Multifunctional manipulator automatic machining device and method thereof

Abstract

The invention discloses a multifunctional mechanical arm automatic machining device and method, and relates to the technical field of mechanical arms, the multifunctional mechanical arm automatic machining device comprises a mechanical arm and the tail end of the mechanical arm, and further comprises a floating chuck movably connected to the tail end, a plurality of clamping jaws slide on the floating chuck in the radial direction, and the floating chuck conducts self-adaptive floating relative to the tail end in at least one horizontal direction; a center shaft is arranged in the axis direction of the floating chuck in a sliding mode, and the center shaft is provided with a floating station and a locking station. According to the multifunctional manipulator automatic machining device and method, a floating chuck is switched between a floating state and a locking state by adjusting a center shaft, and self-adaptive floating of the floating chuck can enable the floating chuck to passively conform to alignment deviation between a workpiece and a target station. Meanwhile, when the center shaft is separated from the locking station, the clamping piece is unfolded and abuts against the inner wall of the piston, and therefore the risk that the clamping jaw accidentally loosens the workpiece is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hand, in particular to a multifunctional mechanical hand automatic processing device and method thereof. BACKGROUND

[0002] In modern manufacturing industry, automatic processing units (such as production lines composed of multiple numerical control lathes) are widely used. As the core equipment for realizing automatic loading and unloading of materials, the end effector (usually a pneumatic chuck) of the mechanical hand needs to frequently and accurately load the blank into the spindle chuck or take out the finished workpiece and place it to the designated position. The precision and reliability of this process directly determine the efficiency and stability of the entire processing unit. At present, the alignment of the end effector of the mechanical hand and the target station (such as the spindle of the machine tool) mainly depends on the repeatability of the mechanical arm itself. However, in actual application, various factors will cause alignment errors.

[0003] In combination with the publication number CN120134349A, an intelligent mechanical hand for machining is disclosed, which comprises a top plate and a cylinder body, a hydraulic assembly is installed on the inner side of the cylinder body, the hydraulic assembly comprises a motor and a piston, a pushing assembly is installed on the cylinder body, the pushing assembly comprises a side sleeve and a push plate, a rotating assembly is installed on the push plate, the rotating assembly comprises a connecting rod and a lever, a clamping assembly is installed on the lever, the clamping assembly comprises a bracket and a clamping plate, a rotating assembly is installed on the clamping plate. The intelligent mechanical hand for machining can, when an article collides with other objects, the top end of the lever generates a large pressure on the push plate through the connecting rod, thereby pushing the hydraulic oil in the side sleeve to push away the cotter pin and enter the bottom end of the cylinder body, so that the two levers rotate synchronously in the same direction, reducing the impact force received by the article, thereby protecting the safety of the article, and avoiding the article from shaking back and forth after the impact ends, and is suitable for grabbing and transporting the article.

[0004] In the above-mentioned patent based on the damping buffer principle of hydraulic pressure and lever, when the article gripped by the mechanical hand collides with an object, the impact force is transmitted to the push plate through the lever and the connecting rod, the push plate compresses the hydraulic oil in the side sleeve, the hydraulic oil pushes away the cotter pin and flows into the bottom of the cylinder body, so that the two levers rotate synchronously to buffer the impact. This is essentially a passive response type anti-impact system, the goal is to "not break" when there is a large alignment error, rather than an accurate final position. SUMMARY

[0005] The purpose of the present application is to provide a multifunctional mechanical hand automatic processing device and method thereof, which solves the above problems.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a multifunctional manipulator automatic processing device, comprising a mechanical arm and an end thereof, further comprising a floating chuck movably connected to the end, a plurality of clamping claws are slidably arranged on the floating chuck in a radial direction, and the floating chuck is adaptively floated relative to the end in at least one horizontal direction; The axis direction of the floating chuck is slidably provided with a central shaft, and the central shaft has a floating station and a locking station; Further comprising a locking mechanism linked with the central shaft, comprising a clamping piece, the locking mechanism is assembled as: When the central shaft is in the floating station, the floating constraint of the central shaft on the floating chuck is released; When the central shaft is in the locking station, the central shaft locks the floating chuck relative to the end.

