Workpiece clamping device

Abstract

The utility model discloses a workpiece clamping device, and relates to the technical field of clamps. The clamping device comprises a supporting seat, at least two positioning pins, a sliding clamping mechanism, a telescopic clamping mechanism and a plurality of rotary clamping mechanisms. The supporting base is installed on the robot, and the positioning pin is installed on the supporting base so as to be matched with a positioning hole in a workpiece to limit the workpiece. The sliding clamping mechanism is arranged on the supporting base, the sliding clamping mechanism limits a workpiece in the first direction when acting, the telescopic clamping mechanism is arranged on the supporting base, and the telescopic clamping mechanism limits the workpiece in the second direction when acting. The multiple rotary clamping mechanisms are arranged on the supporting base and distributed on the peripheral side of the workpiece, and the workpiece is limited in the third direction when the rotary clamping mechanisms work. Therefore, the position precision of the workpiece placed on the machine tool can be guaranteed while the clamping stability is guaranteed, and the feeding efficiency of the workpiece is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamps, in particular to a workpiece clamping device. Background Art

[0002] In the manufacturing process of new energy vehicles, in order to improve the production efficiency of automobiles, robots are usually used to assist manual loading and unloading of automobile parts. However, for some parts of the automobile, such as large cast aluminum parts on the body or chassis, robots cannot stably clamp them due to their large size, thus reducing the loading efficiency of cast aluminum parts. Utility Model Content

[0003] In view of the above problems, the present utility model is proposed to provide a workpiece clamping device that overcomes the above problems or at least partially solves the above problems.

[0004] The utility model provides a workpiece clamping device, which comprises:

[0005] A support base, wherein the support base is installed on the robot;

[0006] At least two positioning pins, at least two of which are mounted on the support seat to cooperate with the positioning holes on the workpiece to limit the workpiece;

[0007] A sliding clamping mechanism, wherein the sliding clamping mechanism is disposed on the support seat and forms a limit on the workpiece in a first direction when the sliding clamping mechanism is in action;

[0008] A telescopic clamping mechanism, wherein the telescopic clamping mechanism is disposed on the support seat and limits the workpiece in a second direction when the telescopic clamping mechanism is in operation;

[0009] A plurality of rotary clamping mechanisms are arranged on the support seat and distributed around the workpiece, and the rotary clamping mechanisms limit the workpiece in a third direction when working.

[0010] An optional utility model content, the sliding clamping mechanism includes:

[0011] A sliding connection plate, wherein the sliding connection plate is arranged on the support seat;

[0012] A sliding unit, the sliding unit is mounted on the sliding connecting plate;

[0013] A sliding clamp block, the sliding clamp block is fixed on the sliding unit to drive the sliding clamp block to perform reciprocating linear motion when the sliding unit moves;

[0014] A first rotary downward pressing cylinder, wherein the first rotary downward pressing cylinder is fixed to an end surface of the sliding connection plate close to the sliding clamp block;

[0015] The first clamping block is fixed on the piston rod of the first rotary pressing cylinder and cooperates with the sliding clamping block to limit the workpiece in a first direction.

[0016] An optional utility model content, the sliding unit includes:

[0017] A slide rail, the slide rail is mounted on the sliding connection plate;

[0018] a first cylinder, which is mounted on the sliding connection plate and is arranged parallel to the slide rail;

[0019] A slider is slidably connected to the slide rail, wherein the sliding clamp is fixed on the slider to drive the slider to move and drive the sliding clamp to slide when the first cylinder is extended or retracted.

[0020] An optional utility model content, the slider clamp is close to the end face of the workpiece and is adapted to the surface shape of the workpiece; and / or,

[0021] The first clamping block is close to the end surface of the workpiece and is adapted to the surface shape of the workpiece.

[0022] An optional utility model content, the telescopic clamping mechanism includes:

[0023] A second connecting plate, the second connecting plate is arranged on the supporting seat;

[0024] a second cylinder, the second cylinder being fixed to the second connecting plate;

[0025] The second clamping block is fixed on the piston rod of the second cylinder so that the second clamping block limits the workpiece in a second direction when the second cylinder is extended.

