Industrial robot adaptive clamping system for automotive mixed-line production

Abstract

The present application relates to the technical field of industrial robots, in particular to an industrial robot adaptive clamping system for automobile mixed-line production, comprising: a connecting table for connecting an industrial robot mechanical arm; an adaptive fixed jaw body mechanism fixedly installed on the connecting table; a sliding table slidingly connected to the connecting table; an adaptive movable jaw body mechanism fixedly installed on the sliding table and oppositely arranged with the adaptive fixed jaw body mechanism; and a clamping driving mechanism arranged on the connecting table and drivingly connected with the sliding table, for driving the sliding table to drive the adaptive movable jaw body mechanism to move linearly towards or away from the adaptive fixed jaw body mechanism. The industrial robot adaptive clamping system for automobile mixed-line production aims to solve the problems of the traditional clamping system in automobile mixed-line production, which can passively or actively adapt to the irregular contour of the workpiece surface, improve the stability and universality of clamping, reduce the production cost, and improve the efficiency and quality of automobile mixed-line production.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and more specifically, to an adaptive clamping system for industrial robots used in mixed-line production of automobiles. Background Technology

[0002] Industrial robots, due to their high precision, high repeatability, and high-intensity operation capabilities, have been widely used in automotive manufacturing processes such as welding, gluing, handling, and assembly. As market demands become increasingly diversified, automotive production models are shifting from large-scale standardized production to small-batch, multi-variety "mixed-line production." On the same production line, it is necessary to quickly and frequently switch between producing workpieces of different models and configurations.

[0003] Against this backdrop, extremely high demands are placed on clamping systems on production lines. In mixed-line automotive production, industrial robots need to clamp automotive parts of different shapes, sizes, and surface contours. Traditional clamping systems are often designed for workpieces of specific shapes and sizes, lacking flexibility and adaptability. When faced with workpieces with irregular surfaces, traditional clamping systems struggle to achieve precise and stable clamping, easily leading to problems such as insecure clamping and damage to the workpiece surface, thus affecting the processing quality and production efficiency of automotive parts.

[0004] In addition, traditional clamping systems require frequent changes of clamping tools and complex debugging when dealing with mixed-line production. This not only increases production costs and preparation time, but also reduces the automation level of the production line and overall production efficiency. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially solve the above problems, the present invention provides an adaptive clamping system for industrial robots in mixed-line automotive production, comprising:

[0007] Connecting platform, used to connect the robotic arm of an industrial robot;

[0008] An adaptive clamping mechanism is fixedly installed on the connecting platform;

[0009] The slide table is slidably connected to the connecting platform.

[0010] The adaptive moving clamp mechanism is fixedly installed on the slide table and is set opposite to the adaptive fixed clamp mechanism.

[0011] The clamping drive mechanism is located on the connecting platform and is connected to the slide table for driving the slide table to move the adaptive moving clamping body mechanism toward or away from the adaptive fixed clamping body mechanism in a straight line.

[0012] Furthermore, the clamping drive mechanism includes:

[0013] The drive screw is rotatably mounted on the connecting platform;

[0014] The driving component, connected to one end of the drive screw, is used to provide rotational power;

[0015] The force transmission seat is threadedly connected to the drive screw and connected to the slide table;

[0016] The driving component drives the driving screw to rotate, which in turn causes the force transmission seat to move along the axial direction of the driving screw, thereby driving the slide table to move linearly.

[0017] Furthermore, the adaptive dynamic clamping mechanism includes:

[0018] The assembly clamp is fixedly connected to the slide table, and multiple self-adaptive sliding grooves are provided on it;

[0019] Multiple adaptive clamping components, the bottom of which are slidably set within an adaptive groove;

[0020] The limiting horizontal axis is installed in the adaptive slide groove and passes through the limiting horizontal hole at the bottom of the adaptive clamp assembly;

[0021] An adaptive compression spring is sleeved on the limiting horizontal axis, with its two ends abutting against the rear sides of the adaptive clamp assembly and the adaptive slide, respectively.

[0022] Furthermore, the adaptive clamping body component includes:

[0023] The support slide is slidably disposed in the adaptive slide groove and cooperates with the limiting horizontal axis;

[0024] A detachable support plate is inserted into a groove on the top of the support slide;

[0025] The mounting screw is threaded to the side of the bearing slide and extends into the mounting transverse hole of the removable bearing plate to fix it.

[0026] And cylindrical clamps, rotatably connected to the front end of a detachable support plate;

[0027] The two ends of the adaptive compression spring abut against the bearing slide and the rear side of the adaptive slide groove, respectively.

[0028] Furthermore, the detachable support plate includes:

[0029] A fixed bearing plate is inserted into a groove on the top of the bearing slide and is provided with a horizontal mounting hole;

[0030] A movable support plate is slidably disposed in a groove at the front of a fixed support plate, and its front end is rotatably connected to the cylindrical clamp.

[0031] The extension screw has its rear end rotatably connected to the fixed bearing plate, and its front end threadedly connected to the internal threaded hole at the rear end of the moving bearing plate.

