Gripping mechanism and robot having the same

Abstract

The utility model provides a kind of clamping mechanism and the robot with it, clamping mechanism is used to clamp target workpiece, clamping mechanism includes: mounting frame body;Clamping assembly is set on mounting frame body, clamping assembly includes clamping component, clamping component is set to open and close, to clamp or release target workpiece;Clamping assembly is multiple, multiple clamping assembly is spaced along the circumferential direction of mounting frame body;Positioning component is set on mounting frame body, positioning component is used to cooperate with the limiting portion on target workpiece, to position target workpiece by positioning component after, make clamping assembly clamp target workpiece.This application solves the problem of inaccuracy of positioning caused by manual handling of complex curved parts in the prior art, and low work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of workpiece clamping technology, and more specifically, to a clamping mechanism and a robot having the same. Background Technology

[0002] Currently, in the development of integrated die-casting technology in the new energy vehicle sector, the manufacturing of automotive parts is gradually shifting towards large, integral die-cast components to improve production efficiency and reduce assembly costs. The processing of these large die-cast parts, compared to traditional welding and assembly of small parts, requires more precise positioning and more stable clamping. Traditional handling methods typically rely on manual operation, which not only increases safety risks for workers, such as impact injuries during handling, but also significantly reduces the flexibility and efficiency of handling due to the limitations of manual labor, such as strength limitations and insufficient precision.

[0003] For complex curved parts with unique and irregular shapes, using general-purpose fixtures often fails to achieve ideal positioning, thus affecting the quality of subsequent machining. Manual handling often requires repeated attempts to place the workpiece in the correct position, a process that is not only time-consuming and labor-intensive but also prone to damage or machining errors due to inaccurate positioning. Furthermore, the weight and volume of complex curved parts are significant, and manual handling presents the problem of unstable placement, further increasing the operational difficulty and potential risks. Utility Model Content

[0004] The main objective of this invention is to provide a clamping mechanism and a robot having it, in order to solve the problems of inaccurate positioning and low work efficiency caused by manual handling of complex curved parts in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, a clamping mechanism is provided for clamping a target workpiece. The clamping mechanism includes: a mounting frame; a clamping assembly disposed on the mounting frame, the clamping assembly including a clamping member, the clamping member being openable and closable to clamp or release the target workpiece; multiple sets of clamping assemblies are provided, the multiple sets of clamping assemblies being spaced apart along the circumferential direction of the mounting frame; and a positioning member disposed on the mounting frame, the positioning member cooperating with a limiting part on the target workpiece, so that after the target workpiece is positioned by the positioning member, the clamping assembly clamps the target workpiece.

[0006] Furthermore, the clamping component includes: a support body; a movable body, at least a portion of which is disposed opposite to the support body, a clamping space being provided between the movable body and the support body, and the movable body being rotatably disposed relative to the support body to move closer to or further away from the support body in order to clamp or release the target workpiece.

[0007] Furthermore, the clamping assembly also includes a driving component, which includes a driving rod that is telescopically configured and hinged to the movable body to drive the movable body to rotate.

[0008] Furthermore, the clamping assembly also includes: a mounting base disposed on the drive component; and a connecting rod, the two ends of which are hinged to the movable body and the mounting base respectively, the connecting rod being located to the side of the drive rod to allow the movable body to rotate during the extension and retraction of the drive rod.

[0009] Furthermore, the movable body includes: a first body, a second body, and a third body connected to each other, at least a portion of the first body being disposed opposite to the supporting body, and the two ends of the third body being hinged to a connecting rod and a driving rod, respectively; the second body being disposed at an angle to the first body and the third body, respectively.

[0010] Furthermore, the clamping assembly also includes: a first buffer pad, disposed on the clamping surface of the support body; and a second buffer pad, disposed on the clamping surface of the movable body, so that when the clamping assembly is in the clamping state, the first buffer pad and the second buffer pad respectively fit against the target workpiece.

[0011] Furthermore, the positioning component includes:

[0012] The positioning body is mounted on the mounting frame. The positioning body has an initial position and a positioning position, and the positioning body can be movably set between the initial position and the positioning position.

[0013] Furthermore, the positioning component also includes: a mounting column, which is mounted on the mounting frame, and a positioning body, which is mounted on the mounting column at the end away from the mounting frame. The mounting column is telescopically mounted to drive the positioning body to move.

