A supporting manipulator for a multi-spindle machining center

Abstract

The present invention discloses a manipulator supporting a multi-spindle machining center, including an assembly head, a fixed side plate, an assembly plate, an adsorption rotating mechanism and a synchronous clamping mechanism, wherein the rotating head and the magnetic suction head are both rotatably connected to the displacement assembly, and the ends of the rotating head and the magnetic suction head are fixedly connected to each other, and the driving assembly is installed on one side of the displacement assembly, and the driving assembly can drive the magnetic suction head to rotate on the displacement assembly. Therefore, when the manipulator is used, especially when multi-axis processing is performed on cylindrical iron parts, the end of the part can be sucked by magnetic suction, and then the part is lifted upward. In the process of lifting, the clamping structure can be driven to clamp the outer wall of the part. After the clamping is completed, the magnetic suction structure can be rotated, and then the part is driven to rotate, thereby meeting the needs of multi-axis processing. At the same time, after the magnetic suction structure is powered off and demagnetized, the clamping structure can also drive the part to rotate, further meeting the processing needs.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator matching a multi-spindle machining center. Background Art

[0002] In modern manufacturing, multi-spindle machining centers are increasingly used, especially in multi-axis machining of cylindrical iron parts. This type of equipment is favored for its high efficiency and precision machining capabilities. In order to improve the efficiency and precision of the machining process, the use of manipulators has become an important means. However, there are still some technical defects in practical applications.

[0003] In the prior art, commonly used clamping methods include mechanical clamps and pneumatic clamps, but these methods each have their limitations. Mechanical clamps generally need to be in close contact with the surface of the part, which can lead to unstable clamping and even damage to the parts when processing parts with uneven surfaces or coatings. Although pneumatic clamps can provide a more uniform clamping force, it is more difficult to control the surface pressure of the parts during the clamping process, especially when clamping large-diameter cylindrical parts. The stability and accuracy of pneumatic clamps are difficult to guarantee. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the purpose of the present invention is to propose a robot arm supporting a multi-spindle machining center, which can, when the robot is in use, especially when multi-axis machining is performed on cylindrical iron parts, magnetically absorb the end of the part and then lift the part upward. During the lifting process, the clamping structure can be driven to clamp the outer wall of the part. After the clamping is completed, the magnetic structure can be rotated, thereby driving the part to rotate, thereby meeting the needs of multi-axis machining. At the same time, after the magnetic structure is powered off and demagnetized, the clamping structure can also drive the part to rotate, further meeting the needs of machining.

[0006] To achieve the above-mentioned purpose, the present invention proposes a supporting manipulator for a multi-spindle machining center, comprising an assembly head, a fixed side plate, an assembly plate, an adsorption and rotation mechanism and a synchronous clamping mechanism, wherein the fixed side plate is symmetrically fixedly connected to the bottom of the assembly head, the assembly plate is fixedly connected to the inner top of the fixed side plate, and the adsorption and rotation mechanism comprises a first driving device, a threaded screw, a limit head, a rotating head, a magnetic head, a driving component and a displacement component, wherein the first driving device is installed on the top of the assembly plate, one end of the threaded screw is fixedly connected to the output end of the first driving device, the limit head is fixedly connected to the other end of the threaded screw, the displacement component is connected to the threaded screw and slides up and down on the inner wall of the fixed side plate, the rotating head and the magnetic head are both rotatably connected to the displacement component, and the ends of the rotating head and the magnetic head are fixedly connected to each other, the driving component is installed on one side of the displacement component, and the driving component can drive the magnetic head to rotate on the displacement component,

[0007] The synchronous clamping mechanism is installed on the outer wall of the fixed side plate, and the synchronous clamping mechanism is connected to the displacement assembly.