[0007] As a preferred, the end is provided with a movable cavity, and a horizontal disc is slidably arranged in the movable cavity and kept in the axial position in the default state; The central shaft is fixedly provided with a bottom slide seat sleeved with the horizontal disc.

[0008] As a preferred, further comprising a driving mechanism for driving the central shaft to switch between the floating station and the locking station, comprising a transmission ring coaxially sleeved with the central shaft.

[0009] As a preferred, further comprising a driving rod arranged on the end, and a first transmission belt is arranged between the driving rod and the transmission ring.

[0010] As a preferred, further comprising a tensioning wheel for keeping the first transmission belt in tension.

[0011] As a preferred, the clamping piece is an isosceles trapezoidal structure capable of elastically deforming.

[0012] As a preferred, the floating chuck comprises a piston for driving the clamping claw, and the clamping piece has a deployed state locked with the piston.

[0013] As a preferred, a feed wheel is further rotatably arranged on the clamping surface of the clamping claw, and the feed wheel applies a feed force towards the target station to the workpiece during the active switching of the central shaft between the floating station and the locking station.

[0014] As a preferred, a reed is arranged between the wheel body of the feed wheel and the rotating shaft thereof, and the reed is configured to make the feed wheel eccentric when subjected to the pressure of the workpiece.

[0015] A multifunctional manipulator automatic processing method, comprising a multifunctional manipulator automatic processing device according to the above scheme, adopting the following steps: Step one, drive the clamping claw of the floating chuck to move radially and clamp the workpiece; Step two, control the center axis to the floating station, so that the floating chuck is in a floating state; Step three, control the center axis to move to the locking station, in the process, the feed wheel rotates and drives the workpiece to extend into the target station, the workpiece extends in the process, and the floating chuck is adaptively floated, and after the workpiece enters the target station, the clamping jaw is controlled to be loosened; Step four, the center axis reaches the locking station, so that the floating chuck is locked at the end.

[0016] In the above technical solution, the multifunctional manipulator automatic processing device and method provided by the application have the following beneficial effects: the floating chuck is switched between the floating and locking states by adjusting the center axis, wherein the adaptive floating of the floating chuck can passively adapt to the alignment deviation between the workpiece and the target station. When the center axis is separated from the locking station, the clamping piece is expanded and abuts against the inner wall of the piston, thereby reducing the risk of accidental loosening of the workpiece by the clamping jaw. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0018] Figure 1 The overall three-dimensional schematic diagram provided for the embodiments of the application; Figure 2 The floating chuck cross-sectional structure schematic diagram provided for the embodiments of the application; Figure 3 The floating chuck three-dimensional structure schematic diagram provided for the embodiments of the application; Figure 4 The cover inner structure schematic diagram provided for the embodiments of the application; Figure 5 The floating chuck internal structure schematic diagram provided for the embodiments of the application; Figure 6 The transmission ring and driving rod structure schematic diagram provided for the embodiments of the application; Figure 7 The Figure 6 The A structure enlarged schematic diagram provided for the embodiments of the application; Figure 8 The clamping jaw structure schematic diagram provided for the embodiments of the application; Figure 9 The Figure 8 The B structure enlarged schematic diagram provided for the embodiments of the application; Figure 10 The feed wheel structure schematic diagram provided for the embodiments of the application; Figure 11 A front view of the clamping jaw provided for the embodiment of the present application; Figure 12 A front view of the clamping jaw provided for the embodiment of the present application Figure 2 An enlarged schematic view of the C structure.