[0026] An optional utility model content, the second clamping block is close to the end face of the workpiece and is adapted to the surface shape of the workpiece.

[0027] An optional utility model content, the rotary clamping mechanism includes:

[0028] a second rotary downward-pressing cylinder, wherein the second rotary downward-pressing cylinder is disposed on the support seat;

[0029] The third clamping block is arranged on the piston rod of the second rotary pressing cylinder, so that when the second rotary pressing cylinder is actuated, the workpiece is limited in the first direction by the third clamping block.

[0030] An optional utility model content, the third clamping block is close to the end face of the workpiece and is adapted to the surface shape of the workpiece.

[0031] An optional utility model content, the end of the locating pin close to the workpiece is provided with a round chamfer.

[0032] An optional utility model content, the device also includes a pneumatic vibrator, and the pneumatic vibrator is installed on the support seat to drive the workpiece to vibrate and adjust the position when the pneumatic vibrator is working.

[0033] Compared with the prior art, the utility model includes a support seat, at least two positioning pins, a sliding clamping mechanism, a telescopic clamping mechanism and a plurality of rotating clamping mechanisms. The support seat is mounted on a robot, and at least two positioning pins are mounted on the support seat to cooperate with the positioning holes on the workpiece to limit the workpiece. The sliding clamping mechanism is arranged on the support seat, and when the sliding clamping mechanism is in action, the workpiece is limited in a first direction. The telescopic clamping mechanism is arranged on the support seat, and when the telescopic clamping mechanism is in action, the workpiece is limited in a second direction. A plurality of rotating clamping mechanisms are arranged on the support seat and distributed on the peripheral side of the workpiece, and when the rotating clamping mechanism is in operation, the workpiece is limited in a third direction. Thus, the preliminary position of the workpiece can be positioned in advance by the positioning pin, and then the sliding clamping mechanism, the telescopic clamping mechanism and the plurality of rotating clamping mechanisms are combined to clamp the workpiece in three different directions, so that while ensuring the clamping stability, the position accuracy of the workpiece placed on the machine tool can also be ensured, thereby improving the loading efficiency of the workpiece.

[0034] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limitations of the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings.

[0036] In the attached picture:

[0037] Figure 1 It is a three-dimensional structural schematic diagram of a workpiece clamping device provided by an embodiment of the utility model;

[0038] Figure 2 This is a schematic diagram of a workpiece clamping device provided by an embodiment of the utility model clamping a workpiece from a first viewing angle;

[0039] Figure 3 It is a schematic diagram of a workpiece clamping device provided by an embodiment of the utility model clamping a workpiece from a second viewing angle;

[0040] Figure 4 It is a front view structural schematic diagram of a workpiece clamping device provided by an embodiment of the utility model;

[0041] Figure 5 It is a three-dimensional structural schematic diagram of a sliding clamping mechanism provided by an embodiment of the utility model;

[0042] Figure 6 It is a front view structural schematic diagram of a sliding clamping mechanism provided by an embodiment of the utility model;

[0043] Figure 7 It is a front view structural schematic diagram of a telescopic clamping mechanism provided by an embodiment of the utility model;

[0044] Figure 8 yes Figure 2 A magnified schematic diagram of the structure marked at A in the middle;

[0045] Fig. 9 yes Figure 2 A magnified schematic diagram of the structure marked at B in the middle;

[0046] Fig.10 yes Figure 3 A magnified schematic diagram of the structure marked at C in the middle;

[0047] Figure numerals: 1. support seat; 2. positioning pin; 3. sliding clamping mechanism; 31. sliding connecting plate; 32. sliding unit; 321. slide rail; 322. first cylinder; 323. slider; 33. sliding clamping block; 34. first rotary downward pressing cylinder; 35. first clamping block; 4. telescopic clamping mechanism; 41. second connecting plate; 42. second cylinder; 43. second clamping block; 5. rotating clamping mechanism; 51. second rotary downward pressing cylinder; 52. third clamping block; 6. pneumatic vibrator; 7. quick change mechanism; 8. workpiece. DETAILED DESCRIPTION

