CN216127284U - Clamping device and picking robot with same - Google Patents

Abstract

The utility model discloses a clamping device and a picking robot with the same, wherein the clamping device comprises: support, drive division and clamping part, on the support was located to the drive division, the clamping part included: the clamping jaw and the driving part are respectively connected with two ends of the rotating block, one end of the limiting part is fixed on the support, the end face of the other end of the limiting part is bent, and after the rotating block is driven by the driving part to abut against a first forming face of the bent end face of the limiting part, a working shaft of the clamping jaw is limited to a first inclination; when the rotating block is driven by the driving part to abut against the second forming surface of the bending surface, the working shaft of the clamping jaw is limited to the second inclination. According to the clamping device provided by the embodiment of the utility model, workpieces which are randomly placed can be clamped, workpieces with different sizes can also be clamped, and the clamping device cannot interfere with a material frame and the like in the process of clamping the workpieces, so that the clamping efficiency can be improved, and the labor force can be saved.

Description

Clamping device and picking robot with same

Technical Field

The utility model relates to the technical field of intelligent manufacturing, in particular to a clamping device and a picking robot with the same.

Background

In general, after the metal piece is fed, the metal piece is placed in the material frame in disorder, the postures are different, the requirement on the grabbing and placing precision is high, and for the unordered feeding of the metal piece in the material frame, a manipulator is required to grab workpieces with different sizes and different postures; the existing robot clamp usually adopts a cylinder clamping jaw of a single industrial Central point (TCP), workpieces in a plurality of postures cannot be grabbed, and the clamp adopting a servo motor to switch the TCP can obviously increase the volume of the clamp to cause various collisions.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a clamping device, which can clamp workpieces placed at will and also can clamp workpieces of different sizes, and during clamping the workpieces, the clamping device does not interfere with a material frame and the like, so that not only the clamping efficiency can be improved, but also the labor force can be saved.

The utility model also provides a picking robot with the clamping device.

According to a first aspect embodiment of the utility model, a clamping device comprises: support, drive division and clamping part, the drive division is located on the support, the clamping part includes: the clamping jaw and the driving part are respectively connected with two ends of the rotating block, one end of the limiting part is fixed on the support, the end face of the other end of the limiting part is bent, and after the rotating block is driven by the driving part to abut against a first forming face of the bent end face of the limiting part, a working shaft of the clamping jaw is limited to a first inclination; when the rotating block is driven by the driving part to abut against the second forming surface of the bent end surface, the working shaft of the clamping jaw is limited to a second inclination.

According to the clamping device provided by the embodiment of the utility model, the rotating block is driven to rotate by the driving part, and the clamping jaw reciprocates between the first inclination position and the second inclination position, so that the clamping jaw can clamp a workpiece with a small inclination angle and can also clamp a workpiece with a large inclination angle.

In addition, the clamping device according to the present invention may have the following additional features:

in some embodiments of the present invention, the limiting portion extends along a direction perpendicular to the bent end surface to form an extending piece, and the extending piece is rotatably connected to the rotating block.

Optionally, the extension piece is connected with the rotating block through a pin shaft.

Optionally, a distance between the pin and the driving portion is smaller than a distance between the pin and the clamping jaw.

In some embodiments of the present invention, the driving part includes: the movable rod is arranged between the first driving piece and the rotating block, and the first driving piece is suitable for driving the movable rod to move along the vertical direction.

Optionally, the clamping device further comprises: a rolling bearing; the rolling device is characterized in that a sliding groove is formed in the rotating block, the rolling bearing is rotatably arranged in the sliding groove, the rolling bearing is connected with the movable rod, and the movable rod drives the rolling bearing to move in the sliding groove so as to enable the rotating block to rotate.

In some embodiments of the utility model, the movable bar extends in a vertical direction.

Optionally, the limiting part and the movable rod are both hollow structures.

In some embodiments of the utility model, the clamping portion further comprises: the second driving piece is arranged between the clamping jaw and the rotating block and used for driving the clamping jaw to move, the clamping jaw comprises a clamping section and a connecting section, a second preset included angle is formed between the clamping section and the connecting section, and the clamping section is used for clamping a workpiece.

The utility model also provides a picking robot with the clamping device of the embodiment.

A pick robot according to an embodiment of a second aspect of the present invention includes: the clamping device is arranged at the tail end of the mechanical arm, and the mechanical arm drives the clamping device to perform clamping operation.

