Flexible fixture for a knuckle cutting machining robot

Abstract

The present application relates to the technical field of knuckle machining, and discloses a flexible clamp for a knuckle cutting machining robot, which comprises a machine body, a workbench horizontally arranged on the machine body, and a fixing cylinder vertically arranged on the workbench, a first driving cylinder is arranged at the bottom of the machine body, a first push rod is vertically arranged upward at the output end of the first driving cylinder, a second push rod is rotationally arranged at the top of the first push rod, four connecting rods are evenly arranged at the top of the second push rod along the horizontal direction, and four steering unit grooves are evenly arranged on the fixing cylinder and sequentially communicated in sequence; the present application has the effect of improving the transfer efficiency of the knuckle.

Description

Technical Field

[0001] This invention relates to the field of steering knuckle machining technology, and in particular to a flexible fixture for a steering knuckle cutting robot. Background Technology

[0002] The steering knuckle, also known as the "steering knuckle," is one of the important components of the automotive steering axle. It enables the car to drive stably and transmits driving direction sensitively. The function of the steering knuckle is to transmit and bear the load of the front of the car, support and drive the front wheels to rotate around the kingpin, thereby steering the car.

[0003] After the steering knuckle is forged, the surface needs to be milled to achieve a smooth surface. Different parts need to be milled, requiring three sets of milling machines. However, the movement of the steering knuckle on these three sets of milling machines is too inefficient if done manually. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible fixture for a steering knuckle cutting robot, which improves the transfer efficiency of the steering knuckle.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: The invention includes a machine body, a worktable horizontally mounted on the machine body, and a fixed cylinder vertically mounted on the worktable. A first driving cylinder is provided at the bottom of the machine body. A first push rod is vertically upwardly mounted at the output end of the first driving cylinder. A second push rod is rotatably mounted on the top of the first push rod. The second push rod is located inside the fixed cylinder, and its central axis coincides with the central axis of the fixed cylinder. Four connecting rods are evenly arranged horizontally on the top of the second push rod. Four sequentially connected steering unit slots are evenly opened on the fixed cylinder. The connecting rods movably pass through adjacent steering unit slots. A connecting block is horizontally mounted at the end of each connecting rod. A clamping mechanism for clamping a steering knuckle is provided on the connecting block. The second push rod can push the connecting rod to rotate 90° along the steering unit slot.

[0006] By adopting the above technical solution, when milling different parts of the steering knuckle is required, the three sets of milling machines and the unprocessed steering knuckle material frame are first arranged in a cross shape. Then, the clamping mechanism located above the material frame is driven to clamp a steering knuckle. After that, the first drive cylinder is opened, driving the first push rod and the second push rod to rise and then fall. During the rising and falling of the second push rod, the clamping mechanism and the steering knuckle are driven through the connecting rod. As the connecting rod moves along the steering unit groove, it drives the clamping mechanism and the steering knuckle to rotate 90°, thereby transporting the steering knuckle to the top of the first set of milling machines. Then, the clamping mechanism is driven to release the clamping mechanism. The steering knuckle is first processed by the first set of milling machines. Then, the clamping mechanism and the first drive cylinder are driven sequentially to transfer the unprocessed steering knuckle from the raw material frame to the first set of milling machines. At the same time, the steering knuckle after the first processing is transferred to the second set of milling machines. This process is repeated until the steering knuckle, after being processed by three milling machines, is transported back into the raw material frame. By setting steering unit slots, a second push rod, and connecting rods, the second push rod can drive the clamping mechanism to rotate 90° while it is rising and falling, thereby realizing the transfer and processing of the steering knuckle between the raw material frame and the three sets of milling machines. This eliminates the need for manual transfer of the steering knuckle by workers and improves the transfer efficiency of the steering knuckle.

[0007] A further configuration of the present invention is as follows: the steering unit groove includes a first steering groove formed vertically on the fixed cylinder and a second steering groove formed on the fixed cylinder and communicating with the bottom of the first steering groove. A guide member is provided at the bottom of the second steering groove. When the second push rod descends, the second push rod can drive the connecting rod to descend along the first steering groove. When the second push rod rises, the second push rod can drive the connecting rod to rise along the second steering groove. When the connecting rod moves from the bottom end of the second steering groove to the top end of the second steering groove, the connecting rod drives the connecting block to rotate 90°.

[0008] By adopting the above technical solution, a first steering groove and a second steering groove are set up so that the connecting rod drives the clamping mechanism to rotate 90° during the upward movement along the second steering groove. At the same time, the vertically set first steering groove ensures that the connecting rod descends vertically along the first steering groove during the descent. This allows the first drive cylinder to drive the second push rod to achieve a 90° rotation of the clamping mechanism during the lifting and lowering process, thereby realizing the transfer of the steering knuckle between the three sets of milling machines and the material frame.

[0009] A further configuration of the present invention is as follows: the guide member includes a guide rod disposed horizontally at the bottom end of the second steering groove and a limiting torsion spring sleeved on the guide rod, a guide plate rotatably connected to the guide rod, the two ends of the limiting torsion spring respectively abutting against the guide rod and the guide plate, the end of the guide plate away from the guide rod abutting against the inner wall of the first steering groove, and when the connecting rod descends along the first steering groove, the connecting rod can push the guide plate to rotate downwards until it abuts against the inner wall of the second steering groove.

[0010] By adopting the above technical solution, a limiting torsion spring and a guide plate are set. During the process of the connecting rod descending along the first steering groove, the connecting rod pushes the guide plate to rotate downward until the guide plate abuts against the inner wall of the second steering groove, so that the connecting rod can descend smoothly along the first steering groove. During the process of the connecting rod rising, when the connecting rod rises to the connection between the first steering groove and the second steering groove, the connecting rod abuts against the guide plate, and one end of the guide plate abuts against the inner wall of the first steering groove, so that the first steering groove is blocked, and the connecting rod can only rise along the second steering groove, thereby restricting the movement direction of the connecting rod and ensuring that the connecting rod can drive the clamping mechanism to rotate.

[0011] A further configuration of the present invention is as follows: the clamping mechanism includes a second driving cylinder disposed on the top of the connecting block and a first driving rod disposed vertically downward on the second driving cylinder. A first driving block is horizontally disposed at the bottom of the driving rod. Second driving rods are symmetrically hinged to both sides of the first driving block. A second driving block is disposed at the bottom of the connecting block. A third driving block is horizontally disposed on the second driving block. A fourth driving block is symmetrically hinged to both sides of the third driving block. The top of the fourth driving block is hinged to the adjacent second driving rod. When the first driving rod descends, the two second driving rods can push the bottoms of the two fourth driving blocks closer to each other.

