CN210878798U

CN210878798U - Automatic trade supporting fixture device who uses of anchor clamps intelligent robot

Info

Publication number: CN210878798U
Application number: CN201921653655.3U
Authority: CN
Inventors: 吴海军; 刘星宇
Original assignee: Suzhou Zhidong Information Technology Co ltd
Current assignee: Suzhou Zhidong Information Technology Co ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-06-30
Anticipated expiration: 2029-09-30

Abstract

A clamping device matched with an intelligent robot capable of automatically replacing a clamp comprises a plurality of clamp bodies with different shapes and electromagnets; the upper end of each clamp body is provided with a connecting disc, the upper side end of the connecting disc is provided with a plurality of lower holes, the middle part of the outer side end of the connecting disc is provided with a plurality of holes, the outer end of each outer side end hole is provided with an air pipe, and a plurality of air pipes are connected with a plurality of air inlet and exhaust pipes of the manipulator of the clamp body through air hoses respectively; the middle part of the connecting disc is provided with an opening, and the side end of the upper part of the connecting disc is provided with a groove; the clamping mechanism at the lower end of the robot arm comprises a fixed disc, a connecting cylinder and an upper flange plate, and the electromagnet is arranged in a middle opening of the fixed disc; the upper side end of the fixed disk is provided with a plurality of upper through holes, the lower part of the fixed disk is fixed with a limiting rod, and the lower end of the middle part of the fixed disk is provided with a positioning ring; the lower part of the connecting cylinder is arranged on the upper part of the fixed disc, the upper flange disc is arranged on the upper part of the connecting cylinder, and the upper flange disc is connected with a robot arm flange disc of the intelligent robot body. This novel change anchor clamps body is fast, effectual.

Description

Automatic trade supporting fixture device who uses of anchor clamps intelligent robot

Technical Field

The utility model relates to an intelligent robot field, especially an automatic trade supporting fixture device who uses of anchor clamps intelligent robot.

Background

With the development of science and technology, intelligent robots are increasingly applied in the field of industrial processing. The device of intelligent robot intelligent machine tool processing work piece in coordination generally includes intelligent robot, intelligent work piece machine tool, is applicable to a plurality of anchor clamps, the work piece transfer chain of different appearance work pieces (the general intelligent robot of locating position is located the middle part, and intelligent robot, anchor clamps work or material rest, work piece transfer chain, the finished product work piece of processing are put the district and are located around the intelligent robot side). Before and during work, the intelligent robot can automatically replace and use clamps with different shapes under the action of a self circuit and a control system in the intelligent robot or a control command input by an operator according to workpieces to be processed with different shapes on a conveying line. During operation, the clamp manipulators located at the front end of the intelligent robot arm and in different shapes carry workpieces to be machined on the conveying line and in different shapes to the position between the two clamps or the two chucks of the intelligent machine tool, after the workpieces are clamped by the clamps or the chucks of the intelligent machine tool, the clamp manipulators at the front end of the intelligent robot arm are loosened, and the intelligent machine tool automatically begins to machine the workpieces. After the workpiece is machined, the clamp manipulator clamps and places the machined workpiece in a finished product area (after the clamp of the intelligent robot clamps and stabilizes the machined workpiece, two clamps or two chucks of the intelligent machine tool are separated, so that the intelligent robot can place the machined workpiece in the finished product area), then the upper workpiece and the lower workpiece on the conveying line are conveyed between the two clamps or the two chucks of the machine tool, after the clamp or the chuck of the intelligent machine tool clamps and clamps the next workpiece, the clamp manipulator at the front end of the intelligent robot arm is released, the intelligent machine tool automatically starts to machine another workpiece, the process is continuously and circularly reciprocated, the purpose of intelligently machining the workpiece in the assembly line can be achieved (if the workpiece conveyed to the tail end by the conveying line is not clamped by the manipulator of the clamp of the intelligent robot, the conveying line stops conveying under the function of the conveying line, and after the tail end workpiece is clamped by the manipulator of the clamp, the conveyor line will continue to work to transport the next workpiece to the end ready for the next gripper robot gripping operation). The device for processing the workpiece by the intelligent robot in cooperation can reduce the labor intensity of workers, reduce the labor expenditure of production departments, reduce the safety risk caused by manual operation, and improve the processing speed, so that the device is more and more applied to processing the workpiece by a machine tool.

