CN214870635U - Clamping device and picking robot with same - Google Patents

Abstract

The utility model discloses a clamping device, clamping device includes: the swing mechanism comprises a support, a first motor, a swing module and a clamping module, wherein the first motor is arranged on the support, the swing module is arranged between the first motor and the clamping module, and the first motor drives the swing module to move so as to enable the clamping module to swing. According to the utility model discloses clamping device can the centre gripping work piece of putting at will, also can the not unidimensional work piece of centre gripping, and at the centre gripping work piece in-process, clamping device can not interfere with material frame etc. so not only can improve clamping efficiency, can also save the labour. In addition, the clamping device of the application can clamp various workpieces.

Description

Clamping device and picking robot with same

Technical Field

The utility model belongs to the technical field of the intelligent manufacturing technique and specifically relates to a clamping device and have its robot that picks up is related to.

Background

The feeding mode in the intelligent manufacturing process is many, and the common modes are two: firstly, feeding materials such as a vibrating disc or a feeder is adopted. Secondly, feeding in a manual tray arrangement mode. In actual production, the feeding mode of the vibration disc or the feeder is single and limited by workpieces, and different materials should adopt corresponding vibration discs or have higher cost. If adopt artifical mode material loading of arranging the dish greatly to influence production efficiency and cost of labor rise. In the actual mill, in order to guarantee production efficiency, reduce the material loading number of times, shorten the material loading consuming time, often adopt the dark frame of large capacity to material loading at random, can not standardize and put. The mode causes the material to have large randomness and poor normalization. Especially, when the material frame is deep, the clamping jaw is interfered, and the material can not be normally grabbed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, an object of the utility model is to provide a clamping device, clamping device can the centre gripping work piece of putting at will, also can the not unidimensional work piece of centre gripping, and at centre gripping work piece in-process, clamping device can not interfere with material frame etc. so not only can improve clamping efficiency, can also save the labour. In addition, the clamping device can clamp the workpiece (such as a screw) on the outer side and can move to the inner side of the workpiece (such as a bearing) to pick up the workpiece, namely the clamping device can clamp various workpieces.

The utility model discloses still provide one kind and have clamping device's robot that picks up.

According to the utility model discloses clamping device of first aspect embodiment, clamping device includes: the swing mechanism comprises a support, a first motor, a swing module and a clamping module, wherein the first motor is arranged on the support, the swing module is arranged between the first motor and the clamping module, and the first motor drives the swing module to move so as to enable the clamping module to swing.

According to the utility model discloses clamping device can drive the swing module activity through first motor for the swing module can transmit torque, so that the clamping module swing that links to each other with the transmission module, and the inclination of clamping module wobbling angle and slope work piece is roughly equal, thereby makes clamping module can more conveniently centre gripping work piece, makes the work piece that clamping module can the arbitrary gesture of centre gripping put simultaneously, thereby makes clamping module's commonality higher, and the practicality is strong. In addition, labor force can be saved by clamping the workpiece through the clamping device, and the feeding efficiency can be improved.

In addition, according to the utility model discloses a clamping device can also have following additional technical characterstic:

in some embodiments of the present invention, the swing module comprises: the clamping module is fixed with the rotating gear, and the first motor drives the rotating gear to rotate through the transmission belt so that the clamping module swings.

Optionally, the rotation gear comprises: a first rotating gear and a second rotating gear; the first motor output end of drive belt one end winding, the other end winding the axle of first rotating gear, the second rotates the gear tooth and closes in first rotating gear, the centre gripping module with the second rotating gear is fixed, wherein, the diameter of first rotating gear is less than the diameter of second rotating gear.

Optionally, the clamping device further comprises: the swing module is fixed through a protective shell, the protective shell extends in the vertical direction to surround the transmission belt, one end of the protective shell is fixed with the support, and the other end of the protective shell is provided with a horizontal fixing rod which is connected with a shaft of the rotating gear to limit the position of the rotating gear; the tensioning member is arranged on the protective shell to tension the transmission belt.

Optionally, a distal end of the rotating gear, opposite to the horizontal fixing rod, is fixed with the clamping module.

