Clamping mechanism and robot with same

Abstract

The invention provides a clamping mechanism and a robot with the clamping mechanism, the clamping mechanism is used for clamping a target workpiece, a penetrating opening is formed in the target workpiece, and the clamping mechanism comprises a supporting frame, a clamping mechanism and a driving mechanism, and the supporting frame is movably arranged along a preset track; the clamping assembly is arranged on the supporting frame, the clamping assembly comprises a first clamping piece and a second clamping piece, and the first clamping piece and the second clamping piece are movably arranged in the direction close to each other or away from each other, so that after the supporting frame stretches into and penetrates through the opening, the first clamping piece and the second clamping piece are attached to the inner wall face of the target workpiece correspondingly; and the target workpiece is clamped. The sheet metal part stacking device solves the problem that in the prior art, the stacking efficiency of sheet metal parts in irregular shapes is low.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece clamps, and in particular to a clamping mechanism and a robot having the same. Background Art

[0002] Special-shaped sheet metal parts are common parts in industrial production and are widely used in many industries such as automobiles, aviation, electronics, household appliances, and food processing. Due to their unique shapes and sizes, traditional manual handling and stacking methods are inefficient and can easily cause personal injury and product quality problems. With the development of automation technology, automated handling and stacking fixtures have emerged to improve production efficiency, reduce human resource costs, and ensure product quality.

[0003] However, the current automated handling and palletizing fixtures on the market have the following problems:

[0004] 1. Poor adaptability: Existing automated handling and palletizing fixtures are usually designed for special-shaped sheet metal parts of specific shapes or sizes and cannot quickly adapt to different products. When it is necessary to handle special-shaped sheet metal parts of different shapes or sizes, the fixture needs to be replaced or adjusted, resulting in low production efficiency.

[0005] 2. Too much manual intervention: Many automated handling and palletizing fixtures require manual intervention, such as adjusting parameters, changing programs, etc., which increases labor intensity and reduces the degree of automation. Summary of the invention

[0006] The main purpose of the present invention is to provide a clamping mechanism and a robot having the same, so as to solve the problem of low stacking efficiency of irregularly shaped sheet metal parts in the prior art.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a clamping mechanism for clamping a target workpiece, wherein the target workpiece is provided with a through opening, and the clamping mechanism comprises: a support frame, which is movably arranged along a predetermined trajectory; a clamping assembly, which is arranged on the support frame, and the clamping assembly comprises a first clamping member and a second clamping member, and the first clamping member and the second clamping member are movably arranged in a direction of being relatively close or relatively far away, so that after the support frame extends into the through opening, the first clamping member and the second clamping member are respectively fitted with the inner wall surface of the target workpiece to clamp the target workpiece.

[0008] Furthermore, the clamping assembly also includes: a first buffer component, which is arranged on the first clamping component, at least a portion of which can be elastically arranged, and the first buffer component is in contact with the inner wall surface of the target workpiece; and / or a second buffer component, which is arranged on the second clamping component, at least a portion of which can be elastically arranged, and the second buffer component is in contact with the inner wall surface of the target workpiece.

[0009] Further, the first buffer component is arranged at the bottom of the first clamping member, and the first buffer component protrudes relative to the first clamping surface of the first clamping member; or, the first buffer component extends along the length direction of the first clamping member.

[0010] Further, the second buffer component is arranged at the bottom of the second clamping member, and the second buffer component protrudes relative to the second clamping surface of the second clamping member; or, the second buffer component extends along the length direction of the second clamping member.

[0011] Furthermore, the clamping mechanism also includes: a driving assembly, which is arranged on the support frame, and the driving assembly includes a telescopically arranged driving rod, which is respectively driven and connected to the first clamping member and the second clamping member to simultaneously drive the first clamping member and the second clamping member to move through the driving rod.

