Claw gripping device compatible with multiple u pin spans

Abstract

A claw gripping device compatible with multiple U pin spans. The claw gripping device comprises a frame (1), a first claw gripping mechanism (2), a second claw gripping mechanism (3), and a control system (5). The second claw gripping mechanism (3) comprises a first slide seat structure (31), a rotating structure (32), a second slide seat structure (33), a second finger cylinder (35), and a second claw (36); the control system (5) is electrically connected to the first claw gripping mechanism (2) and the second claw gripping mechanism (3), and the control system (5) controls the first claw gripping mechanism (2) and the second claw gripping mechanism (3) to act to grip a hairpin coil (4); for coils having different spans, the rotating structure (32) drives the first slide seat structure (31) to make arc motion to adjust the horizontal angles of the second slide seat structure (33) and the second finger cylinder (35), and drives, under the drive of the second finger cylinder (35), the second claw (36) to grip a second vertical segment (43) of the hairpin coil (4), thereby achieving gripping actions for multiple Upin spans.

Description

A clamping device compatible with various U pin spans

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 11, 2023, with application number 202310850875.X, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of flat wire motor coil production and processing, for example, to a clamping device compatible with multiple U pin spans. Background Art

[0003] In recent years, with the rapid development of my country's new energy vehicle industry, flat wire drive motors have become the core components of the power system of new energy vehicles, which are directly related to the power output performance of the entire vehicle.

[0004] Electric motors have a wide range of uses and diverse structures. Some motor windings are manufactured using a wire winding process, while others, such as those used in new energy vehicles, first produce U-pin wire, insert it into a coil in the motor housing, tighten it, and then weld it. New energy vehicle motor windings are complex, typically consisting of multiple turns of U-pin coils. Each U-pin coil is constructed by sequentially connecting multiple U-pin wires. The U-pin wires in different U-pin coils are made of the same copper wire, but vary in length and shape. Separate equipment is required to produce and insert the U-pin wires. While one type of U-pin wire is being produced, the equipment producing other types of U-pin wires is idle, resulting in low equipment utilization and high equipment costs.

[0005] Summary of the Invention

[0006] The present application provides a clamping device compatible with a variety of U pin spans to solve the technical problems in the related art of low equipment utilization and high cost due to the need to replace different clamping jaws to clamp coils with different spans.

[0007] The technical solutions provided in this application are as follows:

[0008] The present application provides a clamping device compatible with various U pin spans, configured to automatically clamp hairpin coils of different spans, wherein the hairpin coils include a hairpin connecting section and a first vertical section and a second vertical section connected at both ends of the hairpin connecting section. The clamping device includes:

[0009] frame;

[0010] a first clamping mechanism mounted on a first side of the bottom of the frame;

[0011] a second gripper mechanism comprising a first slide structure connected to a second side of the bottom of the frame, a rotating structure connected to the first slide structure and the frame, a second slide structure connected to the rotating structure, a second finger cylinder, and a second gripper connected to the second finger cylinder, wherein the second finger cylinder is connected to the bottom of the second slide structure;

[0012] a control system electrically connected to the first clamping mechanism and the second clamping mechanism, wherein the control system is adapted to control the first clamping mechanism and the second clamping mechanism to move so as to clamp the hairpin coil;

[0013] For coils with different spans, the first clamping mechanism is suitable for automatically clamping the first vertical section of the hairpin coil, and the rotating structure of the second clamping mechanism is suitable for driving the first slide structure to move in an arc to adjust the horizontal angle of the second slide structure and the second finger cylinder. Driven by the second finger cylinder, the second clamping mechanism is driven to automatically clamp the second vertical section of the hairpin coil to realize clamping actions of various U pin spans. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] FIG1 is a schematic diagram of the three-dimensional structure of a clamping device compatible with various U pin spans in an embodiment of the present application;

[0015] FIG2 is a side view of a clamping device compatible with various U pin spans according to an embodiment of the present application;

[0016] FIG3 is another side view of the structure of the clamping device compatible with various U pin spans according to an embodiment of the present application;

[0017] FIG4 is a schematic diagram of the installation structure of the first clamping mechanism and the frame in an embodiment of the present application;

[0018] FIG5 is a schematic diagram of the assembly structure of the first clamping mechanism and the hairpin coil in an embodiment of the present application;

