Robot clamp matched with multifunctional machining center

Abstract

The utility model discloses a robot clamp matched with a multifunctional machining center, and belongs to the technical field of machining. Comprising a base, and the base is installed on a robot arm; the self-adaptive adjusting mechanism is arranged on the base and used for adjusting the relative position of the workpiece; and the multiple clamping arm assemblies are evenly distributed in the circumferential direction of the self-adaptive adjusting mechanism. Through cooperative work of the multiple adjustable clamping arm assemblies and the self-adaptive adjusting mechanism, the robot clamp can adapt to various workpieces in irregular shapes, and the application range of the robot clamp is greatly expanded.

Description

Technical Field

[0001] This utility model relates to the field of mechanical processing technology, specifically to a robot fixture for a multi-functional machining center. Background Technology

[0002] In industrial production, robotic grippers are often needed to grasp and transport various workpieces. However, when faced with irregularly shaped workpieces, traditional grippers with fixed shapes or simple structures often struggle to effectively grasp and stably hold them. This can lead to gripping failures, workpiece drops, impacting production efficiency and product quality, and may even pose safety hazards to equipment and personnel.

[0003] Currently, there is a lack of robot fixture structures on the market that can flexibly adapt to various irregularly shaped workpieces and possess high reliability and stability. Utility Model Content

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A multi-functional machining center robot fixture, comprising:

[0006] Base, which is mounted on the robotic arm;

[0007] An adaptive adjustment mechanism is provided on the base for adjusting the relative position of the workpiece;

[0008] Multiple clamping arm assemblies are evenly distributed along the circumferential direction of the adaptive adjustment mechanism.

[0009] Furthermore, the adaptive adjustment mechanism includes:

[0010] A turntable, which is rotatably mounted on the base;

[0011] A guide rail is provided on the side of the turntable away from the base and is arranged along the radial direction of the turntable; a slider is slidably provided on the guide rail.

[0012] Mounting base, the mounting base is connected to the slider via a rotating shaft, and a motor is connected to the end of the rotating shaft away from the mounting base;

[0013] The plurality of clamping arm assemblies are evenly distributed along the circumferential direction of the mounting base.

[0014] Furthermore, the adaptive adjustment mechanism also includes a lead screw and a drive motor. The first end of the lead screw is rotatably connected to the first end of the guide rail, and the second end of the lead screw passes through the slider and is driven by the drive motor, which is mounted on the second end of the lead screw.

[0015] Furthermore, the clamping arm assembly includes:

[0016] A fixed arm, the first end of which is hinged to the mounting base;

[0017] A movable arm is slidably disposed at the second end of the fixed arm via an adjusting drive component, the adjusting drive component being used to drive the movable arm to slide along the length direction of the fixed arm;

[0018] A flexible clamping part is hinged to the end of the movable arm away from the fixed arm.

[0019] Furthermore, the flexible clamping part is made of rubber material.

[0020] Furthermore, it also includes a control unit, with the turntable, the motor, the drive motor, and the adjustment drive component respectively connected to the control unit.

[0021] Furthermore, the flexible clamping part is equipped with a pressure sensor, which is connected to the control unit to detect the magnitude and distribution of the clamping force in real time.

[0022] Beneficial effects:

[0023] This invention, through the coordinated operation of multiple adjustable gripping arm assemblies and an adaptive adjustment mechanism, can adapt to workpieces of various irregular shapes, greatly expanding the application range of robot grippers; at the same time, it is equipped with pressure sensors to ensure stable gripping of workpieces, reduce the risk of workpieces falling during handling, and improve production safety and product quality. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a multifunctional machining center robot fixture according to this utility model. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the structure of a multifunctional machining center robot fixture according to this utility model. Figure 2 ;

[0026] Figure 3 This is a front view of a multifunctional machining center robot fixture according to this utility model;

[0027] The components include: 1. base; 2. turntable; 3. guide rail; 31. lead screw; 32. drive motor; 4. slider; 5. mounting base; and 6. clamping arm assembly. Detailed Implementation

[0028] Example 1

[0029] refer to Figure 1 A multi-functional machining center robot fixture, comprising:

[0030] Base 1, which is mounted on the robot arm;

[0031] An adaptive adjustment mechanism is mounted on the base 1 and is used to adjust the relative position of the workpiece.

[0032] Multiple clamping arm assemblies 6 are evenly distributed along the circumferential direction of the adaptive adjustment mechanism.

[0033] Preferably, the adaptive adjustment mechanism includes:

[0034] Turntable 2 is rotatably mounted on base 1;

[0035] Guide rail 3 is located on the side of turntable 2 away from the base and is arranged in the radial direction of turntable 2; slider 4 is slidably provided on guide rail 3.