[0012] Furthermore, an installation space is provided on the support frame, and at least a part of the installation space is located between the first clamping member and the second clamping member; a bearing plate is provided in the installation space, and the driving assembly is provided on the bearing plate.

[0013] Furthermore, the support frame includes: a first connecting plate, the first connecting plate is movably arranged along a predetermined track, a guide portion is arranged on the first connecting plate, the first clamping member and the second clamping member are respectively connected to the guide portion, and the first clamping member and the second clamping member move along the extension direction of the guide portion; the guide portion includes: a slide rail, arranged on the first connecting plate, a slider is arranged on the slide rail, and the first clamping member and the second clamping member are respectively connected to the slider.

[0014] Furthermore, the support frame also includes: a second connecting plate, which is spaced apart from the first connecting plate, and the first clamping member and the second clamping member are arranged between the first connecting plate and the second connecting plate; there is a predetermined interval between the first clamping member and the second clamping member and the second connecting plate.

[0015] Furthermore, the support frame also includes: a third connecting plate, the two ends of the third connecting plate are respectively connected to the first connecting plate and the second connecting plate, there are two third connecting plates, the two third connecting plates are opposite and spaced apart, and the first clamping member and the second clamping member are respectively arranged between the two third connecting plates.

[0016] According to another aspect of the present invention, a robot is provided, comprising a mechanical arm and a clamping mechanism, wherein the clamping mechanism is arranged on the mechanical arm and is driven to move by the mechanical arm, and the clamping mechanism is the above-mentioned clamping mechanism.

[0017] The technical solution of the present invention is applied, and the clamping mechanism is used to clamp the target workpiece, and the target workpiece is provided with a through opening, wherein the clamping mechanism includes a support frame and a clamping assembly, the support frame is movably arranged along a predetermined track, the clamping assembly is arranged on the support frame, and the clamping assembly includes a first clamping member and a second clamping member, and the first clamping member and the second clamping member are movably arranged in a direction relatively close to or relatively far away from each other, so that after the support frame extends into the through opening, the first clamping member and the second clamping member are respectively fitted with the inner wall surface of the target workpiece to clamp the target workpiece. Through the design that the first clamping member and the second clamping member are movable in relative directions, the clamping mechanism can adapt to workpieces of different sizes and shapes, and enhances the compatibility and application range of the clamping mechanism for various special-shaped workpieces. The support frame is movably arranged along the predetermined track, and the use of the slide rail above the cylinder push plate provides a stable movement path and support for the clamping assembly, reduces the jitter and deviation during the material picking process, and thus reduces the risk of the workpiece falling during the handling or stacking process. The internal support clamping method can adapt to target workpieces of different shapes and specifications, improve the practicality of the clamping mechanism, and improve the stacking efficiency of the target workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic structural diagram of an embodiment of a clamping mechanism according to the present invention is shown;

[0020] Figure 2 A schematic structural diagram of a clamping mechanism according to the present invention from a first viewing angle is shown;

[0021] Figure 3 A schematic structural diagram of a clamping mechanism according to the present invention from a second viewing angle is shown;

[0022] Figure 4 A top view of a clamping mechanism according to the present invention is shown.

[0023] The above drawings include the following reference numerals:

