Flexible mechanical arm clamp system applied to laser cutting

Abstract

The utility model discloses a flexible mechanical arm clamp system applied to laser cutting, which is used for clamping and fixing a workpiece to be cut and comprises a workbench, a flexible mechanical arm and a laser cutting device, the at least two flexible mechanical arms are installed on the workbench, any one flexible mechanical arm comprises a multi-axis flexible arm with a fixed end and a movable end, a first connecting part installed at the movable end of the multi-axis flexible arm and a second connecting part in butt joint with the first connecting part, and the first connecting part is detachably connected with the second connecting part; the fixed end of any multi-axis flexible arm is installed on the workbench. And the multiple clamping mechanisms correspond to the multiple flexible mechanical arms one to one, the clamping mechanisms are connected with the second connecting parts of the corresponding flexible mechanical arms, and the clamping mechanisms are used for clamping workpieces after being fixedly connected with the corresponding flexible mechanical arms. According to the laser cutting clamp, the universality of the clamp in the laser cutting process is improved, and support is provided for clamping and fixing of various parts.

Description

Technical Field

[0001] This utility model relates to the field of clamping device technology, specifically to a flexible robotic arm clamping system applied to laser cutting. Background Technology

[0002] Flexible robotic arm grippers are end effectors capable of adapting to the grasping needs of objects of various shapes and sizes. They are widely used in automated production lines, logistics handling, and flexible manufacturing. They can adapt to complex workpieces through deformation, and are particularly advantageous when grasping fragile, irregular, or objects with special surfaces. However, current flexible robotic arm grippers still have some technical limitations in practical applications.

[0003] Existing fixture design principles typically involve using a single fixture for only one or a few types of parts, requiring a dedicated fixture for each part. When machining dozens or even hundreds of different parts, a large number of cutting fixtures are needed. Frequent fixture changes are required between different cutting tasks, and the disassembly, assembly, and adjustment of fixtures are time-consuming, increasing production preparation time and impacting production efficiency. Designing and manufacturing fixtures separately for each part would significantly increase tooling costs, especially in small-batch, multi-variety production models, where the economic issues are particularly prominent. Utility Model Content

[0004] To overcome the above shortcomings, the purpose of this utility model is to provide a flexible robotic arm clamping system for laser cutting, which improves the versatility of clamps in the laser cutting process, provides support for clamping and fixing various parts, and can effectively meet the needs of modern industry for flexibility, efficiency and precision.

[0005] Technical solution: The flexible robotic arm clamping system for laser cutting described in this utility model is used to clamp and fix the workpiece to be cut, including:

[0006] Workbench;

[0007] At least two flexible robotic arms are mounted on the worktable. Each flexible robotic arm includes a multi-axis flexible arm with a fixed end and a movable end, a first connecting part mounted on the movable end of the multi-axis flexible arm, and a second connecting part docking with the first connecting part. The first connecting part and the second connecting part are detachably connected. The fixed end of each multi-axis flexible arm is mounted on the worktable.

[0008] At least two clamping mechanisms are provided, and the clamping mechanisms correspond one-to-one with the flexible robotic arms. The clamping mechanism is connected to the second connecting part of the flexible robotic arm corresponding to it. After being fixedly connected to the flexible robotic arm corresponding to it, the clamping mechanism is used to clamp the workpiece.

[0009] Furthermore, a locking turntable is provided between the first connecting part and the second connecting part. The locking turntable is fixed to the first connecting part by screws. The locking turntable has at least two sliding limiting grooves, which are evenly distributed around the locking turntable. The end of the second connecting part facing the first connecting part has at least two limiting pins. The limiting pins can extend into the sliding limiting grooves and rotate to realize the locking installation of the first connecting part and the second connecting part.

[0010] Furthermore, the first connecting part is provided with a first electrical signal pair interface in the middle, and the second connecting part is provided with a second electrical signal pair interface corresponding to the first electrical signal pair interface at a corresponding position in the middle.

[0011] Furthermore, the flexible robotic arm is also provided with an air tube, the first connecting part has a plurality of first air tube interfaces evenly distributed around the first electrical signal interface, and the second connecting part has a second air tube interface corresponding to the first air tube interface.

