Self-locking and stroke-unlocking clamping and carrying device and working method thereof

Abstract

This invention discloses a self-locking and stroke-unlocking clamping and handling device and its working method, including a displacement mechanism, a clamping mechanism, a workpiece guide rail, a drive mechanism, a self-locking mechanism, and an unlocking trigger unit. The drive mechanism has a clamping drive stroke and a retraction clearance stroke. When executing the clamping drive stroke, the drive clamping mechanism clamps the workpiece at the pick-up position and triggers the self-locking mechanism to automatically lock. After locking, the drive mechanism retracts to clear the clearance, forming a clearance gap between the drive mechanism and the clamping mechanism, while the self-locking mechanism remains clamped. During the process of the displacement mechanism driving the clamping mechanism to descend to the target position, the unlocking trigger unit triggers the self-locking structure to unlock, and the clamping mechanism automatically switches to the released state due to the existence of the clearance gap, achieving synchronization of workpiece placement and release. This invention achieves workpiece clamping without additional power consumption, utilizes the descent stroke itself to trigger unlocking, and avoids damage to the workpiece due to premature or delayed release.

Description

Technical Field

[0001] This invention belongs to the field of handling device technology, and more specifically, it is a self-locking and stroke-unlocking clamping and handling device and its working method. Background Technology

[0002] Workpiece clamping and handling is a common operational step. Existing technologies mostly use pneumatic or electric drive to maintain clamping force during workpiece handling, which requires continuous power or air supply, increasing energy consumption. If a self-locking structure is used in the existing technology, additional components are often required to actively unlock the workpiece, making the handling system complex and cumbersome. Furthermore, during the workpiece handling and release process, releasing the clamping mechanism too early or too late can cause the workpiece to fall or be squeezed, damaging the workpiece. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides a self-locking and stroke-unlocking clamping and handling device and its working method, which realizes that after clamping the workpiece, no additional power consumption is required to maintain clamping. The device automatically completes unlocking by utilizing the unlocking trigger unit of the device during the handling stroke, and achieves synchronization of positioning and release.

[0004] Technical solution: To achieve the above objectives, the present invention provides a self-locking and stroke-unlocking clamping and handling device and its working method, comprising a displacement mechanism, a clamping mechanism, a workpiece guide rail, and a driving mechanism; the driving mechanism is connected to the clamping mechanism for driving the clamping mechanism to clamp or release the workpiece;

[0005] It also includes a self-locking mechanism and an unlocking trigger unit, wherein the unlocking trigger unit is fixedly installed at the workpiece target placement position; assuming the workpiece guide rail extends in the X direction, the displacement mechanism drives the clamping mechanism to move in the Y and Z directions.

[0006] The driving mechanism has a clamping drive stroke and a retraction clearance stroke. When the driving mechanism executes the clamping drive stroke, it drives the clamping mechanism to clamp the workpiece at the pick-up position and triggers the self-locking mechanism to automatically lock. After the self-locking mechanism is locked, the driving mechanism executes the retraction clearance stroke, creating a gap between the driving mechanism and the clamping mechanism. Within this gap, the driving force applied by the driving mechanism to the clamping mechanism is released, and the self-locking mechanism maintains the clamping state of the workpiece. When the displacement mechanism drives the clamping mechanism to move the workpiece along the Y direction to directly above the target placement position, the self-locking mechanism corresponds to the unlocking trigger unit. On this basis, during the process of the displacement mechanism driving the clamping mechanism to lower the workpiece along the Z direction to the target height, the self-locking mechanism will move to cooperate with the unlocking trigger unit, and the unlocking trigger unit triggers the self-locking mechanism to unlock. After the self-locking mechanism unlocks, the clamping mechanism automatically switches to the released state due to the existence of the gap, releasing the workpiece at the target placement position.

[0007] Furthermore, the part-picking position corresponds to directly below the initial position of the clamping mechanism, and the target placement position corresponds to directly below the installation position of the unlocking trigger unit on the workpiece guide rail; let the direction in which the displacement mechanism moves closer to the workpiece guide rail be the positive Y direction, and the direction away from it be the negative Y direction.

