Multi-axis linkage mechanical clamp

Abstract

The invention discloses a multi-axis linkage mechanical clamp, belongs to the technical field of clamp devices, and can drive a product to turn over, so that the front and back surfaces of the product can be machined by clamping the product once. Comprising a lifting mechanism, a first bearing plate, a first translation mechanism, a first sliding plate, a second translation mechanism, a second sliding plate, an overturning assembly and clamping equipment, the first bearing plate is installed on the lifting mechanism, and the lifting mechanism is used for driving the first bearing plate to move in the first direction; the first translation mechanism is arranged on the first bearing plate; the first sliding plate is mounted on the first translation mechanism, and the first translation mechanism is used for driving the first sliding plate to translate in the second direction; the second translation mechanism is arranged on the first sliding plate; the second sliding plate is mounted on the second translation mechanism; the second translation mechanism is used for driving the second sliding plate to translate in the third direction; the overturning assembly is arranged on the second sliding plate; the clamping device is installed on the overturning assembly used for driving the clamping device to rotate around the first axis.

Description

Technical Field

[0001] The invention relates to the technical field of clamp devices, in particular to a multi-axis linkage mechanical clamp. Background Art

[0002] In the existing mechanical processing field, a single three-axis clamping mode is generally used in workpiece processing projects. The workpiece is first fixed on the processing table, and then the workpiece is processed by the cutter head. In addition, during the processing, the accuracy of the workpiece clamping must be guaranteed to avoid errors. However, during the processing, it is usually necessary to process irregular surfaces or multi-feature surfaces. In the existing technology, processing can only be performed through multiple assemblies and multiple processes, resulting in low processing efficiency and easy displacement. In addition, during the processing, it is often necessary to process multiple surfaces of the workpiece at the same time. After processing one surface, the workpiece needs to be turned over to process other surfaces. At present, multiple processing is generally performed by re-clamping, which is slow, inefficient and easy to shift.

[0003] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0004] The present application provides a multi-axis linkage mechanical clamp that can drive a workpiece to flip, so that the front and back sides of the workpiece can be processed in one clamping.

[0005] To achieve the above objectives, the present application discloses the following technical solutions:

[0006] A multi-axis linkage mechanical clamp comprises a lifting mechanism, a first bearing plate, a first translation mechanism, a first sliding plate, a second translation mechanism, a second sliding plate, a flipping assembly and a clamping device, wherein the first bearing plate is installed on the lifting mechanism, and the lifting mechanism is used to drive the first bearing plate to move in a first direction; the first translation mechanism is fixedly installed on the surface of the first bearing plate away from the lifting mechanism; the first sliding plate is installed on the first translation mechanism, and the first translation mechanism is used to drive the first sliding plate to translate in a second direction, and the second direction is perpendicular to the first direction; the second translation mechanism is installed on the surface of the first sliding plate away from the lifting mechanism; the second sliding plate is installed on the second translation mechanism, and the second translation mechanism is used to drive the second sliding plate to translate in a third direction, and the third direction is perpendicular to the first direction and the second direction; the flipping assembly is arranged on the surface of the second sliding plate away from the lifting mechanism; the clamping device is installed on the flipping assembly, and the flipping assembly is used to drive the clamping device to rotate around a first axis, and the first axis is parallel to the second direction.

[0007] In the embodiment of the present application, the lifting mechanism, the first translation mechanism and the second translation mechanism can realize the flexible movement of the workpiece in three directions, and the flip assembly allows the fixture to rotate along its axis, which facilitates the processing equipment to process the front and back sides of the workpiece. In this way, the steps of multiple manual clamping and flipping required in the traditional method are reduced, ensuring that the workpiece can complete multi-faceted processing in one fixture, thereby improving processing efficiency and accuracy.

[0008] In some possible embodiments, the flip assembly includes a first telescopic device, a rack, a gear, a rotating shaft and a rotating seat, the first telescopic device is arranged on the second sliding plate, and the telescopic shaft of the first telescopic device is parallel to the third direction; the rack is fixedly connected to the telescopic shaft of the first telescopic device and is slidably arranged on the second sliding plate; the gear is meshed with the rack; the gear is fixedly sleeved on one end of the rotating shaft; the rotating shaft is rotatably mounted on the rotating seat, the clamping device is fixedly sleeved on the rotating shaft, and the rotating seat is fixedly connected to the second sliding plate. In this way, the rack can be pushed to move by translating the telescopic shaft of the first telescopic device along the third direction. When the rack is meshed with the gear, the linear motion is converted into rotational motion. Since the gear is fixed at one end of the rotating shaft, the rotation of the gear drives the rotating shaft to rotate synchronously, thereby driving the clamping device to flip, thereby facilitating the processing of the front and back sides of the workpiece by the processing equipment.

