CN219771113U - Workpiece grabbing device - Google Patents

Abstract

The utility model relates to the technical field of production line automation, and discloses a workpiece grabbing device which comprises a frame, a feeding mechanism, a positioning mechanism and a claw disc mechanism, wherein the feeding mechanism and the positioning mechanism are arranged on the frame, the claw disc mechanism is positioned above the feeding mechanism and the positioning mechanism, the positioning mechanism comprises a positioning plate, a fixed block, a positioning block and a positioning driving piece, the fixed block is arranged on the top surface of the positioning plate, the positioning driving piece is arranged on the bottom surface of the positioning plate, the positioning block is connected with the power output end of the positioning driving piece, the positioning block and the fixed block are used for positioning and clamping workpieces under the driving of the positioning driving piece, the workpiece raw materials are positioned and clamped at high precision, the universality is high, the workpiece is effectively avoided from being processed by mistake, and the yield of products is improved.

Description

Workpiece grabbing device

Technical Field

The utility model relates to the technical field of automation of production lines, in particular to a workpiece grabbing device.

Background

With the popularization of electronic products such as mobile phones and flat panels, people cannot leave the electronic products in life. Therefore, in order to meet the market demands for various mobile phone styles, manufacturers have developed a production line for realizing flexible manufacturing of multiple mobile phones and reducing the production cost of the mobile phones so as to save the production cost.

In the existing mobile phone production line, a manipulator replaces a human hand to transfer a hardware workpiece, namely, the hardware workpiece on a material area is grabbed and clamped to a set position according to a fixed program to perform one or more processing procedures of cleaning, assembling and the like, and then the processed workpiece is transferred to a finished product area.

However, due to the variety of mobile phone styles and the higher updating frequency of mobile phones, the sizes and shapes of hardware applied to different mobile phones are different. Therefore, in order to improve the universality of the clamping manipulator on the production line, the clamping precision of the manipulator is greatly reduced, the dislocation of the processing area of the hardware workpiece is easy to occur in the processing process, the yield of product processing is low, and the production cost is increased to a certain extent.

Disclosure of Invention

The purpose of the utility model is that: the workpiece grabbing device is high in universality and positioning and clamping precision.

In order to achieve the above object, the utility model provides a workpiece grabbing device, comprising a frame, a feeding mechanism, a positioning mechanism and a claw disc mechanism, wherein the feeding mechanism and the positioning mechanism are arranged on the frame, the claw disc mechanism is positioned above the feeding mechanism and the positioning mechanism, so that the claw disc mechanism grabs a workpiece from the feeding mechanism and transfers the workpiece to the positioning mechanism,

the positioning mechanism comprises a positioning plate, a fixing block, a positioning block and a positioning driving piece, wherein the fixing block is arranged on the top surface of the positioning plate, the positioning driving piece is arranged on the bottom surface of the positioning plate, the positioning block is connected with the power output end of the positioning driving piece, the positioning plate is provided with a through groove for the positioning block to extend to the top surface of the positioning plate, and the workpiece is positioned and clamped between the positioning block and the fixing block under the driving of the positioning driving piece.

As the preferable technical scheme, the number of the fixed blocks, the number of the positioning blocks and the number of the positioning driving parts are two, the two fixed blocks are positioned on one pair of side edges of the rectangular area, and the two positioning blocks are positioned on the other pair of side edges of the rectangular area.

As the preferable technical scheme, feed mechanism includes loading board, first lift driving piece and first position sensor, first lift driving piece with first position sensor locates in the frame, the loading board with the power take off end of first lift driving piece is connected, the loading board is equipped with the confession first breach of first position sensor response.

As the preferable technical scheme, still include unloading mechanism, unloading mechanism includes flitch, second lift driving piece and second position sensor, the second lift driving piece with second position sensor locates in the frame, the flitch with the power take off end of second lift driving piece is connected, the flitch is equipped with the confession the second breach of second position sensor response.

As the preferable technical scheme, the first lifting driving piece and the second lifting driving piece are motors or electric cylinders, and the feeding plate and the discharging plate are provided with positioning frames.