[0008] The multi-spindle machining center of the present invention is equipped with a manipulator, and the magnetic head magnetically attracts the end of the part. After the firm adsorption is completed, the displacement component is lifted by the reverse rotation of the threaded screw, and the part can be lifted. In the process of continuously lifting the part, the synchronous clamping mechanism can clamp the outer wall of the part, thereby ensuring the structural stability of the part during processing. At the same time, the magnetic head can be mobilized to rotate through the driving assembly, and then the part can be driven to rotate, thereby facilitating multi-angle processing operations, and when the magnetic head is powered off, the synchronous clamping mechanism can also drive the part to rotate horizontally, thereby meeting the needs of multi-axis processing. At the same time, after the magnetic structure is powered off and demagnetized, the clamping structure can also drive the part to rotate, further meeting the processing needs.

[0009] In addition, the multi-spindle machining center supporting manipulator according to the present invention may also have the following additional technical features:

[0010] Specifically, the displacement assembly includes a threaded sleeve, a guide side plate and a support frame, wherein the threaded sleeve is threadedly sleeved on the outer wall of the threaded screw, one end of the two guide side plates are symmetrically fixedly connected to the outer wall of the threaded sleeve, the ends of the support frame are respectively fixedly connected to the bottom of the two guide side plates, the rotating head is rotatably connected to the inner bottom of the support frame, the magnetic head is rotatably connected to the bottom of the support frame, and the top of the magnetic head is fixedly connected to the bottom of the rotating head.

[0011] Specifically, the driving assembly includes a supporting plate, a second driving device, a driving gear and a driven rack, wherein the supporting plate is fixedly connected to one side of the end of the support frame, the second driving device is installed on the top of the supporting plate, the output end of the second driving device passes through the supporting plate and is fixedly connected to one end of the driving gear, the driven rack is fixedly connected to the outer wall of the magnetic suction head in a circular array, and the driving gear is meshed with the driven rack.

[0012] Specifically, the synchronous clamping mechanism includes a limiting side plate, a connecting piece, a sliding sleeve, a reinforcing side plate and a clamping assembly, wherein one end of the two limiting side plates are respectively fixedly connected to the bottom of the outer wall of the fixed side plate, the sliding sleeve is slidably sleeved on the bottom of the limiting side plate, the connecting piece is arranged between the sliding sleeve and the guide side plate, and the connecting piece is connected thereto, the reinforcing side plate is fixedly connected to the bottom of the sliding sleeve, and the clamping assembly is mounted on the reinforcing side plate.

[0013] Specifically, the connecting member includes a connecting head, a connecting arm and an articulated seat, wherein the connecting head is symmetrically rotationally connected to both sides of the end of the guide side plate, the articulated seat is symmetrically fixedly connected to the top of the sliding sleeve, and the connecting arms are arranged between the two articulated seats and the two connecting heads, and are connected through the connecting arms.

[0014] Specifically, the clamping assembly includes a third drive device, a support arm, a U-shaped seat, a connecting rod and a clamping head, wherein the third drive device is installed on one side of the reinforced side plate, and the output end of the third drive device passes through one side of the reinforced side plate and is fixedly connected to one end of the support arm, one end of the two connecting rods is symmetrically fixedly connected to the outer wall of the other end of the support arm, the inner walls of the U-shaped seat are respectively fixedly connected to the other ends of the two connecting rods, and the clamping head is fixedly connected to the outer wall of the U-shaped seat.

[0015] Specifically, the outer wall of the fixed side plate is provided with a limiting groove for the sliding of the guide side plate.

[0016] Specifically, guide grooves for the sliding sleeve to slide are symmetrically provided on both sides of the limiting side plate.

[0017] Specifically, one end of the connecting arm is fixedly connected to the outer wall of the connecting head, and the other end of the connecting arm is rotatably connected to the inner wall of the hinge seat.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0021] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0022] Figure 3 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the connecting piece of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the displacement assembly of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of a part of the adsorption rotation mechanism of the present invention;

[0026] Figure 7 is a schematic structural diagram of a third driving device of the present invention;

[0027] Figure 8 For the present invention Figure 7 Schematic diagram of the structure with a partial enlargement at point A in the middle.

