Clamp device and control method thereof

Abstract

The invention relates to the technical field of mechanical equipment, and discloses a clamp device and a control method thereof, and the clamp device comprises a bearing platform, a clamping mechanism, a pushing part and a second driving mechanism. The clamping mechanism comprises a first clamping piece and a second clamping piece which are used for clamping a product on the bearing platform, the pushing piece is arranged on one side of the clamping mechanism, the pushing piece and the clamping mechanism can get close to each other and get away from each other, and the pushing piece is used for pushing the first clamping piece and the second clamping piece to get away from each other so as to release the product; the second driving mechanism is used for driving the bearing platform to rotate around the first axis. The first clamping piece and the second clamping piece are driven to be far away from each other through the pushing action of the pushing piece, the transverse size of the clamping mechanism can be shortened, the rotating diameter of the bearing platform and the clamping mechanism is reduced, the space utilization rate is increased, the pushing piece can be separated from the clamping mechanism, the load of the second driving mechanism can be relieved, and the overall operation stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a clamp device and a control method thereof. Background Art

[0002] Fixtures play an important role in mechanical processing. They can clamp and fix workpieces to achieve complex processing techniques. They are widely used in various machine tools, machining centers, production lines, etc.

[0003] In the prior art, a clamp usually includes two clamping jaws that can clamp a product, and a cylinder is provided on the side of the two clamping jaws facing away from each other to drive the two clamping jaws to move and open to clamp or release the product. The above design scheme makes the overall lateral size of the clamp larger, especially for a rotatable clamp, the large lateral size will lead to a large rotation diameter, the space required for the whole machine becomes larger, and the site space cannot be fully utilized.

[0004] Therefore, there is an urgent need for a clamp device and a control method thereof to solve the above problems. Summary of the invention

[0005] Based on the above problems, the object of the present invention is to provide a clamp device and a control method thereof, which can reduce the overall volume of the clamp device, reduce space occupation, and improve the operation stability of the whole machine.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In one aspect, a clamp device is provided, comprising:

[0008] A carrying platform for carrying products;

[0009] The clamping mechanism comprises a first clamping member and a second clamping member which can move away from and approach each other, wherein the first clamping member and the second clamping member are used to clamp and fix the product on the carrying platform;

[0010] A pushing member is disposed on one side of the clamping mechanism, and the pushing member and the clamping mechanism can move closer to and farther from each other, and the pushing member is used to push the first clamping member and the second clamping member away from each other, so that the first clamping member and the second clamping member release the product on the carrying platform;

[0011] The second driving mechanism has an output end connected to the bearing platform and is used to drive the bearing platform to rotate around a first axis, wherein the first axis is parallel to the pushing direction of the pushing member.

[0012] As an optional solution of the clamp device of the present invention, the second driving mechanism includes a first rotating driving member and a bearing seat, the bearing platform is detachably arranged on the bearing seat, and the output end of the first rotating driving member is connected to the bearing seat;

[0013] The first clamping member and / or the second clamping member has a first matching portion, and the pushing member has a second matching portion. During the pushing process of the pushing member, the second matching portion can slide in contact with the corresponding first matching portion to drive the first clamping member and the second clamping member away from each other.

[0014] As an optional solution of the clamping device of the present invention, the first clamping member and the second clamping member both include a movable seat and a clamping claw arranged on the movable seat, the movable seat is movably arranged at the output end of the second driving mechanism along a preset direction, and the first matching portion is arranged on the movable seat.

[0015] As an optional solution of the clamping device of the present invention, the first matching portion includes a first inclined surface arranged on the movable seat, and the second matching portion includes a second inclined surface arranged on the pushing member, the second inclined surface can be slidably matched with the first inclined surface, and the second inclined surface is inclined along the pushing direction of the pushing member toward the direction close to the supporting platform.

[0016] As an optional solution of the clamp device of the present invention, the second driving mechanism includes a first rotating driving member and a bearing seat, the bearing platform is detachably arranged on the bearing seat, and the output end of the first rotating driving member is connected to the bearing seat;

[0017] The clamping mechanism also includes a mounting seat arranged on the supporting seat, the mounting seat has a accommodating cavity, the movable seat is slidably arranged in the accommodating cavity, an elastic member is arranged between the movable seat and the inner wall of the accommodating cavity, and the movable seat can move toward the direction close to the supporting platform under the elastic force of the elastic member.

[0018] As an optional solution of the clamp device of the present invention, the first mating portion also includes a slot arranged on the movable seat, and the mounting seat is provided with a socket connected to the accommodating cavity, the socket is opposite to the slot, and the pushing member can be at least partially inserted into the slot through the socket.

[0019] As an optional solution of the clamp device of the present invention, the pushing member is movably arranged below the clamping mechanism, and the clamp device further comprises a first driving mechanism, the output end of which is connected to the pushing member and is used to drive the pushing member to move up and down to approach or move away from the clamping mechanism;

[0020] Alternatively, the clamping mechanism is levitationally arranged above the pushing member, and the clamping device further comprises a fourth driving mechanism, an output end of which is connected to the clamping mechanism for driving the clamping mechanism to be raised or lowered to approach or move away from the pushing member.

[0021] As an optional solution of the clamping device of the present invention, when the clamping device includes a first driving mechanism, the first driving mechanism includes a first linear driving member and a pushing platform, the pushing member is arranged on the pushing platform, and the output end of the first linear driving member is transmission-connected to the pushing platform for driving the pushing platform to rise and fall.

[0022] As an optional solution of the clamp device of the present invention, the clamp device further comprises a support frame, and the housing of the first linear drive member is fixed on the support frame;

[0023] One of the pushing platform and the supporting frame is provided with a guide rod, and the other is provided with a guide sleeve, wherein the guide rod is passed through the guide sleeve and is slidably matched with the guide sleeve in the direction of the first axis; and / or,

[0024] One of the pushing platform and the support frame is provided with a sliding rod, and the other is provided with a sliding hole, the sliding rod is slidably inserted into the sliding hole and can limit the movement stroke of the pushing platform in the direction of the first axis; and / or,

[0025] At least two of the first linear driving members are provided, and the at least two first linear driving members are arranged diagonally below the pushing platform; and / or,

[0026] The pushing platform is provided with a first avoidance space, and the first avoidance space is used to avoid the rotating end of the second driving mechanism.

[0027] As an optional solution of the clamp device of the present invention, the second driving mechanism includes a first rotating driving member and a bearing seat, the bearing platform is detachably arranged on the bearing seat, and the output end of the first rotating driving member is connected to the bearing seat;

[0028] The support platform is provided with an adsorption structure, the clamp device further comprises a vacuum device, the vacuum device has a gas pipeline, the first rotary drive member has a hollow inner cavity, the gas pipeline passes through the hollow inner cavity and is connected with the adsorption structure.

[0029] As an optional solution of the clamp device of the present invention, the bearing seat is provided with an accommodating cavity, a quick-change joint is detachably installed in the accommodating cavity, a ventilation channel is provided on the bearing platform, one end of the quick-change joint is connected to the gas pipeline, the other end of the quick-change joint is connected to the first end of the ventilation channel, and the second end of the ventilation channel is connected to the adsorption structure;

[0030] And / or, the adsorption structure includes a suction cup or an adsorption hole arranged on the carrying platform.

[0031] As an optional solution of the clamp device of the present invention, the clamp device also includes a third driving mechanism, the output end of which is connected to the second driving mechanism for driving the supporting platform to rotate around a second axis, and the second axis forms an angle with the first axis.

[0032] As an optional solution of the clamp device of the present invention, the third driving mechanism includes a second rotating driving member and a rotating seat, the output end of the second rotating driving member is connected to the rotating seat, and the second driving mechanism is arranged on the rotating seat.