[0032] Rotating the extension screw can drive the moving bearing plate to move back and forth relative to the fixed bearing plate.

[0033] Furthermore, the rear end face of the moving bearing plate and the inner side of the front groove of the fixed bearing plate are connected by a tension spring sleeved on the extension screw.

[0034] Furthermore, the adaptive moving clamp mechanism also includes:

[0035] Multiple locking worm gears, each with its front end fixedly connected to the bottom of multiple adaptive clamping body assemblies;

[0036] Multiple T-shaped sliders are slidably disposed in multiple T-shaped guide grooves on the lower surface of the assembly clamp seat, and are connected one-to-one with the rear ends of multiple locking worm gears;

[0037] The loading horizontal tube is fixedly connected at both ends to two bearing hangers, and the two bearing hangers are fixedly set on the lower surface of the assembly clamp seat;

[0038] Multiple locking worm gears are rotatably mounted on the loading cross tube and mesh with multiple locking worms one by one;

[0039] And a clamp locking assembly, which is set on the loading cross tube, is used to control multiple locking worm gears to be fixed relative to the loading cross tube.

[0040] Furthermore, multiple limiting protrusions are fixed on the loading cross tube, and each locking worm gear is located in the limiting area between two adjacent limiting protrusions.

[0041] Furthermore, the clamp locking assembly includes:

[0042] The locking motor is fixedly installed at one end of the loading horizontal tube via a motor bracket.

[0043] The locking screw is coaxially connected to the output shaft of the locking motor and is rotatably mounted inside the loading horizontal tube;

[0044] Multiple locking units are arranged along the axial direction of the locking screw and are connected to the locking screw in a driving manner;

[0045] The locking screw is configured to rotate under the drive of the locking motor, causing multiple locking units to extend radially out of multiple through holes opened on the loading cross tube and abut against the inner side of multiple locking worm gears, so as to control the multiple locking worm gears to be relatively fixed to the loading cross tube.

[0046] Furthermore, the locking worm gear has an annular groove at the center of its through-hole, and an annular rubber ring is bonded to the inner side of the annular groove; the locking unit includes: a locking slide plate, threaded to the locking screw and slidably disposed in the loading horizontal tube; multiple locking connecting rods, evenly distributed circumferentially, one end of which is rotatably connected to the locking slide plate; and multiple locking top rods, the middle of which is slidably inserted through the through-hole of the loading horizontal tube, the inner end of which is rotatably connected to the other end of the corresponding locking connecting rod, and the outer end extending into the annular groove and abutting against the inner side of the annular rubber ring.

[0047] Furthermore, the structure of the adaptive fixed clamp mechanism is the same as that of the adaptive moving clamp mechanism, and the assembly clamp seat of the adaptive fixed clamp mechanism is connected to the connecting table.

[0048] Compared with the prior art, the present invention has at least the following beneficial effects:

[0049] The adaptive clamping system for industrial robots used in mixed-line production of automobiles is designed to solve the problems of traditional clamping systems in mixed-line production of automobiles. It can passively or actively adapt to the irregular contours of the workpiece surface, improve the stability and versatility of clamping, reduce production costs, and improve the efficiency and quality of mixed-line production of automobiles.

[0050] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0052] Figure 1 A schematic diagram of an industrial robot adaptive clamping system provided in an embodiment of the present invention. Figure 1 ;

[0053] Figure 2 A schematic diagram of an industrial robot adaptive clamping system provided in an embodiment of the present invention. Figure 2 ;

[0054] Figure 3 A schematic diagram of an industrial robot adaptive clamping system provided in an embodiment of the present invention. Figure 3 ;

[0055] Figure 4 A schematic diagram of the adaptive moving clamp mechanism provided in an embodiment of the present invention. Figure 1 ;

[0056] Figure 5 A schematic diagram of the adaptive moving clamp mechanism provided in an embodiment of the present invention. Figure 2 ;

[0057] Figure 6 A schematic diagram of an assembly clamp provided in an embodiment of the present invention;

[0058] Figure 7 This is a partial schematic diagram of the adaptive moving clamp mechanism provided in an embodiment of the present invention;

[0059] Figure 8 A schematic diagram of the adaptive clamp assembly provided in an embodiment of the present invention;

[0060] Figure 9 A schematic diagram of a detachable support plate provided in an embodiment of the present invention;

[0061] Figure 10 A schematic diagram of a locking worm gear provided in an embodiment of the present invention;

[0062] Figure 11 This is a schematic diagram of the clamp locking assembly provided in an embodiment of the present invention;

[0063] Figure 12 This is a schematic diagram of a locking unit provided in an embodiment of the present invention. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0065] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0066] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0067] The following is in conjunction with the appendix Figure 1-12 The present invention will be described in further detail below.

[0068] Example 1:

[0069] like Figures 1-12 As shown, an adaptive clamping system for industrial robots used in mixed-line automotive production includes:

[0070] Connecting platform 100 is used to connect the robotic arm of an industrial robot.

