Double-robot integrated automatic centering and clamping multifunctional device

Abstract

A double-robot integrated automatic centering and clamping multifunctional device is characterized by comprising a position changing machine which is provided with a main beam, a left side tool installation base plate and a right side tool installation base plate, and the left side tool installation base plate and the right side tool installation base plate can conduct relative position changing relative to the main beam; the two robots are mounted on the main beam; the automatic centering and clamping tools correspond to the robots and are mounted on the left tool mounting base plate and the right tool mounting base plate respectively, and each automatic centering and clamping tool comprises a center gear, a first gear rack mechanism with a rack I meshed with the center gear and a second gear rack mechanism with a rack II meshed with the center gear. And the clamping jaws are arranged on a clamping jaw mounting plate I and a clamping jaw mounting plate II which are respectively driven by the first gear rack mechanism and the second gear rack mechanism. Therefore, the workpiece can be automatically centered and clamped, operation is easy, positioning is accurate, the main beam is rotationally switched between the feeding side and the machining side, and the working efficiency is remarkably improved.

Description

Technical Field

[0001] The utility model relates to intelligent equipment manufacturing, and more particularly to an automatic centering, positioning or clamping device, and especially to a dual-robot integrated automatic centering and clamping multifunctional device. Background Art

[0002] The robot industry will increase the supply of high-end products and develop high-precision and high-reliability welding robots for the field of intelligent manufacturing. At present, the production mode is gradually getting rid of manual operation, continuously improving the low efficiency of manual operation, the single production products, the slow production rhythm, and it is very easy to have unqualified products due to manual defects, but it is still difficult to ensure product consistency and there are potential safety hazards. Summary of the Utility Model

[0003] To solve the above problems, the purpose of the utility model is to provide a dual-robot integrated automatic centering and clamping multifunctional device.

[0004] According to the utility model, there is provided a dual-robot integrated automatic centering and clamping multifunctional device, which is characterized by comprising: a positioner having a main beam, a left tooling mounting substrate and a right tooling mounting substrate that can be displaced relative to the main beam; two robots mounted on the main beam; and multiple sets of automatic centering and clamping toolings respectively mounted on the left tooling mounting substrate and the right tooling mounting substrate corresponding to the robots. The automatic centering and clamping tooling includes: a central gear, a first gear-rack mechanism in which an I-rack meshes with the central gear, a second gear-rack mechanism in which a II-rack meshes with the central gear, jaws mounted on an I-jaw mounting plate and a II-jaw mounting plate respectively driven by the first gear-rack mechanism and the second gear-rack mechanism, and a tooling cylinder with a cylinder rod end connected to the I-jaw mounting plate.

[0005] Preferably, the positioner includes: a driven end beam connected to one end of the main beam, a driving end beam connected to the other end of the main beam, a left driven end connected to one end of the driven end beam, a left driving end connected to one end of the driving end beam, a right driven end connected to the other end of the driven end beam, and a right driving end connected to the other end of the driving end beam. Among them, the left tooling mounting substrate is installed between the left driven end and the left driving end, and the right tooling mounting substrate is installed between the right driven end and the right driving end.

[0006] Preferably, the left driven end includes: a left slave tooling tray for connecting the left tooling mounting substrate, and a left slave slewing bearing for mounting the left slave tooling tray; the left driving end includes: a left tooling tray, and a left servo motor for rotating and driving the left tooling tray.

[0007] Preferably, the right driven end and the right driving end are configured in the same manner as the left driven end and the left driving end.

[0008] Preferably, the main beam is rotatably mounted on the base via a mating main beam rotating gear and a main beam gear ring, wherein the main beam gear ring is mounted on the base.

[0009] Preferably, a left arc-proof light device and a right arc-proof light device are mounted on the transverse two sides of the main beam in a manner of rising or falling corresponding to two robots.

[0010] Preferably, the automatic centering and clamping tooling further includes an I rack guide wheel and an II rack guide wheel respectively fixed in a manner of abutting against the I rack and the II rack.