[0048] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0049] Reference Figure 1-10 The embodiment of the utility model provides a workpiece clamping device, which may include a support seat 1, at least two positioning pins 2, a sliding clamping mechanism 3, a telescopic clamping mechanism 4 and a plurality of rotating clamping mechanisms 5, wherein:

[0050] The support seat 1 is installed on the robot, and at least two positioning pins 2 are installed on the support seat 1 to cooperate with the positioning holes on the workpiece 8 to limit the workpiece 8. The sliding clamping mechanism 3 is arranged on the support seat 1, and when the sliding clamping mechanism 3 is actuated, the workpiece 8 is limited in a first direction. The telescopic clamping mechanism 4 is arranged on the support seat 1, and when the telescopic clamping mechanism 4 is actuated, the workpiece 8 is limited in a second direction. A plurality of rotating clamping mechanisms 5 are arranged on the support seat 1 and distributed around the workpiece 8, and when the rotating clamping mechanism 5 is in operation, the workpiece 8 is limited in a third direction.

[0051] In the embodiment of the utility model, the support seat 1 is used to support the installation of other components on the workpiece clamping device, and the support seat 1 can be installed on a ground rail robot, so that the device can be moved to the side of the workpiece 8 to be loaded under the drive of the ground rail robot. At least two positioning pins 2 are installed on the support seat 1, which can cooperate with the positioning holes pre-opened on the workpiece 8, so as to achieve the position limitation between the workpiece 8 and the workpiece clamping device. The workpiece 8 can include but is not limited to larger chassis cast aluminum parts, body sheet metal parts, etc. on the vehicle.

[0052] The sliding clamping mechanism 3 is installed on the end surface of the support seat 1 close to the positioning pin 2, that is, the sliding clamping mechanism 3 and the positioning pin 2 are installed on the same end surface of the support seat 1. When the sliding clamping mechanism 3 is in action, the workpiece 8 is limited in the first direction, that is, the sliding clamping mechanism 3 can clamp the workpiece 8 in the first direction, thereby limiting the movement of the workpiece 8 in the first direction.

[0053] The telescopic clamping mechanism 4 is installed on the end surface of the support seat 1 close to the positioning pin 2. When it is in operation, it can clamp the workpiece 8 in the second direction, thereby limiting the movement of the workpiece 8 in the second direction.

[0054] The plurality of rotating clamping mechanisms 5 are installed on the end surface of the support seat 1 close to the positioning pin 2. When the rotating clamping mechanisms 5 are in operation, the workpiece 8 can be clamped in the third direction, thereby limiting the movement of the workpiece 8 in the third direction.

[0055] The first direction is set at an angle to the second direction, the first direction is set at an angle to the third direction, and the second direction is set at an angle to the third direction. Thus, the sliding clamping mechanism 3, the telescopic clamping mechanism 4 and the plurality of rotating clamping mechanisms 5 are combined to clamp the workpiece 8 in three different directions respectively, while ensuring the clamping stability, the position accuracy of the workpiece 8 placed on the machine tool can also be ensured, thereby improving the loading efficiency of the workpiece 8. As a preferred embodiment, the first direction, the second direction and the third direction can be set perpendicularly in pairs. For example, the first direction can be the Y-axis, the second direction can be the X-axis direction, and the third direction can be the Z-axis direction.