[0024] 100, support frame; 200, clamping assembly; 210, first clamping member; 220, second clamping member; 230, first buffer component; 240, second buffer component; 300, driving assembly; 101, installation space; 400, bearing plate; 110, first connecting plate; 111, guide part; 112, slide rail; 113, slider; 114, connecting flange; 120, second connecting plate; 130, third connecting plate. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] As mentioned in the background technology, after the existing irregular-shaped sheet metal parts are processed, they are generally stacked by manual handling because conventional clamps cannot be clamped, which increases the labor intensity of operators; or, different types of clamps are equipped for sheet metal parts of different shapes, and the clamps are replaced according to the different shapes of the processed sheet metal parts, but this reduces the stacking efficiency of the workpieces. Therefore, in response to the above-mentioned technical problems, the clamping mechanism provided in the present application passes through the opening on the target workpiece, and then the first clamping member 210 and the second clamping member 220 move to fit the inner wall surface of the target workpiece respectively, and clamp the target workpiece by means of internal support. In this way, even if the sheet metal part has an irregular shape or a large volume, which makes clamping inconvenient, it can be adapted to various shapes of sheet metal parts by extending into the interior of the target workpiece, and the friction between the first clamping member 210 and the second clamping member 220 and the inner wall surface of the target workpiece is utilized to drive the target workpiece to move during the movement of the support frame 100, thereby realizing the handling and stacking of the target workpiece, and utilizing the internal support clamping method to adapt to target workpieces of different shapes and specifications, thereby improving the compatibility of the clamping mechanism and improving the stacking efficiency of the target workpiece.

[0027] Please refer to Figures 1 to 4 The present application provides a clamping mechanism for clamping a target workpiece, wherein the target workpiece is provided with a through opening, and the clamping mechanism comprises: a support frame 100, wherein the support frame 100 is movably arranged along a predetermined track; a clamping assembly 200, which is arranged on the support frame 100, and the clamping assembly 200 comprises a first clamping member 210 and a second clamping member 220, wherein the first clamping member 210 and the second clamping member 220 are movably arranged in a direction of being relatively close or relatively far away, so that after the support frame 100 extends into the through opening, the first clamping member 210 and the second clamping member 220 are respectively fitted with the inner wall surface of the target workpiece to clamp the target workpiece.

[0028] According to the clamping mechanism provided by the present application, it is used to clamp a target workpiece, and a through opening is provided on the target workpiece, wherein the clamping mechanism includes a support frame 100 and a clamping assembly 200, the support frame 100 is movably arranged along a predetermined track, the clamping assembly 200 is arranged on the support frame 100, and the clamping assembly 200 includes a first clamping member 210 and a second clamping member 220, and the first clamping member 210 and the second clamping member 220 are movably arranged in a direction relatively close to or relatively far away from each other, so that after the support frame 100 extends into the through opening, the first clamping member 210 and the second clamping member 220 are respectively fitted with the inner wall surface of the target workpiece to clamp the target workpiece. By designing that the first clamping member 210 and the second clamping member 220 are movable in relative directions, the clamping mechanism can adapt to workpieces of different sizes and shapes, thereby enhancing the compatibility and application range of the clamping mechanism for various special-shaped workpieces. The support frame 100 is movably arranged along a predetermined track, and the use of a slide rail above the cylinder push plate provides a stable movement path and support for the clamping assembly, reducing the shaking and deviation during the material picking process, thereby reducing the risk of the workpiece falling during the handling or stacking process. The internal support clamping method can adapt to target workpieces of different shapes and specifications, improve the practicality of the clamping mechanism, and improve the stacking efficiency of the target workpiece.

[0029] The entire operation process of the clamping mechanism, including inserting the workpiece through the opening, clamping, picking up materials, transporting and stacking, can be completed automatically by industrial robots, which greatly improves production efficiency, reduces the need for manual operation, and reduces production costs and labor intensity.

[0030] Specifically, Figure 1 and Figure 2As shown, the clamping assembly 200 also includes: a first buffer component 230, which is arranged on the first clamping member 210, at least a portion of the first buffer component 230 can be elastically arranged, and the first buffer component 230 is in contact with the inner wall surface of the target workpiece; and / or, a second buffer component 240, which is arranged on the second clamping member 220, at least a portion of the second buffer component 240 can be elastically arranged, and the second buffer component 240 is in contact with the inner wall surface of the target workpiece. The elastic arrangement of the first buffer component 230 and / or the second buffer component 240 can reduce the hard contact of the clamp with the inner wall surface of the target workpiece when clamping the target workpiece, and avoid scratches, indentations and other damages caused by direct contact. This feature is particularly important for sheet metal parts with high surface requirements. When the elastic buffer component is in contact with the inner wall surface of the target workpiece, it can automatically adapt to the shape change of the workpiece. Even if there is a slight size deviation in the workpiece, it can ensure that the clamp and the workpiece are closely fitted, thereby improving the stability during handling or stacking and reducing the risk of material falling. For special-shaped products, such as the outer cover of the air conditioner, the elastic design of the buffer component can better adapt to the irregular inner wall of the workpiece, ensuring full contact during clamping. Even if the product shape is different, the deformation of the buffer component can achieve a stable clamping effect. There is no need to manually adjust the position or strength of the fixture frequently. The automatic adaptation of the buffer component simplifies the operation process and improves production efficiency.

