Grabbing mechanism, feeding device and processing equipment

Abstract

The present application relates to a kind of grabbing mechanism, feeding device and processing equipment, grabbing mechanism includes mounting, first rotating component, grabbing component and pre-pressing component, the gripping piece of grabbing component clamps workpiece, so that workpiece is clamped in clamping space.Moving mechanism drives grabbing mechanism to move, so that the gripping piece of grabbing mechanism with workpiece is moved to the position of with processing position of processing mechanism, pre-pressing component is towards and aligns processing position.First rotating component drives grabbing component to drive workpiece to rotate along first rotating direction, so that workpiece rotates to the pre-pressing component between processing position.When gripping piece releases workpiece, pre-pressing component moves towards clamping space relative to mounting, i.e. towards processing position, so that pre-pressing component can press workpiece on processing position at the moment when gripping piece releases workpiece, avoid when gripping piece releases workpiece, workpiece active displacement relative to processing position, affect subsequent processing mechanism to the quality of workpiece processing.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding structures, in particular to a gripping mechanism, a feeding device and processing equipment. Background Art

[0002] During workpiece machining, the workpiece needs to be loaded, then machined, and finally unloaded. During the loading or unloading process, the workpiece is typically clamped by a clamping structure, allowing it to follow the movement of the clamping structure, thereby achieving loading or unloading. When the workpiece is placed by the clamping structure at the machining station, the clamping structure is typically released to position the workpiece at the machining station. However, since the clamping structure is released directly to position the workpiece at the machining station, this can easily cause the workpiece to shift at the machining station, thereby affecting the machining quality. Summary of the Invention

[0003] Based on this, it is necessary to provide a gripping mechanism, a feeding device and a processing equipment to ensure the stability of the workpiece when it is unloaded or loaded to the processing station to address the above problems.

[0004] A gripping mechanism comprises a mounting member, a first rotating assembly, a gripping assembly and a pre-pressing assembly, wherein the first rotating assembly is arranged on the mounting member; the gripping assembly is arranged on the first rotating assembly, the gripping assembly comprises the gripping member, and the gripping member forms a clamping space for clamping a workpiece; the pre-pressing assembly is arranged on the mounting member, the first rotating assembly is used to drive the gripping assembly to rotate relative to the mounting member along a first rotation direction so that the pre-pressing assembly can be positioned in the clamping space, and the pre-pressing assembly can move relative to the mounting member in a direction toward or away from the clamping space.

[0005] In one embodiment, the pre-stressing assembly includes a driving source, a pre-stressing part and a connecting part. The pre-stressing part is arranged on the mounting part through the connecting part so that the pre-stressing part can be positioned in the clamping space. The driving source is used to drive the pre-stressing part to move toward or away from the clamping space relative to the connecting part.

[0006] In one embodiment, the pre-stressing assembly further includes a guide member, a guide hole is formed on the connecting member, the axial direction of the guide hole is toward the clamping space, one end of the guide member is arranged on the pre-stressing member, and the other end is passed through the guide hole, and the guide member can move in the guide hole.

[0007] In one embodiment, the first rotating assembly includes a first power source, a linkage member and a rotating member, the rotating member can rotate along the first rotation direction relative to the mounting member, and the grabbing assembly is arranged on the rotating member; one end of the linkage member is connected to the rotating member, and the other end is rotatably connected to the first power source, the first power source is rotatably arranged on the mounting member, and the first power source is used to push the linkage member to drive the rotating member to rotate relative to the mounting member.

[0008] In one embodiment, the first rotating component also includes a fixing part, the rotating part includes a rotating shaft and a mounting part, the fixing part includes two fixing parts arranged at intervals, the two fixing parts are respectively mounted on the mounting part, the mounting part is rotatably arranged between the two fixing parts, the linkage part is located on the side of one fixing part facing away from the other fixing part, and a rotating hole is provided on the fixing part close to the linkage part, one end of the rotating shaft is connected to the linkage part, and the other end of the rotating shaft away from the linkage part passes through the rotating hole and is mounted on the mounting part, and the grabbing component is arranged on the mounting part.