[0056] In summary, the utility model discloses a workpiece clamping device, which may include a support seat 1, at least two positioning pins 2, a sliding clamping mechanism 3, a telescopic clamping mechanism 4 and a plurality of rotating clamping mechanisms 5. The support seat 1 is mounted on a robot, and at least two positioning pins 2 are mounted on the support seat 1 to cooperate with positioning holes on a workpiece 8 to limit the workpiece 8. The sliding clamping mechanism 3 is arranged on the support seat 1, and when the sliding clamping mechanism 3 is actuated, the workpiece 8 is limited in a first direction. The telescopic clamping mechanism 4 is arranged on the support seat 1, and when the telescopic clamping mechanism 4 is actuated, the workpiece 8 is limited in a second direction. A plurality of rotating clamping mechanisms 5 are arranged on the support seat 1, and are distributed around the workpiece 8, and when the rotating clamping mechanism 5 is in operation, the workpiece 8 is limited in a third direction. Thus, the preliminary position of the workpiece 8 can be pre-positioned by the positioning pin 2, and then the sliding clamping mechanism 3, the telescopic clamping mechanism 4 and the plurality of rotating clamping mechanisms 5 can be combined to clamp the workpiece 8 in three different directions respectively, thereby ensuring the clamping stability while also ensuring the position accuracy of the workpiece 8 placed on the machine tool, thereby improving the loading efficiency of the workpiece 8.

[0057] An optional utility model embodiment, referring to Figure 1-Figure 6As shown, the sliding clamping mechanism 3 may include a sliding connection plate 31, a sliding unit 32, a sliding clamp block 33, a first rotary downward pressing cylinder 34 and a first clamp block 35, wherein the sliding connection plate 31 is arranged on the support seat 1, and the sliding unit 32 is installed on the sliding connection plate 31. The sliding clamp block 33 is fixed on the sliding unit 32 to drive the sliding clamp block 33 to perform reciprocating linear motion when the sliding unit 32 moves. The first rotary downward pressing cylinder 34 is fixed on the end face of the sliding connection plate 31 close to the sliding clamp block 33, and the first clamp block 35 is fixed on the piston rod of the first rotary downward pressing cylinder 34, and cooperates with the sliding clamp block 33 to form a limit in the first direction for the workpiece 8.

[0058] In the embodiment of the utility model, the sliding connection plate 31 can be fixed to the support seat 1 by welding, threaded connection, etc., and the sliding unit 32 is installed on the sliding connection plate 31. The sliding clamp 33 is used for pressure contact with the workpiece 8, and it is fixed on the sliding unit 32. Therefore, when the sliding unit 32 slides, the sliding clamp 33 can be driven to make reciprocating linear motion. As a result, the sliding clamp 33 can make a linear motion away from or close to the workpiece 8. The first rotary downward pressure cylinder 34 is fixed on the end face of the sliding connection plate 31 close to the sliding clamp 33.

[0059] The rotary downward-pressing cylinder is a pneumatic device that can realize the functions of rotation and downward-pressing through gas pressure. The first clamp block 35 is fixed on the piston rod of the first rotary downward-pressing cylinder 34, so that it can be rotated and pressed downward synchronously under the drive of the first rotary downward-pressing cylinder 34. For example, when the sliding unit 32 moves to drive the sliding clamp block 33 close to the workpiece 8, the first rotary downward-pressing cylinder 34 moves to drive the first clamp block 35 to rotate, and then presses down to make pressure contact with the workpiece 8. Thereby, the sliding clamp block 33 and the first clamp block 35 are respectively located on two different end faces of the workpiece 8, forming two relative clamping forces in the first direction, so that the first clamp block 35 and the sliding clamp block 33 cooperate to form a limit on the workpiece 8 in the first direction.

[0060] An optional utility model embodiment, referring to Figure 5 , Figure 6 as well as Fig. 9As shown, the sliding unit 32 may include a slide rail 321, a first cylinder 322 and a slider 323, wherein the slide rail 321 is mounted on the sliding connection plate 31. The first cylinder 322 is mounted on the sliding connection plate 31 and is arranged parallel to the slide rail 321. The slider 323 is slidably connected to the slide rail 321, wherein the sliding clamp 33 is fixed on the slider 323 to drive the slider 323 to move when the first cylinder 322 is extended or retracted, and drive the sliding clamp 33 to slide.

[0061] In the embodiment of the utility model, the slide rail 321 can be fixed to the slide connection plate 31 by welding, threaded connection, etc. The first cylinder 322 can be installed on the end surface of the slide connection plate 31 away from the slide clamp 33, wherein the central axis of the first cylinder 322 is arranged parallel to the central axis of the slide rail 321. The slider 323 is slidably connected on the slide rail 321, and the slide clamp 33 is fixed on the slider 323, so that the slide clamp 33 can be driven to press the workpiece 8, or release the workpiece 8 when the slider 323 makes a reciprocating linear motion along the slide rail 321.