[0071] An adaptive clamping mechanism 200 is fixedly installed on the connecting platform 100;

[0072] The slide table 300 is slidably connected to the connecting table 100;

[0073] The adaptive moving clamp mechanism 400 is fixedly installed on the slide table 300 and is positioned opposite to the adaptive fixed clamp mechanism 200.

[0074] And a clamping drive mechanism 500, which is set on the connecting platform 100 and is connected to the slide 300 for driving the slide 300 to drive the adaptive moving clamp mechanism 400 to move linearly toward or away from the adaptive fixed clamp mechanism 200.

[0075] The working principle and technical effects of the above scheme are as follows:

[0076] In this invention, the connecting platform 100 is connected to the industrial robot arm, enabling the entire clamping system to move to a suitable clamping position under the drive of the industrial robot, providing basic position adjustment capability for subsequent clamping operations. The adaptive fixed clamping mechanism 200 is fixedly mounted on the connecting platform 100, and the slide 300 can slide on the connecting platform 100. The adaptive moving clamping mechanism 400 is fixed on the slide 300 and is arranged opposite to the adaptive fixed clamping mechanism 200; together, they constitute the clamping execution part. The clamping drive mechanism 500 is mounted on the connecting platform 100 and is connected to the slide 300 via a transmission connection. When a clamping operation is required, the clamping drive mechanism 500 starts working, driving... The slide 300 drives the adaptive moving clamp mechanism 400 to move linearly toward the adaptive fixed clamp mechanism 200. As the two approach each other, the automotive parts are placed between them, thus completing the clamping action. When it is necessary to release the clamp, the clamping drive mechanism 500 drives the slide 300 to move the adaptive moving clamp mechanism 400 away from the adaptive fixed clamp mechanism 200, so that the parts can be released. During the clamping process, the adaptive fixed clamp mechanism 200 and the adaptive moving clamp mechanism 400 can passively or actively adapt to the irregular contours of the workpiece surface. When encountering workpieces with uneven surfaces, they can make certain adjustments according to the actual shape of the workpiece to ensure the stability of the clamping. In this invention, the adaptive fixed clamping mechanism 200 and the adaptive moving clamping mechanism 400 can adapt to the irregular contours of the workpiece surface. Whether the automotive parts have regular shapes or uneven surfaces, they can achieve secure clamping, making the clamping process more stable and reducing problems such as workpiece shaking and displacement caused by insecure clamping, thereby ensuring processing quality. Because it can adapt to workpieces with different shapes and surface features, frequent changes of clamping tools are unnecessary in mixed-model automotive production. This clamping system can function regardless of the type of automotive parts being produced, greatly improving the system's versatility and reducing production preparation time and costs. The adaptive capability of the clamping system makes the clamping process more efficient, reducing clamping time. At the same time, stable clamping ensures the accuracy of the machining process and improves the processing quality of automotive parts. In mixed-model automotive production, clamping and machining operations can be completed quickly and accurately, thereby improving the overall production line efficiency and product quality.

[0077] Example 2:

[0078] like Figures 1-12 As shown, the clamping drive mechanism 500 includes:

[0079] The drive screw 510 is rotatably mounted on the connecting table 100;

[0080] The drive component 520 is connected to one end of the drive screw 510 and is used to provide rotational power;

[0081] The force transmission seat 530 is threadedly connected to the drive screw 510 and connected to the slide table 300;

[0082] The driving component 520 drives the driving screw 510 to rotate, which in turn causes the force transmission seat 530 to move along the axial direction of the driving screw 510, thereby driving the slide table 300 to move linearly. The driving component 520 is a servo motor or a lever.

[0083] The working principle and technical effects of the above scheme are as follows:

[0084] In this invention, the purpose of the clamping drive mechanism 500 is to convert the power provided by the drive member 520 into the linear motion of the slide table 300, thereby realizing the linear movement of the adaptive moving clamping body mechanism 400 toward or away from the adaptive fixed clamping body mechanism 200, so as to complete the clamping or releasing operation of the workpiece. The specific principle steps are as follows: the drive member 520 is the power source of the entire clamping drive mechanism 500, and it is connected to one end of the drive screw 510. When the system needs to drive the slide 300 to move linearly, the drive component 520 starts working. The drive component 520 can be a servo motor or a lever. If it is a servo motor, it can precisely control the output rotational power and direction of rotation. If it is a lever, external force needs to be applied manually to drive it to rotate, thereby providing rotational power to the drive screw 510. After the drive component 520 outputs rotational power, it will drive the drive screw 510 to rotate. The drive screw 510 is rotatably mounted on the connecting platform 100 and can rotate freely on the connecting platform 100, thereby transmitting the rotational power of the drive component 520. The force transmission seat 530 is threadedly connected to the drive screw 510. According to the principle of threaded transmission, when the drive screw 510 rotates... Due to the threaded engagement between the force transmission seat 530 and the drive screw 510, the force transmission seat 530 will move along the axial direction of the drive screw 510, converting the rotational motion of the drive screw 510 into the linear motion of the force transmission seat 530. The force transmission seat 530 is connected to the slide table 300. When the force transmission seat 530 moves along the axial direction of the drive screw 510, it will drive the slide table 300 connected to it to move linearly together. The slide table 300 is slidably connected to the connecting table 100 and can move linearly on the connecting table 100 under the drive of the force transmission seat 530. This causes the adaptive moving clamp mechanism 400 fixed on the slide table 300 to move linearly toward or away from the adaptive fixed clamp mechanism 200, realizing the clamping or loosening operation of the workpiece.

