CN111702800B

CN111702800B - Clamping device and clamping jaw assembly thereof

Info

Publication number: CN111702800B
Application number: CN202010600225.6A
Authority: CN
Inventors: 林伟明; 杜佳富; 郑剑; 林姚辰; 林海松; 胡君雄; 叶冬冬; 徐文辉; 樊智涌; 陈芳吉; 杨小青
Original assignee: Zhejiang Kingmasun Intelligent Manufacturing Co ltd
Current assignee: Zhejiang Kingmasun Intelligent Manufacturing Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2023-05-02
Anticipated expiration: 2040-06-28
Also published as: CN111702800A

Abstract

The utility model discloses a clamping device and a clamping jaw assembly thereof, which comprise two clamping plates which are symmetrically arranged, wherein clamping jaws are respectively arranged on the two clamping plates, the lower ends of the clamping plates are slidably provided with sliding blocks, the sliding blocks can longitudinally slide on the clamping plates, the clamping jaws are arranged on the sliding blocks, and at least one V-shaped first groove is formed in the clamping jaws. The clamping jaw assembly can automatically adjust the relative positions of the clamping jaw and the material, so that the clamping jaw can adaptively align the material, and further the material can be rapidly and firmly clamped on the clamping jaw; simultaneously, this clamp and get device can realize simultaneously that clamp to the material is got and the promotion function, avoids clamping process material and production line conveyer belt friction and harm material surface and conveyer belt.

Description

Clamping device and clamping jaw assembly thereof

Technical Field

The present utility model relates to gripping devices, and more particularly, to gripping devices and jaw assemblies therefor.

Background

The clamping mechanism is widely applied to the fields of automatic production, automatic detection and the like, and realizes the operations of moving, carrying and the like of materials. The existing clamping mechanism is complex in structure, and can respectively realize transverse and longitudinal movement through two driving sources, and in addition, the requirement on the matching relationship of the pipe fitting and the clamping jaw is high.

The application publication number CN 110817420A's chinese patent discloses a loading and unloading device for be connected with the arm in order to press from both sides glass pipe to press from both sides tub frock from wiper mechanism, loading and unloading device includes first connecting plate, fixture mechanism, first actuating mechanism and second actuating mechanism, fixture mechanism includes first clamping jaw and the second clamping jaw that the interval set up, first actuating mechanism one end is connected in first connecting plate, the other end is connected in fixture mechanism in order to be used for driving first clamping jaw and second clamping jaw and open and shut in order to press from both sides and get or loosen the glass pipe, second actuating mechanism one end is used for being connected with the arm, the other end is connected in first connecting plate in order to be used for driving fixture mechanism in horizontal direction rectilinear reciprocating motion, move to wiper mechanism's preset position through second actuating mechanism, then open and shut in order to press from wiper mechanism to press from both sides glass pipe through second actuating mechanism drive fixture mechanism, the degree of automation is high, can improve work efficiency, reduce workman's intensity of labour.

The Chinese patent with the publication number of CN210392892U discloses a workpiece suction head device with an automatic correction function, which comprises a mounting seat and a suction head, wherein a driving mechanism for driving the suction head to move up and down is arranged on the mounting seat, a pair of horizontal guide rods are arranged on the mounting seat, a guide block and a guide spring I are sleeved on the horizontal guide rods, wedge blocks are arranged on the upper parts of the guide blocks, profiling clamping jaws which are horizontally arranged are arranged under the suction head and extend from the lower parts of the guide blocks, grooves for accommodating workpieces are arranged between the profiling clamping jaws, and guide wheels which move up and down and are used for being in contact with inclined surfaces of the wedge blocks are connected with the driving mechanism; the utility model can automatically center the profiling clamping jaw below the suction head, and combines the spring resetting device, the wedge block and the guide wheel to automatically clamp and loosen the workpiece in the process of moving the suction head up and down, thereby achieving the purpose of correction.

