Rotating gripping and clamping mechanism

Abstract

The present invention relates to the technical field of automated assembly equipment, and in particular to a rotary grasping and clamping mechanism, comprising a mounting frame and a vertical plate driven by a cylinder to slide vertically on one side of the mounting frame, the lower end of the vertical plate being movably connected to a fixed plate through a movable mechanism, the fixed plate being provided with a mechanical clamping arm driven to rotate by a motor, the mechanical clamping arm comprising a driver and a clamping jaw driven to open and close by the driver, a receiving groove being vertically provided on the outer side of the clamping jaw, a guide block elastically sliding in the receiving groove, a push rod being provided on the driver between the two clamping jaws, a through hole connecting to the receiving groove being provided on the inner side of the clamping jaw corresponding to the position of the push rod, the upper end of the guide block being provided with an upper inclined surface cooperating with the oblique wedge of the push rod, the lower end of the guide block being outwardly expanded and tilted to form a lower inclined surface, and when the two clamping jaws are close to each other, the end of the push rod passes through the through hole to cooperate with the oblique wedge at the upper end of the guide block, thereby solving the problem that the existing rotary grasping and clamping mechanism is easily affected by assembly errors during parts assembly and the assembly efficiency is affected.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly equipment, and in particular to a rotary grasping and pressing mechanism. Background Art

[0002] At present, in some automated assembly equipment, such as rotary grasping and clamping mechanisms, mechanical grippers are often used to clamp a workpiece (the workpiece to be clamped), and then the clamped workpiece is screwed onto another workpiece (the workpiece to be installed) by lifting or moving the mechanical gripper arm horizontally, thereby completing the spinning assembly of some combined parts. However, when the mechanical gripper arm moves to spin and combine with the workpiece to be installed, it is easy for the assembly displacement error between the part clamped by the mechanical gripper arm and the workpiece to be installed to occur. When the mechanical gripper arm descends for spinning, the workpiece may be misaligned and collided, thereby affecting the normal assembly combination of the parts and affecting production efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and propose a rotary grasping and clamping mechanism, which solves the problem that the prior rotary grasping and clamping mechanism is easily affected by assembly errors during parts assembly, thereby affecting assembly efficiency.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The rotary grasping and clamping mechanism includes a mounting frame, a vertical plate driven by a cylinder to slide vertically on one side of the mounting frame, the lower end of the vertical plate is movably connected to a fixed plate through a movable mechanism, the fixed plate is provided with a mechanical clamping arm driven to rotate by a motor, the mechanical clamping arm includes a driver and a clamping jaw driven to open and close by the driver, a receiving groove is vertically provided on the outer side of the clamping jaw, a guide block is elastically slid in the receiving groove, a push rod is provided on the driver between the two clamping jaws, and a through hole connected to the receiving groove is provided on the inner side of the clamping jaw corresponding to the position of the push rod. The upper end of the guide block is provided with an upper inclined surface that cooperates with the inclined wedge of the push rod, and the lower end of the guide block is outwardly expanded and tilted to form a lower inclined surface. When the two clamps are close to each other, the end of the push rod passes through the through hole to cooperate with the inclined wedge at the upper end of the guide block, and then squeezes the guide block out from the bottom of the clamp to form a guide surface that is wide at the bottom and narrow at the top between multiple lower inclined surfaces. The guide surface is used to abut against the workpiece to be loaded through the guide surface when the mechanical clamp arm descends, thereby driving the fixed plate to move horizontally at the lower end of the vertical plate, so that the workpiece clamped by the clamp is calibrated and aligned with the workpiece to be loaded.

