Self-adaptive clamping force clamp for mechanical part machining

Abstract

The utility model discloses a self-adaptive clamping force clamp for machining mechanical parts, which comprises a multi-shaft mechanical arm and a concave circular ring block, the concave circular ring block is mounted on the multi-shaft mechanical arm, and a self-adaptive clamping structure is mounted on the concave circular ring block; the utility model relates to the technical field of machining of mechanical parts, and the system can realize high-precision positioning and stable fixation of the parts through accurate control of the multi-shaft mechanical arm and the concave circular ring block and stable horizontal extension and retraction of the telescopic horizontal convex slide block in the telescopic horizontal concave slide way. The product quality can be improved, and the defective rate can be reduced; according to the system, the magnetic repulsion principle of electromagnets and magnets is utilized, and the parts are quickly and effectively adsorbed and fixed. Meanwhile, by adjusting the power-on state of the electromagnet, clamping and releasing actions can be flexibly controlled, and the clamping device is suitable for parts of different sizes and shapes.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical parts processing, in particular to a clamp with adaptive clamping force for mechanical parts processing. Background Art

[0002] With the rapid development of social science and technology, in order to meet people's increasingly diverse production needs, various mechanical devices are constantly being developed to perform various complex and sophisticated functions. As an indispensable part of the mechanical field, the clamping function of the clamp plays a vital role in the material grabbing and transfer process.

[0003] Most of the existing clamping mechanisms adopt a combination design of a frame, a first linear drive mechanism, a second linear drive mechanism, a third linear drive mechanism and at least two clamping fingers. Among them, the first linear drive mechanism is firmly mounted on the frame, and the second linear drive mechanism and the third linear drive mechanism are respectively carried on the frame. The output end of the second linear drive mechanism is connected to a clamping finger, and the output end of the third linear drive mechanism is connected to another clamping finger. The two drive mechanisms are arranged relative to each other, so that in actual operation, the first linear drive mechanism can drive the two clamping fingers to approach or move away from the object to be clamped. Subsequently, the second and third linear drive mechanisms respectively drive their respective clamping fingers to approach each other to achieve the clamping of the object.

[0004] However, the existing clamping mechanism still has some obvious defects in design. First, it is mainly suitable for clamping objects between two clamping fingers. When faced with objects with large hollow structures, this clamping mechanism is often difficult to clamp effectively. In addition, each clamping finger needs to be equipped with an independent linear drive mechanism, which not only increases the manufacturing cost of the clamping mechanism, but also in actual use, once one of the drive mechanisms fails or drives slowly, the entire clamping mechanism may lose its proper function, greatly reducing work efficiency and reliability. In view of this, in-depth research was conducted on the above-mentioned problems, and this case was created. Utility Model Content

[0005] To achieve the above objectives, the utility model is implemented through the following technical solutions: A clamp with adaptive clamping force for machining mechanical parts, comprising: a multi-axis mechanical arm and a concave circular ring block, the concave circular ring block is installed on the multi-axis mechanical arm, and an adaptive clamping structure is installed on the concave circular ring block;

[0006] The adaptive clamping structure comprises: three arc brackets, six pairs of telescopic horizontal concave slideways, six pairs of telescopic horizontal convex slide blocks, three clamping telescopic blocks, six pairs of horizontal telescopic limit shafts, six pairs of telescopic clamping electromagnets, six pairs of telescopic clamping magnets, three clamping limit wheels, three concave clamping blocks, a plurality of clamping friction annular plates, three pairs of convex telescopic friction limit blocks, six pairs of friction limit shafts, three pairs of friction magnets, three pairs of friction electromagnets and a push-pull assembly;