[0008] Furthermore, it also includes a mounting frame on which the displacement mechanism is mounted; it also includes a lifting seat fixedly mounted on the moving slide of the displacement mechanism, and the clamping mechanism is mounted on the lower end of the lifting seat; the clamping mechanism includes a clamping base fixedly connected to the lower end of the lifting seat, a limiting groove is formed at the lower end of the clamping base, a pair of limiting sliders are slidably installed in the limiting groove, two symmetrical transmission plates are fixedly connected to the upper ends of the two limiting sliders respectively, and a clamping block is fixed at the lower end of each limiting slider; the driving mechanism is driven in cooperation with the two transmission plates, and the two transmission plates convert the vertical drive of the driving mechanism along the Z direction into the mutual approach or distance movement between the two clamping blocks.

[0009] Furthermore, the driving mechanism includes an electric push rod, a lifting frame, a driving rod, and two symmetrically arranged transmission plates. Each of the two transmission plates has a symmetrical, V-shaped transmission groove, the width of which is greater than the diameter of the driving rod. The electric push rod drives the lifting frame to move up and down, and the driving rod slides along the transmission groove, causing the two transmission plates to move closer or further apart, thereby driving the two clamping blocks to clamp or release the workpiece. When the two clamping blocks clamp the workpiece and the self-locking mechanism is locked, the electric push rod drives the lifting frame to move upward a certain distance, causing the driving rod to move upward a certain distance along the transmission groove. This displacement constitutes the retraction clearance stroke. Because the width of the transmission groove is greater than the diameter of the driving rod, this displacement does not cause the two transmission plates to move further apart, and the self-locking mechanism maintains a mechanically locked clamping state on the workpiece, thus forming the clearance between the driving rod and the inner wall of the transmission groove.

[0010] Furthermore, the self-locking mechanism includes a connecting frame fixedly connected to the first clamping block, a docking sleeve fixedly connected to the second clamping block, a locking block slidably installed in the docking sleeve, and a locking spring that applies elastic force to the locking block; the connecting frame has a locking groove; the locking block has a self-locking inclined surface; when the two clamping blocks approach each other to clamp the workpiece, the connecting frame inserts into the docking sleeve and pushes the locking block backward along the self-locking inclined surface until the locking groove is aligned with the locking block, at which point the locking spring drives the locking block to engage in the locking groove, thereby achieving self-locking.

[0011] Furthermore, the unlocking trigger unit includes an extension frame fixedly mounted on the workpiece guide rail and a pressing rod fixedly connected to one end of the extension frame near the clamping mechanism; the locking block is connected to a transmission block via a pull rod, and the lower end of the transmission block has a pressing drive groove, the pressing rod is adapted to the pressing drive groove and located on the moving path of the pressing drive groove; when the clamping mechanism descends to the target placement position, the pressing rod enters the pressing drive groove and pushes the transmission block, and the pull rod drives the locking block to overcome the elastic force of the locking spring and exit from the locking groove, thereby unlocking.

[0012] Furthermore, a method for operating a self-locking and stroke-unlocking clamping and conveying device is characterized by comprising the following steps:

[0013] The displacement mechanism drives the clamping mechanism to move along the Y direction to directly above the part removal position, and then descends along the Z direction to the part removal position, so that the two symmetrically distributed clamping blocks are located on the left and right sides of the workpiece respectively.

[0014] When the electric push rod in the drive mechanism is energized, it drives the lifting frame to move downward. The drive rod fixed on the lifting frame slides downward along the symmetrical V-shaped transmission grooves opened on the two transmission plates, causing the two transmission plates to move closer to each other, thereby driving the two clamping blocks to move closer to each other. During the process of the two clamping blocks moving closer to each other, the inner side of each clamping block clamps the workpiece from both sides, thus completing the clamping of the workpiece.

[0015] While the clamping action is in progress, the connecting frame fixedly connected to the first clamping block is inserted into the docking sleeve fixedly connected to the second clamping block. The connecting frame pushes the locking block backward against the spring force of the locking spring along the self-locking inclined surface of the locking block slidably installed in the docking sleeve. When the locking groove on the connecting frame is aligned with the locking block, the locking spring drives the locking block to engage in the locking groove, and the self-locking mechanism automatically locks.

[0016] After the self-locking mechanism is locked, the electric push rod is energized to drive the lifting frame to move upward a short distance, causing the drive rod to move upward a short distance along the transmission groove. This displacement constitutes the retraction clearance stroke. Since the groove width of the transmission groove is greater than the rod diameter of the drive rod, this displacement will not cause the two transmission plates to move away from each other, thus forming a clearance between the drive rod and the inner wall of the transmission groove. Subsequently, the electric push rod is de-energized, and the self-locking mechanism maintains the mechanical locking and clamping state of the workpiece.