[0012] By adopting the above technical solution, when the steering knuckle needs to be clamped, the second drive cylinder is opened, driving the first drive rod and the first drive block to descend, thereby causing the bottom ends of the two second drive rods to rotate upward. The second drive rods drive the bottom end of the fourth drive block to rotate upward, thereby bringing the bottoms of the two fourth drive blocks closer together to clamp the steering knuckle. When the steering knuckle needs to be released, the second drive cylinder is opened, driving the first drive rod and the first drive block to rise, causing the bottoms of the two second drive rods to move closer together, thereby causing the bottoms of the two fourth drive blocks to move away from each other, so that the clamping mechanism lowers the steering knuckle. By setting the first drive block, second drive block, etc., the rising and falling of the first drive rod drives the second drive block and the fourth drive block to rotate, thereby realizing the clamping and releasing of the steering knuckle.

[0013] A further configuration of the present invention is as follows: a feeding plate, a first processing plate, a second processing plate, and a third processing plate that cooperate with the clamping mechanism are movably arranged on the worktable. The feeding plate, the first processing plate, the second processing plate, and the third processing plate can all be located directly below the adjacent clamping mechanism. The machine body is provided with a first driving mechanism for driving the feeding plate closer to or away from the fixed cylinder, a second driving mechanism for driving the first processing plate closer to or away from the fixed cylinder, a third driving mechanism for driving the second processing plate closer to or away from the fixed cylinder, and a fourth driving mechanism for driving the third processing plate closer to or away from the fixed cylinder.

[0014] By adopting the above technical solution, when the steering knuckle needs to be processed, the steering knuckle is placed on the loading plate, and then the first drive mechanism is activated to drive the loading plate to move directly below the adjacent clamping mechanism. The clamping mechanism then continues to clamp the knuckle, and the first drive cylinder drives the second push rod to rise and fall, transferring the steering knuckle to the first processing plate. The second drive mechanism then transports the first processing plate to the first milling machine for processing. After processing, the second drive mechanism drives the first processing plate to move directly below the adjacent clamping mechanism, repeating this process to transfer the steering knuckle to the second and third processing plates. The third and fourth drive mechanisms then transport the knuckle to the second and third milling machines for processing. After processing, the knuckle is transported to the clamping mechanism for further transfer. Finally, the knuckle is transferred to the second and third processing plates. The steering knuckles, after undergoing three processing steps, are transported back to the loading plate. The first drive mechanism then moves the loading plate, allowing the worker to remove the processed steering knuckles and place the ones requiring further processing on top. This allows for another round of transfer and processing. (It should be noted that while the unprocessed steering knuckles are being transferred from the loading plate to the first processing plate, the first processed steering knuckles are being transferred from the first processing plate to the second processing plate, the second processed steering knuckles from the second processing plate to the third processing plate, and the third processed steering knuckles from the third processing plate back to the loading plate. Therefore, the entire processing process is carried out simultaneously and in an orderly manner.) By setting up the loading plate and the first processing plate, the connection between the steering knuckles and the milling machine is achieved, while maintaining a certain distance between the clamping mechanism and the milling machine to prevent the clamping mechanism from interfering with the normal processing of the milling machine.

[0015] A further configuration of the present invention includes: a fixed block on the first push rod; a first driving mechanism comprising a first movable rod rotatably mounted on the fixed block and a first movable block disposed at the bottom of the loading plate; the top end of the first movable rod being hinged to the first movable block; and an elongated first movable hole cooperating with the first movable block being provided on the worktable; when the first push rod rises, the first movable rod can push the first movable block away from the fixed cylinder along the first movable hole. The second driving mechanism includes a second movable rod rotatably mounted on the fixed block and a second movable block disposed at the bottom of the first processing plate; the top end of the second movable rod being hinged to the second movable block; and an elongated second movable hole cooperating with the second movable block being provided on the worktable; when the first push rod rises, the second movable rod can push the second movable block away from the fixed cylinder along the first movable hole. The third driving mechanism includes a third moving rod rotatably mounted on the fixed block and a third moving block disposed at the bottom of the second processing plate. The top end of the third moving rod is hinged to the third moving block. An elongated third moving hole that cooperates with the third moving block is provided on the worktable. When the first push rod rises, the third moving rod can push the third moving block away from the fixed cylinder along the third moving hole. The fourth driving mechanism includes a fourth moving rod rotatably mounted on the fixed block and a fourth moving block disposed at the bottom of the third processing plate. The top end of the fourth moving rod is hinged to the fourth moving block. An elongated fourth moving hole that cooperates with the fourth moving block is provided on the worktable. When the first push rod rises, the fourth moving rod can push the fourth moving block away from the fixed cylinder along the fourth moving hole.

[0016] By adopting the above technical solution, when the steering knuckle needs to be processed, the steering knuckle is placed on the loading plate, and then the second drive cylinder is opened to clamp the steering knuckle. Next, the first drive cylinder is opened, driving the second push rod to rise and fall. While the second push rod is rising and falling, it drives the steering knuckle to rotate 90° via the connecting rod, causing the clamping mechanism to rotate above the first processing plate. Then, the second drive cylinder is driven to release the steering knuckle, transferring it to the first processing plate. The first drive cylinder is then driven again. At this time, the clamping mechanism is disconnected from the loading plate, the first processing plate, the second processing plate, and the steering knuckle on the third processing plate. Therefore, during the rising of the first and second push rods, the clamping mechanism rotates 90°. The machine rotates at a certain angle, but the steering knuckles on the loading plate, first processing plate, second processing plate, and third processing plate do not rotate with the clamping mechanism. Simultaneously, during the upward movement of the first push rod, it drives the first, second, third, and fourth moving rods upward. During this upward movement, the first, second, third, and fourth moving rods respectively push the first, second, third, and fourth moving blocks away from the fixed cylinder. When the first push rod reaches its highest point, the loading plate, first processing plate, second processing plate, and third processing plate respectively drive the steering knuckles to move to the end away from the fixed cylinder. Then, the worker can remove the processed steering knuckle from the loading plate and place the steering knuckle to be processed on top. Simultaneously, the first, second, and third milling machines can respectively process the steering knuckles on the first, second, and third machining plates. After processing, the first drive cylinder is driven, causing the first and second push rods to descend. During the descent of the first push rod, the first, second, third, and fourth moving rods are respectively driven to descend, thereby causing the first, second, third, and fourth moving blocks to approach the fixed cylinder. When the first push rod descends to its original height, the loading plate, the first machining plate, the second machining plate, and the third machining plate respectively drive the steering knuckles to move directly below the adjacent clamping mechanism. Then, the second drive cylinder is driven to drive the clamping mechanism. The mechanism grips the steering knuckle below, driving the first drive cylinder to rotate the gripping mechanism and the steering knuckle 90°. This cycle repeats, allowing the steering knuckle to be transferred and processed sequentially between the loading plate, the first processing plate, the second processing plate, and the third processing plate. By setting up the first moving rod, the first moving block, etc., can drive the loading plate, the first processing plate, the second processing plate, and the third processing plate to move while the first push rod rises and falls, thereby realizing the movement of the steering knuckle between the gripping mechanism and the milling machine. Through the cooperation of the gripping mechanism, the movement, processing, and transfer of the steering knuckle are interconnected and cooperate with each other, eliminating the need for manual transfer by workers and greatly improving the processing and transfer efficiency of the steering knuckle.