According to the picking robot provided by the embodiment of the utility model, the clamping device is arranged at the tail end of the mechanical arm, so that the mechanical arm can drive the clamping device to move into the material frame, and meanwhile, the mechanical arm can drive the clamping device to rotate, so that the clamping part can be opposite to a workpiece, and the clamping efficiency is improved. 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 utility model 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 utility model.

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 according to an embodiment of the utility model;

FIG. 2 is a schematic view of a clamp device according to an embodiment of the present invention with the jaws in a first tilt position;

FIG. 3 is a schematic diagram of a clamp arrangement with clamp jaws in a second tilted position according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a driving portion of the clamping device provided on a support according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a limiting part of a clamping module of the clamping device limiting a rotating block according to an embodiment of the utility model;

fig. 6 is a schematic structural view illustrating that the pin of the clamping device is fitted between the limiting part and the rotating block according to the embodiment of the present invention.

Reference numerals:

a holding device 100;

a support 1;

a drive section 2; a first driving member 21; a movable lever 22;

a clamping portion 3; a clamping jaw 31; a clamping section 311; a connecting section 312;

a turning block 32;

a stopper 33; the first formation surface 331; the second formation surface 332; an extension piece 333;

a second drive member 34;

a rolling bearing 4;

and a pin 5.

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 or similar 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 accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the 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 thus, should not 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 should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 6, a clamping device 100 according to an embodiment of the present invention will be described, wherein the clamping device 100 can clamp a workpiece in a material frame.

As shown in fig. 1 to 6, a clamping device 100 according to an embodiment of the present invention includes: support 1, drive division 2 and clamping part 3, drive division 2 locates on support 1, and clamping part 3 includes: the clamping jaw 31, the rotating block 32 and the limiting part 33, the clamping jaw 31 and the driving part 2 are respectively connected with two ends of the rotating block 32, one end of the limiting part 33 is fixed on the support 1, the end face of the other end of the limiting part 33 is bent, and after the rotating block 32 is driven by the driving part 2 to be abutted against the first forming face 331 of the bent end face of the limiting part 33, the working shaft of the clamping jaw 31 is limited to a first inclination; when the rotating block 32 is driven by the driving section 2 to abut against the second configuration surface 332 of the bent end surface, the operating axis of the chuck jaw 31 is restricted to the second inclination.

In practical application, after the driving part 2 drives the rotating block 32 to rotate, when the rotating block 32 rotates and the working shaft of the clamping jaw 31 is kept at a first inclination, the picking tip of the clamping jaw 31 forms a certain included angle with a horizontal plane (or a vertical plane), and the clamping jaw 31 can clamp a workpiece inclined within a certain degree; when the rotating block 32 rotates and keeps the working axis of the clamping jaw 31 at the second inclination, the picking tip of the clamping jaw 31 forms another included angle with the horizontal plane (or the vertical plane), and the clamping jaw 31 can clamp the workpiece inclined at other degrees, so that the driving part 2 drives the rotating block 32 to rotate and the clamping jaw 31 can clamp the workpiece at any inclined angle.

Specifically, after the rotating block 32 is driven by the driving portion 2 to abut against the first configuration surface 331, the operating axis of the clamping jaw 31 is limited to a first inclination, that is, the output end of the driving portion 2 extends out to make the rotating block 32 abut against the first configuration surface 331 to limit the rotating block 32 at a certain angle, and further, the included angle between the operating axis of the clamping jaw 31 and the horizontal plane is the first inclination, at this time, the driving portion 2 can stop driving and maintain the current state, and the driving portion 2 can provide support and fix the position of the clamping jaw 31 to make the operating axis of the clamping jaw 31 maintain the first inclination, so that the clamping jaw 31 can clamp an inclined workpiece. When the rotating block 32 is driven by the driving part 2 to abut against the second forming surface 332, the operating axis of the clamping jaw 31 is limited to the second inclination, that is, the output end of the driving part 2 is retracted, so that the rotating block 32 abuts against the second forming surface 332 to limit the rotating block 32 to another angle, and further, the included angle between the operating axis of the clamping jaw 31 and the horizontal plane is the second inclination, at this time, the driving part 2 can stop driving and maintain the current state, so as to provide support and fixation for the position of the clamping jaw 31, so that the clamping jaw 31 is maintained at the second inclination position, and thus the clamping jaw 31 can clamp an inclined workpiece.

The inclination angle of the first inclination may be greater than the inclination angle of the second inclination, and the inclination angle of the first inclination may also be smaller than the inclination angle of the second inclination, without limitation. The first configuration surface 331 and the second configuration surface 332 have a predetermined angle therebetween, so that the rotation angle of the rotation block 32 after the rotation block 32 abuts on the first configuration surface 331 is different from the rotation angle of the rotation block 32 after the rotation block 32 abuts on the second configuration surface 332.