[0009] In some possible implementations, the clamping device is a pneumatic clamp, and each of the two clamping jaws of the pneumatic clamp is provided with a set of flexible clamping components. In this way, the adaptability of the clamp to workpieces of different shapes and sizes is improved, and stability and uniformity during clamping are ensured. In addition, through pneumatic operation, clamping and releasing are more rapid and automated, further improving processing efficiency and quality stability.

[0010] In some possible embodiments, the flexible clamping assembly includes multiple clamping columns, multiple limit plates, multiple return springs and multiple filling particles. A accommodating cavity is provided inside the two clamping jaws, and multiple mounting holes are provided on the surfaces facing each other of the two clamping jaws, each mounting hole is connected to the accommodating cavity, and the multiple mounting holes are arranged in a one-to-one correspondence with the multiple clamping columns, and each clamping column is penetrated by the corresponding mounting hole; the radius of each limit plate is larger than the radius of the mounting hole, and the multiple limit plates are arranged in a one-to-one correspondence with the multiple clamping columns; each limit plate is fixedly connected to one end of the corresponding clamping column located in the accommodating cavity; the multiple return springs are arranged in a one-to-one correspondence with the multiple clamping columns, and each return spring is sleeved on the corresponding clamping column, one end of each return spring is fixedly connected to the corresponding clamping column, and the other end of each return spring is fixedly connected to the clamping jaw; the multiple filling particles can be movably arranged in the accommodating cavity, and there is a movable gap between the multiple filling particles and the multiple clamping columns.

[0011] Among them, the mobility of the filling particles allows the filling particles to flow freely and rearrange in the accommodating cavity, so that different clamping columns can move as needed under the pressure of the workpiece. In this way, when the workpiece is irregular in shape, some clamping columns can move deeper or shallower with the support of the particles to adapt to the curved surface or uneven shape of the workpiece, thereby achieving stable clamping of workpieces of different shapes and sizes. In addition, the reset spring uses its elastic recovery characteristics to realize the automatic reset of the clamping column, ensuring that the clamping column can quickly return to the initial position when the fixture is not under force, improving operating efficiency and the preparation speed of the next workpiece.

[0012] In some possible implementations, the flip assembly further includes a first support seat and a second support seat, the first support seat and the second support seat are arranged opposite to each other in the third direction, and the rotation axis is located between the first support seat and the second support seat; the first support seat is used to support the clamping jaw when the pneumatic clamp is flipped to the first position; the second support seat is used to support the clamping jaw when the pneumatic clamp is flipped to the second position. In this way, the clamping jaw can obtain effective support when flipping to different positions, reducing vibration and unstable factors, thereby reducing processing errors.

[0013] In some possible embodiments, the flipping assembly also includes a first pressure sensor and a second pressure sensor. The first pressure sensor is arranged on the first support seat. When the pneumatic clamp is flipped to the first position, the clamping jaw abuts against the first pressure sensor. The second pressure sensor is arranged on the second support seat. When the pneumatic clamp is flipped to the second position, the clamping jaw also abuts against the second pressure sensor. The multi-axis linkage mechanical clamp also includes a controller, which is electrically connected to the first pressure sensor, the second pressure sensor and the first telescopic device.

[0014] In this way, the specific position of the clamping jaw can be monitored in real time by the first pressure sensor and the second pressure sensor. When the clamping jaw flips to the first position or the second position, the pressure sensor (the first pressure sensor or the second pressure sensor) detects the corresponding pressure change and transmits the signal to the controller. When the controller analyzes that the pressure reaches the preset value, it controls the first telescopic device to stop, ensuring that the entire processing process is carried out at the correct position, avoiding the problem of inaccurate positioning due to human operating errors, and effectively avoiding excessive flipping of the clamping jaw.