[0017] The displacement mechanism drives the clamping mechanism and the workpiece to rise first along the Z direction, and then move along the positive Y direction to transport the workpiece to the top of the pressing rod of the unlocking trigger unit fixed on the workpiece guide rail.

[0018] The displacement mechanism drives the clamping mechanism and the workpiece to descend along the Z direction to the target placement position; during the descent, the extrusion rod enters the extrusion drive groove at the lower end of the transmission block fixedly connected to the end of the pull rod connected to the locking block, and pushes the transmission block to move outward with the descent action. The transmission block drives the locking block to overcome the elastic force of the locking spring and exit from the locking groove through the pull rod, and the self-locking mechanism unlocks.

[0019] After the self-locking mechanism is unlocked, since the driving rod has moved upward a short distance relative to the transmission chute and formed the empty gap, the driving rod has no driving force on the inner wall of the transmission chute. The two transmission plates are in a relaxed state without force. As the driving rod has moved upward a certain distance, the two transmission plates automatically move away from each other, causing the two clamping blocks to automatically open and release the workpiece.

[0020] Meanwhile, the height position of the extrusion rod and the target placement position are configured such that when the workpiece is released by the clamping block, the workpiece falls precisely to the target placement position, avoiding free fall due to height difference or damage caused by downward extrusion from the clamping block;

[0021] The displacement mechanism drives the clamping mechanism to lift along the Z direction, causing the extrusion rod to disengage from the extrusion drive groove, and then return along the negative Y direction to the position above the part taking position, waiting for the next handling cycle.

[0022] Beneficial effects: This invention features a mechanical self-locking structure that automatically locks the workpiece after clamping. During transport, the drive mechanism is powered off to reduce energy consumption, while the self-locking mechanism maintains its grip on the workpiece. The unlocking trigger unit is fixedly positioned at the target location, utilizing the downward motion of the displacement mechanism as the unlocking power, eliminating the need for additional unlocking components, simplifying the device structure, and saving costs. The drive mechanism has a retraction clearance stroke, reserving a gap between the drive mechanism and the clamping mechanism. This allows the clamping mechanism to automatically release itself using this gap the instant the self-locking mechanism is unlocked by the unlocking trigger unit. The unlocking action and the workpiece placement action are completed synchronously, preventing premature release that could cause the workpiece to be damaged by free fall due to its own weight or premature release that could cause the workpiece to be crushed. Attached Figure Description

[0023] Figure 1 for Figure 1 This is a schematic diagram of the overall structure of a self-locking and stroke-unlocking clamping and handling device according to the present invention.

[0024] Figure 2 This is an enlarged schematic diagram of the clamping and driving part of the present invention.

[0025] Figure 3 This is an exploded view of the lifting seat, clamping base, clamping mechanism, and driving mechanism of the present invention.

[0026] Figure 4 This is a cross-sectional view of the self-locking mechanism structure of the present invention.

[0027] Figure 5 This is a diagram showing the state of the self-locking mechanism of the present invention when it is unlocked.

[0028] Figure 6 This is an exploded view of the self-locking mechanism and unlocking component structure of a specific embodiment of the present invention. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] like Figure 1As shown, the self-locking and stroke-unlocking clamping and transporting device provided by the present invention includes a mounting frame 11, a displacement mechanism 12, a lifting seat 2, a clamping mechanism, a driving mechanism, a self-locking mechanism, and an unlocking trigger unit.

[0031] The mounting bracket 11 serves as the supporting foundation for the entire device, and the displacement mechanism 12 is mounted on the mounting bracket 11. The displacement mechanism 12 is used to drive the clamping mechanism to move in the Y and Z directions. Let the extension direction of the workpiece guide rail be the X direction, and let the direction in which the displacement mechanism 12 approaches the workpiece guide rail be the positive Y direction, and the direction in which it moves away be the negative Y direction. The displacement mechanism 12 can be a multi-axis displacement mechanism conventional in the art.

[0032] The lifting seat 2 is fixedly installed on the movable slide of the displacement mechanism 12 and moves with the movable slide in the Y and Z directions. The clamping mechanism is installed at the lower end of the lifting seat 2.

[0033] like Figure 2 As shown, the clamping mechanism includes a clamping base 22, a limiting slide groove 23, a limiting slider 26, a clamping block 25, and a transmission plate 27.

