Clamping and grabbing mechanism for clamping non-specification workpieces

Abstract

The clamping and grabbing mechanism comprises a clamping base, a pair of clamping blocks and a driving mechanism, a hinge base is arranged at the top of each clamping block, first sliding blocks extending to the side wall of the clamping base are arranged on the two sides of each hinge base, a guide groove for containing the first sliding blocks is formed in the side wall of each clamping base, and the first sliding blocks are arranged in the guide grooves. A guide plate and an adjusting mechanism for adjusting the guide plate to move are arranged on the side wall of the clamping seat, and a horizontal sliding groove, a right inclined upward sliding groove and a left inclined upward sliding groove are formed between the guide plate and the guide groove; the adjusting mechanism is used for controlling the guide plate to move, so that a horizontal sliding groove or a right inclined upward sliding groove or a left inclined upward sliding groove is formed between the guide groove and the guide plate, the clamping blocks are driven by the driving mechanism to achieve parallel clamping, V-shaped clamping and splayed clamping, and therefore the purpose that the clamping blocks are clamped in parallel or in a V-shaped mode according to different specifications of workpieces is achieved. And the clamping mode is changed, multiple sets of clamping mechanisms do not need to be prepared, online replacement is not needed, the applicability is high, and working hours can be saved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of automatic transportation of automatic equipment, especially relates to a clamping and grabbing mechanism for non-specification workpiece clamping. BACKGROUND

[0002] The carrying robot is widely applied in the flow line and can realize the transfer or carrying of the workpiece in the flow line. The carrying robot mainly comprises a mechanical arm and a clamping and grabbing mechanism at the end of the mechanical arm. During carrying, the clamping and grabbing mechanism is moved by the mechanical arm. After the workpiece is clamped or supported by the two clamping blocks of the clamping and grabbing mechanism, the workpiece is moved to the target position by the mechanical arm.

[0003] The two clamping blocks of the existing clamping and grabbing mechanism are usually rigid structures. When applied to some workpieces with fragile materials or surfaces, the workpiece structure or surface is easily damaged. In order to avoid damage to the surface of the fragile workpiece, a shock pad structure or accurate control of the clamping stroke is usually used to realize the clamping mechanism of clamping stress. For example, Chinese patent application No. 2022208194575 discloses a kind of adjustable clamping device for metal part positioning. The adjustable clamping device for metal part positioning comprises a workbench and a clamping mechanism. When the screw rod rotates, the first gear is driven to rotate. The second gear is driven to rotate through the rotation of the connecting rod. The first sawtooth belt and the second sawtooth belt are moved by the rotation of the second gear. The first sawtooth belt and the second sawtooth belt are fixedly connected with the first movable plate and the second movable plate, respectively. The first movable plate and the second movable plate are moved to push the first vertical column and the second vertical column to move, respectively. The first clamping plate and the second clamping plate are arranged at one end of the first vertical column and one end of the second vertical column, respectively. Rubber pads are arranged on one side of the clamping plate to prevent the metal part from being damaged during clamping. The device is simple to operate and can adjust the distance between the clamping plates at any time according to the requirements. This clamping hand structure needs to replace the clamping blocks of different shapes and sizes during the clamping process of non-specification workpieces, which is high in cost and low in efficiency.

[0004] Therefore, it is necessary to design a new clamping and grabbing mechanism for non-specification workpiece clamping, which can solve the above problems. SUMMARY

[0005] The utility model relates to a kind of clamping and grabbing mechanisms for non-specification workpiece clamping, which is provided with guide groove, guide plate and adjusting mechanism, and the adjusting mechanism is used to control the up-and-down movement of guide plate, so that horizontal sliding slot, right oblique upward sliding slot or left oblique upward sliding slot is formed between guide groove and guide plate, so that the clamping block is driven by driving mechanism, and one pair of clamping blocks realizes parallel clamping, V-shaped clamping and splayed clamping, so that the clamping mode is changed according to the different specifications of workpiece, without preparing multiple sets of clamping and grabbing mechanisms and online replacement, which has strong applicability and can save time.

