Docking locking mechanism

Abstract

The utility model relates to the technical field of machine manufacturing, and discloses a Docking locking mechanism which comprises a driving assembly used for pressing a gripper, a positioning assembly used for positioning the position of the gripper is installed below the driving assembly, and a supporting assembly used for supporting the positioning assembly is arranged on the right side of the positioning assembly. The driving assembly comprises a pressing block and a powerful clamping cylinder used for driving the pressing block to move, the pressing block is located at the bottom of the powerful clamping cylinder, the pressing block is provided with a slope structure, and the pressing block moves up and down along with the powerful clamping cylinder; the positioning assembly comprises a cam guide used for guiding the gripper and a limiting block, the cam guide is located on the front side of the pressing block, and the limiting block is located below the pressing block. The powerful clamping cylinder drives the pressing block to make contact with the upper surface of the gripper, the limiting block makes contact with the lower surface of the gripper, the cam guide makes contact with the front side face of the gripper, and the powerful clamping cylinder, the pressing block, the cam guide and the limiting block cooperate to achieve locking of the gripper in two directions. The technical problem that in the prior art, a gripper is locked in a single direction is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical manufacturing technical field, concretely relates to a docking dead mechanism. BACKGROUND

[0002] In the positioning welding process, after the positioning gripper grabs the plate piece, it is usually necessary to realize the accurate docking and positioning between the clamp and the workpiece by means of the docking technology. This docking ensures the stability and precision of the workpiece in the machining process, thereby reducing errors, improving production efficiency and ensuring product quality.

[0003] However, most of the commonly used dead mechanisms at present adopt single-direction dead blocks for dead locking. Such design causes the single-direction dead block to bear all forces in long-term use, which easily leads to the wear of the dead block, thereby affecting the precision and stability of the whole mechanism and further causing the docking effect to decline. In addition, the single-direction dead mechanism has limited adaptability and is difficult to cope with workpieces of different shapes and sizes, and it is not satisfactory in the face of diversified product requirements. Such limited adaptability significantly limits its application range and cannot meet the requirements of complex and variable industrial manufacturing. SUMMARY

[0004] The utility model intends to provide docking dead mechanism to solve the technical problem that gripper is single direction dead in prior art.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme: the docking dead mechanism comprises a driving assembly for pressing the gripper, a positioning assembly for positioning the position of the gripper is installed below the driving assembly, a supporting assembly for supporting the positioning assembly is arranged on the right side of the positioning assembly; the driving assembly comprises a pressing block and a strong clamping cylinder for driving the pressing block to move, the pressing block is located at the bottom of the strong clamping cylinder, the pressing block is provided with an inclined surface structure, and the pressing block moves up and down with the strong clamping cylinder; the positioning assembly comprises a cam guide for limiting and guiding the movement of the gripper and a limiting block for positioning and supporting the gripper, the cam guide is located on the front side of the pressing block, and the limiting block is located below the pressing block; the strong clamping cylinder drives the pressing block to contact the upper surface of the gripper, applies a longitudinal downward force and a transverse outward force to the gripper, the limiting block contacts the lower surface of the gripper, applies a longitudinal upward force to the gripper, and the cam guide contacts the front side of the gripper, applies a transverse inward force to the gripper, and the strong clamping cylinder, the pressing block, the cam guide and the limiting block cooperate to realize the dead locking of the gripper in the longitudinal direction and the transverse direction.

[0006] The principle of this solution is as follows: In practical application, the limiting block is located below the gripper. First, the gripper is placed on the limiting block, with its lower surface in direct contact with the limiting block. The limiting block supports the gripper and achieves initial positioning. A cam guide is provided on the front side of the gripper to further restrict and guide its movement, allowing the gripper to quickly reach the predetermined position and directly contact the inner side of the cam guide. Then, a high-pressure clamping cylinder is driven. Under the drive of the high-pressure clamping cylinder, the pressure block with an inclined structure moves up and down along with the cylinder, moving away from or towards the gripper. When the pressure block clamps the gripper, the docking locking mechanism provides stable locking (i.e., stable fixation, with no displacement) in two directions for the gripper. Specifically, the high-pressure clamping cylinder and the pressure block together apply a downward force in the Z direction (i.e., longitudinal direction) to the gripper, while the limiting block applies an upward force in the Z direction. In addition to applying an upward force in the Z direction, the pressure block's inclined structure also applies an outward force in the Y direction (i.e., transverse direction) to the gripper, and the cam guide applies an inward force in the Y direction. The forces in the Z and Y directions balance each other, achieving stable locking of the gripper in both directions, significantly improving its stability and ensuring the workpiece remains accurate and stable during processing.