[0006] In the above technical solution, a fixed plate on which a mechanical clamping arm is installed is connected to the vertical plate in a sliding manner in the horizontal direction, and a guide block that can be extended from the bottom of the clamping jaw is provided on the clamping jaw of the mechanical clamping arm, and a push rod is provided on the inner side of the clamping jaw, and the upper end of the guide block is provided with an upper inclined surface that cooperates with the inclined wedge of the push rod, and the lower end of the guide block is expanded and tilted outward to form a lower inclined surface. When the two clamping jaws are close to each other, the end of the push rod passes through the through hole on the inner side of the push rod and cooperates with the upper inclined surface of the upper end of the guide block, thereby squeezing the guide block to extend from the lower end of the clamping jaw. After extending, the lower inclined surface is exposed, and a guide block that is wide at the bottom and narrow at the top is formed between the two clamping jaws. When the jaws are installed and spun onto the workpiece to be mounted after clamping the workpiece, due to the existence of the guide surface, even if there is a position difference between the jaws and the workpiece to be mounted in the vertical direction, when the jaws are driven down by the cylinder, the workpiece to be mounted squeezes the guide surface, thereby causing the jaws to be subjected to a horizontal offset force. The jaws drive the fixed plate to slide on the vertical plate in the horizontal direction through the movable mechanism to calibrate the vertical relative position between the workpiece clamped in the jaws and the workpiece to be mounted, effectively avoiding the problem of affecting the workpiece assembly due to assembly errors between the jaws and the workpiece to be mounted, thereby improving the efficiency of parts assembly. The lower end of the guide block is outwardly expanded and tilted to form a lower inclined surface, and when multiple guide blocks extend from the lower end of the clamping jaw, the lower inclined surfaces of the multiple guide blocks form a guide surface that is narrow at the top and wide at the bottom. This guide surface is convenient for using the workpiece to squeeze the guide surface during the lowering process of the clamping jaw, and the guide surface is subjected to horizontal and vertical force components (because after the clamping jaws are closed to clamp the workpiece, the push rod touches the upper inclined surface of the guide block, so the guide block cannot reset and rise), driving the clamping jaw to move horizontally, thereby guiding the workpiece in the clamping jaw and the workpiece to be loaded to align efficiently.

[0007] Preferably, a sliding block is provided on the inner side of the clamping jaws, which is slidably connected to the clamping jaws, and the sliding direction of the sliding block is parallel to the opening and closing direction of the clamping jaws. A third spring is provided between the sliding block and the clamping jaws to keep the sliding block sliding inward. When the two sliding blocks do not clamp the workpiece to be clamped, the lower end of the guide block is not lower than the lower end of the sliding block; when the two sliding blocks clamp the workpiece to be clamped and the push rod does not contact the upper inclined surface, the lower end of the guide block is not lower than the lower end of the sliding block; when the two sliding blocks clamp the workpiece to be clamped, the push rod contacts the upper inclined surface, and the two clamping jaws continue to move closer, the lower end of the guide block extends out of the lower end of the sliding block.

[0008] In the above technical solution, when the two sliding clamps clamp the workpiece to be clamped and the push rod does not contact the upper inclined surface, the lower end of the guide block is not lower than the lower end of the sliding clamp, which can avoid the lower end of the guide block from interfering with the pallet or other structures on which the workpiece to be clamped is placed. Therefore, a special pallet is not required, and multiple workpieces to be clamped can be placed on an ordinary flat pallet, reducing the cost of the pallet. When the two clamping jaws clamp the workpiece to be clamped, the two clamping jaws move above the workpiece to be clamped, and then the two clamping jaws are lowered to the appropriate position, and then the driver is started to make the two clamping jaws approach each other. When the sliding clamping block touches the workpiece to be clamped, the workpiece can be clamped. Before the mechanical clamping arm rises, the lower end of the guide block will be supported by the tray. When the upper inclined surface of the guide block contacts the push rod, the two clamping jaws cannot continue to approach each other. When the mechanical clamping arm does not rise, the lower end of the guide block is free. Under the action of the driver, the two clamping jaws continue to approach each other. The end of the push rod squeezes the guide block and extends out from the bottom of the clamping jaw, and then a guide surface with a wider bottom and a narrower top is formed between multiple lower inclined surfaces. The guide surface is used to drive the fixed plate to move horizontally at the lower end of the vertical plate through the guide surface to resist the workpiece to be loaded when the mechanical clamping arm descends, so that the workpiece clamped by the clamping jaws is calibrated and aligned with the workpiece to be loaded.

[0009] Preferably, when the two sliding clamps are not clamped to a size of the workpiece to be clamped, the third spring is in a pre-compressed state. The pre-compressed state of the third spring can enable the sliding clamps to clamp the workpiece without requiring a large lateral movement, thereby reducing the required movable distance of the sliding clamps.

[0010] Preferably, an adapting groove adapted to the workpiece to be clamped is provided on the inner side of the sliding clamping block. Said structure facilitates the sliding clamping block to clamp the workpiece to be clamped.