[0019] Explanation of reference signs: 1, mechanical arm; 11, end; 12, movable cavity; 121, upper end face; 122, stop block; 13, horizontal disc; 14, guide hole; 15, first spring; 2, floating chuck; 21, cover; 22, floating seat; 221, movable bearing; 23, central shaft; 231, slide rail; 232, arc groove; 233, clamping piece; 24, piston; 25, air cavity; 251, air outlet; 252, air inlet; 26, transmission slide; 27, bottom slide; 3, clamping jaw; 31, slide rod; 32, cross shaft; 33, second transmission belt; 34, elastic piece; 341, abutting wheel; 35, feed wheel; 351, spring piece; 36, assembly block; 37, fixed plate; 38, first transmission wheel; 381, fixed block; 382, second transmission wheel; 4, drive rod; 41, transmission ring; 411, protrusion; 42, first transmission belt; 43, lever; 44, tension wheel; 45, second spring. DETAILED DESCRIPTION

[0020] In order to make the technical personnel in the art better understand the technical solutions of the present application, the present application will be further described in detail below in conjunction with the drawings.

[0021] As Figures 1-12 shown, a multifunctional mechanical hand automatic processing device, comprising a mechanical arm 1 and its end 11, further comprising a floating chuck 2 movably connected to the end 11, a plurality of clamping jaws 3 radially sliding on the floating chuck 2, and the floating chuck 2 being self-adaptive floating relative to the end 11 in at least one horizontal direction; The axis direction of the floating chuck 2 is slidably provided with a central shaft 23, and the central shaft 23 has a floating station and a locking station; Further comprising a locking mechanism linked with the central shaft 23, comprising a clamping piece 233, the locking mechanism is assembled as: When the central shaft 23 is in the floating station, the floating constraint of the central shaft 23 to the floating chuck 2 is released; When the central shaft 23 is in the locking station, the floating chuck 2 is locked relative to the end 11 by the central shaft 23.

[0022] Specifically, for the convenience of description, the axial direction of the floating chuck 2 is taken as the vertical direction, and the floating station and the locking station are located at the opposite high and low positions, respectively, and the plane where the end face of the floating chuck 2 is located is taken as the horizontal plane. The floating chuck 2 further comprises a cover 21 and a floating seat 22, wherein the cover 21 and the floating seat 22 are detachably assembled by bolts, a center shaft 23 is sequentially and slidingly inserted with the cover 21 and the floating seat 22, and an axial hole is formed on the floating seat 22 to allow the center shaft 23 to extend downward. The clamping jaw 3 is slidingly arranged on the cover 21, the floating seat 22 is provided with an air cavity 25, the floating chuck 2 comprises a piston 24 for driving the clamping jaw 3, and the piston 24 is slidingly matched with the air cavity 25. The air cavity 25 is divided into an upper chamber and a lower chamber by the piston 24, and the upper chamber and the lower chamber are respectively communicated with an air outlet 251 and an air inlet 252 (as shown in Figure 2 The transmission sliding seat 26 is slidingly arranged on the cover 21 and slidingly matched with the clamping jaw 3, and the piston 24 drives the transmission sliding seat 26 to slide through the wedge block fixedly arranged at the top end of the piston 24 during the axial movement of the piston 24, so that the clamping jaw 3 slides in the radial direction to clamp the workpiece. The above process is a common technical knowledge for those skilled in the art, and will not be described here.

[0023] Further, the piston 24 is sleeved on the periphery of the center shaft 23, the inner wall of the piston 24 is tightly attached to the center shaft 23, and a sealing ring is arranged at the edge (the adjacent surface of the piston 24 and the center shaft 23 and the adjacent surface of the piston 24 and the air cavity 25) to avoid air leakage between the upper chamber and the lower chamber.

[0024] The mechanical arm 1 is installed between two or three numerical control lathes, and is used to load and unload workpieces for a plurality of numerical control lathes in sequence. The workpieces are stacked in the corresponding area in front. The controller connected to the numerical control lathes is pre-set with a detection program for obtaining the processing progress of the numerical control lathes. The signal receiver is arranged in the mechanical arm 1. When the controller obtains the processing progress of the numerical control lathes, the controller controls the mechanical arm 1 to make corresponding preparation actions to assemble the workpieces with the target station. The target station is arranged on the machine tool. The above technology can refer to the automatic quick-change device safety use control system and method disclosed in the publication No. CN110788879A.

