CN218255201U - Clamping paw and clamping device - Google Patents

Abstract

The utility model provides a centre gripping hand claw and clamping device, centre gripping hand claw include fixed establishment, holder and actuating mechanism. The clamping piece comprises a sliding part and a clamping part connected with the sliding part, the sliding part slides along a first direction and is arranged on the fixing mechanism, the driving mechanism is connected with the fixing mechanism and is provided with a pushing part moving along a second direction, the pushing part is arranged facing to the sliding part of the clamping piece, the cross section area of the pushing part in the second direction is gradually reduced towards the clamping part of the clamping piece, the sliding part of the clamping piece is provided with an inclined plane in sliding fit with the pushing part, the first direction is perpendicular to the second direction, and the pushing part pushes the sliding part of the clamping piece along the second direction so that the clamping part of the clamping piece abuts against and is held on the material along the first direction. In the clamping paw, the inclined surface formed by the pushing part is in sliding fit with the sliding part of the clamping piece, so that the expected clamping action can be achieved even when the moving space of the clamping paw in a single direction is reduced.

Description

Clamping paw and clamping device

Technical Field

The utility model relates to an go up unloading technical field, concretely relates to centre gripping hand claw and clamping device.

Background

Generally, a pair of clamping members and a driving member connected to the clamping members are used to clamp the material, that is, the driving member drives the clamping members to move closer to or away from each other, so as to clamp or release the material. However, in the above-described working method, the movement directions of the driving member and the pair of holding members are mostly in the same direction, and the movable range is large, and thus the working method cannot be preferably applied to a narrow working space.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a clamping paw and a clamping device, so as to solve the technical problem that how to reduce the size of the clamping device and the clamping device is difficult to be applied to a narrow working space.

An embodiment of the utility model provides a gripper jaw, include:

a fixing mechanism;

the clamping piece comprises a sliding part and a clamping part connected with the sliding part, and the sliding part is arranged on the fixing mechanism in a sliding manner along a first direction;

the driving mechanism is connected with the fixing mechanism and is provided with a pushing part which moves along a second direction, the pushing part is arranged facing the sliding part of the clamping piece, the cross section area of the pushing part in the second direction is gradually reduced towards the clamping part of the clamping piece, and the sliding part of the clamping piece is provided with an inclined surface which is in sliding fit with the pushing part; wherein, the first and the second end of the pipe are connected with each other,

the first direction is perpendicular to the second direction, and the pushing portion pushes the sliding portion of the clamping piece to move along the first direction along the second direction, so that the clamping portion of the clamping piece abuts against the material along the first direction.

In some embodiments, the drive mechanism comprises:

the pushing part is arranged at one end of the pushing part facing the clamping part;

and the driving piece is arranged on the fixing mechanism, connected to one end of the pushing piece, which is far away from the clamping piece, and used for driving the pushing piece to move along the second direction.

In some embodiments, a groove is formed in a surface, facing the driving member, of the pushing member, the driving member includes a driving body and a transmission rod, one end of the transmission rod is inserted into the groove and is locked and fixed to the pushing member through a locking member, and the driving body is respectively connected to the other end of the transmission rod and the fixing mechanism and is used for driving the transmission rod to drive the pushing member to move along the second direction.

In some embodiments, the fixing mechanism includes a supporting member, a positioning member, a connecting member, and a buffering assembly, the supporting member is connected between the connecting member and the positioning member, the driving mechanism is disposed between the connecting member and the positioning member and connected to the connecting member, the buffering assembly is disposed on the positioning member, and the sliding portion of the clamping member is slidably disposed on the positioning member along the first direction and abuts against the buffering assembly.

In some embodiments, the buffer assembly comprises:

the guide piece is inserted into the positioning piece along the first direction;

the elastic piece is sleeved on the guide piece, and two ends of the elastic piece respectively abut against the sliding part of the clamping piece and the positioning piece.

In some embodiments, the positioning member comprises:

the positioning plate is connected to one end, far away from the connecting piece, of the supporting piece, the sliding part of the clamping piece is arranged on the positioning plate in a sliding mode along the first direction, the clamping part of the clamping piece protrudes out of the positioning plate in the second direction, and the buffering assembly is arranged on the positioning plate;

the limiting body is connected to one side, deviating from the connecting piece, of the positioning plate, and the limiting body and the clamping part of the clamping piece are oppositely arranged in the first direction and are used for respectively abutting against two opposite sides of the material with the pushing part.