In some embodiments of the present invention, the clamping module includes a mounting seat, a driving member and a clamping member, the mounting seat is connected to the swing module, the driving member is disposed on the mounting seat to drive the clamping member to move.

Optionally, the clamping member includes a first clamping finger and a second clamping finger, and the first clamping finger and the second clamping finger are movable towards or away from each other to clamp or release the workpiece, wherein the opposite surfaces of the first clamping finger and the second clamping finger are clamping surfaces of the two clamping fingers.

Optionally, the clamping surface is corrugated.

In some embodiments of the present invention, the clamping device comprises: a rotation module, the rotation module comprising: the second motor and carousel, the carousel locate the second motor with between the support, the second motor is used for the drive the carousel rotates, so that the carousel drives the support rotates around vertical direction.

The utility model discloses still provide a pick up robot that has the clamping device of above-mentioned embodiment.

According to the utility model discloses pick up robot of second aspect embodiment includes: the clamping device is arranged at the tail end of the mechanical arm, so that the mechanical arm drives the clamping device to move.

According to the utility model discloses pick up robot through locating the end of arm with clamping device for the arm can drive clamping device activity to the material frame in, and the arm can drive clamping device simultaneously and rotate, so that the clamping part can be relative with the work piece, thereby improves centre gripping efficiency. In addition, after the clamping device clamps the workpiece, the mechanical arm can drive the clamping device to move, so that the clamping device can convey the workpiece to a specified position, and labor force can be saved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view of a clamping device for clamping a workpiece in a material frame according to an embodiment of the present invention;

fig. 2 is a perspective view of a clamping device according to an embodiment of the invention;

fig. 3 is a side view of a clamping device according to an embodiment of the invention;

fig. 4 is a rear view of a clamping device according to an embodiment of the invention;

fig. 5 is a schematic view of an angle at which the rotating module of the clamping device, the support and the first motor are assembled according to an embodiment of the present invention;

fig. 6 is a schematic structural view of another angle at which the rotating module of the clamping device, the support and the first motor are assembled according to the embodiment of the present invention;

fig. 7 is a schematic structural view of a clamping member of a clamping module of a clamping device according to an embodiment of the present invention in a state;

fig. 8 is a schematic structural view of a clamping member of a clamping module of a clamping device according to an embodiment of the present invention in another state;

fig. 9 is a schematic structural view of a clamping surface of a first clamping jaw and a clamping surface of a second clamping jaw of a clamping member of a clamping module of a clamping device according to an embodiment of the present invention, both provided on mutually adjacent sides;

fig. 10 is a schematic structural view of a clamping surface of a first clamping jaw and a clamping surface of a second clamping jaw of a clamping member of a clamping module of a clamping device according to an embodiment of the present invention, both provided on sides away from each other;

fig. 11 is a schematic structural view of a second clamping jaw of a clamping member of a clamping module of a clamping device according to an embodiment of the present invention, including two clamping fingers.

Reference numerals:

a holding device 100; a support 1; a first electric machine 2; a swing module 3; a transmission belt 31; a rotating gear 32; the first rotating gear 321; a second rotating gear 322; a clamping module 4; a mount 41; a drive member 42; a clamp 43; a first clamping finger 431; a second clamping finger 432; a clamping surface 433; a sub-clip finger 434; a rotation module 5; a second motor 51; a turntable 52; a protective shell 6; a tensioning member 7; the bar 8 is fixed horizontally.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "clockwise", "counterclockwise", "axial", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A holding device 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 11, and the holding device 100 can hold a workpiece in a material frame.

As shown in fig. 1 to 11, a clamping device 100 according to an embodiment of the present invention includes: the device comprises a support 1, a first motor 2, a swing module 3 and a clamping module 4.

Specifically, first motor 2 is located on support 1, and swing module 3 is located between first motor 2 and clamping module 4, and first motor 2 drive swing module 3 activity to make clamping module 4 swing.

That is to say, when loading, the clamping device 100 moves to the material frame and extends into the material frame, the first motor 2 can drive the swing module 3 to transmit, and the swing module 3 can transmit the torque to the clamping module 4, so that the clamping module 4 can swing towards the direction of the workpiece, and further the clamping module 4 is in a non-vertical state and can incline at a certain angle, so that the clamping module 4 faces the inclined workpiece, and the clamping module 4 can clamp the workpiece more conveniently.