[0034] The upper end of the clamping base 22 is fixedly connected to the lower end of the lifting seat 2. A limiting groove 23 is provided at the lower end of the clamping base 22, and the limiting groove 23 extends in the horizontal direction (i.e., the Y direction). A pair of limiting sliders 26 are slidably installed in the limiting groove 23, and the two limiting sliders 26 can move closer or further apart from each other along the limiting groove 23.

[0035] Each limiting slider 26 has a clamping block 25 fixedly connected to its lower end, and the two clamping blocks 25 are arranged opposite each other. The upper ends of the two limiting sliders 26 are respectively fixedly connected to two symmetrical transmission plates 27. The drive mechanism is in transmission cooperation with the two transmission plates 27, and the two transmission plates 27 convert the vertical drive of the drive mechanism along the Z direction into the mutual approach or distance movement between the two clamping blocks 25 (i.e., horizontal movement along the Y direction).

[0036] like Figure 3 As shown, the drive mechanism includes an electric push rod 3, a lifting frame 31, a drive rod 32, and two symmetrically arranged transmission plates 27.

[0037] The electric push rod 3 is fixedly installed on the lifting base 2, and its output end is connected to the lifting frame 31 to drive the lifting frame 31 to move up and down. The drive rod 32 is fixedly installed on the lifting frame 31 and moves up and down synchronously with the lifting frame 31.

[0038] Two transmission plates 27 are respectively provided with symmetrical V-shaped transmission grooves 28. The width of the transmission grooves 28 is greater than the diameter of the drive rod 32. This dimensional difference is the key structural feature for realizing the "backlash" of the present invention.

[0039] Its working principle is as follows: When the electric push rod 3 drives the lifting frame 31 to move downward, the drive rod 32 slides downward along the transmission inclined groove 28. Since the transmission inclined groove 28 is symmetrically arranged in a figure-eight shape, when the drive rod 32 moves downward, it will generate an inward pushing force on the inner wall of the two transmission inclined grooves 28, thereby driving the two transmission plates 27 to move closer to each other, and then driving the two clamping blocks 25 to move closer to each other to clamp the workpiece.

[0040] Conversely, when the electric push rod 3 drives the lifting frame 31 to move upward, the drive rod 32 slides upward along the transmission inclined groove 28, the two transmission plates 27 move away from each other, and the clamping block 25 is released.

[0041] Specifically, when the two clamping blocks 25 clamp the workpiece 56 and the self-locking mechanism is locked, the electric push rod 3 drives the lifting frame 31 to move upward a short distance, causing the drive rod 32 to move upward a short distance along the transmission inclined groove 28. Since the width of the transmission inclined groove 28 is greater than the diameter of the drive rod 32, this small displacement will not cause the two transmission plates 27 to move away from each other. That is, although the drive rod 32 moves upward a short distance within the transmission inclined groove 28, it does not contact the wall of the transmission inclined groove 28 due to the margin of the groove width, and therefore does not generate a driving force on the transmission plate 27. At this time, a "free travel gap" is formed between the drive rod 32 and the inner wall of the transmission inclined groove 28. The driving force of the drive mechanism on the clamping mechanism is released, but the self-locking mechanism still maintains the clamping state of the workpiece.

[0042] like Figure 4 As shown, the self-locking mechanism includes a connecting frame 4, a docking sleeve 43, a locking block 47, and a locking spring 46.

[0043] The connecting frame 4 is fixedly connected to the first clamping block (e.g., the clamping block on the right side), and the connecting frame 4 has a locking groove 41. The mating sleeve 43 is fixedly connected to the second clamping block (e.g., the clamping block on the left side), and a locking block 47 is slidably installed inside the mating sleeve 43. The locking block 47 has a self-locking inclined surface 48. A locking spring 46 is disposed inside the mating sleeve 43 and applies a spring force toward the connecting frame 4 to the locking block 47.

[0044] Its self-locking principle is as follows: When the two clamping blocks 25 approach each other to clamp the workpiece 56, the connecting frame 4 moves towards the mating sleeve 43 along with the first clamping block, gradually inserting into the mating sleeve 43. During the insertion process, the front end of the connecting frame 4 first contacts the self-locking inclined surface 48 on the locking block 47, pushing the locking block 47 to overcome the elastic force of the locking spring 46 and move backward (i.e., away from the connecting frame 4). As the connecting frame 4 continues to be inserted, when the locking groove 41 on the connecting frame 4 moves to a position aligned with the locking block 47, the locking spring 46 drives the locking block 47 to move forward and engage in the locking groove 41, thus achieving self-locking.