[0031] In one embodiment provided in the present application, the first buffer component 230 is disposed at the bottom of the first clamping member 210, and the first buffer component 230 protrudes relative to the first clamping surface of the first clamping member 210; or, the first buffer component 230 extends along the length direction of the first clamping member 210. The protruding design of the buffer component can provide additional contact area, and can maintain good balance and stability even when carrying large or irregularly shaped sheet metal parts. The extension design along the length direction can ensure that when the product is long, there is sufficient support and cushioning throughout the entire length range to reduce shaking. By adjusting the protrusion degree and extension length of the buffer component, it can better adapt to sheet metal parts of different sizes and shapes, and improve the compatibility and adaptability of the fixture. This design enables the fixture to flexibly respond to product switching without the need to frequently replace the fixture or significantly adjust the fixture structure.

[0032] In another embodiment provided by the present application, the second buffer component 240 is arranged at the bottom of the second clamping member 220, and the second buffer component 240 protrudes relative to the second clamping surface of the second clamping member 220; or, the second buffer component 240 extends along the length direction of the second clamping member 220. When the protruding second buffer component 240 contacts the workpiece, it can touch the workpiece before the clamping surface, thereby avoiding the hard clamping surface from directly contacting the workpiece, reducing scratches or indentations on the surface of the workpiece, and maintaining the surface quality and beauty of the workpiece. When the second buffer component 240 extends along the length direction of the second clamping member 220, a wider contact area can be provided, which helps to keep the workpiece stable when clamping a special-shaped or large-sized sheet metal part and reduce shaking during transportation. The protruding or extended second buffer component 240 can be adjusted according to the shape of the workpiece, so that it can better fit the bottom of the workpiece when clamping workpieces of different types and sizes, thereby improving the versatility and adaptability of the clamp. The provision of the second buffer component 240 reduces the area of ​​direct contact between the workpiece and the clamping member, which means that during the clamping process, the required clamping force can be reduced, thereby avoiding deformation of the workpiece due to excessive clamping.

[0033] In specific implementation, Figure 3 As shown, the clamping mechanism also includes: a drive assembly 300, which is arranged on the support frame 100, and the drive assembly 300 includes a telescopically arranged drive rod, which is driven and connected to the first clamp 210 and the second clamp 220 respectively, so as to drive the first clamp 210 and the second clamp 220 to move simultaneously through the drive rod. The drive connection between the drive rod and the first clamp 210 and the second clamp 220 ensures the synchronization of the two clamps when moving, and avoids the problem of product damage or unstable placement due to asynchronous movements during the clamping process. The retractable design of the drive assembly 300 enables the clamp to adapt to sheet metal parts of different sizes and shapes without the need to frequently replace the clamp, thereby greatly improving the flexibility and efficiency of the production line. The precise control of the drive rod can reduce the vibration or swing that may be caused by the cylinder or other driving methods, making the clamping process more stable and reducing the risk of product falling during handling or stacking. The use of the drive assembly 300 makes product switching easier. It is only necessary to change the program to control the telescopic length of the drive rod to be compatible with products of different sizes. There is no need to manually adjust the clamp, which saves time and labor.

