Workpiece multi-dimensional movement clamping mechanism

Abstract

The workpiece multi-dimensional movement clamping mechanism comprises a clamp, a portal frame, a translation driving assembly, a lifting driving assembly and a rotating driving assembly, the clamp is hoisted on the portal frame and suspended above a feeding and discharging station and an operation station, and the translation driving assembly is used for driving the clamp to move in the first horizontal direction; the lifting driving assembly is used for driving the clamp to move in the vertical direction. The rotating driving assembly is used for driving the clamp to rotate. By arranging the translation driving assembly and the lifting driving assembly for the clamp, workpieces can be efficiently and accurately transferred; in the workpiece processing process, the clamp can fix the workpiece, the translation driving assembly and the lifting driving assembly can adjust the position of the workpiece, and the processing efficiency of the working equipment is improved. And in cooperation with the rotary driving assembly, the clamp can also calibrate the facing direction of the workpiece, so that the to-be-treated position of the workpiece directly faces the treatment equipment, or the workpiece is comprehensively treated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of workpiece conveying, and in particular to a workpiece multi-dimensional motion clamping mechanism. BACKGROUND

[0002] In a grinding workshop, workpieces to be processed need to be delivered to grinding equipment, and the processed workpieces need to be delivered downstream. In order to improve processing efficiency, a belt, a motorized roller, or the like is often provided to deliver the workpieces. However, conventional delivery is usually a fixed-point and fixed-direction translation, and the delivery equipment does not participate in the grinding process. Usually, the grinding equipment needs to adjust the angle of the workpiece and confirm the facing of the workpiece, which not only affects the accuracy and comprehensiveness of the workpiece grinding, but also affects the work efficiency. SUMMARY

[0003] The present application aims to overcome the deficiencies in the prior art and provide a workpiece multi-dimensional motion clamping mechanism.

[0004] To achieve the above technical purpose, the present application provides a workpiece multi-dimensional motion clamping mechanism, comprising: a clamp for grabbing a workpiece; a gantry for hoisting the clamp so that the clamp is suspended above a loading and unloading station and a working station; a translation driving assembly for driving the clamp to move in a first horizontal direction so that the clamp reciprocates between the loading and unloading station and the working station; a lifting driving assembly for driving the clamp to move in a vertical direction so that the clamp lifts and lowers the workpiece; and a rotation driving assembly for driving the clamp to rotate; wherein the clamp is slidingly arranged on the gantry; in operation, the clamp can go to the loading and unloading station to obtain a workpiece to be processed, and under the cooperation of the translation driving assembly and the lifting driving assembly, the clamp can carry the workpiece to the working station; during processing of the workpiece, the rotation driving assembly can drive the clamp to rotate with the workpiece, thereby adjusting the facing of the workpiece.

[0005] Further, the clamp comprises: four clamping jaws distributed in a cross direction and capable of clamping a workpiece; and a clamping driving assembly for driving the four clamping jaws to move closer to or away from each other so as to clamp or release the workpiece.

[0006] Further, the clamping jaw is provided with a insertion hole, and the edge of the workpiece can be inserted into the insertion hole.

[0007] Further, the clamping jaw for contacting the surface of the workpiece is provided with an antiskid pad.

[0008] Further, the clamping driving assembly comprises a clamping driving member and a clamping gear, the clamping driving member is used to drive the clamping gear to rotate; a first rack and a second rack, the first rack and the second rack are respectively engaged with the clamping gear, and the first rack and the second rack are centrally symmetrically arranged; a third rack and a fourth rack, the third rack and the fourth rack are also respectively engaged with the clamping gear, and the third rack and the fourth rack are centrally symmetrically arranged; wherein the first rack, the second rack, the third rack and the fourth rack are respectively connected with a clamping jaw, and the movement direction of the first rack and the second rack is perpendicular to the movement direction of the third rack and the fourth rack; when the clamping driving member drives the clamping gear to rotate forward, the first rack, the second rack, the third rack and the fourth rack translate away from the rotation axis, and the four clamping jaws are away from each other; when the clamping driving member drives the clamping gear to rotate reversely, the first rack, the second rack, the third rack and the fourth rack translate towards the rotation axis, and the four clamping jaws are close to each other.

[0009] Further, the clamp further comprises a mounting frame for mounting the clamping jaw, and a shock absorber for connecting the mounting frame and the clamping jaw; during the workpiece processing, the clamp fixes the workpiece on the work station, and the shock absorber can reduce the vibration transmitted by the clamp to the translation driving assembly, the lifting driving assembly, the rotation driving assembly and the gantry.