[0036] Mounting base 5 is connected to the slider via a rotating shaft, and a motor is connected to the end of the rotating shaft away from the mounting base 5.

[0037] Multiple clamping arm assemblies 6 are evenly distributed along the circumferential direction of the mounting base 5.

[0038] Preferably, the adaptive adjustment mechanism further includes a lead screw 31 and a drive motor 32. The first end of the lead screw 31 is rotatably connected to the first end of the guide rail, and the second end of the lead screw 31 passes through the slider and is driven by the drive motor 32. The drive motor 32 is mounted on the second end of the lead screw 31.

[0039] Preferably, the clamping arm assembly 6 includes:

[0040] A fixed arm, the first end of which is hinged to the mounting base;

[0041] The movable arm is slidably mounted at the second end of the fixed arm via an adjustable drive component. The adjustable drive component is used to drive the movable arm to slide along the length direction of the fixed arm.

[0042] The flexible clamping part is hinged to the end of the movable arm away from the fixed arm.

[0043] In other embodiments, the clamping arm assembly 6 is a cylinder or a telescopic rod, preferably a cylinder.

[0044] Preferably, the flexible clamping part is made of rubber material.

[0045] In this embodiment, the flexible clamping part can be deformed to a certain extent according to the surface shape of the workpiece, thereby increasing the contact area and friction with the workpiece.

[0046] Preferably, it also includes a control unit, with the turntable 2, motor, drive motor, and adjustment drive component respectively connected to the control unit.

[0047] In this embodiment, the fixed arm is rotatably connected to the mounting base via a first motor, and the control unit is connected to the first motor.

[0048] Preferably, the flexible clamping part is equipped with a pressure sensor, which is connected to the control unit to detect the magnitude and distribution of the clamping force in real time.

[0049] Working principle: When the robot approaches an irregularly shaped workpiece, multiple adjustable gripping arm assemblies simultaneously move closer to the workpiece. The flexible gripping part first contacts the workpiece surface, and the pressure sensor begins to detect the gripping force. If the gripping force is uneven or does not reach the set value, the control unit drives the corresponding adjustment drive and gripping arm assemblies to work based on the data fed back by the pressure sensor. By adjusting the extension length and angle of the movable arm, the flexible gripping part better conforms to the workpiece surface until the gripping force detected by the pressure sensor is uniform and reaches a suitable range, thus completing the stable gripping of the irregularly shaped workpiece. During the handling process, the pressure sensor continuously monitors the gripping force. Once an abnormality is detected, the control unit immediately readjusts the gripping arm assemblies to ensure the safe handling of the workpiece.

[0050] The above description is merely a preferred embodiment of the present utility model and does not constitute any limitation on the technical scope of the present utility model. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. A multifunctional machining center complete robot clamp, characterized in that, The utility model relates to a robot arm for workpiece, which comprises: a base mounted on a robot arm; an adaptive adjusting mechanism arranged on the base for adjusting the relative position of a workpiece; a plurality of clamping arm assemblies evenly distributed along the circumferential direction of the adaptive adjusting mechanism.

2. The multi-functional machining center complete robot clamp of claim 1, wherein, The adaptive adjusting mechanism comprises: a turntable rotatably arranged on the base; a guide rail arranged on the side of the turntable away from the base and along the radial direction of the turntable; a sliding block slidably arranged on the guide rail; a mounting seat connected with the sliding block through a rotating shaft, and an electric motor connected with the end of the rotating shaft away from the mounting seat; wherein a plurality of clamping arm assemblies are evenly distributed along the circumferential direction of the mounting seat.

3. The multi-functional machining center complete robot clamp of claim 2, wherein, The adaptive adjusting mechanism further comprises a lead screw and a driving motor, the first end of the lead screw is rotatably connected with the first end of the guide rail, the second end of the lead screw passes through the sliding block and is drivingly connected with the driving motor, and the driving motor is mounted on the second end of the lead screw.

4. The multi-functional machining center complete robot clamp of claim 3, wherein, The clamping arm assembly comprises: a fixed arm, the first end of which is hingedly connected with the mounting seat; a movable arm slidably arranged on the second end of the fixed arm through an adjusting driving member, the adjusting driving member being used for driving the movable arm to slide along the length direction of the fixed arm; a flexible clamping part hingedly connected with the end of the movable arm away from the fixed arm.

5. The multi-functional machining center complete robot clamp of claim 4, wherein, The flexible clamping part is made of rubber material.

6. The multi-functional machining center complete robot clamp of claim 4, wherein, Further comprising a control unit, the turntable, the electric motor, the driving motor and the adjusting driving member are respectively connected with the control unit.

7. A multi-functional machining center complete robot clamp according to claim 6, characterized in that, The flexible clamping part is provided with a pressure sensor connected with the control unit, which is used for real-time detection of the size and distribution of clamping force.

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