[0007] The three arc brackets are installed in a circular ring shape on the inner side of the concave circular ring block, the six pairs of the horizontal concave slideways are installed on the three arc brackets relatively and parallelly, the six pairs of the telescopic horizontal convex sliders are installed on the three clamping telescopic blocks, and the six pairs of the telescopic horizontal convex sliders are movably inserted on the inner sides of the six pairs of the telescopic horizontal concave slideways, the six pairs of the horizontal telescopic limit shafts are inserted on the six pairs of the telescopic horizontal concave slideways, and the six pairs of the horizontal telescopic limit shafts are movably inserted on the six pairs of the telescopic horizontal convex sliders, the six pairs of the telescopic clamping electromagnets are installed on the six pairs of the telescopic horizontal concave slideways, the six pairs of the telescopic clamping magnets are installed on the six pairs of the telescopic horizontal convex sliders, the three clamping telescopic blocks are respectively provided with concave clamping grooves, and the three clamping limit wheels They are respectively installed on the inner sides of the three concave clamping grooves, the three concave clamping blocks are respectively installed on the inner sides of the three concave clamping grooves, a pair of extrusion convex deceleration grooves are respectively opened on the three concave clamping blocks, the three pairs of convex telescopic friction limit blocks are respectively movably inserted on the inner sides of the three pairs of extrusion convex deceleration grooves, the six pairs of friction limit shafts are respectively inserted on the inner sides of the three pairs of extrusion convex deceleration grooves, and the six pairs of friction limit shafts are respectively movably inserted on the three pairs of convex telescopic friction limit blocks, the three pairs of friction magnets are respectively installed on the three pairs of convex telescopic friction limit blocks, the three pairs of friction electromagnets are respectively installed on the inner sides of the three pairs of extrusion convex deceleration grooves, a number of clamping friction annular plates are respectively installed on the three pairs of convex telescopic friction limit blocks, and the push-pull assembly is installed on the concave annular block.

[0008] Preferably, the push-pull assembly comprises: a lifting adjustment shaft tube, a pair of lifting limit ring blocks, two pairs of lifting limit adjustment shafts, two pairs of lifting limit set springs, a lifting adjustment ring electromagnet, a lifting adjustment ring magnet, a lifting inner shaft tube, a lifting push-pull ring, an air pump, an air pump valve, an air pump pipe and an annular rubber ring;

[0009] The lifting and adjusting shaft tube is inserted into the concave circular ring block, a pair of lifting and limiting circular ring blocks are installed on the lifting and adjusting shaft tube, two pairs of lifting and limiting adjusting shafts are inserted into a pair of lifting and limiting circular ring blocks, two pairs of lifting and limiting sleeve springs are respectively sleeved on two pairs of lifting and limiting adjusting shafts, the lifting and adjusting circular ring electromagnet is installed on the lifting and limiting circular ring block, the lifting and pushing and pulling circular ring is installed on the lifting inner shaft tube, and the lifting and pushing and pulling circular ring is movably sleeved on two pairs of lifting and limiting adjusting shafts, the lifting and adjusting circular ring magnet is installed on the lifting and pushing and pulling circular ring, the vacuum pump is installed on the concave circular ring block, the vacuum valve is installed on the vacuum pump, the vacuum pipe is installed on the vacuum valve, and the vacuum pipe is connected to the lifting inner shaft tube, and the circular rubber ring is installed on the lifting inner shaft tube.

[0010] Preferably, an extruded rubber strip is respectively provided on the three clamping and telescopic blocks.

[0011] Preferably, pressure sensors are respectively provided on the three extruded rubber strips.

[0012] Preferably, resistance adjusters are respectively provided on the three pairs of friction electromagnets, the six pairs of telescopic clamping magnets and the lifting and lowering adjustment ring electromagnets.

[0013] Preferably, an infrared rangefinder is provided on the concave circular ring block.