In some embodiments, the locating plate is equipped with accepting groove and promotion hole, the opening orientation of accepting groove the connecting piece, promote the hole along the second direction runs through the diapire of accepting groove, the sliding part of holder slides and locates the accepting groove, the holder of holder wear to establish and protrusion in promote the hole, fixed establishment still includes the limiting plate, the limiting plate connect in the locating plate orientation one side of connecting piece and be equipped with spacing hole, spacing hole with promote the hole and be in correspond in the second direction, it passes to promote the portion spacing hole in order to promote the sliding part of holder.

In some embodiments, the clamping part of holder towards the one side of spacing body is equipped with multichannel striation, multichannel the striation is followed the second direction interval sets up.

In some embodiments, the clamping paw comprises a plurality of clamping units, each clamping unit comprises a driving mechanism, two clamping members, two buffering assemblies and two limiting bodies, the two buffering assemblies are arranged on the positioning plate at intervals along the first direction, the two clamping members are arranged at intervals along the first direction and respectively abut against the two buffering assemblies, the pushing portion moves along the second direction and simultaneously pushes the two clamping members to move along the first direction, so that the clamping portions of the two clamping members respectively abut against the two limiting bodies against the two materials.

The embodiment of the utility model provides a still provide a clamping device, include:

a base;

the gripper of any of the above embodiments, wherein the securing mechanism in the gripper is attached to the base;

and the mounting part is connected to the base and used for being connected with a power device so as to drive the clamping paw to rotate under the driving of the power device.

In the clamping paw and the clamping device, the cross section area of the sliding part of the clamping piece in the first direction is gradually reduced along the direction close to the pushing part, so that the sliding part of the clamping piece forms an inclined plane, the cross section area of the pushing part in the first direction is gradually reduced along the direction close to the clamping piece, so that the pushing part forms another inclined plane, when the pushing part moves in the second direction perpendicular to the first direction, the inclined plane formed by the pushing part is in sliding fit with the sliding part of the clamping piece, so that the sliding part of the clamping piece is pushed to move along the first direction, the movement of the pushing part in the second direction is converted into the movement of the clamping piece in the first direction, and further, the expected clamping action can be achieved under the condition that the moving space of the clamping paw in the single direction is reduced.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of a gripper jaw and a material according to an embodiment of the present invention.

Fig. 2 is an exploded schematic view of a gripper according to an embodiment of the present invention.

Fig. 3 is a sectional view taken along line ii-ii in fig. 1.

Fig. 4 is a schematic perspective view of a pushing member according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of the clamping member according to an embodiment of the present invention.

Fig. 6 is a schematic perspective view of a clamping device according to an embodiment of the present invention.

Description of the main elements

Clamping gripper 10

Fixing mechanism 11

Accommodation space 11a

Support 111

Positioning member 112

Positioning plate 1121

Accommodating groove 1121a

Pushing hole 1121b

Spacing body 1122

Connecting member 113

Buffering assembly 114

Guide 1141

Elastic member 1142

Limiting plate 115

Limiting hole 115a

Clamping member 12

Sliding part 12a

Clamping part 12b

Streak 12c

Drive mechanism 13

Pushing part 13a

Pusher 131

Groove 131a

Driving member 132

Drive body 1321

Driving rod 1322

Retaining member 133

Clamping device 100

Base 20

Mounting member 30

Material 200

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 accompanying 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 "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but 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 should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

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, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present disclosure may repeat reference numerals and/or reference letters in the various examples for purposes of simplicity and clarity and do not in itself dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

An embodiment of the utility model provides a gripper jaw, including fixed establishment, holder and actuating mechanism. The holder includes sliding part and the clamping part that links to each other with the sliding part, the sliding part of holder slides along the first direction and locates fixed establishment, actuating mechanism connects in fixed establishment and is equipped with the promotion portion along the activity of second direction, the promotion portion sets up towards the sliding part of holder, the cross sectional area of promotion portion on the first direction diminishes along the direction that is close to the holder gradually, the cross sectional area of the sliding part of holder on the first direction diminishes along the direction that is close to the promotion portion gradually, first direction and second direction mutually perpendicular, the sliding part that the promotion portion promoted the holder along the second direction moves along the first direction, so that the clamping part of holder supports in the material along the first direction.