[0011] Preferably, a plurality of sets of identical automatic centering and clamping toolings are designed in a symmetric layout manner, including a left I clamping tooling provided with a first gear-rack mechanism.

[0012] Preferably, the left I clamping tooling further includes: a tooling base plate, an I linear guide rail, an II linear guide rail, an I guide rail slider, and an II guide rail slider. The tooling base plate is fixed on the left tooling installation base plate. The I linear guide rail and the II linear guide rail are symmetrically installed on the left and right of the center line of the tooling base plate. A center gear is installed at the center point of the tooling base plate. An I guide rail slider and an I rack are installed under the I jaw mounting plate. The I guide rail slider is matched with the I linear guide rail. An II guide rail slider and an II rack are installed under the II jaw mounting plate. The II guide rail slider is matched with the II linear guide rail. The tooling cylinder is installed at the front end of the tooling base plate through a cylinder connecting plate. The rod end of the tooling cylinder is connected to the I jaw mounting plate.

[0013] By using the automatic centering and clamping tooling, the two robots can cooperate in three-axis displacement and cooperate with the standard-size quick-change tooling on both sides to automatically center and clamp the workpiece, with simple operation and accurate positioning.

[0014] This device realizes the direct installation of two robots on the turntable, and the unification of the robot position coordinates and the tooling position coordinates. Even if there is a position misalignment during the rotation of the turntable or a tooth gap due to gear meshing, it will not affect the accuracy of the robot position coordinates relative to the tooling position coordinates.

[0015] This device realizes the arbitrary displacement of three axes, the unification of the axis spacing of the tooling carrier tray of the turntable and the size of the quick-change tooling. It meets the diversification of tooling types and the standardization of the quick-change tooling size. The automatic centering and clamping tooling ensures that the tool coordinate system of the workpiece center point and the robot tool coordinate system remain unchanged all the time, realizing the production of different products without the need to replace different toolings.

[0016] In this way, the research and manufacture of this device effectively ensure the consistency of the workpiece clamping position and improve the working operation efficiency of the robot. Description of the Drawings

[0017] Figure 1 Shows the layout diagram of a dual-robot integrated automatic centering and clamping multi-functional device.

[0018] Figure 2 Shows the top view of the device.

[0019] Figure 3 Shows the main beam installation structure diagram of the device.

[0020] Figure 4 Shows the main beam transmission component structure diagram of the device.

[0021] Figure 5 Shows the structure diagram of the indexing active component of the device.

[0022] Figure 6 Shows the structure diagram of the indexing driven component of the device.

[0023] Figure 7 Shows the structure diagram of an automatic centering and clamping tooling.

[0024] Figure 8 Shows the schematic diagram of the clamping method of an automatic centering and clamping tooling. Detailed implementation manners

[0025] The following describes in detail the exemplary embodiments of the present invention with reference to the accompanying drawings. The exemplary embodiments described below and shown in the drawings are intended to teach the principles of the present invention so that those skilled in the art can implement and use the present invention in several different environments and for several different applications. Therefore, the protection scope of the present invention is defined by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, a restrictive description of the protection scope of the present invention. Moreover, for the sake of convenience of description, the same elements in the drawings are represented by the same or similar reference numerals, and the dimensions of the various parts shown are not necessarily drawn according to the actual proportional relationship. Regarding the orientation description, such as the circumferential direction corresponding to the main body axis, and the orientation or positional relationship indicated by up, down, left, right, top, bottom, etc., are all based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the present invention. The following descriptions of the various embodiments emphasize the differences between the various embodiments, and their similarities can be referred to each other. For the sake of brevity, they will not be repeated one by one, and the technical features in the different embodiments can be freely combined according to the design needs to form more embodiments.