However, the gripping devices disclosed in the above two patents still have some drawbacks, specifically as follows:

1) The mechanism is complex and occupies large space;

2) The clamping jaw has a single structure and poor adaptability;

3) In many automated production lines, the material to be gripped is typically placed on a conveyor belt, and the material on the conveyor belt is carried to a designated location by a gripping device; in the process of clamping the material, the clamping jaw can stay on the conveyor belt for a short time after clamping the material, and in the process, the material and the conveyor belt relatively move to generate friction, and the friction can damage the surface of the material; the existing clamping device realizes the transverse and longitudinal movements of the clamping jaw respectively through two driving sources when clamping materials, and the operation process is complex.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides a clamping device and a clamping jaw assembly thereof, wherein the clamping jaw assembly can automatically adjust the relative positions of clamping jaws and materials, so that the clamping jaws can adaptively align the materials and firmly clamp the materials on the clamping jaws.

In order to achieve the above purpose, the present utility model provides the following technical solutions: clamping jaw assembly of clamping device, including two splint that the symmetry set up, be provided with the clamping jaw on two splint respectively, the lower extreme slip of splint is provided with the slider, the slider can carry out longitudinal sliding on splint, install on the slider the clamping jaw, set up at least one first recess that is the V-arrangement on the clamping jaw.

Preferably, two first grooves in a V shape are formed in the clamping jaw, and the two first grooves are mutually intersected to form the adjusting clamping blocks at four included angle positions formed by the two intersecting grooves.

Preferably, at least one of the upper end and the lower end of the sliding block is provided with a first elastic piece, and when the clamping jaw clamps materials, the clamping jaw is driven to longitudinally move by the first elastic piece.

Preferably, the sliding block is connected with the clamping jaw through a guide rod, one end of the guide rod is in sliding connection with the clamping plate, and the other end of the guide rod is fixedly connected with the clamping jaw; and a second elastic piece is further arranged between the clamping jaw and the sliding block, and when the clamping jaw clamps materials, the clamping jaw is driven to transversely move by the second elastic piece.

Preferably, the clamping jaw and the clamping plate form a wedge-shaped structure to be matched, and the clamping jaw ascends along the wedge-shaped structure when clamping materials.

Preferably, a wedge-shaped boss is fixed or integrally formed at the lower end of the clamping plate, and a wedge-shaped groove is formed on the clamping jaw corresponding to the wedge-shaped boss; the wedge-shaped boss is in inclined surface sliding fit with the wedge-shaped groove, and when the material is clamped, the clamping jaw ascends along the wedge-shaped boss.

Preferably, the two sides of the lower end of the clamping plate are respectively fixed or integrally formed with the wedge-shaped boss, and two wedge-shaped grooves are formed on the clamping jaw corresponding to the wedge-shaped boss; a guide groove is formed between the two wedge-shaped bosses, a guide plate part is formed between the two wedge-shaped grooves on the clamping jaw, and the guide plate part is embedded into the guide groove.

Preferably, the bottom of the first groove forms an arc-shaped groove.

Preferably, the clamping jaw is made of nylon material.

A gripping device comprising a jaw assembly of the gripping device as described above.

In summary, the utility model has the following beneficial effects:

1. the clamping jaw assembly can automatically adjust the relative positions of the clamping jaw and the material, so that the clamping jaw can adaptively align the material, and further the material can be rapidly and firmly clamped on the clamping jaw;

2. the clamping plates on the clamping jaw assembly are matched with the clamping jaws in a wedge-shaped structure, the clamping jaws are driven by the driving mechanism to transversely move and clamp materials, and the clamping jaws move upwards along the wedge-shaped structure relative to the clamping plates under the action of reverse thrust of the materials, so that the function of lifting the materials is realized, the clamping and lifting functions of the materials on a production line are synchronously realized, and the damage to the surfaces of the materials and the conveyor belts caused by friction between the materials and the conveyor belts of the production line in the clamping process is avoided;

3. the clamping jaw of the clamping jaw assembly is provided with a V-shaped first groove, and the arrangement of the first groove is particularly suitable for clamping cylindrical materials;

4. the clamping jaw on the clamping device is provided with two V-shaped first grooves which are mutually intersected and perpendicular, and four included angle parts formed by the two intersecting parts form adjusting clamping blocks respectively, so that the clamping requirements of horizontal and vertical cylindrical materials can be met simultaneously.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic view of a clamping plate according to the present utility model;

FIG. 3 is a schematic view of a jaw of the present utility model;

FIG. 4 is a schematic view of the structural assembly of the present utility model;

FIG. 5 is a schematic view of a clamp level material;

fig. 6 is a schematic view of gripping an upright material.