[0033] As an optional solution of the clamp device of the present invention, the clamp device also includes a limiting mechanism, which includes a limiting block movable along the second axis direction, and the limiting block can abut against the rotating seat in the second axis direction to limit the rotating seat from rotating around the second axis.

[0034] On the other hand, a clamp device control method is provided, which is applied to the clamp device as described above, and the clamp device control method comprises the following steps:

[0035] Controlling the clamping mechanism and the pushing member to move closer to each other, so that the pushing member pushes the first clamping member and the second clamping member away from each other;

[0036] Place the product on the carrying platform;

[0037] Control the clamping mechanism and the pushing member to move away from each other, so that the pushing member is separated from the first clamping member and the second clamping member, and the first clamping member and the second clamping member are close to each other and clamp the product on the fixed carrying platform;

[0038] The second driving mechanism is controlled to move so that the carrying platform and the product rotate around the first axis by a set angle.

[0039] As an optional solution of the clamp device control method of the present invention, the clamp device further includes a first driving mechanism, the output end of which is connected to the pushing member, and is used to drive the pushing member to move up and down to approach or move away from the clamping mechanism;

[0040] The clamp device control method comprises the following steps:

[0041] Controlling the first driving mechanism to move so that the pushing member rises to contact the first clamping member and / or the second clamping member, and drives the first clamping member and the second clamping member to move away from each other;

[0042] Place the product on the carrying platform;

[0043] Controlling the first driving mechanism to move so that the pushing member descends and separates from the first clamping member and / or the second clamping member, and the first clamping member and the second clamping member approach each other and clamp the product on the fixed carrying platform;

[0044] The second driving mechanism is controlled to move so that the carrying platform and the product rotate around the first axis by a set angle.

[0045] The beneficial effects of the present invention are:

[0046] The clamp device and control method thereof provided by the present invention control the clamping mechanism and the pushing member to approach each other, so that the pushing member contacts the first clamping member and / or the second clamping member and pushes the first clamping member and the second clamping member. During the pushing process of the pushing member, the pushing member drives the first clamping member and the second clamping member to move away from each other, so that the product to be processed can be placed on the load-bearing platform, or the product processed on the load-bearing platform can be removed and then a new product to be processed can be placed on the load-bearing platform. After the product is placed, the clamping mechanism and the pushing member are controlled to move away from each other, so that the pushing member gradually separates from the first clamping member and / or the second clamping member. During this process, the first clamping member and the second clamping member approach each other until the product on the load-bearing platform is clamped and fixed. At this time, the product on the load-bearing platform can be subjected to corresponding process operations, or the load-bearing platform and the product can be rotated around the first axis together by a set angle by controlling the action of the second driving mechanism to adjust the orientation of the product and perform corresponding process operations.

[0047] Since the pushing member and the clamping mechanism are approaching each other, the pushing member drives the first clamping member and the second clamping member to move away from each other through the pushing action, and does not occupy the space in the opening and closing direction of the first clamping member and the second clamping member, and can shorten the overall lateral size of the clamping mechanism. Therefore, when the second driving mechanism is in action, the rotation diameter of the load-bearing platform and the clamping mechanism is reduced, thereby reducing the lateral space required during the operation of the clamping device, achieving the purpose of reducing space occupation and improving the space utilization rate of the site. In addition, since the pushing member can be separated from the clamping mechanism, the second driving mechanism only needs to drive the load-bearing platform, the clamping mechanism and the product to rotate, thereby reducing the load of the second driving mechanism and improving the overall operation stability of the clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0049] Figure 1 is a first structural schematic diagram of a clamp device provided in a specific embodiment of the present invention;

[0050] Figure 2 is a second structural schematic diagram of a clamp device provided in a specific embodiment of the present invention;

[0051] Figure 3 is a third structural schematic diagram of a clamp device provided in a specific embodiment of the present invention;

[0052] Figure 4 is a fourth structural schematic diagram of a clamp device provided in a specific embodiment of the present invention;

[0053] Figure 5 is a cross-sectional schematic diagram of a clamp device provided in a specific embodiment of the present invention;

[0054] Figure 6 yes Figure 5 A partial enlarged view of the middle A;

[0055] Figure 7 is a cross-sectional schematic diagram of a clamping mechanism and a second driving mechanism provided in a specific embodiment of the present invention;

[0056] Figure 8 It is a structural schematic diagram of a bearing seat provided in a specific embodiment of the present invention;

[0057] Fig. 9 is a first structural schematic diagram of a carrying platform provided in a specific embodiment of the present invention;

[0058] Fig.10 is a second structural schematic diagram of a carrying platform provided in a specific embodiment of the present invention;

[0059] Fig.11 It is a cross-sectional schematic diagram of a load-bearing platform provided in a specific embodiment of the present invention.

[0060] In the figure:

[0061] 1. Carrying platform; 2. Clamping mechanism; 3. First driving mechanism; 4. Second driving mechanism; 5. Support frame; 6. Third driving mechanism; 7. Limiting mechanism; 10. Base;

[0062] 11. load-bearing body; 12. connection plate; 121. fixing hole;

[0063] 111. ventilation channel; 112. mounting hole;

[0064] 1111, main channel; 1112, branch channel;

[0065] 21. First clamping member; 22. Second clamping member; 23. Mounting seat; 24. Elastic member;

[0066] 211, moving seat; 212, clamping claw;

[0067] 2111, first inclined surface; 2112, slot; 2113, guide protrusion;

[0068] 2121, connecting portion; 2122, clamping portion;

[0069] 231, socket; 232, guide groove; 233, boss structure;

[0070] 31. Pushing member; 311. Second inclined surface;

[0071] 32. a first linear drive member; 33. a push platform;

[0072] 331. guide rod; 332. slide rod; 333. first avoidance space;

[0073] 41. First rotating driving member; 42. Supporting seat;

[0074] 410, hollow inner cavity; 4101, first through-hole; 4102, second through-hole; 411, fixing seat;

[0075] 421, accommodating cavity; 422, threaded connection hole; 423, first mounting surface; 424, second mounting surface; 425, sealing groove; 426, sealing member;

[0076] 51. Support beam; 52. Support plate;

[0077] 521. guide sleeve; 522. sliding hole; 523. second avoidance space;

[0078] 61. Second rotary drive member; 62. Rotating seat;

[0079] 71. Limit block; 72. Second linear drive member;

[0080] 100. Products. DETAILED DESCRIPTION

[0081] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0082] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0083] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] Embodiment 1

[0085] like Figures 1 to 4 As shown, this embodiment provides a clamp device, which can reduce the overall volume of the clamp device, reduce space occupation, and improve the operation stability of the whole machine. The clamp device includes a carrying platform 1, a clamping mechanism 2, a push member 31 and a second driving mechanism 4.

[0086] Among them, see Figure 1 and Figure 2, the carrying platform 1 is used to carry the product 100, and the clamping mechanism 2 includes a first clamping member 21 and a second clamping member 22 that can move away from and approach each other, and the first clamping member 21 and the second clamping member 22 can clamp and fix the product 100 on the carrying platform 1. The pushing member 31 is arranged on one side of the clamping mechanism 2, and the pushing member 31 and the clamping mechanism 2 can move towards and away from each other, and the pushing member 31 is used to push the first clamping member 21 and the second clamping member 22 away from each other, so that the first clamping member 21 and the second clamping member 22 release the product 100 on the carrying platform 1. The output end of the second driving mechanism 4 is connected to the carrying platform 1, and is used to drive the carrying platform 1 to rotate around a first axis, and the first axis is parallel to the pushing direction of the pushing member 31. For example, referring to Figure 1 and Figure 2 In the orientation, the first axis direction is the Z direction. In other embodiments, the first axis direction is not limited to the directions listed above.