[0034] Preferably, the driving assembly 300 is a bidirectional cylinder, and a cylinder push plate is provided at the end of the cylinder piston rod. The two cylinder push plates are respectively connected to the first clamping member 210 and the second clamping member 220. The movement of the first clamping member 210 and the second clamping member 220 is precisely controlled by the double-rod cylinder, ensuring the accuracy of the clamping process and avoiding deformation or damage of the workpiece due to uneven clamping force.

[0035] Specifically, the support frame 100 is provided with an installation space 101, at least part of which is located between the first clamping member 210 and the second clamping member 220; the bearing plate 400 is arranged in the installation space 101, and the driving assembly 300 is arranged on the bearing plate 400. By arranging the installation space between the first clamping member and the second clamping member, the internal space of the clamp can be effectively utilized, and the mutual interference between the driving assembly and the clamping member can be avoided, so that the structure of the entire clamping mechanism is more compact and the occupied production line space is reduced. The bearing plate 400 and the driving assembly 300 are integrated in the installation space of the support frame 100, which helps to reduce the overall weight of the clamping mechanism. For industrial robots that need to move frequently, reducing the load can improve their operational flexibility and energy efficiency. As a mounting platform for the driving assembly 300, the bearing plate 400 can provide stable support for driving assemblies such as cylinders, avoid vibration and displacement of the driving assembly during operation, and enhance the stability and precision of the clamping action. Providing installation space between the clamping parts is conducive to improving the airflow environment inside the clamping mechanism, preventing the airflow generated when the cylinder is working from affecting the clamping parts, and ensuring the normal operation of the cylinder and the stable support of the clamping parts. Due to the integrated design of the drive assembly and the clamping parts, the clamping mechanism is more flexible in adapting to workpieces of different sizes and shapes. The first clamping part and the second clamping part can adjust their positions according to the actual situation of the workpiece, further improving the compatibility of the clamping mechanism.

[0036] In this application, if Figure 2As shown, the support frame 100 includes: a first connecting plate 110, the first connecting plate 110 is movably arranged along a predetermined track, a guide portion 111 is arranged on the first connecting plate 110, a first clamping member 210 and a second clamping member 220 are respectively connected to the guide portion 111, and the first clamping member 210 and the second clamping member 220 move along the extension direction of the guide portion 111; the guide portion 111 includes: a slide rail 112, which is arranged on the first connecting plate 110, a slider 113 is arranged on the slide rail 112, and the first clamping member 210 and the second clamping member 220 are respectively connected to the slider 113. The combination of the slide rail 112 and the slider 113 provides precise guidance, ensures the accuracy of the first clamping member 210 and the second clamping member 220 when moving along the predetermined track, reduces deviation and jitter, and improves the stability and accuracy of the clamping process. The slider 113 slides on the slide rail 112, which can significantly reduce the friction during the movement compared to sliding directly on the plane, thereby reducing component wear and extending the service life of the equipment; the slide rail slider mechanism has a low movement resistance, so that the clamp can respond quickly under the drive of the cylinder, shortening the cycle time of material removal and stacking, and improving production efficiency. The design of the guide part 111 allows the clamp to move freely along the extension direction of the slide rail 112, which means that even for workpieces with slightly different sizes or shapes, the fixture can adapt by adjusting the position of the slider 113, improving compatibility with different workpieces.