[0062] In some embodiments, the piston rod of the first cylinder 322 may be fixedly connected to the slider 323 , so that the slider 323 may be driven to perform reciprocating linear motion along the slide rail 321 through the telescopic motion of the first cylinder 322 .

[0063] In an optional embodiment of the utility model, the clamping block of the sliding block 323 is close to the end surface of the workpiece 8 and is adapted to the surface shape of the workpiece 8; and / or,

[0064] The first clamping block 35 is close to the end surface of the workpiece 8 and is adapted to the surface shape of the workpiece 8 .

[0065] In the embodiment of the utility model, the end face of the slider 323 clamping block close to the workpiece 8 can be understood as the end face of the slider 323 clamping block used for pressure contact with the workpiece 8, which can be adapted to the surface shape of the area on the workpiece 8 where the slider 323 clamping block forms pressure contact. In other embodiments, the end face of the first clamping block 35 close to the workpiece 8 can be understood as the end face of the first clamping block 35 used for pressure contact with the workpiece 8, which can be adapted to the surface shape of the area on the workpiece 8 where the first clamping block 35 forms pressure contact. In some other embodiments, the slider 323 clamping block close to the end face of the workpiece 8 is adapted to the surface shape of the workpiece 8. In addition, the first clamping block 35 close to the end face of the workpiece is adapted to the surface shape of the workpiece 8. Thus, the clamping stability and positioning accuracy of the workpiece 8 can be improved by increasing the area of ​​the clamping surface with the workpiece 8.

[0066] An optional utility model embodiment, referring to Figure 7 As shown, the telescopic clamping mechanism 4 may include a second connecting plate 41, a second cylinder 42 and a second clamping block 43. The second connecting plate 41 is arranged on the support seat 1, and the second cylinder 42 is fixed on the second connecting plate 41. The second clamping block 43 is fixed on the piston rod of the second cylinder 42, so that the second clamping block 43 limits the workpiece 8 in the second direction when the second cylinder 42 is extended.

[0067] In an embodiment of the utility model, the telescopic clamping mechanism 4 may include a second connecting plate 41, a second cylinder 42 and a second clamping block 43. The second connecting plate 41 may be fixed to the end face of the support seat 1 close to the positioning pin 2 by welding, threaded connection or the like. The second cylinder 42 is fixed to the second connecting plate 41. And the second clamping block 43 is fixed to the piston rod of the second cylinder 42. Among them, the central axis of the second cylinder 42 is arranged parallel to the second direction. Thus, when the second cylinder 42 performs telescopic movement, the second clamping block 43 is driven to perform a linear movement in the second direction close to or away from the workpiece 8. For example, when the second clamping block 43 performs a linear movement close to the workpiece 8, the second cylinder 42 is in a fully extended state, and at this time, the second clamping block 43 forms a limit to the workpiece 8 in the second direction.

[0068] In some embodiments, the support seat 1 may also be pre-arranged with a corresponding fixed clamp block according to the surface shape characteristics of the workpiece 8, so that the pressure contact force generated by the fixed clamp block on the workpiece 8 and the pressure contact force generated by the second clamp block 43 on the workpiece 8 can be coordinated to clamp the workpiece 8 in the second direction, thereby limiting the movement of the workpiece 8 in the second direction. This improves the clamping stability and positioning accuracy of the workpiece 8.

[0069] In an optional embodiment of the utility model, the second clamping block 43 is close to the end surface of the workpiece 8 and is adapted to the surface shape of the workpiece 8 .

[0070] In the embodiment of the utility model, the end surface of the second clamping block 43 close to the workpiece 8 can be understood as the end surface of the second clamping block 43 for pressure contact with the workpiece 8, which can be adapted to the surface shape of the area on the workpiece 8 that forms pressure contact with the second clamping block 43. Therefore, the clamping stability and positioning accuracy of the workpiece 8 can be improved by increasing the area of ​​the clamping surface of the second clamping block 43 and the workpiece 8.