[0014] Furthermore, the positioning body includes: a first positioning post and a second positioning post connected to each other, the first positioning post being connected to the mounting frame, and the second positioning post being connected to the end of the first positioning post away from the mounting frame; the outer diameter of the first positioning post is larger than that of the second positioning post, so that when the second positioning post is inserted into the limiting part, the surface of the first positioning post and the target workpiece forming the limiting part are in contact.

[0015] According to another aspect of the present invention, a robot is provided, including a robotic arm and a gripping mechanism. The gripping mechanism is disposed at the drive end of the robotic arm, and the robotic arm drives the gripping mechanism to move. The gripping mechanism is the gripping mechanism described above.

[0016] By applying the technical solution of this utility model, the clamping mechanism can clamp the target workpiece simultaneously from multiple angles by arranging multiple sets of clamping components at intervals in the circumferential direction of the mounting frame. This not only enhances the clamping firmness but also ensures the stability of the workpiece during handling and processing, reducing the risk of workpiece deformation or damage caused by uneven clamping.

[0017] The positioning component precisely engages with the limiting part on the target workpiece, enabling accurate positioning of the workpiece before clamping. This pre-positioning mechanism effectively avoids positional errors during machining, which is especially important for complex curved surface workpieces requiring high-precision machining, greatly improving the machining accuracy and quality of the final product. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic diagram of the clamping state of the clamping mechanism according to the present invention is shown;

[0020] Figure 2 A bottom view shows the clamping state of the clamping mechanism according to the present invention;

[0021] Figure 3 A schematic diagram of the assembly of the positioning component and the mounting frame of the clamping mechanism according to the present invention is shown;

[0022] Figure 4 A schematic diagram of the clamping assembly in the clamping mechanism according to the present invention is shown;

[0023] Figure 5 A front view of the clamping component in the clamping mechanism according to the present invention is shown.

[0024] The above figures include the following reference numerals:

[0025] 100. Target workpiece; 110. Limiting part;

[0026] 200. Install the frame;

[0027] 300, clamping assembly; 310, clamping component; 311, support body; 312, moving body; 3120, first body; 3121, second body; 3122, third body; 320, driving component; 321, driving rod; 330, mounting base; 340, connecting rod; 350, first buffer pad; 360, second buffer pad;

[0028] 400. Positioning component; 410. Positioning body; 411. First positioning post; 412. Second positioning post; 420. Mounting post;

[0029] 500. Connecting flange. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] As mentioned in the background section, in the development of integrated die-casting technology in the new energy vehicle field, the manufacturing of automotive parts is gradually shifting towards large, integral die-cast parts to improve production efficiency and reduce assembly costs. The processing of these large die-cast parts, compared to the traditional welding and assembly of small parts, requires more precise positioning and more stable clamping. For complex curved surface parts, whose shapes are unique and irregular, using general-purpose fixtures often fails to achieve ideal positioning, thus affecting subsequent processing quality. Manual handling often requires repeated attempts to place the workpiece in the correct position; this process is not only time-consuming and labor-intensive but also prone to damage or processing errors due to inaccurate positioning. Furthermore, the weight and volume of complex curved surface parts are large, and manual handling also presents the problem of unstable placement, further increasing operational difficulty and potential risks. This results in existing handling and positioning technologies exhibiting problems such as inaccurate positioning, unstable clamping, and low work efficiency when handling large, complex curved surface workpieces. Therefore, to address the aforementioned technical problems, the clamping mechanism provided in this application comprises a clamping assembly 300 and a positioning component 400, respectively mounted on a mounting frame 200. The clamping assembly 300 includes a clamping component 310, which is closable and used to clamp or release the target workpiece 100. The positioning component 400 engages with a limiting part 110 on the target workpiece 100. Before clamping the target workpiece 100, the positioning component 400 is first positioned using the engagement of the limiting part 110. Then, the clamping assembly 300 clamps the target workpiece 100. The precise engagement between the positioning component 400 and the limiting part 110 ensures that the workpiece is in the optimal position before clamping. This pre-positioning strategy avoids processing errors caused by workpiece position deviations during clamping, thereby improving the quality of the final product. After the positioning component 400 completes the positioning, the clamping component 310 can firmly clamp the workpiece, maintaining the stability of the workpiece even during rapid handling or processing by a high-precision industrial robot, reducing processing accidents caused by vibration or displacement.