[0085] Example 3:

[0086] like Figures 1-12 As shown, the adaptive moving clamp mechanism 400 includes:

[0087] The assembly clamp 1 is fixedly connected to the slide table 300, and multiple self-adaptive slide grooves are provided on it;

[0088] Multiple adaptive clamp components 2, the bottom of which are slidably disposed within an adaptive groove;

[0089] The limiting horizontal axis 3 is installed in the adaptive slide groove and passes through the limiting horizontal hole at the bottom of the adaptive clamp assembly 2;

[0090] An adaptive compression spring 4 is sleeved on the limiting horizontal shaft 3, and its two ends abut against the rear side of the adaptive clamp assembly 2 and the adaptive slide groove, respectively.

[0091] The working principle and technical effects of the above scheme are as follows:

[0092] The adaptive moving clamping body mechanism 400 in this invention functions to adapt to the irregular contours of the workpiece surface during clamping, thereby achieving stable clamping. The assembly clamp seat 1 is fixedly connected to the slide table 300. When the slide table 300 moves linearly under the drive of the clamping drive mechanism 500, the assembly clamp seat 1 moves along with it, thereby causing the entire adaptive moving clamping body mechanism 400 to move closer to or away from the adaptive fixed clamping body mechanism 200, preparing for clamping the workpiece. The assembly clamp seat 1 is provided with multiple adaptive sliding grooves, and the bottoms of multiple adaptive clamping body components 2 are slidably disposed in these adaptive grooves. Within the sliding groove, the adaptive clamping assembly 2 can slide freely. During workpiece clamping, when the workpiece surface has an irregular contour, the adaptive clamping assemblies 2 at different positions will slide relative to each other within the adaptive sliding groove according to the shape of the workpiece surface. The limiting horizontal axis 3 is installed within the adaptive sliding groove and passes through the limiting horizontal hole at the bottom of the adaptive clamping assembly 2. The limiting horizontal axis 3 serves as a guide and constraint, ensuring that the adaptive clamping assembly 2 can only slide within the adaptive sliding groove along the direction of the limiting horizontal axis 3, preventing it from shifting or wobbling during sliding, thus ensuring... The adaptive adjustment ensures accuracy and stability. An adaptive spring 4 is sleeved on the limiting horizontal shaft 3, with its two ends abutting against the rear sides of the adaptive clamping assembly 2 and the adaptive slide groove, respectively. When the adaptive clamping assembly 2 slides within the adaptive slide groove due to the pressure of the irregular contour of the workpiece surface, it compresses the adaptive spring 4. The elastic force generated by the adaptive spring 4 causes the adaptive clamping assembly 2 to fit tightly against the workpiece surface, thus achieving adaptive clamping of the irregular contour of the workpiece. Simultaneously, after clamping, the elastic force of the adaptive spring 4 also helps maintain clamping stability and prevents the workpiece from slipping. The adaptive clamping mechanism 400 adapts well to irregular contours of workpiece surfaces through the sliding of the adaptive clamping body assembly 2 within the adaptive slide groove and the elastic adjustment of the adaptive compression spring 4. Whether the workpiece surface has protrusions, depressions, or inclinations, it can achieve tight clamping, greatly improving the adaptability of the clamping system to workpieces of different shapes. It is suitable for clamping various types of parts in automotive mixed-line production. The guiding and constraining effect of the limiting horizontal axis 3 and the elastic force of the adaptive compression spring 4 ensure that the adaptive clamping body assembly 2 can stably adhere to the workpiece surface. During clamping, the workpiece is less prone to shaking or displacement, ensuring clamping stability and thus improving the accuracy and quality of subsequent processing. The adaptive adjustment process of the adaptive clamping mechanism 400 is achieved through elastic force. This flexible clamping method avoids excessive compression or damage to the workpiece surface. When clamping workpieces with fragile surfaces or special requirements, it can better protect the integrity of the workpiece surface and reduce the defect rate.

[0093] Example 4:

[0094] like Figures 1-12 As shown, the adaptive clamping body component 2 includes:

[0095] The support slide 201 is slidably disposed in the adaptive slide groove and cooperates with the limiting horizontal axis 3;

[0096] The detachable support plate 202 is inserted into the groove at the top of the support slide 201;

[0097] The assembly screw 203 is threaded to the side of the bearing slide 201 and extends into the assembly transverse hole of the detachable bearing plate 202 to fix it.

