阅读说明：本技术 一种用于机电一体化车床的高精度自动抓取装置 (High-precision automatic gripping device for electromechanical integrated lathe ) 是由 项云霞 于 2021-08-04 设计创作，主要内容包括：本发明公开了一种用于机电一体化车床的高精度自动抓取装置,涉及车床抓取装置技术领域,针对背景技术提出的只能对一种产品进行抓取,使用范围较为狭窄,实用性低的问题,现提出以下方案,包括支撑机构,所述支撑机构包括支撑框、焊接于支撑框底部一端外壁上的支撑板、通过螺栓连接于支撑框底部内壁上的第一伺服电机、套接于第一伺服电机输出轴一端外壁上的传动齿轮。本发明能够提高装置整体的稳定性,且便于调节抓取方向,能够调节夹持机构位置,避免装置碰到车床表面,防止产品掉落或者装置受损,提高了安全性,能够在水平和竖直方向上对产品进行抓取,提高了多样性,能够对不同形状和不同规格的产品进行夹持,提高了实用性。(The invention discloses a high-precision automatic grabbing device for an electromechanical integrated lathe, which relates to the technical field of lathe grabbing devices and aims at solving the problems that only one product can be grabbed, the application range is narrow and the practicability is low in the background technology. The invention can improve the overall stability of the device, is convenient for adjusting the grabbing direction, can adjust the position of the clamping mechanism, avoids the device from touching the surface of a lathe, prevents a product from falling off or damaging the device, improves the safety, can grab the product in the horizontal and vertical directions, improves the diversity, can clamp products with different shapes and specifications, and improves the practicability.)

1. The utility model provides an automatic grabbing device of high accuracy for mechatronic lathe, includes supporting mechanism (1), a serial communication port, supporting mechanism (1) includes carriage (101), welds backup pad (102) on carriage (101) bottom one end outer wall, through first servo motor (103) of bolted connection on carriage (101) bottom inner wall, cup joints drive gear (104) on first servo motor (103) output shaft one end outer wall, connects transmission shaft (105) on carriage (101) top one end outer wall through the bearing, cup joints driven gear (106) that are located carriage (101) inside outer wall and cup joints revolving stage (107) on transmission shaft (105) top outer wall in transmission shaft (105) driven gear (106) that are located transmission shaft (105) inside outer wall, revolving stage (107) top is equipped with elevating system (2), elevating system (2) including welding install bin (201) on revolving stage (107) top outer wall, The lifting screw rod (202) is connected to the inner wall of the top of the installation box (201) through a bearing, the second servo motor (203) is connected to the outer wall of the top of the installation box (201) through a bolt, a translation mechanism (3) is arranged in the installation box (201), the translation mechanism (3) comprises an installation frame (301) with one end screwed to the outer wall of the lifting screw rod (202), two limiting plates (302) welded to the outer walls of two sides of the installation frame (301) respectively, two installation bases (303) welded to the outer walls of two ends of the top of the installation frame (301) respectively, a screw rod (304) with two ends connected to the outer wall of one side, opposite to the two installation bases (303) through bearings respectively, a third servo motor (305) connected to one side of the installation frame (301) through a bolt, and a sliding block (306) screwed to the outer wall of the screw rod (304);

slider (306) bottom is equipped with adjustment mechanism (4), adjustment mechanism (4) including weld fixed plate (401) on slider (306) bottom outer wall, weld mount (402) of "U" shape structure on fixed plate (401) bottom outer wall and through servo cylinder (403) of bolted connection on fixed plate (401) bottom outer wall, servo cylinder (403) bottom is equipped with steering mechanism (5), steering mechanism (5) including weld support frame (501) of "U" shape structure on servo cylinder (403) piston rod bottom outer wall, weld mounting panel (502) on support frame (501) bottom outer wall, through fourth servo motor (503) of bolted connection on mounting panel (502) top outer wall, two respectively weld fixed block (504) on mounting panel (502) bottom both ends outer wall, both ends are connected rotation axis (505) between two fixed blocks (504) through the bearing respectively, The worm gear comprises a first worm wheel (506) sleeved on the outer wall of the middle part of a rotating shaft (505), two mounting blocks (507) welded on the outer walls of two sides of the bottom of the mounting plate (502) respectively, a first worm (508) with two ends connected between the two mounting blocks (507) through bearings respectively, and two connecting plates (509) sleeved on the outer walls of two ends of the rotating shaft (505) respectively;