[0019] FIG6 is a schematic diagram of the assembly structure of the second clamping mechanism and the hairpin coil in an embodiment of the present application;

[0020] FIG7 is a schematic diagram of the assembly structure of the second slide structure, the second mounting bracket, the second finger cylinder and the second clamping jaw in an embodiment of the present application;

[0021] FIG8 is a schematic structural diagram of a rack in an embodiment of the present application;

[0022] FIG9 is a schematic structural diagram of a curved slider in an embodiment of the present application;

[0023] FIG10 is a schematic structural diagram of a card-issuing coil with different U pin spans according to an embodiment of the present application;

[0024] Explanation of Reference Numerals: 1-frame; 11-base plate; 111-first mounting hole; 12-mounting plate; 2-first clamping mechanism; 21-first mounting frame; 22-first finger cylinder; 221-first finger cylinder body; 222-first left finger clamp; 223-first right finger clamp; 23-first clamping jaw; 231-first left clamping jaw; 2311-first left clamping surface; 232-first right clamping jaw; 2321-first right clamping surface; 24-first supporting base plate; 25-first detection sensor; 3-second clamping jaw mechanism; 31-first slide structure; 311-arc-shaped slider; 3111-connecting plate; 3112-arc-shaped slider; 3113-first connecting member; 312-first slide; 32-rotating structure; 321 - Rotating plate; 322 - Rotating drive structure; 3221 - Vertical axis; 3222 - Connecting axis; 3223 - First driving cylinder; 3224 - Cylinder mounting seat; 323 - Fourth detection sensor; 33 - Second slide structure; 331 - Second slide; 3311 - Cylinder sliding body; 3312 - Slider; 332 - Slide groove; 34 - Second mounting bracket; 35 - Second finger cylinder; 351 - Second finger cylinder body; 352 - Second left finger clamp; 353 - Second right finger clamp; 36 - Second clamping jaw; 361 - Second left clamping jaw; 3611 - Second left clamping surface; 362 - Second right clamping jaw; 3621 - Second right clamping surface; 37 - Second supporting base; 38 - Second detection sensor; 39 - Third detection sensor; 4 - Hairpin coil; 41-Card connecting section; 42-First vertical section; 43-Second vertical section; 5-Control system. DETAILED DESCRIPTION

[0025] In the description of this application, it should be noted that the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal connections between two components; they can refer to wireless connections or wired connections. A person of ordinary skill in the art can understand the meaning of the above terms in this application according to the circumstances.

[0027] Figures 1-10 show a clamping device compatible with various U-shaped hairpin (U pin) spans provided in an embodiment of the present application. The clamping device is configured to automatically clamp hairpin coils 4 of different spans. The hairpin coil 4 in the embodiment of the present application (as shown in Figure 10) includes a hairpin connecting section 41, a first vertical section 42, and a second vertical section 43. The first vertical section 42 and the second vertical section 43 are respectively connected to the ends of the hairpin connecting section 41. The clamping device includes a frame 1, a first clamping mechanism 2, and a second clamping mechanism 3, wherein:

[0028] The first clamping mechanism 2 is installed on the first side of the bottom of the frame 1 (that is, the right side in FIG. 1 ), and the first clamping mechanism 2 is configured to automatically clamp the first vertical section 42 of the hairpin coil 4;

[0029] 1 , 2 , 3 , 6 , and 7 , the second gripper mechanism 3 includes a first slide structure 31 , a rotating structure 32 , a second slide structure 33 , a second mounting frame 34 , a second finger cylinder 35 , a second gripper 36 , a second supporting base 37 , a second detection sensor 38 , and a third detection sensor 39 , wherein:

[0030] The first slide structure 31 is connected to the second side of the base plate 11 of the frame 1 (that is, the left side in Figure 1), the rotating structure 32 is connected to the first slide structure 31 and the frame 1, the second slide structure 33 is connected to the rotating structure 32, the second clamping jaw 36 is connected to the second finger cylinder 35, and the second finger cylinder 35 is connected to the bottom of the second slide structure 33.

[0031] The control system is electrically connected to the first clamping mechanism 2 and the second clamping mechanism 3 . The control system is suitable for controlling the first clamping mechanism 2 and the second clamping mechanism 3 to move so as to clamp the hairpin coil 4 .