The second tangential angle may be, for example, 30 °, 45 °, 20 °, and the like, and is not limited herein, where 30 °, 45 °, 20 °, and the like may be an angle between an extension axis of the workpiece and a horizontal line on a horizontal plane, and 30 °, 45 °, 20 °, and the like may also be an angle between an extension axis of the workpiece and a horizontal plane in a three-dimensional space. That is, the work piece is disordered in the three-dimensional space of the material frame.

In one example, the inclination angle of the first inclination is smaller than that of the second inclination, the clamping jaw 31 can clamp a workpiece with a smaller inclination angle when the clamping jaw 31 is maintained at the first inclination, and the clamping jaw 31 can clamp a workpiece with a larger inclination angle when the driving part 2 drives the rotating block 32 to rotate and the clamping jaw 31 is maintained at the second inclination. Make the clamping jaw 31 of this application can the arbitrary inclination's of centre gripping work piece from this, the clamping jaw 31 of this application can the work piece of the arbitrary gesture of centre gripping promptly to make clamping jaw 31 can be more conveniently the work piece in the centre gripping material frame, and then improve clamping jaw 31's commonality and practicality.

In addition, the clamping jaw 31 can be always located at the first inclination position, that is, before clamping the workpiece, and after the feeding is finished, the clamping jaw 31 can be rotated to the first inclination position, and after the clamping device 100 is moved into the material frame, if the inclination angle of the workpiece is smaller, the clamping device 100 can directly drive the clamping jaw 31 to clamp the workpiece without the driving part 2 driving the rotating block 32 to rotate, so that the clamping jaw 31 can directly clamp the workpiece, and the efficiency of clamping the workpiece can be improved.

According to the clamping device 100 of the embodiment of the utility model, the driving part 2 drives the rotating block 32 to rotate, and the clamping jaw 31 reciprocates between the first inclination position and the second inclination position, so that the clamping jaw 31 can clamp not only a workpiece with a small inclination angle but also a workpiece with a large inclination angle, therefore, the clamping device 100 of the utility model can clamp workpieces with any inclination angle, namely, workpieces with any posture, thereby improving the universality of the clamping device 100 and the practicability of the clamping device 100.

In some embodiments of the present invention, the position-limiting portion 33 extends along a direction perpendicular to the bent end surface to form an extending piece 333, and the extending piece 333 is rotatably connected to the rotating block 32, for example, as shown in fig. 6, the extending piece 333 extends from the position-limiting portion 33 along the vertical direction, and an end of the extending piece 333 is rotatably connected to the rotating block 32, so that the rotating block 32 can rotate relative to the connection.

Further, the driving portion 2 drives one end of the rotating block 32 to move, the rotating block 32 is integrally rotated, and then the clamping jaw 31 at the other end of the rotating block 32 can rotate around the connection portion of the extending piece 333 and the rotating block 32, and due to the limiting effect of the limiting portion 33, the clamping jaw 31 is made to be different in inclination and kept, and further the clamping jaw 31 can clamp workpieces in any posture conveniently.

In addition, the limiting portion 33 can be used as an "arm" of the clamping jaw 31 penetrating into the material frame, in some embodiments, the limiting portion 33 has a certain length, and the length of the output end of the driving portion 2 matches with the limiting portion 33, so that the clamping device 100 can clamp a workpiece in the deep position of the material frame.

Alternatively, the extension piece 333 is connected to the rotating block 32 by the pin 5, whereby the rotating block 32 can rotate around the axial direction of the pin 5, and in addition, the extension piece 333 and the rotating block 32 are connected by the pin 5, so that the connection between the structures is facilitated. During the rotation of the rotating block 32, the friction between the rotating block 32 and the extending piece 333 is low, so that the clamping jaw 31 can rotate back and forth between the first inclination position and the second inclination position smoothly. Specifically, the extending piece 333 and the rotating block 32 are respectively provided with a through hole matching with the pin 5, and the pin 5 passes through the pin through hole to realize the relative rotatable connection between the two.