Reference numerals: 1. a clamping cylinder; 2. a clamping plate; 3. a clamping jaw; 31. adjusting the clamping blocks; 321. a second elastic member; 322. a bolt; 33. wedge-shaped grooves; 4. a material; 11. a cylinder block; 12. a connecting plate; 22. A slide block; 23. a slide rail; 25. a first elastic member; 26. a second through hole; 27. wedge-shaped boss; 271. a guide groove; 272. and a guide plate portion.

Detailed Description

The utility model is further described with reference to the accompanying drawings. In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The embodiment 1 discloses a clamping jaw assembly of a clamping device, as shown in fig. 1-4, the clamping jaw assembly comprises two clamping plates 2 which are symmetrically arranged, clamping jaws are respectively arranged at the lower ends of the two clamping plates in a sliding manner, the clamping jaws can longitudinally slide on the clamping plates, when the clamping jaw 3 clamps materials, the clamping jaw 3 longitudinally slides on the clamping plates 2, at least one V-shaped first groove is formed in the clamping jaw 3, adjusting clamping blocks 31 are respectively formed at the opposite sides of the first groove, and the arrangement of the first groove is particularly suitable for clamping cylindrical materials; in the process of clamping materials, the clamping jaw 3 is close to the materials, meanwhile, the materials are extruded by the clamping jaw 3 and are embedded into the first groove on the clamping jaw 3, and the materials can be firmly clamped on the clamping jaw 3 through the matching of two or more clamping jaw components; the clamping plate 2 is also provided with an elastic piece which promotes the clamping jaw 3 to move on the clamping plate when the clamping jaw 3 clamps materials. The movement of the clamping jaw 3 on the clamping plate 2 can be transverse movement or longitudinal movement or simultaneous movement in two directions of transverse and longitudinal, wherein the transverse movement is that the clamping jaw is close to or far from the clamping plate, and the longitudinal movement is that the clamping jaw longitudinally slides on the clamping plate; in addition, the clamping jaw 3 can be directly connected with the clamping plate 2 in a sliding way through the sliding rail 23 or the guide groove, or the clamping plate 2 is indirectly connected with the clamping plate 2 in a sliding way through the sliding block 22, so that the clamping jaw can longitudinally slide on the clamping plate; the method comprises the following steps:

first embodiment: the clamping jaw 3 is longitudinally arranged on the clamping plate 2 in a sliding manner through the sliding rail 23 or the guide groove, meanwhile, an elastic piece is arranged on the clamping plate 2, and when the clamping jaw 3 clamps materials, the elastic piece drives the clamping jaw 3 to longitudinally move; so, at the in-process that clamping jaw 3 snatched the material, when the material was in the partial upper side or the partial below position of clamping jaw 3, the material was not embedded completely in the first recess promptly, but offset with adjustment clamp splice 31, clamping jaw 3 received the extrusion of material and take place the longitudinal sliding, and then the relative position of adjustment clamping jaw 31 that can be automatic and material in longitudinal direction for clamping jaw 3 self-adaptation aim at the material and make in the first recess on the embedding clamping jaw 3, and then can be quick with the firm clamp of material on clamping jaw 3.