The embodiment of the utility model provides a still provide a clamping device, including the centre gripping hand claw of base, installed part and any above-mentioned embodiment, fixed establishment in the centre gripping hand claw connects in the base, and the installed part is connected in the base for connect power device, rotate in order to drive the centre gripping hand claw under power device's drive.

In the clamping paw and the clamping device, the cross-sectional area of the sliding part of the clamping piece in the first direction is gradually reduced along the direction close to the pushing part, so that the sliding part of the clamping piece forms an inclined plane, the cross-sectional area of the pushing part in the first direction is gradually reduced along the direction close to the clamping piece, so that the pushing part forms another inclined plane, when the pushing part moves in the second direction perpendicular to the first direction, the inclined plane formed by the pushing part and the sliding part of the clamping piece form a sliding fit, so that the sliding part of the clamping piece is pushed to move along the first direction, the movement of the pushing part in the second direction is converted into the movement of the clamping piece in the first direction, and further, the expected clamping action can be achieved under the condition that the moving space of the clamping paw in the single direction is reduced.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, in some embodiments, the gripper jaw 10 includes a fixing mechanism 11, a gripping member 12, and a driving mechanism 13. The clamping piece 12 comprises a sliding portion 12a and a clamping portion 12b connected with the sliding portion 12a, the sliding portion 12a of the clamping piece 12 is arranged on the fixing mechanism 11 in a sliding mode along a first direction, the driving mechanism 13 is connected to the fixing mechanism 11 and provided with a pushing portion 13a moving along a second direction, the pushing portion 13a is arranged facing the sliding portion 12a of the clamping piece 12, the cross-sectional area of the pushing portion 13a in the second direction is gradually reduced towards the clamping portion 12b of the clamping piece 12, the sliding portion 12a of the clamping piece 12 is provided with an inclined surface in sliding fit with the pushing portion 13a, and the pushing portion 13a pushes the sliding portion 12a of the clamping piece 12 to move along the first direction along the second direction, so that the clamping portion 12b of the clamping piece 12 is abutted to the material 200 along the first direction. Here, the first direction and the second direction are perpendicular to each other.

In the above-mentioned gripping gripper 10, the sliding portion 12a of the gripping member 12 forms an inclined surface so that the sliding portion 12a of the gripping member 12 forms a funnel shape as shown in fig. 3, and the cross-sectional area of the pushing portion 13a in the second direction gradually decreases toward the gripping portion 12b of the gripping member 12 so that the pushing portion 13a forms another inclined surface, as shown in fig. 3, so that when the pushing portion 13a moves in the second direction, the inclined surface formed by the pushing portion 13a is in sliding fit with both the inclined surfaces formed by the sliding portion 12a of the gripping member 12, and further the sliding portion 12a of the gripping member 12 is pushed to move in the first direction, so that the movement of the pushing portion 13a in the second direction is converted into the movement of the gripping member 12 in the first direction, and further, the movement space of the gripping gripper 10 in the single direction is reduced, and still a desired gripping action can be achieved.

For convenience of description, a three-dimensional coordinate system XYZ is established in fig. 1, wherein the X axis is in a direction which is a moving direction of the clamping member 12, i.e., a first direction, and the Z axis is in a direction which is a vertical direction, i.e., a moving direction of the pushing part 13a, i.e., a second direction, wherein the first direction and the second direction are perpendicular to each other. It should be noted that the first direction and the second direction may not be perpendicular, depending on the arrangement of the sliding portion 12a and the clamping portion 12b of the clamping member 12, for example, the sliding portion 12a may not be arranged in the horizontal direction, i.e. the X direction, but in the oblique direction, when the moving direction of the clamping member 12 is no longer the horizontal direction, and accordingly is the oblique direction.

Referring to fig. 3 and 4, in some embodiments, the driving mechanism 13 includes a pushing member 131 and a driving member 132. The end of the pushing element 131 facing the clamping element 12 is provided with a pushing part 13a, and the driving element 132 is provided on the fixing mechanism 11 and connected to the end of the pushing element 131 facing away from the clamping element 12 for driving the pushing element 131 to move in the second direction, wherein the driving element 132 may be an air cylinder. In this manner, the degree of automation of the gripper jaws 10 is enhanced by the drive member 132 and the pusher member 131.

