Clamping device and clamping equipment
By designing a clamping device including a fixed seat, a rotating shaft and a clamping mechanism, the problem of low centering accuracy of the clamping device in the prior art is solved, high-precision material clamping and handling is realized, and production costs and the difficulty of commissioning for staff are reduced.
Patent Information
- Application Number
- CN202420553847.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-21
- Publication Date
- 2025-03-07
- Estimated Expiration
- 2034-03-21
AI Technical Summary
When handling multiple glass materials, the existing clamping devices have low centering accuracy, which can easily damage the materials, increase production costs and reduce production efficiency.
A clamping device including a fixing seat, a rotating shaft and a jaw mechanism is designed. By driving the first clamping jaw to move, the second clamping jaw is driven relatively close to or away from the rotation shaft, material pick-up and center clamping of the material are achieved. The device adopts a connecting rod structure, which improves the centering accuracy and ensures safe clamping of the material through buffering and positioning components.
It realizes high-precision material centering clamping, avoids material damage, reduces production costs and the difficulty of commissioning for staff, and is also suitable for harsh operating environments and has a longer service life.
Smart Images
Figure CN222570371U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of automation technology, in particular to a clamping device and a clamping equipment. Background Art
[0002] With the continuous advancement of technology, smartphones have become an indispensable part of people's lives. The back cover of a smartphone is one of the important components of a smartphone. Due to its good insulation, beautiful shape and comfortable feel, the back cover of a smartphone made of glass is popular among consumers.
[0003] In the actual production process, the back cover of a mobile phone often needs to go through multiple processes. For example, after taking the material from the loading fixture, the material will be transported to the grinder for processing. After the processing is completed, the material will be transported to the subsequent station for subsequent processing. In order to ensure production efficiency, in the actual production process, multiple materials are often stacked and processed together. For this reason, a clamping device needs to be set up to clamp the material, take the material, and carry it, and clamp it in the center.
[0004] However, most of the existing clamping devices are only suitable for transporting one material. When faced with a large number of glass materials, the existing clamping devices are difficult to meet the requirements for centering accuracy and have low centering accuracy. As a result, materials are often damaged during transportation or centering clamping, which increases production costs and reduces production efficiency. At the same time, it also increases the workload of the staff for centering debugging of the device. Utility Model Content
[0005] To this end, the technical problem to be solved by the utility model is to overcome the low centering accuracy of the existing clamping device, which is easy to damage the material, increase the production cost and reduce the production efficiency, and provide a clamping device and clamping equipment with high centering accuracy and no damage to the material, effectively reducing the production cost and improving the production efficiency.
[0006] The utility model provides a clamping device, comprising a fixed seat, a rotating shaft is arranged on the fixed seat, and the rotating shaft passes through the fixed seat; a clamping jaw mechanism, two of the clamping jaw mechanisms are arranged on both sides of the fixed seat along the axial direction of the rotating shaft; each of the clamping jaw mechanisms comprises a first clamping jaw, a second clamping jaw, a first transmission member, a second transmission member and a third transmission member; the first clamping jaw and the second clamping jaw are relatively arranged on both sides of the radial direction of the rotating shaft, the first clamping jaw and the second clamping jaw are both slidably connected to the fixed seat, and the sliding directions of the first clamping jaw and the second clamping jaw are both toward the Rotating shaft; the first transmission member is rotatably connected to the rotating shaft, the first transmission member includes a first end and a second end, the first end and the second end are respectively located on both sides of the radial direction of the rotating shaft; one end of the second transmission member is rotatably connected to the first clamping jaw, and the other end of the second transmission member is rotatably connected to the first end; one end of the third transmission member is rotatably connected to the second clamping jaw, and the other end of the third transmission member is rotatably connected to the second end; wherein, the first clamping jaw moves and drives the second clamping jaw to be relatively close to or relatively away from the rotating shaft.
[0007] In one embodiment of the present invention, the length from the first end to the rotating shaft is equal to the length from the second end to the rotating shaft, and the lengths of the second transmission member and the third transmission member are equal.
[0008] In one embodiment of the present invention, a first recess and a second recess are formed at the edge of the fixing seat, the first recess corresponds to the first clamping jaw, and the second recess corresponds to the second clamping jaw.