[0011] Preferably, the movable mechanism includes an isolation rod provided at the lower end of the vertical plate, a first spring, a connecting disk provided at the lower end of the isolation rod, and a first movable cavity opened in the fixed plate. The upper end of the first movable cavity is provided with an entrance port with an aperture larger than the diameter of the isolation rod and smaller than the diameter of the connecting disk. The connecting disk is movably accommodated in the first movable cavity. There are multiple first springs, and multiple first spring spacer rings are provided between the outer periphery of the connecting disk and the inner wall of the first movable cavity, so as to normally place the connecting disk in the center position of the entrance port.

[0012] In the above technical solution, the vertical plate slides horizontally in the first movable cavity through the connecting disk, and the upper end of the first movable cavity is provided with an entrance port with an aperture larger than the diameter of the isolation rod and smaller than the diameter of the connecting disk. When there is a position deviation between the workpiece clamped by the clamping jaws and the workpiece to be loaded, the guide block is squeezed with the loaded workpiece, and then the clamping jaw is driven to move horizontally through the moving block. When the clamping jaw moves horizontally and is fixed horizontally relative to the vertical plate, the connecting disk moves in the first movable cavity, and the isolation rod moves horizontally in the entrance port, and its central position in the first movable cavity is maintained by multiple first springs, so that after the clamping jaws are squeezed by the workpiece to be loaded, the fixed plate and the vertical plate return to their initial positions, so that the mechanical clamping arm can re-grip the workpiece after it is reset.

[0013] Preferably, the movable mechanism also includes a support rod arranged around the outer periphery of the connecting disk, and a second movable cavity corresponding to the support rod is provided in the fixed plate on the outer periphery of the first movable cavity. The second movable cavity and the first movable cavity are separated by an annular rib, and a ball cavity connecting the first movable cavity and the second movable cavity is provided on the annular rib. The end of the support rod away from the connecting disk passes through the ball cavity and extends into the second movable cavity, and the first spring is sleeved on the outside of the support rod.

[0014] In the above technical solution, the stability of the horizontal movement of the connecting disk in the first movable cavity can be improved by sliding the support rod in the ball cavity.

[0015] Preferably, the ball cavity has a movable block opening connecting the first movable cavity and the second movable cavity respectively, and the diameter of the movable opening is larger than the diameter of the strut, so that the strut has a certain movable displacement in the circumferential direction of the first movable cavity.

[0016] In the above technical solution, the diameter of the movable opening is larger than the diameter of the strut, so that when the connecting disk moves horizontally in the first movable cavity, the corresponding strut can be tilted in the spherical cavity, without the need for the strut to only move along its axial direction in the spherical cavity due to the small diameter of the movable opening.

[0017] Preferably, the outside of the strut is located in the ball cavity and a limiting ball is movably nested therein, and the inside of the limiting ball is provided with a through hole for accommodating the strut to allow the strut to move axially in the through hole along its axial direction.

[0018] In the above technical solution, the limiting ball is movably arranged in the ball cavity, and the support rod can move in the through hole of the limiting ball. This not only reduces the shaking of the support rod in the ball cavity, but also facilitates the smooth movement of the support rod in the ball cavity.

[0019] Preferably, a guide bar is provided on the side of the guide block, and a guide groove for accommodating the sliding of the guide bar is vertically opened on the inner wall of the accommodating groove. The guide groove and the guide bar are elastically loaded by a second spring, and the second spring is used to maintain the guide block in the accommodating groove.

[0020] In the above technical solution, the setting of the guide bar and the guide groove facilitates the vertical sliding of the guide block in the accommodating groove. At the same time, when the push rod does not squeeze the guide block, the elastic action of the second spring is utilized to keep the guide block always hidden in the accommodating groove.

[0021] Preferably, the vertical plate is located at the center of the fixed plate, the motor is located on one side of the vertical plate, a rotating rod is provided on the side of the vertical plate away from the motor, the rotating rod vertically passes through the fixed plate, the lower end of the rotating rod is fixed to the driver, a gear is provided at the output end of the motor, and the rotating rod and the gear are transmitted through a transmission belt.

[0022] Preferably, either the mounting frame or the vertical plate is provided with a track, and the other is provided with a slider, and the vertical plate is slidably connected to the mounting frame by sliding a rod on the track via the slider.