[0017] A further configuration of the present invention is as follows: a first rotating shaft is rotatably arranged on the worktable in a vertical direction; a first gear is arranged at the top of the first rotating shaft; a second gear is arranged at the bottom of the first rotating shaft; a first rack that meshes with the second gear is arranged on one side of the second moving block in a direction parallel to the second moving hole; a second rack and a third rack that mesh with the two sides of the first gear are slidably arranged on the worktable; a first clamping plate is vertically arranged on the second rack; a second clamping plate is arranged on the second rack in a direction parallel to the first clamping plate; when the first push rod rises, the first rack can drive the first clamping plate and the second clamping plate to move closer to each other.

[0018] By adopting the above technical solution, while the first push rod drives the second moving rod to rise, the second moving block drives the first rack away from the fixed cylinder, thereby driving the first gear and the second gear to rotate. The first gear drives the first clamping plate and the second clamping plate to move closer to each other. When the first processing plate moves to the end away from the fixed cylinder, the first clamping plate and the second clamping plate are exactly in contact with both sides of the steering knuckle, fixing the steering knuckle and facilitating the milling machine to process the steering knuckle on the first processing plate. By setting the first gear, the second gear, and the first rack, the first push rod can drive the first gear and the second gear to rotate while rising and falling, thereby driving the first clamping plate and the second gear to rotate. The second clamping plates move closer or further apart, causing the first push rod to move the first processing plate to the end away from the fixed cylinder. At this point, the first and second clamping plates clamp and fix both sides of the steering knuckle, thereby further linking the steering knuckle's transfer and processing. The entire process only requires driving the first drive cylinder to move the first processing plate, the first clamping plate, and the second clamping plate, realizing the movement and fixation of the steering knuckle, facilitating milling machine processing. At the same time, it realizes the rotation of the clamping mechanism, enabling the transfer of the steering knuckle between different milling machines. This allows the steering knuckle's processing and transfer processes to cooperate with each other, forming a closed loop that can be carried out sequentially and orderly.

[0019] A further configuration of the present invention is as follows: a second rotating shaft is rotatably arranged on the worktable in a vertical direction; a third gear is arranged at the top of the second rotating shaft; a fourth gear is arranged at the bottom of the second rotating shaft; a fourth rack is arranged on one side of the third moving block in a direction parallel to the third moving hole, meshing with the fourth gear; a fifth rack and a sixth rack are slidably arranged on the worktable, respectively meshing with both sides of the third gear; a third clamping plate is vertically arranged on the fifth rack; a fourth clamping plate is arranged on the sixth rack in a direction parallel to the third clamping plate; when the first push rod rises, the fourth rack can drive the third clamping plate and the fourth clamping plate to move closer to each other.

[0020] By adopting the above technical solution, while the first push rod drives the third moving rod to rise, the third moving block drives the fourth rack away from the fixed cylinder, thereby driving the third gear and the fourth gear to rotate. The third gear drives the third clamping plate and the fourth clamping plate to move closer to each other. When the second processing plate moves to the end away from the fixed cylinder, the third clamping plate and the fourth clamping plate just abut against both sides of the steering knuckle, fixing the steering knuckle and facilitating the milling machine to process the steering knuckle on the second processing plate. By setting the third gear, the fourth gear, and the fourth rack, the first push rod can drive the third gear and the fourth gear to rotate while rising and falling, thereby driving the third clamping plate and the fourth clamping plate to move closer or further away from each other. When the first push rod drives the second processing plate to the end away from the fixed cylinder, the third clamping plate and the fourth clamping plate clamp and fix both sides of the steering knuckle, facilitating the milling machine to process the steering knuckle on the second processing plate, thereby further linking the steering knuckle's transfer and processing processes.

[0021] A further configuration of the present invention is as follows: a third rotating shaft is rotatably arranged on the worktable in a vertical direction; a fifth gear is arranged at the top of the third rotating shaft; a sixth gear is arranged at the bottom of the third rotating shaft; a seventh rack is arranged on one side of the fourth moving block in a direction parallel to the fourth moving hole, meshing with the sixth gear; an eighth rack and a ninth rack are slidably arranged on the worktable, respectively meshing with both sides of the fifth gear; a fifth clamping plate is vertically arranged on the eighth rack; a sixth clamping plate is arranged on the ninth rack in a direction parallel to the fifth clamping plate; when the first push rod rises, the seventh rack can drive the fifth clamping plate and the sixth clamping plate to move closer to each other.

[0022] By adopting the above technical solution, while the first push rod drives the fourth moving rod to rise, the fourth moving block drives the seventh rack away from the fixed cylinder, thereby driving the fifth and sixth gears to rotate. The fifth gear drives the fifth and sixth clamping plates to move closer to each other. When the third processing plate moves to the end away from the fixed cylinder, the fifth and sixth clamping plates just abut against both sides of the steering knuckle, fixing the steering knuckle and facilitating the milling machine to process the steering knuckle on the third processing plate. By setting the fifth gear, sixth gear, and seventh rack, the first push rod can drive the fifth and sixth gears to rotate while rising and falling, thereby driving the fifth and sixth clamping plates to move closer or further apart. When the first push rod drives the third processing plate to the end away from the fixed cylinder, the fifth and sixth clamping plates clamp and fix both sides of the steering knuckle, facilitating the milling machine to process the steering knuckle on the third processing plate, thus further linking the steering knuckle's transfer and processing processes.