[0032] Please refer to Figures 1 to 5This application provides a clamping mechanism for clamping a target workpiece 100. The clamping mechanism includes: a mounting frame 200; a clamping assembly 300 disposed on the mounting frame 200, the clamping assembly 300 including a clamping member 310, the clamping member 310 being openable and closable to clamp or release the target workpiece 100; multiple sets of clamping assemblies 300 are arranged at intervals along the circumferential direction of the mounting frame 200; and a positioning member 400 disposed on the mounting frame 200, the positioning member 400 cooperating with a limiting part 110 on the target workpiece 100, so that after the target workpiece 100 is positioned by the positioning member 400, the clamping assembly 300 clamps the target workpiece 100.

[0033] According to the clamping mechanism provided in this application, by arranging multiple sets of clamping components 300 at intervals in the circumferential direction of the mounting frame 200, the clamping mechanism of this application can clamp the target workpiece 100 from multiple angles simultaneously. This not only enhances the clamping firmness, but also ensures the stability of the workpiece during handling and processing, and reduces the risk of workpiece deformation or damage caused by uneven clamping.

[0034] The positioning component 400 precisely engages with the limiting part 110 on the target workpiece 100, enabling accurate positioning of the workpiece before clamping. This pre-positioning mechanism effectively avoids positional errors during machining, which is particularly important for complex curved surface workpieces requiring high-precision machining, greatly improving the machining accuracy and quality of the final product.

[0035] Specifically, such as Figure 4 and Figure 5 As shown, the clamping component 310 includes: a support body 311; a movable body 312, at least a portion of which is disposed opposite to the support body 311, a clamping space being provided between the movable body 312 and the support body 311, and the movable body 312 being rotatably disposed relative to the support body 311 to move closer to or further away from the support body 311 in order to clamp or release the target workpiece 100.

[0036] The rotatable nature of the movable body 312 relative to the supporting body 311 allows the clamping component 310 to flexibly adapt to workpieces of different shapes and sizes. This design is particularly effective when dealing with parts with complex curved surfaces, as it can dynamically adjust according to the specific contours of the workpiece to achieve a close fit, thereby ensuring the stability and accuracy of the workpiece during the clamping process.

[0037] The distance between the movable body 312 and the supporting body 311 is adjustable, which means that the clamping force can be finely adjusted according to the material and weight of the workpiece. For some parts made of easily deformable or fragile materials, it can avoid damage caused by over-clamping, while for heavier or more rigid workpieces, it can provide sufficient clamping force to ensure safe handling and processing.

[0038] This design of the clamping component 310 reduces the risk of workpiece slippage or detachment, especially during high-speed handling or machining. Furthermore, the precise control of the clamping force also prevents accidental injury caused by over-clamping.

[0039] In the specific implementation process, the clamping assembly 300 also includes a driving component 320, which includes a driving rod 321. The driving rod 321 is telescopically arranged and is hinged to the moving body 312 so as to drive the moving body 312 to rotate through the driving rod 321.

[0040] The extension and retraction of the drive rod 321 can be precisely controlled. By adjusting the extension and retraction distance, the driving force applied to the moving body 312 can be finely adjusted, thereby precisely controlling the force used to clamp the workpiece. This is especially important for handling complex curved surface parts that are sensitive to certain materials, easily damaged, or deformable, avoiding damage to the workpiece due to over-clamping or displacement of the workpiece due to insufficient clamping force.

[0041] Through the hinged connection between the drive rod 321 and the moving body 312, the extension and retraction of the drive rod 321 can be directly converted into the rotation of the moving body 312, which is a simple and efficient force transmission mechanism. This design reduces intermediate links, making the operation of the entire clamping assembly smoother, reducing the failure rate, and also simplifying the control logic.

[0042] The retractable drive rod 321 can be retracted when not in use, taking up less space, and can be extended when needed. This design helps the clamping assembly operate better in confined or complex working environments, while also facilitating space management and layout optimization of the mounting frame 200.

[0043] Preferably, the driving component 320 is a driving cylinder.