[0026] The purpose of the present utility model is to provide a dual-robot integrated automatic centering and clamping multifunctional device, design a safety protection room, and be equipped with safety supporting facilities such as a safety door for the safety protection room and a safety grating system. An insertion lock is installed on the safety door of the safety protection room, and the insertion lock switch is equipped with a safety indicator light prompt function. A two-way three-dimensional safety light curtain is set at the manual operation position. When the safety door of the safety protection room is opened, the two robots will immediately pause and stop working, effectively protecting the safety of the operator. The device has multiple emergency stop buttons, which are installed on the control box panel of the robot and the control panel of the safety door, facilitating the operator to operate in case of an abnormality. It is ensured that when the operator presses the emergency stop button, the two robots will not start automatically. The device adopts a control method of dual-robot collaborative displacement and collaborative dual quick-change tooling. The control of the transmission motor of the displacement main beam and the control of the displacement active motor are both integrated as an extended coordination program for the two robots, which can ensure the unity of the two robots and the displacement action to the greatest extent, the efficiency synchronous response, and the optimization of the production beat. The device has the leading technical advantages of automatic centering and clamping, which can improve the adaptability flexibility of different workpieces.

[0027] Figure 1 、 Figure 2 respectively show the layout diagram and the top view of the device. As Figure 1 、 Figure 2 shown, the device mainly includes: a positioner, two robots (Robot I 10, Robot II 11) directly installed on the positioner, and automatic centering and clamping toolings (Left I Clamping Tooling 15, Left II Clamping Tooling 16, Right I Clamping Tooling 18, Right II Clamping Tooling 19) respectively installed on the positioner corresponding to the robots. Among them, the positioner includes: a base 1, adjusting bolts 2, a main beam 3, a driven end beam 4, a driving end beam 5, a left driven end 6, a left driving end 7, a right driven end 8, a right driving end 9, a left arc-proof light device 12, a right arc-proof light device 13, a left tooling installation substrate 14, and a right tooling installation substrate 17.

[0028] There is an adjustment base composed of multiple adjusting bolts 2 on the base 1. The base 1 is fixed to the ground through multiple chemical anchor bolts, and the base body 1 is always kept in a horizontal state by adjusting the multiple adjusting bolts 2.

[0029] The main beam 3 is installed on the base 1. One end of the main beam 3 is connected to the driven end beam 4, and the other end of the main beam 3 is connected to the driving end beam 5. Robot I 10, Robot II 11, the left arc-proof light device 12, and the right arc-proof light device 13 are all directly installed on the main beam 3.

[0030] One end of the driven end beam 4 is connected to the left driven end 6, and the other end of the driven end beam 4 is connected to the right driven end 8.

[0031] One end of the active end beam 5 is connected to the left active end 7, and the other end of the active end beam 5 is connected to the right active end 9.

[0032] A left tooling installation base plate 14 is installed between the left driven end 6 and the left active end 7, and a left I clamping tool 15 and a left II clamping tool 16 are installed on the left tooling installation base plate 14.

[0033] A right tooling installation base plate 17 is installed between the right driven end 8 and the right active end 9, and a right I clamping tool 18 and a right II clamping tool 19 are installed on the right tooling installation base plate 17.

[0034] This device adopts a mechanically symmetric mirror image method, with the center line of the main beam 3 used to distinguish the left and right sides. The left and right sides are completely the same in terms of shape, structure, layout, and function, etc. It can achieve the unity of the position coordinates of each robot and the position coordinates of the welding tooling. Even if the position is misaligned during the rotation of the positioner (as described later) or there is a tooth gap due to gear meshing, it will not affect the accuracy of the robot welding work.

[0035] When the I robot 10 or the II robot 11 performs additive repair welding on the hot working die, the left arc light protection device 12 and the right arc light protection device 13 on the transverse two sides of the main beam 3 rise or fall accordingly, which can effectively block the welding arc light, reduce and avoid the harm of the welding arc light to the on-site operators, meet the safety protection measures for reducing welding hazards in the production workshop, and ensure the safety and health of the operators.