[0006] To solve the above technical problems, the utility model provides a kind of clamping and grabbing mechanisms for non-specification workpiece clamping, which includes clamping seat, one pair of clamping blocks arranged on the clamping seat and driving mechanism for driving one pair of clamping blocks to move towards or away from each other, the clamping seat is provided with containing bin containing driving mechanism and clamping block, the top of the clamping block is provided with hinged seat, the first sliding block extending to the side wall of the clamping seat is arranged on both sides of the hinged seat, the guide groove containing the first sliding block is arranged on the side wall of the clamping seat, the guide plate and the adjusting mechanism adjusting the movement of the guide plate are arranged on the side wall of the clamping seat, the horizontal sliding slot for the sliding of the first sliding block and allowing the clamping blocks to be arranged in parallel is formed between the guide plate and the bottom of the guide groove, the right oblique upward sliding slot for the sliding of the first sliding block and allowing the clamping blocks to be arranged in inverted V shape is formed between the side of the guide plate and the guide groove, and the left oblique upward sliding slot for the sliding of the first sliding block and allowing the clamping blocks to be arranged in splayed shape is formed in the upper part of the guide groove.

[0007] Further, the end of the horizontal sliding slot is connected with the right oblique upward sliding slot, and the horizontal transition sliding slot is connected between the right oblique upward sliding slot and the left oblique upward sliding slot.

[0008] Further, the adjusting mechanism includes adjusting frame arranged at the middle of the side wall of the clamping seat, second sliding block vertically sliding on the adjusting frame and second connecting rod connected with the second sliding block, and the second connecting rod is fixedly connected with the guide plate at both ends.

[0009] Further, the second sliding groove containing the second sliding block is arranged in the middle of the adjusting frame, the mounting hole is arranged in the middle of the second connecting rod, the fixed rod fixedly connected with the second sliding block is arranged on the mounting hole, and the fixed rod is fixed on the second connecting rod through the second spring and locking nut.

[0010] Further, the positioning column is arranged on the inner side wall of the guide plate away from the second connecting rod, and the first positioning hole and the second positioning hole matched with the positioning column are arranged below and above the horizontal sliding slot on the side wall of the clamping seat.

[0011] Further, the side wall of the clamping seat is provided with a limiting mechanism for partitioning the right oblique upward chute and the left oblique upward chute, the limiting mechanism comprises a pair of first sliding rails arranged at the middle of the side wall of the clamping seat, a sliding sleeve sliding on the first sliding rails, and a first limiting plate arranged on the sliding sleeve and used for shielding the connecting part of the right oblique upward chute and the left oblique upward chute, and a first sliding groove is vertically arranged on the outer wall of the first sliding rail, a resisting plate is arranged on the sliding sleeve and extends into the first sliding groove, a first spring is arranged between the resisting plate and the groove bottom of the first sliding groove, and a first connecting rod is connected between the pair of sliding sleeves.

[0012] Further, the side wall of the clamping seat is provided with a limiting mechanism for partitioning the right oblique upward chute and the left oblique upward chute, the limiting mechanism comprises a pair of first sliding rails arranged at the middle of the side wall of the clamping seat, a sliding sleeve sliding on the first sliding rails, and a first limiting plate arranged on the sliding sleeve and used for shielding the connecting part of the right oblique upward chute and the left oblique upward chute, and a first sliding groove is vertically arranged on the outer wall of the first sliding rail, a resisting plate is arranged on the sliding sleeve and extends into the first sliding groove, a first spring is arranged between the resisting plate and the groove bottom of the first sliding groove, and a first connecting rod is connected between the pair of sliding sleeves.

[0013] Further, the inner side of the clamping block is provided with a flexible plate, and the flexible plate is provided with through holes penetrating through the left and right sides and arranged at the inner side surface.

[0014] Further, the outer side end of the clamping block is provided with a mounting groove, and an anti-skid plate is hingedly arranged in the mounting groove; and the surface of the anti-skid plate is uniformly provided with anti-skid particles.

[0015] Further, the driving mechanism comprises two cross-arranged air cylinders; and the top of the clamping block is provided with a hinged seat connected with the air cylinders.

[0016] The utility model has the advantages that:

[0017] 1. The clamping and grabbing mechanism for non-specification workpiece clamping has the guide groove, the guide plate and the adjusting mechanism, the adjusting mechanism is used for controlling the up-down movement of the guide plate, the horizontal chute, the right oblique upward chute or the left oblique upward chute is formed between the guide groove and the guide plate, the clamping block is driven by the driving mechanism, a pair of clamping blocks realize parallel clamping, V-shaped clamping and eight-shaped clamping, the clamping mode is changed according to the different specifications of workpieces, a plurality of sets of clamping and grabbing mechanisms do not need to be prepared and replaced on line, the applicability is strong, and working hours can be saved.