[0007] The advantages of this solution are: (1) It breaks the technical bias of traditional gripper design that only focuses on locking in one direction and ignores the possible degree of freedom in other directions. At the same time, it solves the problem that the force of the single-direction locking mechanism is concentrated in one direction, and the stress is uneven and easily worn.

[0008] (2) The pressure block adopts a structure with an inclined surface, which adds a direction of force application in the Y direction, making the gripper more stable.

[0009] (3) The cam guide and the limit block guide make it easier for the gripper to reach the predetermined position.

[0010] (4) The pressure block and cam guide work together to effectively lock the gripper in the Y direction. The high-pressure clamping cylinder, pressure block and limit block work together to effectively lock the gripper in the Z direction. The synergistic effect of the forces in the Y and Z directions effectively prevents any unnecessary movement of the gripper, improves the stability of the gripper, and reduces any potential movement or vibration during the workpiece processing, thereby ensuring accurate positioning and reliable fixation of the workpiece during the processing.

[0011] (5) In this solution, the powerful clamping cylinder, pressure block, cam guide and limit block are cleverly combined to make the structure simple, and achieve a significant improvement in locking performance without significantly increasing / reducing complexity, reducing maintenance costs and complexity, and facilitating installation and subsequent maintenance.

[0012] (6) The double clamping mode (i.e. clamping in Y and Z directions) in this scheme enables the clamping mechanism to provide sufficient clamping force or stable fixation, and can adapt to workpieces of different shapes and sizes, thereby improving the application range of the Docking clamping mechanism.

[0013] Preferably, as an improvement, the pressing block further comprises a rectangular structure integrally connected with the inclined surface structure, the rectangular structure being located above the inclined surface structure, and the inclined surface structure having an inclined surface.

[0014] Beneficial effects: The combination of the rectangular structure and the inclined surface structure of the pressing block enables the pressing block to apply force in two different directions (Z and Y directions), effectively disperses the applied force, reduces the possibility of excessive force on a single point, reduces the possibility of local wear and tear, thereby prolonging the service life of the mechanism.

[0015] Preferably, as an improvement, the cam guide comprises a bracket and a cam follower, and the bracket is provided with a through hole for the cam follower to pass through.

[0016] Beneficial effects: The cam follower passes through the through hole in the bracket to ensure accurate movement of the cam follower along the predetermined position, reducing deviation or vibration, thereby improving the accuracy and stability of the mechanism.

[0017] Preferably, as an improvement, the cam follower comprises a cam bearing follower and a nut, and the tail of the cam bearing follower passes through the through hole and is connected with the nut.

[0018] Beneficial effects: The tail of the cam bearing follower passes through the through hole and is connected with the nut, ensuring accurate alignment between the cam bearing follower and the nut, reducing the possibility of eccentric movement and improving the positioning accuracy of the mechanism; at the same time, this structure makes the installation of the cam follower more simple and direct, facilitating subsequent inspection and maintenance work, and allowing quick replacement or adjustment of parts without complex alignment process.

[0019] Preferably, as an improvement, the head of the cam bearing follower is a cylinder, and the diameter of the head of the cam bearing follower is greater than the transverse length of the bracket.

[0020] Beneficial effects: The diameter of the head of the cam bearing follower is greater than the transverse length of the bracket, preventing excessive rotation or disengagement of the cam follower from the bracket during installation or use. The cylindrical head of the cam bearing follower can better disperse the applied pressure, reduce local stress concentration, reduce friction between parts, reduce wear speed, and prolong the service life of the cam follower and the bracket.

[0021] Preferably, as an improvement, a support plate for placing the limiting block is installed on the inner side of the support assembly.