the clamping mechanism (6) is arranged at the bottom of the connecting plate (509), the clamping mechanism (6) comprises a mounting rack (601) with a U-shaped structure, two ends of the top of the mounting rack are welded to the outer walls of the bottoms of the two connecting plates (509) respectively, a fifth servo motor (602) connected to the outer wall of the top of the mounting rack (601) through bolts, a second worm (603) connected to the outer wall of the bottom of an output shaft of the fifth servo motor (602) through a coupler, a rotating rod (604) with two ends connected to the inner walls of two sides of the mounting rack (601) through bearings respectively, a second worm gear (605) sleeved on the outer wall of the middle part of the rotating rod (604), two first connecting rods (606) sleeved on the outer walls of two ends of the rotating rod (604) respectively, transmission rods (607) with two ends connected to the inner walls of two sides of the mounting rack (601) through bearings respectively, two second connecting rods (608) sleeved on the outer walls of two ends of the transmission rods (607) respectively, and two sides of the upper part of the two ends of the two first connecting rods (606) respectively hinged to the free ends of the two first connecting rods (606) And a clamping block (609) of "L" shaped configuration.

2. The high-precision automatic grabbing device for the mechatronic lathe according to claim 1, characterized in that the bottom end of the transmission shaft (105) is connected to the outer wall of the bottom of the support frame (101) through a bearing, the outer wall of the bottom end of the transmission shaft (105) is connected to a support table through a bearing, the outer wall of the bottom of the support table is fixedly connected with a non-slip mat, the outer wall of the bottom of the non-slip mat is provided with anti-slip protrusions distributed at equal intervals, the top end of the first servo motor (103) is connected to the inner wall of the top of the support frame (101) through a bearing, the transmission gear (104) and the driven gear (106) are meshed with each other to form transmission fit, and the rotating table (107) is connected to the outer wall of the top of the support frame (101) through a bearing.

3. The high-precision automatic gripping device for the mechatronic lathe is characterized in that an output shaft of the second servo motor (203) is connected to the inner wall of the top of the mounting box (201) through a bearing, the output shaft of the second servo motor (203) is connected with the lifting screw (202) through a coupler, and the bottom end of the lifting screw (202) is connected to the inner wall of the bottom of the mounting box (201) through a bearing.

4. The high-precision automatic grabbing device for the mechatronic lathe is characterized in that one end of the mounting frame (301) is slidably mounted in the mounting box (201), two limiting plates (302) are respectively in sliding fit with the mounting box (201), one end of the screw rod (304) is connected to the outer wall of one side of the mounting seat (303) close to the third servo motor (305) through a bearing, the output shaft of the third servo motor (305) is connected with the screw rod (304) through a coupler, and the sliding block (306) is slidably mounted in the mounting frame (301).

5. The high-precision automatic grabbing device for the mechatronic lathe is characterized in that the top of the fixing plate (401) is lapped on the outer wall of the bottom of the mounting frame (301), the fixing plate (401) is in sliding fit with the mounting frame (301), a through hole is formed in the outer wall of the bottom of the fixing frame (402), and the bottom end of the servo cylinder (403) is sleeved in the through hole.

6. The high-precision automatic grabbing device for the mechatronic lathe is characterized in that one end of an output shaft of the fourth servo motor (503) is sleeved with a belt pulley, one end of the first worm (508) is connected to the outer wall of one side of the mounting block (507) through a bearing, one end of the first worm (508) is sleeved with a driven belt pulley, the belt pulley is in transmission fit with the driven belt pulley through a belt, and the first worm wheel (506) and the first worm (508) are meshed with each other to form transmission fit.