[0010] Further, the gantry comprises a first cross beam and a second cross beam which are arranged at intervals along a second horizontal direction, the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other; the translation driving assembly (20) comprises two groups of upper rails, the upper surfaces of the first cross beam and the second cross beam are respectively provided with one group of upper rails; two groups of lower rails, the lower surfaces of the first cross beam and the second cross beam are respectively provided with one group of lower rails, the upper rails and the lower rails are arranged along the first horizontal direction; two groups of sliding seats, one group of sliding seats is slidably connected with the upper rails and the lower rails on the first cross beam, and the other group of sliding seats is slidably connected with the upper rails and the lower rails on the second cross beam; a connecting seat connected with the two groups of sliding seats, the lifting driving assembly is arranged on the connecting seat, and the clamp is arranged on the lifting driving assembly.

[0011] Further, the translation driving assembly further comprises a translation driving motor arranged on the connecting seat; a linkage shaft arranged along the second horizontal direction, the translation driving motor is used to drive the linkage shaft to rotate; a first linkage gear arranged on one end of the linkage shaft; a second linkage gear arranged on the other end of the linkage shaft; a first linkage rack arranged on the first cross beam and engaged with the first linkage gear; a second linkage rack arranged on the second cross beam and engaged with the second linkage gear; wherein the first linkage rack and the second linkage rack are arranged along the first horizontal direction.

[0012] Further, the lifting driving assembly comprises a mounting base slidingly arranged on the connecting base, a lifting rack arranged on the mounting base and extending in the vertical direction, and a lifting driving motor and a lifting gear, wherein the lifting driving motor is arranged on the connecting base, the lifting gear is engaged with the lifting rack, and the lifting driving motor is configured to drive the lifting gear to rotate.

[0013] Further, the rotating driving assembly comprises a rotating driving motor and a rotating gear, wherein the rotating driving motor is configured to drive the rotating gear to rotate; a rotary support, wherein the clamp is arranged on the lower surface of the rotary support, and the upper surface of the rotary support is provided with a gear ring engaged with the rotating gear; and a rotating joint arranged at the center of the rotary support, wherein the oil pipe and the cable can be connected to the clamp through the rotating joint.

[0014] The application provides a workpiece multi-dimensional motion clamping mechanism, which comprises a clamp, a portal frame, a translation driving assembly, a lifting driving assembly and a rotating driving assembly. The clamp is hung on the portal frame and suspended above the feeding and discharging station and the working station. The translation driving assembly is configured to drive the clamp to move in the first horizontal direction. The lifting driving assembly is configured to drive the clamp to move in the vertical direction. The rotating driving assembly is configured to drive the clamp to rotate. The translation driving assembly and the lifting driving assembly are arranged on the clamp, so that the workpiece can be transferred efficiently and accurately. During the process of accepting the workpiece for processing, the clamp can fix the workpiece, the translation driving assembly and the lifting driving assembly can adjust the position of the workpiece and improve the processing efficiency of the working equipment. In combination with the rotating driving assembly, the clamp can also calibrate the facing direction of the workpiece, so that the position to be processed of the workpiece faces the processing equipment or the workpiece can be processed comprehensively. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 FIG. 1 is a structural schematic diagram of a workpiece multi-dimensional motion clamping mechanism provided by the application;

[0016] Figure 2 FIG. 2 is an enlarged view of the structure in the middle circle of FIG. 1; Figure 1

[0017] Figure 3 FIG. 4 is a structural schematic diagram of another workpiece multi-dimensional motion clamping mechanism provided by the application;

[0018] Figure 4 FIG. 5 is a sectional view of the workpiece multi-dimensional motion clamping mechanism shown in FIG. 4; Figure 3

[0019] Figure 5 FIG. 6 is a sectional view of the workpiece multi-dimensional motion clamping mechanism shown in FIG. 5; Figure 3

[0020] Figure 6 FIG. 7 is a structural schematic diagram of a clamping driving assembly provided by the application;

[0021] Figure 7 FIG. 8 is a structural schematic diagram of another clamping driving assembly provided by the application.​​​Figure 6 Structure diagram of the clamping driving assembly in another state. DETAILED DESCRIPTION

