Clamping device for profiled parts

Abstract

This invention relates to the field of clamping device technology, specifically a clamping device for irregularly shaped parts. It includes a robotic arm and a gripping mechanism mounted below the robotic arm. The gripping mechanism includes: a slip ring mounted on the robotic arm, the slip ring comprising a fixed portion and a turntable; a set of clamping rod assemblies, the upper end of each clamping rod assembly being movably connected to the turntable of the slip ring, with connection points distributed circumferentially along the turntable; each clamping rod assembly including an upper clamping rod and a lower clamping rod, the lower end of the lower clamping rod having an inwardly protruding gripper, the inner surface of the gripper being a clamping surface; the upper and lower clamping rods being connected by a guide telescopic structure; and a flexible element controlled by a spring being provided on the inner side of at least one of the upper and lower clamping rods. This device can select a suitable clamping position to achieve precise clamping of irregularly shaped parts; and each flexible element can adapt to the surface of the clamped object and apply a certain clamping force, keeping the clamped object stable during clamping, thereby achieving automatic clamping to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of clamping device technology, specifically to a clamping device for irregularly shaped parts. Background Technology

[0002] Mechanical clamping mechanisms are commonly used mechanical structures in various industries. For example, the quality inspection of composite material components requires the use of an integrated X-ray digital inspection and industrial CT 3D imaging system to detect internal defects such as cracks, pores, and inclusions. Composite material components need to be photographed from multiple angles, and after one is inspected, another product needs to be manually replaced. In addition, X-rays have radiation biological effects. In order to reduce the frequency of personnel entering and leaving the radiation field and improve product inspection efficiency, clamping mechanisms are used to replace manual labor in the loading and unloading of composite material linings. This enables automatic loading and unloading of composite material components, reduces manual loading and unloading time, ensures consistency in loading and unloading, and thus reduces personnel entering and leaving the radiography room, reduces X-ray radiation, ensures personnel radiation protection requirements, and improves work efficiency.

[0003] However, existing clamping mechanisms are generally designed for products with relatively uniform shapes and are not universal. Moreover, for products with uncertain shapes, it is not easy to guarantee the clamping effect when using the same existing clamping mechanism. Summary of the Invention

[0004] The purpose of this invention is to disclose a clamping device capable of adapting to irregularly shaped objects of different shapes. The technical solution adopted by this invention is as follows:

[0005] A clamping device for irregularly shaped parts includes a robotic arm and a gripping mechanism mounted below the robotic arm, wherein the gripping mechanism includes:

[0006] A slip ring mounted on a robotic arm, the slip ring comprising a fixed part and a turntable;

[0007] A set of clamping rod assemblies, the upper end of each clamping rod assembly being movably connected to the turntable of the slip ring, with the connection points distributed along the circumference of the turntable;

[0008] Each clamping rod assembly includes an upper clamping rod and a lower clamping rod. The lower end of the lower clamping rod is provided with an inwardly protruding jaw, and the inner surface of the jaw is a clamping surface. The upper clamping rod and the lower clamping rod are connected by a guide telescopic structure.

[0009] The inner side of at least one of the upper and lower clamping rods is provided with a flexible member controlled by a spring;

[0010] The first cylinder is fixed below the turntable. A fixing ring is provided on the piston rod of the first cylinder. A support rod is provided between the fixing ring and each upper clamping rod. The two ends of the support rod are hinged to the fixing ring and the upper clamping rod, respectively.

[0011] Furthermore, the upper clamping rod is a tubular structure with a vent hole; at least one mounting plate is provided on the inner side of the upper clamping rod, the outer end of the first spring is fixed on the mounting plate, and the inner end of the first spring is equipped with a first flexible element.

[0012] Furthermore, the upper part of the lower clamping rod is inserted into the upper clamping rod. The lower clamping rod is flat and has at least one through hole. The through hole is a stepped hole, and a guide rod with a stop block at the end that mates with the outer surface of the lower clamping rod is inserted into the through hole.

[0013] Furthermore, the inner end of the guide rod is connected to the second flexible member, and a second spring is provided between the second flexible member and the stepped surface of the through hole.

[0014] Furthermore, the upper end of the clamping rod assembly is movably connected to the turntable via a connecting rod.