[0022] Beneficial effects: The support plate provides a stable mounting platform for the limiting block, ensuring that it does not shift or tilt during operation, enhancing the stability of the mechanism. At the same time, through the support plate, the position of the limiting block can be more accurately controlled, ensuring that it can accurately play its role, thereby improving the positioning accuracy of the gripper.

[0023] Preferably, as an improvement, the limiting block is in contact with and shaped to fit the group block on the lower surface of the gripper.

[0024] Beneficial effects: The limiting block and group block that are shaped to fit can ensure close contact between the two, providing precise mechanical limiting to prevent excessive movement of the gripper, thereby improving the positioning accuracy of the mechanism; at the same time, the matching shape can better distribute the contact force, avoiding local stress concentration, making the gripper more stable during operation and reducing vibration or shaking.

[0025] Preferably, as an improvement, the upper surface of the gripper is provided with an inclined block, and the inclined surface is in contact with the inclined surface of the inclined block and shaped to fit.

[0026] Beneficial effects: The inclined edges of the pressure block and the inclined block are shaped to fit, and the two can achieve seamless contact, thereby ensuring that the force transmission is more direct and uniform. The design of the inclined edge allows the pressure block to not only exert force in the Z direction but also in the Y direction, achieving effective transmission of multi-directional force.

[0027] Preferably, as an improvement, there is a gap between the inner side of the bracket and the outer side of the gripper, with a gap range of 0mm-7mm, and a gap between the inner side of the nut and the outer side of the gripper, with a gap range of 0mm-11mm.

[0028] Beneficial effects: The appropriate gap allows the inner side of the bracket and the inner side of the nut to not directly contact the outer side of the gripper, thereby reducing unnecessary friction, reducing wear and tear, and increasing the service life. Long-term use can also ensure accuracy.

[0029] Preferably, as an improvement, the inner side of the cam bearing follower head directly contacts and abuts against the front side of the gripper.

[0030] Beneficial effects: The design of the inner side of the cam bearing follower head directly contacting and abutting against the front side of the gripper avoids unnecessary pressure on other parts, thereby protecting the surface quality of the gripper and other related components.

[0031] The Docking locking mechanism has the advantages that: (1) the double locking mode is adopted, the locking in two directions is realized, the pressing block and the cam guide are matched, the locking in the Y direction of the gripper is effectively realized, the powerful clamping cylinder, the pressing block and the limiting block are matched, the locking in the Z direction of the gripper is effectively realized, the force in the Y direction and the Z direction is cooperated, any unnecessary movement of the gripper is effectively prevented, the stability of the gripper is improved, any potential movement or vibration in the workpiece machining process is reduced, and therefore the accurate positioning and reliable fixing in the workpiece machining process are ensured.

[0032] (2) the structure is simple, and the operation and maintenance are facilitated.

[0033] (3) the inclined surface structure of the pressing block is matched with the inclined block of the gripper, complete contact is achieved, the pressing block can apply force in two different directions (Z direction and Y direction), the acting force can be effectively dispersed, the situation that a single point is subjected to excessive force is reduced, the possibility of local wear is reduced, and therefore the service life of the mechanism is prolonged.

[0034] (4) the structure design of the cam guide is adopted, the inner side surface of the cam bearing follower head is in contact with the front side surface of the gripper, the support and the nut are not in direct contact with the gripper, and the shape design is adopted, so that the friction between the gripper and the cam guide is reduced while the gripper quickly reaches the predetermined position, and therefore the service life and durability of the gripper and the cam guide are increased. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The structure of the Docking locking mechanism provided by the utility model embodiment Figure One .

[0036] Figure 2 The structure of the Docking locking mechanism provided by the utility model embodiment Figure Two .

[0037] Figure 3 The structure of the pressing block in the Docking locking mechanism provided by the utility model embodiment Figure One .

[0038] Figure 4 The structure of the pressing block in the Docking locking mechanism provided by the utility model embodiment Figure Two .

[0039] Figure 5 The structure of the cam guide in the Docking locking mechanism provided by the utility model embodiment Figure One .