[0028] As shown in the figure:

[0029] 1. Assembly head; 2. Fixed side plate; 21. Limiting groove; 3. Assembly plate; 4. Adsorption and rotation mechanism; 41. First driving device; 42. Threaded screw; 43. Limiting head; 44. Rotating head; 45. Magnetic head; 46. Driving assembly; 461. Support plate; 462. Second driving device; 463. Driving gear; 464. Driven rack; 47. Displacement assembly; 471. Threaded sleeve; 472. Guide side plate; 473. Support frame; 5. Synchronous clamping mechanism; 51. Limiting side plate; 511. Guide groove; 52. Connecting piece; 521. Connecting head; 522. Connecting arm; 523. Articulated seat; 53. Sliding sleeve; 54. Reinforced side plate; 55. Clamping assembly; 551. Third driving device; 552. Support arm; 553. U-shaped seat; 554. Connecting rod; 555. Clamping head. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations of the present invention. On the contrary, embodiments of the present invention include all changes, modifications and equivalents that fall within the spirit and connotation of the appended claims.

[0031] The following describes a multi-spindle machining center supporting robot according to an embodiment of the present invention in conjunction with the accompanying drawings.

[0032] like Figure 1-Figure 8 As shown, the multi-spindle machining center supporting robot according to the embodiment of the present invention may include an assembly head 1, a fixed side plate 2, an assembly plate 3, an adsorption and rotation mechanism 4 and a synchronous clamping mechanism 5.

[0033] The fixed side plate 2 is symmetrically fixedly connected to the bottom of the assembly head 1 , and the assembly plate 3 is fixedly connected to the inner top of the fixed side plate 2 .

[0034] It should be noted that the top of the fixed side plate 2 described in this embodiment is fixedly connected to a reinforcement plate, the reinforcement plate is vertically fixedly connected to the side of the fixed side plate 2, and bolts are screwed at the bottom of the reinforcement plate, thereby the fixed side plate 2 can be fixedly connected to the top of the assembly head 1, and a threaded hole can be opened at the top of the assembly head 1 to install a drive device for adjusting the position of the overall manipulator.

[0035] The adsorption and rotation mechanism 4 includes a first driving device 41 , a threaded screw 42 , a limiting head 43 , a rotating head 44 , a magnetic head 45 , a driving assembly 46 and a displacement assembly 47 .

[0036] The first driving device 41 is installed on the top of the assembly plate 3 , one end of the threaded screw 42 is fixedly connected to the output end of the first driving device 41 , and the limit head 43 is fixedly connected to the other end of the threaded screw 42 .

[0037] It should be noted that the first driving device 41 described in this embodiment is a driving motor, and the magnetic suction head 45 is an electromagnet.

[0038] The displacement assembly 47 is connected to the threaded screw 42 and slides up and down on the inner wall of the fixed side plate 2. The rotating head 44 and the magnetic head 45 are both rotatably connected to the displacement assembly 47, and the ends of the rotating head 44 and the magnetic head 45 are fixedly connected to each other. The driving assembly 46 is installed on one side of the displacement assembly 47, and the driving assembly 46 can drive the magnetic head 45 to rotate on the displacement assembly 47.

[0039] It should be noted that when the threaded screw 42 described in this embodiment rotates, it can drive the displacement assembly 47 to adjust the height of the inner wall of the fixed side plate 2, so that the magnetic head 45 can be magnetically attracted to the end of the part. When the magnetic attraction is completed, the magnetic head 45 can be mobilized to rotate through the driving assembly 46, which can drive the part to rotate, thereby facilitating multi-angle processing operations.

[0040] The synchronous clamping mechanism 5 is installed on the outer wall of the fixed side plate 2 , and the synchronous clamping mechanism 5 is connected to the displacement assembly 47 .

[0041] It should be noted that, in the embodiment described, when the displacement assembly 47 moves upward and continuously lifts the part, it can synchronously drive the synchronous clamping mechanism 5 to clamp the side wall of the part. After the part is effectively clamped, the displacement assembly 47 stops moving.