[0036] As Figure 3 shown, the driven end beam 4 is connected to one end of the main beam 3 and multiple reinforcing rib plates are installed, and the active end beam 5 is connected to the other end of the main beam 3 and multiple reinforcing rib plates are installed. Rotating safety guards are installed on the outer sides of the driven end beam 4 and the active end beam 5. At the same time, for convenient hoisting and installation, 2 lifting rings are installed on the driven end beam 4 and the active end beam 5. The outlets of equipment such as the control cabinet, sensors, and power supply are connected to the reserved openings in the hollow cavity of the base 1 through the cable trough laid on the ground. The cables of the two robots, as well as the two sets of robot cables and robot tool cables, etc. are all installed on the robot body through the cable trough and the reserved openings in the base 1 that communicate with the inner main beam 3.

[0037] As Figure 4 shown in the structural diagram of the main beam transmission components, which mainly includes: the main beam slewing bearing 101, the main beam gear ring 102, the I top support 103, the II top support 104, the main beam servo motor 105, the main beam planetary reducer 106, and the main beam rotating gear 107.

[0038] The main beam gear ring 102 is installed on the base 1, and the main beam gear ring 102 is connected to the main beam slewing bearing 101. The main beam 3 ( Figure 3)(It) is a hollow frame structure. The I top support 103, the II top support 104, and the main beam planetary reducer 106 are installed on the bottom plate of the main beam 3 by bolts. Through holes are opened on the bottom plate of the main beam 3 to facilitate the main beam rotating gear 107 to pass through. The bottom plate of the main beam 3 is connected to the main beam slewing bearing 101 by bolts.

[0039] The main beam servo motor 105 is connected to the main beam planetary reducer 106. The output shaft of the main beam planetary reducer 106 is connected to the main beam rotating gear 107 by a key. The main beam rotating gear 107 is engaged with the main beam gear ring 102. The number of teeth of the main beam gear ring 102 is a multiple of that of the main beam rotating gear 107. The module of the main beam rotating gear 107 is calculated, and the pressure angle of the main beam rotating gear 107 is controlled at 20 degrees.

[0040] The I top support 103 and the II top support 104 tighten the main beam servo motor 105 through adjusting bolts. The rotation of the main beam servo motor 105 drives the main beam rotating gear 107 to perform internal meshing gear transmission along the main beam gear ring 102. While improving the transmission efficiency and reducing the transmission noise, the main beam 3 makes a rotating motion through the main beam slewing bearing 101.

[0041] Thus, by using the drive from the base 1 side, the main beam 3 can be rotated, so that when the left tooling installation substrate 14 and the right tooling installation substrate 17 on the opposite side are used as the loading side and the processing side respectively for rotation, the switching can be realized, thereby significantly improving the working efficiency. At the same time, the lifting of the left arc-proof light device 12 and the right arc-proof light device 13 with separate corresponding drives can be used for corresponding shielding protection or avoidance.

[0042] Figure 5 The structure diagram of the variable-position active component of the device is shown. The device adopts a mechanical structure with symmetric mirror image and symmetric layout. As Figure 2 shown, the left active end 7 and the right active end 9 are used as the active ends of the positioner, and they are completely the same in terms of the housing shape, internal structure, installation method, etc. The following takes the left active end 7 as an example for illustration.

[0043] The left active end 7 mainly includes: a left installation frame 701, a left servo motor 702, a left servo reducer 703, a left slewing bearing 704, and a left tooling tray 705.

[0044] The left installation frame 701 is connected to one end of the active end beam 5 by high-strength bolts. For the convenience of hoisting and installation, 2 lifting rings are installed on the left installation frame 701.

[0045] The left slewing bearing 704 is installed on the left mounting frame 701. The left servo motor 702 is installed on the left servo reducer 703. The output shaft of the left servo reducer 703 is connected to the left slewing bearing 704 through a cylindrical key. A left tooling tray 705 is installed on the left slewing bearing 704 to facilitate the connection with the left tooling mounting substrate 14. The rotation of the left servo motor 702 drives the left tooling tray 705.