[0012] Furthermore, the first connecting part and the second connecting part also include a screw connection.

[0013] Furthermore, the clamping mechanism is connected to the second connecting part by screws.

[0014] Furthermore, the clamping mechanism includes a positioning sensor, a magnetic chuck, or a gripper.

[0015] The beneficial effects of this utility model are as follows:

[0016] (1) The flexible robotic arm clamping system for laser cutting described in this utility model can switch clamps according to the actual workpiece being processed, which improves the universality of clamps during laser cutting and provides support for clamping and fixing various parts. It can effectively meet the needs of modern industry for flexibility, efficiency and precision.

[0017] (2) The multi-axis design of the flexible robotic arm and the movable connection between the first connecting part and the second connecting part of the present invention enable the clamp to adjust the clamping mechanism according to the shape of the workpiece and the cutting requirements, which is suitable for the processing needs of complex shaped workpieces.

[0018] (3) The first connecting part and the second connecting part of this utility model are mechanically connected by a locking turntable and a limiting pin, and also include screws for auxiliary connection, which simplifies the installation and improves the stability of the installation.

[0019] (4) The clamping mechanism described in this utility model can be replaced by a positioning sensor, a magnetic chuck or a gripper, so that the clamp can adapt to workpieces of different shapes and sizes and reduce the possibility of errors during the clamping process. Attached Figure Description

[0020] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, under the guidance of this invention, can select various possible shapes and proportions to implement this invention according to specific circumstances. In the drawings:

[0021] Figure 1 This is a schematic diagram of the flexible robotic arm clamping system for laser cutting described in this utility model;

[0022] Figure 2 This is a schematic diagram of the flexible robotic arm described in this utility model;

[0023] Figure 3 This is a schematic diagram of the flexible robotic arm described in this utility model;

[0024] Figure 4 This is a schematic diagram of the first connecting part and the second connecting part described in this utility model.

[0025] In the diagram: 1. Workpiece; 2. Worktable; 3. Flexible robotic arm; 31. Multi-axis flexible arm; 32. First connecting part; 321. First electrical signal interface; 322. First air pipe interface; 33. Second connecting part; 331. Second electrical signal interface; 332. Second air pipe interface; 333. Limiting pin; 34. Locking turntable; 341. Sliding limiting groove; 35. Clamping mechanism. Detailed Implementation

[0026] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0027] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., 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 utility model and for simplifying the description, and do not 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 utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The implementation methods of this utility model will now be described based on its overall structure.

[0028] like Figures 1 to 4 As shown, this utility model discloses a flexible robotic arm clamping system for laser cutting, used to clamp and fix the workpiece 1 to be cut, comprising:

[0029] Workbench 2;

[0030] At least two flexible robotic arms 3 are mounted on the worktable 2. Each flexible robotic arm 3 includes a multi-axis flexible arm 31 with a fixed end and a movable end, a first connecting part 32 mounted on the movable end of the multi-axis flexible arm 31, and a second connecting part 33 docking with the first connecting part 32. The first connecting part 32 and the second connecting part 33 are detachably connected. The fixed end of each multi-axis flexible arm 31 is mounted on the worktable 2.

[0031] At least two clamping mechanisms 35, and a plurality of clamping mechanisms 35 correspond one-to-one with a plurality of flexible robotic arms 3. The clamping mechanism 35 is connected to the second connecting part 33 of the corresponding flexible robotic arm 3. After being fixedly connected to the corresponding flexible robotic arm 3, the clamping mechanism 35 is used to clamp the workpiece.

[0032] With the above structure, a flexible robotic arm 3 is installed on the worktable 2, ensuring that the flexible robotic arm 3 remains stable when cutting the workpiece 1, thereby improving cutting accuracy. The flexible robotic arm 3 achieves flexible movement through a multi-axis flexible arm 31, adapting to workpieces 1 of different shapes and sizes; the movable end of the multi-axis flexible arm 31 is equipped with a first connecting part 32, and the first connecting part 32 and the second connecting part 33 are detachably connected. The second connecting part 33 is connected to the clamping mechanism 35, thus forming a complete robotic arm clamping system. When the operator needs to replace the clamping mechanism 35, they only need to disassemble the second connecting part 33 along with the clamping mechanism 35 from the first connecting part 32 before replacing it, avoiding the need for a special clamping system for each workpiece 1, greatly reducing production costs.