In some embodiments, a groove 131a is formed on a surface of the pushing member 131 facing the driving member 132, the driving member 132 includes a driving body 1321 and a transmission rod 1322, one end of the transmission rod 1322 is inserted into the groove 131a and is locked and fixed to the pushing member 131 through the locking member 133, and the driving body 1321 is respectively connected to the other end of the transmission rod 1322 and the fixing mechanism 11 for driving the transmission rod 1322 to move the pushing member 131 in the second direction. The driving body 1321 may be a cylinder body, and the transmission rod 1322 may be a power rod of the cylinder.

Therefore, the driving rod 1322 and the pushing piece 131 are detachably connected through the arranged locking piece 133, so that the pushing piece 131 is convenient to replace and maintain.

Referring to fig. 2 and fig. 3, in some embodiments, the fixing mechanism 11 includes a supporting member 111, a positioning member 112, a connecting member 113 and a buffering assembly 114, the supporting member 111 is connected between the connecting member 113 and the positioning member 112, and the driving mechanism 13 is disposed between the connecting member 113 and the positioning member 112 and connected to the connecting member 113, so that the supporting member 111, the positioning member 112 and the connecting member 113 surround to form an accommodating space 11a, which prevents the driving mechanism 13 from colliding with other components of the clamping gripper 10 during the driving process, and improves the service life of the clamping gripper 10.

In some embodiments, the buffering component 114 is disposed on the positioning component 112, and the sliding portion 12a of the clamping component 12 is slidably disposed on the positioning component 112 along the first direction and abuts against the buffering component 114. Specifically, the pushing member 131 pushes the sliding portion 12a of the clamping member 12 to move on the positioning member 112 along the first direction, and the sliding portion 12a of the clamping member 12 abuts against the buffering component 114 until the clamping portion 12b of the clamping member 12 clamps the material 200, at this time, the buffering component 114 is arranged to form a certain buffering force on the sliding portion 12a of the clamping member 12 in the first direction, so as to form a buffering effect on the sliding portion 12a of the clamping member 12, and avoid the material 200 from being damaged due to an excessive clamping force, and when the pushing member 131 is far away from the sliding portion 12a of the clamping member 12, the buffering force formed by the buffering component 114 on the sliding portion 12a of the clamping member 12 can drive the sliding portion 12a of the clamping member 12 to move along the positioning member 112 to achieve resetting.

In some embodiments, the damping assembly 114 includes a guide member 1141 and a resilient member 1142. The guiding element 1141 is inserted into the positioning element 112 along the first direction, the elastic element 1142 is sleeved on the guiding element 1141, and two ends of the elastic element 1142 respectively abut against the sliding portion 12a of the clamping element 12 and the positioning element 112. The elastic member 1142 is, for example, a spring.

Thus, the guide member 1141 is connected with the positioning member 112 by inserting, so as to facilitate the installation of the positioning member 112, and the elastic member 1142 is connected with the guide member 1141 by sleeving, so as to facilitate the installation of the elastic member 1142.

Referring to fig. 2 and fig. 3, in some embodiments, the positioning element 112 includes a positioning plate 1121 and a position-limiting body 1122. The positioning plate 1121 is connected to one end of the supporting member 111 away from the connecting member 113, the sliding portion 12a of the clamping member 12 is slidably disposed on the positioning plate 1121 along the first direction, the clamping portion 12b of the clamping member 12 protrudes out of the positioning plate 1121 in the second direction, the guiding member 1141 of the buffering assembly 114 is inserted into the positioning plate 1121, the limiting body 1122 is connected to one side of the positioning plate 1121 departing from the connecting member 113, and the limiting body 1122 and the clamping portion 12b of the clamping member 12 are oppositely disposed in the first direction and are used for respectively abutting against two opposite sides of the material 200 with the pushing portion 13 a.

In some embodiments, the positioning plate 1121 is provided with a receiving groove 1121a and a pushing hole 1121b, the receiving groove 1121a opens toward the connecting element 113, the pushing hole 1121b penetrates through the bottom wall of the receiving groove 1121a along the second direction, the sliding portion 12a of the clamping member 12 is slidably disposed in the receiving groove 1121a, the clamping portion 12b of the clamping member 12 penetrates through and protrudes from the pushing hole 1121b, the fixing mechanism 11 further includes a limiting plate 115, the limiting plate 115 is connected to a side of the positioning plate facing the connecting element 113 and is provided with a limiting hole 115a, the limiting hole 115a corresponds to the pushing hole 1121b in the second direction, and the pushing portion 13a penetrates through the limiting hole 115a to push the sliding portion 12a of the clamping member 12.