[0023] A further provision of the present invention is that an annular positioning ring is provided between the connecting rod and the connecting block, and the inner wall of the positioning ring is movably fitted against the outer wall of the fixed cylinder.

[0024] By adopting the above technical solution and setting a positioning ring, the four connecting rods and four connecting blocks are connected as a whole, making the connection between the connecting blocks and the fixed cylinder tighter, thereby increasing the stability of the second push rod pushing the connecting blocks and the connecting rods during movement.

[0025] The beneficial effects of this invention are:

[0026] 1. By setting up a steering unit slot, a second push rod, and a connecting rod, the second push rod can drive the clamping mechanism to rotate 90° while it is rising and falling, thereby realizing the transfer and processing of the steering knuckle between the raw material frame and the three sets of milling machines. This eliminates the need for workers to manually transfer the steering knuckle, thus improving the transfer efficiency of the steering knuckle.

[0027] 2. By setting up a first moving rod, a first moving block, etc., the first push rod can drive the loading plate, the first processing plate, the second processing plate and the third processing plate to move while rising and falling, thereby realizing the movement of the steering knuckle between the clamping mechanism and the milling machine. With the cooperation of the clamping mechanism, the movement, processing and transfer of the steering knuckle are interconnected and cooperate with each other. There is no need for workers to transfer the steering knuckle, which greatly improves the processing and transfer efficiency of the steering knuckle.

[0028] 3. By setting up a first gear, a second gear, and a first rack, the first push rod can drive the first and second gears to rotate while rising and falling. This, in turn, causes the first and second clamping plates to move closer to or further away from each other. When the first push rod moves the first processing plate to the end away from the fixed cylinder, the first and second clamping plates clamp and fix both sides of the steering knuckle. This further links the transfer and processing of the steering knuckle. The entire process only requires driving the first drive cylinder to move the first processing plate, the first clamping plate, and the second clamping plate, realizing the movement and fixation of the steering knuckle, which is convenient for milling machine processing. At the same time, it realizes the rotation of the clamping mechanism, realizing the transfer of the steering knuckle between different milling machines. This allows the processing and transfer processes of the steering knuckle to cooperate with each other, forming a closed loop, and can be carried out in an orderly manner. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of an embodiment of a flexible fixture for a steering knuckle cutting robot according to the present invention;

[0031] Figure 2 yes Figure 1 Enlarged diagram of A in the middle;

[0032] Figure 3 This is a partial structural schematic diagram of an embodiment of a flexible fixture for a steering knuckle cutting robot according to the present invention;

[0033] Figure 4 yes Figure 3 Enlarged diagram of B in the diagram;

[0034] Figure 5 This is a schematic diagram of an embodiment of a flexible fixture for a steering knuckle cutting robot according to the present invention.

[0035] In the diagram, 1. Machine body; 2. Worktable; 3. Fixed cylinder; 4. First drive cylinder; 5. First push rod; 6. Second push rod; 7. Connecting rod; 8. Steering unit slot; 8a. First steering slot; 8b. Second steering slot; 9. Connecting block; 10. Clamping mechanism; 10a. Second drive cylinder; 10b. First drive rod; 11. Guide component; 11a. Guide rod; 11b. Limiting torsion spring; 12. Guide plate; 13. First drive block; 14. Second drive rod; 15. Second drive block; 16. Third drive block; 17. Fourth drive block; 18. Loading plate; 19. First processing plate; 20. Second processing plate; 21. Third processing plate; 22. First drive mechanism; 22a. First moving rod; 22b. First moving block; 23. Second drive mechanism; 23a. Second moving rod; 23b. Second moving block; 24. Third drive mechanism; 24 a. Third moving rod; 24b. Third moving block; 25. Fourth drive mechanism; 25a. Fourth moving rod; 25b. Fourth moving block; 26. Fixed block; 27. First moving hole; 28. Second moving hole; 29. ​​Third moving hole; 30. Fourth moving hole; 31. First rotating shaft; 32. First gear; 33. Second gear; 34. First rack; 35. Second rack; 36. Third rack; 37. First clamping plate; 38. Second clamping plate; 39. Second rotating shaft; 40. Third gear; 41. Fourth gear; 42. Fourth rack; 43. Fifth rack; 44. Sixth rack; 45. Third clamping plate; 46. Fourth clamping plate; 47. Third rotating shaft; 48. Fifth gear; 49. Sixth gear; 50. Seventh rack; 51. Eighth rack; 52. Ninth rack; 53. Fifth clamping plate; 54. Sixth clamping plate; 55. Positioning ring. Detailed Implementation

[0036] The technical solution of the present invention will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0037] This invention provides a flexible gripper for a steering knuckle cutting robot, such as... Figures 1 to 5 As shown, the device includes a body 1, a worktable 2 horizontally mounted on the body 1, and a fixed cylinder 3 vertically mounted on the worktable 2. A first drive cylinder 4 is located at the bottom of the body 1. A first push rod 5 is vertically mounted upward at the output end of the first drive cylinder 4. A second push rod 6 is rotatably mounted on the top of the first push rod 5. The second push rod 6 is located inside the fixed cylinder 3, and its central axis coincides with the central axis of the fixed cylinder 3. Four connecting rods 7 are evenly arranged horizontally on the top of the second push rod 6. Four steering unit slots 8 are evenly opened on the fixed cylinder 3, with their ends connected sequentially. The connecting rods 7 move through adjacent steering unit slots 8. A connecting block 9 is horizontally mounted at the end of the connecting rod 7. A clamping mechanism 10 for clamping a steering knuckle is provided on the connecting block 9. The second push rod 6 can push the connecting rod 7 to rotate 90° along the steering unit slot 8.

[0038] Furthermore, the steering unit groove 8 includes a first steering groove 8a vertically formed on the fixed cylinder 3 and a second steering groove 8b formed on the fixed cylinder 3 and communicating with the bottom of the first steering groove 8a. A guide member 11 is provided at the bottom of the second steering groove 8b. When the second push rod 6 descends, the second push rod 6 can drive the connecting rod 7 to descend along the first steering groove 8a. When the second push rod 6 rises, the second push rod 6 can drive the connecting rod 7 to rise along the second steering groove 8b. When the connecting rod 7 moves from the bottom end of the second steering groove 8b to the top end of the second steering groove 8b, the connecting rod 7 drives the connecting block 9 to rotate 90°.