[0009] In one embodiment of the present invention, the clamping jaw mechanism further includes a buffer component, and the buffer component is connected to the first clamping jaw and / or the buffer component is connected to the second clamping jaw.
[0010] In an embodiment of the utility model, a positioning component is provided on the fixing seat, and a plurality of the positioning components are provided, and the plurality of positioning components are arranged in pairs on both sides of the radial direction of the rotating shaft.
[0011] In one embodiment of the present invention, a lever component is further included, and the lever component is connected to the positioning component.
[0012] The utility model also provides a clamping device, comprising any one of the clamping devices described above.
[0013] In one embodiment of the utility model, it also includes a pressure block picking and placing device, which is connected to the clamping device; the pressure block picking and placing device includes a pressure block picking and placing linear driving member, a pressure block picking and placing clamping driving member and a pressure block picking and placing clamping claw, the pressure block picking and placing clamping driving member is connected to the driving end of the pressure block picking and placing linear driving member, and the pressure block picking and placing clamping claw is connected to the driving end of the pressure block picking and placing clamping driving member.
[0014] In one embodiment of the utility model, the pressing block taking and placing device further comprises an elastic pressing component, and the elastic pressing component is connected to the driving end of the pressing block taking and placing linear driving member.
[0015] In one embodiment of the utility model, a pin pulling device is further included, and the pin pulling device is connected to the clamping device; the pin pulling device includes a pin pulling linear drive member and a pin pulling component, and the pin pulling component is connected to the driving end of the pin pulling linear drive member.
[0016] The above technical solution of the utility model has the following advantages compared with the prior art:
[0017] The clamping device described in the utility model is provided with a fixed seat, a rotating shaft and a clamping jaw mechanism. In actual use, by driving the first clamping jaw to move, the second transmission member, the first transmission member and the third transmission member are driven to move in turn, so that the second clamping jaw is relatively close to the rotating shaft or relatively far away from the rotating shaft together with the first clamping jaw, so as to realize the material picking or centering clamping. The centering accuracy is high and the material will not be damaged. It can effectively reduce the production cost increased by material loss and improve production efficiency. At the same time, the structure is convenient for the staff to debug and maintain, and the difficulty of centering debugging is low; it is also convenient for the staff to adjust the device according to the actual clamping force requirements, reducing the workload of the staff. Compared with the transmission through gears and other structures, the connecting rod structure is particularly suitable for harsh working conditions full of dust and has a longer service life. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein:
[0019] Figure 1 This is a schematic structural diagram of the clamping device from a first perspective in a preferred embodiment of the utility model;
[0020] Figure 2 This is a schematic diagram of the structure of the clamping device from a second viewing angle in a preferred embodiment of the utility model;
[0021] Figure 3 This is a schematic diagram of the partial structure of the clamping device in the preferred embodiment of the utility model;
[0022] Figure 4 It is a partial structural schematic diagram of the second transmission member in the preferred embodiment of the utility model;
[0023] Figure 5 This is a schematic structural diagram of the clamping device from a third perspective in a preferred embodiment of the utility model;
[0024] Figure 6 This is a schematic diagram of the structure of the clamping device in the preferred embodiment of the utility model;
[0025] Figure 7 This is a schematic diagram of the structure of the pressing block taking and placing device in the preferred embodiment of the utility model;
[0026] Figure 8 It is a structural schematic diagram of the pin pulling device in the preferred embodiment of the utility model.
[0027] Explanation of the reference numerals in the drawings in the specification: 10, fixed seat; 101, first recess; 102, second recess; 11, rotating shaft; 12, positioning member; 121, lever member; 211, first clamping jaw; 212, second clamping jaw; 213, arc-shaped recess; 22, first transmission member; 221, first end; 222, second end; 231, second transmission member; 232, third transmission member; 233, hollow groove; 24, buffer member; 30, clamping linear drive member; 40, block picking and placing device; 41, block picking and placing linear drive member; 42, block picking and placing clamping drive member; 43, block picking and placing clamping jaw; 44, elastic pressing member; 50, pin pulling device; 51, pin pulling linear drive member; 52, pin pulling member; 53, pin pulling pressing member. DETAILED DESCRIPTION
[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.
[0029] Reference Figure 1 and Figure 2 As shown, the utility model discloses a clamping device, which includes a fixing seat 10 and a clamping claw mechanism.