[0015] Furthermore, a first ranging sensor is provided at the lower end of the piston rod of the first cylinder, and a second ranging sensor is provided at the lower end of each gripper.

[0016] Furthermore, the guide telescopic structure includes a second cylinder, the cylinder body of which is fixed on the upper clamping rod, and the piston rod of the second cylinder is connected to the lower clamping rod.

[0017] Furthermore, side pressure sensors are provided on the gripping surfaces of each gripper, the first flexible member, and the second flexible member, and a tension sensor is provided between the piston rod of the second cylinder and its connecting seat.

[0018] Furthermore, the robotic arm moves the gripping mechanism above the object being gripped, and the first and second cylinders descend to their maximum set strokes, thereby bringing the total length of the upper and lower gripping rods to the set maximum value and opening the gripping rod assembly; the robotic arm moves above the object being gripped, and then the robotic arm controls the gripping mechanism to descend, so that each gripping rod assembly surrounds the object being gripped.

[0019] Further, set the first minimum distance value L of the first ranging sensor, set the second minimum distance value M of the second ranging sensor, set the maximum side pressure value N of the first pressure sensor, set the initial clamping pressure value P of the second pressure sensor, and perform the clamping operation according to the following process:

[0020] S1. The robotic arm descends and uses the first ranging sensor to determine whether the distance between the sensor and the upper end of the object being clamped is equal to or less than the first minimum distance L.

[0021] At the same time, the second distance sensors on the bottom surface of the gripper determine whether the distance between the gripper at the lowest position and the surface where the object is placed is equal to or less than the second minimum distance M.

[0022] The robotic arm stops operating when either of the above two conditions is met.

[0023] S2. When the condition in S1 is met, and the distance measured by the first ranging sensor is equal to or less than the first minimum distance L, the piston rod of the first cylinder stops moving, and then S3 is executed.

[0024] When the condition in S1 is met, the distance measured by the second ranging sensor on the bottom surface of any gripper is equal to or less than the second minimum distance M, the piston rod of the second cylinder retracts, and the robotic arm moves down at the same speed as the piston rod of the second cylinder. When the distance measured by the first ranging sensor is equal to or less than the first minimum distance L, the piston rod of the second cylinder and the robotic arm stop moving, and then S3 is executed.

[0025] S3. The piston rod of the first cylinder retracts. During this process, the side pressure and clamping pressure are measured. When the side pressure is equal to or greater than the maximum side pressure N, and the clamping pressure does not meet the initial clamping pressure P, then stop and abandon clamping.

[0026] When all measured side pressures are less than the maximum side pressure N, and the clamping pressure reaches the initial clamping pressure P, record the distance L1 measured by the first distance sensor at this time.

[0027] S4. The piston rod of the first cylinder is raised at intervals. After each raising by a set distance, the total stroke length of the piston rod of the first cylinder is recorded and measured by the first distance measuring sensor. The distance Ln measured this time is compared with the distance L(n-1) measured last time. If it is equal to Ln but not equal to L(n-1), the piston rod of the first cylinder is raised again. If Ln is equal to L(n-1), S5 is executed.

[0028] S5. The robotic arm lifts and moves the clamped object to the target position.

[0029] The beneficial effects of this invention are as follows: This invention uses a first cylinder to control the opening and closing of the gripping mechanism and the clamping force of the grippers, a second cylinder to control the overall length of the upper and lower clamping rods, and multiple sensors to select a suitable clamping position, thereby achieving precise clamping of irregularly shaped parts. Furthermore, multiple first or second flexible elements are respectively arranged on the inner sides of the upper and lower clamping rods. Each flexible element can adapt to the surface of the object being clamped and apply a certain clamping force, keeping the object stable during clamping. Thus, automatic clamping is achieved to a certain extent. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention;

[0031] Figure 2 This is a front view schematic diagram of the gripping mechanism of the present invention;

[0032] Figure 3 for Figure 2A cross-sectional view along the AA direction;

[0033] Figure 4 for Figure 2 Enlarged view of section B in the middle;

[0034] Figure 5 This is a schematic diagram of the outer side of the clamping rod assembly of the present invention;

[0035] Figure 6 This is a side cross-sectional view of the clamping rod assembly of the present invention;

[0036] Figure 7 for Figure 6 Enlarged view of a portion at point C;