[0042] Specifically, when processing the iron cylindrical parts, because the first driving device 41 is installed on the top of the assembly plate 3, one end of the threaded screw 42 is fixedly connected to the output end of the first driving device 41, and the limit head 43 is fixedly connected to the other end of the threaded screw 42. The displacement component 47 is connected to the threaded screw 42 and slides up and down on the inner wall of the fixed side plate 2. The rotating head 44 and the magnetic head 45 are both rotatably connected to the displacement component 47, and the ends of the rotating head 44 and the magnetic head 45 are fixedly connected to each other. The driving component 46 is installed on one side of the displacement component 47. The driving component 46 can drive the magnetic head 45 to rotate on the displacement component 47. The synchronous clamping mechanism 5 is installed on the outer wall of the fixed side plate 2, and the synchronous clamping mechanism 5 is connected to the displacement component 47. Then, the assembly head 1 is first driven by the external driving device to adjust its position so that it is located above the end of the part, and then the first driving device is started. The screw rod 42 is placed on the workbench 41 to drive the screw rod 42 to rotate, and then under the action of the screw rod 42, the displacement assembly 47 can be driven to descend in height, and then the end of the part can be magnetically attracted by the magnetic head 45 on the displacement assembly 47. After the firm adsorption is completed, the displacement assembly 47 is lifted by the reverse rotation of the screw rod 42, and the part can be lifted. In the process of continuously lifting the part, the synchronous clamping mechanism 5 can clamp the outer wall of the part, thereby ensuring that the structure of the part is stable during processing. At the same time, the magnetic head 45 can be mobilized to rotate through the driving assembly 46, and then the part can be driven to rotate, thereby facilitating multi-angle processing operations, and the magnetic head 45 is powered off, and the synchronous clamping mechanism 5 can also drive the part to rotate horizontally, thereby meeting the needs of multi-axis processing. At the same time, after the magnetic structure is powered off and demagnetized, the clamping structure can also drive the part to rotate, further meeting the processing needs.

[0043] In one embodiment of the present invention, Figure 1-Figure 8As shown, the displacement assembly 47 includes a threaded sleeve 471, a guide side plate 472 and a support frame 473, wherein the threaded sleeve 471 is threadedly sleeved on the outer wall of the threaded screw 42, one end of the two guide side plates 472 is symmetrically fixedly connected to the outer wall of the threaded sleeve 471, the ends of the support frame 473 are respectively fixedly connected to the bottom of the two guide side plates 472, the rotating head 44 is rotatably connected to the inner bottom of the support frame 473, the magnetic head 45 is rotatably connected to the bottom of the support frame 473, and the top of the magnetic head 45 is fixedly connected to the bottom of the rotating head 44.

[0044] Furthermore, if Figure 1 As shown, the outer wall of the fixed side plate 2 is provided with a limiting groove 21 for guiding the side plate 472 to slide.

[0045] It should be noted that the support frame 473 described in this embodiment is a U-shaped structure, and both ends of the support frame 473 are fixedly sleeved on the guide side plate 472 .

[0046] Specifically, in order to be able to conveniently adsorb the magnetic head 45 on the end of the part, the threaded sleeve 471 is threadedly sleeved on the outer wall of the threaded screw 42, one end of the two guide side plates 472 is symmetrically fixedly connected to the outer wall of the threaded sleeve 471, and the ends of the support frame 473 are respectively fixedly connected to the bottom of the two guide side plates 472, the rotating head 44 is rotatably connected to the inner bottom of the support frame 473, the magnetic head 45 is rotatably connected to the bottom of the support frame 473, and the top of the magnetic head 45 is fixedly connected to the bottom of the rotating head 44, and then when the threaded screw 42 rotates, the threaded sleeve 471 can be adjusted in height inside the two fixed side plates 2 under the action of the guide side plates 472, thereby synchronously driving the support frame 473 to adjust its height, and then driving the magnetic head 45 to effectively adsorb the end of the part.