7. The high-precision automatic grabbing device for the mechatronic lathe is characterized in that the second worm (603) and the second worm gear (605) are meshed with each other to form transmission fit, the upper portion of the clamping block (609) is hinged to the first connecting rod (606) and the second connecting rod (608) respectively, a groove with an arc-shaped structure is formed in the outer wall of one side of the clamping block (609), rubber pads are fixedly connected to one side of the clamping block (609) and the inner wall of the groove, and anti-skidding blocks distributed at equal intervals are arranged on the outer wall of the rubber pads.

Technical Field

The invention relates to the technical field of grabbing devices, in particular to a high-precision automatic grabbing device for an electromechanical integrated lathe.

Background

A lathe is a machine tool for turning a rotating workpiece mainly with a lathe tool. The machine tool can also be used for processing correspondingly by a drill bit, a reamer, a screw tap, a die, a knurling tool and the like, the electromechanical integration is also called mechanical electronic engineering and is one of mechanical engineering and automation, English is called Mechatronics, the machine tool is formed by combining the front half part of the Mechatics of English Mechanics with the rear half part of Electronics, the electromechanical integration technology is a comprehensive technology which organically combines various technologies such as mechanical technology, electrician electronic technology, microelectronic technology, information technology, sensor technology, interface technology, signal conversion technology and the like and is comprehensively applied to the reality, modern automatic production equipment almost can be regarded as electromechanical integration equipment, the existing electromechanical integration technology is a technology which closely integrates mechanical and microelectronic technologies, and the development of the machine enables the machine of the cold ice to be humanized and intelligent.

At present, the common grabbing device in industrial workshop generally adds by the ABB robot and snatchs anchor clamps and constitute, and it not only can carry out all-round the snatching of the product of comparison size and place, and whole in-process is more accurate, swift moreover, but because ABB robot price is higher, to some middle-size and small-size enterprises, can't use the ABB robot comprehensively to snatch the product.

Based on current some simple structure's grabbing device, utilize the cylinder to snatch the product, lead to when using, can receive the restriction of cylinder stroke, lead to snatching the in-process whole power of grabbing, the ascending motion stroke of level and vertical side to the product and fixed, can only snatch a product, application range is comparatively narrow, and the practicality is low.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a high-precision automatic gripping device for an electromechanical integrated lathe.

In order to achieve the purpose, the invention adopts the following technical scheme:

a high-precision automatic gripping device for an electromechanical integrated lathe comprises a supporting mechanism, wherein the supporting mechanism comprises a supporting frame, a supporting plate welded on the outer wall of one end of the bottom of the supporting frame, a first servo motor connected on the inner wall of the bottom of the supporting frame through a bolt, a transmission gear sleeved on the outer wall of one end of an output shaft of the first servo motor, a transmission shaft connected on the outer wall of one end of the top of the supporting frame through a bearing, a driven gear sleeved on the outer wall of the inner part of the supporting frame, and a rotating table sleeved on the outer wall of the top end of the transmission shaft, the top of the rotating table is provided with a lifting mechanism, the lifting mechanism comprises an installation box welded on the outer wall of the top of the rotating table, a lifting screw rod connected on the inner wall of the top of the installation box through a bearing, and a second servo motor connected on the outer wall of the top of the installation box through a bolt, a translation mechanism is arranged in the installation box, the translation mechanism comprises a mounting frame, two limiting plates, two mounting seats, a screw rod, a third servo motor and a sliding block, wherein one end of the mounting frame is in threaded connection with the outer wall of the lifting screw rod;

