surface quality of the workpiece and the rigidity of the workpiece. Different requirements are put forward for the clamping force of the manipula...

AI Technical Summary

Problems solved by technology

[0002] Most of the existing power-assisted manipulator claw clamping and clamping mechanisms are special-purpose clamping fixtures with low versatility, and generally have the following problems: 1. The mechanism has a small degree of freedom and is difficult to adapt to the needs of workpieces of various sizes

2. It is difficult to overturn the workpiece. Even if it is overturned, it is difficult to accurately locate the position of the workpiece. As a result, after the workpiece is overturned, it needs to be repositioned and then clamped. The clamping efficiency is not high, and it is time-consuming and difficult to operate.

3. It is difficult to adjust the clamping force on the workpiece. Different workpieces have different quality requirements on the surface of the workpiece and the rigidity of the workpiece. Different requirements are put forward for the clamping force of the manipulator fixture. The existing manipulator generally has a fixed clamping force. , even if the change of clamping force is realized, the mechanism will be complicated, so it is difficult to meet the actual production requirements

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