[0033] Specifically, the clamping mechanism 35 receives control signals by being energized with the flexible robotic arm 3, thereby precisely adjusting the clamping position and force to adapt to different workpiece 1 requirements. When the system starts, the flexible robotic arm 3 moves to the position of workpiece 1 under control commands and adjusts the clamping angle through the flexibility of the multi-axis flexible arm 31. After receiving the command, the clamping mechanism 35 can clamp the workpiece 1, ensuring that it will not shift due to vibration or external force during the cutting process. The entire process achieves high-precision collaboration through signal control, ensuring the consistency and quality of the cutting effect. Since the first connecting part 32 and the second connecting part 33 can be connected by locking, and the clamping mechanism 35 is connected to the second connecting part 33, the operator can disassemble the second connecting part 33 according to the actual clamping needs, thereby replacing the clamping mechanism 35 with a suitable clamping mechanism 35, and then re-locking the replaced second connecting part 33 to the first connecting part 32. Preferably, the clamping mechanism 35 and the second connecting part 33 are connected and fixed by screws, which has a simple and reliable structure, high connection strength, and ensures the stability and durability of the clamping mechanism 35 during operation, while maintaining the convenience of assembly.

[0034] like Figure 4 As shown, in this embodiment, by providing a locking turntable 34 between the first connecting part 32 and the second connecting part 33, the overall connection and locking process of the flexible robotic arm 3 becomes more stable and precise. The locking turntable 34 is fixed to the first connecting part 32 with screws, ensuring the reliability of its installation. At the same time, at least two sliding limit grooves 341 provided on the locking turntable 34 are evenly distributed in a ring, providing precise guidance for the insertion and sliding locking of the limit pins 333 on the second connecting part 33. Specifically, the end of the second connecting part 33 facing the first connecting part 32 has at least two limit pins 333, each limit pin 333 corresponding to a sliding limit groove 341. The limit pins 333 can extend into the sliding limit grooves 341, and locking and limiting installation is achieved by rotation. The matching of the limit pins 333 and the sliding limit grooves 341 enhances the mechanical connection between the first connecting part 32 and the second connecting part 33, and further improves the accuracy and stability of the assembly, avoiding loosening or displacement caused by assembly errors. Furthermore, the aforementioned structure facilitates rapid assembly and disassembly, adapting to various processing requirements and providing a reliable guarantee for high-precision laser cutting of workpiece 1. Moreover, the first connecting part 32 and the second connecting part 33 can be further secured with screws using the locking turntable 34 connection method.

[0035] In this embodiment, a first electrical signal interface 321 is provided at the middle position of the first connecting part 32, and a second electrical signal interface 331 is provided at the corresponding position of the second connecting part 33, enabling reliable electrical signal connection between the two. The first connecting part 32 and the second connecting part 33 combine mechanical connection with electrical signal transmission, realizing functional integration. This not only simplifies the overall layout of the equipment but also avoids complex external wiring, improving the stability of system operation and the reliability of signal transmission. The docking of the first electrical signal interface 321 and the second electrical signal interface 331 ensures the rapid transmission of control commands and feedback signals, which are ultimately reflected to the clamping mechanism 35, enabling the clamping mechanism 35 to accurately fix and clamp the workpiece 1 to be cut. The docking of the first electrical signal interface 321 and the second electrical signal interface 331 also provides expansion space for subsequent intelligent functions. The clamping mechanism 35 can be replaced with sensors, detection devices, or other intelligent components as needed, thereby improving the adaptability and functional expandability of the system.