[0046] The left servo motor 702 is coordinated and controlled by the program system, enabling servo collaborative work, greatly meeting the requirements of the tooling angle flipping during the production process, making the robot operation easier and simpler, with stronger practicability, and suitable for promotion in workshop production.

[0047] Figure 6 The structure diagram of the displacement driven component of the device is shown. As described above, the device adopts a mechanical structure with symmetric mirror image and symmetric layout. As Figure 2 shown, the left driven end 6 and the right driven end 8, as the driven ends of the positioner, are completely the same in terms of shell shape, internal structure, installation method, etc. As Figure 6 shown, the left driven end 6 is taken as an example for illustration.

[0048] The left driven end 6 mainly includes: the left mounting frame 601, the left carbon brush holder 602, the left carbon brush 603, the left slewing bearing 604, and the left tooling tray 605.

[0049] A left tooling tray 605 is installed on the left slewing bearing 604 to facilitate the connection with the left tooling mounting substrate 14. The left slewing bearing 604 is installed on the left mounting frame 601. The left mounting frame 601 is connected to one end of the driven end beam 4 through high-strength bolts. For convenient hoisting and installation, 2 lifting rings are installed on the left mounting frame 601.

[0050] The left carbon brush holder 602 is installed inside the left mounting frame 601. A carbon brush pressing spring and the left carbon brush 603 are installed on the left carbon brush holder 602. Under the pressure of the carbon brush pressing spring, the left carbon brush 603 is always in contact with the inner side of the left slewing bearing 604. The conductive copper wire of the left carbon brush 603 is connected to the common terminal of the power supply. During the production process, the working current can flow into the conductive copper wire of the left carbon brush 603, avoiding equipment failures and servo motor failures caused by current and ensuring the safety of operators.

[0051] The device adopts a symmetric layout and is designed with a total of four sets of identical automatic centering and clamping toolings. As Figure 7As shown in the figure, they are respectively: the left I clamping tooling 15, the left II clamping tooling 16, the right I clamping tooling 18, and the right II clamping tooling 19. These four sets of identical automatic centering clamping toolings are exactly the same in terms of housing shape, installation method, etc. The automatic centering clamping tooling thus formed can also be quickly interchanged to meet the different production process requirements of different products. The left I clamping tooling 15 will be taken as an example for illustration below.

[0052] The left I clamping tooling 15 mainly includes: a tooling substrate 151, a tooling cylinder 152, an I linear guide 153, an II linear guide 154, an I guide rail slider 155, an II guide rail slider 156, an I jaw mounting plate 157, an II jaw mounting plate 158, an I rack 159, an II rack 160, an I rack guide wheel 161, an II rack guide wheel 162, a central gear 163, as well as an I upper jaw 164 and an I lower jaw 165 mounted on the I jaw mounting plate 157, and an II upper jaw 166 and an II lower jaw 167 mounted on the II jaw mounting plate 158.

[0053] The tooling substrate 151 is fixed to the left tooling mounting substrate 14 by bolts. The I linear guide 153 and the II linear guide 154 are symmetrically mounted on the left and right sides of the center line of the tooling substrate 151, and the central gear 163 is mounted at the center point of the tooling substrate 151.

[0054] The I jaw mounting plate 157 is mounted with an I guide rail slider 155 and an I rack 159 below. The I guide rail slider 155 is matched with the I linear guide 153, the I rack 159 is meshed with the central gear 163, and the I rack guide wheel 161 is mounted on the tooling substrate 151 in a way that it abuts against the I rack 159, thus forming a first rack and pinion mechanism that can drive the I jaw mounting plate 157.

[0055] The II jaw mounting plate 158 is mounted with an II guide rail slider 156 and an II rack 160 below. The II guide rail slider 156 is matched with the II linear guide 154, the II rack 160 is meshed with the central gear 163, and the II rack guide wheel 162 is mounted on the tooling substrate 151 in a way that it abuts against the II rack 160, thus forming a second rack and pinion mechanism that can drive the II jaw mounting plate 158.