[0032] For coils with different spans, the control system controls the action of the first clamping mechanism 2, which is configured to automatically clamp the first vertical section 42 of the hairpin coil 4. The control system controls the action of the second clamping mechanism 3, and the rotating structure 32 of the second clamping mechanism 3 is suitable for driving the first slide structure 31 to make an arc motion in the horizontal direction to adjust the horizontal angle of the second slide structure 33 and the second finger cylinder 35. Driven by the second finger cylinder 35, the second clamping mechanism 36 is driven to automatically clamp the second vertical section 43 of the hairpin coil 4 to realize clamping actions of various U pin spans.

[0033] For example, please refer to Figure 8. In the embodiment of the present application, the frame 1 serves as a supporting and bearing mechanism for the first clamping mechanism 2 and the second clamping mechanism 3. The frame 1 includes a base plate 11 and a mounting plate 12. The mounting plate 12 is vertically connected to one end of the base plate 11. The mounting plate 12 is configured to be connected to other driving components. A mounting hole is also provided on one side of the mounting plate 12. A first mounting hole 111 is also provided on the side of the base plate 11 away from the mounting plate 12. The first clamping mechanism 2 is suitable for being connected to the frame 1 through the first mounting hole 111.

[0034] For example, referring to Figures 4 and 5 , in the embodiment of the present application, the first clamping mechanism 2 includes a first mounting frame 21, a first finger cylinder 22, and a first clamping claw 23, wherein:

[0035] The top end of the first mounting bracket 21 is connected to the base plate 11, and the end of the first mounting bracket 21 away from the base plate 11 is connected to the first finger cylinder 22. In this way, the first finger cylinder 22 is fixed to the base plate 11 through the first mounting bracket 21. The first clamping jaw 23 is connected to the first finger cylinder 22. The first finger cylinder 22 is suitable for driving the first clamping jaw 23 to clamp and release the coil.

[0036] For example, referring to Figures 4 and 5 , in the embodiment of the present application, the first finger cylinder 22 includes a first finger cylinder body 221 , a first left finger clamp 222 , and a first right finger clamp 223 , wherein:

[0037] The first left finger gripper 222 and the first right finger gripper 223 are respectively connected to both sides of the first finger cylinder body 221. The first finger cylinder body 221 is suitable for communicating gas to drive the first left finger gripper 222 and the first right finger gripper 223 to move toward or away from each other.

[0038] For example, please refer to Figures 4 and 5. In the embodiment of the present application, the first clamping jaw 23 includes a first left clamping jaw 231 and a first right clamping jaw 232, and the first left clamping jaw 231 and the first right clamping jaw 232 are respectively connected to the first left finger clamp 222 and the first right finger clamp 223. The first left clamping jaw 231 has a first left clamping surface 2311 that is adapted to the first side surface of the first vertical section 42, and the first right clamping jaw 232 has a first right clamping surface 2321 that is adapted to the second side surface of the first vertical section 42, so that the clamping is more reliable.

[0039] For example, please refer to Figure 4. In an embodiment of the present application, the first clamping jaw mechanism 2 also includes a first support base plate 24 and a first detection sensor 25. The first support base plate 24 is arranged between the first left clamping jaw 231 and the first right clamping jaw 232 and the first finger cylinder body 221. When the first left clamping jaw 231 and the first right clamping jaw 232 are respectively clamped on the side of the first vertical section 42, the first support base plate 24 is supported on the back side of the first vertical section 42 to form a back clamping of the first vertical section 42.

[0040] For example, referring to Figures 3 and 6 , in an embodiment of the present application, the first slide structure 31 includes a curved slide 311 connected to the base plate 11 and a first slide 312 , wherein the first slide 312 is slidably connected to the curved slide 311 , wherein:

[0041] Please refer to Figure 9, the arc-shaped slider 311 includes a connecting plate 3111, an arc-shaped slide 3112 and a first connecting member 3113. The top of the connecting plate 3111 is connected to the lower surface of the base plate 11 through the first connecting member 3113, and the arc-shaped slide 3112 is connected to the bottom end of the connecting plate 3111. The arc-shaped slide 3112 is suitable for horizontal arc motion in the first slide seat 312.