the bottom of the sliding block is provided with an adjusting mechanism, the adjusting mechanism comprises a fixed plate welded on the outer wall of the bottom of the sliding block, a fixing frame welded on the outer wall of the bottom of the fixed plate and a servo cylinder connected on the outer wall of the bottom of the fixed plate through a bolt, the bottom end of the servo cylinder is provided with a steering mechanism, the steering mechanism comprises a support frame welded on the outer wall of the bottom of a piston rod of the servo cylinder and provided with a U-shaped structure, a mounting plate welded on the outer wall of the bottom of the support frame, a fourth servo motor connected on the outer wall of the top of the mounting plate through a bolt, two fixed blocks welded on the outer walls of two ends of the bottom of the mounting plate respectively, a rotating shaft with two ends connected between the two fixed blocks through bearings respectively, a first worm wheel sleeved on the outer wall of the middle part of the rotating shaft, two mounting blocks welded on the outer walls of two sides of the bottom of the mounting plate respectively through bearings, and two worms connected between the two mounting blocks respectively through bearings respectively and sleeved on two ends of the rotating shaft A connecting plate on the outer wall;

the connecting plate bottom is equipped with fixture, fixture includes that the top both ends weld respectively in the mounting bracket of "U" shape structure on two connecting plate bottom outer walls, through bolted connection fifth servo motor on the outer wall of mounting bracket top, through the second worm of coupling joint on the outer wall of fifth servo motor output shaft bottom, both ends connect the rotary rod on the inner wall of mounting bracket both sides through the bearing respectively, cup joint the second worm wheel on the outer wall in rotary rod middle part, two cup joint respectively in the first connecting rod on the outer wall of rotary rod both ends, both ends connect the transfer line on the inner wall of mounting bracket both sides through the bearing respectively, two cup joint respectively on the second connecting rod on the outer wall of transfer line both ends and upper portion both sides articulate respectively in the grip block of "L" shape structure of two first connecting rod free ends.

Preferably, the transmission shaft bottom is connected on the carriage bottom outer wall through the bearing, and is connected with a supporting bench through the bearing on the transmission shaft bottom outer wall, fixedly connected with slipmat on the outer wall of supporting bench bottom, and be equipped with the non-slip raised that the equidistance distributes on the slipmat bottom outer wall, first servo motor top is connected on carriage top inner wall through the bearing, and drive gear and driven gear intermeshing form the transmission cooperation, the revolving stage passes through the bearing and connects on carriage top outer wall.

Preferably, the output shaft of the second servo motor is connected to the inner wall of the top of the installation box through a bearing, the output shaft of the second servo motor is connected to the lifting screw through a coupler, and the bottom end of the lifting screw is connected to the inner wall of the bottom of the installation box through a bearing.

Preferably, installing frame one end slidable mounting is in the installing box, and two limiting plates form sliding fit with the installing box respectively, lead screw one end is passed through the bearing and is connected on the outer wall of the mount pad one side that is close to third servo motor, and the third servo motor output shaft passes through the shaft coupling and is connected with the lead screw, slider slidable mounting is in the installing frame.

Preferably, the top of the fixing plate is lapped on the outer wall of the bottom of the mounting frame, the fixing plate and the mounting frame form sliding fit, a through hole is formed in the outer wall of the bottom of the fixing frame, and the bottom end of the servo cylinder is sleeved in the through hole.

Preferably, a belt pulley is sleeved at one end of an output shaft of the fourth servo motor, one end of the first worm is connected to the outer wall of one side of the mounting block through a bearing, a driven belt pulley is sleeved at one end of the first worm, the belt pulley is in transmission fit with the driven belt pulley through a belt, and the first worm wheel and the first worm are meshed with each other to form transmission fit.

Preferably, the second worm and the second worm wheel are meshed with each other to form transmission fit, the upper portion of the clamping block is hinged to the first connecting rod and the second connecting rod respectively, a groove of an arc-shaped structure is formed in the outer wall of one side of the clamping block, rubber pads are fixedly connected to one side of the clamping block and the inner wall of the groove, and anti-skidding blocks distributed at equal intervals are arranged on the outer wall of the rubber pads.