As a preferable technical scheme, the feeding mechanism further comprises a plurality of first guide sleeves and a plurality of first guide shafts, wherein the first guide sleeves are arranged on the frame, the top ends of the first guide shafts are connected with the feeding plate, and the first guide shafts are in sliding connection with the first guide sleeves;

the blanking mechanism further comprises a plurality of second guide sleeves and a plurality of second guide shafts, the second guide sleeves are arranged on the frame, the top ends of the second guide shafts are connected with the blanking plate, and the second guide shafts are in sliding connection with the second guide sleeves.

As the preferable technical scheme, the feeding mechanism is further provided with a first limit sensor for detecting the lifting position of the first guide shaft, and the discharging mechanism is further provided with a second limit sensor for detecting the lifting position of the second guide shaft.

As the preferable technical proposal, the claw disc mechanism comprises a mounting frame, a feeding claw and a discharging claw, wherein the feeding claw and the discharging claw are respectively arranged on the mounting frame,

the feeding claw comprises a first clamping cylinder, a first clamping piece plate and a second clamping piece plate, and the first clamping piece plate and the second clamping piece plate are respectively connected with the power output end of the first clamping cylinder so that the first clamping piece plate and the second clamping piece plate move in opposite directions to clamp or unclamp;

the blanking claw comprises a second clamping cylinder, a third clamping piece plate and a fourth clamping piece plate, wherein the third clamping piece plate and the fourth clamping piece plate are respectively connected with the power output end of the second clamping cylinder, so that the third clamping piece plate and the fourth clamping piece plate move in opposite directions to clamp or unclamp.

As the preferable technical scheme, a first damping spring is arranged between the feeding claw and the mounting frame, and a second damping spring is arranged between the discharging claw and the mounting frame.

As the preferable technical scheme, claw dish mechanism still includes the sucking disc claw that sets up the mounting bracket middle part, the sucking disc claw includes third lift driver, lifter plate and a plurality of suction head, the lifter plate with the power take off end of third lift driver is connected, each the suction head is located on the lifter plate.

Compared with the prior art, the workpiece grabbing device provided by the utility model has the beneficial effects that: the hardware raw materials to be processed are placed on the feeding mechanism, the claw disc mechanism can grab raw materials from the feeding mechanism and transfer the raw materials to the positioning mechanism, and the positioning mechanism is utilized to improve the positioning precision of the workpiece raw materials. Specifically, when the work piece raw materials is put on the locating plate, the location driving piece drive the locating piece orientation the direction of fixed block removes, and then promotes the work piece raw materials orientation the direction of fixed block removes, until the work piece raw materials butt is in on the fixed block, the locating piece with the fixed block realizes carrying out high accuracy location centre gripping to the work piece raw materials, can be according to the size and the shape adjustment of work piece positioning mechanism's location centre gripping mode also guarantees the frock precision of work piece, avoids the work piece to take place the mistake processing, further improves the yields of product when the commonality is strong.

Drawings

FIG. 1 is a schematic perspective view of a workpiece gripping device according to an embodiment of the utility model;

fig. 2 is a schematic structural view of a feeding mechanism and a discharging mechanism in the workpiece gripping device according to the embodiment of the utility model;

FIG. 3 is a schematic view of another view angle structure of a feeding mechanism and a discharging mechanism in the workpiece grabbing device according to the embodiment of the utility model;

FIG. 4 is a schematic view of a positioning mechanism in a workpiece gripping apparatus according to an embodiment of the utility model;

fig. 5 is a schematic structural view of a claw disk mechanism in the workpiece gripping apparatus according to the embodiment of the utility model.

In the figure:

100. a frame;

200. a feeding mechanism; 210. a loading plate; 211. a first notch; 220. a first lifting driving member; 230. a first position sensor; 240. a first guide sleeve; 250. a first guide shaft; 260. a first limit sensor; 270. a first mounting bar;

300. a positioning mechanism; 310. a positioning plate; 311. a through groove; 320. a fixed block; 330. a positioning block; 340. positioning a driving piece;

400. a claw disk mechanism; 410. a mounting frame; 420. a feeding claw; 421. a first clamping cylinder; 422. a first clip plate; 423. a second clip plate; 430. a blanking claw; 431. a second clamping cylinder; 432. a third clip plate; 433. a fourth clip plate; 440. a first damper spring; 450. a second damper spring; 460. suction cup claws; 461. a third lifting driving member; 462. a lifting plate; 463. a suction head;

500. a blanking mechanism; 510. a blanking plate; 511. a second notch; 520. a second lifting driving member; 530. a second position sensor; 540. a second guide sleeve; 550. a second guide shaft; 560. the second limit sensor; 570. and a second mounting bar.