[0098] And a cylindrical clamp 204, which is rotatably connected to the front end of the detachable support plate 202;

[0099] The two ends of the adaptive compression spring 4 abut against the bearing slide 201 and the rear side of the adaptive slide groove, respectively.

[0100] The working principle and technical effects of the above scheme are as follows:

[0101] In this invention, the bearing slide 201 is slidably disposed within the adaptive slide groove and cooperates with the limiting horizontal axis 3. The limiting horizontal axis 3 serves as a guide and constraint, ensuring that the bearing slide 201 can only slide along the direction of the adaptive slide groove. When the surface of the clamped workpiece has protrusions or depressions, the bearing slide 201 will slide back and forth within the adaptive slide groove under the action of the adaptive compression spring 4 to adapt to the shape changes of the workpiece surface. The detachable bearing plate 202 is inserted into the groove at the top of the bearing slide 201, and then threadedly connected to the side of the bearing slide 201 by the mounting screw 203, which extends into the mounting horizontal hole of the detachable bearing plate 202 to fix it. The detachable connection method facilitates the replacement or maintenance of the detachable bearing plate 202 to adapt to the clamping requirements of different types of workpieces. The cylindrical clamp 204 is rotatably connected to the front end of the detachable bearing plate 202. During the clamping process, the cylindrical clamp 204 can better fit the workpiece surface, thereby improving the stability and adaptability of the clamping. The detachable support plate 202 is fixed to the support slide 201 by the mounting screw 203. It can be disassembled and replaced simply by unscrewing the mounting screw 203, which reduces maintenance time and cost.

[0102] Example 5:

[0103] like Figures 1-12 As shown, the detachable support plate 202 includes:

[0104] The fixed bearing plate 205 is inserted into the groove at the top of the bearing slide 201 and is provided with a horizontal mounting hole;

[0105] The movable support plate 206 is slidably disposed in the groove at the front of the fixed support plate 205, and its front end is rotatably connected to the cylindrical clamp 204;

[0106] The extension screw 207 is rotatably connected to the fixed bearing plate 205 at its rear end and threadedly connected to the internal thread hole at the rear end of the moving bearing plate 206 at its front end.

[0107] The rotating extension screw 207 can drive the movable support plate 206 to move back and forth relative to the fixed support plate 205. The rear end face of the movable support plate 206 is connected to the inner side of the front groove of the fixed support plate 205 by a tension spring 208 sleeved on the extension screw 207.

[0108] The working principle and technical effects of the above scheme are as follows:

[0109] The detachable support plate 202, as part of the adaptive clamp assembly 2, is mainly used to connect the support slide 201 and the cylindrical clamp 204. The fixed support plate 205 is inserted into the groove at the top of the support slide 201 and fixed by the mounting screw 203, providing an installation base for the entire detachable support plate 202. The movable support plate 206 is slidably set in the groove at the front of the fixed support plate 205, and its front end is rotatably connected to the cylindrical clamp 204, allowing it to slide relative to the fixed support plate 205. The rear end of the extension screw 207 is rotatably connected to the fixed bearing plate 205, and the front end is threadedly connected to the internal threaded hole at the rear end of the movable bearing plate 206. According to the principle of threaded transmission, when the extension screw 207 is rotated, the rotational motion of the extension screw 207 is converted into the linear motion of the movable bearing plate 206 due to the engagement between the extension screw 207 and the internal threaded hole of the movable bearing plate 206. This drives the movable bearing plate 206 to move back and forth relative to the fixed bearing plate 205, and the movement distance and position of the movable bearing plate 206 can be precisely controlled. The rear end face of the movable bearing plate 206 is connected to the inner side of the front groove of the fixed bearing plate 205 by a tension spring 208 sleeved on the extension screw 207. When the movable bearing plate 206 moves under the drive of the extension screw 207, it stretches or compresses the tension spring 208. The elastic force generated by the tension spring 208 serves as a buffer and stabilizer. Simultaneously, after the extension screw 207 stops rotating, it maintains the stable position of the moving support plate 206, preventing unnecessary movement due to external interference. In this invention, by rotating the extension screw 207 to drive the moving support plate 206 to move back and forth relative to the fixed support plate 205, the position of the cylindrical clamp 204 can be adjusted. When clamping workpieces of different sizes or shapes, the contact position between the cylindrical clamp 204 and the workpiece can be flexibly changed according to actual needs, further improving the adaptability of the adaptive clamp assembly 2 to irregular workpiece contours, enabling the clamping system to better meet the clamping requirements of various parts in mixed-line automotive production. The tension spring 208 increases the stability of the moving support plate 206. During clamping, the elastic force of the tension spring 208 can absorb some vibration and impact forces, reducing the swaying of the moving support plate 206, thereby ensuring stable contact between the cylindrical clamp 204 and the workpiece. Meanwhile, the tension spring 208 can also compensate for positional deviations caused by minor deformations of the workpiece surface or changes in clamping force to a certain extent, improving the overall stability of the clamping. The rotation adjustment method of the extension screw 207 is simple and convenient to operate. Operators can easily adjust the position of the moving support plate 206 by rotating the extension screw 207 according to the specific conditions of the workpiece, without the need for complicated tools or equipment. This convenient adjustment method saves clamping preparation time and improves production efficiency.