[0037] The components are as follows: 1. Robotic arm; 2. Slip ring; 3. Upper clamping rod; 31. Mounting plate; 32. First spring; 33. First flexible component; 34. First side pressure sensor; 35. Mounting block; 4. Lower clamping rod; 41. Guide rod; 42. Second spring; 43. Second flexible component; 44. Second side pressure sensor; 45. Nut; 5. Gripper; 51. Rubber pad; 52. Third pressure sensor; 53. Second distance sensor; 6. Second cylinder; 61. Tension sensor; 62. Connecting seat; 7. First cylinder; 71. Turntable; 72. Connecting rod; 73. Fixing ring; 74. Support rod; 75. Mounting groove; 76. First distance sensor. Detailed Implementation

[0038] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0039] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is intended to include the plural form as well. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0040] As shown in the figure, the clamping device for irregularly shaped parts in this embodiment includes a robotic arm 1 and a gripping mechanism mounted on the robotic arm 1. The gripping mechanism includes a slip ring 2. The fixed part of the slip ring 2 is fixedly connected to the robotic arm 1 through a flange. The rotating part of the slip ring 2, namely its turntable 71, is connected to a set of clamping rod assemblies. The cylinder body of the first cylinder 7 is fixedly mounted on the bottom of the turntable 71. The piston rod of the first cylinder 7 points downward and is connected to each clamping rod assembly through a support mechanism. In this embodiment, multiple sensors are also provided.

[0041] In this embodiment, a pneumatic slip ring is used, which includes its fixed part and a pneumatic turntable 71.

[0042] A set of clamping rod assemblies is provided on the circumference of the turntable 71. A set of clamping rod assemblies is formed by multiple clamping rod assemblies. In this embodiment, three clamping rod assemblies are used and are evenly arranged along the circumference of the turntable 71.

[0043] Each clamping rod assembly has the following structure: it includes an upper clamping rod 3 and a lower clamping rod 4. The upper part or upper end of the upper clamping rod 3 is connected to the turntable 71 via one or more sequentially hinged connecting rods 72. The inner end of the innermost connecting rod 72 is hinged to a hinge seat on the turntable 71, and the outer end of the outermost connecting rod 72 is connected to a hinge seat on the inner surface of the upper clamping rod 3. Alternatively, the turntable 71 and the upper clamping rod 3 can also be connected via a chain. This connection method allows the relationship between the upper clamping rod 3 and the turntable 71 to be automatically adjusted according to the condition of the grippers 5, especially under the action of lower gravity, maintaining the clamping state and clamping force of the clamping rod assembly.

[0044] In each clamping rod assembly, the upper clamping rod 3 is a tubular structure. In this embodiment, the upper clamping rod 3 adopts a square tube structure. The cross-section of the lower clamping rod 4 is adapted to the inner hole of the upper clamping rod 3 and is inserted into the upper clamping rod 3. In order to enable the lower clamping rod 4 to operate smoothly, a vent hole is provided on the upper clamping rod 3. However, it is best to use a square tube with open ends to make the upper clamping rod 3, so that the lower clamping rod 4 can pass through the upper end of the upper clamping rod 3. Moreover, even when the lower clamping rod 4 reaches its lowest limit position, it is best to still allow the upper end of the lower clamping rod 4 to pass through to reach the upper end or upper part of the upper clamping rod 3. This kind of cooperation between the upper and lower clamping rods can not only guide the movement of the lower clamping rod 4, but also make the upper and lower clamping rods as a whole have good stress strength.

[0045] In each clamping rod assembly, a second cylinder 6 is installed on the outer surface of the upper clamping rod 3 and the lower clamping rod 4. The cylinder body of the second cylinder 6 is fixed to the outer surface of the upper clamping rod 3, and its piston rod is connected to a connecting seat 62 on the outer surface of the lower clamping rod 4. A tension sensor 61 can be installed between the connecting seat 62 and the piston rod. In addition to guiding the lower clamping rod 4, the second cylinder 6 also enhances the overall strength of the upper clamping rod 3 and the lower clamping rod 4.