[0071] An optional utility model embodiment, referring to Figure 8 and Fig.10 As shown, the rotary clamping mechanism 5 may include a second rotary pressing cylinder 51 and a third clamping block 52, wherein the second rotary pressing cylinder 51 is disposed on the support seat 1. The third clamping block 52 is disposed on the piston rod of the second rotary pressing cylinder 51, so that when the second rotary pressing cylinder 51 is actuated, the workpiece 8 is limited in the first direction by the third clamping block 52.

[0072] In the embodiment of the utility model, the rotary clamping mechanism 5 may include a second rotary downward pressing cylinder 51 and a third clamping block 52, wherein the rotary downward pressing cylinder is a pneumatic device that can realize the rotation and downward pressing functions through gas pressure. The second rotary downward pressing cylinder 51 can be fixed to the support seat 1 by welding, threaded connection, etc. The third clamping block 52 is fixed to the piston rod of the second rotary downward pressing cylinder 51, so that it can rotate and press synchronously under the drive of the second rotary downward pressing cylinder 51.

[0073] Thus, the rotating clamping mechanism 5 can drive the third clamping block 52 to rotate, and then press down to contact the workpiece 8. Thus, the end faces of the third clamping block 52 and the support seat 1 are respectively located on two different end faces of the workpiece 8, forming two relative clamping forces in the third direction, so that the third clamping block 52 and the support seat 1 cooperate to limit the workpiece 8 in the third direction.

[0074] Those skilled in the art can determine the number of the rotary clamping mechanisms 5 according to the actual size of the workpiece 8. For example, the number of the rotary clamping mechanisms 5 can be 3, 4, 5, 6, etc. A plurality of the rotary clamping mechanisms 5 can be located on the circumference of the workpiece 8. Thus, the clamping stability and positioning accuracy of the workpiece 8 can be improved.

[0075] In an optional embodiment of the utility model, the third clamping block 52 is close to the end surface of the workpiece 8 and is adapted to the surface shape of the workpiece 8 .

[0076] In the embodiment of the utility model, the end face of the third clamping block 52 close to the workpiece 8 can be understood as the end face of the third clamping block 52 for pressure contact with the workpiece 8, which can be adapted to the surface shape of the area on the workpiece 8 that forms pressure contact with the third clamping block 52. Therefore, the clamping stability and positioning accuracy of the workpiece 8 can be improved by increasing the area of ​​the clamping surface between the third clamping block 52 and the workpiece 8.

[0077] In summary, the end face shape of the sliding clamp 33 close to the workpiece 8, the end face shape of the first clamp 35 close to the workpiece 8, the end face shape of the second clamp 43 close to the workpiece 8, and the end face shape of the third clamp 52 close to the workpiece 8 can all be obtained by processing the surface of the workpiece 8 to be loaded. Different workpieces 8 may have different corresponding end face shapes, and no further restrictions are made here.

[0078] An optional utility model embodiment, referring to Fig.10 As shown, the end of the positioning pin 2 close to the workpiece 8 is provided with a round chamfer.

[0079] In the embodiment of the utility model, the end of the positioning pin 2 close to the workpiece 8 is provided with a round chamfer. On the one hand, the setting of the round chamfer can form a guiding slope, so that it is easier to insert the positioning pin 2 into the positioning hole on the workpiece 8. On the other hand, the round chamfer is relatively smooth, which can avoid problems such as surface scratches on the workpiece 8 during the assembly process of inserting it into the positioning hole of the workpiece 8.

[0080] An optional utility model embodiment, referring to Figure 1 , Figure 2 as well as Figure 7 As shown, the device further comprises a pneumatic vibrator 6 , which is mounted on the support seat 1 , so as to drive the workpiece 8 to vibrate and adjust its position when the pneumatic vibrator 6 is working.