[0087] The clamp device provided in this embodiment controls the clamping mechanism 2 and the pushing member 31 to approach each other, so that the pushing member 31 contacts the first clamping member 21 and / or the second clamping member 22 and pushes the first clamping member 21 and the second clamping member 22. During the pushing process of the pushing member 31, the pushing member 31 drives the first clamping member 21 and the second clamping member 22 to move away from each other, so that the product 100 to be processed can be placed on the carrying platform 1, or the product 100 processed on the carrying platform 1 can be removed and then a new product 100 to be processed can be placed on the carrying platform 1. After the product 100 is placed, the clamping mechanism 2 and the pushing member 31 are controlled to move away from each other, so that the pushing member 31 gradually separates from the first clamping member 21 and / or the second clamping member 22. During this process, the first clamping member 21 and the second clamping member 22 approach each other until the product 100 on the carrying platform 1 is clamped and fixed. At this time, the corresponding process operations can be performed on the product 100 on the carrying platform 1, or, by controlling the action of the second driving mechanism 4, the carrying platform 1 and the product 100 can be rotated together around the first axis at a set angle to adjust the orientation of the product 100 and perform the corresponding process operations.

[0088] Since the pushing member 31 and the clamping mechanism 2 are approaching each other, the pushing member 31 drives the first clamping member 21 and the second clamping member 22 to move away from each other through the pushing action, and does not occupy the space in the opening and closing direction of the first clamping member 21 and the second clamping member 22, and can shorten the overall lateral size of the clamping mechanism 2. Therefore, when the second drive mechanism 4 is in action, the rotation diameter of the load-bearing platform 1 and the clamping mechanism 2 is reduced, thereby reducing the lateral space required during the operation of the clamping device, achieving the purpose of reducing space occupation and improving the space utilization rate of the site. In addition, since the pushing member 31 can be separated from the clamping mechanism 2, the second drive mechanism 4 only needs to drive the load-bearing platform 1, the clamping mechanism 2 and the product 100 to rotate, thereby reducing the load of the second drive mechanism 4 and improving the overall operation stability of the clamping device.

[0089] The pushing member 31 and the clamping mechanism 2 can move closer to or farther away from each other, that is, the pushing member 31 can be designed to be movable to control the pushing member 31 to move closer to or farther away from the clamping mechanism 2; or, the clamping mechanism 2 can be designed to be movable to control the clamping mechanism 2 to move closer to or farther away from the pushing member 31; or, both can be designed to be movable.

[0090] In this embodiment, the push member 31 is arranged below the clamping mechanism 2 in a manner that it can be raised and lowered, and the clamping device further comprises a first driving mechanism 3, the output end of which is connected to the push member 31, and is used to drive the push member 31 to be raised and lowered so as to approach or move away from the clamping mechanism 2. That is, by controlling the action of the first driving mechanism 3, the push member 31 is made to approach or move away from the first clamping member 21 and the second clamping member 22 of the clamping mechanism 2, so that the push member 31 drives the first clamping member 21 and the second clamping member 22 to move away from each other, and after the push member 31 is separated from the first clamping member 21 and the second clamping member 22, the first clamping member 21 and the second clamping member 22 can approach each other.

[0091] like Figure 1 and Figure 2 As shown, the first clamping member 21 and the second clamping member 22 are arranged on opposite sides of the carrying platform 1, and the first clamping member 21 and the second clamping member 22 can both move relative to the carrying platform 1. Accordingly, two pushing members 31 corresponding to the first clamping member 21 and the second clamping member 22 are arranged one by one, and the first driving mechanism 3 can drive the two pushing members 31 to be synchronously lifted to contact with the first clamping member 21 and the second clamping member 22, so as to drive the first clamping member 21 and the second clamping member 22 away from each other.

[0092] In other optional embodiments, it can also be designed that only the first clamping member 21 is movable or only the second clamping member 22 is movable, and accordingly, a push member 31 is designed. Of course, the clamping mechanism 2 can also be designed as multiple clamping members, such as three or more clamping members, and the multiple clamping members are arranged at intervals along the circumferential direction on the periphery of the carrying platform 1, and multiple push members 31 are designed accordingly, so that the multiple clamping members can synchronously approach or move away from each other, so as to clamp or release the product 100 on the carrying platform 1.

[0093] See also Figure 1 , Figure 2 and Figure 3 The second driving mechanism 4 includes a first rotating driving member 41 and a bearing seat 42. The bearing platform 1 is detachably arranged on the bearing seat 42, and the output end of the first rotating driving member 41 is connected to the bearing seat 42. After the first rotating driving member 41 is started, it can drive the bearing seat 42 to rotate together with the bearing platform 1 and the product 100 on the bearing platform 1, so as to adjust the orientation of the product 100 on the bearing platform 1 and meet the different process operation requirements of the product 100. The bearing seat 42 can play the role of raising the bearing platform 1 and the clamping mechanism 2, so that the push member 31 maintains a certain distance from the clamping mechanism 2, and reserves sufficient lifting space for the push member 31, while ensuring that the push member 31 can completely separate from the first clamping member 21 and the second clamping member 22 to avoid interfering with the rotation of the clamping mechanism 2.

[0094] In addition, since the bearing platform 1 is detachably connected to the bearing seat 42, the bearing platforms 1 of different specifications and types can be replaced according to actual needs (e.g., different types of products 100) during use, so that the clamp device can be applied to different types of products 100, thereby improving the versatility of the clamp device. For example, the bearing platform 1 can be detachably fixed to the bearing seat 42 by fasteners such as bolts.

[0095] Optionally, the first rotating driving member 41 includes a first stator and a first rotor coaxially arranged, the first rotor can rotate relative to the first stator around a first axis, and the bearing seat 42 is connected to the first rotor. When the first rotor rotates relative to the first stator, it drives the bearing seat 42 and the bearing platform 1 to rotate synchronously, thereby adjusting the orientation of the product 100 on the bearing platform 1. Exemplarily, the first rotating driving member 41 is a torque motor.

[0096] In some other embodiments, the first rotation driving member 41 may also be a structure composed of a servo motor, a reducer, and a coupling.

[0097] Optionally, the first clamping member 21 and / or the second clamping member 22 has a first matching portion, and the pushing member 31 has a second matching portion, and during the pushing process of the pushing member 31, the second matching portion can slide in contact with the corresponding first matching portion to drive the first clamping member 21 and the second clamping member 22 away from each other. That is, after the pushing member 31 contacts the first clamping member 21 and the second clamping member 22, during the process of the pushing member 31 and the clamping mechanism 2 continuing to approach each other, the second matching portion interacts with the first matching portion to generate a thrust force, thereby forcing the first clamping member 21 and the second clamping member 22 to move away from each other, so that the clamping mechanism 2 releases the product 100 on the carrying platform 1.

[0098] Optionally, see Figure 5 , Figure 6 and Figure 7 The first clamping member 21 and the second clamping member 22 both include a moving seat 211 and a clamping claw 212 disposed on the moving seat 211. The moving seat 211 is movably disposed at the output end of the second driving mechanism 4 along a preset direction (in this embodiment, the moving seat 211 is disposed on the bearing seat 42), and the first matching portion is disposed on the moving seat 211. When the pushing member 31 is lifted to the point where the second matching portion contacts the first matching portion, the second matching portion and the first matching portion slide in contact during the pushing member 31 continues to push, and the interaction between the two forces the moving seat 211 to move along the preset direction. Specifically, the moving seat 211 of the first clamping member 21 and the moving seat 211 of the second clamping member 22 move in opposite directions, so that the clamping claw 212 of the first clamping member 21 and the clamping claw 212 of the second clamping member 22 move away from each other to release the product 100 on the bearing platform 1, or the two clamping claws 212 move away from the bearing platform 1, so as to facilitate the placement of the product 100 to be processed on the bearing platform 1.