[0056] The tooling cylinder 152 is mounted at the front end of the tooling substrate 151 through a cylinder connecting plate. The end of the cylinder rod of the tooling cylinder 152 is connected to the I jaw mounting plate 157.

[0057] An I upper jaw 164 and an I lower jaw 165 are mounted on the I jaw mounting plate 157. An II upper jaw 166 and an II lower jaw 167 (equivalent to jaws) are mounted on the II jaw mounting plate 158.

[0058] Figure 8The figure shows a schematic diagram of the clamping method of an automatic centering clamping tooling. The device controls the solenoid valve of the tooling cylinder 152 through a program, and the extension and retraction of the rod of the tooling cylinder 152 drive the I jaw mounting plate 157 to slide parallel along the I linear guide 153 through the I guide rail slider 155. At the same time, it drives the I rack 159 to mesh and rotate with the central gear 163 under the action of the I rack guide wheel 161. The rotation of the central gear 163 drives the action of the II rack 160 that meshes with the central gear 163 under the action of the II rack guide wheel 162, thereby driving the II guide rail slider 156 to slide parallel along the II linear guide 154, and further driving the II jaw mounting plate 158 to move horizontally synchronously. As a result, the I upper jaw 164, I lower jaw 165 mounted on the I jaw mounting plate 157 and the II upper jaw 166, II lower jaw 167 mounted on the II jaw mounting plate 158 move synchronously towards the center in opposite directions, completing the automatic centering action.

[0059] The specific operation process of the device provided by the present utility model is as follows:

[0060] First, through the touch screen window on the electrical cabinet, set the initialization robot position signal and the protection function detection signal, set the workpiece material model, set parameters such as the compressed air gas pressure, etc. Ensure that all four sets of automatic centering clamping toolings are in the open state to facilitate loading.

[0061] The operator loads the material according to the production process. After pressing the equipment start button, the automatic centering clamping tooling automatically clamps the workpiece, and the robot system starts.

[0062] At this time, the device controls the double robot collaborative turntable and drives the tooling to rotate through the equipment program, and always maintains the relative optimal working angle between the workpiece tool coordinate system and the robot tool coordinate system. For different product positions and different production process technical requirements of the workpiece to be processed, the double robot collaborative turntable can, by using intelligent hardware such as sensors and controllers, real-time monitor the positions and states of the robots and the turntable, avoiding conflicts and collisions. It can make the movement speeds of the two robots and the movement components relatively constant. Combining with the coordination function of the turntable is also beneficial to the teaching programming and process implementation of complex robots.

[0063] In practical applications, the intelligent welding robot and the turntable are connected and work together through the control system. The control system can accurately coordinate and control the intelligent robot and the turntable according to production requirements and process requirements. Especially in the field of automobile manufacturing, the intelligent welding robot and the turntable can jointly complete the connection work of the vehicle body. The two cooperate with each other, work together, avoid collisions, avoid interference, greatly improve the production efficiency and product quality, thereby realizing the efficient progress of production operations, improving the production efficiency, and improving the product consistency.

[0064] Production is completed, and the two robots return to their initial positions. The positioner drives the tooling to rotate back to the safe position. All four sets of automatic centering and clamping tooling are in the open state, facilitating loading and starting a new round of production operations.

[0065] For the proposed technical solution, there are alternative solutions. For example, using other forms of robots to replace Robot I 10 and Robot II 11, using other forms of driven components to replace the driven end beam 4, the left driven end 6, and the right driven end 8, using other forms of driving components to replace the driving end beam 5, the left driving end 7, and the right driving end 9, and using other forms of clamping tooling to replace the left I clamping tooling 15, the left II clamping tooling 16, the right I clamping tooling 18, and the right II clamping tooling 19, etc. are all within the protection scope of the present utility model.

[0066] In the description of the present application, the meaning of "a plurality of" is two or more unless otherwise specifically defined. Unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. Although the present utility model has been described with reference to various specific embodiments, it should be understood that modifications can be made within the spirit and scope of the described inventive concept. Therefore, it is intended that the present utility model is not limited to the described embodiments, but will have the full scope defined by the language of the appended claims.