[0037] The support frame 100 further includes: a second connecting plate 120, which is spaced apart from the first connecting plate 110, and a first clamping member 210 and a second clamping member 220 are arranged between the first connecting plate 110 and the second connecting plate 120; and a predetermined interval is provided between the first clamping member 210 and the second clamping member 220 and the second connecting plate 120. By providing the first connecting plate 110 and the second connecting plate 120, a more solid clamping mechanism framework is formed, the stability of the overall structure is enhanced, and the rigidity and durability of the clamp are ensured in high-speed operation and heavy-load handling. The predetermined interval between the first clamping member 210 and the second clamping member 220 and the second connecting plate 120 can provide necessary space for the elastic deformation of the buffer component (such as the first buffer component 230 and the second buffer component 240), so as to ensure that the impact force can be effectively absorbed during the clamping process and the workpiece can be protected. The first clamping member 210 and the second clamping member 220 are arranged between the first connecting plate 110 and the second connecting plate 120 to provide multi-point support. Even if the workpiece has an irregular shape, it can be stably clamped through multi-point contact to prevent the workpiece from shifting or rotating during transportation. The first clamping member 210 and the second clamping member 220 are spaced apart from the second connecting plate 120, making it more convenient to maintain and adjust the position of the clamping plates without disassembling the entire support frame structure, thereby improving maintenance efficiency. In some application scenarios, the predetermined interval may also be used to optimize the airflow in the clamping area. For example, when clamping easily deformed or thin-walled parts, appropriate spacing can reduce the impact of airflow on the workpiece and improve stability during transportation.

[0038] The support frame 100 also includes: a third connecting plate 130, the two ends of the third connecting plate 130 are connected to the first connecting plate 110 and the second connecting plate 120 respectively, and there are two third connecting plates 130, the two third connecting plates 130 are arranged oppositely and at intervals, and the first clamping member 210 and the second clamping member 220 are arranged between the two third connecting plates 130 respectively. The relative and spaced arrangement of the third connecting plates 130 forms a stable frame structure, which can effectively improve the overall rigidity and torsion resistance of the support frame and ensure the stability during the handling and stacking process. The two third connecting plates 130 are arranged at intervals relative to each other, providing sufficient operating space for the first clamping member 210 and the second clamping member 220, which not only ensures the flexibility of clamping, but also does not affect the clamping efficiency due to space limitations. Through the precise positioning of the third connecting plate 130, the accuracy of the first clamping member 210 and the second clamping member 220 during the clamping operation can be ensured, reducing the clamping instability or product damage caused by position deviation. The flexible design of the third connecting plate 130 can adapt to sheet metal parts of different sizes and shapes, so that the fixture can be compatible with more product types, increasing the flexibility and response speed of the production line. The structural design of the third connecting plate 130 is also convenient for subsequent maintenance and adjustment. If the clamp needs to be replaced or adjusted, it can be achieved by disassembling the third connecting plate without making large-scale changes to the entire support frame. The two ends of the third connecting plate 130 are respectively connected to the first connecting plate 110 and the second connecting plate 120. This modular assembly method is not only convenient for installation, but also convenient for disassembly and reconfiguration when needed.

[0039] In order to facilitate the connection between the clamping mechanism and the robot arm, a connecting flange 114 is provided on the first connecting plate 110. The connecting flange 114 is directly connected to the driving end of the robot arm, and the robot arm is used to drive the clamping mechanism to move.

[0040] In the present application, pressure sensors are installed at the positions where the first clamping member and the second clamping member contact the workpiece. These sensors can monitor the contact pressure of the workpiece during the clamping process. The pressure sensor transmits the contact pressure information monitored in real time to the data processing module through a data cable or a wireless module. The data processing module compares the pressure value fed back by the sensor with the preset safety pressure range, and adjusts the output force of the servo motor or hydraulic cylinder in real time, thereby controlling the thrust of the cylinder push plate to ensure that the workpiece will not be damaged due to excessive pressure.