[0025] When the center shaft 23 is located at the floating station, the floating seat 22 is unlocked from the end 11, and the floating seat 22 can move horizontally relative to the end 11, that is, the floating chuck 2 can adaptively float. In this process, when the floating chuck 2 drives the workpiece to reach the target station, the flexibility of the floating chuck 2 allows it to passively conform to the alignment deviation between the workpiece and the target station, realizes flexible docking, eliminates the assembly stress caused by the alignment error, and avoids damage to the parts.

[0026] After assembly, the floating seat 22 returns to the axial position, and multiple blocking springs can be arranged between the floating seat 22 and the end 11 to achieve resetting. Subsequently, the central shaft 23 is driven to extend in the direction of the end 11 (the specific driving process is described below), and a conventional linear extension mechanism such as an electric telescopic rod or a hydraulic cylinder can be arranged on the floating seat 22. The extension end of the electric telescopic rod or the hydraulic cylinder is fixedly connected with the central shaft 23, or other driving modes known to those skilled in the art are used, so that the central shaft 23 reaches the locking station, that is, the central shaft 23 abuts against the end 11, and the floating seat 22 is locked by the pressing force of the central shaft 23.

[0027] It is worth noting that the clamping piece 233 is arranged in a circumferential array on the central shaft 23. When the central shaft 23 is disengaged from the locking station, the clamping piece 233 is unfolded and abuts against the inner wall of the piston 24 (the specific transmission arrangement of the clamping piece 233 is described below), so that the central shaft 23 and the piston 24 are locked, preventing the piston 24 from moving due to accidental pressure loss or false signals in the pneumatic system, thereby reducing the risk of accidental loosening of the workpiece by the clamping jaw 3. Moreover, the locking is triggered by the position of the central shaft 23, without the need for additional sensors or complex electrical control programs to coordinate the opening and closing of the chuck and the floating state, thereby reducing the complexity of the control system and the software development cost, and improving the response reliability.

[0028] In the above technology, the floating chuck 2 is switched between the floating and locking states by adjusting the central shaft 23. The adaptive floating of the floating chuck 2 can passively adapt to the alignment deviation between the workpiece and the target station. At the same time, when the central shaft 23 is disengaged from the locking station, the clamping piece 233 is unfolded and abuts against the inner wall of the piston 24, thereby reducing the risk of accidental loosening of the workpiece by the clamping jaw 3.

[0029] As an embodiment provided by the present application, the end 11 is provided with the movable cavity 12, and the horizontal disc 13 is slidably arranged in the movable cavity 12 and kept in the axial position in the default state. The central shaft 23 is fixedly provided with the bottom slide 27 which is sleeved with the horizontal disc 13.

[0030] Specifically, the horizontal disc 13 is circumferentially arranged with a plurality of first springs 15 (as shown in Figure 2 The movable cavity 12 is fixedly provided with the stop block 122 which is slidably connected with the horizontal disc 13 and keeps the horizontal disc 13 in the axial position by the elastic force of the first spring 15 (as shown in Figure 5

[0031] The movable cavity 12 includes the upper end face 121 of the inner wall, and the floating seat 22 on the central shaft 23 is in sliding contact with the upper end face 121 through the bottom rotatingly arranged movable bearing 221 (as shown in Figure 2 ​As shown, the bottom slide 27 is located inside the movable cavity 12. When the central shaft 23 is in the floating position, there is a gap between the end of the central shaft 23 and the movable cavity 12. At this time, the floating seat 22 is unlocked from the movable cavity 12, and the floating seat 22 can move horizontally relative to the end 11. That is, the floating chuck 2 can float adaptively. During this process, when the floating chuck 2 drives the workpiece to the target position, the flexibility of the floating chuck 2 enables it to passively adapt to the alignment deviation between the workpiece and the target position, realize flexible docking, eliminate the assembly stress caused by the alignment error, and avoid damage to the parts.

[0032] At this time, the bottom slide 27 and the central shaft 23 fixed to the bottom slide 27 can float together with the horizontal disk 13 in the horizontal direction, and can also slide independently relative to the horizontal disk 13 in the vertical direction.