[0015] In some possible embodiments, the first translation mechanism includes a first driving mechanism, a first lead screw, a first mounting frame, a first sliding nut, and a first sliding support seat; the first driving mechanism is fixedly mounted on the first bearing plate, the first driving mechanism is used to drive the first lead screw to rotate around the central axis of the first lead screw, the extension direction of the first lead screw is parallel to the second direction, the first lead screw is rotatably mounted on the first mounting frame, and the first mounting frame is arranged on the first bearing plate; the first sliding nut is mounted on the first lead screw and moves in the first direction with the rotation of the first lead screw; the first sliding plate is fixedly mounted on the first sliding nut, and the first sliding plate is slidably arranged on the first sliding support seat, and the first sliding support seat is fixedly arranged on the first bearing plate. In this way, the first lead screw can be driven to rotate by the first driving mechanism, driving the first sliding nut to move in the second direction, and then driving the first sliding plate to move in the second direction, so as to realize the movement of the clamped workpiece in the second direction. In addition, the first sliding support seat provides a stable support structure, which prevents the first sliding plate from tilting or loosening during the translation process, and ensures the stability and reliability of the movement.

[0016] In some possible embodiments, the second translation mechanism includes a second driving mechanism, a second lead screw, a second mounting frame, and a second sliding nut; the second driving mechanism is fixedly mounted on the first sliding plate, and the second driving mechanism is used to drive the second lead screw to rotate around the central axis of the second lead screw, and the extension direction of the second lead screw is parallel to the third direction, and the second lead screw is rotatably mounted on the second mounting frame, and the second mounting frame is arranged on the first sliding plate; the second sliding nut is mounted on the second lead screw and moves in the second direction with the rotation of the second lead screw; the second sliding plate is fixedly mounted on the second sliding nut, and the second sliding plate is slidably arranged on the second sliding support seat, and the second sliding support seat is fixedly arranged on the first sliding plate.

[0017] In this way, the second lead screw can be driven to rotate by the second driving mechanism, driving the second sliding nut to move in the third direction, thereby driving the second sliding plate to move in the second direction, thereby realizing the movement of the clamped workpiece in the third direction. In addition, the second sliding support seat also provides a stable support structure, preventing the second sliding plate from tilting or loosening during the translation process, further ensuring the stability and reliability of the movement.

[0018] In some possible implementations, the first sliding plate is slidably disposed on the first sliding support seat through the cooperation of the slider and the slide rail, and the second sliding plate is also slidably disposed on the second sliding support seat through the cooperation of the slider and the slide rail. In this way, the friction resistance can be reduced by the cooperation between the slider and the slide rail, ensuring that the first sliding plate and the second sliding plate are more stable during the movement process, avoiding jamming or shaking. In addition, when the slider moves on the slide rail, the track provides a stable guiding effect, limits the degree of freedom of the first sliding plate and the second sliding plate, and further improves the stability of the movement.

[0019] In some possible implementations, the lifting mechanism is a scissor-type hydraulic lift. In this way, the mechanical clamp can achieve a larger lifting stroke in a smaller space, saving the space occupied by the equipment. In addition, a smooth lifting operation can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions. It should be understood that in all the drawings, the same reference numerals represent the same elements. In the drawings, for the sake of clarity and ease of understanding, the sizes of some features may be deformed.

[0021] Figure 1 A schematic diagram of the structure of a multi-axis linkage mechanical clamp provided in some embodiments of the present application;

[0022] Figure 2 for Figure 1 An enlarged view of the circled portion of the multi-axis linkage mechanical fixture shown at A;

[0023] Figure 3 for Figure 2 A schematic diagram of the structure of the clamping device in the structure shown;

[0024] Figure 4 for Figure 3 A schematic diagram of the assembly of the clamping jaws and the flexible clamping assembly of the clamping device shown;

[0025] Figure 5 for Figure 1 A partial structural schematic diagram of a multi-axis linkage mechanical fixture is shown;

[0026] Figure 6 for Figure 1 The schematic diagram of the electrical connection relationship of the multi-axis linkage mechanical fixture shown;

[0027] Figure 7 for Figure 1 An exploded view of a portion of the structure of the multi-axis linkage mechanical fixture shown;

[0028] Figure 8for Figure 7 An enlarged view of the circled portion of the structure shown at B;

[0029] Fig. 9 for Figure 7 Exploded view of a portion of the structure shown.