[0030] The fixing seat 10 is used to install various parts. Preferably, the positioning seat is set as a plate-like structure to improve space utilization and meet the requirement for a small device size in the production process. A rotating shaft 11 is provided on the fixing seat 10, and the rotating shaft 11 passes through the fixing seat 10. The transmission is achieved by matching the corresponding parts of the clamping mechanism through the rotating shaft 11. The definition of passing through can ensure that the two clamping mechanisms are respectively arranged on two opposite surfaces of the fixing seat 10, rather than both being arranged on the same surface, so as to facilitate reducing the volume of the entire fixing seat 10 to improve space utilization.
[0031] The clamp mechanism is used to clamp materials. Two clamp mechanisms are provided, and the two clamp mechanisms are respectively arranged on both sides of the fixed seat 10 along the axial direction of the rotating shaft 11, which can make full use of the space and improve the space utilization rate. Preferably, the movement directions of the clamps of the two clamp mechanisms are perpendicular to each other, so as to adapt to the shape of the back cover of the square mobile phone, and better realize the clamping and centering action of the material. Each clamp mechanism includes a first clamp 211, a second clamp 212, a first transmission member 22, a second transmission member 231 and a third transmission member 232. The first clamp 211 and the second clamp 212 are relatively arranged on both sides of the radial direction of the rotating shaft 11, and the first clamp 211 and the second clamp 212 are both slidably connected to the fixed seat 10, and the sliding directions of the first clamp 211 and the second clamp 212 are both toward the rotating shaft 11. Preferably, the first clamp 211 and the second clamp 212 are slidably connected to the fixed seat 10 through a guide rail, which can not only provide guidance for the sliding of the clamp, but also improve the stability during the clamping and transportation process. Those skilled in the art can adjust the size, material, etc. of the two clamps according to the specific shape of the actual material, and will not be repeated. Preferably, both clamps are configured as hook-shaped clamps, which can be well approached from the side of the material and hold the lower end surface of the material for transportation. It should be noted that since the upper and lower end surfaces of the material are covered with a protective layer, the material will not be damaged during this contact process. The first transmission member 22 is rotatably connected to the rotating shaft 11, and the first transmission member 22 includes a first end 221 and a second end 222, and the first end 221 and the second end 222 are respectively located on both sides of the radial direction of the rotating shaft 11. One end of the second transmission member 231 is rotatably connected to the first clamp 211, and the other end of the second transmission member 231 is rotatably connected to the first end 221; one end of the third transmission member 232 is rotatably connected to the second clamp 212, and the other end of the third transmission member 232 is rotatably connected to the second end 222. Preferably, the components are rotatably connected through a bearing structure. Preferably, each transmission member is configured as a transmission connecting rod. When it is necessary to pick up and place materials, the first clamping jaw 211 moves and drives the second clamping jaw 212 to be relatively close to or relatively far away from the rotating shaft 11. Through the connecting rod structure, the opening and clamping actions of the clamping jaws can be effectively realized, and the material picking, handling and centering clamping of the material can be realized. The centering accuracy is high and the material will not be damaged. It can effectively reduce the production cost increased by material loss and improve production efficiency. At the same time, the structure is convenient for the staff to debug and maintain, and the difficulty of centering debugging is low; it is also convenient for the staff to adjust the device according to the actual clamping force requirements, reducing the workload of the staff. Compared with the transmission through gears and other structures, the connecting rod structure is particularly suitable for harsh working conditions full of dust and has a longer service life.
[0032] Preferably, a driving component is integrated on the fixed base 10 to drive the first clamping jaw 211, thereby achieving a clamping or opening action. Preferably, the driving component for driving the first clamping jaw 211 is set as a cylinder. Preferably, the cylinder is set on the side surface of the fixed base 10 away from the material to avoid direct contact with the material, effectively ensuring that the material will not be damaged. Preferably, refer to Figure 1 , Figure 2 and Figure 4 As shown, the connection between the first clamping jaw 211 and the second transmission member 231, and the connection between the second clamping jaw 212 and the third transmission member 232 are both provided with arc-shaped recesses 213 to adapt to the corresponding transmission members. Due to the presence of the arc-shaped recesses 213, the size of the clamping device can be reduced to a certain extent, thereby improving the space utilization rate. Preferably, hollow grooves 233 are provided on the second transmission member 231 and the third transmission member 232, which can effectively reduce the weight, thereby saving energy consumption in the production process. Preferably, when performing center clamping, the material is placed in water to utilize the buoyancy of water to assist the center clamping.