[0033] Furthermore, in the aforementioned technology, locking is achieved solely through the axial clamping force of the central shaft 23 and the movable cavity 12, primarily relying on the sliding friction of the central shaft 23 for resistance. In automated machining environments, the robotic arm 1 may be subjected to unexpected external collisions or equipment vibrations. These lateral impacts or continuous vibrations easily overcome static friction, leading to a decrease in the locking effect of the friction at the end of the central shaft 23 on the movable cavity 12. To address this issue, multiple guide posts (such as...) are fixedly installed on the bottom surface of the bottom slide 27. Figure 5 As shown), the movable cavity 12 has multiple guide holes 14 corresponding to the guide posts. During the movement of the central shaft 23 to the floating position, the guide posts move axially with the central shaft 23 and disengage from the guide holes 14, so that the central shaft 23 is freed from the locked state with the movable cavity 12, thereby allowing the floating seat 22 to float freely relative to the end 11 and complete the alignment of the workpiece. When the floating seat 22 needs to return to the locked engagement state with the end 11, the workpiece is released, so that the central shaft 23 and the bottom slide 27 return to the axis under the reset action of the horizontal plate 13, and then the central shaft 23 is driven back to the locked position, so that the guide posts and guide holes 14 are inserted into each other, reducing the freedom of horizontal movement and reducing the risk of slippage.

[0034] It is worth noting that the bottom of the guide post is chamfered and the guide hole 14 can be set as an inverted conical structure so that the guide post and the guide hole 14 are automatically aligned during the insertion process. During the insertion process, even if there is a slight concentricity deviation between the guide post and the guide hole 14, the guide chamfer and the inverted conical hole will contact the cylindrical surface first, smoothly guiding the guide post to the center of the guide hole 14.

[0035] In the above technology, a method for driving the central shaft 23 is proposed, that is, a conventional linear telescopic mechanism such as an electric telescopic rod or a hydraulic cylinder is arranged on the floating seat 22, and the extension end of the electric telescopic rod or the hydraulic cylinder is fixedly connected with the central shaft 23 to drive the central shaft 23 to move. However, the above driving method makes the driving source located on the floating chuck 2, which significantly increases the total mass and the moment of inertia of the floating chuck 2, and increases the profile size of the floating chuck 2, which may cause collision interference when the floating chuck 2 approaches the workpiece or the equipment.

[0036] As a further provided embodiment of the present application for solving the above problems, a driving mechanism for driving the central shaft 23 to switch between the floating station and the locking station is further included, which comprises a transmission ring 41 coaxially sleeved with the central shaft 23.

[0037] Specifically, the transmission ring 41 is fixedly provided with a protrusion 411, and the central shaft 23 is provided with an arc groove 232 which is in sliding cooperation with the protrusion 411, and a driving rod 4 arranged on the end 11 is further included, which is provided with a first transmission belt 42 between the transmission ring 41, and a tensioning wheel 44 for keeping the first transmission belt 42 in tension. The end 11 is provided with a driving motor, and the driving rod 4 can adopt the output shaft of the driving motor, wherein the driving motor is assembled on the body structure of the end 11, rather than on the moving part (such as the cover 21 or the floating seat 22) of the floating chuck 2, and the end face of the driving motor in the present application is located below the end face of the cover 21 (such as shown in Figure 2 and Figure 4 to avoid the working range of the floating chuck 2.

[0038] The output torque of the driving rod 4 drives the first transmission belt 42 to rotate, the first transmission belt 42 drives the transmission ring 41 to rotate, and the rotation is converted into the axial movement of the central shaft 23 through the sliding cooperation between the protrusion 411 and the arc groove 232, so as to realize the switching between the floating station and the locking station.

[0039] In order to ensure that the first transmission belt 42 always maintains effective transmission tension, a lever 43 rotatably arranged on the end 11 is further included, and a second spring 45 (such as shown in Figure 7 ) for elastically connecting the lever 43 and the end 11 is further included. The tensioning wheel 44 is installed on the end 11 through the lever 43, and continuously applies pressure to the first transmission belt 42 under the action of the second spring 45, so as to absorb the length change caused by the horizontal displacement of the floating chuck 2 through the first transmission belt 42, and always maintain constant effective tension.

[0040] As a further provided embodiment of the present application, the clamping piece 233 is an isosceles trapezoidal structure which can elastically deform.