[0023] The above technical solution can improve the sliding stability of the vertical plate on one side of the mounting frame.

[0024] Preferably, a hydraulic buffer is provided at the upper end of the mounting frame, and a limit plate is provided on the side of the vertical plate to vertically coincide with the position of the hydraulic buffer. The hydraulic buffer can reduce the vertical buffering of the vertical plate when the cylinder drives the vertical plate to rise and fall to the extreme position.

[0025] Preferably, the upper end of the inverted "T"-shaped structure of the push rod is screwed to the lower end of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings:

[0027] Figure 1 Schematic diagram of the structure of an embodiment of the present invention;

[0028] Figure 2 For the embodiment of the present invention Figure 1 The main cross-sectional view of the structure;

[0029] Figure 3 A schematic diagram of the structure of the movable mechanism according to an embodiment of the present invention;

[0030] Figure 4 A top view of a fixing plate according to an embodiment of the present invention;

[0031] Figure 5 This is a main cross-sectional view of the mechanical clamping arm in Example 1 of the present invention;

[0032] Figure 6 The main cross-section of the mechanical clamping arm in Example 2 of the present invention Figure 1 ;

[0033] Figure 7The main cross-section of the mechanical clamping arm in Example 2 of the present invention Figure 2 .

[0034] In the figure: mounting frame 100, limiting plate 110, cylinder 200, vertical plate 300, isolation rod 301, connecting plate 302, support rod 303, limiting ball 304, through hole 3041, first spring 305, hydraulic buffer 320, fixing plate 400, first movable cavity 401, entrance port 402, ball cavity 403, movable opening 4031, second movable cavity 404, rotating rod 410, driver 420, clamping jaw 430, through hole 4301, accommodating groove 431, guide groove 4310, second spring 4311, sliding clamping block 432, third spring 433, adapting groove 434, guide block 440, upper inclined surface 441, lower inclined surface 442, guide bar 443, ejector rod 450, and workpiece 500 to be clamped. DETAILED DESCRIPTION

[0035] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0036] 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", "clockwise", "counterclockwise" 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.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise explicitly specified.

[0038] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0040] Example 1:

[0041] like Figure 1 、 Figure 2 and Figure 5As shown, the rotary grasping and pressing mechanism proposed in the embodiment of the present invention includes a mounting frame 100, a cylinder 200 is fixedly provided at the upper left end of the mounting frame 100, and a vertical plate 300 is connected to the telescopic end of the cylinder 200. The vertical plate 300 and the mounting frame 100 are slidably connected to the track through a slider, and a fixed plate 400 is provided at the lower end of the vertical plate 300. The fixed plate 400 and the vertical plate 300 are vertically arranged. The vertical plate 300 is located at the middle upper end of the fixed plate 400. After the two are connected by a movable mechanism, the vertical cross-section is an inverted "T"-shaped structure. The movable mechanism enables the fixed plate 400 to be horizontally displaced a certain distance at the lower end of the vertical plate 300. The left side of the vertical plate 300 is located at the left end of the fixed plate 400. A motor is provided. The right side of the vertical plate 300 is located at the right end of the fixed plate 400. The end is passed through by a rotating rod 410, and the rotating rod 410 is arranged parallel to the sliding direction of the vertical plate 300. The right end of the fixed plate 400 is provided with an axial hole. The upper end of the rotating rod 410 is positioned in the axial hole after the bearing is sleeved, and can rotate in the axial hole along its axis. A mechanical clamping arm is fixed to the lower end of the rotating rod 410, and the mechanical clamping arm includes a driver 420 fixed to the lower end of the rotating rod 410. The output end of the driver 420 drives two horizontally relatively open and closed clamping jaws 430. A push rod 450 is provided between the two clamping jaws 430 at the bottom of the driver 420. The setting direction of the push rod 450 coincides with the opening and closing movement direction of the two clamping jaws 430. A accommodating groove 431 is vertically provided on the outer side of the clamping jaw 430. A guide block 440 is slidingly provided in the accommodating groove 431. The inner side of the clamping jaw 430 A through hole 4301 is provided at the position corresponding to the ejector pin 450, and an upper inclined surface 441 is provided at the upper end of the guide block 440 for forming an oblique wedge fit with the ejector pin 450, and a lower inclined surface 442 is provided at the lower end of the guide block 440 for extending the component outwardly in the direction of the ejector pin 450. A guide surface with a narrow upper part and a wide lower part is formed between the two adjacent lower inclined surfaces 442. When the driver 420 drives the clamping jaws 430 to close to clamp the parts, the two clamping jaws 430 move together and make the two ends of the ejector pin 450 pass through the through hole 4301 respectively and abut against the upper inclined surface 441 of the guide block 440, and then the upper inclined surface 441 is used to cooperate with the oblique wedge of the end of the ejector pin 450 to squeeze the guide block 440 out from the lower end of the clamping jaw 430. When the cylinder 200 extends to drive the workpiece on the clamping jaw 430 to be screwed and pressed against another workpiece (the workpiece to be installed), even if there is a position deviation between the clamping jaw 430 and the workpiece to be installed, the clamping jaw 430 will be pressed against the guide surface when the cylinder 200 drives the clamping jaw 430 to descend, and the workpiece to be installed will be pressed against the guide surface, thereby causing the clamping jaw 430 to be subjected to a horizontal offset force. The clamping jaw 430 drives the fixed plate 400 to slide horizontally on the vertical plate 300 through the movable mechanism to calibrate the vertical relative position between the workpiece clamped in the clamping jaw 430 and the workpiece to be installed, effectively avoiding the assembly error between the clamping jaw 430 and the workpiece to be installed. Then, at this time, the motor starts the cabinet, driving the rotating rod 410 to rotate. When the rotating rod 410 rotates, it drives the driver 420, i.e., the clamping jaw 430, to rotate.As the cylinder 200 rotates, it extends to drive the workpiece on the clamp 430 to spin onto the workpiece to be installed, completing the assembly of the parts.