[0009] In one embodiment, the first rotating assembly further includes a limiting member, which is arranged on a side of one of the fixing parts facing the other fixing part, and a limiting protrusion is formed on the mounting part, and the mounting part drives the limiting protrusion to rotate relative to the fixing part so that the limiting protrusion can abut against the limiting member.

[0010] In one embodiment, the grabbing assembly further includes a second power source and a rotating member, wherein the second power source is used to drive the rotating member to rotate along a second rotation direction, and the second rotation direction intersects with the first rotation direction; there are at least two grabbing members, and each of the grabbing members is arranged on the rotating member around the rotation axis of the rotating member, so that the pre-pressing assembly can be positioned at different clamping spaces of the grabbing members.

[0011] In one embodiment, the clamping space is spaced apart from the rotation axis of the rotating member.

[0012] A feeding device comprises a moving mechanism and the grabbing mechanism described above, wherein the mounting member is arranged on the moving mechanism, and the moving mechanism is used to drive the grabbing mechanism to move.

[0013] A processing equipment, which includes a processing mechanism and the feeding device as described above, the processing mechanism having a processing position for processing a workpiece; the feeding device is arranged on one side of the processing mechanism, the moving mechanism is used to drive the grasping mechanism to move so that the pre-pressing component is aligned with the processing position, and the first rotating component can drive the grasping component to rotate along a first rotation direction so that the clamping space is rotated between the pre-pressing component and the processing position and aligned with the processing position.

[0014] The above-mentioned gripping mechanism, feeding device and processing equipment use the gripping member of the gripping assembly to clamp the workpiece so that the workpiece is clamped in the gripping space. The gripping mechanism is driven to move by a moving mechanism so that the gripping mechanism holding the workpiece moves to a position aligned with the processing position of the processing mechanism, and the pre-stressing assembly is now oriented toward and aligned with the processing position. The gripping assembly is driven by a first rotating assembly to drive the workpiece to rotate along a first rotation direction so that the workpiece can be accurately rotated between the pre-stressing assembly and the processing position and aligned with the processing position. At this time, the pre-stressing assembly is oriented toward the workpiece in the clamping space, and then when the gripping member releases the workpiece, the pre-stressing assembly moves toward the gripping space relative to the mounting member, that is, toward the processing position, so that at the moment the gripping member releases the workpiece, the pre-stressing assembly can press the workpiece against the processing position, thereby preventing the workpiece from moving relative to the processing position when the gripping member releases the workpiece, thereby affecting the quality of the subsequent processing of the workpiece by the processing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements are drawn only for illustrative purposes and are not necessarily drawn to true scale.

[0018] Figure 1 Schematic diagram of the structure of the processing mechanism and the moving mechanism in one embodiment;

[0019] Figure 2 for Figure 1 Top view of the processing mechanism;

[0020] Figure 3 Schematic diagram of the structure of a grabbing mechanism in one embodiment;

[0021] Figure 4 for Figure 3 A side view of the gripping mechanism shown in a state rotated along a first rotation direction;

[0022] Figure 5 for Figure 3 A side view of the gripping mechanism shown in the figure is rotated to another state along the first rotation direction;

[0023] Figure 6 for Figure 3 Schematic diagram of the structure of the middle pre-compression component;

[0024] Figure 7 for Figure 6 An exploded schematic diagram of the pre-load assembly is shown;

[0025] Figure 8 for Figure 3 A schematic structural diagram of the first rotating assembly;

[0026] Figure 9 for Figure 8 An exploded schematic diagram of the first rotating assembly shown;

[0027] Figure 10 for Figure 3 Schematic diagram of the structure of the grabbing component;

[0028] Figure 11 for Figure 10 An exploded schematic diagram of the gripping assembly shown;

[0029] Figure 12 for Figure 3 A side view of the gripping mechanism shown in a state rotated along a second rotation direction;

[0030] Figure 13 for Figure 3 The gripping mechanism is shown in a side view after being rotated to another state along a second rotation direction.