[0047] In one embodiment of the present invention, Figure 1-Figure 8 As shown, the driving assembly 46 includes a supporting plate 461, a second driving device 462, a driving gear 463 and a driven rack 464, wherein the supporting plate 461 is fixedly connected to one side of the end of the support frame 473, the second driving device 462 is installed on the top of the supporting plate 461, the output end of the second driving device 462 passes through the supporting plate 461, and is fixedly connected to one end of the driving gear 463, the driven rack 464 is fixedly connected to the outer wall of the magnetic suction head 45 in a circular array, and the driving gear 463 is meshed with the driven rack 464.

[0048] It should be noted that the second driving device 462 described in this embodiment is a driving motor.

[0049] Specifically, in order to enable the parts to rotate at multiple angles and thus meet the needs of multi-axis processing, the support plate 461 is fixedly connected to one side of the end of the support frame 473, and the second drive device 462 is installed on the top of the support plate 461. The output end of the second drive device 462 passes through the support plate 461 and is fixedly connected to one end of the driving gear 463. The driven rack 464 is fixedly connected to the outer wall of the magnetic head 45 in a circular array, and the driving gear 463 is meshed with the driven rack 464. Then, by starting the second drive device 462, it drives the driving gear 463 to rotate, and then under the action of the driven rack 464, the magnetic head 45 is driven to rotate. Since the magnetic head 45 adsorbs the end of the part, the magnetic head 45 can drive the end of the part to rotate, thereby allowing the part to be processed at multiple angles.

[0050] In one embodiment of the present invention, Figure 1-Figure 8 As shown, the synchronous clamping mechanism 5 includes a limiting side plate 51, a connecting piece 52, a sliding sleeve 53, a reinforcing side plate 54 and a clamping assembly 55, wherein one end of the two limiting side plates 51 are respectively fixedly connected to the bottom of the outer wall of the fixed side plate 2, the sliding sleeve 53 is slidably sleeved on the bottom of the limiting side plate 51, a connecting piece 52 is provided between the sliding sleeve 53 and the guide side plate 472, and they are connected through the connecting piece 52, the reinforcing side plate 54 is fixedly connected to the bottom of the sliding sleeve 53, and the clamping assembly 55 is installed on the reinforcing side plate 54.

[0051] Furthermore, if Figure 1 As shown, the connecting member 52 includes a connecting head 521, a connecting arm 522 and a hinge seat 523, wherein the connecting head 521 is symmetrically rotationally connected to both sides of the end of the guide side plate 472, the hinge seat 523 is symmetrically fixedly connected to the top of the sliding sleeve 53, and connecting arms 522 are arranged between the two hinge seats 523 and the two connecting heads 521, and are connected through the connecting arms 522, and guide grooves 511 for sliding of the sliding sleeve 53 are symmetrically opened on both sides of the limiting side plate 51, one end of the connecting arm 522 is fixedly connected to the outer wall of the connecting head 521, and the other end of the connecting arm 522 is rotationally connected to the inner wall of the hinge seat 523.

[0052] It should be noted that the inner wall of the sliding sleeve 53 described in this embodiment is symmetrically fixedly connected with a limit block matching the guide groove 511 .

[0053] Specifically, in order to ensure that the structure is more stable during part processing, one end of the two limiting side plates 51 is respectively fixedly connected to the bottom of the outer wall of the fixed side plate 2, the sliding sleeve 53 is slidably sleeved on the bottom of the limiting side plate 51, and a connecting piece 52 is provided between the sliding sleeve 53 and the guide side plate 472, and they are connected through the connecting piece 52, the reinforcement side plate 54 is fixedly connected to the bottom of the sliding sleeve 53, and the clamping assembly 55 is installed on the reinforcement side plate 54, and then when the height of the guide side plate 472 is continuously lifted upward, under the action of the connecting arm 522, the two sliding sleeves 53 can gradually approach each other, thereby driving the two groups of clamping assemblies 55 to clamp the outer wall of the part, thereby ensuring that the structure is more stable during part processing.

[0054] It should be understood that when it is necessary to drive the part to rotate, the height of the guide side plate 472 can be slightly adjusted downward so that there is a certain gap between the clamping structure and the outer wall of the part to ensure the rotation of the part.