[0044] In the embodiments provided in this application, the clamping assembly 300 further includes: a mounting base 330 disposed on the driving component 320; a connecting rod 340, the two ends of which are respectively hinged to the movable body 312 and the mounting base 330, and the connecting rod 340 is located on the side of the driving rod 321 so as to cause the movable body 312 to rotate during the extension and retraction of the driving rod 321.

[0045] By hinged at both ends of the connecting rod 340 to the movable body 312 and the mounting base 330 respectively, this design allows the movable body 312 to flexibly adjust its angle under the drive of the drive component 320. This means that the clamping component can better adapt to workpieces of different shapes, especially for parts with complex curved surfaces, enabling more precise clamping and avoiding workpiece damage caused by improper clamping angles.

[0046] The connecting rod 340 is located to the side of the drive rod 321. When the drive rod 321 extends or retracts, the connecting rod 340 pushes or pulls the moving body 312 to rotate, forming a stable mechanical system. This design ensures that the moving body 312 can smoothly contact the workpiece during the clamping process, avoiding displacement of the workpiece due to sudden force, thereby ensuring the stability and reliability of the clamping process.

[0047] Through the lever action of the connecting rod 340, the force of the driving component 320 can be evenly distributed on the moving body 312, ensuring uniform clamping force, preventing damage to the workpiece due to excessive local force, and also avoiding workpiece instability caused by uneven force.

[0048] Under the control of the drive component 320, the rotation and clamping actions of the moving body 312 can be completed automatically without additional manual intervention, which simplifies the clamping operation process, improves the degree of automation, and reduces operation time.

[0049] The articulated connecting rod 340 design, compared to a rigid connection, can absorb vibrations and impacts during workpiece clamping, reduce wear on clamping components, extend the service life of the equipment, and thus reduce maintenance and replacement costs.

[0050] In the specific implementation process, the movable body 312 includes: a first body 3120, a second body 3121 and a third body 3122 connected to each other. At least a portion of the first body 3120 is disposed opposite to the support body 311. The two ends of the third body 3122 are respectively hinged to the connecting rod 340 and the driving rod 321. The second body 3121 is disposed at an angle to the first body 3120 and the third body 3122.

[0051] The hinged connection between the first body 3120 and the third body 3122, and the angle formed between the second body 3121 and the two, endow the movable body 312 with a high degree of flexibility in space. This structure allows relative movement between the bodies and can adapt to complex working environments, such as narrow spaces or operation scenarios that require bypassing obstacles.

[0052] Since the two ends of the third body 3122 are hinged to the connecting rod 340 and the driving rod 321 respectively, this design can significantly expand the operating range of the moving body 312. By adjusting the angle of the hinge points, it is possible to achieve contact and clamping of the target workpiece 100 at a wider range of positions, increasing the degree of freedom and accessibility of operation.

[0053] The first body 3120 and the supporting body 311 are arranged opposite each other to form a stable support structure, while the clamping of the second body 3121 balances the mechanical distribution of the structure. This design can not only support heavier workpieces, but also ensure the stability of the workpieces during transportation, reducing the risk of shaking or falling due to load imbalance.

[0054] The angle design between the second body 3121 and the first body 3120 and the third body 3122 allows the movable body 312 to better adapt to workpieces of different shapes. Even for complex curved workpieces with uneven surfaces, it can find a suitable contact point to achieve precise clamping.

[0055] Furthermore, the clamping assembly 300 also includes: a first buffer pad 350 disposed on the clamping surface of the support body 311; and a second buffer pad 360 disposed on the clamping surface of the movable body 312, so that when the clamping assembly 300 is in the clamping state, the first buffer pad 350 and the second buffer pad 360 respectively fit against the target workpiece 100.

[0056] The first buffer pad 350 and the second buffer pad 360 are disposed on the clamping surfaces of the support body 311 and the moving body 312, and they are in direct contact with the surface of the target workpiece 100. The function of the buffer pads is to disperse the clamping force and reduce the direct pressure on the workpiece surface, thereby avoiding scratches, indentations or other surface damage during the clamping process.

[0057] The buffer pads provide a larger contact area, improving friction between the clamping components and the workpiece, resulting in a more stable workpiece under clamping. This stability is crucial for handling and machining processes, reducing workpiece sway and displacement, thereby improving machining accuracy and production efficiency.