[0031] Description of reference numerals:

[0032] 10. Workpiece, 20. Processing mechanism, 202. Processing position, 30. Moving mechanism, 302. First moving assembly, 304. Second moving assembly, 40. Grasping mechanism, 100. Mounting member, 200. First rotating assembly, 210. First power source, 220. Linking member, 230. Rotating member, 232. Rotating shaft, 234. Mounting member, 240. Fixing member, 242. Fixing member, 244. Rotating hole, 250. Limiting member, 30 0. Grabbing assembly, 310. Grabbing part, 311. Clamping space, 312. Driving source, 313. Clamping claw, 320. Second power source, 322. Motor, 323. Worm gear assembly, 324. Turntable, 330. Rotating part, 332. Rotating part, 400. Pre-pressing assembly, 410. Propelling source, 420. Pre-pressing part, 430. Connecting part, 432. Guide hole, 434. Linear bearing, 440. Clip, 450. Guide part. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] See Figures 1 to 3 A processing device in one embodiment is used to process a workpiece 10. The processing device includes a processing mechanism 20 and a feeding device. The processing mechanism 20 has a processing position 202 for processing the workpiece 10. The feeding device is disposed on one side of the processing mechanism. The feeding device can be used to feed the workpiece 10 to the processing position 202 of the processing mechanism 20, thereby facilitating processing of the workpiece 10 by the processing mechanism 20. The feeding device can also be used to unload the processed workpiece 10 from the processing position 202.

[0035] Specifically, the feeding device includes a moving mechanism 30 and a gripping mechanism 40. The gripping mechanism 40 is disposed on the moving mechanism 30. The moving mechanism 30 is used to drive the gripping mechanism 40 to move. The gripping mechanism 40 is used to clamp the workpiece 10 so that the workpiece 10 can be loaded or unloaded relative to the processing mechanism 20 through the moving mechanism 30. Furthermore, the moving mechanism 30 can drive the gripping mechanism 40 to move to a position corresponding to the processing position 202, so that the gripping mechanism 40 can place the workpiece 10 on the processing position 202.

[0036] See Figure 1 and Figure 3In one embodiment, the moving mechanism 30 includes a first moving assembly 302 and a second moving assembly 304. The second moving assembly 304 is mounted on the first moving assembly 302. The first moving assembly 302 is configured to drive the second moving assembly 304 to move along a first moving direction. The mounting member is mounted on the second moving assembly 304. The second moving assembly 304 is configured to drive the gripping mechanism 40 to move along a second moving direction, which intersects the first moving direction. By having the first moving assembly 302 and the second moving assembly 304 move in different directions, the position of the workpiece 10 can be adjusted on a plane, facilitating loading or unloading of the workpiece 10.

[0037] In this embodiment, the first moving assembly 302 is used to drive the second moving assembly 304 to move along the X-axis, and the second moving assembly 304 is used to drive the gripping mechanism 40 to move along the Z-axis. In other embodiments, the first moving assembly 302 can also drive the second moving assembly 304 to move along other directions, and the second moving assembly 304 can also drive the gripping mechanism 40 to move along other directions.

[0038] In other embodiments, the moving mechanism 30 further includes a third moving assembly, which is disposed on the second moving assembly 304. The gripping mechanism 40 is disposed on the third moving assembly. The third moving assembly is configured to drive the gripping mechanism 40 to move along a third moving direction. Specifically, the third moving direction may be the Y-axis direction. In another embodiment, the third moving assembly may be omitted.

[0039] See Figures 3 to 5 In one embodiment, the gripping mechanism 40 includes a mounting member 100, a first rotating assembly 200, a gripping assembly 300, and a pre-pressing assembly 400. The first rotating assembly 200 is disposed on the mounting member 100; the gripping assembly 300 is disposed on the first rotating assembly 200, and the gripping assembly 300 includes a gripping member 310. The gripping member 310 defines a clamping space 311 for clamping the workpiece 10. The pre-pressing assembly 400 is disposed on the mounting member 100. The first rotating assembly 200 is used to drive the gripping assembly 300 to rotate relative to the mounting member 100 in a first rotation direction a so that the pre-pressing assembly 400 can be aligned with the clamping space 311. The pre-pressing assembly 400 can move relative to the mounting member 100 toward or away from the clamping space 311.