[0042] In this embodiment, the driver 420 that drives the two clamping jaws 430 to open and close can be a cylinder 200 or a motor or other components in the prior art. As long as the driver 420 can drive the clamping jaws 430 to open and close, there is no specific limitation.

[0043] In this embodiment, refer to Figure 5 In the middle (a), the two clamping jaws 430 are in the open state, the two ends of the push rod 450 are not inserted into the through hole 4301, and the guide block 440 is not squeezed. Figure 5 The middle figure (b) shows the state where the clamping jaws 430 are closed, and the workpiece is not shown in the figure.

[0044] In this embodiment, Figure 2 As shown, the motor drives the rotating rod 410 to rotate on one side of the fixed plate 400 in the following manner: a driven gear is provided on the outside of the rotating rod 410 at the lower end of the fixed plate 400, and a driving tooth is provided at the output end of the motor. The driven gear and the driving tooth are transmitted through a transmission belt or a transmission chain, and then when the workpiece needs to be rotated, the motor can drive the clamping jaw 430 to rotate.

[0045] In this embodiment, Figure 1 As shown, in order to facilitate the stable vertical sliding of the guide block 440 in the accommodating groove 431, guide bars 443 are provided on the front and rear sides of the guide block 440, and guide grooves 4310 are opened on the front and rear side walls of the accommodating groove 431 corresponding to the guide bars 443. The vertical length of the guide groove 4310 is greater than the guide bar 443, so that the guide bar 443 can extend or be hidden in the accommodating groove 431 after vertically sliding in the guide groove 4310. In order to hide the guide block 440 in the accommodating groove 431 before the clamping jaw 430 clamps the workpiece (under normal conditions) and prevent the guide block 440 from being exposed and damaged by collision, a second spring 4311 is provided between the bottom of the guide groove 4310 and the guide bar 443. The elastic support of the second spring 4311 is used to contact the guide bar 443 and always be at the upper end of the guide groove 4310, so that the guide block 440 is hidden in the accommodating groove 431 under normal conditions.

[0046] Example 2:

[0047] like Figure 6 and 7When the two sliding blocks 432 clamp the workpiece 500 to be clamped, the push rod 450 contacts the upper inclined surface 441, and the lower end of the guide block 440 is not lower than the lower end of the sliding block 432. When the two sliding blocks 432 clamp the workpiece 500 to be clamped, the push rod 450 contacts the upper inclined surface 441, and the two clamping jaws 430 continue to move closer, the lower end of the guide block 440 extends out of the lower end of the sliding block 432. When the two sliding clamping blocks 432 are not clamped to the size of the workpiece to be clamped, the third spring 433 is in a pre-compressed state. An adapting groove 434 is provided on the inner side of the sliding clamping block 432 to adapt to the workpiece 500 to be clamped.