[0030] Description of reference numerals:

[0031] 10. Lifting mechanism; 20. First bearing plate; 30. First translation mechanism; 301. First driving mechanism; 302. First lead screw; 303. First mounting frame; 304. First sliding nut; 305. First sliding support seat; 40. First sliding plate; 50. Second translation mechanism; 501. Second driving mechanism; 502. Second lead screw; 503. Second mounting frame; 504. Second sliding nut; 505. Second sliding support seat; 60. Second sliding plate; 70. Flip assembly; 701. First telescopic assembly , a first support seat; 707, a second support seat; 708, a first pressure sensor; 709, a second pressure sensor; 80, a clamping device; 801, a clamping claw; 8011, a receiving cavity; 8012, a mounting hole; 802, a flexible clamping assembly; 8021, a clamping column; 8022, a limiting plate; 8023, a reset spring; 8024, filling particles; 90, a controller; 100, a slider; 110, a slide rail. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that, in the description of the present invention, terms such as "center", "upper", "lower", "horizontal", "inner", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0034] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] See also Figure 1 In order to facilitate the description of the embodiments below, an XYZ coordinate system is established for the first carrier plate 20. Specifically, the length direction of the first carrier plate 20 is defined as the X-axis direction, i.e., the third direction, the thickness direction of the first carrier plate 20 is defined as the Z-axis direction, i.e., the first direction, and the direction perpendicular to both the X-axis direction and the Z-axis direction is defined as the Y-axis direction, i.e., the third direction. It can be understood that the coordinate system setting of the first carrier plate 20 can be flexibly set according to actual needs, and no specific limitation is made here. For example, in the actual use of the multi-axis linkage mechanical clamp, the Z-axis direction can be the gravity direction.

[0036] See also Figure 1 Combined with Figure 2 The embodiment of the present application provides a multi-axis linkage mechanical clamp, including a lifting mechanism 10, a first bearing plate 20, a first translation mechanism 30, a first sliding plate 40, a second translation mechanism 50, a second sliding plate 60, a flip assembly 70 and a clamping device 80, wherein the first bearing plate 20 is mounted on the lifting mechanism 10, and the lifting mechanism 10 is used to drive the first bearing plate 20 to move in a first direction; the first translation mechanism 30 is fixedly mounted on a surface of the first bearing plate 20 away from the lifting mechanism 10; the first sliding plate 40 is mounted on the first translation mechanism 30, and the first translation mechanism 30 is used to drive the first sliding plate 40 translates in a second direction, which is perpendicular to the first direction; the second translation mechanism 50 is installed on the surface of the first sliding plate 40 away from the lifting mechanism 10; the second sliding plate 60 is installed on the second translation mechanism 50, and the second translation mechanism 50 is used to drive the second sliding plate 60 to translate in a third direction, which is perpendicular to the first direction and the second direction; the flip assembly 70 is arranged on the surface of the second sliding plate 60 away from the lifting mechanism 10; the clamping device 80 is installed on the flip assembly 70, and the flip assembly 70 is used to drive the clamping device 80 to rotate around a first axis, and the first axis is parallel to the second direction.

[0037] In this way, the lifting mechanism 10, the first translation mechanism 30 and the second translation mechanism 50 can realize the flexible movement of the workpiece in three directions, and the flip assembly 70 allows the fixture to rotate along its axis, which facilitates the processing equipment to process the front and back sides of the workpiece. In this way, the steps of multiple manual clamping and flipping required in the traditional method are reduced, ensuring that the workpiece can complete multi-faceted processing in one fixture, thereby improving processing efficiency and accuracy.

[0038] In some embodiments, the lifting mechanism 10 is a scissor-type hydraulic lift. In this way, the mechanical clamp can achieve a larger lifting stroke in a smaller space, saving the space occupied by the equipment. In addition, a smooth lifting operation can be provided. Of course, the present application is not limited to this. In other embodiments, the lifting mechanism 10 can also be composed of multiple hydraulic cylinders.

[0039] See also Figure 2 In some embodiments, the flip assembly 70 includes a first telescopic device 701, a rack 702, a gear 703, a rotating shaft 704 and a rotating seat 705. The first telescopic device 701 is arranged on the second sliding plate 60; illustratively, the first telescopic device 701 and the second sliding plate 60 can be fixedly connected by screw connection, clamping, welding, etc. The first telescopic device 701 can be, but not limited to, an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. The telescopic axis of the first telescopic device 701 is parallel to the third direction; the rack 702 is fixedly connected to the telescopic axis of the first telescopic device 701 and is slidably arranged on the second sliding plate 60; the rack 702 and the telescopic axis of the first telescopic device 701 can be fixedly connected by screw connection, clamping, welding, etc.; or the rack 702 and the first telescopic device 701 are fixedly connected by a coupling.