[0110] Example 6:

[0111] like Figures 1-12 As shown, the adaptive moving clamp mechanism 400 also includes:

[0112] Multiple locking worm gears 5, each with its front end fixedly connected to the bottom of multiple adaptive clamp body assemblies 2;

[0113] Multiple T-shaped sliders 6 are slidably disposed in multiple T-shaped guide grooves on the lower surface of the assembly clamp seat 1, and are connected one-to-one with the rear ends of multiple locking worm gears 5.

[0114] The horizontal loading tube 7 is fixedly connected at both ends to two bearing hangers, which are fixedly mounted on the lower surface of the assembly clamp seat 1.

[0115] Multiple locking worm gears 8 are rotatably mounted on the loading horizontal tube 7 and mesh with multiple locking worms 5 one by one;

[0116] And a clamp locking assembly 9, disposed on the loading horizontal tube 7, is used to control the relative fixation of multiple locking worm gears 8 to the loading horizontal tube 7. Multiple limiting protrusions are fixed on the loading horizontal tube 7, and each locking worm gear 8 is located in the limiting area between two adjacent limiting protrusions.

[0117] The working principle and technical effects of the above scheme are as follows:

[0118] This part of the adaptive clamping mechanism 400 is mainly used to lock the adaptive clamping body assembly 2 after it has completed adaptive adjustment, so as to ensure the stability of clamping. The front ends of multiple locking worm gears 5 are fixedly connected to the bottom of multiple adaptive clamping body assemblies 2 one by one. When the adaptive clamping body assembly 2 slides in the adaptive slide groove to adapt to the irregular contour of the workpiece surface, it will drive the locking worm gears 5 connected to it to move together. Multiple T-shaped sliders 6 are slidably set in multiple T-shaped guide grooves on the lower surface of the assembly clamp seat 1 and are connected to the rear ends of multiple locking worm gears 5 one by one. The T-shaped guide grooves provide a sliding track for the T-shaped sliders 6, ensuring that the locking worm gears 5 can move smoothly and avoid deviation during movement, thus ensuring the accuracy of power transmission. Multiple locking worm gears 8 are rotatably mounted on the loading horizontal tube 7 and engage with multiple locking worms 5 one by one. When the locking worms 5 move with the adaptive clamp assembly 2, they drive the locking worm gears 8 that are engaged with them to rotate. Since the locking worm gears 8 are mounted on the loading horizontal tube 7, this rotation is relative to the loading horizontal tube 7. The clamp locking assembly 9 is set on the loading horizontal tube 7 and is used to control the multiple locking worm gears 8 to be relatively fixed to the loading horizontal tube 7. When the adaptive clamp assembly 2 is adjusted to a suitable position, the clamp locking assembly 9 is operated to fix the locking worm gears 8 to the loading horizontal tube 7. Since the locking worm gears 8 are engaged with the locking worms 5, and the locking worms 5 are connected to the adaptive clamp assembly 2, the adaptive clamp assembly 2 is locked in the current position and cannot move further. Multiple limiting protrusions are fixed on the loading horizontal tube 7. Each locking worm wheel 8 is located in the limiting area between two adjacent limiting protrusions. The limiting protrusions restrict the axial movement of the locking worm wheel 8, ensuring that the locking worm wheel 8 can only rotate within the specified range, and preventing it from axially moving during rotation, which would affect the locking effect.

[0119] In this invention, through the cooperation of the locking worm 5, the locking worm wheel 8, and the clamp locking assembly 9, the adaptive clamp assembly 2 is locked in a suitable position after completing its adaptive adjustment. This effectively prevents the adaptive clamp assembly 2 from moving due to external forces during clamping, ensuring a tight fit between the cylindrical clamp 204 and the workpiece surface, greatly improving clamping stability and benefiting the accuracy and quality of subsequent processing. The design of the T-shaped slider 6 and the T-shaped guide groove ensures the smoothness and accuracy of the movement of the locking worm 5, thereby ensuring the accuracy of the adaptive adjustment of the adaptive clamp assembly 2. At the same time, the limiting effect of the protrusion on the locking worm wheel 8 also ensures the stability of the transmission process, allowing the adaptive adjustment to proceed as expected. The clamp locking assembly 9 can conveniently control the relative fixing and unlocking of the locking worm wheel 8 and the loading cross tube 7. When different workpieces need to be clamped, simply unlock the clamp locking component 9, and the adaptive clamp component 2 can be adaptively adjusted again to adapt to the new workpiece surface contour. The flexibility of operation makes the adaptive moving clamp mechanism 400 highly reusable and can meet the clamping needs of various different models of parts in automotive mixed-line production.