Wherein, through locating swing module 3 between first motor 2 and clamping module 4 for swing module 3 can be with transmission torque, and swing module 3 can the underspin simultaneously, so that clamping module 4 can swing the angle more accurately, thereby makes clamping module 4 swing the angle that the back inclines and the angle of inclination of slope work piece roughly equal.

In addition, the swing module 3 is arranged between the first motor 2 and the clamping module 4, so that the height of the swing module 3 can be increased, the overall structure of the clamping device 100 is higher, the clamping device 100 can clamp workpieces in a deep frame, and the first motor 2 cannot interfere with a material frame or the workpieces in the clamping process.

According to the utility model discloses clamping device 100 can drive the activity of swing module 3 through first motor 2 for swing module 3 can transmission torque, so that the swing of the clamping module 4 that links to each other with transmission module, and the inclination of clamping module 4 wobbling angle and slope work piece is roughly equal, thereby make clamping module 4 can more conveniently centre gripping work piece, make clamping module 4 can the arbitrary gesture work piece of putting of centre gripping simultaneously, thereby make clamping module 4's commonality higher, therefore the practicality is strong. In addition, the clamping device 100 can save labor force and improve feeding efficiency when clamping the workpiece.

In an example, the clamping device 100 includes a detection module, the detection module is disposed on the clamping module 4, and thus, the detection module can more accurately detect the inclination angle of the workpiece to be clamped, the detection module sends detection information to the first motor 2 after detecting, so that the first motor 2 can drive the clamping module 4 to swing to a corresponding angle, and after the clamping module 4 swings, the detection module can continue to detect the swing angle of the clamping module 4 after swinging, if the difference between the actual swing angle and the theory is large and the clamping of the workpiece by the clamping module 4 is affected, the first motor 2 can continue to drive the clamping module 4 to swing until the clamping module 4 swings to the workpiece facing the inclination.

The utility model discloses an in some embodiments, clamping module 4 is located the below of swing module 3, and swing module 3 is suitable for and drives clamping module 4 and swings in vertical face, that is to say, clamping device 100 when the centre gripping work piece, and clamping module 4 is located the below of swing module 3, and clamping module 4 sets up along vertical direction with swing module 3 promptly to make clamping device 100's overall structure increase, thereby make things convenient for the work piece in the 4 centre gripping deep frames of clamping module. In addition, after the swing module 3 is driven, it can drive the clamping component to swing in the vertical plane, i.e. swing around the clockwise or counterclockwise direction in the vertical plane composed of the left and right direction and the up and down direction as shown in fig. 4.

In some embodiments of the present invention, the swing module 3 includes: the transmission belt 31 and the rotating gear 32, the clamping module 4 is fixed with the rotating gear 32, and the first motor 2 drives the rotating gear 32 to rotate through the transmission belt 31, so that the clamping module 4 swings.

The transmission belt 31 may be a belt, a chain, or other structures, and is not limited herein, and may be a belt that can transmit torque.

In one example, the clamping module 4 may be coupled to the rotary gear 32 by a coupling member such as a bolt, a screw, or the like, so that the clamping module 4 may be securely coupled with the rotary gear 32.

In another example, a catching groove is provided on one of the grip module 4 and the rotation gear 32, and a catching block is provided on the other of the grip module 4 and the rotation gear 32, so that the grip module 4 can be securely coupled with the rotation gear 32 by fitting the catching block in the catching groove.

After the clamping module 4 is fixedly connected with the rotating gear 32, the rotating gear 32 rotates to drive the clamping module 4 to rotate, so that the clamping module 4 can swing, the clamping module 4 can swing to correspond to an inclined workpiece, and the clamping module 4 can conveniently clamp the workpiece.