[0040] The gear 703 is meshed with the rack 702; the gear 703 is fixedly sleeved on one end of the rotating shaft 704; the rotating shaft 704 is rotatably mounted on the rotating seat 705, the clamping device 80 is fixedly sleeved on the rotating shaft 704, and the rotating seat 705 is fixedly connected to the second sliding plate 60. In this way, the rack 702 can be pushed to move by translating the telescopic shaft of the first telescopic device 701 along the third direction. When the rack 702 is meshed with the gear 703, the linear motion is converted into rotational motion. Since the gear 703 is fixed on one end of the rotating shaft 704, the rotation of the gear 703 drives the rotating shaft 704 to rotate synchronously, thereby driving the clamping device 80 to flip, so as to facilitate the processing of the front and back sides of the workpiece by the processing equipment.

[0041] See also Figure 3In some embodiments, the clamping device 80 is a pneumatic clamp, and each of the two clamping jaws 801 of the pneumatic clamp is provided with a set of flexible clamping components 802. In this way, the adaptability of the clamp to workpieces of different shapes and sizes is improved, ensuring stability and uniformity during clamping. In addition, through pneumatic operation, clamping and releasing are more rapid and automated, further improving processing efficiency and quality stability.

[0042] See also Figure 4 In some embodiments, the flexible clamping assembly 802 includes a plurality of clamping columns 8021, a plurality of limit plates 8022, a plurality of return springs 8023, and a plurality of filling particles 8024. The two clamping jaws 801 are provided with a receiving cavity 8011 inside, and the two clamping jaws 801 are provided with a plurality of mounting holes 8012 on the surfaces facing each other. Each mounting hole 8012 is communicated with the receiving cavity 8011. The plurality of mounting holes 8012 are arranged in a one-to-one correspondence with the plurality of clamping columns 8021. Each clamping column 8021 is penetrated by the mounting hole 8011 corresponding thereto. 12; The radius of each limiting plate 8022 is larger than the radius of the mounting hole 8012, and the plurality of limiting plates 8022 are arranged in one-to-one correspondence with the plurality of clamping columns 8021; each limiting plate 8022 is fixedly connected to one end of the corresponding clamping column 8021 located in the accommodating cavity 8011; the plurality of reset springs 8023 are arranged in one-to-one correspondence with the plurality of clamping columns 8021, and each reset spring 8023 is sleeved on the corresponding clamping column 8021, and one end of each reset spring 8023 is fixedly connected to the corresponding clamping column 8021. The reset spring 8023 and the clamping column 8021 can be fixedly connected by screw connection, clamping, welding, etc. The other end of each reset spring 8023 is fixedly connected to the clamping jaw 801; the connection method between the reset spring 8023 and the clamping jaw 801 can be designed with reference to the connection method between the reset spring 8023 and the clamping column 8021, which will not be repeated here. Exemplarily, the return spring 8023 can be fixedly connected to the inner surface of the clamping jaw 801. Of course, the present application is not limited thereto. In other embodiments, the return spring 8023 can also be arranged in the mounting hole 8012 and fixedly connected to the inner wall surface of the mounting hole 8012. A plurality of filling particles 8024 can be movably arranged in the accommodating cavity 8011, and there is a movable gap between the plurality of filling particles 8024 and the plurality of clamping posts 8021. It is understandable that, in other embodiments, the filling particles 8024 should be set to a size that cannot flow out from the gap between the clamping post 8021 and the mounting hole 8012.

[0043] The mobility of the filling particles 8024 allows the filling particles 8024 to flow freely and rearrange in the accommodating cavity 8011, so that different clamping columns 8021 can move as needed under the pressure of the workpiece. In this way, when the shape of the workpiece is irregular, some clamping columns 8021 can move deeper or shallower with the support of the particles to adapt to the curved surface or uneven shape of the workpiece, thereby achieving stable clamping of workpieces of different shapes and sizes. In addition, the reset spring 8023 uses its elastic recovery characteristics to achieve automatic reset of the clamping column 8021, ensuring that the clamping column 8021 can quickly return to the initial position when the fixture is not under force, thereby improving operating efficiency and the preparation speed of the next workpiece.