Detailed Description

The following describes in further detail the embodiments of the present utility model with reference to the drawings and examples. The following examples are illustrative of the utility model and are not intended to limit the scope of the utility model.

In the description of the present utility model, it should be understood that terms such as "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the description of the present utility model to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and should not be construed as limiting the utility model, except as may be shown based on the drawings.

It should be understood that the terms "first," "second," and the like are used herein to describe various information, but such information should not be limited to these terms, which are used merely to distinguish one type of information from another. For example, a "first" message may also be referred to as a "second" message, and similarly, a "second" message may also be referred to as a "first" message, without departing from the scope of the utility model.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 and 5, a workpiece gripping apparatus according to a preferred embodiment of the present utility model includes a frame 100, a loading mechanism 200, a positioning mechanism 300, and a claw disc mechanism 400, the loading mechanism 200 and the positioning mechanism 300 being provided on the frame 100, the claw disc mechanism 400 being located above the loading mechanism 200 and the positioning mechanism 300, so that the claw disc mechanism 400 grips raw materials from the loading mechanism 200 and transfers the raw materials to the positioning mechanism 300,

the positioning mechanism 300 comprises a positioning plate 310, a fixed block 320, a positioning block 330 and a positioning driving piece 340, wherein the fixed block 320 is arranged on the top surface of the positioning plate 310, the positioning driving piece 340 is arranged on the bottom surface of the positioning plate 310, the positioning block 330 is connected with the power output end of the positioning driving piece 340, the positioning plate 310 is provided with a through groove 311 for the positioning block 330 to extend to the top surface of the positioning plate 310, and the positioning block 330 and the fixed block 320 are used for positioning and clamping workpieces under the driving of the positioning driving piece 340.

Based on the above technical features, the raw materials of the hardware to be processed are placed on the feeding mechanism 200, and the claw disc mechanism 400 can grasp the raw materials from the feeding mechanism 200 and transfer the raw materials to the positioning mechanism 300, so that the positioning precision of the raw materials of the workpiece is improved by using the positioning mechanism 300. Specifically, when the workpiece raw material is placed on the positioning plate 310, the positioning driving piece 340 drives the positioning block 330 to move towards the direction of the fixed block 320, so as to push the workpiece raw material to move towards the direction of the fixed block 320 until the workpiece raw material is abutted on the fixed block 320, and the positioning block 330 and the fixed block 320 realize high-precision positioning and clamping of the workpiece raw material, so that the positioning and clamping mode of the positioning mechanism 300 can be adjusted according to the size and shape of the workpiece, the universality is strong, meanwhile, the tooling precision of the workpiece is ensured, the workpiece is prevented from being processed by mistake, and the yield of products is further improved.

In this embodiment, as shown in fig. 4, in order to accommodate rectangular workpiece raw materials, the number of the fixing blocks 320, the number of the positioning blocks 330 and the number of the positioning driving pieces 340 are two, so that a rectangular space is enclosed for positioning and clamping, where two fixing blocks 320 are located on one pair of sides of the rectangular area and are fixed, two positioning blocks 330 are located on the other pair of sides of the rectangular area and are capable of moving adjustably, and two positioning blocks 330 can enable workpiece raw materials to abut against the corresponding fixing blocks 320, so that positioning and clamping in two directions are further improved.

In this embodiment, as shown in fig. 2 and fig. 3, the feeding mechanism 200 includes a feeding plate 210, a first lifting driving member 220 and a first position sensor 230, where the first lifting driving member 220 and the first position sensor 230 are disposed on the frame 100, the feeding plate 210 is connected to a power output end of the first lifting driving member 220, the feeding plate 210 is provided with a first notch 211 sensed by the first position sensor 230, a tray for storing workpiece raw materials may be stacked on the feeding plate 210, when the workpiece raw materials in the uppermost tray are completely captured and empty trays are taken away, and when the first position sensor 230 senses that the material box is not reached, a signal is sent to the first lifting driving member 220 to push the feeding plate 210 to lift, so that when a new tray is lifted to a height capable of being captured, after all workpiece raw materials in all trays are completely captured, the feeding plate 210 is lifted to the highest position, and when the first position sensor 230 senses that the workpiece raw materials are completely captured, an alarm signal is sent to prompt a personnel to store the first notch, and the alarm system is used for storing the workpiece raw materials.