Claims

1. A dual-robot integrated automatic centering and clamping multifunctional device, characterized in that, Including: A positioner having a main beam (3), a left tooling mounting substrate (14) and a right tooling mounting substrate (17) that can be displaced relative to the main beam (3); two robots mounted on the main beam (3); and multiple sets of automatic centering and clamping toolings respectively mounted on the left tooling mounting substrate (14) and the right tooling mounting substrate (17) corresponding to the robots. The automatic centering and clamping tooling includes: a central gear (163), a first gear-rack mechanism in which an I-rack (159) meshes with the central gear (163), a second gear-rack mechanism in which a II-rack (160) meshes with the central gear (163), jaws mounted on an I-jaw mounting plate (157) and a II-jaw mounting plate (158) respectively driven by the first gear-rack mechanism and the second gear-rack mechanism, and a tooling cylinder (152) with a cylinder rod end connected to the I-jaw mounting plate (157).

2. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 1, characterized in that, The positioner includes: a driven end beam (4) connected to one end of the main beam (3), a driving end beam (5) connected to the other end of the main beam (3), a left driven end (6) connected to one end of the driven end beam (4), a left driving end (7) connected to one end of the driving end beam (5), a right driven end (8) connected to the other end of the driven end beam (4), and a right driving end (9) connected to the other end of the driving end beam (5). Wherein, the left tooling mounting substrate (14) is mounted between the left driven end (6) and the left driving end (7), and the right tooling mounting substrate (17) is mounted between the right driven end (8) and the right driving end (9).

3. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 2, characterized in that, The left driven end (6) includes: a left slave tooling tray (605) for connecting the left tooling mounting substrate (14), and a left slave slewing support (604) for mounting the left slave tooling tray (605). The left driving end (7) includes: a left tooling tray (705), and a left servo motor (702) for rotationally driving the left tooling tray (705).

4. The dual-robot integrated automatic centering and clamping multi-functional device according to claim 2, wherein The right driven end (8) and the right driving end (9) are configured in the same manner as the left driven end (6) and the left driving end (7).

5. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 1, wherein, The main beam (3) is rotatably mounted on the base (1) via a matching main beam rotating gear (107) and a main beam gear ring (102), wherein the main beam gear ring (102) is mounted on the base (1).

6. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 1, characterized in that, On the lateral two sides of the main beam (3), a left arc-proof light device (12) and a right arc-proof light device (13) are mounted in a manner of rising or falling corresponding to the two robots.

7. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 1, characterized in that, The automatic centering and clamping tooling further includes an I-rack guide wheel (161) and a II-rack guide wheel (162) respectively fixed in a manner of abutting against the I-rack (159) and the II-rack (160).

8. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 7, wherein A plurality of sets of identical automatic centering and clamping toolings are designed in a symmetric layout manner, including a left I-clamping tooling (15) provided with a first gear-rack mechanism.

9. The dual-robot integrated automatic centering and clamping multifunctional device according to claim 8, characterized in that The left I clamping tooling (15) further includes: a tooling substrate (151), an I linear guide rail (153), a II linear guide rail (154), an I guide rail slider (155), a II guide rail slider (156). The tooling substrate (151) is fixed on the left tooling mounting substrate (14). The I linear guide rail (153) and the II linear guide rail (154) are symmetrically installed on the left and right sides of the center line of the tooling substrate (151). A center gear (163) is installed at the center point of the tooling substrate (151). An I guide rail slider (155) and an I rack (159) are installed below the I jaw mounting plate (157). The I guide rail slider (155) is matched with the I linear guide rail (153). A II guide rail slider (156) and a II rack (160) are installed below the II jaw mounting plate (158). The II guide rail slider (156) is matched with the II linear guide rail (154). The tooling cylinder (152) is installed at the front end of the tooling substrate (151) through a cylinder connecting plate. The rod end of the tooling cylinder (152) is connected to the I jaw mounting plate (157).

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