[0046] At least one first flexible element 33, controlled by a first spring 32, is provided on the inner surface of the upper clamping rod 3. Specifically, the outer end of the first spring 32 is fixedly connected to a mounting plate 31, and its inner end is connected to the first flexible element 33. The inner end of the first spring 32 is fixedly connected to a mounting block 35, and the first flexible element 33 is fixed to the mounting block 35. A first side pressure sensor 34 is provided between the first flexible element 33 and the mounting block 35.

[0047] The lower clamping rod 4 is flat and has at least one stepped hole (i.e., a through hole) that is larger on the inside and smaller on the outside. A guide rod 41 is installed in the stepped hole. The outer end of the guide rod 41 is threaded and screwed with a nut 45. The nut 45 (i.e., a stop block) can mate with the outer surface of the lower clamping rod 4. Near its inner end, the guide rod 41 has a protruding ring, and a second spring 42 is installed between the protruding ring and the stepped surface in the stepped hole of the lower clamping rod 4. The inner end of the guide rod 41 has a ball head, and a second side pressure sensor 44 is installed inside the ball head. A second flexible member 43 is movably connected through the ball head. This structure provides the second flexible member 43 with room to move, and the protruding ring provides a certain support to the second flexible member 43. Thus, by utilizing the characteristics of the flexible member itself, it has a certain range of motion to adapt to the surface shape of the clamped object, and it can also provide a supporting effect.

[0048] When multiple first flexible members 33 or second flexible members 43 are respectively provided on the upper clamping rod 3 or the lower clamping rod 4, they can be arranged along the length direction of the upper clamping rod 3 or the lower clamping rod 4. The first flexible member 33 or the second flexible member 43 can be block-shaped or inwardly opening bowl-shaped. The portion of the lower clamping rod 4 that can enter the upper clamping rod 3 after the second cylinder 6 retracts does not have flexible blocks.

[0049] In this embodiment, the lower end of the clamping rod 4 is provided with an inwardly protruding gripper 5. The inner surface of the gripper is the clamping surface, and a rubber pad 51 is provided on the inner surface of the gripper 5 to prevent wear or damage when clamping irregularly shaped parts. A groove is also provided on the inner surface of the gripper 5, and a third pressure sensor 52 is installed in the groove, and the third pressure sensor 52 is located inside the rubber pad 51. A second distance sensor 53 is provided at the lower end of the gripper 5.

[0050] In this embodiment, a first cylinder 7 is installed at the lower end of the turntable 71, with its piston rod pointing downwards. A fixing ring 73 is fixedly installed on the piston rod of the first cylinder 7, and the inner ends of three support rods 74 are hinged to the hinge seats on the fixing ring 73, while the outer ends of each support rod 74 are respectively hinged to the hinge seats on the inner surface of an upper clamping rod 3.

[0051] A mounting groove 75 is provided on the lower surface of the piston rod of the first cylinder 7, in which a first ranging sensor 76 is installed. The first ranging sensor 76 can be a photoelectric sensor or an ultrasonic sensor. When an ultrasonic sensor is used, the object being clamped should be able to reflect the ultrasonic waves.

[0052] In this invention, slip ring 2 and each cylinder can be controlled by the same air source.

[0053] In this embodiment, the first cylinder 7 is used to control the opening and closing of the gripping mechanism and the gripping force of the gripper 5. The maximum stroke of its piston rod is set before use.

[0054] The second cylinder, 6, is used to control the overall length of the upper and lower clamping rods. The maximum stroke of its piston rod should be set before use.

[0055] The first distance sensor 76, employing a three-position photoelectric sensor, measures the distance between the first distance sensor 76 and the upper end of the object being clamped. A first minimum distance value L is set, preserving this distance to prevent the object from colliding with the first distance sensor 76, with a buffer distance provided, such as 5-10cm. The use of a three-position photoelectric sensor in the first distance sensor 76 expands the measurement area and improves measurement accuracy.

[0056] The second distance sensor 53 is used to measure the distance between the bottom surface of the gripper 5 and the surface where the object is placed, and to set a second minimum distance value M, such as 0.5-3cm. Under normal circumstances, 1cm can be used.

[0057] First side pressure sensor 34 and second side pressure sensor 44: Set the maximum side pressure value N to prevent the upper and lower clamping rods from bending. This pressure is measured by a testing machine before the equipment is manufactured. The maximum side pressure N must be less than the pressure that causes bending.