[0044] See also Figure 5 In some embodiments, the flip assembly 70 further includes a first support seat 706 and a second support seat 707, which are arranged opposite to each other in the third direction, and the rotation axis 704 is located between the first support seat 706 and the second support seat 707; the first support seat 706 is used to support the clamping jaw 801 when the pneumatic clamp is flipped to the first position; the second support seat 707 is used to support the clamping jaw 801 when the pneumatic clamp is flipped to the second position. In this way, the clamping jaw 801 can obtain effective support when flipping to different positions, reducing vibration and unstable factors, thereby reducing processing errors.

[0045] Exemplarily, when the clamping jaw 801 is flipped to the first position and the second position, the thickness direction of the clamping jaw 801 is perpendicular to the upper surface of the second sliding plate 60. Of course, the present application is not limited thereto. In other embodiments, when the clamping jaw 801 is flipped to the first position and the second position, the thickness direction of the clamping jaw 801 may not be perpendicular to the upper surface of the second sliding plate 60.

[0046] See also Figure 5 Combined with Figure 6 In some embodiments, the flip assembly 70 further includes a first pressure sensor 708 and a second pressure sensor 709. The first pressure sensor 708 is disposed on the first support seat 706. When the pneumatic clamp flips to the first position, the clamping jaw 801 abuts against the first pressure sensor 708. The second pressure sensor 709 is disposed on the second support seat 707. When the pneumatic clamp flips to the second position, the clamping jaw 801 also abuts against the second pressure sensor 709. The multi-axis linkage mechanical clamp further includes a controller 90. The controller 90 is electrically connected to the first pressure sensor 708, the second pressure sensor 709 and the first telescopic device 701. Exemplarily, the controller 90 may be a single chip microcomputer. Of course, the present application is not limited thereto. In other embodiments, the controller 90 may also be a PLC or a microcomputer terminal.

[0047] In this way, the specific position of the clamping jaw 801 can be monitored in real time by the first pressure sensor 708 and the second pressure sensor 709. When the clamping jaw 801 flips to the first position or the second position, the pressure sensor (the first pressure sensor 708 or the second pressure sensor 709) detects the corresponding pressure change and transmits the signal to the controller 90. When the controller 90 analyzes that the pressure reaches the preset value, it controls the first telescopic device 701 to stop, ensuring that the entire processing process is carried out at the correct position, avoiding the problem of inaccurate positioning due to human operation errors, and effectively avoiding excessive flipping of the clamping jaw 801.

[0048] It is understandable that in other embodiments, the controller 90 may also be electrically connected to the first translation mechanism 30 , the second translation mechanism 50 and the lifting mechanism 10 .

[0049] See also Figure 7 Combined with Figure 8 In some embodiments, the first translation mechanism 30 includes a first driving mechanism 301, a first lead screw 302, a first mounting bracket 303, a first sliding nut 304, and a first sliding support seat 305; the first driving mechanism 301 is fixedly mounted on the first bearing plate 20, and the first driving mechanism 301 is used to drive the first lead screw 302 to rotate around the central axis of the first lead screw 302. Exemplarily, the first driving mechanism 301 is a motor. Of course, the present application is not limited thereto. In other embodiments, the first driving mechanism 301 can also be a pneumatic motor or a hydraulic motor. The extension direction of the first lead screw 302 is parallel to the second direction. The first lead screw 302 is rotatably mounted on the first mounting frame 303, and the first mounting frame 303 is arranged on the first supporting plate 20; the first sliding nut 304 is mounted on the first lead screw 302 and moves in the first direction with the rotation of the first lead screw 302; the first sliding plate 40 is fixedly mounted on the first sliding nut 304, and the first sliding plate 40 is slidably arranged on the first sliding support seat 305, and the first sliding support seat 305 is fixedly arranged on the first supporting plate 20.

[0050] In this way, the first driving mechanism 301 can drive the first lead screw 302 to rotate, drive the first sliding nut 304 to move in the second direction, and then drive the first sliding plate 40 to move in the second direction, so as to achieve the movement of the clamped workpiece in the second direction. In addition, the first sliding support seat 305 provides a stable support structure, preventing the first sliding plate 40 from tilting or loosening during the translation process, thereby ensuring the stability and reliability of the movement.