Second embodiment: the clamping jaw 3 is arranged on the clamping plate 2 in a transverse sliding manner through the sliding rail 23 or the guide groove, meanwhile, an elastic piece is arranged on the clamping plate 2, and when the clamping jaw 3 clamps materials, the elastic piece drives the clamping jaw 3 to transversely move and approach the materials so as to clamp the materials; so, when pressing from both sides and getting cylinder class material, at clamping jaw 3 to conveyer belt direction motion and press from both sides the in-process of getting the material, the adjustment clamp splice 31 on the clamping jaw 3 contacts the material and receives the extrusion of material, receive the reaction force of material and make clamping jaw 3 take place lateral movement, simultaneously, clamping jaw 3 remains the laminating state all the time with the perisporium of material under the effect of elastic component, when the material embedding in the first recess, clamping jaw 3 is close to the material under the effect of elastic component for clamping jaw 3 self-adaptation aim at the material and make the material embed in the first recess, and then can be quick with the firm clamp of material on clamping jaw 3.

Third embodiment: the clamping plate 2 is indirectly and slidably connected with the clamping plate 2 through the sliding block 22, specifically, a square groove is formed in the lower end of the clamping plate 2, the sliding block 22 is slidably arranged in the square groove through a sliding rail 23 or a guide groove, the sliding block 22 can longitudinally slide in the square groove, and the clamping jaw 3 is arranged on the sliding block 22; further, the elastic member comprises a first elastic member, at least one of the upper end and the lower end of the sliding block 22 is provided with a first elastic member 25, wherein the first elastic member 25 is a spring, one end of the first elastic member 25 is propped against or fixedly connected with the clamping plate 2, and the other end of the first elastic member 25 is propped against or fixedly connected with the sliding block 22; the first elastic member 25 urges the gripping jaw 3 to perform a longitudinal movement when the gripping jaw 3 grips a material; in this embodiment, the clamping jaw 3 is arranged on the clamping plate 2 in a longitudinally sliding manner by means of a slide 22.

Fourth embodiment: according to the embodiment, based on the third embodiment, a clamping jaw is further optimized, a guide rod is connected to a sliding block 22, the guide rod can be a bolt 322 or a cross rod, one end of the guide rod is transversely arranged on the sliding block 22 in a sliding manner, the other end of the guide rod is fixedly connected with a clamping jaw 3, a first through hole communicated with a square groove is formed in a position, corresponding to the square groove, of a clamping plate 2, a second through hole 26 is formed in the sliding block 22 in the horizontal direction, and the bolt 322 penetrates through the first through hole and the second through hole 26 in the sliding block 22 to be connected with the clamping jaw 3; meanwhile, the elastic piece further comprises a second elastic piece, a second elastic piece 321 is further arranged between the sliding block 22 and the clamping jaw 3, the second elastic piece 321 is a spring, the spring is sleeved on the guide rod, one end of the second elastic piece 321 abuts against or is fixedly connected with the sliding block 22, and the other end of the second elastic piece 321 abuts against or is fixedly connected with the clamping jaw 3. In this embodiment, during the process of gripping the material by the gripping jaw 3, the gripping jaw 3 is extruded by the material and undergoes an adaptive adjustment, the adjustment includes a lateral movement or a longitudinal sliding or a simultaneous movement in both directions, so as to adjust the relative position between the gripping jaw 3 and the material, so that the gripping jaw 3 adaptively aligns the material and makes the material be embedded in the first groove on the gripping jaw 3, so as to firmly clamp the material on the gripping jaw 3.

Meanwhile, as shown in fig. 3, preferably, two V-shaped first grooves are formed on the clamping jaw 3, and the two first grooves are intersected with each other so as to form adjustment clamping blocks 31 at four included angle positions formed by the intersection of the two first grooves; further, two first recesses mutually perpendicular, clamping jaw 3 adopt horizontal and vertical two-way V type first recess, can satisfy the clamping demand of horizontal and erect cylinder class material simultaneously. In addition, the bottom of first recess forms the arc recess, and this arc recess and the perisporium looks adaptation of cylinder class material. Simultaneously, clamping jaw 3 adopts nylon material, and it can avoid pressing from both sides the material surface of damaging, improves simultaneously with the frictional force between the material, prevents the material slippage.