[0081] In an embodiment of the utility model, the device may further include a pneumatic vibrator 6 installed on the support seat 1, and the pneumatic vibrator 6 may include a vibrating cylinder and a vibrating block, and the vibrating block is installed on the piston rod of the vibrating cylinder. The ventilation in the vibrating cylinder pushes the piston rod to extend, driving the vibrating block to move in a straight line. The gas in the upper air chamber of the piston rod is squeezed, and the squeezed gas is discharged through the exhaust hole. When the piston rod is fully extended, the gas automatically switches the ventilation direction through the groove and the airway, so that the gas re-enters the upper air chamber of the piston rod, causing the piston rod to retract, and such a reciprocating cycle causes the vibrating block to produce translational motion and shaking, thereby generating a vibration force. Therefore, when the workpiece clamping device clamps the workpiece 8 to the corresponding position of the machine tool, the vibrating cylinder drives the vibrating block to move when the workpiece 8 is placed, so that the workpiece 8 can better fit the reference surface of the machine tool, which is convenient for the machine tool fixture to clamp the workpiece 8.

[0082] In an optional utility model embodiment, referring to Figure 1-Figure 4 As shown, the device may further include a quick-change mechanism 7. The device may be fixed to the ground rail robot through the quick-change mechanism 7. Thus, different devices may be quickly switched for different workpieces 8, so that the ground rail robot can adapt to the processing of different processes by switching different devices.

[0083] For example, the quick-change mechanism 7 can be divided into a robot end (also called a male head) and a tool end (also called a female head). The robot end is installed on the robot side, and the fixture end is installed on the fixture side, so that one robot can adapt to different devices.

[0084] In an optional embodiment of the utility model, the device may further include an air blowing nozzle, through which compressed air is blown onto the surface of the workpiece 8. This can facilitate drying of the cutting fluid remaining on the surface of the workpiece 8. For example, the air blowing nozzle may be mounted on the sliding clamp 33. Those skilled in the art may also determine the installation position of the air blowing nozzle according to actual design requirements, and no further limitation is made here.

[0085] In summary, the utility model discloses a workpiece clamping device, which may include a support seat 1, at least two positioning pins 2, a sliding clamping mechanism 3, a telescopic clamping mechanism 4 and a plurality of rotating clamping mechanisms 5. The support seat 1 is mounted on a robot, and at least two positioning pins 2 are mounted on the support seat 1 to cooperate with positioning holes on a workpiece 8 to limit the workpiece 8. The sliding clamping mechanism 3 is arranged on the support seat 1, and when the sliding clamping mechanism 3 is actuated, the workpiece 8 is limited in a first direction. The telescopic clamping mechanism 4 is arranged on the support seat 1, and when the telescopic clamping mechanism 4 is actuated, the workpiece 8 is limited in a second direction. A plurality of rotating clamping mechanisms 5 are arranged on the support seat 1, and are distributed around the workpiece 8, and when the rotating clamping mechanism 5 is in operation, the workpiece 8 is limited in a third direction. Thus, the preliminary position of the workpiece 8 can be pre-positioned by the positioning pin 2, and then the sliding clamping mechanism 3, the telescopic clamping mechanism 4 and the plurality of rotating clamping mechanisms 5 can be combined to clamp the workpiece 8 in three different directions respectively, thereby ensuring the clamping stability while also ensuring the position accuracy of the workpiece 8 placed on the machine tool, thereby improving the loading efficiency of the workpiece 8.

[0086] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0087] It is easy for a person skilled in the art to think that any combination of the above embodiments is feasible, so any combination of the above embodiments is an implementation scheme of the present utility model. However, due to space limitations, this specification will not describe them in detail here.