In actual production, because the shape of the workpiece is not limited to one, after the workpiece with one shape is machined, the fixture with the matched shape needs to be replaced according to the next workpiece with the different shape, so that the next workpiece in the next batch can be effectively transported to the fixture or the chuck of the machine tool by the intelligent robot, and particularly, in a production area with multiple types of machined workpieces, the fixtures with the matched shapes are more. The clamps of multiple different appearances are generally put on the anchor clamps work or material rest according to rule in proper order, and intelligent robot changes the unloading of back anchor clamps and puts according to internal control system to the anchor clamps locating place department that corresponds and use to and change anchor clamps again. When the clamps with different shapes are replaced, a clamping mechanism at the lower end of the robot arm is drawn in to clamp the connecting plate (connecting disc) tightly so as to clamp the clamps, the six lower openings and the six upper openings are aligned respectively, a control system in the intelligent robot controls the working modes of the plurality of electromagnetic valves respectively, and compressed air output and input by the plurality of electromagnetic valves passes through the six upper openings, the six lower openings and the six upper openings respectively, Six lower open holes are opened and closed, so that the control purpose of furling, clamping or unfolding and loosening the mechanical arm is achieved, and the machined workpiece is clamped or put down correspondingly. In the prior art, when clamps with different shapes are replaced, the clamping mechanism at the lower end of the robot arm is used for clamping the connecting plate by folding the two ends of the clamping mechanism, so that the clamp is clamped, the clamping mechanisms at the left end and the right end comprise components such as an electromagnetic valve, a cylinder, a connecting rod and the like, a plurality of moving components are provided, and the problems of complex structure and high cost are solved; and because clamping mechanism draws in the side direction through both ends and presss from both sides the connecting plate tightly, consequently can not guarantee six effective sealings of going up between trompil and the under shed, consequently in-service use, when the under shed is sealed not well, can bring the influence to the manipulator normal work of anchor clamps.

Disclosure of Invention

In order to overcome among the prior art intelligent robot in coordination with intelligent machine tool machining work piece's device, because of the drawback that exists in the different appearance anchor clamps of structure limit change, the utility model discloses based on techniques such as intelligent robot control station and intelligent lathe of current maturity, a simple structure is provided, the reliable operation, in operation, carry out the actuation to different appearance anchor clamps bodies through the electro-magnet, combine and the separating rate improves, and owing to be the actuation from top to bottom, can realize going up the effective sealing between through-hole and the lower trompil, and then can effectively guarantee the supporting fixture device who uses of an automatic anchor clamps intelligent robot that trades of the normal work of different appearance anchor clamps manipulators.

The utility model provides a technical scheme that its technical problem adopted is:

a clamping device matched with an intelligent robot capable of automatically replacing a clamp comprises a plurality of clamp bodies with different shapes and electromagnets; the clamp is characterized in that the middle part of the supporting plate at the upper end of each clamp body with different appearances is provided with a connecting disc, a plurality of lower openings are distributed at intervals at the upper side end of the connecting disc from top to bottom, a plurality of openings are arranged at intervals at the middle part of the outer side end of the connecting disc, the plurality of openings at the middle part of the outer side end are communicated with the plurality of openings at the upper side end respectively, an air pipe is arranged at the outer end of each opening at the outer side end, and a plurality of air pipes are connected with a plurality of air inlet and exhaust pipes of; the middle part of the connecting disc is provided with an opening, and a groove is arranged between two lower openings at the side end of the upper part; the clamping mechanism at the lower end of the robot arm comprises a fixed disc, a connecting cylinder and an upper flange plate, and the electromagnet is fixedly arranged in a middle opening of the fixed disc; a plurality of upper through holes are distributed at intervals from top to bottom at the upper side end of the ring fixing disc, a limiting rod is fixedly arranged at the lower part of the fixing disc between the two upper through holes, and a positioning ring is fixedly arranged at the lower end of the middle part of the fixing disc; connecting cylinder lower part fixed mounting is located the connecting cylinder lower extreme at fixed disk upper portion, a plurality of through-holes of going up, and the upper end of a plurality of through-holes of going up is fixed mounting respectively has the intake pipe, and the lower extreme fixed mounting of going up the ring flange is on connecting cylinder upper portion, and a plurality of intake pipes are connected with a gas hose respectively, and a plurality of gas hoses are connected respectively with the supporting a plurality of solenoid valves of robot body, go up the robot arm ring flange fixed connection of ring flange and intelligent robot body.