[0058] By using buffer pads at the points of direct contact with the workpiece, direct wear on the metal surfaces of the support body 311 and the moving body 312 is reduced. The buffer pads are typically made of wear-resistant and elastic materials, which can absorb the impact force during clamping, extend the service life of the equipment, and reduce long-term maintenance costs.

[0059] Preferably, the first buffer pad 350 and / or the second buffer pad 360 are made of rubber, polyurethane, or silicone.

[0060] In this application, as Figure 3As shown, the positioning component 400 includes a positioning body 410, which is disposed on the mounting frame 200. The positioning body 410 has an initial position and a positioning position, and the positioning body 410 is movably disposed between the initial position and the positioning position.

[0061] The mobility of the positioning body 410 between its initial and positioning positions allows for precise adjustment based on the geometry of the specific workpiece. Upon contact with the limiting part 110 on the target workpiece 100, the positioning body 410 can actively move to the optimal positioning position, ensuring the positioning accuracy of the workpiece, which is crucial for subsequent clamping and machining steps.

[0062] The movable characteristics of the positioning body 410 enable it to gently contact and position the workpiece, avoiding scratches or damage to the workpiece surface that could be caused by hard contact. The flexible positioning mechanism of the positioning body 410 reduces the instability and slippage risk of the workpiece during the positioning process.

[0063] Specifically, the positioning component 400 further includes: a mounting post 420 disposed on the mounting frame 200, and a positioning body 410 disposed on the mounting post 420 at one end away from the mounting frame 200. The mounting post 420 is telescopically disposed to drive the positioning body 410 to move.

[0064] The retractable mounting post 420 means that the positioning body 410 can be adjusted according to the different thicknesses and shapes of the workpiece, greatly improving the versatility and adaptability of the positioning component 400. Even when dealing with unconventional or special-shaped workpieces, the optimal positioning solution can be found quickly, reducing processing preparation time and costs.

[0065] With the telescopic mounting column 420, operators or automated systems can adjust the positioning body 410 without changing the overall position of the mechanism. This not only simplifies the operation process but also improves the convenience and efficiency of operation.

[0066] The retractable nature of the mounting post 420 allows the positioning body 410 to retract to a protective position when not in operation, reducing the risk of collision with surrounding equipment or personnel and thus improving the safety of the entire working environment. Furthermore, after the workpiece is positioned, the mounting post 420 can be appropriately shortened to avoid interference during subsequent handling or processing.

[0067] The retractable mounting post 420 design in the positioning component 400 provides a solid foundation for the efficient and safe clamping and positioning of complex curved parts by improving positioning accuracy, increasing flexibility and safety, reducing maintenance difficulty, and promoting the level of automation.

[0068] The positioning body 410 includes a first positioning post 411 and a second positioning post 412 connected to each other. The first positioning post 411 is connected to the mounting frame 200, and the second positioning post 412 is connected to the end of the first positioning post 411 away from the mounting frame 200. The outer diameter of the first positioning post 411 is larger than that of the second positioning post 412, so that when the second positioning post 412 is inserted into the limiting part 110, the surface of the first positioning post 411 and the target workpiece 100 forming the limiting part 110 are in contact.

[0069] The outer diameter of the first positioning post 411 is designed to be larger than that of the second positioning post 412. When the second positioning post 412 is inserted into the limiting part 110 of the workpiece, the first positioning post 411 can fit tightly against the surface of the workpiece, forming a stable limiting structure. This design ensures the accuracy of the workpiece during the positioning stage, avoids machining errors caused by inaccurate positioning, and improves machining accuracy.

[0070] The first positioning post 411, in contact with the workpiece surface, combined with the second positioning post 412 inserted into the limiting part 110, provides multiple contact points, thereby providing more uniform support force during workpiece positioning and clamping. Multi-point contact effectively disperses stress on the workpiece, preventing deformation or damage caused by excessive localized force, and ensuring the stability of the workpiece during handling and processing.

[0071] The combined design of the first positioning post 411 and the second positioning post 412 can better adapt to the positioning requirements of complex curved workpieces. The width of the first positioning post 411 can match the specific groove or curved surface of the workpiece, while the second positioning post 412 is inserted into the hole of the workpiece, ensuring full adaptation to the shape of the workpiece, and achieving precise positioning even for the most complex geometric shapes.