Alternatively, the rotation gear 32 includes: the clamping module comprises a first rotating gear 321 and a second rotating gear 322, one end of the transmission belt 31 is wound around the output end of the first motor 2, the other end of the transmission belt is wound around the shaft of the first rotating gear 321, the second rotating gear 322 is meshed with the first rotating gear 321, and the clamping module 4 is fixed with the second rotating gear 322, wherein the diameter of the first rotating gear 321 is smaller than that of the second rotating gear 322.

From this, the output torque of first motor 2 can drive belt 31 and rotate to make drive belt 31 can drive first rotating gear 321 and rotate, can drive second rotating gear 322 rather than the meshing after first rotating gear 321 rotates and rotate, after second rotating gear 322 rotates, can drive the swing of the centre gripping module 4 rather than linking to each other.

In addition, the diameter of the first rotating gear 321 is smaller than that of the second rotating gear 322, so that the second rotating gear 322 can reduce the rotating speed, which not only can prevent the clamping module 4 from generating large impact with other workpieces or structures, but also can enable the clamping module 4 to rotate to a preset angle more accurately.

In one example, the first rotating gear 321 and the second rotating gear 322 are engaged, so that the gear connected to the clamping module 4 rotates to drive the clamping module 4 to swing.

Optionally, the clamping device 100 further comprises: protective housing 6 and tensioning member 7, swing module 3 is fixed through protective housing 6, and protective housing 6 extends along vertical direction and surrounds drive belt 31, the one end of protective housing 6 is fixed with support 1, the other end sets up horizontal fixing rod 8, and horizontal fixing rod 8 is connected with the hub connection of rolling gear 32, restriction rolling gear 32's position.

For example, as shown in fig. 2 to fig. 3, the protective housing 6 extends in the up-down direction, the upper end of the protective housing 6 is connected to the support 1, the lower end of the protective housing 6 is connected to the rotary gear 32 through the horizontal fixing rod 8, that is, the horizontal fixing rod 8 is disposed on the protective housing 6, the shaft hole of the rotary gear 32 is rotatably sleeved on the horizontal fixing rod 8, so that the horizontal fixing rod 8 can rotate around the horizontal fixing rod 8, in addition, the horizontal fixing rod 8 can limit the rotary gear 32, so that the rotary gear 32 cannot shake during the rotation process, and the rotary gear 32 can stably drive the clamping module 4 to swing.

In addition, protective housing 6 has and opens the mouth to make things convenient for swing module 3 to pass through open mouthful is installed and removed, and protective housing 6 can support, direction drive belt 31 rotates, prevents that drive belt 31 from deviating at the transmission in-process, and protective housing 6 also can protect swing module 3 and prevent that foreign matter from interfering swing module 3 and swing.

Further, by arranging the tensioning member 7 on the protective shell 6, the tensioning member 7 can tension the transmission belt 31, so that the transmission belt 31 can transmit better, and the clamping module 4 is prevented from swinging due to the loose transmission belt 31.

Alternatively, the distal end of the rotating gear 32 opposite to the horizontal fixing rod 8 is fixed to the clamping module 4, that is, one end of the rotating shaft of the rotating gear 32 is rotatably connected to the horizontal fixing rod 8, and the other end is fixedly connected to the clamping module 4, so that the rotating gear 32 can drive the clamping module 4 to swing after the rotating gear 32 rotates a certain angle. For example, the clamping module 4 can be fixedly connected to the toothed rim of the rotary gear 32.

In some embodiments of the present invention, the clamping module 4 includes a mounting seat 41, a driving member 42 and a clamping member 43, the mounting seat 41 is connected to the swing module 3, the driving member 42 is disposed on the mounting seat 41 to drive the clamping member 43 to move, for example, as shown in fig. 7 and 8, the mounting seat 41 is fixedly connected to the second rotating gear 322 in the swing module 3, the driving member 42 is disposed on the mounting seat 41, so that the driving member 42 can work more stably, the driving member 42 is connected to the clamping member 43, so that the driving member 42 can drive the clamping member 43 to move, so that the clamping member 43 can clamp or release a workpiece.

Optionally, as shown in fig. 8, the mounting seat 41 is sleeved between the "shaft" and the "tooth" of the second rotating gear 322, and a groove matched with the tooth of the second transmission gear 322 is provided at a position of the mounting seat 41, where the tooth is contacted with the tooth of the second transmission gear 322, to realize matching and fixing.