[0040] See also Figure 1 and Figure 2In this embodiment, the mounting member 100 is mounted on the moving mechanism 30. Furthermore, the moving mechanism 30 is used to drive the gripping mechanism 40 to move so that the pre-pressing assembly 400 is aligned with the processing position 202. The first rotating assembly 200 can drive the gripping assembly 300 to rotate along the first rotation direction a so that the clamping space 311 rotates between the pre-pressing assembly 400 and the processing position 202 and is aligned with the processing position 202.

[0041] The gripping mechanism 40, feeding device, and processing equipment described above utilize the gripping member 310 of the gripping assembly 300 to clamp the workpiece 10, such that the workpiece 10 is clamped within the clamping space 311. The movement mechanism 30 drives the gripping mechanism 40 to move, such that the gripping mechanism 40, holding the workpiece 10, moves to a position aligned with the processing position 202 of the processing mechanism 20. At this point, the pre-pressing assembly 400 faces and aligns with the processing position 202. The first rotating assembly 200 drives the gripping assembly 300 to rotate the workpiece 10 along a first rotational direction a, allowing the workpiece 10 to be accurately rotated between the pre-pressing assembly 400 and the processing position 202, and aligned with the processing position 202. At this time, the pre-stressing component 400 is directed toward the workpiece 10 in the clamping space 311, and then when the grasping member 310 releases the workpiece 10, the pre-stressing component 400 moves toward the clamping space 311 relative to the mounting member 100, that is, moves toward the processing position 202, so that at the moment the grasping member 310 releases the workpiece 10, the pre-stressing component 400 can press the workpiece 10 against the processing position 202, thereby avoiding the workpiece 10 from moving relative to the processing position 202 when the grasping member 310 releases the workpiece 10, affecting the quality of subsequent processing of the workpiece 10 by the processing mechanism 20.

[0042] At the same time, since the first rotating component 200 can drive the grabbing member 310 to rotate, and thus drive the workpiece 10 to rotate, the posture of the workpiece 10 when loading to the processing position 202 can be adjusted, so that the workpiece 10 can better adapt to the setting requirements of the processing position 202 for the workpiece 10.

[0043] See Figure 3 、 Figure 6 and Figure 7In one embodiment, the pre-pressing assembly 400 includes a driving source 410, a pre-pressing member 420, and a connecting member 430. The pre-pressing member 420 is disposed on the mounting member 100 via the connecting member 430 so that the pre-pressing member 420 can be aligned with the clamping space 311. The driving source 410 is used to drive the pre-pressing member 420 to move toward or away from the clamping space 311 relative to the connecting member 430. When the workpiece 10 needs to be pressed, the workpiece 10 rotates between the pre-pressing member 420 and the processing position 202. The driving source 410 drives the pre-pressing member 420 to move toward the workpiece 10. When the gripping member 310 releases the workpiece 10, the pre-pressing member 420 presses the workpiece 10 against the processing position 202, preventing the workpiece 10 from deviating relative to the processing position 202. The pre-pressing member 420 is arranged on the mounting member 100 through the connecting member 430 so that after the first rotating assembly 200 drives the grabbing member 310 to rotate, the pre-pressing member 420 can be positioned in the clamping space 311, thereby facilitating the purpose of the pre-pressing member 420 pressing the workpiece 10.

[0044] Specifically, the pre-pressing member 420 can press the workpiece 10 against the main shaft of the processing mechanism 20, so that the processing mechanism 20 can clamp the workpiece 10 and perform processing.

[0045] In this embodiment, the driving source 410 pushes the pre-press 420 to move a distance of 5 mm to 20 mm. This is to avoid excessive movement distances that increase space usage, and to avoid excessive movement distances that reduce the pressure on the workpiece 10. Specifically, the driving source 410 pushes the pre-press 420 to move a distance of 12 mm. In other embodiments, the driving source 410 can push the pre-press 420 to move other distances.

[0046] In this embodiment, the driving source 410 is a pneumatic cylinder that drives the pre-pressing member 420 relative to the connecting member 430. Specifically, the driving source 410 is disposed on the connecting member 430, and a clamping member 440 is provided on the side of the pre-pressing member 420 facing the driving source 410. The piston rod of the driving source 410 can be clamped on the clamping member 440. Alternatively, the driving source 410 can be directly connected to the connecting member 440. In other embodiments, the driving source 410 can also be other mechanisms capable of driving the movement of the pre-pressing member 420.