[0072] The outer diameter of the first positioning post 411 is larger than that of the second positioning post 412. This stepped diameter difference allows the positioning body 410 to adapt to limiting parts 110 of different depths and sizes. Even when facing limiting parts 110 with deep recesses or special shapes, stable contact of the positioning body 410 can be ensured, enhancing the equipment's adaptability to various workpieces.

[0073] This utility model also provides a robot, including a robotic arm and a gripping mechanism. The gripping mechanism is disposed at the drive end of the robotic arm, and the robotic arm drives the gripping mechanism to move. The gripping mechanism is the gripping mechanism described in the above embodiment.

[0074] The automated design of the clamping mechanism significantly improves loading and unloading efficiency, reduces manual intervention, and makes the entire processing flow more seamless and faster. The robot can seamlessly complete positioning and clamping actions, shortening the production cycle and increasing the throughput of the production line.

[0075] Automated clamping and positioning eliminates the safety hazards associated with manually handling heavy objects and positioning workpieces, reducing the likelihood of worker injury. Simultaneously, a stable and accurate clamping mechanism minimizes accidental drops or collisions of workpieces during transport, ensuring a safe production environment.

[0076] By employing high-precision industrial robots and specialized fixtures to replace manual labor in the automated loading and unloading of die-cast parts, flexible workpiece positioning and clamping can be achieved. Secondly, based on the positioning datum analysis of complex curved surfaces, precise positioning and auxiliary clamping components are designed, making part positioning more accurate. The auxiliary clamping points provide additional clamping for complex curved surfaces, making the clamping mechanism more compact and stable during gripping. Finally, through repeated testing, a series of process parameters were obtained, enabling automated part gripping with high stability.

[0077] During installation, first, the flange mounting plate and the welded mounting frame 200 are installed and locked together with screws. Then, each clamping component 300 is installed on the corresponding position on the mounting frame 200 and the two are fastened with screws. The two positioning components 400 are installed in their fixed positions. Finally, the entire clamping mechanism is installed on the corresponding positions of the robot flange and the connecting flange 500 and fastened with screws.

[0078] Figure 4 The diagram shows the overall structure of the clamping assembly 300, which mainly consists of a cylinder, a mounting base 330, a connecting rod 340, a cylinder piston rod, and clamping components. The main operating principle is that the moving body 312 in the clamping component 310 is opened and clamped under the drive of the piston rod and the connecting rod 340.

[0079] When the clamping component 310 clamps, the piston rod of the cylinder is in the retracted state, and then the moving body 312 is in the open state. The workpiece is first positioned by the positioning body 410. After the workpiece is positioned, the four clamping components located on the inner ring of the workpiece clamp it, and at the same time, the four clamping components on the outer ring also clamp the workpiece. In this way, the entire workpiece is clamped on the clamping mechanism. Then, the robotic arm drives the clamping mechanism and the workpiece to achieve the positioning and clamping of a complex curved surface workpiece. The entire mechanism has a compact structure and a firm clamping.

[0080] High-precision industrial robots with specialized clamping mechanisms are used to replace manual labor for the automatic loading and unloading of die-cast parts. Secondly, based on the positioning benchmark analysis of complex curved surfaces, precise positioning and auxiliary clamping parts are designed to make the parts more accurate in positioning. The auxiliary clamping points provide auxiliary clamping for complex curved surfaces, making the clamping mechanism more compact and stable in the gripping process, which can realize automatic positioning and automatic gripping of parts.

[0081] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0082] This application provides a clamping mechanism for clamping a target workpiece 100. The clamping mechanism includes: a mounting frame 200, a clamping assembly 300, and a positioning component 400. The clamping assembly 300 and the positioning component 400 are respectively disposed on the mounting frame 200. The clamping assembly 300 includes a clamping component 310, which is closable to clamp or release the target workpiece 100. There are multiple sets of clamping assemblies 300, which are spaced apart along the circumferential direction of the mounting frame 200. The positioning component 400 is used to cooperate with the limiting part 110 on the target workpiece 100 so that the target workpiece 100 is positioned by the positioning component 400, and then the clamping assembly 300 clamps the target workpiece 100.

[0083] According to the clamping mechanism provided in this application, by arranging multiple sets of clamping components 300 at intervals in the circumferential direction of the mounting frame 200, the clamping mechanism of this application can clamp the target workpiece 100 from multiple angles simultaneously. This not only enhances the clamping firmness, but also ensures the stability of the workpiece during handling and processing, and reduces the risk of workpiece deformation or damage caused by uneven clamping.