[0033] Preferably, refer to Figure 5 As shown, it also includes a clamping linear drive 30, which is used to drive the fixed seat 10 and the clamping claw mechanism to be relatively close to or relatively away from the material. Preferably, the clamping linear drive 30 is set as a pneumatic slide. Further, the clamping linear drive 30 can be connected to an external drive to achieve transportation.
[0034] The clamping device described in the utility model is provided with a fixed seat 10, a rotating shaft 11 and a clamping jaw mechanism. In actual use, by driving the first clamping jaw 211 to move, the second transmission member 231, the first transmission member 22 and the third transmission member 232 are driven to move in turn, so that the second clamping jaw 212 is relatively close to the rotating shaft 11 or relatively far away from the rotating shaft 11 together with the first clamping jaw 211, so as to realize the material taking or centering clamping. The centering accuracy is high and the material will not be damaged. It can effectively reduce the production cost increased by material loss and improve production efficiency. At the same time, the structure is convenient for the staff to debug and maintain, and the difficulty of centering debugging is low; it is also convenient for the staff to adjust the device according to the actual clamping force requirements, reducing the workload of the staff. Compared with the transmission through gears and other structures, the connecting rod structure is particularly suitable for harsh working conditions full of dust and has a longer service life.
[0035] Reference Figure 1 , Figure 2 and Figure 3As shown, in some embodiments of the clamping device described in the utility model, the length from the first end 221 to the rotating shaft 11 is equal to the length from the second end 222 to the rotating shaft 11, that is, the rotating shaft 11 is rotatably connected to the middle area of the first transmission member 22. The lengths of the second transmission member 231 and the third transmission member 232 are equal. Through this structure, on the one hand, it is convenient for the staff to make adjustments and maintenance, and the workload of the staff is effectively reduced. On the other hand, while ensuring the effective centering of the material, the repeated positioning accuracy is high and can not exceed 0.03mm; it will not damage the material, and can effectively reduce the production cost increased by material loss, and improve production efficiency.
[0036] Reference Figure 3 As shown, in some embodiments of the clamping device of the present invention, a first recess 101 and a second recess 102 are provided at the edge of the fixing seat 10, the first recess 101 corresponds to the first clamping jaw 211, and the second recess 102 corresponds to the second clamping jaw 212. By setting the first recess 101 and the second recess 102, the weight of the fixing seat 10 can be reduced, thereby saving energy consumption in the actual production process. The specific shapes, sizes, etc. of the first recess 101 and the second recess 102 can be set according to actual needs, and will not be repeated.
[0037] Further, see Figure 1 and Figure 2 As shown, the clamping device described in the utility model, in some embodiments, the jaw mechanism also includes a buffer component 24, and the buffer component 24 is connected to the first jaw 211 or / and the buffer component 24 is connected to the second jaw 212. By providing the buffer component 24 to form a limit buffer, the gap between the jaw and the material can be controlled to avoid damaging the material, and the production cost increased due to material loss can be effectively reduced, thereby improving production efficiency. The buffer component 24 is a prior art, and its specific working principle and structure are not described in detail. When the first recess 101 and the second recess 102 are provided on the fixed seat 10, the buffer component 24 can cooperate with the corresponding recesses to achieve buffering, which can effectively reduce the volume and improve space utilization. Preferably, a buffer component 24 is provided for each of the two jaw mechanisms, which can take into account both a good buffering effect and a lighter device weight.
[0038] Reference Figure 1As shown, in some embodiments of the clamping device described in the utility model, a positioning component 12 is provided on the fixed seat 10. The positioning component 12 is a prior art. Preferably, the positioning component 12 is set as a positioning sleeve, and cooperates with a positioning block or the like to achieve positioning; it can also be set as a positioning shaft, and cooperates with a positioning hole to achieve positioning. In actual use, components that are compatible with the positioning component 12 are correspondingly provided at the loading station, the processing grinder station, and the unloading station. The two cooperate with each other, which can further ensure the positioning accuracy of the clamping device during use, facilitate faster and better material handling and centering clamping without damaging the material. Furthermore, there are multiple positioning components 12, and the multiple positioning components 12 are arranged on both sides of the radial direction of the rotating shaft 11 in pairs. Through this structure, the positioning effect can be further ensured. Preferably, only two positioning components 12 are provided, which takes into account good positioning effect and light weight and saves cost.