[0022] In order to make the above objectives, features and advantages of the present application more apparent, a detailed description of the specific embodiments of the present application will be given below with reference to the accompanying drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0023] The present application provides a workpiece multi-dimensional motion clamping mechanism, comprising: a clamp 10 for grabbing a workpiece; a portal frame 1 for hoisting the clamp 10 so that the clamp 10 is suspended above a feeding and discharging station and a working station; a translation driving assembly 20 for driving the clamp 10 to move along a first horizontal direction so that the clamp 10 reciprocates between the feeding and discharging station and the working station; a lifting driving assembly 30 for driving the clamp 10 to move along a vertical direction so that the clamp 10 lifts and lowers the workpiece; and a rotation driving assembly 40 for driving the clamp 10 to rotate; wherein the clamp 10 is slidingly arranged on the portal frame 1; in operation, the clamp 10 can go to the feeding and discharging station to obtain a workpiece to be processed, and under the combined driving of the translation driving assembly 20 and the lifting driving assembly 30, the clamp 10 can carry the workpiece to the working station; during the processing of the workpiece, the rotation driving assembly 40 can drive the clamp 10 to rotate with the workpiece, so as to adjust the facing of the workpiece.

[0024] Specifically refer to Figure 1 In the illustrated embodiment, the first horizontal direction is the left-right direction. The feeding and discharging station and the working station are arranged in line along the first horizontal direction; the portal frame 1 extends along the first horizontal direction and is arranged across the feeding and discharging station and the working station. The clamp 10 is slidingly arranged on the portal frame 1 through a sliding rail; the translation driving assembly 20 can drive the clamp 10 to move horizontally and reciprocally so as to move the clamp 10 to and from the feeding and discharging station and the working station; the lifting driving assembly 30 can drive the clamp 10 to move vertically and reciprocally so as to lift the clamp 10 to avoid the position or lower the clamp 10 to place and take the workpiece; and the rotation driving assembly 40 can drive the clamp 10 to rotate around the central axis. During the processing of the workpiece, the clamp 10 fixes the workpiece at the working station so as to process the workpiece by a working device, and when necessary, the rotation driving assembly 40 can drive the clamp 10 to rotate with the working device so as to accurately act on a specific position of the workpiece or comprehensively act on the workpiece.

[0025] The translation driving assembly 20 and the lifting driving assembly 30 can adopt any driving device capable of realizing directional movement of the clamp 10, such as an electric cylinder or a linear module. The rotation driving assembly 40 can adopt any driving device capable of realizing self-rotation of the clamp 10, such as a rotary cylinder or a motor.

[0026] In an embodiment, the working equipment is a polishing machine. The workpiece to be polished is placed at the loading and unloading station, the translation driving assembly 20 drives the clamp 10 to move to the loading and unloading station, the clamp 10 is suspended above the workpiece, and the lifting driving assembly 30 drives the clamp 10 to descend so as to contact the workpiece; after the clamp 10 grasps the workpiece, the lifting driving assembly 30 drives the clamp 10 to ascend with the workpiece, and then the translation driving assembly 20 drives the clamp 10 to move with the workpiece to the working station; the polishing machine is arranged at the working station, and after the clamp 10 moves with the workpiece to above the polishing machine, the lifting driving assembly 30 drives the clamp 10 to descend so that the workpiece enters the polishing machine; the polishing machine is internally provided with abrasive, and the polishing machine is started to vibrate the abrasive to polish the workpiece; during the polishing process, the rotation driving assembly 40 drives the clamp 10 to continuously rotate at a constant speed with the workpiece, so as to make the abrasive act on the workpiece comprehensively and facilitate the workpiece to be stable in the polishing machine and not to move or displace easily.

[0027] Optionally, during the polishing process, the lifting driving assembly 30 intermittently works to drive the clamp 10 to continuously ascend and descend; when the clamp 10 descends, the workpiece is immersed in the abrasive to receive polishing, and when the clamp 10 ascends, the polishing machine vibrates to facilitate the abrasive to restore a uniform distribution state.

[0028] Optionally, at the working station, the clamp 10 has two working positions, and the two working positions are symmetrically arranged with the center of the polishing machine as the axis.

[0029] In an embodiment, during polishing, the clamp 10 descends, the workpiece is immersed in the abrasive to be polished for a preset time length, the lifting driving assembly 30 drives the clamp 10 to ascend, at the same time, the translation driving assembly 20 drives the clamp 10 to move to the left to the first working position; the lifting driving assembly 30 drives the clamp 10 to descend, and after the workpiece is polished for a preset time length again, the lifting driving assembly 30 drives the clamp 10 to ascend, at the same time, the translation driving assembly 20 drives the clamp 10 to move to the right to the second working position. Since the vibration source of the polishing machine is on the side, the workpiece is close to the edge, which is beneficial to improve the polishing effect; during the polishing process, the workpiece is reciprocatingly displaced, which can fully utilize the amount difference of the abrasive to ensure the polishing intensity and polishing uniformity.