[0036] In this embodiment, the flexible robotic arm 3 has an internal air pipe. The first connecting part 32 has several first air pipe interfaces 322 evenly distributed around the first electrical signal interface 321. The second connecting part 33 has a second air pipe interface 332 corresponding to the first air pipe interfaces 322. The integration of the air pipe interfaces with the electrical signal interface allows the air and electrical circuits to be connected within the same flexible robotic arm 3. The design of the first air pipe interfaces 322 and the second air pipe interfaces 332 ensures the stability and sealing of the flexible robotic arm 3, preventing gas leakage or pressure loss due to poor connections, thus ensuring the working efficiency and safety of the pneumatic system. Furthermore, the built-in design of the air pipes avoids interference that may be caused by external air pipe placement, enhancing the system's flexibility and reliability. The integrated design of the air pipe interfaces and electrical signal interfaces further improves the functional expandability of the flexible robotic arm 3, realizing coordinated control of pneumatic and electric power, and meeting the multi-functional needs of more complex working conditions.

[0037] like Figure 2 and Figure 3As shown in this embodiment, there are multiple flexible robotic arms 3, each equipped with a clamping mechanism 35. The clamping mechanism 35 can be a positioning sensor, a magnetic chuck, or a gripper. Combinations of various clamping mechanisms 35 can meet the clamping requirements of different workpieces 1. The positioning sensor detects the position and state of the workpiece 1, achieving precise positioning and feedback. The magnetic chuck is suitable for the rapid adsorption and fixation of metal workpieces 1, featuring simple operation and high efficiency. The gripper fixes the workpiece 1 through mechanical grasping, adapting to the clamping requirements of workpieces 1 of various shapes and materials. The multiple structural options of the clamping mechanism 35 offer high flexibility and adaptability, allowing for the selection of a suitable fixing method based on the material, shape, and size of the workpiece 1, thereby improving the system's versatility and efficiency.

[0038] The technical solution of this utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

Claims

1. A flexible robotic arm gripper system for laser cutting, characterized in that, Used for clamping the workpiece to be cut, including: Workbench; At least two flexible robotic arms are mounted on the worktable. Each flexible robotic arm includes a multi-axis flexible arm with a fixed end and a movable end, a first connecting part mounted on the movable end of the multi-axis flexible arm, and a second connecting part docking with the first connecting part. The first connecting part and the second connecting part are detachably connected. The fixed end of each multi-axis flexible arm is mounted on the worktable. At least two clamping mechanisms are provided, and the clamping mechanisms correspond one-to-one with the flexible robotic arms. The clamping mechanism is connected to the second connecting part of the flexible robotic arm corresponding to it. After being fixedly connected to the flexible robotic arm corresponding to it, the clamping mechanism is used to clamp the workpiece.

2. The flexible robotic arm gripper system for laser cutting according to claim 1, characterized in that, A locking turntable is also provided between the first connecting part and the second connecting part. The locking turntable is fixed to the first connecting part by screws. The locking turntable has at least two sliding limit grooves, which are evenly distributed around the locking turntable. The end of the second connecting part facing the first connecting part has at least two limit pins. The limit pins can extend into the sliding limit grooves and rotate to realize the locking installation of the first connecting part and the second connecting part.

3. The flexible robotic arm gripper system for laser cutting according to claim 1, characterized in that, The first connecting part has a first electrical signal pair interface in the middle, and the second connecting part has a second electrical signal pair interface corresponding to the first electrical signal pair interface at a corresponding position in the middle.

4. The flexible robotic arm gripper system for laser cutting according to claim 3, characterized in that, The flexible robotic arm is also equipped with an air tube. The first connecting part has several first air tube interfaces evenly distributed around the first electrical signal interface, and the second connecting part has a second air tube interface corresponding to the first air tube interface.

5. The flexible robotic arm gripper system for laser cutting according to claim 1, characterized in that, The first connecting part and the second connecting part also include a screw connection.

6. The flexible robotic arm gripper system for laser cutting according to claim 1, characterized in that, The clamping mechanism is connected to the second connecting part by screws.

7. The flexible robotic arm gripper system for laser cutting according to claim 1, characterized in that, The clamping mechanism includes a positioning sensor, a magnetic chuck, or a gripper.

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