The driving member 42 may be an air cylinder, an expansion rod, or other structures, without limitation.

Optionally, the clamping member 43 comprises a first clamping finger 431 and a second clamping finger 432, and the first clamping finger 431 and the second clamping finger 432 are movable towards or away from each other to clamp or release the workpiece, wherein the opposite surfaces of the first clamping finger 431 and the second clamping finger 432 are clamping surfaces 433 of the two clamping fingers.

That is, the first and second gripping fingers 431 and 432 may be movable toward each other so that the first and second gripping fingers 431 and 432 may be moved away from each other to release the workpiece when the workpiece is brought to a designated position by the first and second gripping fingers 431 and 432 cooperating to grip the workpiece between the jaws of the first and second sub-gripping fingers 431 and 434.

In the specific example shown in fig. 9, by forming the clamping face 433 on the side of the first clamping finger 431 facing the second clamping finger 432 and forming the clamping face 433 on the side of the second clamping finger 432 facing the first clamping finger 431, and by clamping the clamping face 433 of the first clamping finger 431 and the clamping face 433 of the second clamping finger 432 together on the outer side of the workpiece (e.g., a screw), friction between the workpiece and the first and second clamping fingers 431 and 432 can be increased, so that the workpiece can be firmly clamped by the clamping member 43.

In the specific example shown in fig. 10, by forming the gripping surface 433 on the side of the first finger 431 away from the second finger 432 and forming the gripping surface 433 on the side of the second finger 432 away from the first finger 431, and by the gripping surfaces 433 of the first finger 431 and the second finger 432 being brought into abutment and gripping with the inner side of the workpiece (e.g., a bearing) together, friction between the workpiece and the first finger 431 and the second finger 432 can be increased, so that the workpiece can be firmly gripped by the gripper 43.

In the above example, the clamping surface 433 may be a surface contacting with the workpiece, the clamping surface 433 is corrugated, and the corrugated structure is provided so that the first clamping finger 431 and the second clamping finger 432 can firmly clamp the workpiece.

Therefore, according to the utility model discloses holder 43 not only can the centre gripping on the outer wall of work piece, can also the centre gripping on the inner wall of work piece to make holder 43 can the centre gripping multiple kind of work piece, and then improve holder 43's practicality.

Optionally, the first finger 431 includes at least one sub-finger 434, and the second finger 432 includes at least one sub-finger 434, that is, the first finger 431 may include one sub-finger 434, may include two sub-fingers 434, and may include more sub-fingers 434, without limitation. The second finger 432 may include one sub-finger 434, two sub-fingers 434, and more sub-fingers 434, without limitation. Wherein the number of sub-clip fingers 434 included in the first clip finger 431 is independent of the number of sub-clip fingers 434 included in the second clip finger 432.

For example, as shown in fig. 11, the first clamping finger 431 includes one sub-clamping finger 434, and the second clamping finger 432 includes two sub-clamping fingers 434, so that the three sub-clamping fingers 434 are commonly clamped at the outer side or the inner side of the workpiece to stably clamp the workpiece.

In some embodiments of the present invention, the clamping device 100 further comprises: rotation module 5, rotation module 5 includes: the second motor 51 and the rotating disc 52, the rotating disc 52 is arranged between the second motor 51 and the support 1, and the second motor 51 is used for driving the rotating disc 52 to rotate, so that the rotating disc 52 drives the support 1 to rotate around the vertical direction.

For example, as shown in fig. 5 and 6, the rotating disc 52 is fixedly connected to the support 1, and the output end of the second motor 51 is connected to the rotating disc 52, so that when the second motor 51 drives the rotating disc 52 to rotate, the rotating disc 52 can drive the support 1 to rotate, thereby enabling the first motor 2, the swing module 3 and the clamping module 4 to all rotate. Further, the second motor 51 can drive the rotating disc 52 to rotate around the vertical direction, so that the support 1 can drive the swing module 3 and the clamping module 4 to rotate around the vertical direction, and the clamping module 4 can rotate to the direction in which the workpiece needs to be clamped, so that the clamping module 4 can conveniently clamp the workpiece.