[0041] Specifically, the clamping piece 233 is made of spring steel. The two waist portions of the clamping piece 233 are elastic arms, respectively, and the roots thereof are connected with the body of the central shaft 23. In the natural state, the two elastic arms are opened outward, so that the clamping piece 233 presents the maximum outer diameter.

[0042] When the central shaft 23 rises to the floating station, the elastic arms of the trapezoidal clamping piece 233 are released from the constraint of the shaft hole of the floating seat 22, and the elastic arms are popped out outward, and the upper base of the trapezoidal clamping piece 233 is tightly abutted with the inner wall of the piston 24 directly above. Since the clamping pieces 233 are circumferentially arrayed and multiple, they jointly act to form strong friction force and even interlocking deformation, thereby preventing the movement of the piston 24 in any direction, achieving effective locking of the driving mechanism of the clamping jaw 3, and the floating seat 22 is unlocked at the same time. Then the central shaft 23 is driven to move downward toward the locking station, and in this process, the clamping piece 233 is extruded by the shaft hole of the floating seat 22, and the locking of the piston 24 is released, wherein the upper end of the shaft hole is provided with a groove (as shown in Figure 12 The pneumatic system is reversed, the piston 24 is moved downward, and the clamping jaw 3 is opened to accurately release the workpiece at the target station. Then when the central shaft 23 is in the locking station, the guide column at the bottom of the central shaft 23 is inserted into the guide hole 14 to lock the floating seat 22 and the end 11, thereby limiting the horizontal floating of the floating seat 22.

[0043] As an embodiment provided by the present application, the clamping surface of the clamping jaw 3 is further provided with a feed wheel 35 rotatingly arranged thereon, and the feed wheel 35 applies a feed force to the workpiece toward the target station during the activity switching of the central shaft 23 between the floating station and the locking station.

[0044] Specifically, as shown in Figure 11 The clamping jaw 3 is fixedly provided with a fixed block 381, and is further provided with a second transmission wheel 382 and a first transmission wheel 38 rotatingly arranged thereon, and the feed wheel 35 can be provided in multiple. The clamping jaw 3 is further provided with a slide rod 31 slidingly arranged thereon in the axial direction, and the bottom end of the slide rod 31 is fixedly provided with a horizontal shaft 32. The two ends of a second transmission belt 33 are fixedly arranged on the slide rod 31, so that the second transmission belt 33 passes through the fixed block 381 and is wound around the upper feed wheel 35, the second transmission wheel 382 and the lower feed wheel 35, and finally is fixedly connected to the slide rod 31 by adjusting the direction through the first transmission wheel 38.

[0045] The top end of the central shaft 23 is fixedly provided with a slide rail 231 slidingly matched with the horizontal shaft 32. When the central shaft 23 moves in the axial direction under the driving of the driving mechanism (such as a transmission ring 41), the slide rail 231 moves with the horizontal shaft 32. The position of the horizontal shaft 32 changes with the radial displacement of the clamping jaw 3, and the slide rail 231 can slide the horizontal shaft 32.

[0046] A second transmission belt 33 is fixedly connected to the slide bar 31. When the slide bar 31 slides up and down, it pulls the second transmission belt 33, causing the entire transmission belt loop to move. The movement of the slide bar 31 causes the second transmission belt 33 to be displaced, thereby driving all the wheels it passes through (including the feed wheel 35, the first transmission wheel 38, and the second transmission wheel 382) to rotate. The rotation direction of the feed wheel 35 depends on the movement direction of the slide bar 31: when the slide bar 31 moves upward, that is, during the movement of the central shaft 23 towards the floating position, the second transmission belt 33 drives the feed wheel 35 in a certain direction (e.g., ...). Figure 11 The central shaft 23 rotates clockwise (as shown), causing the workpiece to move towards the direction of the cover 21; when moving downwards, the central shaft 23 moves from the floating position to the locked position, and the feed wheel 35 rotates in the opposite direction (as shown). Figure 11 (In the counterclockwise direction shown) to drive the workpiece to extend into the target station. One configuration of the slide bar 31 is as follows: when the central shaft 23 is in the floating position, the end of the slide bar 31 extends into a pawl 3, and a groove corresponding to the slide bar 31 is set at the target station. The alignment between the slide bar 31 and the groove replaces the alignment relationship between the workpiece and the target station, realizing the process of "precise alignment of the channel first, then safe feeding", avoiding the risk of expensive workpieces or precision stations being damaged at the entrance.