In order to reduce friction between the clamping jaw 3 and the conveyor belt, as shown in fig. 1 and 2, the lower ends of the clamping jaw 3 and the clamping plate 2 form a wedge-shaped structure to be matched, and when the clamping jaw clamps materials, the clamping jaw 3 ascends along the wedge-shaped structure; specifically, a wedge-shaped boss 27 is fixed or integrally formed at the lower end of the clamping plate 3, and a wedge-shaped groove 33 is formed at the clamping jaw 3 corresponding to the wedge-shaped boss 27; the wedge-shaped boss 27 is in inclined sliding fit with the wedge-shaped groove 33, when the clamping jaw 3 clamps materials, the clamping jaw ascends along the wedge-shaped boss 27, and the height of the wedge-shaped structure in the longitudinal direction is consistent with the up-and-down movable range of the sliding block 22. The clamping plate 2 and the clamping jaw 3 form wedge-shaped structure cooperation, the clamping jaw 3 realizes transverse movement and clamps the material under the drive of the clamping cylinder, and under the reverse thrust action of the material, the clamping jaw 3 moves upwards along the wedge-shaped structure relative to the clamping plate 2, so that the function of lifting the material is realized, the clamping and lifting functions of the material on a production line are synchronously realized, and the damage to the surface of the material and the conveyor belt caused by friction of the material and the conveyor belt of the production line in the clamping process is avoided.

Further, as shown in fig. 4, two sides of the lower end of the clamping plate 2 are respectively fixed or integrally formed with a wedge-shaped boss 27, and two wedge-shaped grooves 33 are formed on the clamping jaw 3 corresponding to the wedge-shaped boss 27; a guide groove 271 is formed between the two wedge-shaped bosses 27, and a guide plate portion 272 is formed between the two wedge-shaped grooves 33 on the jaw 3, the guide plate portion 272 being embedded in the guide groove 271. The guide plate portion 272 is fitted into the guide groove 271, and when the jaw 3 slides along the wedge-shaped boss 27 on the clamping plate 2 and rises, the cooperation of the guide plate portion 271 and the guide groove 272 plays a role in guiding the sliding of the jaw 3. In addition, the upper end of the wedge-shaped boss 27 forms an inclined surface structure, the inclined surface structure forms an included angle of 20-60 degrees with the clamping plate 2, so that the clamping jaw 3 and the clamping plate 2 can move relatively conveniently, and preferably, the inclined surface structure forms an included angle of 45 degrees with the clamping plate 2, and the projection length of the inclined surface structure on the wedge-shaped structure on the clamping plate 2 can be adjusted according to the lifting height required by clamping materials.

A gripping device comprising a jaw assembly of the gripping device as described above. The clamping jaw assembly is applied to the clamping device, the clamping device achieves the synchronous function of clamping and lifting, the carrying and transferring functions of materials in an automatic production line can be met, and the clamping jaw 3 is provided with the V-shaped first groove, so that the clamping jaw assembly is particularly suitable for clamping and lifting cylindrical materials; the clamping device is simple and compact in structure, meets the requirement of compact assembly space of an automatic production line, and solves the problems that the clamping device in the existing production line is complex in structure and is driven by clamping/lifting respectively.

Embodiment 2, this embodiment discloses clamping lifting mechanism, including clamping cylinder 1 and foretell clamping jaw subassembly, clamping cylinder 1's both ends are respectively through connecting plate 12 installation splint, and clamping cylinder 1's drive is down pressed from both sides the clamping jaw subassembly and is realized transversely tightly, and clamping cylinder 1 adopts heavy-calibre opening to press from both sides finger cylinder, including cylinder body 11 and the connecting plate 12 of both sides, and it can be according to the specification, the weight selection suitable cylinder of clamping cylinder class material. Furthermore, the two ends of the clamping cylinder 1 are simultaneously added with hydraulic buffers, so that the hydraulic buffers can be used for preventing impact or clamping damage to thin-wall materials during clamping; the jaw assembly and wedge structure are described with particular reference to example 1.