[0048] In this embodiment, refer to Figure 6 In the middle (a), the two clamping jaws 430 are in the open state, the two ends of the push rod 450 are not inserted into the through hole 4301, and the guide block 440 is not squeezed. Figure 6 Figure (b) shows the sliding clamping block 432 clamping the workpiece 500 to be clamped, but the guide block 440 extends from the lower end of the clamping claw 430. Figure 7 In the embodiment, the sliding clamping block 432 clamps the workpiece 500 to be clamped, both ends of the push rod 450 press against the upper inclined surface 441 , and the lower end of the guide block 440 extends out of the lower end of the sliding clamping block 432 .

[0049] In the above technical solution, when the two sliding clamps 432 clamp the workpiece 500 to be clamped and the push rod 450 does not contact the upper inclined surface 441, the lower end of the guide block 440 is not lower than the lower end of the sliding clamp 432, which can avoid the lower end of the guide block 440 from interfering with the pallet or other structures on which the workpiece 500 to be clamped is placed. Therefore, a special pallet is not required, and multiple workpieces 500 to be clamped can be placed on an ordinary flat pallet, thereby reducing the cost of the pallet. When the two clamping jaws 430 are clamping the workpiece 500 to be clamped, the two clamping jaws 430 are moved above the workpiece 500 to be clamped, and then the two clamping jaws 430 are lowered to a suitable position, and then the driver 420 is started to make the two clamping jaws 430 move closer to each other. When the sliding clamping block 432 touches the workpiece 500 to be clamped, the workpiece can be clamped. Before the mechanical clamping arm rises, the lower end of the guide block 440 will be supported by the tray. When the upper inclined surface 441 of the guide block 440 contacts the ejector rod 450, the two clamping jaws 430 can no longer move closer to each other. After the mechanical clamp arm has not risen, the lower end of the guide block 440 is free. Under the action of the driver 420, the two clamping jaws 430 continue to move closer to each other. The end of the push rod 450 squeezes the guide block 440 and extends from the bottom of the clamping jaw 430. A guide surface that is wide at the bottom and narrow at the top is formed between multiple lower inclined surfaces 442. The guide surface is used to abut against the workpiece to be loaded when the mechanical clamp arm descends, thereby driving the fixed plate 400 to move horizontally at the lower end of the vertical plate 300, so that the workpiece clamped by the clamping jaw 430 is calibrated and aligned with the workpiece to be loaded.

[0050] Example 3:

[0051] like Figure 3 and 4 As shown, on the basis of Example 1, the movable mechanism includes an isolation rod 301 provided at the lower end of the vertical plate 300, a first spring 305, a connecting disk 302 provided at the lower end of the isolation rod 301 and a first movable cavity 401 opened in the fixed plate 400, the isolation rod 301 is fixed at the center of the connecting disk 302, and the upper end of the first movable cavity 401 is provided with an entrance port 402 with an aperture larger than the diameter of the isolation rod 301 and smaller than the diameter of the connecting disk 302. When the connecting disk 302 is movably accommodated in the first movable cavity 401, the isolation rod 301 is in the entrance port 402. When the fixed plate 400 is squeezed by the clamping jaws 430 and moves horizontally, the connecting disk 302 moves in the first movable cavity 401 at the same time as the isolation rod 301 moves in the entrance port 402. The connecting disk 302 and the first movable cavity 401 slide in cooperation to prevent vertical separation between the vertical plate 300 and the fixed plate 400.

[0052] In this embodiment, in order to enable the connecting plate 302 and the isolation rod 301 to return to their initial positions after the horizontal pressure on the clamping jaws 430 is removed, that is, to return to the initial position before clamping the workpiece between the fixed plate 400 and the vertical plate 300 (the initial position is that the center lines of the isolation rod 301 and the connecting plate 302 coincide with the center lines of the entrance 402 and the first active cavity 401), a plurality of first springs 305 are arranged in an annular ring between the circumference of the connecting plate 302 and the inner wall of the first active cavity 401. When the fixed plate 400 moves horizontally relative to the vertical plate 300, the first springs 305 are elastically stretched or compressed. When the horizontal extrusion force applied after fixation is removed, the first springs 305 are elastically restored to their original position, thereby driving the entire fixed plate 400 and the vertical plate 300 to be restored.