[0047] The total stroke of the central axis 23 from the floating station to the locked station is designed to be greater than the effective feed stroke required to push the workpiece to the target station. Therefore, during the downward movement of the central axis 23, the workpiece feed alignment is completed first, and only after that, the remaining stroke allows the guide post to be fully inserted into the guide hole 14, achieving final locking.

[0048] As one embodiment of the present invention, a spring 351 is provided between the wheel body of the feed wheel 35 and its shaft. The spring 351 is configured to cause the feed wheel 35 to be eccentric when subjected to workpiece pressure.

[0049] Specifically, several spring plates 351 are sandwiched between the inner hole of the feed wheel 35 and the rotating shaft, and the deformation elastic force of the spring plates 351 is greater than the force exerted by the second transmission belt 33 on the feed wheel 35, so that the feed wheel 35 remains a conventional concentric wheel in the default state. When the feed wheel 35 is subjected to radial pressure from the workpiece, the spring plates 351 on one side are compressed, and the spring plates 351 on the other side are extended. The diameter of the feed wheel 35 on the side closer to the workpiece is r, and the diameter of the other side is R, where R>r. This causes the center of the feed wheel 35 to shift relative to the rotating shaft (e.g., ...). Figure 10 As shown, when the workpiece tends to loosen due to vibration, force, etc., the R side will wedge between the workpiece and the rotating shaft of the feed wheel 35, and the resulting radial force will increase, making it more difficult for the workpiece to loosen from the chuck 3, thus enhancing the reliability of clamping.

[0050] In order to balance the activity margin generated in the above process, the elastic member 34 is further fixedly arranged on the claw 3, wherein the end of the elastic member 34 is rotationally arranged with an abutting wheel 341 for tensioning the second transmission belt 33.

[0051] And one side of the claw 3 is movably assembled with an assembling block 36, and the assembling block 36 and the claw 3 enclose a slot for sliding of the slide rod 31, and the claw 3 is further insertedly assembled with a fixed plate 37 (as shown in Figure 8 The fixed plate 37 encloses the working area where the feed wheel 35 is located, so that the disassembly of the feed wheel 35 is relatively simple.

[0052] A multifunctional robot automatic processing method comprises the multifunctional robot automatic processing device provided above, and adopts the following steps: Step one, driving the claw 3 of the floating chuck 2 to move along the radial direction and clamp the workpiece; Step two, controlling the center shaft 23 to the floating station, so that the floating chuck 2 is in a floating state; Step three, controlling the center shaft 23 to move to the locking station, in the process, the feed wheel 35 rotates and drives the workpiece to extend into the target station, the workpiece extends in the process, driving the floating chuck 2 to adaptively float, and after the workpiece enters the target station, the claw 3 is controlled to be loosened; Step four, the center shaft 23 reaches the locking station, and the floating chuck 2 is locked with the end 11.

[0053] Working principle: Step one, driving the claw 3 of the floating chuck 2 to move along the radial direction, and through the pneumatic system, air is supplied to the lower chamber air inlet 252 of the air cavity 25, the piston 24 is pushed to move upward, and through the transmission sliding seat 26, all the claws 3 are driven to synchronously shrink in the radial direction, and the workpiece is clamped; Step two, the driving rod 4 drives the transmission ring 41 to rotate through the first transmission belt 42, and the center shaft 23 is lifted to the floating station. At this time, the floating chuck 2 is unlocked and can float, and the claw 233 pops out to lock the piston 24. The mechanical arm 1 moves the workpiece to the vicinity of the target station, and uses the floating function to adaptively align; Step three, the driving rod 4 is reversely rotated to slowly lower the center shaft 23. In the process, the workpiece is smoothly pressed into the target station under the rolling guidance of the feed wheel 35, and any slight deviation is absorbed and compensated by the floating of the floating chuck 2. Then the center shaft 23 moves towards the locking station, in the process, the claw 233 is extruded by the shaft hole, the locking of the piston 24 is released, the pneumatic system is reversed, the piston 24 is lowered, and the claw 3 is opened to accurately release the workpiece in the target station; Step four, the center shaft 23 reaches the locking station and is engaged with the bottom of the movable cavity 12 to lock the entire floating chuck 2. The mechanical arm 1 is withdrawn, and one assembly operation is completed.