[0030] In summary, the workpiece multi-dimensional motion clamping mechanism provided by the application can efficiently and accurately transfer the workpiece by providing the clamp 10 with the translation driving assembly 20 and the lifting driving assembly 30. During the process of accepting the workpiece, the clamp 10 can fix the workpiece, and the translation driving assembly 20 and the lifting driving assembly 30 can adjust the position of the workpiece and improve the processing efficiency of the work equipment. In cooperation with the rotary driving assembly 40, the clamp 10 can also calibrate the facing of the workpiece, so that the position to be processed of the workpiece faces the processing equipment, or the workpiece can be processed comprehensively.

[0031] In an embodiment, the clamp 10 includes: four clamping jaws 11, which are distributed along the cross direction and can hold a workpiece; and a clamping driving assembly 12, which is used to drive the four clamping jaws 11 to move closer to or away from each other, so as to hold or release the workpiece.

[0032] In this embodiment, when the clamp 10 grabs the workpiece, it can apply force from the front, back, left and right four directions, and then clamp the workpiece. The four-direction clamping force is conducive to the stability and reliability of the workpiece transportation. Especially during grinding, the clamp 10 fixes the workpiece and keeps it in the abrasive. The abrasive moves and hits the workpiece. The movement of the abrasive is not directional to the workpiece, which makes the workpiece have the tendency of forced movement. The four clamping jaws 11 can effectively prevent the workpiece from escaping from the clamp 10 by tightly fixing the workpiece from four directions, so that the workpiece can stay stably in the abrasive to be ground.

[0033] Among them, the clamping jaw 11 can be a plate, a block, a rod or any other structure that can resist the workpiece, and the clamping driving assembly 12 can be a cylinder, a motor or any other driving structure that can drive the clamping jaws 11 to move closer to or away from each other.

[0034] Optionally, the clamping jaw 11 is provided with a socket, and the edge of the workpiece can be inserted into the socket.

[0035] For details, please refer to Figure 1 and Figure 2 In the illustrated embodiment, the end of the clamping jaw 11 for contacting the workpiece is composed of two blocks, which are spaced apart along the vertical direction and leave a gap between them, which is the socket. The top of the workpiece is provided with a skirt, and when the clamp 10 grabs the workpiece, the skirt of the workpiece can be inserted into the socket.

[0036] The socket insertion form can not only avoid the workpiece from slipping and moving when relying on pressure to fix the workpiece, but also prevent the workpiece from moving up and down during processing.

[0037] Optionally, the surface of the clamping jaw 11 for contacting the workpiece is provided with a non-slip pad.

[0038] The anti-skid pad can be made of rough material (the material itself can be rough, or an interval anti-skid structure such as anti-skid strips or anti-skid blocks can be arranged on the surface of the material), or can be made of elastic material such as rubber or plastic.

[0039] The use of the anti-skid pad can further enhance the firmness of the clamp 10 in grabbing the workpiece, especially during the process of fixing the workpiece by the clamp 10 and processing the workpiece, so as to ensure the stability of the position of the workpiece and prevent the workpiece from being displaced or shaken, which is beneficial to the processing effect of the workpiece.

[0040] In an embodiment, the clamping driving assembly 12 comprises a clamping driving member and a clamping gear 122, the clamping driving member is used to drive the clamping gear 122 to rotate; a first rack 123 and a second rack 124, the first rack 123 and the second rack 124 are respectively engaged with the clamping gear 122, and the first rack 123 and the second rack 124 are centrally symmetrically arranged; a third rack 125 and a fourth rack 126, the third rack 125 and the fourth rack 126 are also respectively engaged with the clamping gear 122, and the third rack 125 and the fourth rack 126 are centrally symmetrically arranged; wherein the first rack 123, the second rack 124, the third rack 125 and the fourth rack 126 are respectively connected with one clamping jaw 11, and the movement direction of the first rack 123 and the second rack 124 is perpendicular to the movement direction of the third rack 125 and the fourth rack 126; when the clamping driving member drives the clamping gear 122 to rotate forward, the first rack 123, the second rack 124, the third rack 125 and the fourth rack 126 translate away from the rotation axis, and the four clamping jaws 11 move away from each other; when the clamping driving member drives the clamping gear 122 to rotate reversely, the first rack 123, the second rack 124, the third rack 125 and the fourth rack 126 translate towards the rotation axis, and the four clamping jaws 11 move close to each other.

[0041] The clamping driving member can be a rotary air cylinder, a motor or any other driving structure capable of driving the clamping gear 122 to rotate.