[0041] A laser scanner is also provided on the support frame 100 for scanning the shape and size of the workpiece. The laser scanner is connected to the image processing module, and the sensor converts the 3D shape information of the workpiece into a digital signal, transmits it to the image processing system for analysis, and identifies the key features of the workpiece (such as the inner wall curvature, edge position, etc.). Based on the shape recognition results, the control system calculates the optimal positions of the first clamping member and the second clamping member, as well as the adjustment angle of the cylinder push plate, and adaptively adjusts the fixture structure to adapt to workpieces of different shapes. While clamping the workpiece, the contact pressure, position and shape changes are continuously monitored. According to the real-time monitoring results, the thrust and position of the cylinder push plate are intelligently adjusted to meet the clamping requirements of different workpieces. Overpressure protection is achieved through pressure sensor monitoring to avoid damage to the workpiece or the fixture itself. The sensor data is recorded for a long time, and the clamping process is optimized through machine learning algorithms to improve the adaptability and processing efficiency of the fixture.

[0042] The present application also provides a robot, including a mechanical arm and a clamping mechanism, wherein the clamping mechanism is arranged on the mechanical arm and is driven to move by the mechanical arm, and the clamping mechanism is the clamping mechanism of the above embodiment.

[0043] In actual application, after the sheet metal special-shaped products are produced by stamping equipment, they are stacked together one by one through a belt line or other related mechanisms to form a stack. When the preset full stack number is reached, the industrial robot drives the fixture to the robot picking point to pick up the materials. For example, the air-conditioning outdoor unit cover product itself has a guide ring and the product size is large, which makes it inconvenient to pick up and place manually. In addition, due to the special shape of the product, the conventional tooling fixtures used for stacking are only suitable for relatively regular sheet metal products, and cannot stably, quickly and effectively realize the picking action. The clamping mechanism of the present application just makes up for this. When the products are placed together up and down and stacked into a stack, the robot drives the fixture to move to the picking point. When the first clamp 210 and the second clamp 220 are in the same position, the two double-rod cylinders in the fixture will extend at the same time, driving the first clamp 210 and the second clamp 220 to move and support the inner wall of the product, and the upper slide rail also provides a certain stability for the first clamp 210 and the second clamp 220 to extend, preventing the first clamp 210 and the second clamp 220 from being unable to cling to the inner wall of the product for support due to the imbalance at both ends of the first clamp 210 and the second clamp 220 when the cylinder is extended, thereby preventing the risk of material falling during the material picking process. During the material picking process, since the cylinder is always ventilated and the sheet metal product is relatively light, the material picking and palletizing actions can be completed stably and quickly, driving the product to be transferred to the tooling vehicle for palletizing. When switching products, change the program and change the preset full-stomp product quantity to achieve compatibility. The fixture itself is also compatible with products of all sizes.

[0044] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0045] According to the clamping mechanism provided by the present application, it is used to clamp a target workpiece, and a through opening is provided on the target workpiece, wherein the clamping mechanism includes a support frame 100 and a clamping assembly 200, the support frame 100 is movably arranged along a predetermined track, the clamping assembly 200 is arranged on the support frame 100, and the clamping assembly 200 includes a first clamping member 210 and a second clamping member 220, and the first clamping member 210 and the second clamping member 220 are movably arranged in a direction relatively close to or relatively far away from each other, so that after the support frame 100 extends into the through opening, the first clamping member 210 and the second clamping member 220 are respectively fitted with the inner wall surface of the target workpiece to clamp the target workpiece. By designing that the first clamping member 210 and the second clamping member 220 are movable in relative directions, the clamping mechanism can adapt to workpieces of different sizes and shapes, thereby enhancing the compatibility and application range of the clamping mechanism for various special-shaped workpieces. The support frame 100 is movably arranged along a predetermined track, and the use of a slide rail above the cylinder push plate provides a stable movement path and support for the clamping assembly, reducing the shaking and deviation during the material picking process, thereby reducing the risk of the workpiece falling during the handling or stacking process. The internal support clamping method can adapt to target workpieces of different shapes and specifications, improve the practicality of the clamping mechanism, and improve the stacking efficiency of the target workpiece.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0048] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A clamping mechanism for clamping a target workpiece, wherein the target workpiece is provided with a through opening, characterized in that: The clamping mechanism comprises: A support frame (100), wherein the support frame (100) is movably arranged along a predetermined track; A clamping assembly (200) is arranged on the support frame (100), and the clamping assembly (200) includes a first clamping member (210) and a second clamping member (220). The first clamping member (210) and the second clamping member (220) are movably arranged in a direction relatively close to or relatively far away from each other, so that after the support frame (100) extends into the through opening, the first clamping member (210) and the second clamping member (220) are respectively fitted with the inner wall surface of the target workpiece to clamp the target workpiece.