[0120] Example 7: As Figures 1-12 As shown, the clamp locking assembly 9 includes:

[0121] The locking motor 901 is fixedly installed at one end of the loading horizontal tube 7 via a motor bracket;

[0122] The locking screw 902 is coaxially connected to the output shaft of the locking motor 901 and is rotatably disposed inside the loading horizontal tube 7;

[0123] Multiple locking units 903 are arranged axially along the locking screw 902 and are connected to the locking screw 902 in a transmission manner;

[0124] The locking screw 902 is configured to rotate under the drive of the locking motor 901, causing multiple locking units 903 to extend radially out of multiple through holes opened on the loading horizontal tube 7 and abut against the inner side of multiple locking worm gears 8, so as to control the multiple locking worm gears 8 to be relatively fixed to the loading horizontal tube 7. The locking worm gear 8 has an annular groove 801 at the center of the through hole, and an annular rubber ring 802 is bonded to the inner side of the annular groove 801. The locking unit 903 includes: a locking slide 904, which is threaded to the locking screw 902 and slidably disposed in the loading horizontal tube 7; multiple locking connecting rods 905, which are evenly distributed in the circumference, with one end rotatably connected to the locking slide 904; and multiple locking top rods 906, the middle part of which is slidably inserted through the through hole of the loading horizontal tube 7, the inner end of which is rotatably connected to the other end of the corresponding locking connecting rod 905, and the outer end extending into the annular groove 801 and abutting against the inner side of the annular rubber ring 802.

[0125] The working principle and technical effects of the above scheme are as follows:

[0126] The clamp locking assembly 9 is a key component of the adaptive clamp mechanism 400 used to lock the adaptive clamp assembly 2. The locking motor 901 is fixedly mounted to one end of the loading horizontal tube 7 via a motor bracket, providing power for the entire locking process. The locking screw 902 is coaxially connected to the output shaft of the locking motor 901 and rotatably disposed within the loading horizontal tube 7, transmitting the rotational motion of the locking motor 901 to the locking unit 903. Multiple locking units 903 are arranged axially along the locking screw 902 and are drive-connected to it. When the locking motor 901 drives the locking screw 902 to rotate, the locking slide 904, threadedly connected to the locking screw 902 and slidably disposed within the loading horizontal tube 7, will cause the locking slide 904 to move axially along the locking screw 902 according to the threaded transmission principle. Multiple locking connecting rods 905 in the locking unit 903 are evenly distributed circumferentially, with one end connected to... The locking slide 904 is rotatably connected at one end and rotatably connected at the other end to the locking push rod 906. The locking push rod 906 is slidably inserted through the through hole of the loading horizontal tube 7. When the locking slide 904 moves axially, it will drive the locking connecting rod 905 to rotate, thereby pushing the locking push rod 906 to extend radially out of the multiple through holes opened on the loading horizontal tube 7. The locking worm gear 8 has an annular groove 801 at the center of the through hole, and an annular rubber ring 802 is bonded to the inner side of the annular groove 801. The outer end of the locking rod 906 extends into the annular groove 801 and abuts against the inner side of the annular rubber ring 802. When the locking rod 906 extends, it will press against the annular rubber ring 802. Due to the elasticity of the annular rubber ring 802, the friction force can be increased, so that the locking worm wheel 8 and the loading horizontal tube 7 are relatively fixed. Because the locking worm wheel 8 meshes with the locking worm 5, and the locking worm 5 is connected to the adaptive clamp assembly 2, the locking of the adaptive clamp assembly 2 is finally achieved.

[0127] In this invention, the locking screw 902 is driven to rotate by the locking motor 901, which in turn drives the locking unit 903 to make the locking top rod 906 press against the annular rubber ring 802. This reliably fixes the locking worm gear 8 and the loading horizontal tube 7 relative to each other, ensuring that the adaptive clamping body assembly 2 will not move due to external interference during the clamping process, thus improving the stability of the clamping and ensuring the accuracy and quality of subsequent processing. Multiple locking units 903 are arranged axially along the locking screw 902, and the locking connecting rod 905 is evenly distributed circumferentially, so that the clamping force of the locking top rod 906 against the annular rubber ring 802 is evenly distributed. Meanwhile, by controlling the rotation angle and direction of the locking motor 901, the extension amount of the locking top rod 906 can be precisely adjusted, thereby adjusting the magnitude of the locking force to adapt to different clamping requirements. The annular rubber ring 802 plays a buffering and protective role. When the locking top rod 906 is tightened, the elasticity of the annular rubber ring 802 can absorb some of the impact force, reducing wear between the locking top rod 906 and the locking worm gear 8, extending the service life of the components, improving the locking effect, and reducing slippage. The use of the locking motor 901 automates the locking process. Operators only need to control the start and stop of the locking motor 901 to complete the locking and unlocking operations of the adaptive clamp assembly 2, improving operational efficiency and reducing labor intensity.

[0128] The adaptive fixed clamp mechanism 200 has the same structure as the adaptive moving clamp mechanism 400, and the assembly clamp seat of the adaptive fixed clamp mechanism 200 is connected to the connecting table 100.