[0042] For details, please refer to Figure 6 In the illustrated embodiment, the first rack 123 is arranged on the upper side of the clamping gear 122, and the second rack 124 is arranged on the lower side of the clamping gear 122; the third rack 125 is arranged on the left side of the clamping gear 122, and the fourth rack 126 is arranged on the right side of the clamping gear 122. When the clamping driving member drives the clamping gear 122 to rotate counterclockwise, the first rack 123 extends outward from right to left, the second rack 124 extends outward from left to right, the third rack 125 extends outward from top to bottom, and the fourth rack 126 extends outward from bottom to top; the four clamping jaws 11 arranged on the four racks move away from each other, and the clamp 10 is opened.

[0043] For details, please refer to Figure 7When the clamping driving member drives the clamping gear 122 to rotate clockwise, the first rack 123 is retracted inward from left to right, the second rack 124 is retracted inward from right to left, the third rack 125 is retracted inward from bottom to top, and the fourth rack 126 is retracted inward from top to bottom; the four clamping jaws 11 provided on the four racks are close to each other, and the clamp 10 is closed.

[0044] The above embodiment realizes the opening and closing of the clamp 10 with four clamping jaws 11 by single driving, has simple structure, good synchronism, and small space requirement.

[0045] Optionally, the clamp 10 further comprises a mounting frame 13 for mounting the clamping jaw 11, and a shock absorber 14 for connecting the mounting frame 13 and the clamping jaw 11; during the workpiece processing, the clamp 10 fixes the workpiece at the work station, and the shock absorber 14 can reduce the vibration transmitted by the clamp 10 to the translation driving assembly 20, the lifting driving assembly 30, the rotary driving assembly 40 and the gantry 1.

[0046] Figure 1 And Figure 2 In the embodiment shown, the fixed end of the translation driving assembly 20 is provided on the gantry 1, the movable end is connected with the fixed end of the lifting driving assembly 30, the movable end of the lifting driving assembly 30 is connected with the fixed end of the rotary driving assembly 40, and the movable end of the rotary driving assembly 40 is connected with the mounting frame 13. The mounting frame 13 is substantially cross-shaped, and the four ends of the mounting frame 13 are respectively provided with a shock absorber 14, and the clamping jaw 11 is connected with the mounting frame 13 through the shock absorber 14.

[0047] The elastic structure of the shock absorber 14 can accelerate the attenuation of the vibration of the mounting frame 13 and the clamping jaw 11.

[0048] In a specific embodiment, at the work station, the clamp 10 fixes the workpiece in the abrasive, the abrasive vibrates, and the workpiece is continuously impacted by the abrasive; the clamping jaw 11 is subjected to the reaction force from the workpiece and is in a vibrating state, and the additional shock absorber 14 can avoid the vibration of the clamping jaw 11 being directly transmitted upward and damaging the driving structure, thereby improving the smoothness and safety of clamping.

[0049] In an embodiment, the gantry 1 comprises a first cross beam and a second cross beam arranged in a spaced manner along a second horizontal direction, the first horizontal direction, the second horizontal direction and the vertical direction being perpendicular to each other; the translation driving assembly 20 comprises: two groups of upper rails 21, one group of upper rails 21 being arranged on the upper surface of the first cross beam and the second cross beam respectively; two groups of lower rails 22, one group of lower rails 22 being arranged on the lower surface of the first cross beam and the second cross beam respectively, the upper rails 21 and the lower rails 22 being arranged in an extending manner along the first horizontal direction; two groups of sliding seats 23, one group of sliding seats 23 being in sliding connection with the upper rails 21 and the lower rails 22 on the first cross beam, and the other group of sliding seats 23 being in sliding connection with the upper rails 21 and the lower rails 22 on the second cross beam; a connecting seat 24 connected with the two groups of sliding seats 23, the lifting driving assembly 30 being arranged on the connecting seat 24, and the clamp 10 being arranged on the lifting driving assembly 30.

[0050] Specifically, reference can be made to Figures 3 to 5 In the illustrated embodiment, the sliding seat 23 is substantially in the shape of a C letter, and the first cross beam or the second cross beam is arranged in the groove channel of the sliding seat 23.

[0051] Reference can be made to Figure 4 The first cross beam is taken as an example for illustration. The first cross beam is provided with one group of upper rails 21 on the upper side and one group of lower rails 22 on the lower side; the sliding seat 23 comprises an upper wall, a lower wall and a side wall, and the upper wall, the lower wall and the side wall are connected in the shape of a C letter; the sliding seat 23 is arranged on the right side of the first cross beam, the upper wall of the sliding seat 23 is in sliding connection with the upper rails 21, and the lower wall is in sliding connection with the lower rails 22.