[0058] The third pressure sensor 52 is used to measure the clamping force and set the initial clamping pressure value P. It is best to set this pressure to a small value, and the specific value will not affect the operation of this embodiment.

[0059] In use, the robotic arm 1 moves the gripping mechanism above the object to be gripped, and the first cylinder 7 and the second cylinder 6 descend to the maximum set stroke, so that the total length of the upper and lower gripping rods reaches the set maximum value and the gripping rod assembly is opened; the robotic arm 1 moves this embodiment above the object to be gripped, and then the robotic arm 1 controls the gripping mechanism to descend, so that each gripping rod assembly surrounds the object to be gripped.

[0060] During this process, the clamping device for irregularly shaped parts in this embodiment operates according to the following sequence of steps:

[0061] S1. The robotic arm 1 moves downward and uses the first ranging sensor 76 to determine whether the distance between the sensor and the upper end of the object being clamped is equal to or less than the first minimum distance L.

[0062] At the same time, the second distance sensors 53 on the bottom surface of the three grippers 5 determine whether the distance between the gripper 5 at the lowest position and the surface where the object is placed is equal to or less than the second minimum distance M.

[0063] When either of the above two conditions is met, robotic arm 1 stops operating;

[0064] S2. When the condition in S1 is met, and the distance measured by the first ranging sensor 76 is equal to or less than the first minimum distance L, the piston rod of the first cylinder 7 stops moving, and then S3 is executed.

[0065] When the condition in S1 is met, the distance measured by the second ranging sensor 53 on the bottom surface of any gripper 5 is equal to or less than the second minimum distance M, the piston rod of the second cylinder 6 retracts, and the robotic arm 1 moves downward at the same speed as the piston rod of the second cylinder 6. When the distance measured by the first ranging sensor 76 is equal to or less than the first minimum distance L, the piston rod of the second cylinder 6 and the robotic arm stop moving, and then S3 is executed.

[0066] S3. The piston rod of the first cylinder 7 retracts. During this process, the side pressure and clamping pressure are measured. When the side pressure is equal to or greater than the maximum side pressure N, and the clamping pressure does not meet the initial clamping pressure P, then stop and abandon clamping.

[0067] When all measured side pressures are less than the maximum side pressure N, and the clamping pressure reaches the initial clamping pressure P, record the distance L1 measured by the first distance sensor 76 at this time.

[0068] S4. The piston rod of the first cylinder 7 is raised intermittently, each time by a set distance, which can be 0.1-0.3 cm. Afterwards, the total stroke length of the piston rod of the first cylinder 7 after each raising is recorded and measured by the first distance sensor 76. The measured distance Ln is compared with the previously measured distance L(n-1). If Ln is equal to L(n-1) but not equal to L(n-1), the piston rod of the first cylinder 7 continues to be raised; if Ln is equal to L(n-1), S5 is executed.

[0069] S5. The robotic arm 1 lifts and moves the clamped object to the target position.

[0070] In this embodiment, the position of the clamping rod can be adjusted by the slip ring 2 to select a suitable clamping position. The upper connecting rod 72 automatically adapts to the width of the object being clamped, and each flexible block adapts to the surface of the object being clamped and applies a certain clamping force, so that the object being clamped remains stable during the clamping process. Thus, automatic clamping is achieved to a certain extent.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. All modifications and variations within the spirit and principles of the present invention are permitted.

[0072] manual

[0073] Any modifications, equivalent substitutions, improvements, etc., made should be included within the scope of protection of this invention.