[0018] 2. The clamping and grabbing mechanism for non-specification workpiece clamping adopts the flexible plate and the through hole structure, the flexible plate can protect the surface of the workpiece when clamping the workpiece due to the flexible material of the flexible plate, rigid contact with the workpiece with fragile material or surface is avoided, the through hole is arranged to make the flexible plate have better flexibility, the flexible plate can clamp the workpiece with irregular shape, can contact more surfaces of the workpiece after deformation, increase the friction area, and clamping is more stable. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the existing clamp mechanism;

[0020] Figure 2 It is an installation state diagram of the clamp mechanism for non-specification workpiece clamping of the utility model;

[0021] Figure 3 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model holding parallel tendency clamping;

[0022] Figure 4 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model holding V-shaped tendency clamping;

[0023] Figure 5 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model holding eight-shaped tendency inside support;

[0024] Figure 6 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the limiting assembly after the first slider is released;

[0025] Figure 7 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the clamp mechanism bottom;

[0026] Figure 8 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the clamp mechanism side view;

[0027] Figure 9 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the clamping seat;

[0028] Figure 10 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the driving mechanism and clamping block connection;

[0029] Figure 11 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the first limiting piece and locking piece;

[0030] Figure 12 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the first limiting piece explosion;

[0031] Figure 13 It is a schematic diagram of the clamp mechanism for non-specification workpiece clamping of the utility model in the second limiting piece and adjusting installation mechanism;

[0032] Figure 14 Figure 2 is a schematic view of the adjusting and mounting mechanism of the clamping and grabbing mechanism for non-standard workpiece clamping according to the present application;

[0033] Figure 15 Figure 4 is a cross-sectional view of the first limiting member and the locking member of the clamping and grabbing mechanism for non-standard workpiece clamping according to the present application.

[0034] Fig. 100 - robot; 110 - mechanical arm; 120 - clamping and grabbing mechanism; 221 - clamping seat; 222 - clamping block; 224 - guide groove; 225 - guide plate; 230 - adjusting mechanism; 240 - adjusting and mounting mechanism; 250 - mounting seat; 531 - first limiting mechanism; 532 - locking mechanism; 533 - guide mechanism; 723 - driving mechanism; 7230 - air cylinder; 1223 - anti-skid particles; 1224 - mounting groove; 1225 - damping rotating shaft; 1241 - adjusting frame; 1242 - second sliding groove; 1243 - fixed rod; 1244 - locking nut; 1245 - second spring; 1246 - second sliding block; 1247 - second connecting rod; 2210 - containing bin; 2240 - horizontal sliding groove; 2250 - first sliding block; 3241 - right oblique upward sliding groove; 4242 - left oblique upward sliding groove; 6220 - anti-skid plate; 6221 - flexible plate; 6251 - hinged seat; 8211 - containing bin I; 8243 - horizontal transition sliding groove; 8332 - second positioning hole; 8333 - first positioning hole; 9222 - square hole; 10310 - first sliding rail; 10311 - first sliding groove; 10312 - sliding sleeve; 10313 - first limiting plate; 10314 - abutting block; 10315 - first connecting rod; 10316 - first spring; 10317 - abutting plate; 10318 - insertion groove; 10320 - locking seat; 10321 - second sliding groove; 10322 - second sliding block; 10323 - third spring; 10324 - lever; 10325 - sliding rod; 10326 - guide buckle plate; 10327 - cover plate; 10328 - notch; 11319 - through opening; 12330 - guide plate; 12331 - positioning column; 13334 - beveled edge portion; 13335 - straight edge portion. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments.

[0036] As Figures 1-15The utility model provides a kind of structure schematic diagram for the clamping and grabbing mechanism for non-specification workpiece clamping, the utility model discloses a kind of clamping and grabbing mechanism for non-specification workpiece clamping, including clamping seat 221, 1 pair of clamping block 222 and the driving mechanism 723 for driving 1 pair of clamping block is moved towards or away from being set on clamping seat 221, clamping seat 221 is provided with the containing bin 2210 containing driving mechanism 723 and clamping block 222, clamping block 222 top is provided with hinged seat 6251, hinged seat 6251 both sides are provided with the first slider 2250 extending to the side wall of clamping seat 221, the guide groove 224 containing first slider 2251 is provided on the side wall of clamping seat 221, the guide plate 225 and the adjusting mechanism 230 for adjusting the movement of guide plate 225 are provided on the side wall of clamping seat 221, horizontal sliding slot 2240 for the first slider 2250 sliding is formed between guide plate 225 and the bottom of guide groove 224, right oblique upward sliding slot 3241 for the first slider 2250 sliding is formed between guide plate 225 and the side of guide groove 224, left oblique upward sliding slot 4242 for the first slider 2250 sliding is formed in the upper portion of guide groove 224, so that clamping block 222 is arranged in the shape of eight characters.