[0052] The design of the upper and lower groups of rails can improve the stability of the installation of the sliding seat 23, and further ensure the accuracy of the movement of the sliding seat 23.

[0053] Reference can be made to Figure 4 and Figure 5 The two groups of sliding seats 23 are arranged in opposite directions along the left-right direction, and the connecting seat 24 is arranged between the two groups of sliding seats 23. The connecting seat 24 connects the two groups of sliding seats 23, so as to ensure the synchronization of the movement of the two groups of sliding seats 23. The lifting driving assembly 30 is arranged on the sliding seat 23.

[0054] The translation driving assembly 20 further comprises a translation driving member, which can adopt the form of a motor cooperating with a screw rod, or can adopt a gas cylinder, an oil cylinder, an electric cylinder, etc.; the translation driving member is used to drive the sliding seat 23 and / or the connecting seat 24 to move along the first horizontal direction. When the translation driving member is started, the connecting seat 24 can drive the lifting driving assembly 30, the rotation driving assembly 40 and the clamp 10 to reciprocate between the upper and lower material loading and unloading stations and the working station.

[0055] In an embodiment, the translation driving component comprises: a translation driving motor 25 arranged on the connecting seat 24; a linkage shaft 26 arranged along the second horizontal direction, the translation driving motor 25 being configured to drive the linkage shaft 26 to rotate; a first linkage gear 27a arranged on one end of the linkage shaft 26; a second linkage gear 27b arranged on the other end of the linkage shaft 26; a first linkage rack 28a arranged on the first cross beam and engaged with the first linkage gear 27a; and a second linkage rack 28b arranged on the second cross beam and engaged with the second linkage gear 27b, wherein the first linkage rack 28a and the second linkage rack 28b are arranged along the first horizontal direction.

[0056] For details, refer to Figure 3 In the embodiment, the translation driving motor 25 is arranged on the rear side of the connecting seat 24 along the first horizontal direction, the linkage shaft 26 is connected to the movable end of the translation driving motor 25, and the linkage shaft 26 is arranged along the second horizontal direction. The first linkage gear 27a is arranged on the front end of the linkage shaft 26 along the second horizontal direction, and the second linkage gear 27b is arranged on the rear end of the linkage shaft 26. The two ends of the linkage shaft 26 are inserted into the sliding seat 23, and the linkage shaft 26 is connected to the sliding seat 23 through a bearing.

[0057] For details, refer to Figure 4 and Figure 5 The first cross beam is arranged on the left, and the second cross beam is arranged on the right. The first linkage rack 28a is arranged on the right side of the first cross beam, and the first linkage gear 27a is engaged with the first linkage rack 28a. The second linkage rack 28b is arranged on the left side of the second cross beam, and the second linkage gear 27b is engaged with the second linkage rack 28b.

[0058] When translation is needed, the translation driving motor 25 is started to drive the linkage shaft 26 to rotate synchronously with the two linkage gears. Under the action of the teeth engagement, the linkage gears can move along the corresponding linkage racks.

[0059] The transmission movement of the gear and the rack can ensure the driving accuracy and the driving strength, and can ensure the movement accuracy in cooperation with the guide rail. Meanwhile, the rack is fixed on the gantry 1, and the gantry 1 can improve the installation stability of the rack, avoid the shaking of the driving device during the operation, and further improve the stability and the reliability of the movement of the whole machine.

[0060] In an embodiment, the lifting driving assembly 30 comprises: a mounting seat 31 arranged on the connecting seat 24 in a sliding manner; a lifting rack 32 arranged on the mounting seat 31 and extending along the vertical direction; a lifting driving motor 33 arranged on the connecting seat 24; and a lifting gear 34 engaged with the lifting rack 32, wherein the lifting driving motor 33 is configured to drive the lifting gear 34 to rotate.

[0061] For details, refer to Figures 3 to 5In the illustrated embodiment, the mounting seat 31 is made of a hollow cylindrical profile and has a certain height. The mounting seat 31 is provided with a plurality of guide rails, and any one of the guide rails is arranged to extend in the vertical direction. The connecting seat 24 is provided with a mounting passage extending in the vertical direction, and the mounting passage is provided with a sliding block. The mounting seat 31 is arranged to pass through the mounting passage and is slidably connected to the connecting seat 24 through the sliding block and the guide rails.

[0062] With reference back to Figures 3 to 5 The fixed end of the lifting drive motor 33 is arranged on the connecting seat 24, and the movable end is connected to the lifting gear 34.