[0053] like Figure 3 and 4 As shown, in order to further improve the stability of the horizontal movement of the connecting disk 302 in the first movable cavity 401, the movable mechanism also includes a support rod 303 arranged around the outer periphery of the connecting disk 302, and the outer periphery of the first movable cavity is located in the fixed plate 400 and a second movable cavity 404 corresponding to the support rod 303 is provided. The second movable cavity 404 and the first movable cavity are separated by a ring rib, and a ball cavity 403 connecting the first movable cavity and the second movable cavity 404 is provided on the ring rib. The end of the support rod 303 away from the connecting disk 302 passes through the ball cavity 403 and extends into the second movable cavity 404. The first spring 305 is sleeved on the outside of the support rod 303. The arrangement of multiple support rods 303 can improve the sliding stability of the movable disk in the first movable cavity 401, thereby making the horizontal movement between the fixed plate 400 and the vertical plate 300 smoother.

[0054] Based on the above embodiment, the plurality of struts 303 are radially arranged in the first cavity with the center of the connecting disk 302, that is, arranged along the radial direction of the connecting disk 302. In order to prevent the fixing plate 400 from being stuck between the struts 303 and the ball cavity 403 due to the plurality of struts 303 not moving along their axial directions when the fixing plate 400 moves horizontally at the lower end of the vertical plate 300, thereby preventing the fixing plate 400 from being able to move horizontally at the lower end of the vertical plate 300. Figure 4 As shown, the diameter of the movable opening 4031 on the ball cavity 403 for accommodating the support rod 303 to move through is larger than the diameter of the support rod 303. The support rod 303 has a certain movable frame in the movable opening 4031. Even if the support rod 303 does not move along its axial direction, the support rod 303 can be tilted in the ball cavity 403 after movement. At this point, while ensuring that the fixed plate 400 can move horizontally at the lower end of the vertical plate 300, the horizontal sliding stability of the two is also enhanced.

[0055] Furthermore, based on the above embodiment, the ball cavity 403 is spherical, and a limiting ball 304 can be set to roll in the ball cavity 403. A through hole 3041 is opened inside the limiting ball 304. The support rod 303 is movably set in the ball cavity 403 after passing through the through hole 3041. Through the setting of the limiting ball 304, it is ensured that the support rod 303 can move anywhere in the ball cavity 403, and at the same time, the movable gap of the support rod 303 in the ball cavity 403 is reduced, so that the support rod 303 can rotate more smoothly in the ball cavity 403.

[0056] like Figure 1 As shown, a hydraulic buffer 320 is provided at the upper end of the mounting frame, and a limit plate 110 is provided on the side of the vertical plate 300, which is vertically overlapped with the position of the hydraulic buffer 320. The hydraulic buffer 320 can reduce the vertical buffering of the vertical plate 300 when the cylinder 200 drives the vertical plate 300 to rise and fall to the extreme position, thereby avoiding damage to the clamping jaws 430 and other components caused by the impact.

[0057] Based on the above embodiments, Figure 4 As shown, when the second movable cavity 404 is set in the fixed plate 400, it can be a columnar structure, as long as it can ensure that the support rod 303 can move inside it. It should be noted that the inner diameter of the second movable cavity 404 must be larger than the diameter of the support rod 303 to prevent the support rod 303 from swinging in the second movable cavity 404 when the support rod 303 swings in an arc.