[0014] Beneficial Effects

[0015] The utility model provides a clamp with adaptive clamping force for machining mechanical parts. It has the following beneficial effects: the clamp with adaptive clamping force for machining mechanical parts can realize high-precision positioning and stable fixation of parts through precise control of multi-axis mechanical arms and concave circular ring blocks and stable horizontal extension and retraction of telescopic horizontal convex sliders in telescopic horizontal concave slideways. This helps to improve product quality and reduce defective rate; the system uses the magnetic repulsion principle of electromagnets and magnets to quickly and effectively adsorb and fix parts. At the same time, by adjusting the power-on state of the electromagnet, the clamping and releasing actions can be flexibly controlled to adapt to parts of different sizes and shapes; the relative friction between the convex telescopic friction limit block and the clamping friction circular ring sheet on the clamping limit wheel is used to realize the limit fixation of parts, avoiding loosening and displacement of parts during processing or transportation, thereby improving the safety and reliability of the system; the entire system realizes the automatic assembly and fixation of parts through the coordinated work of the mechanical arm and the electromagnet. This reduces the complexity and error rate of manual operations, improves production efficiency and automation levels; by pumping the gas inside the lifting inner shaft tube through a vacuum pump, the parts can be adsorbed and fixed without the use of additional fixing devices or materials, thereby saving resources and reducing environmental pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic front and cross-sectional view of a clamp with adaptive clamping force for machining mechanical parts described in the utility model.

[0017] Figure 2 It is a side cross-sectional schematic diagram of a clamp with adaptive clamping force for machining mechanical parts according to the utility model.

[0018] In the figure: 1. concave circular ring block; 2. arc bracket; 3. telescopic horizontal concave slideway; 4. telescopic horizontal convex sliding block; 5. clamping telescopic block; 6. horizontal telescopic limit shaft; 7. telescopic clamping electromagnet; 8. telescopic clamping magnet; 9. clamping limit wheel; 10. concave clamping block; 11. clamping friction circular ring plate; 12. convex telescopic friction limit block; 13. friction limit shaft; 14. friction magnet; 15. friction electromagnet; 16. lifting and adjusting shaft tube; 17. lifting and limiting circular ring block; 18. lifting and limiting adjustment shaft; 19. lifting and limiting set spring; 20. lifting and adjusting circular ring electromagnet; 21. lifting and adjusting circular ring magnet; 22. lifting inner shaft tube; 23. lifting and pushing ring; 24. vacuum pump; 25. vacuum valve. DETAILED DESCRIPTION

[0019] Based on the embodiments of the present utility model, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present utility model.

[0020] Through the personnel in this field, all the electrical components in this case are connected to their corresponding power supplies through wires, and appropriate controllers and encoders should be selected according to actual conditions to meet the control requirements. The specific connection and control sequence should refer to the following working principle, and the electrical connection between the electrical components is completed in the order of working in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principles and processes, and no longer explains the electrical control.

[0021] Example

[0022] like Figure 1-2 As shown, the concave circular ring block 1 is installed on the multi-axis robot arm, and an adaptive clamping structure is installed on the concave circular ring block 1;

[0023] Specifically, the adaptive clamping structure includes: three arc brackets 2, six pairs of telescopic horizontal concave slideways 3, six pairs of telescopic horizontal convex slide blocks 4, three clamping telescopic blocks 5, six pairs of horizontal telescopic limit shafts 6, six pairs of telescopic clamping electromagnets 7, six pairs of telescopic clamping magnets 8, three clamping limit wheels 9, three concave clamping blocks 10, a plurality of clamping friction annular plates 11, three pairs of convex telescopic friction limit blocks 12, six pairs of friction limit shafts 13, three pairs of friction magnets 14, three pairs of friction electromagnets 15 and a push-pull assembly;