[0037] The utility model discloses a kind of clamping and grabbing mechanism for non-specification workpiece clamping, including clamping seat 221, 1 pair of clamping block 222 and the driving mechanism 723 for driving 1 pair of clamping block is moved towards or away from being set on clamping seat 221, clamping seat 221 is provided with the containing bin 2210 containing driving mechanism 723 and clamping block 222, clamping block 222 top is provided with hinged seat 6251, hinged seat 6251 both sides are provided with the first slider 2250 extending to the side wall of clamping seat 221, the guide groove 224 containing first slider 2251 is provided on the side wall of clamping seat 221, the guide plate 225 and the adjusting mechanism 230 for adjusting the movement of guide plate 225 are provided on the side wall of clamping seat 221, horizontal sliding slot 2240 for the first slider 2250 sliding is formed between guide plate 225 and the bottom of guide groove 224, right oblique upward sliding slot 3241 for the first slider 2250 sliding is formed between guide plate 225 and the side of guide groove 224, left oblique upward sliding slot 4242 for the first slider 2250 sliding is formed in the upper portion of guide groove 224, so that clamping block 222 is arranged in the shape of eight characters.

[0038] In the embodiment, the clamping and grabbing mechanism 120 is installed on the robot 100 by the mechanical arm 110, under the driving of the driving mechanism 723, the clamping block can be moved oppositely or oppositely with different opening angles, and various clamping can be realized.

[0039] In the implementation process of the embodiment, the two clamping blocks 222 can clamp regular-shaped workpieces when moving in parallel, can clamp irregular-shaped or small-volume workpieces when moving in a V-shaped manner, can clamp small-volume workpieces when the end portions of the two clamping blocks 222 are close to each other, and can clamp workpieces with cavities and relatively large volumes by inner support when the two clamping blocks 222 are inclined and opened. In summary, the clamping mechanism 120 only needs to change the positions of the clamping blocks 222 in the guide slots 224 to change the clamping form, does not need to prepare multiple sets of clamping mechanisms 120 and replace them, has strong applicability, and can save time.

[0040] In the preferred embodiment, the horizontal sliding slot 2240 is connected with the right oblique upward sliding slot 3241, the right oblique upward sliding slot 3241 and the left oblique upward sliding slot 4242 are connected with the horizontal transition sliding slot 8243, the horizontal sliding slot 2240, the right oblique upward sliding slot 3241 and the left oblique upward sliding slot 4242 are connected with each other in the embodiment, the clamping mode can be replaced online, the operation is convenient, the two clamping blocks 222 can clamp workpieces in a parallel manner through the horizontal sliding slot 2240, clamp workpieces in a V-shaped manner through the right oblique upward sliding slot 3241, and clamp workpieces in an eight-shaped manner through the left oblique upward sliding slot 4242, so that the clamping mechanism 120 can realize three clamping forms.

[0041] The guide plate 225 in the embodiment comprises a triangular plate body 12330 shaped as a right triangle; the triangular plate body 12330 has a straight edge part 13335 flush with the first sliding part 2240, and an oblique edge part 13334 flush with the second sliding part 3241; the housing 221 is provided with a plurality of first positioning grooves 8333 and second positioning grooves 8332 respectively located on both sides of the first sliding part 2240; the side wall of the triangular plate body 12330 is provided with a positioning column 12331 for cooperating with the first positioning groove 8333 or the second positioning groove 8332; the positioning column 12331 cooperates with the first positioning groove 8333 to enable the oblique edge part 13334 to be flush with one side of the second sliding part 3241 close to the first sliding part 2240, so that the first slider 2250 can be positioned in the second sliding part 3241; the positioning column 12331 cooperates with the second positioning groove 8332 to enable the straight edge part 13335 to be flush with one side of the second sliding part 3241 close to the first sliding part 2240, so that the first slider 2250 can be positioned in the first sliding part 2240; the triangular plate body 12330 is abutted between the first limiting plate 10313 and the housing 221; the first limiting plate 10313 is further provided with an abutting block 10314 cooperating with the housing 221 to form clamping of the triangular plate body 12330.