[0099] For example, refer to Figure 1 and Figure 2 The preset direction is the Y direction. In other embodiments, the preset direction may also be other directions, not limited to the Y direction in the figure.

[0100] Since the first clamping member 21 and the second clamping member 22 are both arranged on the supporting seat 42, that is, the clamping mechanism 2 is located on the rotating end of the first rotating driving member 41, and the pushing member 31 can be completely separated from the first clamping member 21 and the second clamping member 22, the clamping mechanism 2 as a whole can rotate independently relative to the first driving mechanism 3 to perform related process operations, which can not only reduce the load of the second driving mechanism 4, but also reduce the space required for the rotation action.

[0101] Optionally, the clamping jaws 212 include a connecting portion 2121 and a clamping portion 2122 that are connected and arranged at an angle, and the connecting portion 2121 is detachably connected to the movable seat 211. The clamping portions 2122 of the two clamping jaws are used to contact the product 100 on the carrying platform 1. When the two clamping jaws 212 are close to each other, the two clamping portions 2122 clamp the product 100. The connecting portion 2121 and the movable seat 211 can be connected by fasteners such as bolts or screws to facilitate assembly and disassembly.

[0102] Exemplarily, the connecting portion 2121 is a strip plate structure, which is convenient for connecting with the moving seat. The clamping portion 2122 is a plate structure, and its width is greater than the width of the connecting portion 2121. In this embodiment, the width of the clamping portion 2122 is adapted to the size of the carrying platform 1, so that there is enough contact area between the clamping portion 2122 and the product 100, thereby improving the clamping stability of the clamping mechanism 2.

[0103] Furthermore, the clamping portion 2122 is tilted relative to the connecting portion 2121 toward the direction close to the carrying platform 1, so as to facilitate the application of clamping force and make the force on the product 100 more uniform. The thickness of the clamping portion 2122 gradually becomes thinner in the direction away from the connecting portion 2121, so that the clamping portion 2122 can better fit the product 100 and provide a stable clamping force.

[0104] Optionally, see Figure 3 , Figure 5 , Figure 6 and Figure 7 , the first matching portion includes a first inclined surface 2111 disposed on the movable seat 211, and the second matching portion includes a second inclined surface 311 disposed on the push member 31, the second inclined surface 311 can be slidably matched with the first inclined surface 2111, and the second inclined surface 311 is inclined toward the direction close to the bearing platform 1 along the pushing direction of the push member 31. With such a configuration, during the lifting process of the push member 31, the second inclined surface 311 can generate a thrust against the first inclined surface 2111, forcing the movable seat 211 and the clamping jaw 212 to move in a direction away from the bearing platform 1. When the push member 31 descends until the second inclined surface 311 is separated from the first inclined surface 2111, the thrust against the movable seat 211 by the push member 31 disappears, so that the movable seat 211 and the clamping jaw 212 can move toward the direction close to the bearing platform 1.

[0105] In some other embodiments, the first matching portion can be an arcuate surface arranged on the movable seat 211, and the second matching portion can be an inclined surface arranged on the pushing member 31, the inclined surface is inclined along the pushing direction of the pushing member 31 toward the direction close to the supporting platform 1, and the inclined surface and the arcuate surface are slidably matched to enable the pushing member 31 to push the movable seat 211 and the clamp 212 away from the supporting platform 1.

[0106] See also Figure 1 , Figure 3 and Figure 7 The clamping mechanism 2 also includes a mounting seat 23 disposed on the bearing seat 42. The mounting seat 23 has a receiving cavity. The moving seat 211 is slidably disposed in the receiving cavity. An elastic member 24 is disposed between the moving seat 211 and the inner wall of the receiving cavity. The moving seat 211 can move toward the direction close to the bearing platform 1 under the elastic force of the elastic member 24. When the push member 31 pushes the moving seat 211 away from the bearing platform 1, the moving seat 211 squeezes the elastic member 24, so that the elastic member 24 stores energy; when the push member 31 descends and gradually separates from the moving seat 211, the elastic member 24 releases elastic potential energy, thereby driving the moving seat 211 to move away from the bearing platform 1, so that the clamping claw 212 of the first clamping member 21 and the clamping claw 212 of the second clamping member 22 are close to each other. The setting of the elastic member 24 makes the first clamping member 21 and the second clamping member 22 always have a tendency to move toward each other, ensuring that the first clamping member 21 and the second clamping member 22 can clamp the product 100 on the bearing platform 1.

[0107] Exemplarily, the elastic member 24 is a spring, and a limiting groove is provided on the movable seat 211 . One end of the spring is inserted into the limiting groove, and the other end abuts against or is fixedly connected to the inner wall of the accommodating cavity.

[0108] See also Figure 3 , Figure 6 and Figure 7 The first matching portion also includes a slot 2112 disposed on the movable seat 211, a first inclined surface 2111 is disposed at the notch of the slot 2112, a socket 231 communicating with the accommodating cavity is disposed on the mounting seat 23, the socket 231 is opposite to the slot 2112, and at least part of the push member 31 can be inserted into the slot 2112 through the socket 231. After the push member 31 is lifted to the insertion socket 231, the second inclined surface 311 contacts the first inclined surface 2111, and as the push member 31 continues to lift, the push member 31 gradually inserts into the slot 2112. The arrangement of the slot 2112 enables the push member 31 to have sufficient movement travel in the vertical direction, ensuring that the movable seat 211 can move a sufficient distance in the preset direction, so that the clamping claw 212 is away from the carrying platform 1, and it is convenient to take and place the product 100 on the carrying platform 1. In addition, the cooperation between the pushing member 31 and the slot 2112 can stably maintain the movable seat 211 and the clamping claw 212 at a position away from the carrying platform 1, which is more conducive to taking and placing the product 100 on the carrying platform 1.

[0109] Optionally, see Figure 3 , Figure 6 and Figure 7The mounting seat 23 is provided with a guide groove 232 communicating with the accommodating cavity, and the movable seat 211 is provided with a guide protrusion 2113. The guide protrusion 2113 and the guide groove 232 are slidably matched in a preset direction, and the clamping claw 212 is connected to the guide protrusion 2113. The matching of the guide protrusion 2113 and the guide groove 232 can limit the moving direction of the movable seat 211, ensuring that the clamping claw 212 of the first clamping member 21 and the clamping claw 212 of the second clamping member 22 always approach and move away from each other in the preset direction, and at the same time limit the moving stroke of the movable seat 211 in the preset direction, avoiding the pushing member 31 driving the movable seat 211 to move over the stroke, and protecting the elastic member 24.

[0110] Optionally, see Figure 1 and Figure 3 , and combined with Figure 7 and Figure 8 The bearing seat 42 has a first mounting surface 423 and a second mounting surface 424 spaced apart along the first axis direction, the first mounting surface 423 is located above the second mounting surface 424, the bearing platform 1 is detachably mounted on the first mounting surface 423, and the mounting seat 23 is detachably mounted on the second mounting surface 424. That is, the bearing platform 1 is located above the mounting seat 23, so that the clamping claw 212 of the first clamping member 21 and the clamping claw 212 of the second clamping member 22 are substantially flush with the bearing platform 1, so as to facilitate clamping and fixing the product 100 on the bearing platform 1.

[0111] In this embodiment, Figure 7 and Figure 8 As shown, the bearing seat 42 is a rotating body structure, which includes a connected large diameter section and a small diameter section, the end surface of the small diameter section forms the above-mentioned first mounting table surface 423, and the step surface formed between the large diameter section and the small diameter section is the above-mentioned second mounting table surface 424.