[0039] Further, see Figure 1 As shown, the clamping device described in the utility model, in some embodiments, further includes a lever component 121, and the lever component 121 is connected to the positioning component 12. The lever component 121 is used to move the handle on the material fixture so that the material is positioned by the fixture for subsequent processing; or after the processing is completed, unlock the material for unloading. The material fixture and its handle structure belong to the prior art, and how the lever component 121 moves the handle and the specific working principle of the handle are not described in detail.
[0040] Reference Figure 6 As shown, the utility model discloses a clamping device, including the clamping device described in any one of the above embodiments. Since the clamping device described in the utility model includes the clamping device described in the above embodiments, the advantages thereof are also possessed by the clamping device, and will not be described again.
[0041] Reference Figure 6 and Figure 7As shown, the clamping device described in the utility model, in some embodiments, further includes a pressure block picking and placing device 40, which is connected to the clamping device, and is used to pick up and place the pressure block. After the clamping device transports the material to the grinding machine fixture, the pressure block is placed on the upper end surface of the material by the pressure block picking and placing device 40, and the handle is toggled by the lever component 121 so that the pressure block presses the material for subsequent processing. After the processing is completed, the handle is toggled by the lever component 121 to unlock the pressure block, and the pressure block is taken away by the pressure block picking and placing device 40, so that the clamping device can clamp the material and transport it. Preferably, the pressure block picking and placing device 40 is connected to the clamping device through a mounting seat. Specifically, the pressure block picking and placing device 40 includes a pressure block picking and placing linear drive 41, a pressure block picking and placing clamping drive 42, and a pressure block picking and placing clamping claw 43. The block picking and placing clamping drive 42 is connected to the driving end of the block picking and placing linear drive 41, and the block picking and placing linear drive 41 drives the block picking and placing clamping drive 42 and the block picking and placing jaws 43 to be relatively close to or away from the material, so as to achieve the picking and placing of the block. Preferably, the block picking and placing linear drive 41 is configured as a pneumatic slide, and the block picking and placing clamping drive 42 is configured as a jaw cylinder. The block picking and placing jaws 43 are connected to the driving end of the block picking and placing clamping drive 42, and the block picking and placing clamping drive 42 drives the block picking and placing jaws 43 to be relatively close to or away from the block, so as to achieve the clamping or releasing of the block.
[0042] Further, see Figure 7 As shown, in some embodiments of the clamping device of the present invention, the block picking and placing device 40 further includes an elastic clamping component 44, which is connected to the driving end of the block picking and placing linear driving member 41. By providing the elastic clamping component 44, the material can be clamped during the process of picking and placing the block, thereby avoiding the occurrence of problems such as material displacement and shaking. The elastic clamping component 44 can be set as a spring, a spring plunger, etc. according to actual needs.
[0043] Further, see Figure 8As shown, the clamping device described in the utility model, in some embodiments, further includes a pin pulling device 50, and the pin pulling device 50 is connected to the clamping device. In the actual production process, multiple materials are fixed by pins to avoid problems such as material displacement and misalignment. When processing at the grinder, the pin needs to be taken out. In order to be able to smoothly take out the pin, the pin pulling device 50 is used in the utility model to pull out the pin instead of clamping the pin by a clamping claw or the like. It can effectively avoid the damage to the material when the pin is clamped and eccentric, reduce the production cost increased by material loss, and improve production efficiency. Specifically, the pin pulling device 50 includes a pin pulling linear drive 51 and a pin pulling component 52, and the pin pulling component 52 is connected to the driving end of the pin pulling linear drive 51. The pin pulling component 52 is a prior art, and the pin pulling is achieved by a U-shaped groove structure, which will not be repeated. Preferably, the pin pulling linear drive 51 is configured as a pneumatic slide. Preferably, the pin pulling device 50 further includes a pin pulling pressing member 53. When the pin pulling member 52 contacts the pin column and pulls the pin, the pin pulling pressing member 53 can press the axial end of the pin column, thereby cooperating with the pin pulling member 52 to achieve efficient and lossless pin pulling. Preferably, the pin pulling pressing member 53 is configured as a combination of a cylinder and a pressing block.