[0054] The foregoing merely illustrates some exemplary embodiments of the application, and it will be appreciated that those skilled in the art will be able to devise various modifications without departing from the spirit and scope of the application. The appended drawings and description are illustrative only, and are not intended to be limiting.

Claims

1. A multifunctional robotic automated processing device, comprising a robotic arm (1) and its end effector (11), characterized in that, It also includes a floating chuck (2) movably connected to the end (11), the floating chuck (2) having a plurality of claws (3) that slide radially on it, and the floating chuck (2) adaptively floating relative to the end (11) in at least one horizontal direction; The floating chuck (2) has a central shaft (23) slidably provided in the axial direction, and the central shaft (23) has a floating position and a locking position; It also includes a locking mechanism linked to the central axis (23), including a locking member (233), the locking mechanism being assembled as follows: When the central shaft (23) is in a floating position, the floating constraint of the central shaft (23) on the floating chuck (2) is released; When the central shaft (23) is in the locked position, the central shaft (23) locks the floating chuck (2) relative to the end (11).

2. The multifunctional robotic automated processing device according to claim 1, characterized in that, The end (11) is provided with a movable cavity (12), and a horizontal disk (13) that is kept at the axis position in the default state is slidably disposed in the movable cavity (12). A bottom slide (27) that is fitted onto the central shaft (23) is fixedly installed and is connected to the horizontal plate (13).

3. The multifunctional robotic automated processing device according to claim 1, characterized in that, It also includes a drive mechanism for switching the central shaft (23) between a floating position and a locked position, which includes a transmission ring (41) coaxially sleeved with the central shaft (23).

4. The multifunctional robotic automated processing device according to claim 3, characterized in that, It also includes a drive rod (4) located at the end (11), and a first transmission belt (42) is provided between it and the transmission ring (41).

5. The multifunctional robotic automated processing device according to claim 4, characterized in that, It also includes a tensioning pulley (44) for keeping the first drive belt (42) taut.

6. The multifunctional robotic automated processing device according to claim 1, characterized in that, The card (233) is an isosceles trapezoidal structure that can be elastically deformed.

7. The multifunctional robotic automated processing device according to claim 6, characterized in that, The floating chuck (2) includes a piston (24) for driving the jaws (3), and the clamp (233) has an extended state locked with the piston (24).

8. The multifunctional robotic automated processing device according to claim 1, characterized in that, The clamping surface of the chuck (3) is also rotatably provided with a feed wheel (35), which applies a feed force toward the target station to the workpiece during the switching of the central axis (23) between the floating station and the locked station.

9. A multifunctional robotic automated processing device according to claim 8, characterized in that, A spring (351) is provided between the wheel body of the feed wheel (35) and its shaft, and the spring (351) is configured to cause the feed wheel (35) to be eccentric when subjected to workpiece pressure.

10. A multifunctional robotic arm automated processing method, characterized in that, The multifunctional robotic automated processing device according to any one of claims 1-9 comprises the following steps: Step 1: Drive the jaws (3) of the floating chuck (2) to move radially and clamp the workpiece; Step 2: Control the central axis (23) to the floating position so that the floating chuck (2) is in a floating state; Step 3: Control the central axis (23) to move towards the locked position. During this process, the feed wheel (35) rotates and drives the workpiece to extend into the target position. During the extension of the workpiece, the floating chuck (2) is driven to float adaptively. After the workpiece enters the target position, the control jaw (3) is released. Step 4: The central shaft (23) reaches the locking position, locking the floating chuck (2) with the end (11).

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