[0045] In the self-locking state, even if the electric push rod 3 is de-energized, the connecting frame 4 and the docking sleeve 43 are fixedly connected by the locking block 47 and the locking groove 41, and the two clamping blocks 25 cannot move away from each other, thus maintaining the clamping state of the workpiece 56.

[0046] like Figure 5 As shown, the unlocking trigger unit includes an extension frame 492 and a compression rod 493.

[0047] The extension frame 492 is fixedly connected to the workpiece guide rail and located at the target placement position of the workpiece. A pressing rod 493 is fixedly connected to one end of the extension frame 492 near the clamping mechanism, and the pressing rod 493 extends horizontally.

[0048] The locking block 47 is connected to the transmission block 49 via the pull rod 45. Specifically, one end of the pull rod 45 is fixedly connected to the locking block 47, and the other end passes through the mating sleeve 43 and is fixedly connected to the transmission block 49. The lower end of the transmission block 49 is provided with a pressing drive groove 491, the opening of the pressing drive groove 491 faces downward, and its inner wall is provided with a guide slope.

[0049] The extrusion rod 493 is adapted to the extrusion drive groove 491, and the extrusion rod 493 is located on the moving path of the extrusion drive groove 491 as the clamping mechanism descends.

[0050] The unlocking principle is as follows: As the displacement device 12 drives the clamping mechanism to lower the workpiece 56 along the Z direction to the target placement position, the pressing rod 493 gradually enters the pressing drive groove 491 at the lower end of the transmission block 49. After the pressing rod 493 contacts the inner wall of the pressing drive groove 491, as the clamping mechanism continues to descend, the pressing rod 493 pushes the transmission block 49 outward through the guide slope of the pressing drive groove 491. The transmission block 49, through the pull rod 45, drives the locking block 47 to overcome the elastic force of the locking spring 46 and exit from the locking groove 41, thus achieving unlocking.

[0051] Because the height of the extrusion rod 493 is precisely matched with the target placement position, when the self-locking mechanism is unlocked, the workpiece 56 falls exactly to the target placement height.

[0052] The working method of the present invention will be described in detail below with reference to the above structure.

[0053] The displacement device 12 drives the clamping mechanism to move along the Y direction to directly above the part-taking position, and then descends along the Z direction to the part-taking position, so that the two symmetrically distributed clamping blocks 25 are located on both sides of the workpiece 56.

[0054] When the electric push rod 3 is energized, it drives the lifting frame 31 to move downward. The drive rod 32 slides downward along the transmission inclined groove 28, causing the two transmission plates 27 to move closer to each other, thereby driving the two clamping blocks 25 to move closer to each other. The inner sides of the clamping blocks 25 clamp the workpiece 56 from both sides, completing the clamping of the workpiece 56.

[0055] During clamping, the connecting bracket 4, which is fixedly connected to the first clamping block, is inserted into the mating sleeve 43, which is fixedly connected to the second clamping block. The connecting bracket 4 pushes the locking block 47 backward against the elastic force of the locking spring 46 along the self-locking inclined surface 48 on the locking block 47. When the locking groove 41 on the connecting bracket 4 is aligned with the locking block 47, the locking spring 46 drives the locking block 47 to engage in the locking groove 41, and the self-locking mechanism automatically locks.

[0056] After the self-locking mechanism is locked, the electric push rod 3 drives the lifting frame 31 to move upward a short distance, causing the drive rod 32 to move upward a short distance along the transmission inclined groove 28. Since the groove width of the transmission inclined groove 28 is greater than the rod diameter of the drive rod 32, this displacement will not cause the two transmission plates 27 to move away from each other, and the self-locking mechanism will still maintain the clamping of the workpiece 56.

[0057] Subsequently, the electric push rod 3 is de-energized, and the self-locking mechanism remains in the clamping state, requiring no continuous power supply. At this time, there is a clearance between the drive rod 32 and the inner wall of the transmission slant groove 28, and the driving force of the drive mechanism on the clamping mechanism has been released.

[0058] The displacement device 12 drives the clamping mechanism and the workpiece 56 to rise along the Z direction, so that the workpiece 56 is removed from the pick-up position, and then moves along the positive Y direction to directly above the extrusion rod 493 (that is, directly above the target placement position).