[0129] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0130] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0131] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An adaptive clamping system for industrial robots used in mixed-line automotive production, characterized in that, include: Connecting platform, used to connect the robotic arm of an industrial robot; An adaptive clamping mechanism is fixedly installed on the connecting platform; The slide table is slidably connected to the connecting platform. The adaptive moving clamp mechanism is fixedly installed on the slide table and is set opposite to the adaptive fixed clamp mechanism. And a clamping drive mechanism, which is set on the connecting table and is connected to the slide table for driving the slide table to move the adaptive moving clamp body mechanism toward or away from the adaptive fixed clamp body mechanism in a straight line. The adaptive dynamic clamping mechanism includes: The assembly clamp is fixedly connected to the slide table, and multiple self-adaptive sliding grooves are provided on it; Multiple adaptive clamping components, the bottom of which are slidably set within an adaptive groove; The limiting horizontal axis is installed in the adaptive slide groove and passes through the limiting horizontal hole at the bottom of the adaptive clamp assembly; An adaptive compression spring is sleeved on the limiting horizontal axis, with its two ends abutting against the rear sides of the adaptive clamp assembly and the adaptive slide, respectively. The adaptive moving clamp mechanism also includes: Multiple locking worm gears, each with its front end fixedly connected to the bottom of multiple adaptive clamping body assemblies; Multiple T-shaped sliders are slidably disposed in multiple T-shaped guide grooves on the lower surface of the assembly clamp seat, and are connected one-to-one with the rear ends of multiple locking worm gears; The loading horizontal tube is fixedly connected at both ends to two bearing hangers, and the two bearing hangers are fixedly set on the lower surface of the assembly clamp seat; Multiple locking worm gears are rotatably mounted on the loading cross tube and mesh with multiple locking worms one by one; And a clamp locking assembly, which is set on the loading cross tube, is used to control multiple locking worm gears to be fixed relative to the loading cross tube; Multiple limiting protrusions are fixed on the loading cross tube, and each locking worm gear is located in the limiting area between two adjacent limiting protrusions; The clamp locking assembly includes: The locking motor is fixedly installed at one end of the loading horizontal tube via a motor bracket. The locking screw is coaxially connected to the output shaft of the locking motor and is rotatably mounted inside the loading horizontal tube; Multiple locking units are arranged along the axial direction of the locking screw and are connected to the locking screw in a driving manner; The locking screw is configured to rotate under the drive of the locking motor, causing multiple locking units to extend radially out of multiple through holes opened on the loading cross tube and abut against the inner side of multiple locking worm gears, so as to control the multiple locking worm gears to be relatively fixed to the loading cross tube. The locking worm gear has an annular groove at the center of its through-hole, and an annular rubber ring is bonded to the inner side of the annular groove. The locking unit includes: a locking slide plate, which is threaded to the locking screw and slidably disposed in the loading horizontal tube; multiple locking connecting rods, which are evenly distributed circumferentially, with one end rotatably connected to the locking slide plate; and multiple locking top rods, the middle of which is slidably inserted through the through hole of the loading horizontal tube, the inner end of which is rotatably connected to the other end of the corresponding locking connecting rod, and the outer end extending into the annular groove and abutting against the inner side of the annular rubber ring.

2. The adaptive clamping system for industrial robots used in mixed-line automotive production according to claim 1, characterized in that, The clamping drive mechanism includes: The drive screw is rotatably mounted on the connecting platform; The driving component, connected to one end of the drive screw, is used to provide rotational power; The force transmission seat is threadedly connected to the drive screw and connected to the slide table; The driving component drives the driving screw to rotate, which in turn causes the force transmission seat to move along the axial direction of the driving screw, thereby driving the slide table to move linearly.

3. The adaptive clamping system for industrial robots used in mixed-line automotive production according to claim 1, characterized in that, The adaptive clamping body component includes: The support slide is slidably disposed in the adaptive slide groove and cooperates with the limiting horizontal axis; A detachable support plate is inserted into a groove on the top of the support slide; The mounting screw is threaded to the side of the bearing slide and extends into the mounting transverse hole of the removable bearing plate to fix it. And cylindrical clamps, rotatably connected to the front end of a detachable support plate; The two ends of the adaptive compression spring abut against the bearing slide and the rear side of the adaptive slide groove, respectively.

4. The adaptive clamping system for industrial robots used in mixed-line automotive production according to claim 3, characterized in that, The removable support plate includes: A fixed bearing plate is inserted into a groove on the top of the bearing slide and is provided with a horizontal mounting hole; A movable support plate is slidably disposed in a groove at the front of a fixed support plate, and its front end is rotatably connected to the cylindrical clamp. The extension screw has its rear end rotatably connected to the fixed bearing plate, and its front end threadedly connected to the internal threaded hole at the rear end of the moving bearing plate. Rotating the extension screw can drive the moving bearing plate to move back and forth relative to the fixed bearing plate.

5. The adaptive clamping system for industrial robots used in mixed-line automotive production according to claim 4, characterized in that, The rear end face of the moving bearing plate and the inner side of the front groove of the fixed bearing plate are connected by a tension spring sleeved on the extension screw.

Images