[0112] See also Fig. 9 , Fig.10 and Fig.11 The bearing platform 1 includes a bearing body 11 and a connecting plate 12 arranged around the bearing body 11. The connecting plate 12 can fit with the first mounting surface 423 and is connected and fixed to the bearing seat 42 by fasteners such as bolts or screws. Exemplarily, at least two fixing holes 121 are provided on the connecting plate 12. Correspondingly, threaded holes corresponding to the fixing holes 121 are provided on the first mounting surface 423 of the bearing seat 42. The bearing platform 1 can be fixed by passing the bolts through the fixing holes 121 and tightening them in the corresponding threaded holes. Among them, at least one fixing hole 121 is a bar-shaped hole, which is convenient for adjusting the installation position of the bearing platform 1, reducing the difficulty of installation and improving the installation efficiency.

[0113] See also Figure 3 , Figure 7 and Figure 8The mounting seat 23 is provided with a boss structure 233, which is curved in an arc shape to adapt to the shape of the bearing seat 42, thereby improving the connection stability between the mounting seat 23 and the bearing seat 42. For example, the boss structure 233 can be fixed to the second mounting table 424 of the bearing seat 42 by fasteners such as bolts, so as to facilitate assembly and disassembly.

[0114] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The first driving mechanism 3 includes a first linear driving member 32 and a pushing platform 33. The pushing member 31 is arranged on the pushing platform 33. The output end of the first linear driving member 32 is in transmission connection with the pushing platform 33, and is used to drive the pushing platform 33 to rise and fall. That is, the first linear driving member 32 causes the pushing member 31 to rise and fall by driving the pushing platform 33 to rise and fall. In this embodiment, the positions of the pushing platform 33 corresponding to the first clamping member 21 and the second clamping member 22 are all provided with pushing members 31. When the pushing platform 33 is lifted, all the pushing members 31 thereon are lifted synchronously, so that the first clamping member 21 and the second clamping member 22 are synchronously moved away from each other, so as to achieve accurate clamping and release of the product 100 on the carrying platform 1.

[0115] See also Figure 3 The pushing member 31 includes a bottom plate and a protruding structure protruding from the bottom plate. The bottom plate is fixed to the pushing platform 33 by fasteners such as bolts or screws, and the second inclined surface 311 is arranged on the protruding structure.

[0116] See also Figure 1 and Figure 2 , a first avoidance space 333 is provided on the pushing platform 33, and the first avoidance space 333 is used to avoid the rotating end of the second driving mechanism 4. Specifically in this embodiment, the bearing seat 42 of the second driving mechanism 4 is located in the first avoidance space 333. During the lifting and lowering process of the pushing platform 33, the existence of the first avoidance space 333 can avoid the interference between the bearing seat 42 and the pushing platform 33. At the same time, when the first rotating driving member 41 drives the bearing seat 42 to rotate, the existence of the first avoidance space 333 can avoid the interference between the pushing platform 33 and the bearing seat 42. Exemplarily, a circular through hole is opened in the middle area of ​​the pushing platform 33, and the circular through hole forms the first avoidance space 333. Of course, in other embodiments, the first avoidance space 333 can also be a square through hole, other polygonal through holes, etc. opened on the pushing platform 33, and is not limited to the shapes listed above.

[0117] Optionally, at least two first linear drive members 32 are provided, and at least two first linear drive members 32 are arranged diagonally below the jacking platform 33. Such an arrangement can ensure the lifting stability of the jacking platform 33 without affecting the arrangement of the second drive mechanism 4 below the jacking platform 33, and the structural layout is reasonable.

[0118] In this embodiment, two first linear drive members 32 are provided, and the two first linear drive members 32 are diagonally arranged below the pushing platform 33. In other embodiments, three or more first linear drive members 32 may also be provided, and are not limited to the number and distribution method listed above.

[0119] Exemplarily, the first linear drive member 32 can be a linear drive member such as a cylinder, an electric cylinder, etc. For example, the first linear drive member 32 adopts a cylinder, and the output rod of the cylinder is connected to the pushing platform 33 through a floating joint to ensure that the cylinder works stably within the allowable eccentricity range and improve the lifting and lowering stability of the pushing platform 33.

[0120] See also Figure 1 , Figure 2 and Figure 3 The clamping device also includes a support frame 5 arranged on the second driving mechanism 4, the shell of the first linear driving member 32 is fixed on the support frame 5, the pushing platform 33 is located above the support frame 5, and the support frame 5 provides an installation basis for the first linear driving member 32 and the pushing platform 33.

[0121] Specifically, one of the jacking platform 33 and the support frame 5 is provided with a guide rod 331, and the other is provided with a guide sleeve 521. The guide rod 331 is inserted into the guide sleeve 521 and slidably cooperates with the guide sleeve 521 in the direction of the first axis. The cooperation between the guide rod 331 and the guide sleeve 521 can limit the moving direction of the jacking platform 33, ensuring that the jacking platform 33 is always stably lifted and lowered in the vertical direction.

[0122] Optionally, see Figure 1 and Figure 2 The support frame 5 includes a support beam 51 and a support plate 52. The support plate 52 is parallel to the jacking platform 33 and arranged at intervals. One end of the support beam 51 is fixedly connected to the support plate 52, and the other end is fixedly connected to the housing of the first rotary drive member 41. The housing of the first linear drive member 32 is fixed to the support plate 52 or the support beam 51. In this embodiment, the jacking platform 33 is approximately rectangular, and a guide rod 331 is provided at each diagonal position. The guide rod 331 and the first linear drive member 32 are distributed at different diagonal positions of the jacking platform 33. A guide sleeve 521 is provided at a position corresponding to each guide rod 331 on the support plate 52 of the support frame 5 to improve the lifting stability of the jacking platform 33.

[0123] Continue reading Figure 1 and Figure 2Optionally, one of the jacking platform 33 and the support frame 5 is provided with a slide bar 332, and the other is provided with a slide hole 522. The slide bar 332 slides through the slide hole 522 and can limit the movement of the jacking platform 33 in the first axis direction. The setting of the slide bar 332 and the slide hole 522 can limit the movement of the jacking platform 33 on the one hand, preventing the jacking member 31 from lifting too far and damaging the first clamping member 21 and the second clamping member 22; on the other hand, it can limit the moving direction of the jacking platform 33, further improving the lifting stability of the jacking platform 33.

[0124] In this embodiment, the push platform 33 is provided with the above-mentioned slide bar 332, the support plate 52 of the support frame 5 is provided with the above-mentioned slide hole 522, and a limiting portion is provided at one end of the slide bar 332 passing through the slide hole 522, and the limiting portion can limit the slide bar 332 from being separated from the slide hole 522, thereby limiting the movement stroke of the push platform 33. Exemplarily, the limiting portion can be a limiting ring fixed on the slide bar 332 or a nut threaded on the slide bar 332. Optionally, a slide bar 332 is provided on each of the adjacent two sides of the push platform 33, and accordingly, a slide hole 522 is provided on the support plate 52 at a position corresponding to each slide bar 332, which can improve the limiting effect.

[0125] Optionally, see Figure 1 and Figure 2 , a second avoidance space 523 is provided on the support plate 52 of the support frame 5, and a portion of the first rotary drive member 41 is located in the second avoidance space 523. The existence of the second avoidance space 523 can prevent the support plate 52 from interfering with the movement of the first rotary drive member 41. Exemplarily, a circular through hole is provided in the middle area of ​​the support plate 52 to form the second avoidance space 523. In other embodiments, the second avoidance space 523 may also be a square through hole, other polygonal through holes, etc. provided on the support plate 52, and is not limited to the shapes listed above.