[0042] In a preferred embodiment, the adjusting mechanism 230 comprises an adjusting frame 1241 arranged in the middle of the side wall of the clamping seat 221, a second slider 1246 vertically sliding on the adjusting frame 1241, and a second connecting rod 1247 connected with the second slider 1246, the two ends of the second connecting rod 1247 are fixedly connected with the guide plate 225, the middle part of the adjusting frame 1241 is provided with a second sliding groove 1242 accommodating the second slider 1246, the middle part of the second connecting rod 1247 is provided with a mounting hole, the mounting hole is provided with a fixed rod 1243 fixedly connected with the second slider, and the fixed rod is fixed on the second connecting rod by a second spring and a locking nut; in the embodiment, the clamping seat 221 is provided with an adjusting mounting mechanism 240; the adjusting mounting mechanism 240 comprises an adjusting frame 1241 fixedly arranged on the side wall of the clamping seat 221 to keep vertical arrangement; the adjusting frame 1241 is provided with a second sliding groove 1242 arranged along the length direction of the adjusting frame 1241; the second sliding groove 1242 is slidingly fitted with a second slider 1246; the second slider 1246 is fixedly provided with a fixed rod 1243 perpendicular to the side wall of the clamping seat 221; two guide plates 225 are jointly connected with a second connecting rod 1247; the fixed rod 1243 penetrates through the two sides of the second connecting rod 1247, and is provided with a locking nut 1244 at the end part; a second spring 1245 sleeved with the fixed rod 1243 is abutted between the second connecting rod 1247 and the second slider 1246; the second spring 1245 is used to make the guide plate 225 have a tendency to move away from the clamping seat 221.

[0043] Preferably, a positioning column 12331 is arranged on the inner side wall of the guide plate 225 away from the second connecting rod 1247, and a first positioning hole 8333 and a second positioning hole 8332 adapted to the positioning column 12331 are arranged on the side wall of the clamping seat 221 below and above the horizontal sliding groove respectively. In this embodiment, the clamping seat 221 is installed in the first positioning hole 8333 or the second positioning hole 8332 through the positioning column, so as to realize the switching between the horizontal sliding groove 2240 and the right obliquely upward sliding groove 3241.

[0044] Preferably, a limiting mechanism 531 for separating the right obliquely upward sliding groove 3241 and the left obliquely upward sliding groove 4242 is arranged on the side wall of the clamping seat 221, and the limiting mechanism 531 comprises a pair of first sliding rails 10310 arranged on the side walls of the clamping seat 221 near the middle, a sliding sleeve 10312 sliding on the first sliding rails 10310, and a first limiting plate 10313 arranged on the sliding sleeve 10312 for shielding the connection part of the right obliquely upward sliding groove and the left obliquely upward sliding groove. A first sliding groove 10311 is vertically arranged on the outer wall of the first sliding rail 10310, and a resisting plate 10317 extending into the first sliding groove 10311 is arranged on the sliding sleeve 10312. A first spring 10316 is arranged between the resisting plate 10317 and the groove bottom of the first sliding groove 10311, and a first connecting rod 10315 is connected between the pair of sliding sleeves 10312.

[0045] In this embodiment, the clamping seat 221 is provided with an adjusting mechanism 230 for limiting the first sliding block 2250 in the horizontal sliding groove 2240, the right obliquely upward sliding groove 3241 or the left obliquely upward sliding groove 4242. The adjusting mechanism 230 comprises a first limiting mechanism 531. The first limiting mechanism 531 comprises a first sliding rail 10310 fixed on the side wall of the clamping seat 221 at the transition part 8243 and perpendicular to the transition part 8243. The first sliding rail 10310 is provided with a sliding sleeve 10312 slidingly fitted along the length direction of the first sliding rail 10310. The side wall of the sliding sleeve 10312 is provided with a first limiting plate 10313 integrally formed and shaped as a triangle. The first limiting plate 10313 is located at the transition part 8243 and covers the end part connecting the right obliquely upward sliding groove 3241 and the left obliquely upward sliding groove 4242 at the same time. The first sliding block 2250 can abut against the side wall of the first limiting plate 10313 after penetrating and extending out of the guide groove 224. The first connecting rod 10315 is connected to the two sliding sleeves 10312 away from the clamping seat 221.