[0044] Working principle:
[0045] First, the clamping device picks up the material at the loading station. Specifically, the first clamping jaw 211 moves, driving the second transmission member 231, the first transmission member 22, and the third transmission member 232 to move in turn, so that the second clamping jaw 212 is relatively close to the rotating shaft 11 together with the first clamping jaw 211, so as to achieve the clamping of the material. Subsequently, driven by an external driving member, the clamping device transports the material into the water, and with the assistance of water, each clamping jaw clamps the material in the center. After clamping, the clamping device transports the material to the grinding machine fixture. The clamping block is placed on the material by the clamping block placement device 40, and the handle is moved by the lever component 121 so that the material is positioned by the fixture. Subsequently, the pin is pulled out by the pin pulling device 50 for subsequent processing.
[0046] After the processing is completed, the lever component 121 moves the handle, and the block taking and placing device 40 takes away the block, unlocking the material. The material is clamped by the clamping device again, and driven by the external driving member, it is transported to the unloading station.
[0047] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.
Claims
1. A clamping device, characterized in that: include: A fixed seat, wherein a rotating shaft is provided on the fixed seat and the rotating shaft passes through the fixed seat; A clamping mechanism, wherein two clamping mechanisms are provided, and the two clamping mechanisms are respectively arranged on both sides of the fixed seat along the axial direction of the rotating shaft; each of the clamping mechanisms includes a first clamping jaw, a second clamping jaw, a first transmission member, a second transmission member and a third transmission member; the first clamping jaw and the second clamping jaw are relatively arranged on both sides of the radial direction of the rotating shaft, the first clamping jaw and the second clamping jaw are both slidably connected to the fixed seat, and the sliding directions of the first clamping jaw and the second clamping jaw are both toward the rotating shaft; the first transmission member is rotatably connected to the rotating shaft, the first transmission member includes a first end and a second end, and the first end and the second end are respectively located on both sides of the radial direction of the rotating shaft; one end of the second transmission member is rotatably connected to the first clamping jaw, and the other end of the second transmission member is rotatably connected to the first end; one end of the third transmission member is rotatably connected to the second clamping jaw, and the other end of the third transmission member is rotatably connected to the second end; The first clamping jaw moves and drives the second clamping jaw to move relatively closer to or relatively away from the rotating shaft.
2. The clamping device according to claim 1, characterized in that: The length from the first end to the rotating shaft is equal to the length from the second end to the rotating shaft, and the lengths of the second transmission member and the third transmission member are equal.
3. The clamping device according to claim 1, characterized in that: A first recess and a second recess are formed at the edge of the fixing seat. The first recess corresponds to the first clamping claw, and the second recess corresponds to the second clamping claw.
4. The clamping device according to claim 1 or 3, characterized in that: The clamping jaw mechanism further comprises a buffer component, wherein the buffer component is connected to the first clamping jaw and / or the buffer component is connected to the second clamping jaw.
5. The clamping device according to claim 1, characterized in that: The fixing seat is provided with a positioning component, and a plurality of the positioning components are provided. The plurality of positioning components are arranged opposite to each other on both radial sides of the rotating shaft.
6. The clamping device according to claim 5, characterized in that It also includes a lever component, which is connected to the positioning component.
7. A clamping device, characterized in that: Comprising a clamping device as claimed in any one of claims 1 to 6.
8. The clamping device according to claim 7, characterized in that It also includes a pressure block picking and placing device, which is connected to the clamping device; the pressure block picking and placing device includes a pressure block picking and placing linear driving member, a pressure block picking and placing clamping driving member and a pressure block picking and placing clamping claw, the pressure block picking and placing clamping driving member is connected to the driving end of the pressure block picking and placing linear driving member, and the pressure block picking and placing clamping claw is connected to the driving end of the pressure block picking and placing clamping driving member.
9. The clamping device according to claim 8, characterized in that: The pressing block taking and placing device further comprises an elastic pressing component, and the elastic pressing component is connected to the driving end of the pressing block taking and placing linear driving member.
10. The clamping device according to any one of claims 7 to 9, characterized in that It also includes a pin pulling device, which is connected to the clamping device; the pin pulling device includes a pin pulling linear driving member and a pin pulling component, and the pin pulling component is connected to the driving end of the pin pulling linear driving member.