[0051] See also Fig. 9In some embodiments, the second translation mechanism 50 includes a second driving mechanism 501, a second lead screw 502, a second mounting bracket 503, and a second sliding nut 504; the second driving mechanism 501 is fixedly mounted on the first sliding plate 40, and the second driving mechanism 501 is used to drive the second lead screw 502 to rotate around the central axis of the second lead screw 502. The second driving mechanism 501 can be designed with reference to the first driving mechanism 301, and will not be described in detail here.

[0052] The extension direction of the second lead screw 502 is parallel to the third direction. The second lead screw 502 is rotatably mounted on the second mounting frame 503, and the second mounting frame 503 is arranged on the first sliding plate 40; the second sliding nut 504 is mounted on the second lead screw 502 and moves in the second direction with the rotation of the second lead screw 502; the second sliding plate 60 is fixedly mounted on the second sliding nut 504, and the second sliding plate 60 is slidably arranged on the second sliding support seat 505, and the second sliding support seat 505 is fixedly arranged on the first sliding plate 40.

[0053] In this way, the second driving mechanism 501 can drive the second lead screw 502 to rotate, drive the second sliding nut 504 to move in the third direction, and then drive the second sliding plate 60 to move in the second direction, so as to achieve the movement of the clamped workpiece in the third direction. In addition, the second sliding support seat 505 also provides a stable support structure, preventing the second sliding plate 60 from tilting or loosening during the translation process, and further ensuring the stability and reliability of the movement.

[0054] See also Figure 8 Combined with Fig. 9 In some embodiments, the first sliding plate 40 is slidably disposed on the first sliding support seat 305 through the cooperation of the slider 100 and the slide rail 110, and the second sliding plate 60 is also slidably disposed on the second sliding support seat 505 through the cooperation of the slider 100 and the slide rail 110. In this way, the friction resistance can be reduced by the cooperation between the slider 100 and the slide rail 110, ensuring that the first sliding plate 40 and the second sliding plate 60 are more stable during the movement process, avoiding jamming or shaking. In addition, when the slider 100 moves on the slide rail 110, the track provides a stable guiding effect, limits the degree of freedom of the first sliding plate 40 and the second sliding plate 60, and further improves the stability of the movement.

[0055] The present invention and its embodiments are described above, and such description is not restrictive. What is shown in the full text is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A multi-axis linkage mechanical fixture, characterized in that: include: Lifting mechanism; A first bearing plate, wherein the first bearing plate is mounted on the lifting mechanism, and the lifting mechanism is used to drive the first bearing plate to move in a first direction; a first translation mechanism, the first translation mechanism being fixedly mounted on a surface of the first bearing plate facing away from the lifting mechanism; a first sliding plate, wherein the first sliding plate is mounted on the first translation mechanism, and the first translation mechanism is used to drive the first sliding plate to translate in a second direction, wherein the second direction is perpendicular to the first direction; a second translation mechanism, the second translation mechanism being mounted on a surface of the first sliding plate facing away from the lifting mechanism; a second sliding plate, the second sliding plate being mounted on the second translation mechanism, the second translation mechanism being used to drive the second sliding plate to translate in a third direction, the third direction being perpendicular to the first direction and the second direction; a flip assembly, the flip assembly being arranged on a surface of the second sliding plate facing away from the lifting mechanism; A clamping device is installed on the flip assembly, and the flip assembly is used to drive the clamping device to rotate around a first axis, and the first axis is parallel to the second direction.

2. The multi-axis linkage mechanical fixture according to claim 1, characterized in that: The flip assembly comprises: a first telescopic device, the first telescopic device being arranged on the second sliding plate, and a telescopic axis of the first telescopic device being parallel to the third direction; a rack, the rack being fixedly connected to the telescopic shaft of the first telescopic device and slidably disposed on the second sliding plate; A gear, the gear meshing with the rack; A rotating shaft, wherein the gear is fixedly sleeved on one end of the rotating shaft; The rotating seat is rotatably mounted on the rotating seat, the clamping device is fixedly sleeved on the rotating shaft, and the rotating seat is fixedly connected to the second sliding plate.

3. The multi-axis linkage mechanical fixture according to claim 2, characterized in that: The clamping device is a pneumatic clamp, and each of the two clamping jaws of the pneumatic clamp is provided with a group of flexible clamping components.