2. The clamping mechanism according to claim 1, characterized in that: The clamping assembly (200) further comprises: A first buffer component (230) is arranged on the first clamping member (210), at least a portion of the first buffer component (230) is elastically arranged, and the first buffer component (230) is in contact with the inner wall surface of the target workpiece; and / or, The second buffer component (240) is arranged on the second clamping member (220); at least a portion of the second buffer component (240) can be elastically arranged; and the second buffer component (240) is in contact with the inner wall surface of the target workpiece.

3. The clamping mechanism according to claim 2, characterized in that: The first buffer component (230) is arranged at the bottom of the first clamping component (210), and the first buffer component (230) protrudes relative to the first clamping surface of the first clamping component (210); or, The first buffer component (230) extends along the length direction of the first clamping member (210).

4. The clamping mechanism according to claim 2, characterized in that: The second buffer component (240) is arranged at the bottom of the second clamping member (220), and the second buffer component (240) protrudes relative to the second clamping surface of the second clamping member (220); or, The second buffer component (240) extends along the length direction of the second clamping member (220).

5. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism also includes: A driving assembly (300) is arranged on the support frame (100), and the driving assembly (300) includes a telescopically arranged driving rod, and the driving rod is respectively drivingly connected to the first clamping member (210) and the second clamping member (220) so as to simultaneously drive the first clamping member (210) and the second clamping member (220) to move through the driving rod.

6. The clamping mechanism according to claim 5, characterized in that: The support frame (100) is provided with an installation space (101), and at least a portion of the installation space (101) is located between the first clamping member (210) and the second clamping member (220); A carrying plate (400) is arranged in the installation space (101), and the driving assembly (300) is arranged on the carrying plate (400).

7. The clamping mechanism according to claim 1, characterized in that: The support frame (100) comprises: a first connecting plate (110), the first connecting plate (110) is movably arranged along a predetermined track, a guide portion (111) is arranged on the first connecting plate (110), the first clamping member (210) and the second clamping member (220) are respectively connected to the guide portion (111), and the first clamping member (210) and the second clamping member (220) move along the extension direction of the guide portion (111); The guide portion (111) comprises: A slide rail (112) is arranged on the first connecting plate (110), a slider (113) is arranged on the slide rail (112), and the first clamping member (210) and the second clamping member (220) are respectively connected to the slider (113).

8. The clamping mechanism according to claim 7, characterized in that: The support frame (100) further comprises: a second connecting plate (120) arranged at a distance from the first connecting plate (110), wherein the first clamping member (210) and the second clamping member (220) are arranged between the first connecting plate (110) and the second connecting plate (120); A predetermined interval is formed between the first clamping member (210) and the second clamping member (220) and the second connecting plate (120).

9. The clamping mechanism according to claim 8, characterized in that: The support frame (100) further comprises: A third connecting plate (130), wherein both ends of the third connecting plate (130) are respectively connected to the first connecting plate (110) and the second connecting plate (120), and there are two third connecting plates (130), the two third connecting plates (130) are opposite to each other and are arranged at intervals, and the first clamping member (210) and the second clamping member (220) are respectively arranged between the two third connecting plates (130).

10. A robot, comprising a mechanical arm and a clamping mechanism, wherein the clamping mechanism is arranged on the mechanical arm and the mechanical arm drives the clamping mechanism to move, characterized in that: The clamping mechanism is the clamping mechanism according to any one of claims 1 to 9.

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