[0039] Furthermore, the guide member 11 includes a guide rod 11a disposed horizontally at the bottom end of the second steering groove 8b and a limiting torsion spring 11b sleeved on the guide rod 11a. A guide plate 12 is rotatably connected to the guide rod 11a. The two ends of the limiting torsion spring 11b abut against the guide rod 11a and the guide plate 12, respectively. The end of the guide plate 12 away from the guide rod 11a abuts against the inner wall of the first steering groove 8a. When the connecting rod 7 descends along the first steering groove 8a, the connecting rod 7 can push the guide plate 12 to rotate downwards until it abuts against the inner wall of the second steering groove 8b.

[0040] Furthermore, the clamping mechanism 10 includes a second driving cylinder 10a disposed on the top of the connecting block 9 and a first driving rod 10b disposed vertically downward on the second driving cylinder 10a. A first driving block 13 is horizontally disposed at the bottom of the driving rod. Second driving rods 14 are symmetrically hinged on both sides of the first driving block 13. A second driving block 15 is disposed at the bottom of the connecting block 9. A third driving block 16 is horizontally disposed on the second driving block 15. A fourth driving block 17 is symmetrically hinged on both sides of the third driving block 16. The top of the fourth driving block 17 is hinged to the adjacent second driving rod 14. When the first driving rod 10b descends, the two second driving rods 14 can push the bottoms of the two fourth driving blocks 17 closer to each other.

[0041] Furthermore, the workbench 2 is movably provided with a feeding plate 18, a first processing plate 19, a second processing plate 20, and a third processing plate 21 that cooperate with the clamping mechanism 10. The feeding plate 18, the first processing plate 19, the second processing plate 20, and the third processing plate 21 can all be located directly below the adjacent clamping mechanism 10. The machine body 1 is provided with a first driving mechanism 22 for driving the feeding plate 18 closer to or away from the fixed cylinder 3, a second driving mechanism 23 for driving the first processing plate 19 closer to or away from the fixed cylinder 3, a third driving mechanism 24 for driving the second processing plate 20 closer to or away from the fixed cylinder 3, and a fourth driving mechanism 25 for driving the third processing plate 21 closer to or away from the fixed cylinder 3.

[0042] Furthermore, a fixed block 26 is provided on the first push rod 5. The first driving mechanism 22 includes a first moving rod 22a rotatably mounted on the fixed block 26 and a first moving block 22b disposed at the bottom of the loading plate 18. The top end of the first moving rod 22a is hinged to the first moving block 22b. An elongated first moving hole 27 that cooperates with the first moving block 22b is provided on the worktable 2. When the first push rod 5 rises, the first moving rod 22a can push the first moving block 22b away from the fixed cylinder 3 along the first moving hole 27. The second driving mechanism 23 includes a second moving rod 23a rotatably mounted on the fixed block 26 and a second moving block 23b disposed at the bottom of the first processing plate 19. The top end of the second moving rod 23a is hinged to the second moving block 23b. An elongated second moving hole 28 that cooperates with the second moving block 23b is provided on the worktable 2. When the first push rod 5 rises, the second moving rod 23a can push the second moving block 23b along the second moving hole 28. 8. Moving away from the fixed cylinder 3, the third driving mechanism 24 includes a third moving rod 24a rotatably mounted on the fixed block 26 and a third moving block 24b disposed at the bottom of the second processing plate 20. The top end of the third moving rod 24a is hinged to the third moving block 24b. The worktable 2 has an elongated third moving hole 29 that cooperates with the third moving block 24b. When the first push rod 5 rises, the third moving rod 24a can push the third moving block 24b away from the fixed cylinder 3 along the third moving hole 29. The fixed cylinder 3, the fourth driving mechanism 25 includes a fourth moving rod 25a rotatably mounted on the fixed block 26 and a fourth moving block 25b mounted on the bottom of the third processing plate 21. The top end of the fourth moving rod 25a is hinged to the fourth moving block 25b. The worktable 2 is provided with an elongated fourth moving hole 30 that cooperates with the fourth moving block 25b. When the first push rod 5 rises, the fourth moving rod 25a can push the fourth moving block 25b away from the fixed cylinder 3 along the fourth moving hole 30.

[0043] Furthermore, a first rotating shaft 31 is rotatably mounted on the workbench 2 in the vertical direction. A first gear 32 is mounted on the top of the first rotating shaft 31, and a second gear 33 is mounted on the bottom of the first rotating shaft 31. A first rack 34, which meshes with the second gear 33, is mounted on one side of the second moving block 23b in a direction parallel to the second moving hole 28. A second rack 35 and a third rack 36, which mesh with the two sides of the first gear 32, are slidably mounted on the workbench 2. A first clamping plate 37 is vertically mounted on the second rack 35, and a second clamping plate 38 is mounted on the second rack 35 in a direction parallel to the first clamping plate 37. When the first push rod 5 rises, the first rack 34 can drive the first clamping plate 37 and the second clamping plate 38 to move closer to each other.

[0044] Furthermore, a second rotating shaft 39 is rotatably mounted on the worktable 2 in the vertical direction. A third gear 40 is mounted on the top of the second rotating shaft 39, and a fourth gear 41 is mounted on the bottom of the second rotating shaft 39. A fourth rack 42, which meshes with the fourth gear 41, is mounted on one side of the third moving block 24b in a direction parallel to the third moving hole 29. A fifth rack 43 and a sixth rack 44, which mesh with the two sides of the third gear 40, are slidably mounted on the worktable 2. A third clamping plate 45 is vertically mounted on the fifth rack 43, and a fourth clamping plate 46 is mounted on the sixth rack 44 in a direction parallel to the third clamping plate 45. When the first push rod 5 rises, the fourth rack 42 can drive the third clamping plate 45 and the fourth clamping plate 46 to move closer to each other.

[0045] Furthermore, a third rotating shaft 47 is rotatably mounted on the worktable 2 in the vertical direction. A fifth gear 48 is mounted on the top of the third rotating shaft 47, and a sixth gear 49 is mounted on the bottom of the third rotating shaft 47. A seventh rack 50, which meshes with the sixth gear 49, is mounted on one side of the fourth moving block 25b in a direction parallel to the fourth moving hole 30. An eighth rack 51 and a ninth rack 52, which mesh with the two sides of the fifth gear 48 respectively, are slidably mounted on the worktable 2. A fifth clamping plate 53 is vertically mounted on the eighth rack 51, and a sixth clamping plate 54 is mounted on the ninth rack 52 in a direction parallel to the fifth clamping plate 53. When the first push rod 5 rises, the seventh rack 50 can drive the fifth clamping plate 53 and the sixth clamping plate 54 to move closer to each other.