[0046] The first limiting plate 10313 can shield or move away from the connection between the right oblique upward sliding groove 3241 and the left oblique upward sliding groove 4242 after sliding, so as to limit the first sliding block 2250 in the left oblique upward sliding groove 4242 by shielding, and ensure that the movement of the clamping block 222 is in a stable state when the driving member 723 drives the clamping block 222 to clamp the workpiece; after the first limiting plate 10313 moves away from the right oblique upward sliding groove 3241 and the left oblique upward sliding groove 4242, the first sliding block 2250 can enter the transition part 8243 or the right oblique upward sliding groove 3241, and adjustment to other forms of clamping is realized; through the setting of the first connecting rod 10315, the two sliding sleeves 10312 and the first limiting plate 10313 can be moved by turning the first connecting rod 10315, and the position of the first sliding block 2250 can be adjusted more conveniently, and the operation can be realized by one hand.

[0047] In the embodiment, the positioning column 12331 cooperates with the first positioning groove 8333 or the second positioning groove 8332, the triangular plate body 12330 limits the first sliding block 2250 of the horizontal sliding groove 2240 or the right oblique upward sliding groove 3241, the first connecting rod 10315 is slid to drive the two sliding sleeves 10312 to move towards the direction of the transition part 8243, and the second compression spring 10316 is compressed; when the sliding sleeve 10312 moves to the locking member 532, the sliding sleeve 10312 first contacts the guide buckle plate 10326, and the two insertion rods 10325 are moved towards each other to avoid blocking the downward movement of the sliding sleeve 10312, and the third spring 10323 is compressed; after the insertion rod 10325 of the locking member 532 corresponds to the insertion groove 10318 of the sliding sleeve 10312, the insertion rod 10325 is pushed into the insertion groove 10318 by the restoring force of the third spring 10323, and the first limiting plate 10313 has been shielded at the transition part 8243 and the connection between the right oblique upward sliding groove 3241 and the left oblique upward sliding groove 4242, and the first sliding block 2250 of the right oblique upward sliding groove 3241 or the left oblique upward sliding groove 4242 is limited; at this time, all operations of adjusting the clamping form have been completed; in summary, when the adjustment is released, the knob 10324 is pinched and turned, and the release state is shown in Figure 5 , when the limitation is applied, the second connecting rod 1247 is pressed down and the first connecting rod 10315 is slid, and the three clamping forms can be adjusted, compared with the prior art, a large amount of time can be saved; the air cylinder 7230 can be a variable stroke air cylinder 7230, the piston rod can be freely extended and retracted after the air source is closed, and the first sliding block 2250 can be freely moved.

[0048] The first limiting plate 10313 no longer abuts against the triangular plate body 12330 after sliding away from the transition portion 8243, so that the triangular plate body 12330 can be driven to move away from the clamping seat 221 under the limiting of the guide rod 1243 and the limiting cap 1244 by the rebound of the second spring 1245, so that the positioning column 12331 is disengaged from the first positioning groove 8333 or the second positioning groove 8332, and the first sliding block 2250 can be moved to various positions of the guide groove 224; in summary, after the lever 10324 of the locking member 532 is actuated, the first limiting plate 10313 is automatically moved and abutted against the triangular plate body 12330, and the triangular plate body 12330 is driven to move away from the clamping seat 221 by the rebound force of the second spring 1245, so that the first sliding block 2250 can be randomly adjusted to change the clamping form of the clamping block 222 by only one operation of the lever 10324, which is very convenient.

[0049] In a preferred embodiment, the locking member 532 is arranged between the first sliding rails 10310 on the side wall of the clamping seat 221, and the locking member 532 comprises a locking seat 10320, a pair of second sliding blocks 10322 sliding in the locking seat 10320, a lever 10324 fixedly connected with the second sliding blocks 10322 and extending out of the side wall of the locking seat 10320, a sliding rod 10325 fixedly connected with the second sliding blocks 10322 and extending out of the end of the locking seat 10320, and a guide buckle plate 10326 arranged at the end of the sliding rod 10325 and used for buckling the sliding sleeve.