[0126] Optionally, an adsorption structure is provided on the carrying platform 1, and the clamp device further comprises a vacuum device, and the vacuum device has a gas pipeline, see Figure 4 , Figure 5 and Figure 7 The first rotary drive member 41 has a hollow inner cavity 410, and the gas pipeline runs through the hollow inner cavity 410 and is connected to the adsorption structure. The adsorption structure can be evacuated and released by the vacuum device so that the adsorption structure can adsorb or release the product 100 on the carrier platform 1. The adsorption structure cooperates with the clamping mechanism 2 to further ensure that the product 100 is firmly fixed on the carrier platform 1 to prevent the product 100 from shifting during processing. Exemplarily, the vacuum device can be a vacuum pump or other equipment that can evacuate and release.

[0127] By designing the first rotating drive member 41 as a hollow structure, the space below the supporting platform 1 is fully utilized, and the gas pipeline can be partially hidden in the hollow inner cavity 410, thereby realizing the vacuuming and de-vacuuming of the adsorption structure on the supporting platform 1 in the middle position. The structural layout is more reasonable, which is conducive to reducing the overall volume of the clamping device and reducing the occupied space.

[0128] See also Figure 5 and Figure 7 , a receiving chamber 421 is provided on the bearing seat 42, a quick-change joint (not shown) is detachably installed in the receiving chamber 421, a ventilation channel 111 is provided on the bearing platform 1, one end of the quick-change joint is connected to the gas pipeline, the other end of the quick-change joint is connected to the first end of the ventilation channel 111, and the second end of the ventilation channel 111 is connected to the adsorption structure. The bearing seat 42 is designed as a hollow structure, which can hide the quick-change joint, make full use of the space under the bearing platform 1, and realize the gas path connection between the vacuum device and the adsorption structure on the bearing platform 1. In this embodiment, the bearing seat 42 is detachably connected to the output end of the first rotating drive member 41, which is convenient for disassembling and assembling the quick-change joint in the receiving chamber 421.

[0129] See also Figure 4 , Figure 5 and Figure 7 The hollow inner cavity 410 has a first through-hole 4101 and a second through-hole 4102 which are arranged opposite to each other. The gas pipeline passes through the first through-hole 4101 and the second through-hole 4102 in sequence and is connected to the quick-change connector.

[0130] Optionally, a threaded connection portion is provided on the quick-change connector, see Figure 7 and Figure 8 The bearing seat 42 is provided with a threaded connection hole 422 connecting the accommodating cavity 421 and the outside, the threaded connection hole 422 is connected to the ventilation channel 111 on the bearing platform 1, and the threaded connection part is screwed with the threaded connection hole 422, so as to facilitate the quick disassembly and assembly of the quick-change joint. For example, the quick-change joint is a rotary quick-change joint with good sealing performance and easy installation.

[0131] Optionally, see Figure 6 and Figure 7 A seal 426 is provided between the bearing platform 1 and the bearing seat 42, and the two are sealed and connected through the seal 426, so that the accommodating cavity 421 is sealed and connected with the ventilation channel 111, ensuring the vacuuming and de-vacuuming effects. Exemplarily, a sealing groove 425 is provided on the bearing seat 42, and the sealing groove 425 is arranged outside the threaded connection hole 422, and the seal 426 is clamped in the sealing groove 425.

[0132] Optionally, the adsorption structure includes a suction cup or adsorption hole disposed on the carrying platform 1. In this embodiment, the adsorption structure is a suction cup, see Fig. 9 and Fig.11 The carrying platform 1 is provided with a mounting hole 112 which is connected with the ventilation channel 111 , and the suction cup is installed in the mounting hole 112 .

[0133] See also Fig. 9 The carrying platform 1 is provided with a plurality of mounting holes 112, which can be used to mount a plurality of suction cups to ensure the adsorption firmness of the product 100. Fig.11 The ventilation channel 111 includes a main channel 1111 and a branch channel 1112. One end of the main channel 1111 is connected to the accommodating chamber 421, and the other end of the main channel 1111 is connected to multiple mounting holes 112 through the branch channel 1112. Exemplarily, two rows of mounting holes 112 are provided on the carrying platform 1, and two branch channels 1112 are correspondingly provided. The main channel 1111 is connected to both branch channels 1112, and the two branch channels 1112 correspond to the two rows of mounting holes 112 one by one. Multiple mounting holes 112 in the same row are connected to the corresponding branch channel 1112, so that multiple suction cups can be vacuumed and released at the same time to complete the adsorption and release of the product 100 on the carrying platform 1.

[0134] See also Figure 1 , Figure 2 and Figure 3 , the clamping device also includes a third driving mechanism 6, the output end of the third driving mechanism 6 is connected to the second driving mechanism 4, and is used to drive the carrying platform 1 to rotate around the second axis, and the second axis is at an angle to the first axis. That is, the third driving mechanism 6 can drive the carrying platform 1, the clamping mechanism 2, the first driving mechanism 3 and the second driving mechanism 4 to rotate around the second axis together, so that the product 100 rotates around the second axis by a certain angle, further adjusts the orientation of the product 100 and performs corresponding process operations to meet the process operation requirements of different products 100. In this embodiment, refer to Figure 1 and Figure 2 In the orientation, the first axis direction is the Z direction, and the second axis direction is the X direction.

[0135] Optionally, the third driving mechanism 6 includes a second rotating driving member 61 and a rotating seat 62, the output end of the second rotating driving member 61 is connected to the rotating seat 62, and the second driving mechanism 4 is arranged on the rotating seat 62, so that the second rotating driving member 61 drives the carrying platform 1, the clamping mechanism 2, the first driving mechanism 3 and the second driving mechanism 4 to rotate around the second axis. In this embodiment, the housing of the first rotating driving member 41 of the second driving mechanism 4 is connected to the rotating seat 62 through a fixed seat 411, so as to realize the connection between the second driving mechanism 4 and the third driving mechanism 6.

[0136] Exemplarily, the second rotary drive member 61 may be a torque motor including a second stator and a second rotor, the rotating seat 62 is fixed to the second rotor, or the second rotor may directly serve as the rotating seat 62. In other embodiments, the second rotary drive member 61 may also be a structure composed of a servo motor, a reducer and a coupling.

[0137] See also Figure 1 and Figure 2 The clamping mechanism also includes a base 10, and the shell of the second rotary drive member 61 is fixed on the base 10. The base 10 can be placed on a supporting foundation or fixed at a certain position of the production line to provide an installation foundation for the second rotary drive member 61.

[0138] See also Figure 2 , Figure 3 and Figure 4 The clamp device further includes a limiting mechanism 7, which includes a limiting block 71 movable along the second axis direction, and the limiting block 71 can abut against the rotating seat 62 in the second axis direction to limit the rotating seat 62 from rotating around the second axis. When a sudden power failure occurs, the limiting block 71 moves to abut against the rotating seat 62, which can prevent the second rotating drive member 61 from suddenly reversing due to the power failure, thereby avoiding a safety accident.

[0139] Optionally, the limiting mechanism 7 further comprises a second linear drive member 72, the output end of which is connected to the limiting block 71, for driving the limiting block 71 to move along the second axis, so as to drive the limiting block 71 to move to abut against the rotating seat 62 when power is suddenly cut off.

[0140] Exemplarily, the second linear driving member 72 may be a linear driving member such as a cylinder or a hydraulic cylinder, and the housing of the second linear driving member 72 is also fixed on the base 10 .

[0141] Embodiment 2

[0142] This embodiment provides a clamp device, which is different from the first embodiment in that:

[0143] The clamping mechanism 2 is designed to be movable, and the clamping mechanism 2 is controlled to approach or move away from the pushing member 31, so that the pushing member 31 pushes the first clamping member 21 and the second clamping member 22 away from each other.