[0024] Specifically, the three arc brackets 2 are installed in a circular ring shape on the inner side of the concave circular ring block 1, the six pairs of the horizontal concave slideways are installed on the three arc brackets 2 relatively and parallelly, the six pairs of the telescopic horizontal convex sliders 4 are installed on the three clamping and telescopic blocks 5, and the six pairs of the telescopic horizontal convex sliders 4 are movably inserted on the inner sides of the six pairs of the telescopic horizontal concave slideways 3, the six pairs of the horizontal telescopic limit shafts 6 are inserted on the six pairs of the telescopic horizontal concave slideways 3, and the six pairs of the horizontal telescopic limit shafts 6 are movably inserted on the six pairs of the telescopic horizontal convex sliders 4, the six pairs of the telescopic clamping electromagnets 7 are installed on the six pairs of the telescopic horizontal concave slideways 3, the six pairs of the telescopic clamping magnets 8 are installed on the six pairs of the telescopic horizontal convex sliders 4, the three clamping and telescopic blocks 5 are respectively provided with concave clamping grooves, and the three clamping limit wheels 9 are respectively They are respectively installed on the inner sides of the three concave clamping grooves, the three concave clamping blocks 10 are respectively installed on the inner sides of the three concave clamping grooves, and a pair of extrusion convex deceleration grooves are respectively opened on the three concave clamping blocks 10, the three pairs of convex telescopic friction limit blocks 12 are respectively movably inserted on the inner sides of the three pairs of extrusion convex deceleration grooves, the six pairs of friction limit shafts 13 are respectively inserted on the inner sides of the three pairs of extrusion convex deceleration grooves, and the six pairs of friction limit shafts 13 are respectively movably inserted on the three pairs of convex telescopic friction limit blocks 12, the three pairs of friction magnets 14 are respectively installed on the three pairs of convex telescopic friction limit blocks 12, the three pairs of friction electromagnets 15 are respectively installed on the inner sides of the three pairs of extrusion convex deceleration grooves, a number of clamping friction annular plates 11 are respectively installed on the three pairs of convex telescopic friction limit blocks 12, and the push-pull assembly is installed on the concave annular block 1.

[0025] It should be noted that, in the above, the concave circular ring block 1 is driven by a multi-axis robotic arm, the concave circular ring block 1 is first mounted on the component, the component is fixed by negative pressure adsorption through a push-pull assembly, the three arc brackets 2 on the inner side thereof are driven by the concave circular ring block 1, and the six pairs of telescopic horizontal concave slideways 3 thereon are driven respectively by the three arc brackets 2, the six pairs of telescopic clamping electromagnets 7 on the six pairs of telescopic horizontal concave slideways 3 are energized, the six pairs of telescopic clamping electromagnets 7 are magnetically repelled by the six pairs of telescopic clamping magnets 8, and the telescopic horizontal convex sliders 4 thereon are driven respectively by the six pairs of telescopic clamping magnets 8, so that the six pairs of telescopic horizontal convex sliders 4 are stably telescoped horizontally along the inner side of the telescopic horizontal concave slideway 3, and the six pairs of telescopic horizontal convex sliders 4 are driven The three clamping and telescopic blocks 5 thereon respectively drive the three clamping and limiting wheels 9 thereon, and the parts are assembled through the three clamping and limiting wheels 9, and the parts are movably assembled between the three clamping and limiting wheels 9 and the push-pull components, and the parts are movably telescopic to the inner side of the concave circular ring block 1, and the friction electromagnet 15 on the inner side of the concave clamping block 10 is energized, and the friction magnet 14 is magnetically repelled by the friction electromagnet 15, and the convex telescopic friction limit block 12 thereon is driven by the friction magnet 14, and the clamping friction circular ring piece 11 thereon is driven by the convex telescopic friction limit block 12, and the relative friction between the convex telescopic friction limit block 12 and the clamping friction circular ring piece 11 on the clamping and limiting wheel 9 is achieved, so as to limit and fix the clamping and limiting wheel 9.