[0059] The displacement device 12 drives the clamping mechanism and workpiece 56 to descend along the Z direction to the target placement position. During this process, the extrusion rod 493 enters the extrusion drive groove 491 at the lower end of the transmission block 49 and pushes the transmission block 49 to move outward. The transmission block 49 drives the locking block 47 to overcome the elastic force of the locking spring 46 and exit from the locking groove 41 through the pull rod 45, thus unlocking the self-locking mechanism.

[0060] Since the drive rod 32 has moved upward a short distance in the transmission sloping groove 28 (i.e., there is a clearance), when the self-locking mechanism is unlocked, the two transmission plates 27 are no longer constrained by the locking block. At the same time, the drive rod 32 exerts no pressure on the inner wall of the transmission sloping groove 28. As the drive rod 32 has moved upward, the two transmission plates 27 automatically move away from each other, causing the clamping block 25 to automatically release the workpiece 56.

[0061] Because the height of the extrusion rod 493 is precisely matched with the target placement position, the workpiece 56 is placed exactly at the target position when the clamping block 25 is released, avoiding damage caused by free fall due to height difference or downward extrusion by the clamping block.

[0062] The displacement device 12 drives the clamping mechanism to lift along the Z direction, and then returns to the position above the pick-up position along the negative Y direction, waiting for the next handling.

[0063] Furthermore, such as Figure 6As shown, the present invention provides a specific embodiment of an unlocking trigger unit with a special structural composition:

[0064] Specifically, the extension frame 492 is fixedly connected to the workpiece guide rail and located at the target placement position of the workpiece. A thin round rod 4931 is fixedly connected to one end of the extension frame 492 near the clamping mechanism, and a thick round rod 4932 is fixed to the side of the thin round rod 4931 near the clamping mechanism. The thin round rod 4931 and the thick round rod 4932 are coaxially placed, with the centers of the two cylinders on a straight line. The thin round rod 4931 and the thick round rod 4932 are cylinders with an insulated inner core and a conductive metal surface. Correspondingly, the surface of the transmission block 49 is also provided with conductive metal; and the metal on the surface of the thick round rod 4932 extends a certain distance along the positive Y direction towards the side near the thin round rod 4931.

[0065] In a specific embodiment, the system is configured such that the displacement mechanism 12 drives the clamping mechanism to first move along the positive Y direction to above the thin round rod 4931, and then descends along the Z direction until the lower surface of the transmission block 49 just contacts the upper surface of the thin round rod 4931. At this time, the internal circuit of the thin round rod 4931 is turned on, and the system receives the circuit turn-on signal and stops driving the clamping mechanism to descend along the Z direction. Instead, the system drives the clamping mechanism to move along the negative Y direction until the surface of the transmission block 49 near the thick round rod 4932 just contacts the metal extending from the thick round rod 4932 towards the side near 4931. At this time, the internal system circuit of the thick round rod 4932 is also turned on, and the system receives the signal that both circuits are turned on simultaneously and stops the displacement mechanism 12 from moving in the negative Y direction. At this time, the precise positioning of the workpiece 56 in the Y direction by the displacement mechanism 12 driving the clamping mechanism is achieved.

[0066] Then, the above-mentioned unlocking process of the present invention continues. Since the height of the extrusion rod 493 is precisely matched with the target placement position, and the mounting bracket 11 of the present invention is fixedly set, there is no displacement deviation in the X direction of the displacement mechanism. Therefore, the clamping, handling and placement process of the workpiece 56 achieves precise positioning in the XYZ directions, and the workpiece 56 is placed without deviation in each spatial orientation.

[0067] The above are the preferred embodiments described in this invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A self-locking and stroke-unlocking clamping and conveying device and its working method, characterized in that: It includes a displacement mechanism (12), a clamping mechanism, a workpiece guide rail, and a driving mechanism; the driving mechanism is connected to the clamping mechanism and is used to drive the clamping mechanism to clamp or release the workpiece (56). It also includes a self-locking mechanism and an unlocking trigger unit, wherein the unlocking trigger unit is fixedly set at the workpiece target placement position; assuming the workpiece guide rail extension direction is the X direction, the displacement mechanism (12) drives the clamping mechanism to move in the Y and Z directions; The driving mechanism has a clamping drive stroke and a retraction clearance stroke; when the driving mechanism executes the clamping drive stroke, it drives the clamping mechanism to clamp the workpiece (56) at the pick-up position and triggers the self-locking mechanism to automatically lock; after the self-locking mechanism is locked, the driving mechanism executes the retraction clearance stroke, so that a gap is formed between the driving mechanism and the clamping mechanism. Within the gap, the driving force applied by the driving mechanism to the clamping mechanism is released, and the self-locking mechanism maintains the clamping state of the clamping mechanism on the workpiece (56); the displacement mechanism (12) When the clamping mechanism drives the workpiece (56) to move along the Y direction to directly above the target placement position, the self-locking mechanism corresponds to the unlocking trigger unit. On this basis, during the process of the displacement mechanism (12) driving the clamping mechanism to move the workpiece (56) down along the Z direction to the target height, the self-locking mechanism will move to cooperate with the unlocking trigger unit, and the unlocking trigger unit will trigger the self-locking mechanism to unlock. After the self-locking mechanism is unlocked, the clamping mechanism will automatically switch to the released state due to the existence of the idle gap, and release the workpiece (56) to the target placement position.