[0063] With reference back to Figures 3 to 5 The mounting seat 31 is provided with a lifting rack 32 on the side facing the lifting drive motor 33, and the lifting rack 32 is engaged with the lifting gear 34.

[0064] When lifting is needed, the lifting drive motor 33 is started to drive the lifting gear 34 to rotate. Under the action of the tooth engagement, the lifting rack 32 carries the mounting seat 31 to move in the vertical direction under the guidance of the guide rails and the sliding block.

[0065] The mounting seat 31 is provided with the moving structure, which can ensure the installation reliability and structural strength of each structure. The mounting seat 31 is a hollow structure, which can reduce the driving load by reducing the weight.

[0066] In an embodiment, the rotary drive assembly 40 includes a rotary drive motor 41 and a rotary gear 42. The rotary drive motor 41 is used to drive the rotary gear 42 to rotate. A rotary support 43 is arranged on the lower surface of the clamp 10. The upper surface of the rotary support 43 is provided with a tooth ring, which is engaged with the rotary gear 42. A rotary joint 44 is arranged at the center of the rotary support 43. The oil pipe and the cable can be connected to the clamp 10 through the rotary joint 44.

[0067] Specifically refer to Figure 5 In the illustrated embodiment, the rotary support 43 is rotatably arranged at the lower end of the mounting seat 31 through a bearing. The fixed end of the rotary drive motor 41 is arranged on one side of the mounting seat 31, and the movable end is provided with the rotary gear 42. The rotary gear 42 is engaged with the tooth ring on the rotary support 43.

[0068] When rotation is needed, the rotary drive motor 41 is started to drive the rotary gear 42 to rotate. Under the action of the tooth engagement, the rotary support 43 rotates. The clamp 10 is arranged on the rotary support 43 and can rotate with the rotary support 43.

[0069] With reference back to Figure 5The center of the rotary support 43 is provided with a vertical through hole, and the rotary joint 44 is arranged on the through hole, and the inner cavity of the rotary joint 44 is communicated with the through hole. The mounting seat 31 is a hollow structure, and the rotary joint 44 is fixedly arranged in the mounting seat 31. When the rotary support 43 rotates, the rotary joint 44 and the mounting seat 31 can keep a static state. The mounting seat 31 is provided with an external connecting hole, and the oil pipe and the cable required by the clamping driving assembly 12 can be inserted into the mounting seat 31 through the external connecting hole, then pass through the rotary joint 44 and the through hole, pass out of the rotary support 43, and be connected with the clamp 10 below the rotary support 43.

[0070] The arrangement of the rotary joint 44 facilitates the external connection of the wire, and can effectively avoid the entanglement of the external wire caused by the rotary motion.

[0071] The above embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A multi-dimensional motion clamping mechanism for a workpiece, characterized in that, The utility model relates to a workpiece processing device and a workpiece processing method. The device comprises: a clamp (10) for grabbing a workpiece; a gantry (1) for hoisting the clamp (10) so that the clamp (10) is suspended above a feeding and discharging station and a working station; a translation driving assembly (20) for driving the clamp (10) to move along a first horizontal direction so that the clamp (10) reciprocates between the feeding and discharging station and the working station; a lifting driving assembly (30) for driving the clamp (10) to move along a vertical direction so that the clamp (10) lifts and lowers a workpiece; a rotation driving assembly (40) for driving the clamp (10) to rotate; wherein the clamp (10) is slidingly arranged on the gantry (1); in operation, the clamp (10) can go to the feeding and discharging station to obtain a workpiece to be processed, and under the combined driving of the translation driving assembly (20) and the lifting driving assembly (30), the clamp (10) can carry the workpiece to the working station; 2. The workpiece multi-dimensional motion clamping mechanism of claim 1, wherein, during the processing of the workpiece, the rotation driving assembly (40) can drive the clamp (10) to rotate with the workpiece, so as to adjust the facing direction of the workpiece. The clamp (10) comprises: four clamping jaws (11) distributed along a cross direction and capable of clamping a workpiece; 3. The multi-dimensional workpiece gripping mechanism of claim 2, wherein, a clamping driving assembly (12) for driving the four clamping jaws (11) to move closer to or away from each other so that the clamp (10) clamps or releases a workpiece.

4. The multi-dimensional workpiece gripping mechanism of claim 2, wherein, The clamping jaw (11) is provided with a insertion hole into which the edge of a workpiece can be inserted.