Thus, the accommodating groove 1121a and the pushing hole 1121b, which are communicated with each other, form a movable range of the holder, and can play a certain guiding role in the actuation of the holder 12, thereby preventing the holder 12 from shaking in the first direction.

Referring to fig. 5, in some embodiments, a plurality of striations 12c are disposed on a surface of the clamping portion 12b of the clamping member 12 facing the stopper 1122, and the plurality of striations 12c are spaced along the second direction.

So, through the multichannel striation 12c that sets up, can increase the frictional force of the clamping part 12b of holder 12 and the contact of material 200, the material 200 of treating of avoiding placing is because of the not enough landing of second direction of following of clamping-force.

Referring to fig. 2 and fig. 3, in some embodiments, the clamping paw 10 includes a plurality of clamping units, each of the clamping units includes a driving mechanism 13, two clamping members 12, two buffering assemblies 114 and two position-limiting bodies 1122, the two buffering assemblies 114 are disposed at intervals along the first direction on the positioning plate 1121, the two clamping members 12 are disposed at intervals along the first direction and respectively abut against the two buffering assemblies 114, the pushing portion 13a moves along the second direction and simultaneously pushes the two clamping members 12 to move along the first direction, so that the clamping portions 12b of the two clamping members 1122 respectively abut against the two position-limiting bodies on the two materials 200.

So, through a plurality of centre gripping units that set up, can make centre gripping hand claw 10 can press from both sides simultaneously and get a plurality of materials 200, improve centre gripping hand claw 10's operating efficiency.

Referring to fig. 6, in some embodiments, the clamping device 100 includes a base 20, a mounting member 30, and the clamping gripper 10 of any of the above embodiments, wherein the fixing mechanism 11 of the clamping gripper 10 is connected to the base 20, and the mounting member 30 is connected to the base 20 for connecting to a power device, for example: the manipulator is driven by the power device to drive the clamping paw 10 to rotate.

The operation of the clamping device 100 is substantially as follows:

firstly, the power device drives the base 20 through the mounting member 30 to drive the clamping paw 10 to move to the placing position of the material 200, and at this time, the clamping portion 12b of the clamping member 12 and the limiting body 1122 of the positioning member 112 are respectively located at two opposite sides of the material 200;

then, the driving body 1321 is started, the driving body 1321 drives the transmission rod 1322 to drive the pushing member 131 to move downwards along the second direction, so that the pushing portion 13a of the pushing member 131 abuts against the sliding portion 12a of the clamping member 12 to move on the positioning plate 1121 along the first direction until the clamping portion 12b of the clamping member 12 abuts against the material 200 to the limiting body 1122, and at this time, the elastic member 1142 is compressed by the sliding portion 12a of the clamping member 12;

finally, the power device drives the base 20 to drive the clamping paw 10 and the material 200 to move to the material placing position, the driving body 1321 drives the transmission rod 1322 to drive the pushing member 131 to move upward along the second direction, the compressed elastic force of the elastic member 1142 is released, and the sliding portion 12a of the clamping member 12 is driven to reset on the positioning plate 1121 along the first direction.

Referring to fig. 6, in some embodiments, there may be more than one clamping gripper 10 of the clamping apparatus 100, the fixing mechanism 11 of the plurality of clamping grippers 10 may be connected to different sides of the base 20, and different clamping grippers 10 may clamp different materials in different states, for example: one of the gripper hands 10 can be used to grip raw material and the other gripper hand 10 can grip clinker.

In operation, after one clamping claw 10 is in a material 200 (such as raw material) in a certain state, the base 20 is driven by the power device through the mounting member 30 to turn the clamping claw 10 over, so that the other clamping claw 10 clamps the material 200 (such as clinker) in another state, thereby enabling the clamping device 100 to clamp the material 200 in a plurality of different states at one time and increasing the operation efficiency of the clamping device 100.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. A gripper hand, comprising:

a fixing mechanism;

the clamping piece comprises a sliding part and a clamping part connected with the sliding part, and the sliding part is arranged on the fixing mechanism in a sliding manner along a first direction;

the driving mechanism is connected with the fixing mechanism and is provided with a pushing part which moves along a second direction, the pushing part is arranged facing the sliding part of the clamping piece, the cross-sectional area of the pushing part in the second direction is gradually reduced towards the clamping part of the clamping piece, and the sliding part of the clamping piece is provided with an inclined surface which is in sliding fit with the pushing part; wherein, the first and the second end of the pipe are connected with each other,

the first direction is perpendicular to the second direction, and the pushing portion pushes the sliding portion of the clamping piece to move along the first direction along the second direction, so that the clamping portion of the clamping piece abuts against the material along the first direction.