[0055] In one embodiment of the present invention, Figure 1-Figure 8 As shown, the clamping assembly 55 includes a third driving device 551, a support arm 552, a U-shaped seat 553, a connecting rod 554 and a clamping head 555, wherein the third driving device 551 is installed on one side of the reinforced side plate 54, and the output end of the third driving device 551 passes through one side of the reinforced side plate 54 and is fixedly connected to one end of the support arm 552, one end of the two connecting rods 554 is symmetrically fixedly connected to the outer wall of the other end of the support arm 552, both sides of the inner wall of the U-shaped seat 553 are respectively fixedly connected to the other ends of the two connecting rods 554, and the clamping head 555 is fixedly connected to the outer wall of the U-shaped seat 553.

[0056] It should be noted that the third driving device 551 described in this embodiment is a hydraulic cylinder, and the clamping surface of the clamping head 555 is a soft rubber pad, which ensures that the friction force is always in contact with the outer wall of the part.

[0057] Specifically, in order to ensure the stability of part processing, the third driving device 551 is installed on one side of the reinforced side plate 54, and the output end of the third driving device 551 passes through one side of the reinforced side plate 54 and is fixedly connected to one end of the support arm 552. One end of the two connecting rods 554 is symmetrically fixedly connected to the outer wall of the other end of the support arm 552, and the inner wall of the U-shaped seat 553 is fixedly connected to the other end of the two connecting rods 554 on both sides. The clamping head 555 is fixedly connected to the outer wall of the U-shaped seat 553, and then when the two sliding sleeves 53 are close to each other, the two clamping heads 555 can clamp the outer wall of the part. When the outer wall of the part needs to be processed, the two third driving devices 551 can be started synchronously. Under the action of the connecting rod 554, the two clamping heads 555 can be driven to rotate synchronously, thereby driving the part to rotate accordingly, thereby further processing the outer wall of the part.

[0058] In summary, the multi-spindle machining center supporting manipulator of the embodiment of the present invention, the magnetic suction head 45 magnetically attracts the end of the part, and after the firm adsorption is completed, the displacement component 47 is lifted by the reverse rotation of the screw rod 42, and the part can be lifted. In the process of continuous lifting of the part, the synchronous clamping mechanism 5 can clamp the outer wall of the part, thereby ensuring the structural stability of the part during processing. At the same time, the magnetic suction head 45 can be mobilized to rotate through the driving component 46, and then the part can be driven to rotate, thereby facilitating multi-angle processing operations, and when the magnetic suction head 45 is powered off, the synchronous clamping mechanism 5 can also drive the part to rotate horizontally, thereby meeting the needs of multi-axis processing. At the same time, after the magnetic suction structure is powered off and demagnetized, the clamping structure can also drive the part to rotate, further meeting the processing needs.

[0059] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0061] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and deform the above embodiments within the scope of the present invention.