5. The multi-dimensional workpiece gripping mechanism of claim 2, wherein, The surface of the clamping jaw (11) for contacting the workpiece is provided with an antiskid pad. The clamping driving assembly (12) comprises: a clamping driving member and a clamping gear (122), the clamping driving member is used for driving the clamping gear (122) to rotate; a first rack (123) and a second rack (124), the first rack (123) and the second rack (124) are respectively engaged with the clamping gear (122), and the first rack (123) and the second rack (124) are centrally symmetrically arranged; a third rack (125) and a fourth rack (126), the third rack (125) and the fourth rack (126) are also respectively engaged with the clamping gear (122), and the third rack (125) and the fourth rack (126) are centrally symmetrically arranged; wherein the first rack (123), the second rack (124), the third rack (125) and the fourth rack (126) are respectively connected with one clamping jaw (11), and the movement direction of the first rack (123) and the second rack (124) is perpendicular to the movement direction of the third rack (125) and the fourth rack (126); when the clamping driving member drives the clamping gear (122) to rotate in the positive direction, the first rack (123), the second rack (124), the third rack (125) and the fourth rack (126) translate away from the rotation axis, and the four clamping jaws (11) move away from each other. When the clamping driving element drives the clamping gear (122) to rotate reversely, the first rack (123), the second rack (124), the third rack (125) and the fourth rack (126) are translated towards the rotation axis, and the four clamping claws (11) are close to each other.

6. The multi-dimensional workpiece gripping mechanism of any of claims 2-5, wherein, The clamp (10) further comprises: a mounting frame (13) for mounting the clamping claws (11); a shock absorber (14) for connecting the mounting frame (13) and the clamping claws (11); During the workpiece processing, the clamp (10) fixes the workpiece on the work station, and the shock absorber (14) can reduce the vibration transmitted by the clamp (10) to the translation driving assembly (20), the lifting driving assembly (30), the rotation driving assembly (40) and the gantry (1).

7. The multi-dimensional workpiece gripping mechanism of claim 1, wherein, The gantry (1) comprises a first cross beam and a second cross beam which are arranged in a second horizontal direction, and the first horizontal direction, the second horizontal direction and the vertical direction are perpendicular to each other; The translation driving assembly (20) comprises: two groups of upper guide rails (21), one group of upper guide rails (21) is arranged on the upper surface of the first cross beam and the second cross beam respectively; two groups of lower guide rails (22), one group of lower guide rails (22) is arranged on the lower surface of the first cross beam and the second cross beam respectively, and the upper guide rails (21) and the lower guide rails (22) are arranged along the first horizontal direction; two groups of sliding seats (23), one group of sliding seats (23) is slidably connected with the upper guide rails (21) and the lower guide rails (22) on the first cross beam, and the other group of sliding seats (23) is slidably connected with the upper guide rails (21) and the lower guide rails (22) on the second cross beam; a connecting seat (24) connected with the two groups of sliding seats (23), the lifting driving assembly (30) is arranged on the connecting seat (24), and the clamp (10) is arranged on the lifting driving assembly (30).

8. The workpiece multi-dimensional motion clamping mechanism of claim 7, wherein, The translation driving assembly (20) further comprises: a translation driving motor (25) arranged on the connecting seat (24); a linkage shaft (26) arranged along the second horizontal direction, the translation driving motor (25) is used for driving the linkage shaft (26) to rotate; a first linkage gear (27a) arranged on one end of the linkage shaft (26); a second linkage gear (27b) arranged on the other end of the linkage shaft (26); a first linkage rack (28a) arranged on the first cross beam and engaged with the first linkage gear (27a); a second linkage rack (28b) arranged on the second cross beam and engaged with the second linkage gear (27b); wherein the first linkage rack (28a) and the second linkage rack (28b) are arranged along the first horizontal direction.

9. The multi-dimensional workpiece gripping mechanism of claim 7, wherein, The lifting driving assembly (30) comprises: a mounting seat (31) slidably arranged on the connecting seat (24); a lifting rack (32) arranged on the mounting seat (31) and extending along the vertical direction; A lifting driving motor (33) is arranged on the connecting seat (24), and a lifting gear (34) is engaged with the lifting rack (32), and the lifting driving motor (33) is used for driving the lifting gear (34) to rotate.

10. The multi-dimensional workpiece gripping mechanism of claim 1, wherein, The rotating driving assembly (40) comprises: A rotating driving motor (41) is used for driving a rotating gear (42) to rotate; A slewing support (43) is arranged on the lower surface of the slewing support (43), and the upper surface of the slewing support (43) is provided with a gear ring engaged with the rotating gear (42); A rotating joint (44) is arranged at the center of the slewing support (43), and an oil pipe and a cable can be connected to the clamp (10) through the rotating joint (44).

Images