Working principle: as shown in fig. 5 to 6, when the clamping cylinder 1 clamps, the clamping plate 2 and the clamping jaw 3 are driven to clamp inwards, the clamping jaw 3 clamps the cylindrical material 4 in the horizontal or vertical direction, under the reverse action of the material 4, the clamping jaw 3 is matched with the wedge-shaped structure of the clamping plate 2, the lifting function of the material 4 is realized, and meanwhile, the spring on the back surface of the clamping jaw 3 and the spring on the sliding block 22 are extruded. When the clamping cylinder 1 is loosened, the clamping plate 2 and the clamping jaw 3 are outwards opened, and the springs on the sliding block 22 and the springs on the back surface of the clamping jaw 3 are loosened, so that the clamping jaw 3 moves downwards relative to the clamping plate 2, returns to an initial state, and drives the material 4 to descend to be separated.

Embodiment 3, this embodiment discloses a gripping device of a manipulator, including a plurality of clamping jaw assemblies and a driving mechanism for driving the clamping jaw assemblies to approach each other and clamp materials, when two clamping jaw assemblies are provided, the driving mechanism may be the clamping cylinder 1 or the hydraulic cylinder or the motor; when the clamping jaw assembly is more than two, the structure of the driving mechanism is specifically disclosed in China patent with the issued publication number of CN 210210425U. The jaw assembly and wedge structure are described with particular reference to example 1.

A manipulator comprising a gripping device of the manipulator as described above.

The directions in this embodiment are merely for convenience in describing the positional relationship between the respective members and the relationship of mutual cooperation. The above description is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited to the above examples, and all technical solutions belonging to the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that modifications and adaptations to the present utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.

Claims

1. Clamping jaw component of clamping device, characterized by: the clamping device comprises two clamping plates (2) which are symmetrically arranged, clamping jaws (3) are respectively arranged on the two clamping plates (2), a sliding block (22) is arranged at the lower end of each clamping plate (2) in a sliding mode, the sliding blocks (22) can longitudinally slide on the clamping plates (2), the clamping jaws (3) are arranged on the sliding blocks (22), and at least one V-shaped first groove is formed in each clamping jaw (3);

two V-shaped first grooves are formed in the clamping jaw (3), and the two first grooves are mutually intersected so as to form adjusting clamping blocks (31) at four included angle positions formed by the intersection of the two first grooves;

at least one of the upper end and the lower end of the sliding block (22) is provided with a first elastic piece (25), and when the clamping jaw (3) clamps the material (4), the first elastic piece (25) drives the clamping jaw (3) to longitudinally move;

the sliding block (22) is connected with the clamping jaw (3) through a guide rod, one end of the guide rod is in sliding connection with the clamping plate (2), and the other end of the guide rod is fixedly connected with the clamping jaw (3); a second elastic piece (321) is further arranged between the clamping jaw (3) and the sliding block (22), and when the clamping jaw (3) clamps the material (4), the second elastic piece (321) enables the clamping jaw (3) to transversely move;

a wedge-shaped boss (27) is fixed at the lower end of the clamping plate (2) or integrally formed with the clamping plate, and a wedge-shaped groove (33) is formed on the clamping jaw (3) corresponding to the wedge-shaped boss (27); the wedge-shaped boss (27) is in sliding fit with the wedge-shaped groove (33), the inclined angle of the inclined surface is 45 degrees, and when the material (4) is clamped, the clamping jaw (3) ascends along the wedge-shaped boss (27);

the two sides of the lower end of the clamping plate (2) are respectively fixed or integrally formed with the wedge-shaped boss (27), and two wedge-shaped grooves (33) are formed on the clamping jaw (3) corresponding to the wedge-shaped boss (27); a guide groove (271) is formed between the two wedge-shaped bosses (27), a guide plate part (272) is formed between the two wedge-shaped grooves (33) on the clamping jaw (3), and the guide plate part (272) is embedded into the guide groove (271);

an arc-shaped groove is formed at the bottom of the first groove;

the clamping jaw (3) is made of nylon materials.

2. Clamping device, characterized by: a jaw assembly comprising the gripping device of claim 1.