Claims

1. A multi-spindle machining center supporting manipulator, characterized in that: It comprises an assembly head (1), a fixed side plate (2), an assembly plate (3), an adsorption rotation mechanism (4) and a synchronous clamping mechanism (5), wherein: The fixed side plate (2) is symmetrically fixedly connected to the bottom of the assembly head (1), and the assembly plate (3) is fixedly connected to the inner top of the fixed side plate (2); The adsorption and rotation mechanism (4) comprises a first driving device (41), a threaded screw (42), a limiting head (43), a rotating head (44), a magnetic head (45), a driving component (46) and a displacement component (47), wherein: The first driving device (41) is mounted on the top of the assembly plate (3), one end of the threaded screw (42) is fixedly connected to the output end of the first driving device (41), and the limit head (43) is fixedly connected to the other end of the threaded screw (42); The displacement assembly (47) is connected to the threaded screw (42) and slides up and down on the inner wall of the fixed side plate (2); the rotating head (44) and the magnetic head (45) are both rotatably connected to the displacement assembly (47); and the ends of the rotating head (44) and the magnetic head (45) are fixedly connected to each other; the driving assembly (46) is installed on one side of the displacement assembly (47); and the driving assembly (46) can drive the magnetic head (45) to rotate on the displacement assembly (47); The synchronous clamping mechanism (5) is mounted on the outer wall of the fixed side plate (2), and the synchronous clamping mechanism (5) is connected to the displacement assembly (47); The displacement assembly (47) comprises a threaded sleeve plate (471), a guide side plate (472) and a support frame (473), wherein: The threaded sleeve (471) is threadedly sleeved on the outer wall of the threaded screw (42), one end of the two guide side plates (472) are symmetrically fixedly connected to the outer wall of the threaded sleeve (471), and the ends of the support frame (473) are respectively fixedly connected to the bottom of the two guide side plates (472); The rotating head (44) is rotatably connected to the inner bottom of the support frame (473), the magnetic head (45) is rotatably connected to the bottom of the support frame (473), and the top of the magnetic head (45) is fixedly connected to the bottom of the rotating head (44); The driving assembly (46) comprises a supporting plate (461), a second driving device (462), a driving gear (463) and a driven rack (464), wherein: The supporting plate (461) is fixedly connected to one side of the end of the support frame (473); the second driving device (462) is installed on the top of the supporting plate (461); the output end of the second driving device (462) passes through the supporting plate (461) and is fixedly connected to one end of the driving gear (463); The driven racks (464) are fixedly connected to the outer wall of the magnetic head (45) in a circumferential array, and the driving gear (463) is meshingly connected with the driven racks (464); The synchronous clamping mechanism (5) comprises a limiting side plate (51), a connecting piece (52), a sliding sleeve plate (53), a reinforcing side plate (54) and a clamping assembly (55), wherein: One end of the two limiting side plates (51) is respectively fixedly connected to the bottom of the outer wall of the fixed side plate (2); the sliding sleeve plate (53) is slidably sleeved on the bottom of the limiting side plate (51); the connecting piece (52) is provided between the sliding sleeve plate (53) and the guide side plate (472), and they are connected via the connecting piece (52); The reinforcing side plate (54) is fixedly connected to the bottom of the sliding sleeve plate (53), and the clamping assembly (55) is mounted on the reinforcing side plate (54).

2. The multi-spindle machining center supporting manipulator according to claim 1, characterized in that: The connecting member (52) comprises a connecting head (521), a connecting arm (522) and a hinge seat (523), wherein: The connecting head (521) is symmetrically rotatably connected to both sides of the end of the guide side plate (472), the hinge seat (523) is symmetrically fixedly connected to the top of the sliding sleeve plate (53), and the connecting arms (522) are provided between the two hinge seats (523) and the two connecting heads (521), and are connected via the connecting arms (522).

3. The multi-spindle machining center supporting manipulator according to claim 2, characterized in that: The clamping assembly (55) comprises a third driving device (551), a support arm (552), a U-shaped seat (553), a connecting rod (554) and a clamping head (555), wherein: The third driving device (551) is installed on one side of the reinforced side plate (54), and the output end of the third driving device (551) passes through one side of the reinforced side plate (54) and is fixedly connected to one end of the support arm (552), one end of the two connecting rods (554) is symmetrically fixedly connected to the outer wall of the other end of the support arm (552), and both sides of the inner wall of the U-shaped seat (553) are respectively fixedly connected to the other ends of the two connecting rods (554); The clamping head (555) is fixedly connected to the outer wall of the U-shaped seat (553).

4. The multi-spindle machining center supporting manipulator according to claim 1, characterized in that: The outer wall of the fixed side plate (2) is provided with a limiting groove (21) for the guide side plate (472) to slide.

5. The multi-spindle machining center supporting manipulator according to claim 2, characterized in that: Guide grooves (511) for sliding of the sliding sleeve plate (53) are symmetrically provided on both sides of the limiting side plate (51).

6. The multi-spindle machining center supporting manipulator according to claim 2, characterized in that: One end of the connecting arm (522) is fixedly connected to the outer wall of the connecting head (521), and the other end of the connecting arm (522) is rotatably connected to the inner wall of the hinge seat (523).

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