[0050] In the embodiment, the locking seat 10320 is arranged vertically between the two first sliding rails 10310; the locking seat 10320 is provided with the second sliding groove 10321 arranged along the length direction of the locking seat 10320; the second sliding groove 10321 is provided with the two second sliding blocks 10322; the opposite sides of the two second sliding blocks 10322 are provided with the insertion rods 10325 penetrating to the outside of the locking seat 10320; the end of the insertion rod 10325 towards the first sliding rail 10310 is provided with the guide buckle plate 10326; the side wall of the sliding sleeve 10312 is provided with the insertion groove 10318 matched with the end of the insertion rod 10325; the two second sliding blocks 10322 are abutted against the third spring 10323; the third spring 10323 is used for keeping the insertion rod 10325 in the matched state with the insertion groove 10318; one side of the locking seat 10320 is provided with the cover plate 10327 covering the second sliding groove 10321; the cover plate 10327 is provided with the slot 10328 penetrating the second sliding groove 10321; the second sliding block 10322 is provided with the lever 10324 penetrating the slot 10328 to the outside of the locking seat 10320.

[0051] The third spring 10323 of the locking piece 532 in the embodiment can keep the insertion rod 10325 inserted into the insertion slot 10318, thereby preventing the slipper 10312 and the first limiting plate 10313 from moving in the moving process of the clamping mechanism 120, and making the first sliding block 2250 deviate from the original sliding range in the sliding groove; and the guide buckle plate 10326 is arranged so that when the slipper 10312 and the first limiting plate 10313 move towards the transition part 8243, the slipper 10312 will first contact the guide buckle plate 10326, and after extrusion, the insertion rod 10325 will be retracted into the second sliding groove 10321 until the insertion rod 10325 corresponds to the insertion slot 10318 and automatically cooperates, without the need to pull the insertion rod 10325 to retract the insertion rod 10325, so as to realize automatic locking of the position of the first limiting plate 10313 after sliding.

[0052] In the preferred embodiment, the inner side of the clamping block 222 is provided with a flexible plate 6221, and the flexible plate 6221 is provided with through holes 9222 penetrating through the left and right sides and arranged uniformly near the inner side surface. In the embodiment, the opposite side of the two clamping blocks 222 is provided with a flexible plate 6221, and the flexible plate 6221 is provided with a through hole 9222. The opposite side of the two clamping blocks 222 is provided with a hinged anti-skid plate 6220 near the end portion, and the opposite side of the two clamping blocks 222 is provided with an installation groove 1224 at the end portion. The anti-skid plate 6220 is hingedly fitted in the installation groove 1224. The surface of the anti-skid plate 6220 is provided with a plurality of anti-skid particles 1223. The anti-skid plate 6220 can be turned by 90° and can be parallel to the side wall and the end portion of the clamping block 222, respectively. The anti-skid plate 6220 is hingedly connected to the installation groove 1224 through a damping shaft 1225. The flexible plate and the through hole structure can protect the surface of the workpiece when clamping the workpiece by the flexible material of the flexible plate, and will not make rigid contact with the workpiece with relatively fragile material or surface. The through hole structure makes the flexible plate have better flexibility. The flexible plate with high flexibility can clamp irregularly shaped workpieces and make contact with more surfaces of the workpieces after deformation, increase the friction area, and clamp more stably.

[0053] In the embodiment, the flexible plate 6221 and the anti-skid plate 6220 are arranged, so that the two clamping blocks 222 can adapt to workpieces of different shapes when clamping the workpieces through the flexible plate 6221. When the two clamping blocks 222 are supported inwardly through the left obliquely upward sliding groove 4242, the anti-skid plate 6220 can increase the contact area between the outer side of the clamping block 222 and the workpiece, thereby improving the stability of clamping.

[0054] In the preferred embodiment, the driving mechanism 723 comprises two cross-arranged air cylinders 7230; the clamping block is provided with a hinged seat connected with the air cylinder; in this embodiment, the driving mechanism 723 comprises two cross-arranged air cylinders 7230; the guide plate 225 comprises a hinged seat 6251 fixed at one end of the clamping block 222, the hinged seat 6251 is hinged with one end of the piston rod of the air cylinder 7230; a plurality of first sliding blocks 2250 which are in sliding fit with the guide groove 224 are arranged at the side wall of the hinged seat 6251; the air cylinder 7230 is hinged at the other end away from the piston rod at one end inside the recess 2210.

[0055] Through the arrangement of the driving mechanism 723 and the guide plate 225 in this embodiment, the two air cylinders 7230 can drive the two clamping blocks 222 to slide at the guide groove 224, so that the two clamping blocks 222 can be moved oppositely or relatively with different opening angles, thereby different clamping forms can be achieved.