Furthermore, the connecting disc, the fixed disc, the connecting cylinder and the upper flange are made of steel.

Furthermore, the inner diameter of the middle opening of the connecting disc is larger than the outer diameter of the annular positioning ring at the lower end of the middle part of the fixed disc, and the height of the inner diameter is higher than that of the positioning ring.

Furthermore, the inner diameter of a groove between two lower openings of the connecting disc is larger than the outer diameter of a limiting rod at the lower part of the fixed disc between the two upper through holes, and the height of the groove is higher than that of the limiting rod.

Furthermore, a plurality of upper through holes distributed on the upper side end of the fixed disc from top to bottom and a plurality of lower through holes distributed on the upper side end of the connecting disc from top to bottom are consistent in number, equal in distance and consistent in circumferential direction.

Furthermore, the spacing between the groove between two lower holes of the connecting disc and the spacing rod at the lower part of the fixed disc between the two upper through holes are equal, and the circumferential directions are consistent.

Furthermore, sealing gaskets are fixedly mounted at the lower end of the fixed disk and the upper end of the connecting disk respectively, a plurality of openings around the two sealing gaskets are aligned with the positions of a plurality of upper through holes on the lower portion of the fixed disk and a plurality of lower openings on the upper portion of the annular connecting disk respectively, and the inner diameters of the openings in the middle of the two sealing gaskets are larger than the outer diameter of the positioning ring at the lower end of the middle of the fixed disk and the inner diameter of the opening in the middle of.

The utility model has the advantages that: the utility model discloses based on current ripe intelligent robot control level and intelligent lathe etc. technique, moreover, the steam generator is simple in structure, the operation is reliable, when changing different appearance anchor clamps bodies, carry out the actuation to different appearance anchor clamps bodies through the electro-magnet, both combine and the separating rate improves, and owing to be the actuation from top to bottom, under two rubber packing pad combined action, can effectively realize a plurality of last through-holes and a plurality of respectively sealed between trompil down, guaranteed behind the working method of the inside control system of intelligent robot control many solenoid valves respectively, compressed air through many solenoid valve output inputs can be respectively through six last through-holes, six under open the hole get into a plurality of inlet and outlet pipes of anchor clamps body manipulator, and then reach draw in the control purpose that presss from both sides tightly or expand and relax to the manipulator, press from both sides the purpose of pressing from both sides tightly or relax to processing work piece correspondingly. This novel cylindricality gag lever post etc. can play limiting displacement, prevents that anchor clamps during operation from turning to, and annular position circle etc. can play the positioning action, do benefit to the actuation work of electro-magnet, and work is more reliable. Based on the above, so this novel application prospect that has.

Drawings

The invention will be further explained with reference to the drawings and examples.

Fig. 1 is the utility model discloses and intelligent robot, intelligent lathe, anchor clamps work or material rest, processing work piece transfer chain between the schematic diagram.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic structural diagram of a clamping mechanism at the lower end of the robot arm of the present invention.