The invention has the beneficial effects that:

1. the device is provided with a supporting mechanism, an output shaft of a first servo motor rotates, a transmission shaft is driven to rotate through a transmission gear and a driven gear, the transmission shaft drives the device to rotate, so that the direction is adjusted, meanwhile, the bottom end of the transmission shaft is connected with a supporting table through a bearing, and the supporting table supports the whole device while the transmission shaft rotates, so that the stability of the whole device can be improved, and the grabbing direction can be adjusted conveniently;

2. the device is provided with the adjusting mechanism, when a grabbed product needs to be placed into a lathe, the servo cylinder is started, the piston rod of the servo cylinder descends, the position of the clamping mechanism is adjusted, the device is prevented from touching the surface of the lathe, the product is prevented from falling off or the device is prevented from being damaged, and the safety is improved;

3. the fourth servo motor is arranged on the clamping mechanism, the output shaft of the fourth servo motor rotates to drive the first worm to rotate, the first worm drives the first worm wheel and the clamping mechanism to rotate, the clamping direction of the clamping mechanism is further adjusted, products can be grabbed in the horizontal direction and the vertical direction, and the diversity is improved;

4. grip block one side is equipped with the recess of arc structure for the grip block can carry out the centre gripping to the product of different shapes, simultaneously, drives two second worm wheels through the second worm and rotates, and then drives two grip blocks through first connecting rod and second connecting rod and remove in opposite directions, and the grip block does not receive the restriction of stroke, can carry out the centre gripping to the product of different specifications, has improved the practicality.

Drawings

Fig. 1 is a schematic front perspective view of a high-precision automatic gripping device for an electromechanical lathe according to the present invention;

FIG. 2 is a schematic bottom perspective view of a supporting mechanism of a high-precision automatic gripping device for an electromechanical lathe according to the present invention;

FIG. 3 is a schematic perspective view of a lifting mechanism of the high-precision automatic gripping device for the mechatronic lathe according to the present invention;

FIG. 4 is a schematic perspective view of a translation mechanism of the high-precision automatic gripping device for the mechatronic lathe according to the present invention;

FIG. 5 is a schematic structural diagram of an adjusting mechanism of the high-precision automatic gripping device for the mechatronic lathe, according to the present invention;

FIG. 6 is a schematic front perspective view of a steering mechanism of the high-precision automatic gripping device for the mechatronic lathe according to the present invention;

FIG. 7 is a schematic side-view perspective structure of a steering mechanism of the high-precision automatic gripping device for the mechatronic lathe according to the present invention;

FIG. 8 is a schematic front perspective view of a clamping mechanism of the high-precision automatic gripping device for the mechatronic lathe according to the present invention;

fig. 9 is a schematic cross-sectional three-dimensional structure diagram of a clamping mechanism of the high-precision automatic gripping device for the mechatronic lathe, which is provided by the invention.

In the figure: the device comprises a supporting mechanism 1, a supporting frame 101, a supporting plate 102, a first servo motor 103, a transmission gear 104, a transmission shaft 105, a driven gear 106, a rotating table 107, a lifting mechanism 2, a mounting box 201, a lifting screw 202, a second servo motor 203, a translation mechanism 3, a mounting frame 301, a limiting plate 302, a mounting seat 303, a screw rod 304, a third servo motor 305, a sliding block 306, a regulating mechanism 4, a fixing plate 401, a fixing frame 402, a servo cylinder 403, a steering mechanism 5, a supporting frame 501, a mounting plate 502, a fourth servo motor 503, a fixing block 504, a rotating shaft 505, a first worm gear 506, a mounting block 507, a first worm 508, a connecting plate 509, a clamping mechanism 6, a rotating rod 601, a fifth servo motor 602, a second worm gear 603, a second worm gear 604, a second worm gear 605, a first connecting rod 606, a transmission rod 607, a second connecting rod 608 connecting rod 609 and a clamping block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-9, a high-precision automatic gripping device for an electromechanical integrated lathe comprises a supporting mechanism 1, a lifting mechanism 2, a translation mechanism 3, an adjusting mechanism 4, a steering mechanism 5 and a clamping mechanism 6, wherein the supporting mechanism 1 comprises a supporting frame 101, a supporting plate 102, a first servo motor 103, a transmission gear 104, a transmission shaft 105, a driven gear 106 and a rotating table 107, the supporting plate 102 is welded on the outer wall of one end of the bottom of the supporting frame 101, the first servo motor 103 is connected on the inner wall of the bottom of the supporting frame 101 through a bolt, the transmission gear 104 is sleeved on the outer wall of one end of an output shaft of the first servo motor 103, the transmission shaft 105 is connected on the outer wall of one end of the top of the supporting frame 101 through a bearing, the bottom end of the transmission shaft 105 is connected on the outer wall of the bottom of the supporting frame 101 through a bearing, and the outer wall of the bottom end of the transmission shaft 105 is connected with a supporting table through a bearing, the outer wall of the bottom of the supporting table is fixedly connected with an anti-slip pad, anti-slip bulges are distributed on the outer wall of the bottom of the anti-slip pad at equal intervals, the driven gear 106 is sleeved on the transmission shaft 105 and is positioned on the outer wall of the inside of the supporting frame 101, the top end of the first servo motor 103 is connected to the inner wall of the top of the supporting frame 101 through a bearing, the transmission gear 104 and the driven gear 106 are meshed with each other to form transmission fit, the rotating table 107 is sleeved on the outer wall of the top end of the transmission shaft 105, and the rotating table 107 is connected to the outer wall of the top of the supporting frame 101 through a bearing, so that the overall stability of the device can be improved, and the grabbing direction can be conveniently adjusted;