[0026] like Figure 1-2 As shown, the push-pull assembly includes: a lifting adjustment shaft tube 16, a pair of lifting limit ring blocks 17, two pairs of lifting limit adjustment shafts 18, two pairs of lifting limit set springs 19, a lifting adjustment ring electromagnet 20, a lifting adjustment ring magnet 21, a lifting inner shaft tube 22, a lifting push-pull ring 23, an air pump 24, an air pump valve 25, an air pump pipe and an annular rubber ring;

[0027] Specifically, the lifting adjustment shaft tube 16 is inserted into the concave circular ring block 1, a pair of lifting limit circular ring blocks 17 are installed on the lifting adjustment shaft tube 16, two pairs of lifting limit adjustment shafts 18 are inserted into a pair of lifting limit circular ring blocks 17, two pairs of lifting limit sleeve springs 19 are respectively sleeved on the two pairs of lifting limit adjustment shafts 18, the lifting adjustment circular ring electromagnet 20 is installed on the lifting limit circular ring block 17, and the lifting push-pull circular ring 23 is installed on the lifting limit circular ring block 17. The lifting inner shaft tube 22 is mounted on the lifting push-pull ring 23, and the lifting push-pull ring 23 is movably mounted on the two pairs of lifting limit adjustment shafts 18. The lifting adjustment ring magnet 21 is installed on the lifting push-pull ring 23. The vacuum pump 24 is installed on the concave ring block 1. The vacuum valve 25 is installed on the vacuum pump 24. The vacuum pipe is installed on the vacuum valve 25, and the vacuum pipe is connected to the lifting inner shaft tube 22. The ring rubber ring is installed on the lifting inner shaft tube 22.

[0028] It should be noted that, in the above, the lifting and adjusting circular electromagnets 20 on the inner side of a pair of lifting and limiting circular ring blocks 17 on the inner side of the lifting and adjusting shaft tube 16 are energized, and the lifting and adjusting circular electromagnets 20 magnetically repel the lifting and adjusting circular ring magnets 21, and the lifting and adjusting circular ring magnets 21 drive the lifting and pushing circular rings 23 thereon, and the lifting and pushing circular rings 23 drive the lifting inner shaft tube 22 thereon, so that the lifting and pushing circular rings 23 are stably lifted and lowered along the inner side of the lifting and adjusting shaft tube 16, and at the same time, the circular rubber ring on it is driven by the lifting inner shaft tube 22, and the parts are flexibly squeezed by the circular rubber ring, and at the same time, the exhaust valve 25 is opened, and the exhaust valve 25 and the gas inside the lifting inner shaft tube 22 are pumped out by the exhaust pump 24, so that the lifting inner shaft tube 22 is adsorbed and fixed on the parts, so that the parts are pulled to the inner side of the concave circular ring block 1, so as to achieve the limit extrusion and limit fixation of the parts.

[0029] As a preferred solution, further, the three clamping and telescopic blocks 5 are respectively provided with extruded rubber strips.

[0030] As a preferred solution, further, pressure sensors are respectively provided on the three extruded rubber strips.

[0031] As a preferred solution, further, the three pairs of friction electromagnets 15, the six pairs of telescopic clamping magnets 8 and the lifting and lowering adjustment ring electromagnets 20 are respectively provided with resistance adjusters.