[0040] Figure 6A schematic diagram of the cam guide structure in the docking locking mechanism provided in this embodiment of the utility model. Figure Two . Detailed Implementation

[0041] The following detailed description illustrates the specific implementation method:

[0042] The reference numerals in the accompanying drawings include: 1. heavy clamping cylinder; 2. pressure block; 3. cam guide; 31. nut; 32. bracket; 33. cam bearing follower; 4. limit block; 5. gripper; 6. support assembly.

[0043] Example 1:

[0044] The basic implementation examples are as follows: Figure 1 As shown, the docking locking mechanism includes a drive assembly for clamping the gripper 5, a positioning assembly for positioning the gripper 5 below the drive assembly, and a support assembly for supporting the positioning assembly on the right side of the positioning assembly.

[0045] The drive assembly includes a high-pressure clamping cylinder 1 and a pressure block 2. The bottom of the high-pressure clamping cylinder 1 is fixedly connected to the pressure block 2 with an inclined structure. Under the drive of the high-pressure clamping cylinder 1, the pressure block 2 moves up and down together with the high-pressure clamping cylinder 1, moving closer to or away from the gripper 5, thereby achieving the clamping and moving away of the gripper 5.

[0046] Below the drive assembly is a positioning component for positioning the gripper 5. This positioning component includes a cam guide 3 for limiting and guiding the movement of the gripper 5, and a limiting block 4 for positioning and supporting the gripper 5. The cam guide 3 is mounted on the inner side of the right support assembly 6 and located in front of the pressure block, used to fix and guide the position of the gripper 5. Below the pressure block 2 is the limiting block 4 for positioning and supporting the gripper 5. The limiting block 4 provides a fixed reference point, ensuring that the gripper 5 accurately stops at the same position after each workpiece clamping, thereby improving machining consistency and accuracy. The limiting block 4 is mounted above the support plate on the inner side of the support assembly 6. This support plate is specifically designed to fix and support the limiting block 4, providing a stable mounting platform for it and ensuring that it does not shift or tilt during operation, thus enhancing the stability of the locking mechanism. Simultaneously, the limiting block 4 can precisely control the vertical movement range of the gripper 5, ensuring it always remains in the predetermined position, improving the locking accuracy and reliability. In addition, the limiting block 4 contacts the block on the lower surface of the gripper 5 and the shape is adapted to it, which ensures close contact between the limiting block 4 and the gripper 5, provides precise mechanical limiting, thereby preventing excessive movement of the gripper 5 and improving the positioning accuracy of the mechanism; at the same time, the adapted shape can better disperse the contact force, avoid local stress concentration, make the gripper 5 more stable during operation, and reduce vibration or shaking.

[0047] In the embodiment, the strong clamping cylinder 1, the pressing block 2 with the inclined surface structure, the limiting block 4 and the cam guide 3 jointly realize the stable locking of the gripper 5 in two directions, wherein the locking refers to that the gripper 5 can be firmly and reliably locked at the required position to prevent loosening or displacement during operation.