Detailed Description

As shown in fig. 1, 2 and 3, a clamping device used with an intelligent robot capable of automatically changing clamps comprises a plurality of clamping bodies 1 with different shapes and an annular electromagnet 2, wherein a power input end of the annular electromagnet 2 is connected with a power output end of a control circuit board of the intelligent robot body 3 through a lead, the intelligent robot 3 is located in the ground middle of a processing area, an intelligent machine tool 4, a clamping rack 5, a processing workpiece conveying line 6 (a processing workpiece 12 is located at the front end of the conveying line 6), and a processing finished workpiece 13 placement area (a processing finished workpiece 13 is located at the rear end of the conveying line 6) is located around the side end of the intelligent robot 3; an annular connecting disc 101 is arranged in the middle of an upper end supporting plate of each clamp body 1 with different shapes, six lower openings 102 are distributed at the upper side end of the annular connecting disc 101 from top to bottom at intervals, six openings 103 are formed in the middle of the outer side end of the connecting disc 101 at intervals, the six openings 103 in the middle of the outer side end are communicated with the six lower openings 102 in the upper side end respectively, an air pipe 104 is welded at the outer end of each opening in the outer side end, and a plurality of air pipes 104 are connected with six air inlet and exhaust pipes of a clamp body manipulator 106 through metal air hoses respectively; the middle part of the connecting disc 101 is provided with an opening 101-1, and a cylindrical groove 101-2 is arranged between two lower openings at the upper side end; the clamping mechanism at the lower end of the robot arm comprises a lower annular fixed disc 7, a connecting cylinder 8 and an upper flange plate 9, wherein external threads are arranged on the periphery of a shell of the annular electromagnet 2 from top to bottom, internal threads are arranged on a middle opening 101-1 of the fixed disc from top to bottom, the external threads on the periphery of the shell of the electromagnet 2 are screwed into the internal threads of the middle opening 101-1 of the fixed disc, and the annular electromagnet 2 is arranged in the middle opening 101-1 of the fixed disc; a plurality of upper through holes 71 are distributed at intervals from top to bottom at the upper side end of the ring fixing disc 7, a cylindrical limiting rod 72 is arranged at the lower part of the fixing disc between the two upper through holes, and an annular positioning ring 73 is welded at the lower end of the middle part of the fixing disc 7; the lower portion of the connecting cylinder 8 is welded to the upper portion of the fixed disc 7, the upper through holes 71 are located in the lower end of the connecting cylinder 8, an air inlet pipe 10 is welded to the upper ends of the upper through holes 71 respectively, the lower end of the upper flange 9 is welded to the upper portion of the connecting cylinder 8, the air inlet pipes 10 are connected with metal air hoses respectively, the metal air hoses are led out upwards through an opening in the middle of the upper flange 9, led out of the robot body 3 and connected with six matched electromagnetic valves of the robot body 3, and the upper flange 9 is connected with a flange of a robot arm 31 of the intelligent robot body through screw nuts. In this example, the shape structure of the clamp body 1 is completely the same as the use process and the function except that the structure of the upper end connecting disc 101 and the clamping mechanism at the lower end of the robot arm is different from the structure of the upper end connecting disc and the clamping mechanism at the lower end of the robot arm in the prior art.

As shown in fig. 1, 2 and 3, the annular connecting disc 101, the lower annular fixed disc 7, the connecting cylinder 8 and the upper flange 9 are made of steel. The inner diameter of the middle part opening hole 101-1 of the connecting disc is larger than the outer diameter of the annular positioning ring 73 at the lower end of the middle part of the fixed disc, and the height of the inner diameter is higher than that of the limiting ring 73. The inner diameter of a cylindrical groove 101-2 between two lower open holes of the connecting disc is larger than the outer diameter of a cylindrical limiting rod 72 at the lower part of the fixing disc between two upper through holes, and the height of the cylindrical limiting rod is higher than that of the limiting rod 72. Six upper through holes 71 distributed on the upper side end of the fixed disk 7 from top to bottom and six lower openings 102 distributed on the upper side end of the annular connecting disk from top to bottom are consistent in number, equal in spacing and consistent in circumferential direction. The distance between the cylindrical groove 101-2 between two lower openings of the connecting disc and the cylindrical limiting rod 72 at the lower part of the fixing disc between the two upper through holes is equal, and the circumferential directions are consistent. The lower end of the fixed disk 7 and the upper end of the connecting disk 101 are respectively adhered with a rubber sealing gasket 11 by glue, a plurality of openings around the two rubber sealing gaskets 11 are respectively aligned with a plurality of lower openings 102 at the lower part of the upper through holes 71 of the fixed disk and at the upper part of the annular connecting disk, and the inner diameters of the openings in the middle parts of the two rubber sealing gaskets 11 are respectively larger than the outer diameter of the annular positioning ring 73 at the lower end of the middle part of the fixed disk and the inner diameter of the opening 101-1 in the middle.