2. The self-locking and stroke-unlocking clamping and conveying device and its working method according to claim 1, characterized in that: The part-picking position corresponds to the position directly below the initial position of the clamping mechanism, and the target placement position corresponds to the position directly below the installation position of the unlocking trigger unit on the workpiece guide rail; let the direction in which the displacement mechanism moves closer to the workpiece guide rail be the positive Y direction, and the direction away from it be the negative Y direction.

3. The self-locking and stroke-unlocking clamping and conveying device and its working method according to claim 2, characterized in that: It also includes a mounting frame (11), on which the displacement mechanism (12) is mounted; it also includes a lifting seat (2) fixedly mounted on the moving slide of the displacement mechanism (12), and the clamping mechanism is installed at the lower end of the lifting seat (2); the clamping mechanism includes a clamping base (22) fixedly connected to the lower end of the lifting seat (2), and a limit groove (23) is opened at the lower end of the clamping base (22). A pair of limit sliders (26) are slidably installed in the limit groove (23). Two transmission plates (27) are fixedly connected to the upper ends of the two limit sliders (26) respectively. A clamping block (25) is fixed at the lower end of each limit slider (26). The driving mechanism is driven and cooperates with the two transmission plates (27). The two transmission plates (27) convert the vertical drive of the driving mechanism along the Z direction into the mutual approach or distance action between the two clamping blocks (25).

4. The self-locking and stroke-unlocking clamping and conveying device and its working method according to claim 3, characterized in that: The driving mechanism includes an electric push rod (3), a lifting frame (31), a driving rod (32), and two symmetrically arranged transmission plates (27). Each of the two transmission plates (27) has a symmetrically arranged V-shaped transmission groove (28). The width of the transmission groove (28) is greater than the diameter of the driving rod (32). The electric push rod (3) drives the lifting frame (31) to move up and down, and the driving rod (32) slides along the transmission groove (28), causing the two transmission plates (27) to move closer or further apart, thereby driving the two clamping blocks (25) to clamp or release the workpiece (56). When the two clamping blocks... (25) After the workpiece (56) is clamped and the self-locking mechanism is locked, the electric push rod (3) drives the lifting frame (31) to move upward a certain distance, and drives the drive rod (32) to move upward a certain distance along the transmission groove (28). This displacement constitutes the retraction and clearance stroke. Since the groove width of the transmission groove (28) is greater than the rod diameter of the drive rod (32), this displacement does not cause the two transmission plates (27) to move away from each other. The self-locking mechanism still maintains the mechanical locking clamping state of the workpiece (56), thereby forming the clearance between the drive rod (32) and the inner wall of the transmission groove (28).

5. The self-locking and stroke-unlocking clamping and conveying device and its working method according to claim 4, characterized in that: The self-locking mechanism includes a connecting frame (4) fixedly connected to the first clamping block, a docking sleeve (43) fixedly connected to the second clamping block, a locking block (47) slidably installed in the docking sleeve (43), and a locking spring (46) that applies elastic force to the locking block (47). The connecting frame (4) has a locking groove (41). The locking block (47) has a self-locking inclined surface (48). When the two clamping blocks (25) approach each other to clamp the workpiece (56), the connecting frame (4) inserts into the docking sleeve (43) and pushes the locking block (47) backward along the self-locking inclined surface (48) until the locking groove (41) aligns with the locking block (47). Then, the locking spring (46) drives the locking block (47) to engage in the locking groove (41) to achieve self-locking.