[0046] Furthermore, an annular positioning ring 55 is provided between the connecting rod 7 and the connecting block 9, and the inner wall of the positioning ring 55 is movably attached to the outer wall of the fixed cylinder 3.

[0047] When machining the steering knuckle, the steering knuckle is first placed on the loading plate 18. Then, the second drive cylinder 10a is opened to clamp the steering knuckle. After that, the first drive cylinder 4 is opened, driving the second push rod 6 to rise and fall. While the second push rod 6 is rising and falling, it drives the steering knuckle to rotate 90° through the connecting rod 7, causing the clamping mechanism 10 to rotate above the first machining plate 19. Then, the second drive cylinder 10a is driven to release the steering knuckle, and the steering knuckle is transferred to the first machining plate 19. Then, the first drive cylinder 4 is driven again. At this time, the clamping mechanism 10 is disconnected from the steering knuckles on the loading plate 18, the first machining plate 19, the second machining plate 20, and the third machining plate 21. Therefore, the first push rod 5 and the second push rod 6 are disconnected. During the upward movement of the first push rod 5, the clamping mechanism 10 rotates 90°. However, the steering knuckles on the loading plate 18, the first processing plate 19, the second processing plate 20, and the third processing plate 21 do not rotate with the clamping mechanism 10. Simultaneously, during the upward movement of the first push rod 5, the first moving rod 22a, the second moving rod 23a, the third moving rod 24a, and the fourth moving rod 25a rise. During this upward movement, the first moving rod 22a, the second moving rod 23a, the third moving rod 24a, and the fourth moving rod 25a respectively push the first moving block 22b, the second moving block 23b, the third moving block 24b, and the fourth moving block 25b away from the fixed cylinder 3. In this process, the second gear 33, the fourth gear 41, and the sixth... Gear 49 rotates, causing the first clamping plate 37 and the second clamping plate 38, the third clamping plate 45 and the fourth clamping plate 46, and the fifth clamping plate 53 and the sixth clamping plate 54 to move closer together. When the first push rod 5 rises to its highest point, the loading plate 18, the first processing plate 19, the second processing plate 20, and the third processing plate 21 respectively drive the steering knuckle to move away from the fixed cylinder 3. At the same time, the first clamping plate 37 and the second clamping plate 38 abut against the steering knuckle on the first processing plate 19, the third clamping plate 45 and the fourth clamping plate 46 abut against the steering knuckle on the second processing plate 20, and the fifth clamping plate 53 and the sixth clamping plate 54 abut against the steering knuckle on the third processing plate 21. Then, the worker can remove the processed steering knuckle from the loading plate 18 and place the one to be processed on it. The steering knuckle is processed by the first, second, and third milling machines, which can respectively process the steering knuckle on the first processing plate 19, the second processing plate 20, and the third processing plate 21 (it should be noted that milling machines are prior art and therefore not described in detail, which does not affect the actual scope of protection of this application). After processing, the first drive cylinder 4 is driven, which drives the first push rod 5 and the second push rod 6 to descend. During the descent of the first push rod 5, the first moving rod 22a, the second moving rod 23a, the third moving rod 24a, and the fourth moving rod 25a are driven to descend, thereby driving the first moving block 22b, the second moving block 23b, the third moving block 24b, and the fourth moving block 25b to approach the fixed cylinder 3.Simultaneously, the first clamping plate 37 and the second clamping plate 38, the third clamping plate 45 and the fourth clamping plate 46, and the fifth clamping plate 53 and the sixth clamping plate 54 move away from each other. When the first push rod 5 descends to its original height, the loading plate 18, the first processing plate 19, the second processing plate 20, and the third processing plate 21 respectively drive the steering knuckle to move directly below the adjacent clamping mechanism 10. Then, the second drive cylinder 10a is driven to drive the clamping mechanism 10 to clamp the steering knuckle below. The first drive cylinder 4 is then driven to drive the clamping mechanism 10 and the steering knuckle to rotate 90°. This cycle repeats, so that the steering knuckle is transferred and processed between the loading plate 18, the first processing plate 19, the second processing plate 20, and the third processing plate 21 in sequence. By setting the first moving rod 22a... The first moving block 22b, etc., can drive the loading plate 18, the first processing plate 19, the second processing plate 20, and the third processing plate 21 to move as the first push rod 5 rises and falls. Simultaneously, it drives the first clamping plate 37 and the second clamping plate 38, the third clamping plate 45 and the fourth clamping plate 46, and the fifth clamping plate 53 and the sixth clamping plate 54 to move away from or towards each other, realizing the movement and fixing of the steering knuckle to the milling machine. This achieves the movement of the steering knuckle between the clamping mechanism 10 and the milling machine. Through the cooperation of the clamping mechanism 10, the movement, fixing, processing, and transfer of the steering knuckle are interconnected and work together, allowing the steering knuckle to be processed sequentially by three sets of milling machines without the need for manual transfer, greatly improving the processing and transfer efficiency of the steering knuckle.

[0048] By setting up a steering unit slot 8, a second push rod 6, and a connecting rod 7, the second push rod 6 can drive the clamping mechanism to rotate 1090° while it is rising and falling, thereby realizing the transfer and processing of the steering knuckle between the raw material frame and the three sets of milling machines. This eliminates the need for workers to manually transfer the steering knuckle and improves the transfer efficiency of the steering knuckle.

[0049] By setting the first steering groove 8a and the second steering groove 8b, the connecting rod 7 drives the clamping mechanism 10 to rotate 90° during the upward movement along the second steering groove 8b. At the same time, the vertically set first steering groove 8a ensures that the connecting rod 7 descends vertically along the first steering groove 8a during the downward movement. This allows the first drive cylinder 4 to drive the second push rod 6 to achieve a 90° rotation of the clamping mechanism 10 during the lifting and lowering process, thus realizing the transfer of the steering knuckle between the three sets of milling machines and the material frame.