[0047] In one embodiment, the pre-pressing assembly 400 further includes a guide member 450. A guide hole 432 is formed in the connecting member 430. The axial direction of the guide hole 432 faces the clamping space 311. One end of the guide member 450 is disposed on the pre-pressing member 420, and the other end is inserted into the guide hole 432. The guide member 450 is movable within the guide hole 432. When the driving source 410 drives the pre-pressing member 420 to move, the guide member 450 follows the pre-pressing member 420 in the guide hole 432, thereby improving the stability of the movement of the pre-pressing member 420 and the stability of the pre-pressing member 420 in contact with the workpiece 10.

[0048] Specifically, a linear bearing 434 is provided in the guide hole 432, and the guide member 450 is passed through the linear bearing 434. The linear bearing 434 is used to further improve the stability of the guide member 450 moving in the guide hole 432. In other embodiments, the linear bearing 434 can also be omitted.

[0049] In this embodiment, there are two guide members 450, which are spaced apart. Correspondingly, there are two guide holes 432, and each guide member 450 can be inserted into a corresponding guide hole 432. In other embodiments, the number of guide members 450 and guide holes 432 can also be other numbers.

[0050] See Figure 4 and Figure 5 In one embodiment, the first rotating assembly 200 is used to drive the grabbing assembly 300 to rotate along the first rotating direction a. In this embodiment, the moving direction of the pre-pressing assembly 400 is the tangential direction of the first rotating direction a. When the first rotating assembly 200 drives the grabbing assembly 300 to rotate to the position where the pre-pressing assembly 400 is aligned, the position is that the workpiece 10 is in the 0-degree position state. The first rotating assembly 200 can drive the grabbing assembly 300 to rotate in a direction away from the pre-pressing assembly 400, that is, the first rotating assembly 200 can further drive the grabbing assembly 300 to rotate 90 degrees from the 0-degree position state, so that the workpiece 10 is in the 90-degree position state. For example, when the workpiece 10 is in the 0-degree position state, it is the processing posture of the workpiece 10 in the processing position 202. When the workpiece 10 is in the 90-degree position state, it is the clamping posture of the workpiece 10, which is convenient for clamping or assembling the workpiece 10.

[0051] In one embodiment, the first rotating assembly 200 drives the gripping assembly 300 to rotate within an angle range of 0-90 degrees. In other embodiments, the first rotating assembly 200 drives the gripping assembly 300 to rotate within an angle range greater than 90 degrees, depending on the desired posture of the workpiece 10 or the relationship between the processing position 202 and the unloading position.

[0052] In this embodiment, the first rotation direction a is a direction around the Y-axis, that is, the first rotation assembly 200 can drive the gripping assembly 300 to rotate around the Y-axis, thereby changing the posture of the workpiece 10 between 0 degrees and 90 degrees. In other embodiments, the first rotation direction a can also be a direction around other axes.

[0053] See Figure 3 、 Figure 8 and Figure 9 In one embodiment, the first rotating assembly 200 includes a first power source 210, a linkage member 220, and a rotating member 230. The rotating member 230 is rotatable relative to the mounting member 100 along the first rotation direction a, and the grabbing assembly 300 is disposed on the rotating member 230. One end of the linkage member 220 is connected to the rotating member 230, and the other end is rotatably connected to the first power source 210. The first power source 210 is rotatably disposed on the mounting member 100. The first power source 210 is used to push the linkage member 220 to drive the rotating member 230 to rotate relative to the mounting member 100. Specifically, the first power source 210 pushes the other end of the linkage member 220 to move relative to the first power source 210.