the lifting mechanism 2 comprises an installation box 201, a lifting screw 202 and a second servo motor 203, the installation box 201 is welded on the outer wall of the top of the rotating platform 107, the lifting screw 202 is connected on the inner wall of the top of the installation box 201 through a bearing, the bottom end of the lifting screw 202 is connected on the inner wall of the bottom of the installation box 201 through a bearing, the second servo motor 203 is connected on the outer wall of the top of the installation box 201 through a bolt, the output shaft of the second servo motor 203 is connected on the inner wall of the top of the installation box 201 through a bearing, and the output shaft of the second servo motor 203 is connected with the lifting screw 202 through a coupler;

the translation mechanism 3 comprises an installation frame 301, two limiting plates 302, two installation seats 303, a screw rod 304, a third servo motor 305 and a sliding block 306, wherein one end of the installation frame 301 is screwed on the outer wall of the lifting screw 202, the two limiting plates 302 are respectively welded on the outer walls of two sides of the installation frame 301, one end of the installation frame 301 is slidably installed in the installation box 201, the two limiting plates 302 respectively form sliding fit with the installation box 201, the two installation seats 303 are respectively welded on the outer walls of two ends of the top of the installation frame 301, two ends of the screw rod 304 are respectively connected on the outer walls of one side of two opposite installation seats 303 through bearings, the third servo motor 305 is connected to one side of the installation frame 301 through bolts, one end of the screw rod 304 is connected to the outer wall of one side of the installation seat 303 close to the third servo motor 305 through a bearing, and the output shaft of the third servo motor 305 is connected with the screw rod 304 through a shaft coupling, the sliding block 306 is in threaded connection with the outer wall of the screw rod 304, and the sliding block 306 is slidably mounted in the mounting frame 301;

the adjusting mechanism 4 comprises a fixing plate 401 welded on the outer wall of the bottom of the sliding block 306, a fixing frame 402 welded on the outer wall of the bottom of the fixing plate 401 and a servo cylinder 403 connected to the outer wall of the bottom of the fixing plate 401 through a bolt, the top of the fixing plate 401 is lapped on the outer wall of the bottom of the mounting frame 301, the fixing plate 401 and the mounting frame 301 form sliding fit, a through hole is formed in the outer wall of the bottom of the fixing frame 402, the bottom end of the servo cylinder 403 is sleeved in the through hole, the position of the clamping mechanism can be adjusted, the phenomenon that a product drops or the device is damaged due to the fact that the device touches the surface of a lathe is avoided, and safety is improved;