[0048] Specifically, as shown in Figure 3 , the pressing block 2 includes a rectangular structure and an inclined surface structure, the rectangular structure is located above the inclined surface structure and is integrally connected with the inclined surface structure, thereby ensuring the integrity and strength of the pressing block 2. In the embodiment, as shown in Figure 4 , the rectangular structure is a cuboid and the inclined surface structure is a right trapezoidal structure with a downward inclined surface. The right trapezoidal shape design facilitates processing, reduces production costs, and facilitates ensuring greater and uniform stress, and the inclined surface thereof matches the inclined block on the gripper 5, thereby ensuring good contact and force transmission and improving the pressing effect. The connection between the cuboid and the right trapezoidal structure adopts a smooth arc transition, which reduces the wear of the connection part and prolongs the service life of the pressing block 2. The inclined surface of the right trapezoidal structure faces downward and contacts the inclined block on the gripper 5, and the shape and inclination angle of the inclined surface in the pressing block 2 completely match the inclined block, thereby ensuring that the two can be closely fitted to more effectively transmit the acting force. The combined design of the rectangular structure and the inclined surface structure of the pressing block 2 enables the pressing block 2 to apply force in two different directions (Z direction and Y direction), thereby effectively dispersing the acting force, reducing the possibility of local wear and tear, prolonging the service life of the mechanism. As shown in Figure 2As shown, the rectangular part of the pressing block 2 is fixedly connected with the bottom of the strong clamping cylinder 1, the strong clamping cylinder 1 and the pressing block 2 jointly exert a force downward in the Z direction on the gripper 5, the limiting block 4 installed below the gripper 5 is in close contact with the lower surface of the gripper 5 and is in shape adaptation, and exerts a force upward in the Z direction on the gripper 5, the force between the two is equal in size and opposite in direction, and can be mutually cancelled, so as to achieve static balance of the mechanism and effectively realize the locking of the gripper 5 in the Z direction, thereby limiting the freedom of the gripper 5 in the Z direction. The pressing block 2 not only exerts a force downward in the Z direction on the gripper 5, but also the inclined edge of the inclined surface mechanism is in close contact with the inclined edge of the inclined block on the upper surface of the gripper 5 and is in shape adaptation, thereby exerting a force outward in the Y direction on the gripper 5, and the pressing block 2 cooperates with the cam guide 3 arranged in the Y direction, the cam guide 3 exerts a force inward in the Y direction on the gripper 5, the force between the two is equal in size and opposite in direction, and can be mutually cancelled, so as to achieve balance in the Y direction and ensure stable locking of the gripper 5 in the Y direction. The docking locking mechanism in the scheme realizes double locking of the gripper 5 in the Z direction and the Y direction through the positions and structures of the strong clamping cylinder 1, the pressing block 2, the limiting block 4 and the cam guide 3, improves the stability of the gripper 5, and thereby ensures accurate and stable machining of the workpiece during machining. In the embodiment, the Z direction is the longitudinal direction, and the Y direction is the transverse direction.

[0049] The specific implementation process is as follows:

[0050] During processing: using mechanical arm or other automation equipment, the workpiece to be welded is accurately grabbed by the gripper 5, after the grabbing is completed, the gripper 5 holding the workpiece will slowly move into the limiting block 4, the limiting block 4 is used for the preliminary positioning of the gripper 5, and it is ensured that the gripper 5 is roughly aligned with the predetermined position, under the guidance of the cam guide 3, the position of the gripper 5 is slightly adjusted, so that it can be aligned with the position of the limiting block 4 and the cam guide 3 at the same time, so as to ensure that the gripper 5 can accurately reach the predetermined position; that is, the block in the gripper 5 directly contacts the limiting block 4, the inner side of the cam guide 3 directly contacts the outer side of the gripper 5, and the cam guide 3 enables the gripper 5 to reach the predetermined position more quickly. After the positioning of the gripper 5 is completed, the powerful clamping cylinder 1 is started, under the driving of the powerful clamping cylinder 1, the pressing block 2 follows and moves downward to gradually approach the gripper 5, and finally the inclined surface structure of the pressing block 2 directly contacts the inclined block inclined edge on the upper surface of the gripper 5, the powerful clamping cylinder 1 and the pressing block 2 jointly act on the gripper 5 to exert a Z-direction downward force, so as to ensure that the gripper 5 is firmly fixed, in addition, the structure design of the pressing block 2 with the inclined surface is in close contact with the inclined block on the gripper 5 and is adapted to the shape, so that the pressing block 2 adds a Y-direction outward force to the gripper 5, thereby realizing the effective transmission of multi-directional force. Under the guidance of the cam guide 3 and the limitation of the limiting block 4, the limiting block 4 exerts a Z-direction upward force on the gripper 5 to prevent the gripper 5 from moving downward, and the cam guide 3 exerts a Y-direction inward force on the gripper 5. When the gripper 5 reaches the predetermined position, the accurate balance of the four forces ensures its stable fixation (locking) in two key directions, the Z-direction downward force and the Z-direction upward force are equal in size and opposite in direction, and offset each other, preventing movement in the vertical direction, and the Y-direction outward force and the Y-direction inward force are equal in size and opposite in direction, and offset each other, avoiding movement in the horizontal direction. The four forces correspond to each other and offset each other, so that the gripper 5 is stably locked in the Z direction and the Y direction, thereby ensuring that the workpiece remains accurate and stable during processing.