[0054] During use, the first power source 210 pushes the other end of the linkage member 220 to move relative to the first power source 210. Since one end of the linkage member 220 is connected to the rotating member 230, and the rotating member 230 can rotate relative to the mounting member 100 in the first rotation direction a, the rotating member 230 restricts the movement of one end of the linkage member 220. Furthermore, since the first power source 210 is rotatable relative to the mounting member 100, when the first power source 210 pushes the linkage member 220, the linkage member 220 can drive the rotating member 230 to rotate relative to the mounting member 100, thereby driving the grab assembly 300 disposed on the rotating member 230 to rotate in the first rotation direction a.

[0055] In this embodiment, the first power source 210 is a cylinder. The cylinder is used to push the other end of the linkage member 220 to rotate the rotating member 230 along the first rotation direction a. In other embodiments, the first power source 210 can also be another driving structure as long as it can achieve the purpose of driving the rotating member 230 to rotate.

[0056] In one embodiment, the first rotating component 200 also includes a fixing member 240, the rotating member 230 includes a rotating shaft 232 and a mounting portion 234, the fixing member 240 includes two spaced apart fixing portions 242, the two fixing portions 242 are respectively mounted on the mounting member 100, the mounting portion 234 is rotatably arranged between the two fixing portions 242, the linkage member 220 is located on the side of one fixing portion 242 facing away from the other fixing portion 242, and a rotating hole 244 is provided on the fixing portion 242 close to the linkage member 220, one end of the rotating shaft 232 is connected to the linkage member 220, and the other end of the rotating shaft 232 away from the linkage member 220 passes through the rotating hole 244 and is mounted on the mounting portion 234, and the grabbing component 300 is arranged on the mounting portion 234. By arranging the mounting portion 234 between the two fixing portions 242 , the stability of the mounting portion 234 can be improved, the possibility of the mounting portion 234 shaking during rotation can be reduced, and the stability of the mounting portion 234 driving the grabbing assembly 300 to rotate can be ensured.

[0057] Specifically, one end of the fixing portion 242 is fixed to the mounting member 100 so that the other end of the fixing portion 242 extends out of the mounting member 100 . The mounting portion 234 is located on one side of the mounting member 100 and is rotatably disposed on the other end of the fixing portion 242 .

[0058] In one embodiment, the first rotating assembly 200 further includes a limiting member 250, which is arranged on one side of the fixing portion 242 facing the other fixing portion 242, and a limiting protrusion is formed on the mounting portion 234. The mounting portion 234 drives the limiting protrusion to rotate relative to the fixing portion 242 so that the limiting protrusion can abut against the limiting member 250.

[0059] Specifically, the mounting portion 234 is a non-cylindrical structure that surrounds the rotation axis of the rotating shaft 232. The protrusions of the mounting portion 234 and the cylindrical structure form a retaining projection. For example, the mounting portion 234 may be a rectangular cylinder, with the edges of the rectangular cylinder formed as retaining projections. This allows the edges of the rectangular cylinder to abut against the retaining member 250 during rotation, thereby retaining the mounting portion 234. In other embodiments, the mounting portion 234 may also have other shapes, as long as they form retaining projections that facilitate retaining the retaining member 250.

[0060] In an embodiment, the limiting members 250 are at least two, and each of the fixing portions 242 is provided with at least one limiting member 250 on a side facing the other fixing portion 242. In the process of rotating, the limiting protrusions on the portions of the mounting portion 234 close to the two fixing portions 242 can respectively abut against the corresponding limiting members 250 for limiting, thereby improving the stability of limiting.

[0061] In the embodiment, when the mounting portion 234 drives the grabbing assembly 300 to rotate away from the pre-pressing assembly 400, when the grabbing assembly 300 rotates to the loading posture position or the unloading posture position of the workpiece 10, the limiting protrusions on the mounting portion 234 can abut against the limiting members 250, further limiting the rotating position of the grabbing assembly 300, and ensuring the stability of clamping or placing the workpiece 10. For example, when the mounting portion 234 drives the grabbing assembly 300 to rotate by 90 degrees, so that the workpiece 10 is in a 90-degree position state. When the workpiece 10 is in the 90-degree position state, the workpiece 10 is in a clamped posture, and at this time, the limiting protrusions on the mounting portion 234 can abut against the limiting members 250.