Claims

1. A clamping device for irregularly shaped parts, comprising a robotic arm and a gripping mechanism mounted below the robotic arm, characterized in that: The gripping mechanism includes: A slip ring mounted on a robotic arm, the slip ring comprising a fixed part and a turntable; A set of clamping rod assemblies, the upper end of each clamping rod assembly being movably connected to the turntable of the slip ring, with the connection points distributed along the circumference of the turntable; Each clamping rod assembly includes an upper clamping rod and a lower clamping rod. The lower end of the lower clamping rod is provided with an inwardly protruding jaw, and the inner surface of the jaw is a clamping surface. The upper clamping rod and the lower clamping rod are connected by a guide telescopic structure. The inner sides of the upper and lower clamping rods are provided with a first flexible element and a second flexible element controlled by springs. The first cylinder is fixed below the turntable. A fixed ring is provided on the piston rod of the first cylinder. A support rod is provided between the fixed ring and each upper clamping rod. The two ends of the support rod are respectively hinged to the fixed ring and the upper clamping rod. A first ranging sensor is provided at the lower end of the piston rod of the first cylinder, and a second ranging sensor is provided at the lower end of each gripper; the guide telescopic structure includes a second cylinder, the cylinder body of the second cylinder is fixed on the upper clamping rod, and the piston rod of the second cylinder is connected to the lower clamping rod; a third pressure sensor is provided on the clamping surface of each gripper, a first flexible member is provided, a side pressure sensor is provided on the second flexible member, and a tension sensor is provided between the piston rod of the second cylinder and its connecting seat; Set the first minimum distance value L of the first ranging sensor, the second minimum distance value M of the second ranging sensor, the maximum side pressure value N of the side pressure sensor, and the initial clamping pressure value P of the third pressure sensor, and perform the clamping operation according to the following procedure: S1. The robotic arm descends and uses the first ranging sensor to determine whether the distance between the sensor and the upper end of the object being clamped is equal to or less than the first minimum distance L. At the same time, the second distance sensors on the bottom surface of the gripper determine whether the distance between the gripper at the lowest position and the surface where the object is placed is equal to or less than the second minimum distance M. The robotic arm stops operating when either of the above two conditions is met. S2. When the condition in S1 is met, and the distance measured by the first ranging sensor is equal to or less than the first minimum distance L, the piston rod of the first cylinder stops moving, and then S3 is executed. When the condition in S1 is met, the distance measured by the second ranging sensor on the bottom surface of any gripper is equal to or less than the second minimum distance M, the piston rod of the second cylinder retracts, and the robotic arm moves down at the same speed as the piston rod of the second cylinder. When the distance measured by the first ranging sensor is equal to or less than the first minimum distance L, the piston rod of the second cylinder and the robotic arm stop moving, and then S3 is executed. S3. The piston rod of the first cylinder retracts. During this process, the side pressure and clamping pressure are measured. When the side pressure is equal to or greater than the maximum side pressure N, and the clamping pressure does not meet the initial clamping pressure P, then stop and abandon clamping. When all measured side pressures are less than the maximum side pressure N, and the clamping pressure reaches the initial clamping pressure P, record the distance L1 measured by the first distance sensor at this time. S4. The piston rod of the first cylinder is raised at intervals. After each raising by a set distance, the total stroke length of the piston rod of the first cylinder is recorded and measured by the first distance measuring sensor. The distance Ln measured this time is compared with the distance L(n-1) measured last time. If it is equal to Ln but not equal to L(n-1), the piston rod of the first cylinder is raised again. If Ln is equal to L(n-1), S5 is executed. S5. The robotic arm lifts and moves the clamped object to the target position.

2. A profiled member gripping device according to claim 1, characterised in that: The upper clamping rod is a tubular structure with ventilation holes; at least one mounting plate is provided on the inner side of the upper clamping rod, the outer end of the first spring is fixed on the mounting plate, and the inner end of the first spring is equipped with a first flexible element.

3. The clamping device for irregularly shaped parts according to claim 1 or 2, characterized in that: The upper part of the lower clamping rod is inserted into the upper clamping rod. The lower clamping rod is flat and has at least one through hole. The through hole is a stepped hole. A guide rod with a stop block at the end that mates with the outer surface of the lower clamping rod is inserted into the through hole.

4. The clamping device for irregularly shaped parts according to claim 3, characterized in that: The inner end of the guide rod is connected to the second flexible member, and a second spring is provided between the second flexible member and the stepped surface of the through hole.

5. The clamping device for irregularly shaped parts according to claim 1 or 2, characterized in that: The upper end of the clamping rod assembly is movably connected to the turntable via a connecting rod.

6. The clamping device for irregularly shaped parts according to claim 1, characterized in that: The robotic arm moves the gripping mechanism above the object to be gripped, and the first and second cylinders descend to their maximum set strokes, thereby bringing the total length of the upper and lower gripping rods to the set maximum value and opening the gripping rod assembly. The robotic arm moves above the object to be gripped, and then controls the gripping mechanism to descend, so that each gripping rod assembly surrounds the object to be gripped.

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