In this embodiment, the blanking mechanism 500 further includes a blanking plate 510, a second lifting driving member 520, and a second position sensor 530, where the second lifting driving member 520 and the second position sensor 530 are disposed on the frame 100, the blanking plate 510 is connected with a power output end of the second lifting driving member 520, and the blanking plate 510 is provided with a second notch 511 for sensing by the second position sensor 530. After the workpiece is processed, the blanking mechanism 500 may be used to store a finished product, the empty tray removed from the feeding mechanism 200 may be directly placed on the blanking plate 510, the finished product may be placed on the tray, so that the tray may be recycled, when each tray is full of finished products, the second lifting driving member 520 pushes the blanking plate 510 to descend, when a worker puts a new batch of trays, the batch of trays full of finished products may be removed at the same time, and at this time, the blanking plate 510 is reset and raised to a height where the second notch 511 can be sensed by the second position sensor 530.

In order to realize the lifting of the loading plate 210 and the unloading plate 510, the first lifting driving member 220 and the second lifting driving member 520 are motors or electric cylinders. In this embodiment, the first lifting driving member 220 and the second lifting driving member 520 are electric cylinders, the electric cylinders are fixed on the aluminum profile inside the frame 100, and lifting is achieved by using the extension and retraction of the electric cylinders. As another equivalent embodiment, the first lifting driving member 220 and the second lifting driving member 520 are motors, the motors are fixed on the aluminum profile inside the frame 100, and the motors convert rotation into linear motion through a rack-and-pinion structure, a screw slider structure, and the like, so as to realize lifting of the loading plate 210 and the unloading plate 510.

In this embodiment, the top surfaces of the feeding plate 210 and the discharging plate 510 are provided with positioning frames matched with the trays, so that the tray placement dislocation can be effectively avoided.

In this embodiment, as shown in fig. 3, the feeding mechanism 200 further includes a plurality of first guide sleeves 240 and a plurality of first guide shafts 250, where the first guide sleeves 240 are disposed on the frame 100, the top ends of the first guide shafts 250 are connected with the feeding plate 210, and the first guide shafts 250 are slidably connected with the first guide sleeves 240, so that in the lifting process of the feeding plate 210, in order to improve the stability of the feeding plate 210, a plurality of first guide shafts 250 are slidably guided with the first guide sleeves 240, so that the lifting process is smoother. Similarly, the blanking mechanism 500 further includes a plurality of second guide sleeves 540 and a plurality of second guide shafts 550, the second guide sleeves 540 are disposed on the frame 100, the top ends of the second guide shafts 550 are connected with the blanking plate 510, the second guide shafts 550 are slidably connected with the second guide sleeves 540, and in the lifting process of the blanking plate 510, in order to improve the stability of the blanking plate 510, a plurality of second guide shafts 550 are slidably and guided and matched with the second guide sleeves 540, so that the lifting is smoother.

In this embodiment, the feeding mechanism 200 is further provided with first limit sensors 260 for detecting the lifting position of the first guide shaft 250, two first limit sensors 260 are respectively mounted on the first mounting rod 270, and can sense and detect the upper and lower limit positions of the first guide shaft 250, and the two first limit sensors 260 can adjust positions and can be adjusted in combination with actual conditions such as the volume shape of the workpiece raw material. Similarly, the blanking mechanism 500 is further provided with second limit sensors 560 for detecting the lifting position of the second guide shaft 550, two second limit sensors 560 are respectively mounted on the second mounting rod 570, the upper and lower limit positions of the second guide shaft 550 can be detected in a sensing manner, and the positions of the two second limit sensors 560 can be adjusted to be adjusted according to the actual conditions such as the volume shape of the workpiece raw material.

In this embodiment, as shown in fig. 5, the claw disc mechanism 400 includes a mounting frame 410, a feeding claw 420 and a discharging claw 430, where the feeding claw 420 and the discharging claw 430 are respectively disposed on the left and right sides of the mounting frame 410, and separate and grasp the feeding and discharging of the workpiece, so that the production efficiency can be effectively improved.