6. The self-locking and stroke-unlocking clamping and conveying device and its working method according to claim 5, characterized in that: The unlocking trigger unit includes an extension frame (492) fixedly mounted on the workpiece guide rail and a pressing rod (493) fixedly connected to one end of the extension frame (492) near the clamping mechanism; the locking block (47) is connected to a transmission block (49) via a pull rod (45), and the lower end of the transmission block (49) is provided with a pressing drive groove (491). The pressing rod (493) is adapted to the pressing drive groove (491) and is located on the moving path of the pressing drive groove (491); when the clamping mechanism descends to the target placement position, the pressing rod (493) enters the pressing drive groove (491) and pushes the transmission block (49), and the pull rod (45) drives the locking block (47) to overcome the elastic force of the locking spring (46) and exit from the locking groove (41), thereby unlocking.

7. A method for operating a clamping and conveying device based on the self-locking and stroke-unlocking clamping and conveying device according to claim 6, characterized in that, Includes the following steps: The displacement mechanism (12) drives the clamping mechanism to move along the Y direction to directly above the pick-up position, and then descends along the Z direction to the pick-up position, so that the two symmetrically distributed clamping blocks (25) are located on the left and right sides of the workpiece (56) respectively. When the electric push rod (3) in the drive mechanism is energized, the lifting frame (31) is driven to move downward. The drive rod (32) fixed on the lifting frame (31) slides downward along the symmetrical transmission grooves (28) in the shape of the figure eight on the two transmission plates (27), causing the two transmission plates (27) to move closer to each other, thereby driving the two clamping blocks (25) to move closer to each other. During the process of the two clamping blocks (25) moving closer to each other, the inner side of each clamping block (25) clamps the workpiece (56) from both sides, thus completing the clamping of the workpiece (56). While the clamping action is in progress, the connecting frame (4) fixedly connected to the first clamping block is inserted into the docking sleeve (43) fixedly connected to the second clamping block. The connecting frame (4) pushes the locking block (47) against the elastic force of the locking spring (46) by the self-locking inclined surface (48) on the locking block (47) which is slidably installed in the docking sleeve (43). When the locking groove (41) on the connecting frame (4) is aligned with the locking block (47), the locking spring (46) drives the locking block (47) to be inserted into the locking groove (41), and the self-locking mechanism automatically locks. After the self-locking mechanism is locked, the electric push rod (3) is energized to drive the lifting frame (31) to move upward a short distance, causing the drive rod (32) to move upward a short distance along the transmission groove (28). This displacement constitutes the retraction and clearance stroke. Since the groove width of the transmission groove (28) is greater than the rod diameter of the drive rod (32), this displacement will not cause the two transmission plates (27) to move away from each other, thereby forming a clearance gap between the drive rod (32) and the inner wall of the transmission groove (28). Subsequently, the electric push rod (3) is de-energized, and the self-locking mechanism maintains the mechanical locking and clamping state of the workpiece (56). The displacement mechanism (12) drives the clamping mechanism and the workpiece (56) to rise along the Z direction first, and then move along the positive Y direction to transport the workpiece (56) directly above the pressing rod (493) of the unlocking trigger unit fixed on the workpiece guide rail. The displacement mechanism (12) drives the clamping mechanism and the workpiece (56) to descend along the Z direction to the target placement position; during the descent, the extrusion rod (493) enters the extrusion drive groove (491) opened at the lower end of the transmission block (49) which is fixedly connected to the end of the pull rod (45) connected to the locking block (47), and pushes the transmission block (49) to move outward with the descent action. The transmission block (49) drives the locking block (47) to overcome the elastic force of the locking spring (46) and exit from the locking groove (41) through the pull rod (45), and the self-locking mechanism is unlocked; After the self-locking mechanism is unlocked, since the drive rod (32) has moved upward a short distance relative to the transmission groove (28) and formed the empty gap, the drive rod (32) has no driving force on the inner wall of the transmission groove (28), the two transmission plates (27) are in a relaxed state without force, and the two transmission plates (27) automatically move away from each other as the drive rod (32) has moved upward, causing the two clamping blocks (25) to open automatically and release the workpiece (56). Meanwhile, the height position of the extrusion rod (493) and the target placement position are configured such that when the workpiece (56) is released by the clamping block (25), the workpiece (56) falls exactly to the target placement position, avoiding free fall due to height difference or damage caused by downward extrusion of the clamping block (25). The displacement mechanism (12) drives the clamping mechanism to lift along the Z direction, causing the extrusion rod (493) to disengage from the extrusion drive groove (491) and then return along the negative Y direction to the position above the picking position, waiting for the next handling cycle.

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