A worm and gear mechanism may be disposed between the second motor 51 and the rotary disk 52, and the worm and gear mechanism may convert a driving force output by the output shaft of the second motor 51 and rotating around the horizontal direction into a driving force which may rotate the rotary disk 52 around the vertical direction. Of course, a bevel gear may be provided between the second motor 51 and the rotary plate 52 to change the direction of the driving force of the second motor 51 so that the rotary plate 52 can rotate about the vertical direction. Other reversing mechanisms may also be provided between the second motor 51 and the turntable 52, and are not limited herein.

When the clamping device 100 is located in the material frame, the second motor 51 can drive the clamping module 4 to rotate, so that the clamping module 4 can clamp workpieces at different positions, the workpiece clamping efficiency is improved, and meanwhile, the clamping module 4 cannot interfere with other workpieces or the material frame in the clamping process.

The utility model discloses still propose a pick up robot of clamping device 100 with above-mentioned embodiment.

According to the utility model discloses pick up robot of second aspect embodiment includes: the robot arm and the clamping device 100, the clamping device 100 is arranged at the tail end of the robot arm, so that the robot arm drives the clamping device 100 to move.

According to the utility model discloses pick up robot, through locating clamping device 100 the end of arm for the arm can drive clamping device 100 activity to the material frame in, and the arm can drive clamping device 100 and rotate simultaneously, so that the clamping part can be relative with the work piece, thereby improves centre gripping efficiency. In addition, after the clamping device 100 clamps the workpiece, the robot arm can drive the clamping device 100 to move, so that the clamping device 100 can transport the workpiece to a designated position, thereby saving labor force.

Other configurations and operations of the pick robot according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "some embodiments," "optionally," "further," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A clamping device, comprising:

a support;

the first motor is arranged on the support;

the swing module is arranged between the first motor and the clamping module, and the first motor drives the swing module to move so as to enable the clamping module to swing.

2. Clamping device according to claim 1, characterized in that said oscillating module comprises: the clamping module is fixed with the rotating gear, and the first motor drives the rotating gear to rotate through the transmission belt so that the clamping module swings.

3. The clamping device of claim 2, wherein the rotation gear comprises: a first rotating gear and a second rotating gear;

the first motor output end of drive belt one end winding, the other end winding the axle of first rotating gear, the second rotates the gear tooth and closes in first rotating gear, the centre gripping module with the second rotating gear is fixed, wherein, the diameter of first rotating gear is less than the diameter of second rotating gear.

4. The clamping device of claim 2, further comprising:

the swing module is fixed through a protective shell, the protective shell extends in the vertical direction to surround the transmission belt, one end of the protective shell is fixed with the support, and the other end of the protective shell is provided with a horizontal fixing rod which is connected with a shaft of the rotating gear to limit the position of the rotating gear;

the tensioning member is arranged on the protective shell to tension the transmission belt.

5. The clamping device of claim 4, wherein a distal end of said rotatable gear, relative to said horizontally stationary rod, is secured to said clamping module.

6. The clamping device as claimed in claim 1, wherein the clamping module comprises a mounting base, a driving member and a clamping member, the mounting base is connected with the swing module, and the driving member is disposed on the mounting base to drive the clamping member to move.

7. The clamping device of claim 6, wherein the clamping member comprises a first clamping finger and a second clamping finger, the first clamping finger and the second clamping finger are movable towards or away from each other to clamp or release the workpiece, and the opposite surfaces of the first clamping finger and the second clamping finger are clamping surfaces of the two clamping fingers.

8. Clamping device according to claim 7, characterized in that the clamping surface is corrugated.

9. Clamping device according to claim 1, characterized in that it comprises: a rotation module, the rotation module comprising: the second motor and carousel, the carousel locate the second motor with between the support, the second motor is used for the drive the carousel rotates, so that the carousel drives the support rotates around vertical direction.

10. A pick robot, comprising:

a mechanical arm;

the clamping device according to any one of claims 1 to 9, wherein the clamping device is arranged at the end of the mechanical arm, and the mechanical arm is used for driving the clamping device to move.

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