2. The gripper hand of claim 1, wherein the drive mechanism comprises:

the pushing part is arranged at one end of the pushing part facing the clamping part;

and the driving piece is arranged on the fixing mechanism, connected to one end of the pushing piece, which is far away from the clamping piece, and used for driving the pushing piece to move along the second direction.

3. The gripper hand of claim 2,

a groove is formed in one surface, facing the driving piece, of the pushing piece;

the driving piece comprises a driving body and a transmission rod, one end of the transmission rod is inserted into the groove and is locked and fixed on the pushing piece through a locking piece, and the driving body is connected to the other end of the transmission rod and the fixing mechanism respectively and used for driving the transmission rod to drive the pushing piece to move along the second direction.

4. The gripper hand of claim 1,

the fixing mechanism comprises a supporting piece, a positioning piece, a connecting piece and a buffering assembly;

the supporting piece is connected between the connecting piece and the positioning piece, the driving mechanism is arranged between the connecting piece and the positioning piece and connected to the connecting piece, and the buffer assembly is arranged on the positioning piece;

the sliding part of the clamping piece is arranged on the positioning piece in a sliding mode along the first direction and abuts against the buffering assembly.

5. The gripper hand of claim 4, wherein the buffer assembly comprises:

the guide piece is inserted into the positioning piece along the first direction;

the elastic piece is sleeved on the guide piece, and two ends of the elastic piece respectively support against the sliding part of the clamping piece and the positioning piece.

6. The gripper finger of claim 4, wherein said positioning member comprises:

the positioning plate is connected to one end, far away from the connecting piece, of the supporting piece, the sliding part of the clamping piece is arranged on the positioning plate in a sliding mode along the first direction, the clamping part of the clamping piece protrudes out of the positioning plate in the second direction, and the buffering assembly is arranged on the positioning plate;

the limiting body is connected to one side, departing from the connecting piece, of the positioning plate, the limiting body and the clamping portion of the clamping piece are oppositely arranged in the first direction and are used for respectively abutting against two opposite sides of the material with the pushing portion.

7. The gripper finger of claim 6,

the positioning plate is provided with an accommodating groove and a pushing hole, an opening of the accommodating groove faces the connecting piece, the pushing hole penetrates through the bottom wall of the accommodating groove along the second direction, the sliding part of the clamping piece is slidably arranged in the accommodating groove, and the clamping part of the clamping piece penetrates through the pushing hole and protrudes out of the pushing hole;

the fixing mechanism further comprises a limiting plate, the limiting plate is connected to one side, facing the connecting piece, of the positioning plate and provided with a limiting hole, the limiting hole corresponds to the pushing hole in the second direction, and the pushing portion penetrates through the limiting hole to push the sliding portion of the clamping piece.

8. The gripper hand of claim 6,

the clamping part orientation of holder the one side of spacing body is equipped with multichannel striation, multichannel the striation is followed second direction interval sets up.

9. The gripper hand of claim 6,

the clamping paw comprises a plurality of clamping units, and each clamping unit comprises a driving mechanism, two clamping pieces, two buffering assemblies and two limiting bodies;

the two buffer assemblies are arranged on the positioning plate at intervals along the first direction, the two clamping pieces are arranged at intervals along the first direction and are respectively abutted against the two buffer assemblies, the pushing portion moves along the second direction and simultaneously pushes the two clamping pieces to move along the first direction, so that the clamping portions of the two clamping pieces are respectively abutted against the two limiting bodies on the two materials.

10. A clamping device, comprising:

a base;

the gripper hand of any of claims 1-9, wherein a securing mechanism in the gripper hand is connected to the base;

and the mounting part is connected to the base and used for being connected with a power device so as to drive the clamping paw to rotate under the driving of the power device.

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