[0056] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A gripper mechanism for gripping a non-standard workpiece, comprising a gripper base, a pair of gripping blocks arranged on the gripper base, and a driving mechanism for driving the pair of gripping blocks to move towards or away from each other, characterized in that: The clamping seat is provided with a containing bin containing a driving mechanism and a clamping block, the top of the clamping block is provided with a hinged seat, the two sides of the hinged seat are provided with first sliding blocks extending to the side walls of the clamping seat, the side walls of the clamping seat are provided with guide grooves containing the first sliding blocks, the side walls of the clamping seat are provided with guide plates and adjusting mechanisms for adjusting the movement of the guide plates, the bottom of the guide plate and the guide groove form a horizontal sliding groove for the parallel arrangement of the clamping block and the sliding of the first sliding block, the side of the guide plate and the guide groove form a right oblique upward sliding groove for the inverted V-shaped arrangement of the clamping block and the sliding of the first sliding block, and the upper part of the guide groove forms a left oblique upward sliding groove for the eight-shaped arrangement of the clamping block and the sliding of the first sliding block.

2. A gripper mechanism for holding non-standard workpieces as claimed in claim 1, wherein: The end of the horizontal sliding groove is connected with the right oblique upward sliding groove, and the right oblique upward sliding groove and the left oblique upward sliding groove are connected with a horizontal transition sliding groove.

3. A gripper mechanism for holding non-standard workpieces as claimed in claim 1, wherein: The adjusting mechanism comprises an adjusting frame arranged at the middle of the two side walls of the clamping seat, a second sliding block vertically sliding on the adjusting frame, and a second connecting rod connected with the second sliding block, and the two ends of the second connecting rod are fixedly connected with the guide plate.

4. A gripper mechanism for holding non-standard workpieces according to claim 3, wherein: The middle of the adjusting frame is provided with a second sliding groove containing the second sliding block, the middle of the second connecting rod is provided with a mounting hole, the mounting hole is provided with a fixed rod fixedly connected with the second sliding block, and the fixed rod is fixed on the second connecting rod through a second spring and a locking nut.

5. A gripper mechanism for holding non-standard workpieces as claimed in claim 3 wherein: The inner side wall of the guide plate is provided with a positioning column away from the second connecting rod, and the side wall of the clamping seat is provided with a first positioning hole and a second positioning hole below and above the horizontal sliding groove, respectively, which are matched with the positioning column.

6. A gripper mechanism for holding non-standard workpieces as claimed in claim 1, wherein: The side wall of the clamping seat is provided with a limiting mechanism for separating the right oblique upward sliding groove and the left oblique upward sliding groove, the limiting mechanism comprises a pair of first sliding rails arranged at the two side walls of the clamping seat near the middle, a sliding sleeve sliding on the first sliding rail, and a first limiting plate arranged on the sliding sleeve for shielding the connection between the right oblique upward sliding groove and the left oblique upward sliding groove, a first sliding groove is vertically arranged on the outer wall of the first sliding rail, a resisting plate extending into the first sliding groove is arranged on the sliding sleeve, a first spring is arranged between the resisting plate and the bottom of the first sliding groove, and a first connecting rod is connected between the pair of sliding sleeves.

7. A gripper mechanism for holding non-standard workpieces according to claim 6, wherein: The side wall of the clamping seat is provided with a locking mechanism between the pair of first sliding rails, the locking mechanism comprises a locking seat, a pair of second sliding blocks sliding in the locking seat, a lever fixedly connected with the second sliding block and extending out of the side wall of the locking seat, a sliding rod fixedly connected with the second sliding block and extending out of the end of the locking seat, and a guide buckle plate arranged at the end of the sliding rod and used for buckling on the sliding sleeve.

8. A gripper mechanism for holding non-standard workpieces as claimed in claim 1, wherein: The inner side of the clamping block is provided with a flexible plate, and the flexible plate is provided with through holes penetrating through the left and right sides near the inner side surface.

9. A gripper mechanism for holding non-standard workpieces as claimed in claim 1, wherein: The outer side end of the clamping block is provided with a mounting groove, and a hinged anti-skid plate is arranged in the mounting groove; the surface of the anti-skid plate is uniformly provided with anti-skid particles.

10. A gripper mechanism for holding non-standard workpieces according to claim 1, wherein: The driving mechanism comprises two cross-arranged air cylinders; the top of the clamping block is provided with a hinged seat connected with the air cylinder.

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