[0144] Specifically, the clamping mechanism 2 is escalably disposed above the push member 31, and the clamping device further comprises a fourth driving mechanism, the output end of which is connected to the clamping mechanism 2, and is used to drive the clamping mechanism 2 to elevate to approach or move away from the push member 31. Figure 2For example, the pushing member 31 is fixed on the support frame 5 through the pushing platform 33, and the fourth driving mechanism can be arranged below the second driving mechanism 4, and its output end is connected to the shell of the first rotating driving member 41. The fourth driving mechanism drives the second driving mechanism 4 and the clamping mechanism 2 to rise and fall together, so that the clamping mechanism 2 is close to or away from the pushing member 31, so that the pushing member 31 pushes the first clamping member 21 and the second clamping member 22 away from each other.

[0145] The above technical solution can also realize that the clamping mechanism 2 releases and clamps the product on the carrying platform 1, while not occupying the space in the opening and closing direction of the first clamping member 21 and the second clamping member 22, shortening the overall lateral size of the clamping mechanism 2, and reducing the lateral space required during the operation of the clamping device.

[0146] Exemplarily, the fourth driving mechanism may include a linear driving member such as a cylinder, and the housing of the linear driving member is fixed on Figure 2 on the fixed seat in the.

[0147] Embodiment 3

[0148] This embodiment provides a clamp device control method, which is applied to the clamp device described in any of the above embodiments. The clamp device control method includes the following steps:

[0149] Control the clamping mechanism 2 and the pushing member 31 to move closer to each other, so that the pushing member 31 pushes the first clamping member 21 and the second clamping member 22 away from each other;

[0150] Placing product 100 on the carrying platform 1;

[0151] Control the clamping mechanism 2 and the pushing member 31 to move away from each other, so that the pushing member 31 is separated from the first clamping member 21 and the second clamping member 22, and the first clamping member 21 and the second clamping member 22 are close to each other and clamp the product 100 on the fixed carrying platform 1;

[0152] The second driving mechanism 4 is controlled to operate so that the carrying platform 1 and the product 100 rotate around the first axis by a set angle.

[0153] The clamp device control method controls the clamp mechanism 2 and the push member 31 to move closer or farther from each other, so that the first clamp member 21 and the second clamp member 22 release the product or move closer to each other to clamp the product, thereby avoiding the need to set a driving mechanism in the opening and closing direction of the first clamp member 21 and the second clamp member 22, and not occupying the space in the opening and closing direction of the first clamp member 21 and the second clamp member 22, thereby shortening the overall lateral size of the clamp mechanism 2, reducing the lateral space required during the operation of the clamp device, and improving the space utilization rate of the site. Since the push member 31 can be separated from the clamp mechanism 2, the second driving mechanism 4 only needs to drive the bearing platform 1, the clamp mechanism 2 and the product 100 to rotate, which can reduce the load of the second driving mechanism 4 and improve the overall operation stability of the clamp device.

[0154] Optionally, in this embodiment, the clamp device includes a first driving mechanism 3, the output end of which is connected to a push member 31, and is used to drive the push member 31 to move up and down to approach or move away from the clamping mechanism 2. That is, the first clamping member 21 and the second clamping member 22 are opened and closed by controlling the push member 31 to move relative to the clamping mechanism 2.

[0155] At this time, the clamp device control method includes the following steps:

[0156] Control the first driving mechanism 3 to move so that the pushing member 31 rises to contact the first clamping member 21 and / or the second clamping member 22, and drives the first clamping member 21 and the second clamping member 22 to move away from each other;

[0157] Placing product 100 on the carrying platform 1;

[0158] The first driving mechanism 3 is controlled to move so that the pushing member 31 descends and separates from the first clamping member 21 and / or the second clamping member 22, and the first clamping member 21 and the second clamping member 22 approach each other and clamp the product 100 on the fixed carrying platform 1;

[0159] The second driving mechanism 4 is controlled to operate so that the carrying platform 1 and the product 100 rotate around the first axis by a set angle.

[0160] The first driving mechanism 3 includes a first linear driving member 32 and a pushing platform 33. The pushing member 31 is arranged on the pushing platform 33. The first linear driving member 32 is controlled to drive the pushing platform 33 to rise and fall, so that the pushing member 31 is brought into contact with or separated from the moving seats 211 of the first clamping member 21 and the second clamping member 22, so that the first clamping member 21 and the second clamping member 22 move away from or close to each other, so as to release or clamp the product 100 on the carrying platform 1. After the pushing member 31 contacts the moving seats 211 of the first clamping member 21 and the second clamping member 22, the first clamping member 21 and the second clamping member 22 are forced to move away from each other under the interaction of the first matching portion and the second matching portion.

[0161] The second driving mechanism 4 includes a first rotating driving member 41 and a bearing seat 42, and the clamping mechanism 2 is installed on the bearing seat 42. Since the pushing member 31 can be completely separated from the first clamping member 21 and the second clamping member 22, the clamping mechanism 2 can rotate independently relative to the first driving mechanism 3, thereby reducing the load of the first rotating driving member 41 and reducing the space required for the rotation action, thereby improving the space utilization of the site. The above setting angle is determined according to the corresponding process requirements of the product 100.

[0162] The control method of the clamp device can make the first clamping member 21 and the second clamping member 22 move closer to or farther from each other by controlling the action of the first driving mechanism 3 and cooperating with the elastic member 24 of the clamping mechanism 2, so as to clamp or release the product 100 on the carrying platform 1. By controlling the action of the second driving mechanism 4, the carrying platform 1 and the product 100 can be rotated together around the first axis at a set angle to adjust the orientation of the product 100 and perform corresponding process operations, thereby meeting different process operation requirements of the product 100.

[0163] Since the second driving mechanism 4 drives the first clamping member 21 and the second clamping member 22 away from each other through the lifting and lowering action of the pushing member 31, the space in the opening and closing direction of the first clamping member 21 and the second clamping member 22 will not be occupied, and the overall lateral size of the clamping mechanism 2 can be shortened, and the rotation diameter of the clamping mechanism 2 can be reduced, thereby achieving the purpose of reducing space occupation. In addition, since the pushing member 31 can be separated from the clamping mechanism 2, the clamping mechanism 2 can rotate independently relative to the first driving mechanism 3, reducing the load of the second driving mechanism 4 and improving the operating stability of the clamping device.

[0164] Further, when the clamp device includes the third driving mechanism 6, the clamp device control method further includes the following steps:

[0165] The third driving mechanism 6 is controlled to operate so that the carrying platform 1 and the product 100 rotate around the second axis by a preset angle.

[0166] By controlling the second drive mechanism 4 and the third drive mechanism 6 to act respectively, the angles of rotation of the product 100 around the first axis and the second axis can be adjusted respectively, so as to perform corresponding process operations on the product 100, and the application of the clamp device is more flexible and has high control accuracy. The above-mentioned preset angle is determined according to the corresponding process requirements of the product 100.

[0167] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A clamping device, characterized in that: include: A carrying platform (1) for carrying a product (100); A clamping mechanism (2), comprising a first clamping member (21) and a second clamping member (22) which are capable of moving away from and approaching each other, wherein the first clamping member (21) and the second clamping member (22) are used to clamp and fix the product (100) on the carrying platform (1); A pushing member (31) is arranged on one side of the clamping mechanism (2), and the pushing member (31) and the clamping mechanism (2) can move closer to and farther from each other, and the pushing member (31) is used to push the first clamping member (21) and the second clamping member (22) away from each other, so that the first clamping member (21) and the second clamping member (22) release the product (100) on the carrying platform (1); A second driving mechanism (4), whose output end is connected to the bearing platform (1), is used to drive the bearing platform (1) to rotate around a first axis, wherein the first axis is parallel to the pushing direction of the pushing member (31).