[0084] The positioning component 400 precisely engages with the limiting part 110 on the target workpiece 100, enabling accurate positioning of the workpiece before clamping. This pre-positioning mechanism effectively avoids positional errors during machining, which is particularly important for complex curved surface workpieces requiring high-precision machining, greatly improving the machining accuracy and quality of the final product.

[0085] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0086] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0087] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0088] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0089] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0090] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A clamping mechanism for clamping a target workpiece (100), characterized in that, The clamping mechanism includes: Mounting frame (200); A clamping assembly (300) is disposed on the mounting frame (200). The clamping assembly (300) includes a clamping component (310), which is closable to clamp or release the target workpiece (100). There are multiple sets of clamping assemblies (300), which are spaced apart along the circumferential direction of the mounting frame (200). A positioning component (400) is disposed on the mounting frame (200). The positioning component (400) is used to cooperate with the limiting part (110) on the target workpiece (100) so that after the target workpiece (100) is positioned by the positioning component (400), the clamping assembly (300) clamps the target workpiece (100).

2. The clamping mechanism according to claim 1, characterized in that, The clamping component (310) includes: Support body (311); A movable body (312) is provided, at least a portion of which is disposed opposite to the support body (311). A clamping space is provided between the movable body (312) and the support body (311). The movable body (312) is rotatably disposed relative to the support body (311) to move closer to or further away from the support body (311) in order to clamp or release the target workpiece (100).

3. The clamping mechanism according to claim 2, characterized in that, The clamping assembly (300) further includes: A drive component (320) includes a drive rod (321) which is telescopically configured and is hinged to the movable body (312) to drive the movable body (312) to rotate.

4. The clamping mechanism according to claim 3, characterized in that, The clamping assembly (300) further includes: Mounting base (330) is disposed on the drive component (320); A connecting rod (340) is provided, with its two ends hinged to the movable body (312) and the mounting base (330) respectively. The connecting rod (340) is located to the side of the driving rod (321) so as to cause the movable body (312) to rotate during the extension and retraction of the driving rod (321).

5. The clamping mechanism according to claim 4, characterized in that, The mobile body (312) includes: A first body (3120), a second body (3121), and a third body (3122) are interconnected. At least a portion of the first body (3120) is disposed opposite to the support body (311), and both ends of the third body (3122) are hinged to the connecting rod (340) and the driving rod (321), respectively. The second body (3121) is set at an angle to the first body (3120) and the third body (3122).

6. The clamping mechanism according to claim 2, characterized in that, The clamping assembly (300) further includes: The first buffer pad (350) is disposed on the clamping surface of the support body (311); A second buffer pad (360) is disposed on the clamping surface of the movable body (312) so that when the clamping assembly (300) is in the clamping state, the first buffer pad (350) and the second buffer pad (360) respectively fit against the target workpiece (100).

7. The clamping mechanism according to claim 1, characterized in that, The positioning component (400) includes: A positioning body (410) is disposed on the mounting frame (200), the positioning body (410) having an initial position and a positioning position, the positioning body (410) being movably disposed between the initial position and the positioning position.

8. The clamping mechanism according to claim 7, characterized in that, The positioning component (400) further includes: A mounting post (420) is provided on the mounting frame (200), and a positioning body (410) is provided on the mounting post (420) at one end away from the mounting frame (200). The mounting post (420) is telescopically provided to drive the positioning body (410) to move.

9. The clamping mechanism according to claim 7, characterized in that, The positioning body (410) includes: A first positioning post (411) and a second positioning post (412) are connected to each other. The first positioning post (411) is connected to the mounting frame (200), and the second positioning post (412) is connected to the end of the first positioning post (411) away from the mounting frame (200). The outer diameter of the first positioning post (411) is larger than that of the second positioning post (412) so that when the second positioning post (412) is inserted into the limiting part (110), the first positioning post (411) and the target workpiece (100) form a surface that fits into the limiting part (110).

10. A robot comprising a robotic arm and a gripping mechanism, the gripping mechanism being disposed at the drive end of the robotic arm, the robotic arm driving the gripping mechanism to move, characterized in that, The clamping mechanism is the clamping mechanism according to any one of claims 1 to 9.

Images