[0050] By setting a limiting torsion spring 11b and a guide plate 12, during the process of the connecting rod 7 descending along the first steering groove 8a, the connecting rod 7 pushes the guide plate 12 to rotate downwards until the guide plate 12 abuts against the inner wall of the second steering groove 8b, so that the connecting rod 7 can descend smoothly along the first steering groove 8a. During the process of the connecting rod 7 rising, when the connecting rod 7 rises to the connection point of the first steering groove 8a and the second steering groove 8b, the connecting rod 7 abuts against the guide plate 12, and one end of the guide plate 12 abuts against the inner wall of the first steering groove 8a, so that the first steering groove 8a is blocked, and the connecting rod 7 can only rise along the second steering groove 8b, thereby restricting the movement direction of the connecting rod 7 and ensuring that the connecting rod 7 can drive the clamping mechanism 10 to rotate.

[0051] By setting up a first drive block 13, a second drive block 15, etc., the lifting and lowering of the first drive rod 10b drives the second drive block 15 and the fourth drive block 17 to rotate, thereby realizing the clamping and releasing of the steering knuckle.

[0052] By setting up the loading plate 18, the first processing plate 19, etc., the connection between the steering knuckle and the milling machine is realized, while the clamping mechanism 10 and the milling machine can maintain a certain distance, so as to avoid the clamping mechanism 10 affecting the normal processing of the milling machine.

[0053] By setting the first gear 32, the second gear 33, and the first rack 34, the first push rod 5 can drive the first gear 32 and the second gear 33 to rotate while rising and falling. This, in turn, drives the first clamping plate 37 and the second clamping plate 38 to move closer or further away from each other. When the first push rod 5 moves the first processing plate 19 to the end away from the fixed cylinder 3, the first clamping plate 37 and the second clamping plate 38 clamp and fix both sides of the steering knuckle. This further links the transfer and processing of the steering knuckle. The entire process only requires driving the first drive cylinder 4 to move the first processing plate 19, the first clamping plate 37, and the second clamping plate 38, realizing the movement and fixation of the steering knuckle, which is convenient for milling machine processing. At the same time, it realizes the rotation of the clamping mechanism 10, realizing the transfer of the steering knuckle between different milling machines. This makes the processing and transfer processes of the steering knuckle cooperate with each other to form a closed loop, which can be carried out in an orderly manner.

[0054] By setting the third gear 40, the fourth gear 41, and the fourth rack 42, the first push rod 5 can drive the third gear 40 and the fourth gear 41 to rotate while rising and falling. This, in turn, drives the third clamping plate 45 and the fourth clamping plate 46 to move closer to or further away from each other. When the first push rod 5 moves the second processing plate 20 to the end away from the fixed cylinder 3, the third clamping plate 45 and the fourth clamping plate 46 clamp and fix both sides of the steering knuckle, which facilitates the milling machine to process the steering knuckle on the second processing plate 20. This further links the transfer and processing of the steering knuckle.

[0055] By setting the fifth gear 48, the sixth gear 49, and the seventh rack 50, the first push rod 5 can drive the fifth gear 48 and the sixth gear 49 to rotate while rising and falling. This, in turn, drives the fifth clamping plate 53 and the sixth clamping plate 54 to move closer to or further away from each other. When the first push rod 5 moves the third processing plate 21 to the end away from the fixed cylinder 3, the fifth clamping plate 53 and the sixth clamping plate 54 clamp and fix both sides of the steering knuckle, which facilitates the milling machine to process the steering knuckle on the third processing plate 21. This further links the transfer and processing of the steering knuckle.

[0056] By setting a positioning ring 55, the four connecting rods 7 and the four connecting blocks 9 are connected as a whole, making the connection between the connecting blocks 9 and the fixed cylinder 3 tighter, thereby increasing the stability of the second push rod 6 in pushing the connecting blocks 9 and the connecting rods 7 to move.

[0057] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0058] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A flexible gripper for a steering knuckle cutting robot, comprising: The machine body (1), a worktable (2) horizontally mounted on the machine body (1), and a fixed cylinder (3) vertically mounted on the worktable (2). A first drive cylinder (4) is provided at the bottom of the machine body (1). A first push rod (5) is vertically mounted upward at the output end of the first drive cylinder (4). A second push rod (6) is rotatably mounted on the top of the first push rod (5). The second push rod (6) is located inside the fixed cylinder (3). The central axis of the second push rod (6) coincides with the central axis of the fixed cylinder (3). The top of the second push rod (6) is evenly provided with four connecting rods (7) in the horizontal direction. The fixed cylinder (3) is evenly provided with four steering unit slots (8) that are connected in sequence. The connecting rod (7) moves through the adjacent steering unit slots (8). The end of the connecting rod (7) is provided with a connecting block (9) in the horizontal direction. The connecting block (9) is provided with a clamping mechanism (10) for clamping a steering knuckle. The second push rod (6) can push the connecting rod (7) to rotate 90° along the steering unit slot (8). The workbench (2) is movably provided with a loading plate (18), a first processing plate (19), a second processing plate (20), and a third processing plate (21) that cooperate with the clamping mechanism (10). The loading plate (18), the first processing plate (19), the second processing plate (20), and the third processing plate (21) can all be located directly below the adjacent clamping mechanism (10). The machine body (1) is provided with a first driving mechanism (22) for driving the loading plate (18) closer to or away from the fixed cylinder (3). The machine body (1) is provided with a second driving mechanism (23) for driving the first processing plate (19) closer to or away from the fixed cylinder (3). The machine body (1) is provided with a third driving mechanism (24) for driving the second processing plate (20) closer to or away from the fixed cylinder (3). The machine body (1) is provided with a fourth driving mechanism (25) for driving the third processing plate (21) closer to or away from the fixed cylinder (3). A fixed block (26) is provided on the first push rod (5). The first driving mechanism (22) includes a first moving rod (22a) rotatably disposed on the fixed block (26) and a first moving block (22b) disposed at the bottom of the loading plate (18). The top end of the first moving rod (22a) is hinged to the first moving block (22b). The worktable (2) is provided with an elongated first moving hole (27) that cooperates with the first moving block (22b). When the first push rod (5) rises, the first moving rod (22a) can push the first moving block (22b) along the first moving hole. (27) Away from the fixed cylinder (3), the second driving mechanism (23) includes a second moving rod (23a) rotatably mounted on the fixed block (26) and a second moving block (23b) mounted on the bottom of the first processing plate (19). The top end of the second moving rod (23a) is hinged to the second moving block (23b). The worktable (2) has an elongated second moving hole (28) that cooperates with the second moving block (23b). When the first push rod (5) rises, the second moving rod (23a) can push the second moving block (23b) away from the second moving hole (28). Away from the fixed cylinder (3), the third driving mechanism (24) includes a third moving rod (24a) rotatably mounted on the fixed block (26) and a third moving block (24b) disposed at the bottom of the second processing plate (20). The top end of the third moving rod (24a) is hinged to the third moving block (24b). The worktable (2) is provided with an elongated third moving hole (29) that cooperates with the third moving block (24b). When the first push rod (5) rises, the third moving rod (24a) can push the third moving block (24b) away from the fixed cylinder (26) along the third moving hole (29). The fourth driving mechanism (25) includes a fourth moving rod (25a) rotatably mounted on the fixed block (26) and a fourth moving block (25b) mounted on the bottom of the third processing plate (21). The top end of the fourth moving rod (25a) is hinged to the fourth moving block (25b). The worktable (2) has an elongated fourth moving hole (30) that cooperates with the fourth moving block (25b). When the first push rod (5) rises, the fourth moving rod (25a) can push the fourth moving block (25b) away from the fixed cylinder (3) along the fourth moving hole (30).