[0062] Referring to Figure 3 , Figure 10 and Figure 11 , in an embodiment, the grabbing assembly 300 comprises a driving source 312 and two clamping jaws 313, the driving source 312 is used to drive the two clamping jaws 313 to move towards or away from each other, and a clamping space 311 for clamping the workpiece 10 is formed between the two clamping jaws 313. So that the clamping is aligned with the workpiece 10, the driving source 312 drives the relative movement of the two clamping jaws 313, thereby realizing the clamping of the workpiece 10.

[0063] In other embodiments, the number of clamping jaws 313 can also be three or more, and different clamping jaws 313 can move towards or away from each other, thereby realizing the clamping or loosening of the workpiece 10.

[0064] In an embodiment, the grabbing assembly 300 further comprises a second power source 320, the second power source 320 is used to drive the grabbing assembly 300 to rotate in a second rotating direction b, and the second rotating direction b intersects with the first rotating direction a. Specifically, the grabbing assembly 300 further comprises a rotating member 330, the second power source 320 is used to drive the rotating member 330 to rotate in the second rotating direction b, and the grabbing assembly 300 is at least two, each of the grabbing assemblies 310 is arranged on the rotating member 330 around the rotating axis of the rotating member 330, so that the pre-pressing assembly 400 can clamp the clamping spaces 311 located in different grabbing assemblies 310.

[0065] Referring to Figure 12 and Figure 13During use, the second power source 320 drives the gripping member 310 to rotate along the second rotational direction b, thereby adjusting the posture of the workpiece 10 on the gripping member 310 along the second rotational direction b. By cooperating with the first rotating assembly 200, the spatial positioning of the workpiece 10 can be adjusted. Furthermore, because at least two gripping members 310 are arranged around the rotational axis of the rotating member 330, each gripping member 310 can grasp a workpiece 10, effectively improving the efficiency of loading, processing, and even unloading workpieces 10 and reducing the number of back-and-forth movements of the gripping mechanism 40 relative to the processing mechanism 20.

[0066] In this embodiment, the second rotation direction b is a direction of rotation about the X-axis, so that the grabbing member 310 can rotate about the X-axis to a set angle.

[0067] In one embodiment, the clamping space 311 is spaced apart from the rotation axis of the rotating member 330. When the workpiece 10 is clamped within the clamping space 311, a distance is created between the workpiece 10 and the rotation axis of the rotating member 330. Consequently, when the rotating member 330 drives the workpiece 10 on the gripping member 310 to rotate about the X-axis, the workpiece 10 can be displaced along the Y-axis. If the clamped workpiece 10 is rotating about the X-axis, the rotation of the gripping member 310 by the rotating member 330 can also displace the workpiece 10 along the Y-axis.

[0068] See again Figure 3 、 Figure 10 and Figure 11 In one embodiment, the second power source 320 includes a motor 322 and a transmission member. The motor 322 drives the rotating member 330 to rotate via the transmission member. Specifically, the transmission member includes a worm gear assembly 323 and a turntable 324. The motor 322 drives the turntable 324 via the worm gear assembly 323. The rotating member 330 is disposed on the turntable 324. In other embodiments, the second power source 320 may also have other structures, as long as it can drive the rotating member 330 to rotate in the second rotation direction b.

[0069] In one embodiment, the rotating member 330 includes a rotating portion 332 and a mounting portion 334 disposed on the rotating portion 332. The gripping member 310 is disposed on the side of the mounting portion 334 facing away from the rotating portion 332. The rotating portion 332 is disposed on the second power source 320. Specifically, the mounting portion 334 and the rotating portion 332 form an L-shaped plate structure. The second power source 320 is connected to the rotating portion 332. The gripping member 310 is disposed on the mounting portion 334 and can be positioned on one side of the second power source 320. Furthermore, one gripping member 310 is correspondingly disposed on one mounting portion 334, and different mounting portions 334 are arranged around the rotation axis of the rotating portion 332.

[0070] See Figure 8 and Figure 11 In one embodiment, a mounting cavity is formed on the mounting portion 234, and the second power source 320 is mounted within the mounting cavity via a locking member. Specifically, the locking member includes a first locking portion and a second locking portion. The first locking portion is mounted within the mounting cavity, and the second power source 320 is mounted on the second locking portion. The second locking portion is mounted on the outer wall of the mounting portion 234 and is locked to the first locking portion via the outer wall of the mounting portion 234. In other embodiments, the second power source 320 can also be mounted on the mounting portion 234 using other methods.