[0051] After processing is completed: the powerful clamping cylinder 1 drives the pressing block 2 to move upward together, gradually away from the gripper 5, when moving to the most initial position, the gripper 5 can safely release the workpiece, and prepare for the grabbing and processing of the next workpiece.

[0052] The scheme introduces a double locking mechanism, which realizes the locking of the gripper 5 in two directions, thereby breaking the technical prejudice of traditional gripper 5 design which only focuses on locking in one direction and ignores the freedom problem in other directions, and solving the problem of uneven stress of single direction locking mechanism. Specifically, through the synergistic effect of the strong clamping cylinder 1, the pressing block 2, the cam guide 3 and the limiting block 4, when the gripper 5 accurately reaches the predetermined position, the strong clamping cylinder 1, the pressing block 2 and the limiting block 4 jointly provide a pair of equal and opposite forces in the Z direction of the gripper 5, realizing the stable locking in the Z direction; the inclined surface structure of the pressing block 2 and the cam guide 3 provide a pair of equal and opposite forces in the Y direction of the gripper 5, thereby realizing the stable locking in the Y direction. The double locking mechanism in the Y direction and the Z direction ensures the stable locking of the gripper 5, avoids any unnecessary movement or vibration, thereby improving the welding quality and efficiency in the machining process, and enhancing the safety and reliability of the operation.

[0053] Embodiment two:

[0054] The difference between this embodiment and embodiment one is that in this embodiment, the cam guide 3 includes a bracket 32 and a cam follower, the bracket 32 is provided with a through hole for the cam follower to pass through; the cam follower includes a cam bearing follower 33 and a nut 31, the tail of the cam bearing follower 33 passes through the through hole and is connected with the nut 31. The head of the cam bearing follower 33 is a cylinder, the diameter of the head of the cam bearing follower 33 is greater than the transverse length of the bracket 32, and the inner side of the head of the cam bearing follower 33 directly contacts and abuts against the front side of the gripper 5.

[0055] Specifically, as Figure 6As shown, in this embodiment, the bracket 32 is provided with a through hole for the cam follower to pass through, and the tail of the cam bearing follower 33 passes through the through hole and is connected with the nut 31. When the gripper 5 reaches the predetermined position, the inner side surface of the head of the cam bearing follower 33 is in contact with the front side surface of the gripper 5 and tightly abuts against it, thereby providing a Y-direction inward force for the gripper 5 and ensuring the stable fixation of the gripper 5 in the Y direction. The head of the cam bearing follower 33 is a cylinder, and the top of the bracket 32 is arc-shaped. The design of the shape of the head of the cam bearing follower 33 and the bracket 32 reduces the friction between the head of the cam bearing follower 33 and the bracket 32, and at the same time reduces the friction between the cam bearing follower 33 and the gripper 5. The diameter of the head of the cam bearing follower 33 is greater than the transverse length of the bracket 32, which prevents the cam follower from rotating excessively or coming out of the bracket 32 during installation or use. In addition, the contact area between the inner side surface of the head of the cam bearing follower 33 and the front side surface of the gripper 5 is more than 90% of the inner side surface area of the head of the cam bearing follower 33. The larger contact area provides more friction, enhances the connection stability between the inner side surface of the head of the cam bearing follower 33 and the front side surface of the gripper 5, reduces the possibility of sliding, and can effectively transmit the force applied by the head of the cam bearing follower to the gripper 5.

[0056] In this scheme, the tail of the cam bearing follower 33 passes through the through hole and is connected with the nut 31, which ensures the accurate alignment between the cam bearing follower 33 and the nut 31, reduces the possibility of eccentric movement, improves the positioning accuracy of the mechanism, and ensures accurate installation at the required position. At the same time, this structure makes the installation of the cam follower more simple and direct, facilitates subsequent inspection and maintenance work, and allows quick replacement or adjustment of parts without complex alignment process. When maintenance or replacement of parts is required, the cam guide 3 can be easily removed by unscrewing the nut 31, which improves the maintenance efficiency.