[0088] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0089] Similarly, it should be understood that in order to simplify the present invention and help understand one or more of the various aspects of the present invention, in the above description of exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0090] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

Claims

1. A workpiece clamping device, characterized in that: The device comprises: A support base (1), wherein the support base (1) is mounted on the robot; At least two positioning pins (2), at least two of the positioning pins (2) are mounted on the support seat (1) to cooperate with the positioning holes on the workpiece (8) to limit the workpiece (8); A sliding clamping mechanism (3), wherein the sliding clamping mechanism (3) is arranged on the support seat (1), and when the sliding clamping mechanism (3) is in motion, it limits the workpiece (8) in a first direction; A telescopic clamping mechanism (4), wherein the telescopic clamping mechanism (4) is arranged on the support seat (1), and when the telescopic clamping mechanism (4) is in operation, it limits the workpiece (8) in a second direction; A plurality of rotary clamping mechanisms (5) are provided on the support seat (1) and distributed around the workpiece (8), and the rotary clamping mechanisms (5) limit the workpiece (8) in a third direction when in operation.

2. The workpiece clamping device according to claim 1, characterized in that: The sliding clamping mechanism (3) comprises: A sliding connection plate (31), wherein the sliding connection plate (31) is arranged on the support seat (1); A sliding unit (32), wherein the sliding unit (32) is mounted on the sliding connecting plate (31); A sliding clamp (33), wherein the sliding clamp (33) is fixed to the sliding unit (32) so as to drive the sliding clamp (33) to perform reciprocating linear motion when the sliding unit (32) moves; A first rotary downward pressing cylinder (34), wherein the first rotary downward pressing cylinder (34) is fixed to an end surface of the sliding connection plate (31) close to the sliding clamping block (33); A first clamping block (35), the first clamping block (35) is fixed on the piston rod of the first rotary downward pressure cylinder (34), and cooperates with the sliding clamping block (33) to limit the workpiece (8) in a first direction.

3. The workpiece clamping device according to claim 2, characterized in that: The sliding unit (32) comprises: A slide rail (321), wherein the slide rail (321) is mounted on the sliding connection plate (31); A first cylinder (322), the first cylinder (322) being mounted on the sliding connection plate (31) and arranged parallel to the slide rail (321); A slider (323), wherein the slider (323) is slidably connected to the slide rail (321), wherein the sliding clamp (33) is fixed to the slider (323) so as to drive the slider (323) to move when the first cylinder (322) is extended or retracted, and drive the sliding clamp (33) to slide.

4. The workpiece clamping device according to claim 3, characterized in that: The clamping block of the slider (323) is close to the end surface of the workpiece (8) and is adapted to the surface shape of the workpiece (8); and / or, The first clamping block (35) is close to the end surface of the workpiece (8) and is adapted to the surface shape of the workpiece (8).

5. The workpiece clamping device according to claim 1, characterized in that: The telescopic clamping mechanism (4) comprises: A second connecting plate (41), the second connecting plate (41) being arranged on the supporting seat (1); A second cylinder (42), the second cylinder (42) being fixed on the second connecting plate (41); A second clamping block (43), the second clamping block (43) is fixed on the piston rod of the second cylinder (42), so that when the second cylinder (42) is extended, the second clamping block (43) limits the workpiece (8) in a second direction.

6. The workpiece clamping device according to claim 5, characterized in that: The second clamping block (43) is close to the end surface of the workpiece (8) and is adapted to the surface shape of the workpiece (8).

7. The workpiece clamping device according to claim 1, characterized in that: The rotary clamping mechanism (5) comprises: A second rotary downward-pressing cylinder (51), wherein the second rotary downward-pressing cylinder (51) is arranged on the support seat (1); A third clamping block (52) is arranged on the piston rod of the second rotary downward pressing cylinder (51), so that when the second rotary downward pressing cylinder (51) is actuated, the workpiece (8) is limited in the first direction by the third clamping block (52).

8. The workpiece clamping device according to claim 7, characterized in that: The third clamping block (52) is close to the end surface of the workpiece (8) and is adapted to the surface shape of the workpiece (8).

9. The workpiece clamping device according to claim 1, characterized in that: The end of the positioning pin (2) close to the workpiece (8) is provided with a round chamfer.

10. The workpiece clamping device according to claim 1, characterized in that: The device also includes a pneumatic vibrator (6), which is mounted on the support seat (1) to drive the workpiece (8) to vibrate and adjust its position when the pneumatic vibrator (6) is working.

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