The feeding claw 420 comprises a first clamping cylinder 421, a first clamping plate 422 and a second clamping plate 423, the first clamping plate 422 and the second clamping plate 423 are respectively connected with a power output end of the first clamping cylinder 421, so that the first clamping plate 422 and the second clamping plate 423 move in opposite directions to clamp or unclamp, and the first clamping cylinder 421 is a sliding table pneumatic finger cylinder, so that the first clamping plate 422 and the second clamping plate 423 are controlled to clamp in the horizontal direction.

Similarly, the discharging claw 430 includes a second clamping cylinder 431, a third clamping plate 432 and a fourth clamping plate 433, where the third clamping plate 432 and the fourth clamping plate 433 are respectively connected to the power output end of the second clamping cylinder 431, so that the third clamping plate 432 and the fourth clamping plate 433 move in opposite directions to clamp or unclamp, and the second clamping cylinder 431 is a sliding table pneumatic finger cylinder, so as to control the third clamping plate 432 and the fourth clamping plate 433 to clamp in the horizontal direction. In this embodiment, the first clamping cylinder 421 and the second clamping cylinder 431 only realize the clamping of the workpiece in the front-rear direction, which is adjustable, so that the gripping device can adapt to the sizes and shapes of different workpieces, and the universality of the gripping device is ensured. Although the clamping manner of the feeding claw 420 and the discharging claw 430 in the front-rear direction may cause the workpiece to tilt up and down or to be displaced in the left-right direction greatly when being gripped, the positioning mechanism 300 may perform positioning and clamping on the workpiece in two directions, so as to overcome the problem of positioning and clamping precision of the workpiece. The first clamping piece 422, the second clamping piece 423, the third clamping piece 432 and the fourth clamping piece 433 are all provided with silica gel strips to clamp the workpiece, so that damage to the workpiece is reduced.

In this embodiment, a first damping spring 440 is disposed between the feeding claw 420 and the mounting frame 410, a second damping spring 450 is disposed between the discharging claw 430 and the mounting frame 410, and the first damping spring 440 and the second damping spring 450 play a role in damping and buffering, so as to avoid crushing a workpiece during grabbing. The feeding claw 420 and the discharging claw 430 are further provided with diffuse reflection switches, which can be used for detecting whether the workpiece is grabbed.

In this embodiment, as shown in fig. 5, the claw disc mechanism 400 further includes a suction cup claw 460 disposed in the middle of the mounting frame 410, that is, the suction cup claw 460 is located between the feeding claw 420 and the discharging claw 430. The sucker claw 460 includes a third lifting driving member 461, a lifting plate 462 and a plurality of suckers 463, the lifting plate 462 is connected with a power output end of the third lifting driving member 461, each suckers 463 is arranged on the lifting plate 462, when a tray of the feeding plate 210 is empty, the third lifting driving member 461 controls the lifting plate 462 and the suckers 463 to extend out, and empty trays are sucked and conveyed to the blanking plate 510, so that the trays are recycled and used for storing finished products after processing without manually transferring the trays. When the suction cup claw 460 is not required to be used, the third lifting driving member 461 is retracted in an original state, and the lifting plate 462 and the suction head 463 are accommodated, so that loading and unloading of the workpiece are not affected.

In summary, the workpiece grabbing device provided by the utility model is mainly used for a hardware precision machining production line, and mainly has the following advantages: (1) The claw disc mechanism 400 can grasp raw materials from the feeding mechanism 200 and transfer the raw materials to the positioning mechanism 300, the positioning mechanism 300 is utilized to improve the positioning precision of the raw materials of the workpiece, the positioning and clamping of the positioning mechanism 300 can be adjusted according to the size and the shape of the workpiece, and the universality is high and the tooling precision of the workpiece is ensured; (2) The loading plate 210 and the unloading plate 510 achieve position relative lifting in the processing process, and timely send out an alarm signal through detecting the height position, so as to remind a worker to take out a finished product and put in a workpiece raw material; (3) The sucker claw 460 may suck the empty tray above the loading plate 210 away and convey the empty tray to the unloading plate 510 for storing the finished product, and the tray is recycled without manual transfer.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present utility model, and these modifications and substitutions should also be considered as being within the scope of the present utility model.