[0071] See Figures 1 to 3 The workpiece 10 in the above embodiment may be a joint of a transmission shaft. In other embodiments, the workpiece 10 in the above embodiment may also be other workpieces 10 that need to be processed.

[0072] The gripping mechanism 40 utilizes the second power source 320 to simultaneously rotate the workpiece 10 along the second rotational direction b and displace the workpiece 10, eliminating the need for additional moving mechanisms and reducing costs. Furthermore, the gripping mechanism 40 is highly integrated and compact, enabling spatial position adjustment of the workpiece 10 while ensuring the stability of the workpiece 10 within the processing position 202 and guaranteeing the processing quality of the workpiece 10.

[0073] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

[0075] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are 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 should not be understood as limiting the present invention.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0077] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0078] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0079] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

Claims

1. A processing equipment, characterized in that, include: a processing mechanism having a processing position for processing a workpiece; and A feeding device, comprising a gripping mechanism and a moving mechanism, the feeding device being arranged on one side of the processing mechanism, and the moving mechanism being used to drive the gripping mechanism to move; The grabbing mechanism comprises: Mounting parts; a first rotating assembly, the first rotating assembly being disposed on the mounting member; a gripping assembly, the gripping assembly being disposed on the first rotating assembly, the gripping assembly comprising a gripping member, a second power source, and a rotating member, the gripping member forming a gripping space for gripping a workpiece; and 18. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 17, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod.

2. The processing equipment according to claim 1, characterized in that The pre-stressing assembly includes a driving source, a pre-stressing part and a connecting part. The pre-stressing part is arranged on the mounting part through the connecting part so that the pre-stressing part can be positioned in the clamping space. The driving source is used to drive the pre-stressing part to move toward or away from the clamping space relative to the connecting part.

3. The processing equipment according to claim 2, characterized in that The pre-pressing assembly also includes a guide member, a guide hole is formed on the connecting member, the axial direction of the guide hole is toward the clamping space, one end of the guide member is arranged on the pre-pressing member, and the other end is passed through the guide hole, and the guide member can move in the guide hole.

4. The processing equipment according to any one of claims 1 to 3, characterized in that: The first rotating assembly includes a first power source, a linkage member and a rotating member. The rotating member can rotate along the first rotating direction relative to the mounting member, and the grabbing assembly is arranged on the rotating member; one end of the linkage member is connected to the rotating member, and the other end is rotatably connected to the first power source. The first power source is rotatably arranged on the mounting member, and the first power source is used to push the linkage member to drive the rotating member to rotate relative to the mounting member.

5. The processing equipment according to claim 4, characterized in that The first rotating component also includes a fixing part, the rotating part includes a rotating shaft and a mounting part, the fixing part includes two fixing parts arranged at intervals, the two fixing parts are respectively mounted on the mounting part, the mounting part is rotatably arranged between the two fixing parts, the linkage part is located on the side of one fixing part facing away from the other fixing part, and a rotating hole is provided on the fixing part close to the linkage part, one end of the rotating shaft is connected to the linkage part, and the other end of the rotating shaft away from the linkage part passes through the rotating hole and is mounted on the mounting part, and the grabbing component is arranged on the mounting part.

6. The processing equipment according to claim 5, characterized in that The first rotating assembly also includes a limiting member, which is arranged on a side of one of the fixing parts facing the other fixing part. A limiting protrusion is formed on the mounting part, and the mounting part drives the limiting protrusion to rotate relative to the fixing part so that the limiting protrusion can abut against the limiting member.

7. The processing equipment according to claim 1, characterized in that The mounting member is arranged on the moving mechanism, and the moving mechanism is used to drive the grasping mechanism to move.

8. The processing equipment according to claim 1, characterized in that The first rotating assembly can drive the grabbing assembly to rotate along a first rotating direction, so that the clamping space is rotated to between the pre-pressing assembly and the processing position and is aligned with the processing position.

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