According to the partial embodiment, one end of the rotating block 32 is connected to the clamping jaw 31, and the other end is connected to the driving part 2, and on the basis of the partial embodiment, one end of the rotating block 32 connected to the clamping jaw 31 is a driven end, and one end connected to the driving part 2 is a driving end. For the shaft pin through hole on the turning block 32 through which the shaft pin 5 passes, optionally, the shaft pin through hole is close to the driving end with respect to the driven end. That is, the distance between the pin 5 and the driving part 2 is smaller than the distance between the pin 5 and the clamping jaw 31, so that when the driving part 2 drives the rotating block 32 to rotate by a small angle, the clamping jaw 31 at the other end of the rotating block 32 can rotate by a large angle, and thus, the rotating efficiency of the clamping jaw 31 can be improved.

In one embodiment, a plurality of limiting surfaces can be arranged on the limiting portion 33, and included angles exist between the plurality of limiting surfaces, so that when the driving portion 2 drives the rotating block 32 to rotate at different angles, the abutting surfaces on the rotating block 32 can have different inclination angles, so that the rotating block 32 can be parallel to different limiting surfaces, the limiting surfaces with different inclination angles can be attached to and limited by the rotating block 32, and the rotating block 32 can rotate at different angles, so that the clamping jaw 31 can accurately clamp workpieces in any posture.

In some embodiments of the present invention, the driving part 2 includes: the first driving member 21 and the movable rod 22, the movable rod 22 is disposed between the first driving member 21 and the rotating block 32, the first driving member 21 is adapted to drive the movable rod 22 to move in a vertical direction, that is, one end of the movable rod 22 is connected to the first driving member 21, and the other end of the movable rod 22 is connected to the rotating block 32, so that when the first driving member 21 drives the movable rod 22 to move upwards or downwards, the rotating block 32 can rotate relative to the other end of the limiting portion 33.

For example, as shown in fig. 2, when the first driving element 21 drives the movable rod 22 to move downward, the movable rod 22 drives one end of the rotating block 32 to move downward, and at this time, the rotating block 32 can rotate around a joint with the limiting portion 33, so that the other end of the rotating block 32 can rotate upward, that is, the clamping jaw 31 can rotate upward, so that the clamping jaw 31 can be opposite to a workpiece with a small inclination angle and clamp the workpiece.

For example, as shown in fig. 3, when the first driving element 21 drives the movable rod 22 to move upwards, the movable rod 22 drives one end of the rotating block 32 to move upwards, and at this time, the rotating block 32 can rotate around the limiting portion 33, so that the other end of the rotating block 32 can rotate downwards, and further the clamping jaw 31 can rotate by a certain angle, so that the clamping jaw 31 can be opposite to a workpiece with a large inclination angle, and the clamping jaw 31 can clamp the workpiece with the large inclination angle conveniently.

The first driving member 21 may be an air cylinder, an expansion rod, or another structure, without limitation.

Optionally, the clamping device 100 further comprises: the rolling bearing 4 is provided with a sliding groove on the rotating block 32, the rolling bearing 4 is rotatably arranged in the sliding groove, the rolling bearing 4 is connected with the movable rod 22, and the movable rod 22 drives the rolling bearing 4 to move in the sliding groove so as to rotate the rotating block 32.

Alternatively, the side effect of the sliding groove may be presented as a kidney-shaped hole, as shown in fig. 2.

Alternatively, the inner wall of the sliding groove takes the shape of a groove, and the recessed portion serves to restrain the rolling bearing 4.

Optionally, a through hole is formed at one end of the movable rod 22 connected to the rotating block 32, and the pin shaft sequentially penetrates through the through hole and the inner ring of the rolling bearing 4, so that the movable rod 22 is connected to the rotating block 32.

That is, after the rolling bearing 4 is connected to the movable rod 22, when the movable rod 22 moves upward or downward, the rolling bearing 4 slides in the sliding groove as a whole, and the inner ring of the rolling bearing 4 rotates relative to the outer ring to reduce the friction between the shaft pin connecting the rotating block 32 and the movable rod 22 and the sliding groove, so that when the movable rod 22 moves in the vertical direction, the rotating block 32 can be responded and moved relatively quickly to improve the flexibility of the clamping device 100. Specifically, when the movable lever 22 moves the rolling bearing 4, the rolling bearing 4 moves the rotating block 32, so that the rotating block 32 can rotate.

Optionally, the movable rod 22 extends in the vertical direction, and the rotating block 32 is disposed at the lower end of the movable rod 22, so that the movable rod 22 can movably drive the rotating block 32 to rotate, thereby enabling the clamping device 100 to stably clamp the workpiece in the deep frame, and meanwhile, the limiting portion 33 also extends in the vertical direction, so that the limiting portion 33 can limit the rotating block 32, thereby enabling the clamping jaw 31 to clamp the workpiece in any posture.