Claims (10)

1. The workpiece grabbing device is characterized by comprising a frame, a feeding mechanism, a positioning mechanism and a claw disc mechanism, wherein the feeding mechanism and the positioning mechanism are arranged on the frame, the claw disc mechanism is positioned above the feeding mechanism and the positioning mechanism, so that the claw disc mechanism grabs a workpiece from the feeding mechanism and transfers the workpiece to the positioning mechanism,

the positioning mechanism comprises a positioning plate, a fixing block, a positioning block and a positioning driving piece, wherein the fixing block is arranged on the top surface of the positioning plate, the positioning driving piece is arranged on the bottom surface of the positioning plate, the positioning block is connected with the power output end of the positioning driving piece, the positioning plate is provided with a through groove for the positioning block to extend to the top surface of the positioning plate, and the workpiece is positioned and clamped between the positioning block and the fixing block under the driving of the positioning driving piece.

2. The workpiece gripping device according to claim 1, wherein the number of the fixing blocks, the positioning blocks and the positioning driving members is two, the two fixing blocks are positioned on one pair of sides of the rectangular area, and the two positioning blocks are positioned on the other pair of sides of the rectangular area.

3. The workpiece grabbing device as claimed in claim 1, wherein the loading mechanism comprises a loading plate, a first lifting driving member and a first position sensor, wherein the first lifting driving member and the first position sensor are arranged on the frame, the loading plate is connected with a power output end of the first lifting driving member, and the loading plate is provided with a first notch for sensing by the first position sensor.

4. The workpiece grabbing device as claimed in claim 3, further comprising a blanking mechanism, wherein the blanking mechanism comprises a blanking plate, a second lifting driving member and a second position sensor, the second lifting driving member and the second position sensor are arranged on the frame, the blanking plate is connected with a power output end of the second lifting driving member, and the blanking plate is provided with a second notch for sensing by the second position sensor.

5. The workpiece grabbing device as claimed in claim 4, wherein the first lifting driving member and the second lifting driving member are motors or electric cylinders, and the feeding plate and the discharging plate are provided with positioning frames.

6. The workpiece grabbing device as claimed in claim 4, wherein the feeding mechanism further comprises a plurality of first guide sleeves and a plurality of first guide shafts, the first guide sleeves are arranged on the frame, the top ends of the first guide shafts are connected with the feeding plate, and the first guide shafts are in sliding connection with the first guide sleeves;

the blanking mechanism further comprises a plurality of second guide sleeves and a plurality of second guide shafts, the second guide sleeves are arranged on the frame, the top ends of the second guide shafts are connected with the blanking plate, and the second guide shafts are in sliding connection with the second guide sleeves.

7. The workpiece gripping device according to claim 6, wherein the loading mechanism is further provided with a first limit sensor for detecting a lifting position of the first guide shaft, and the unloading mechanism is further provided with a second limit sensor for detecting a lifting position of the second guide shaft.

8. The workpiece gripping device according to any one of claims 1 to 7, wherein the claw disk mechanism includes a mounting frame, a feeding claw and a discharging claw, the feeding claw and the discharging claw being provided on the mounting frame, respectively,

the feeding claw comprises a first clamping cylinder, a first clamping piece plate and a second clamping piece plate, and the first clamping piece plate and the second clamping piece plate are respectively connected with the power output end of the first clamping cylinder so that the first clamping piece plate and the second clamping piece plate move in opposite directions to clamp or unclamp;

the blanking claw comprises a second clamping cylinder, a third clamping piece plate and a fourth clamping piece plate, wherein the third clamping piece plate and the fourth clamping piece plate are respectively connected with the power output end of the second clamping cylinder, so that the third clamping piece plate and the fourth clamping piece plate move in opposite directions to clamp or unclamp.

9. The workpiece grabbing device as claimed in claim 8, wherein a first damping spring is disposed between the feed claw and the mounting frame, and a second damping spring is disposed between the feed claw and the mounting frame.

10. The workpiece gripping device of claim 8, wherein the claw disk mechanism further comprises a suction cup claw disposed in the middle of the mounting frame, the suction cup claw comprises a third lifting driving member, a lifting plate and a plurality of suction heads, the lifting plate is connected with a power output end of the third lifting driving member, and each suction head is disposed on the lifting plate.