2. The flexible fixture for a steering knuckle cutting robot according to claim 1, characterized in that: The steering unit groove (8) includes a first steering groove (8a) opened vertically on the fixed cylinder (3) and a second steering groove (8b) opened on the fixed cylinder (3) and communicating with the bottom of the first steering groove (8a). A guide (11) is provided at the bottom of the second steering groove (8b). When the second push rod (6) descends, the second push rod (6) can drive the connecting rod (7) to descend along the first steering groove (8a). When the second push rod (6) rises, the second push rod (6) can drive the connecting rod (7) to rise along the second steering groove (8b). When the connecting rod (7) moves from the bottom end of the second steering groove (8b) to the top end of the second steering groove (8b), the connecting rod (7) drives the connecting block (9) to rotate 90°.

3. The flexible fixture for a steering knuckle cutting robot according to claim 2, characterized in that: The guide member (11) includes a guide rod (11a) arranged horizontally at the bottom end of the second steering groove (8b) and a limiting torsion spring (11b) sleeved on the guide rod (11a). A guide plate (12) is rotatably connected to the guide rod (11a). The two ends of the limiting torsion spring (11b) abut against the guide rod (11a) and the guide plate (12) respectively. The end of the guide plate (12) away from the guide rod (11a) abuts against the inner wall of the first steering groove (8a). When the connecting rod (7) descends along the first steering groove (8a), the connecting rod (7) can push the guide plate (12) to rotate downwards until it abuts against the inner wall of the second steering groove (8b).

4. The flexible gripper for a steering knuckle cutting robot according to claim 1, characterized in that: The clamping mechanism (10) includes a second driving cylinder (10a) disposed on the top of the connecting block (9) and a first driving rod (10b) disposed vertically downward on the second driving cylinder (10a). A first driving block (13) is horizontally disposed at the bottom of the driving rod. A second driving rod (14) is symmetrically hinged on both sides of the first driving block (13). A second driving block (15) is disposed at the bottom of the connecting block (9). A third driving block (16) is horizontally disposed on the second driving block (15). A fourth driving block (17) is symmetrically hinged on both sides of the third driving block (16). The top of the fourth driving block (17) is hinged to the adjacent second driving rod (14). When the first driving rod (10b) descends, the two second driving rods (14) can push the bottoms of the two fourth driving blocks (17) closer to each other.

5. A flexible gripper for a steering knuckle cutting robot according to claim 1, characterized in that: The workbench (2) is provided with a first rotating shaft (31) rotatably arranged in the vertical direction. A first gear (32) is provided at the top of the first rotating shaft (31), and a second gear (33) is provided at the bottom of the first rotating shaft (31). A first rack (34) that meshes with the second gear (33) is provided on one side of the second moving block (23b) in a direction parallel to the second moving hole (28). A second rack (35) and a third rack (36) that mesh with the two sides of the first gear (32) are slidably arranged on the workbench (2). A first clamping plate (37) is vertically arranged on the second rack (35), and a second clamping plate (38) is arranged on the second rack (35) in a direction parallel to the first clamping plate (37). When the first push rod (5) rises, the first rack (34) can drive the first clamping plate (37) and the second clamping plate (38) to move closer to each other.

6. A flexible gripper for a steering knuckle cutting robot according to claim 5, characterized in that: The workbench (2) is provided with a second rotating shaft (39) that rotates vertically. A third gear (40) is provided at the top of the second rotating shaft (39), and a fourth gear (41) is provided at the bottom of the second rotating shaft (39). A fourth rack (42) that meshes with the fourth gear (41) is provided on one side of the third moving block (24b) in a direction parallel to the third moving hole (29). A fifth rack (43) and a sixth rack (44) that mesh with the two sides of the third gear (40) are slidably provided on the workbench (2). A third clamping plate (45) is provided vertically on the fifth rack (43), and a fourth clamping plate (46) is provided on the sixth rack (44) in a direction parallel to the third clamping plate (45). When the first push rod (5) rises, the fourth rack (42) can drive the third clamping plate (45) and the fourth clamping plate (46) to move closer to each other.

7. A flexible gripper for a steering knuckle cutting robot according to claim 6, characterized in that: A third rotating shaft (47) is rotatably mounted on the worktable (2) in the vertical direction. A fifth gear (48) is mounted on the top of the third rotating shaft (47), and a sixth gear (49) is mounted on the bottom of the third rotating shaft (47). A seventh rack (50) that meshes with the sixth gear (49) is mounted on one side of the fourth moving block (25b) in a direction parallel to the fourth moving hole (30). An eighth rack (51) and a ninth rack (52) that mesh with the two sides of the fifth gear (48) are slidably mounted on the worktable (2). A fifth clamping plate (53) is vertically mounted on the eighth rack (51), and a sixth clamping plate (54) is mounted on the ninth rack (52) in a direction parallel to the fifth clamping plate (53). When the first push rod (5) rises, the seventh rack (50) can drive the fifth clamping plate (53) and the sixth clamping plate (54) to move closer to each other.

8. A flexible gripper for a steering knuckle cutting robot according to claim 1, characterized in that: A circular positioning ring (55) is provided between the connecting rod (7) and the connecting block (9), and the inner wall of the positioning ring (55) is movably attached to the outer wall of the fixed cylinder (3).

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