In some embodiments of the utility model, the grip portion 3 further comprises: and the second driving part is arranged between the clamping jaw 31 and the rotating block 32 and is used for driving the clamping jaw 31 to move, so that the clamping jaw 31 can finish the clamping action of clamping the workpiece by the second driving part and the releasing action of releasing the workpiece after the workpiece is transported to a specified position by the second driving part driving the clamping jaw 31 to move.

For example, as shown in fig. 1, the two jaws 31 may be movable in a direction approaching each other or in a direction away from each other, when the jaws 31 are movable in the direction approaching each other, the two jaws 31 may clamp the workpiece together, and when the clamping device 100 drives the workpiece to move to a position where the workpiece can be released, the second driving member drives the two jaws 31 to move in the direction away from each other, so as to release the workpiece. Of course, the clamping device 100 may include three or more clamping jaws 31, which is not limited herein.

Further, the clamping jaw 31 comprises a clamping section 311 and a connecting section 312, wherein a second predetermined included angle is formed between the clamping section 311 and the connecting section 312, the clamping section 311 is used for clamping a workpiece, the connecting section 312 can be connected with a second driving element, when the clamping jaw 31 is located at the first inclination position, the clamping section 311 can be perpendicular to the horizontal plane, so that the clamping section 311 can clamp the workpiece with a smaller inclination angle, and when the rotating block 32 drives the clamping jaw 31 to rotate to the second inclination position, a certain included angle is formed between the clamping section 311 and the horizontal plane, so that the clamping section 311 can clamp the workpiece with a larger inclination angle.

In one embodiment, the position-limiting portion 33 and the movable rod 22 are both hollow, so that the overall weight of the clamping device 100 is light, and the clamping device 100 can conveniently walk and clamp.

The present invention also proposes a pick robot having the gripping device 100 of the above embodiment.

A pick robot according to an embodiment of a second aspect of the present invention 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 picking robot provided by the embodiment of the utility model, the clamping device 100 is arranged at the tail end of the mechanical arm, so that the mechanical arm can drive the clamping device 100 to move into the material frame, and meanwhile, the mechanical arm can drive the clamping device 100 to rotate, so that the clamping jaw can be opposite to a workpiece, and the clamping efficiency is improved. 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 the embodiment 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 utility model. 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 utility model 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 utility model, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A clamping device, comprising:

a support;

the driving part is arranged on the support;

a clamping portion, the clamping portion comprising:

a clamping jaw;

the clamping jaw and the driving part are respectively connected with two ends of the rotating block;

the limiting part is fixed on the support at one end, the end face of the other end of the limiting part is bent, and after the rotating block is driven by the driving part to abut against a first forming face of the bent end face of the limiting part, the working shaft of the clamping jaw is limited to a first inclination; when the rotating block is driven by the driving part to abut against the second forming surface of the bent end surface, the working shaft of the clamping jaw is limited to a second inclination.

2. The clamping device as claimed in claim 1, wherein the limiting portion extends in a direction perpendicular to the bent end face to form an extending piece, and the extending piece is rotatably connected with the rotating block.

3. The clamping device of claim 2 wherein said extension tab is connected to said pivot block by a pin.

4. A clamping apparatus as claimed in claim 3, wherein the distance between the pin and the drive is less than the distance between the pin and the jaw.

5. The clamping device of claim 1, wherein the drive portion comprises: the movable rod is arranged between the first driving piece and the rotating block, and the first driving piece is suitable for driving the movable rod to move along the vertical direction.

6. The clamping device of claim 5, further comprising: a rolling bearing;

the rolling device is characterized in that a sliding groove is formed in the rotating block, the rolling bearing is rotatably arranged in the sliding groove, the rolling bearing is connected with the movable rod, and the movable rod drives the rolling bearing to move in the sliding groove so as to enable the rotating block to rotate.

7. A holding arrangement as claimed in claim 5, wherein the movable bar extends in a vertical direction.

8. The clamping device of claim 7, wherein the limiting portion and the movable rod are hollow structures.

9. The clamping device of claim 1, wherein the clamping portion further comprises: the second driving piece is arranged between the clamping jaw and the rotating block and used for driving the clamping jaw to move, the clamping jaw comprises a clamping section and a connecting section, a second preset included angle is formed between the clamping section and the connecting section, and the clamping section is used for clamping a workpiece.

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 tail end of the mechanical arm, and the mechanical arm drives the clamping device to perform clamping operation.

Images