Shown in fig. 1, 2 and 3, the utility model discloses based on current mature intelligent robot control level and intelligent lathe etc. technique, simple structure, reliable operation. This novel clamping mechanism structure except that anchor clamps body 1 structure, intelligent robot arm 31 lower extreme to and the change anchor clamps body 1 mode that produces from this is different, all the other working processes and prior art are identical completely. When the intelligent robot arm is in work, the mechanical hand 106 of the clamp body 1 with different shapes at the front end of the intelligent robot arm respectively clamps and conveys the workpieces 12 to be machined on the conveying line 6 and with different shapes between two clamps or two chucks of the intelligent machine tool 4, after the clamps or the chucks of the intelligent machine tool 4 clamp the workpieces 12, the mechanical hand 106 of the clamp body at the front end of the intelligent robot arm is loosened, and the intelligent machine tool 4 automatically begins to machine the workpieces; after the workpieces are machined, the mechanical arm 106 of the clamp body 1 clamps the machined workpieces 13 and places the machined workpieces in a finished product area (after the clamp body mechanical arm of the intelligent robot clamps the machined workpieces 13 stably, two clamps or two chucks of the intelligent machine tool 4 are separated, so that the intelligent robot 1 can place the machined workpieces in the finished product area), then clamps and conveys the next workpiece 12 on the conveying line 6 to a position between the two clamps or two chucks of the intelligent machine tool, after the clamp or the chuck of the intelligent machine tool clamps the next workpiece, the clamp body mechanical arm 106 at the front end of the intelligent robot arm is released, the intelligent machine tool 4 automatically starts to machine another workpiece, the process is continuously and circularly reciprocated, and the purpose of intelligently machining the workpieces 12 on the assembly line can be achieved (if the workpieces 12 at the tail end are not clamped by the clamp body 1 of the intelligent robot 3, the conveying line 6 is under the function of the intelligent machine tool, the conveyance is stopped, and after the end workpiece 12 is gripped by the jig body 1, the conveyor line 6 continues to operate to convey the next workpiece to the end in preparation for the next gripping operation of the jig body 1). This novel before work and in the work, according to the work piece 12 of treating of different appearances on transfer chain 6, intelligent robot under its inside self circuit and control system effect, perhaps under the control command effect of operating personnel input, can change the anchor clamps body 1 processing work piece that uses different appearances automatically. When the novel fixture body 1 with different shapes is replaced, the novel fixture body 1 with different shapes is consistent with the prior art, the intelligent robot can rotate by a certain angle under the action of a self circuit and a control system in the intelligent robot or under the action of a control command input by an operator, so that the original fixture body 1 to be replaced is positioned on a corresponding station of the fixture material rack 5, then a control circuit board in the intelligent robot body 3 disconnects a power supply of the electromagnet 2, the electromagnet 2 has no magnetic acting force, and thus under the action of gravity, the original fixture body 1 positioned on the corresponding station of the fixture material rack 5 can be separated from a clamping mechanism at the lower end of the arm of the robot as the arm 31 of the robot body 3 moves upwards; then, under the action of a self circuit and a control system in the intelligent robot or under the action of a control instruction input by an operator, the intelligent robot rotates by a certain angle, the robot arm 31 is sleeved in the middle opening 101-1 of the connecting disc of the next fixture body 1 from top to bottom, the positioning ring 73 of the clamping mechanism is accurately positioned in the middle opening 101-1 of the connecting disc of the fixture body 1 from top to bottom, the limiting rod 72 of the clamping mechanism is accurately positioned in the groove 101-2 of the connecting disc from top to bottom, then, a control circuit board in the intelligent robot body 3 outputs power to enter two power input ends of the electromagnet 2, the electromagnet 2 generates strong magnetic attraction force to tightly attract the connecting disc 101 through the fixed disc 7, and therefore the purpose of connecting the fixture body 1 and the robot arm 31 of the intelligent robot body 1 is achieved. Then, the intelligent robot rotates a certain angle under the action of its internal circuit and control system or the control instruction input by an operator, the operation flow is completely consistent with the operation flow, the intelligent robot clamps and carries another workpiece 12 on the conveying line 6 to … … intelligent machine tool 4 between two clamps or two chucks of the intelligent machine tool through the clamp body, and the purpose of intelligently processing the workpiece 12 in the assembly line can be achieved by continuous circulation and reciprocation. In the novel clamp, when the clamp bodies 1 with different shapes are replaced, the clamp bodies 1 with different shapes are attracted through the electromagnet 2, the combination and separation speed of the two clamp bodies is improved, and due to the attraction from top to bottom, under the combined action of the two rubber sealing gaskets 11, the respective sealing between the plurality of upper through holes 71 and the plurality of lower open holes 102 can be effectively realized, the plurality of open holes around the two rubber sealing gaskets 11 are respectively aligned with the six upper through holes 71 of the fixed disc and the six lower open holes 102 on the upper part of the annular connecting disc, after the control system in the intelligent robot respectively controls the working modes of the six electromagnetic valves, compressed air output and input by the six electromagnetic valves can respectively and effectively enter the six air inlet and exhaust pipes of the clamp body manipulator 106 through the six upper through holes 71 and the six lower open holes 102, and further, the control purpose of furling, clamping or unfolding and releasing of the manipulator 106 is, accordingly, the purpose of clamping or loosening the processing workpiece 12 is achieved. This novel cylindricality gag lever post 72 can play limiting displacement, prevents that anchor clamps body 1 during operation from turning to, and annular position circle 73 etc. can play the positioning action, do benefit to the actuation work of electro-magnet, and work is more reliable. This novel overcome among the prior art intelligent robot in coordination with intelligent machine tool machining work piece device, because of the drawback that exists in the different appearance anchor clamps of structure limit change. The 3 brands of the electromagnet are fast electromagnetic, the model is LX-10060F, the suction force is 300KG, the voltage direct current is 48V, the processing of workpieces below 300KG can be effectively met, the load bearing of the robot body and the device and the processing part of the existing intelligent robot cooperating with the intelligent machine tool to process the workpieces are generally below 200KG, and the suction force of the electromagnet can completely meet the requirement.