[0057] Embodiment Three:

[0058] The difference between this embodiment and Embodiment One is that in this embodiment, when the inner side surface of the head of the cam bearing follower 33 is in contact with the front side surface of the gripper 5 and abuts against it, there is a gap between the inner side surface of the bracket 32 and the outer side surface of the gripper 5, and the gap is in the range of 0mm-7mm. There is also a gap between the inner side surface of the nut 31 and the outer side surface of the gripper 5, and the gap is in the range of 0mm-11mm.

[0059] Specifically, as Figure 5As shown, when the cam bearing follower 33 head inner side surface is in contact with the front side surface of the gripper 5, the support 32 and the nut 31 are not in direct contact with the gripper 5, the gap between the inner side surface of the support 32 and the outer side surface of the gripper 5 is 6.003mm, and the gap between the inner side surface of the nut 31 and the outer side surface of the gripper 5 is 10.758mm. The present scheme sets appropriate gaps so that the inner side surface of the support 32 and the inner side surface of the nut 31 are not in direct contact with the outer side surface of the gripper 5, thereby avoiding unnecessary pressure on other components (the support 32 and the nut 31), thereby protecting the surface quality of the gripper 5 and other related components, reducing unnecessary friction between the gripper 5 and the support 32 and the nut 31, reducing the wear rate, and increasing the service life of the mechanism. Even after long-term use, the mechanism can still ensure high precision and stability. Avoiding unnecessary pressure on other parts protects the surface quality of the gripper 5 and other related components.

[0060] The above is only an embodiment of the present application, and the specific technical solutions and / or common knowledge of the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A docking locking mechanism, characterized by: The device includes a drive assembly for clamping the gripper, a positioning assembly for positioning the gripper below the drive assembly, and a support assembly for supporting the positioning assembly on the right side of the positioning assembly. The drive assembly includes a pressure block and a high-pressure clamping cylinder for driving the pressure block to move. The pressure block is located at the bottom of the high-pressure clamping cylinder and has an inclined structure. The pressure block moves up and down with the high-pressure clamping cylinder. The positioning assembly includes a cam guide for restricting and guiding the movement of the gripper and a limiting block for positioning and supporting the gripper. The cam guide is located in front of the pressure block, and the limiting block is located below the pressure block. The high-pressure clamping cylinder drives the pressure block to contact the upper surface of the gripper, applying a downward longitudinal force and a laterally outward force to the gripper. The limiting block contacts the lower surface of the gripper, applying an upward longitudinal force to the gripper. The cam guide contacts the front side of the gripper, applying a laterally inward force to the gripper. The high-pressure clamping cylinder, pressure block, cam guide, and limiting block work together to achieve clamping of the gripper in both the longitudinal and lateral directions.

2. The docking locking mechanism according to claim 1, characterized in that: The pressure block also includes a rectangular structure integrally formed and connected with the inclined structure, the rectangular structure being located above the inclined structure, and the inclined structure having an inclined surface.

3. The docking locking mechanism according to claim 1, characterized in that: The cam guide includes a bracket and a cam follower, the bracket having a through hole through which the cam follower passes.

4. The docking locking mechanism according to claim 3, characterized in that: The cam follower includes a cam bearing follower and a nut, with the tail of the cam bearing follower passing through the through hole and connected to the nut.

5. The docking locking mechanism according to claim 4, characterized in that: The head of the cam bearing follower is cylindrical, and the diameter of the head of the cam bearing follower is greater than the lateral length of the bracket.

6. The docking locking mechanism according to claim 1, characterized in that: A support plate for placing the limiting block is installed on the inner side of the support assembly.

7. The docking locking mechanism according to claim 6, characterized in that: The limiting block is in contact with the block on the lower surface of the gripper and their shapes are compatible.

8. The docking locking mechanism according to claim 2, characterized in that: The upper surface of the gripper is provided with an inclined block, and the inclined surface is in contact with the inclined surface of the inclined block and the shape is adapted to it.

9. The docking locking mechanism according to claim 4, characterized in that: There is a gap between the inner side of the bracket and the outer side of the gripper, ranging from 0mm to 7mm. There is also a gap between the inner side of the nut and the outer side of the gripper, ranging from 0mm to 11mm.

10. The docking locking mechanism according to claim 4, characterized in that: The inner side of the cam bearing follower head is in direct contact with the front side of the gripper.

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