2. The clamp device according to claim 1, characterized in that: The first clamping member (21) and / or the second clamping member (22) has a first matching portion, and the pushing member (31) has a second matching portion. During the pushing process of the pushing member (31), the second matching portion can slide in contact with the corresponding first matching portion to drive the first clamping member (21) and the second clamping member (22) to move away from each other.

3. The clamp device according to claim 2, characterized in that: The first clamping member (21) and the second clamping member (22) both comprise a movable seat (211) and a clamping claw (212) arranged on the movable seat (211); the movable seat (211) is movably arranged at an output end of the second driving mechanism (4) along a preset direction; and the first matching portion is arranged on the movable seat (211).

4. The clamp device according to claim 3, characterized in that: The first matching portion includes a first inclined surface (2111) arranged on the movable seat (211), and the second matching portion includes a second inclined surface (311) arranged on the pushing member (31), the second inclined surface (311) can be slidably matched with the first inclined surface (2111), and the second inclined surface (311) is inclined along the pushing direction of the pushing member (31) toward the direction close to the supporting platform (1).

5. The clamp device according to claim 3, characterized in that: The second driving mechanism (4) comprises a first rotating driving member (41) and a bearing seat (42), the bearing platform (1) is detachably arranged on the bearing seat (42), and the output end of the first rotating driving member (41) is connected to the bearing seat (42); The clamping mechanism (2) also includes a mounting seat (23) arranged on the supporting seat (42), the mounting seat (23) having a receiving cavity, the movable seat (211) being slidably arranged in the receiving cavity, an elastic member (24) being arranged between the movable seat (211) and the inner wall of the receiving cavity, and the movable seat (211) being able to move in a direction close to the supporting platform (1) under the elastic force of the elastic member (24).

6. The clamp device according to claim 5, characterized in that: The first matching portion also includes a slot (2112) arranged on the movable seat (211); the mounting seat (23) is provided with a socket (231) connected to the accommodating cavity; the socket (231) is opposite to the slot (2112); and the pushing member (31) can be at least partially inserted into the slot (2112) via the socket (231).

7. The clamp device according to claim 1, characterized in that: The pushing member (31) is movably arranged below the clamping mechanism (2), and the clamping device further comprises a first driving mechanism (3), wherein an output end of the first driving mechanism (3) is connected to the pushing member (31) and is used to drive the pushing member (31) to move upward and downward so as to move closer to or away from the clamping mechanism (2); Alternatively, the clamping mechanism (2) is movably arranged above the pushing member (31), and the clamping device further comprises a fourth driving mechanism, the output end of which is connected to the clamping mechanism (2) and is used to drive the clamping mechanism (2) to move up and down so as to approach or move away from the pushing member (31).

8. The clamp device according to claim 7, characterized in that: When the clamp device includes a first driving mechanism (3), the first driving mechanism (3) includes a first linear driving member (32) and a pushing platform (33), the pushing member (31) is arranged on the pushing platform (33), and the output end of the first linear driving member (32) is transmission-connected to the pushing platform (33) for driving the pushing platform (33) to rise and fall.

9. The clamp device according to claim 8, characterized in that: The clamp device further comprises a support frame (5), and a housing of the first linear drive member (32) is fixed on the support frame (5); One of the pushing platform (33) and the supporting frame (5) is provided with a guide rod (331), and the other is provided with a guide sleeve (521), wherein the guide rod (331) is inserted into the guide sleeve (521) and is slidably matched with the guide sleeve (521) in the direction of the first axis; and / or, One of the pushing platform (33) and the support frame (5) is provided with a sliding rod (332), and the other is provided with a sliding hole (522), wherein the sliding rod (332) slides through the sliding hole (522) and can limit the movement of the pushing platform (33) in the direction of the first axis; and / or, At least two of the first linear driving members (32) are provided, and the at least two first linear driving members (32) are arranged diagonally below the pushing platform (33); and / or, The pushing platform (33) is provided with a first avoidance space (333), and the first avoidance space (333) is used to avoid the rotating end of the second driving mechanism (4).

10. The clamp device according to claim 1, characterized in that: The second driving mechanism (4) comprises a first rotating driving member (41) and a bearing seat (42), the bearing platform (1) is detachably arranged on the bearing seat (42), and the output end of the first rotating driving member (41) is connected to the bearing seat (42); The support platform (1) is provided with an adsorption structure, the clamp device further comprises a vacuum device, the vacuum device has a gas pipeline, the first rotary drive member (41) has a hollow inner cavity (410), the gas pipeline passes through the hollow inner cavity (410) and is connected to the adsorption structure.

11. The clamp device according to claim 10, characterized in that: The bearing seat (42) is provided with a receiving cavity (421), a quick-change joint is detachably mounted in the receiving cavity (421), a ventilation channel (111) is provided on the bearing platform (1), one end of the quick-change joint is in communication with the gas pipeline, the other end of the quick-change joint is in communication with the first end of the ventilation channel (111), and the second end of the ventilation channel (111) is in communication with the adsorption structure; And / or, the adsorption structure comprises a suction cup or an adsorption hole arranged on the carrying platform (1).

12. The clamp device according to any one of claims 1 to 11, characterized in that: The clamp device further comprises a third driving mechanism (6), the output end of the third driving mechanism (6) being connected to the second driving mechanism (4) and being used for driving the bearing platform (1) to rotate around a second axis, wherein the second axis forms an angle with the first axis.

13. The clamp device according to claim 12, characterized in that: The third driving mechanism (6) comprises a second rotating driving member (61) and a rotating seat (62); the output end of the second rotating driving member (61) is connected to the rotating seat (62); and the second driving mechanism (4) is arranged on the rotating seat (62).

14. The clamp device according to claim 13, characterized in that The clamp device further comprises a limiting mechanism (7), wherein the limiting mechanism (7) comprises a limiting block (71) movable along the second axis direction, wherein the limiting block (71) can abut against the rotating seat (62) in the second axis direction to limit the rotating seat (62) from rotating around the second axis.

15. A method for controlling a clamp device, characterized in that: Applied to the clamp device according to any one of claims 1 to 14, the clamp device control method comprises the following steps: Controlling the clamping mechanism (2) and the pushing member (31) to move closer to each other, so that the pushing member (31) pushes the first clamping member (21) and the second clamping member (22) away from each other; Placing a product (100) on a carrying platform (1); Controlling the clamping mechanism (2) and the pushing member (31) to move away from each other, so that the pushing member (31) is separated from the first clamping member (21) and the second clamping member (22), and the first clamping member (21) and the second clamping member (22) are moved closer to each other and clamp the product (100) on the fixed carrying platform (1); The second driving mechanism (4) is controlled to operate so that the carrying platform (1) and the product (100) rotate around the first axis at a set angle.

16. The clamp device control method according to claim 15, characterized in that: The clamp device further comprises a first driving mechanism (3), the output end of the first driving mechanism (3) being connected to the pushing member (31) and being used for driving the pushing member (31) to move up and down so as to approach or move away from the clamping mechanism (2); The clamp device control method comprises the following steps: Controlling the first driving mechanism (3) to operate so that the pushing member (31) rises to contact the first clamping member (21) and / or the second clamping member (22), and drives the first clamping member (21) and the second clamping member (22) to move away from each other; Placing a product (100) on a carrying platform (1); Controlling the first driving mechanism (3) to operate so that the pushing member (31) descends and disengages from the first clamping member (21) and / or the second clamping member (22), and the first clamping member (21) and the second clamping member (22) approach each other and clamp the product (100) on the fixed carrying platform (1); The second driving mechanism (4) is controlled to operate so that the carrying platform (1) and the product (100) rotate around the first axis at a set angle.

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