[0032] As a preferred solution, further, an infrared rangefinder is provided on the concave circular ring block 1.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamp with adaptive clamping force for machining mechanical parts, comprising: A multi-axis robot arm and a concave circular ring block, characterized in that the concave circular ring block is installed on the multi-axis robot arm, and an adaptive clamping structure is installed on the concave circular ring block; The adaptive clamping structure comprises: three arc brackets, six pairs of telescopic horizontal concave slideways, six pairs of telescopic horizontal convex slide blocks, three clamping telescopic blocks, six pairs of horizontal telescopic limit shafts, six pairs of telescopic clamping electromagnets, six pairs of telescopic clamping magnets, three clamping limit wheels, three concave clamping blocks, a plurality of clamping friction annular plates, three pairs of convex telescopic friction limit blocks, six pairs of friction limit shafts, three pairs of friction magnets, three pairs of friction electromagnets and a push-pull assembly; The three arc brackets are installed in a circular ring shape on the inner side of the concave circular ring block, the six pairs of horizontal concave slideways are installed on the three arc brackets relatively and parallelly, the six pairs of telescopic horizontal convex sliders are installed on the three clamping telescopic blocks, and the six pairs of telescopic horizontal convex sliders are movably inserted on the inner sides of the six pairs of telescopic horizontal concave slideways, the six pairs of horizontal telescopic limit shafts are inserted on the six pairs of telescopic horizontal concave slideways, and the six pairs of horizontal telescopic limit shafts are movably inserted on the six pairs of telescopic horizontal convex sliders, the six pairs of telescopic clamping electromagnets are installed on the six pairs of telescopic horizontal concave slideways, the six pairs of telescopic clamping magnets are installed on the six pairs of telescopic horizontal convex sliders, the three clamping telescopic blocks are respectively provided with concave clamping grooves, and the three clamping limit wheels are respectively They are respectively installed on the inner sides of the three concave clamping grooves, the three concave clamping blocks are respectively installed on the inner sides of the three concave clamping grooves, a pair of extrusion convex deceleration grooves are respectively opened on the three concave clamping blocks, the three pairs of convex telescopic friction limit blocks are respectively movably inserted on the inner sides of the three pairs of extrusion convex deceleration grooves, the six pairs of friction limit shafts are respectively inserted on the inner sides of the three pairs of extrusion convex deceleration grooves, and the six pairs of friction limit shafts are respectively movably inserted on the three pairs of convex telescopic friction limit blocks, the three pairs of friction magnets are respectively installed on the three pairs of convex telescopic friction limit blocks, the three pairs of friction electromagnets are respectively installed on the inner sides of the three pairs of extrusion convex deceleration grooves, a number of clamping friction annular plates are respectively installed on the three pairs of convex telescopic friction limit blocks, and the push-pull assembly is installed on the concave annular block.

2. The clamp with adaptive clamping force for machining mechanical parts according to claim 1, characterized in that: The push-pull assembly includes: a lifting adjustment shaft tube, a pair of lifting limit ring blocks, two pairs of lifting limit adjustment shafts, two pairs of lifting limit set springs, a lifting adjustment ring electromagnet, a lifting adjustment ring magnet, a lifting inner shaft tube, a lifting push-pull ring, an air pump, an air pump valve, an air pump pipe and an annular rubber ring; The lifting and adjusting shaft tube is inserted into the concave circular ring block, a pair of lifting and limiting circular ring blocks are installed on the lifting and adjusting shaft tube, two pairs of lifting and limiting adjusting shafts are inserted into a pair of lifting and limiting circular ring blocks, two pairs of lifting and limiting sleeve springs are respectively sleeved on two pairs of lifting and limiting adjusting shafts, the lifting and adjusting circular ring electromagnet is installed on the lifting and limiting circular ring block, the lifting and pushing and pulling circular ring is installed on the lifting inner shaft tube, and the lifting and pushing and pulling circular ring is movably sleeved on two pairs of lifting and limiting adjusting shafts, the lifting and adjusting circular ring magnet is installed on the lifting and pushing and pulling circular ring, the vacuum pump is installed on the concave circular ring block, the vacuum valve is installed on the vacuum pump, the vacuum pipe is installed on the vacuum valve, and the vacuum pipe is connected to the lifting inner shaft tube, and the circular rubber ring is installed on the lifting inner shaft tube.

3. The clamp with adaptive clamping force for machining mechanical parts according to claim 2, characterized in that: The three clamping and telescopic blocks are respectively provided with extruded rubber strips.

4. The clamp with adaptive clamping force for machining mechanical parts according to claim 3, characterized in that: Pressure sensors are respectively arranged on the three extruded rubber strips.

5. The clamp with adaptive clamping force for machining mechanical parts according to claim 4, characterized in that: Resistance adjusters are respectively arranged on the three pairs of friction electromagnets, the six pairs of telescopic clamping magnets and the lifting and lowering adjustment ring electromagnets.

6. The clamp with adaptive clamping force for machining mechanical parts according to claim 5, characterized in that: An infrared rangefinder is arranged on the concave circular ring block.

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