the steering mechanism 5 comprises a support frame 501 of a U-shaped structure welded on the outer wall of the bottom end of a piston rod of a servo cylinder 403, a mounting plate 502 welded on the outer wall of the bottom of the support frame 501, a fourth servo motor 503 connected on the outer wall of the top of the mounting plate 502 through bolts, two fixing blocks 504 welded on the outer walls of the two ends of the bottom of the mounting plate 502 respectively, a rotating shaft 505 with two ends connected between the two fixing blocks 504 through bearings respectively, a first worm wheel 506 sleeved on the outer wall of the middle part of the rotating shaft 505, two mounting blocks 507 welded on the outer walls of the two sides of the bottom of the mounting plate 502 respectively, a first worm 508 with two ends connected between the two mounting blocks 507 through bearings respectively, and two connecting plates 509 sleeved on the outer walls of the two ends of the rotating shaft 505 respectively, one end of an output shaft of the fourth servo motor 503 is sleeved with a belt pulley, one end of the first worm 508 is connected on the outer wall of one side of the mounting block 507 through a bearing, a driven belt pulley is sleeved at one end of the first worm 508, the belt pulley and the driven belt pulley form transmission fit through a belt, the first worm wheel 506 and the first worm 508 are meshed with each other to form transmission fit, the clamping direction of the clamping mechanism can be adjusted, products can be grabbed in the horizontal direction and the vertical direction, and diversity is improved;

the clamping mechanism 6 comprises a mounting frame 601 with a U-shaped structure, two ends of the top of the mounting frame are respectively welded on the outer walls of the bottoms of the two connecting plates 509, a fifth servo motor 602 connected on the outer wall of the top of the mounting frame 601 through bolts, a second worm 603 connected on the outer wall of the bottom of the output shaft of the fifth servo motor 602 through a coupler, a rotating rod 604 with two ends respectively connected on the inner walls of two sides of the mounting frame 601 through bearings, a second worm wheel 605 sleeved on the outer wall of the middle part of the rotating rod 604, two first connecting rods 606 respectively sleeved on the outer walls of two ends of the rotating rod 604, two transmission rods 607 with two ends respectively connected on the inner walls of two sides of the mounting frame 601 through bearings, two second connecting rods 608 respectively sleeved on the outer walls of two ends of the transmission rods 607, and clamping blocks 609 with an L-shaped structure, two ends of the two first connecting rods 606 are respectively hinged on two sides of the upper part of the two ends of the two first connecting rods 606, and the second worm 603 and the second worm wheel 605 are mutually meshed to form transmission fit, the clamping block 609 upper portion is articulated with first connecting rod 606 and second connecting rod 608 respectively, open the recess that has the arc structure on the outer wall of clamping block 609 one side, and equal fixedly connected with rubber pad on clamping block 609 one side and the inner wall of recess, be equipped with the non slipping spur that the equidistance distributes on the rubber pad outer wall, can carry out the centre gripping to the product of different shapes, do not receive the restriction of stroke, can carry out the centre gripping to the product of different specifications, improved the practicality.

The output shaft of the fifth servo motor 602 rotates to drive the second worm 603 and the two second worm wheels 605 to rotate, the first connecting rod 606 and the second connecting rod 608 drive the two clamping blocks 609 to move oppositely to further clamp the product, when the grasped product needs to be placed in a lathe, the output shaft of the second servo motor 203 rotates to drive the clamping mechanism 6 to rise to the highest position, at this time, the output shaft of the first servo motor 103 rotates to drive the transmission shaft 105 to rotate through the transmission gear 104 and the driven gear 106, the transmission shaft 105 drives the device to rotate, so as to adjust the direction of the device, the second servo motor 203 rotates to drive the clamping mechanism 6 to fall, the servo cylinder 403 is started, the piston rod of the servo cylinder 403 falls, the position of the clamping mechanism 6 is finely adjusted, the output shaft of the fifth servo motor 602 rotates to drive the two clamping blocks 609 to be away from each other, the product can be put down, and the output shaft of the fourth servo motor 503 rotates, the first worm 508 is driven to rotate, the first worm 508 drives the first worm wheel 506 and the clamping mechanism 6 to rotate, the clamping direction of the clamping mechanism 6 is further adjusted, and the product is grabbed in the horizontal and vertical directions.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.