[0058] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A rotary gripping and pressing mechanism, comprising a mounting frame and a vertical plate driven by a cylinder to slide vertically on one side of the mounting frame, characterized in that: The cam is connected to the mounting bracket by sliding a rod on the track, and the lower end of the cam is movably connected to the fixing plate by a movable mechanism. The fixing plate is provided with a mechanical clamping arm driven to rotate by a motor, and the mechanical clamping arm includes a driver and a clamping jaw driven to open and close by the driver. A receiving groove is vertically provided on the outer side of the clamping jaw, and a guide block is elastically slidably provided in the receiving groove. A push rod is provided on the driver between the two clamping jaws, and a connection is provided on the inner side of the clamping jaw corresponding to the position of the push rod to connect the receiving The through hole of the slot is provided, the upper end of the guide block is provided with an upper inclined surface that cooperates with the oblique wedge of the push rod, and the lower end of the guide block is outwardly expanded and tilted to form a lower inclined surface. When the two clamping jaws are close to each other, the end of the push rod passes through the through hole and cooperates with the oblique wedge at the upper end of the guide block, thereby squeezing the guide block to extend from the bottom of the clamping jaw and forming a guide surface that is wide at the bottom and narrow at the top between multiple lower inclined surfaces. The guide surface is used to drive the fixed plate to move horizontally at the lower end of the vertical plate through the guide surface against the workpiece to be loaded when the mechanical clamping arm descends, so that the workpiece clamped by the clamping jaws is calibrated and aligned with the workpiece to be loaded; The movable mechanism includes an isolation rod provided at the lower end of the vertical plate, a first spring, a connecting disk provided at the lower end of the isolation rod, and a first movable cavity provided in the fixed plate. The upper end of the first movable cavity is provided with an entrance opening having a diameter larger than the diameter of the isolation rod and smaller than the diameter of the connecting disk. The connecting disk is movably accommodated in the first movable cavity. A plurality of first springs are provided. A plurality of first spring spacer rings are provided between the outer periphery of the connecting disk and the inner wall of the first movable cavity to keep the connecting disk at the center of the entrance opening under normal conditions. The movable mechanism also includes a support rod arranged around the outer periphery of the connecting disk, and a second movable cavity corresponding to the support rod is provided in the fixed plate on the outer periphery of the first movable cavity. The second movable cavity and the first movable cavity are separated by an annular rib, and a ball cavity connecting the first movable cavity and the second movable cavity is provided on the annular rib. The end of the support rod away from the connecting disk passes through the ball cavity and extends into the second movable cavity, and the first spring is sleeved on the outside of the support rod.

2. The rotary gripping and pressing mechanism according to claim 1, characterized in that: The inner side of the clamping jaw is provided with a sliding clamping block slidably connected to the clamping jaw, and the sliding direction of the sliding clamping block is parallel to the opening and closing direction of the clamping jaw. A third spring is provided between the sliding clamping block and the clamping jaw to keep the sliding clamping block sliding inward. When the two sliding clamping blocks do not clamp the workpiece to be clamped, the lower end of the guide block is not lower than the lower end of the sliding clamping block; when the two sliding clamping blocks clamp the workpiece to be clamped and the push rod does not contact the upper inclined surface, the lower end of the guide block is not lower than the lower end of the sliding clamping block; when the two sliding clamping blocks clamp the workpiece to be clamped, the push rod contacts the upper inclined surface, and the two clamping jaws continue to move closer, the lower end of the guide block extends out of the lower end of the sliding clamping block.

3. The rotary gripping and pressing mechanism according to claim 2, characterized in that: When the two sliding clamps do not clamp the workpiece to be clamped to a certain size, the third spring is in a pre-compressed state.

4. The rotary gripping and pressing mechanism according to claim 1, wherein: A guide bar is provided on the side of the guide block, and a guide groove for accommodating the sliding of the guide bar is vertically opened on the inner wall of the accommodating groove. The guide groove and the guide bar are elastically loaded by a second spring, and the second spring is used to maintain the guide block in the accommodating groove.

5. The rotary gripping and pressing mechanism according to claim 1, characterized in that: The vertical plate is located at the center of the fixed plate, the motor is located on one side of the vertical plate, a rotating rod is provided on the side of the vertical plate away from the motor, the rotating rod vertically passes through the fixed plate, the lower end of the rotating rod is fixed to the driver, a gear is provided at the output end of the motor, and the rotating rod and the gear are transmitted through a transmission belt.

6. The rotary gripping and pressing mechanism according to claim 1, characterized in that: A hydraulic buffer is provided at the upper end of the mounting frame, and a limit plate is provided on the side of the vertical plate, which is vertically aligned with the position of the hydraulic buffer.

7. The rotary gripping and pressing mechanism according to any one of claims 1 to 6, characterized in that: The top rod is an inverted "T" shaped structure, and its upper end is screwed to the lower end of the driver.

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