4. The multi-axis linkage mechanical fixture according to claim 3, characterized in that: The flexible clamping assembly comprises: A plurality of clamping columns, each of the two clamping jaws has a receiving cavity formed therein, and each of the two clamping jaws has a plurality of mounting holes formed on the surfaces facing each other, each of the mounting holes is communicated with the receiving cavity, and the plurality of mounting holes are arranged in a one-to-one correspondence with the plurality of clamping columns, and each of the clamping columns is penetrated through the corresponding mounting hole; A plurality of limiting plates, each of which has a radius greater than the radius of the mounting hole, and the plurality of limiting plates are arranged in one-to-one correspondence with the plurality of clamping columns; each limiting plate is fixedly connected to one end of the corresponding clamping column located in the accommodating cavity; A plurality of return springs, each of which is arranged in one-to-one correspondence with the plurality of clamping columns, each of which is sleeved on the clamping column corresponding thereto, one end of each of which is fixedly connected to the clamping column corresponding thereto, and the other end of each of which is fixedly connected to the clamping claw; A plurality of filling particles are movably arranged in the accommodating cavity, and a movable gap exists between the plurality of filling particles and the plurality of clamping columns.

5. The multi-axis linkage mechanical fixture according to claim 4, characterized in that: The flip assembly also includes: A first support seat; The second support seat, the first support seat and the second support seat are arranged opposite to each other in the third direction, and the rotating shaft is located between the first support seat and the second support seat; the first support seat is used to support the clamping jaw when the pneumatic clamp is flipped to the first position; the second support seat is used to support the clamping jaw when the pneumatic clamp is flipped to the second position.

6. The multi-axis linkage mechanical fixture according to claim 5, characterized in that: The flip assembly also includes: a first pressure sensor, wherein the first pressure sensor is disposed on the first support seat, and when the pneumatic clamp is flipped to the first position, the clamping jaw abuts against the first pressure sensor; A second pressure sensor is disposed on the second support seat. When the pneumatic clamp is flipped to the second position, the clamping claw also abuts against the second pressure sensor. The multi-axis linkage mechanical clamp also includes: A controller is electrically connected to the first pressure sensor, the second pressure sensor and the first telescopic device.

7. The multi-axis linkage mechanical fixture according to claim 6, characterized in that: The first translation mechanism comprises a first driving mechanism, a first lead screw, a first mounting frame, a first sliding nut, and a first sliding support seat; the first driving mechanism is fixedly mounted on the first bearing plate, the first driving mechanism is used to drive the first lead screw to rotate around the central axis of the first lead screw, the extension direction of the first lead screw is parallel to the second direction, the first lead screw is rotatably mounted on the first mounting frame, and the first mounting frame is arranged on the first bearing plate; The first sliding nut is installed on the first screw and moves in the first direction as the first screw rotates; the first sliding plate is fixedly installed on the first sliding nut, and the first sliding plate is slidably set on the first sliding support seat, and the first sliding support seat is fixedly set on the first bearing plate.

8. The multi-axis linkage mechanical fixture according to claim 7, characterized in that: The second translation mechanism comprises a second driving mechanism, a second lead screw, a second mounting frame, and a second sliding nut; the second driving mechanism is fixedly mounted on the first sliding plate, the second driving mechanism is used to drive the second lead screw to rotate around the central axis of the second lead screw, the extension direction of the second lead screw is parallel to the third direction, the second lead screw is rotatably mounted on the second mounting frame, and the second mounting frame is arranged on the first sliding plate; The second sliding nut is installed on the second lead screw and moves in the second direction as the second lead screw rotates; the second sliding plate is fixedly installed on the second sliding nut, and the second sliding plate is slidably arranged on the second sliding support seat, and the second sliding support seat is fixedly arranged on the first sliding plate.

9. The multi-axis linkage mechanical fixture according to claim 8, characterized in that: The first sliding plate is slidably disposed on the first sliding support seat through the cooperation of the sliding block and the sliding rail, and the second sliding plate is also slidably disposed on the second sliding support seat through the cooperation of the sliding block and the sliding rail.

10. The multi-axis linkage mechanical clamp according to any one of claims 6 to 9, characterized in that: The lifting mechanism is a scissor-type hydraulic lift.

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