Having shown and described the fundamental principles and essential features of the invention, and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A clamping device matched with an intelligent robot capable of automatically replacing a clamp comprises a plurality of clamp bodies with different shapes and electromagnets; the clamp is characterized in that the middle part of the supporting plate at the upper end of each clamp body with different appearances is provided with a connecting disc, a plurality of lower openings are distributed at intervals at the upper side end of the connecting disc from top to bottom, a plurality of openings are arranged at intervals at the middle part of the outer side end of the connecting disc, the plurality of openings at the middle part of the outer side end are communicated with the plurality of openings at the upper side end respectively, an air pipe is arranged at the outer end of each opening at the outer side end, and a plurality of air pipes are connected with a plurality of air inlet and exhaust pipes of; the middle part of the connecting disc is provided with an opening, and a groove is arranged between two lower openings at the side end of the upper part; the clamping mechanism at the lower end of the robot arm comprises a fixed disc, a connecting cylinder and an upper flange plate, and the electromagnet is fixedly arranged in a middle opening of the fixed disc; a plurality of upper through holes are distributed at intervals from top to bottom at the upper side end of the ring fixing disc, a limiting rod is fixedly arranged at the lower part of the fixing disc between the two upper through holes, and a positioning ring is fixedly arranged at the lower end of the middle part of the fixing disc; connecting cylinder lower part fixed mounting is located the connecting cylinder lower extreme at fixed disk upper portion, a plurality of through-holes of going up, and the upper end of a plurality of through-holes of going up is fixed mounting respectively has the intake pipe, and the lower extreme fixed mounting of going up the ring flange is on connecting cylinder upper portion, and a plurality of intake pipes are connected with a gas hose respectively, and a plurality of gas hoses are connected respectively with the supporting a plurality of solenoid valves of robot body, go up the robot arm ring flange fixed connection of ring flange and intelligent robot body.

2. The clamping device of claim 1, wherein the connecting plate, the fixing plate, the connecting cylinder and the upper flange are made of steel.

3. The automatic trade anchor clamps intelligent robot supporting fixture device that uses of claim 1, characterized by, the middle part trompil internal diameter of connection pad is greater than the external diameter of fixed disk middle part lower extreme annular position circle, and the height is higher than the height of position circle.

4. The clamping device of claim 1, wherein the inner diameter of the groove between the two lower openings of the connecting plate is larger than the outer diameter of the limiting rod at the lower part of the fixed plate between the two upper through holes, and the height of the groove is higher than the height of the limiting rod.

5. The clamping device of claim 1, wherein the number of the upper through holes distributed from the top to the bottom at the upper side end of the fixing plate and the number of the lower through holes distributed from the top to the bottom at the upper side end of the connecting plate are the same, the distance between the upper through holes and the lower through holes is the same, and the circumferential direction of the upper through holes and the lower through holes is the same.

6. The clamping device of claim 1, wherein the distance between the grooves in the two lower openings of the connecting disc and the spacing rods at the lower part of the fixing disc in the two upper through holes of the connecting disc are equal, and the circumferential directions of the spacing rods are consistent.

7. The automatic clamping device that forms a complete set of using of anchor clamps intelligent robot of changing of claim 1, characterized by, at the lower extreme of fixed disk and the upper end of connection pad respectively fixed mounting have the sealed pad, a plurality of trompils around two sealed pads respectively with a plurality of upper through-hole lower parts of fixed disk, a plurality of lower trompils position alignment in the upper portion of annular connection pad, two sealed pad middle part trompil internal diameter respectively is greater than the external diameter of fixed disk middle part lower extreme position circle, and connection pad middle part trompil internal diameter.