[0042] For example, referring to Figures 2, 3, and 6, in the embodiment of the present application, the rotating structure 32 includes a rotating plate 321, a rotating driving structure 322, and a fourth detection sensor 323, wherein:

[0043] The rotating plate 321 is connected to the bottom of the first slide 312, and the fourth detection sensor 323 is installed on the rotating drive structure 322. The first end of the rotating drive structure 322 is hinged to the rotating plate 321, and the second end is connected to the side of the base plate 11 away from the first clamping mechanism 2.

[0044] Therefore, when the horizontal span of the hairpin coil 4 is different, the horizontal displacement and angle of the second clamping mechanism 3 can be adjusted by the rotating structure 32 , so that the second vertical section 43 of the hairpin coil 4 can be clamped smoothly.

[0045] In addition, referring to Figures 1, 2, 3, and 6, the rotation drive structure 322 includes a vertical shaft 3221, a connecting shaft 3222, a first drive cylinder 3223, and a cylinder mounting seat 3224, wherein:

[0046] The vertical shaft 3221 is vertically connected to the base plate 11, the connecting shaft 3222 is sleeved on the top of the vertical shaft 3221, the first driving cylinder 3223 is horizontally connected to the first mounting hole 111 through the cylinder mounting seat 3224, and the output shaft of the first driving cylinder 3223 is connected to the end of the connecting shaft 3222 away from the vertical shaft 3221.

[0047] In this way, when the first driving cylinder 3223 is activated, the rotating plate 321 is driven to adjust the horizontal arc angle through the connecting shaft 3222 and the vertical shaft 3221.

[0048] For example, referring to FIG. 2 and FIG. 3 , in the embodiment of the present application, the second slide structure 33 includes a second slide 331 and a slide groove 332 , wherein:

[0049] Please refer to Figure 7, the second slide 331 includes a cylinder sliding body 3311 and a slider 3312, the cylinder sliding body 3311 is connected to the bottom of the rotating plate 321, the first end of the slider 3312 is suitable for sliding and clamping on the cylinder sliding body 3311, and the second end of the slider 3312 is suitable for sliding in the slide groove 332.

[0050] In addition, in order to accurately identify the horizontal sliding distance of the cylinder sliding body 3311, a third detection sensor 39 for detecting the sliding stroke is also provided on the cylinder sliding body 3311.

[0051] For example, referring to Figures 2, 3, 6, and 7, in an embodiment of the present application, the second finger cylinder 35 is connected to the lower surface of the slide groove 332 through the second mounting bracket 34, wherein:

[0052] The second finger cylinder 35 includes a second finger cylinder body 351 , a second left finger clamp 352 and a second right finger clamp 353 . The second left finger clamp 352 and the second right finger clamp 353 are respectively connected to two ends of one side of the second finger cylinder body 351 .

[0053] Please refer to Figure 7, the second clamping jaw 36 includes a second left clamping jaw 361 and a second right clamping jaw 362, and the second left clamping jaw 361 and the second right clamping jaw 362 are respectively connected to the second left finger clamp 352 and the second right finger clamp 353. The second left clamping jaw 361 has a second left clamping surface 3611 adapted to the first side surface of the second vertical section 43, and the second right clamping jaw 362 has a second right clamping surface 3621 adapted to the second side surface of the second vertical section 43.

[0054] For example, please refer to Figures 6 and 7. In an embodiment of the present application, the second support base plate 37 is arranged between the second left clamping jaw 361 and the second right clamping jaw 362 and the second finger cylinder body 351. When the second left clamping jaw 361 and the second right clamping jaw 362 are respectively clamped on the side surfaces of the second vertical section 43, the second support base plate 37 is located on the back side of the second vertical section 43.

[0055] A second detection sensor 38 is further connected to the bottom of the second supporting base plate 37 , and the second detection sensor 38 detects whether the second clamping jaw 36 is clamping a coil.

[0056] Working process: The horizontal displacement and angle between the first clamping mechanism 2 and the second clamping mechanism 3 of the clamping device are adjusted through the control system. The first clamping mechanism 2 is installed on the first side of the bottom plate 11 of the frame 1 and is configured to automatically clamp the first vertical section 42 of the card issuing coil 4; the second clamping mechanism 3 is configured to clamp the second vertical section 43 of the card issuing coil 4, thereby realizing the span card issuing coil clamping action.

[0057] When it is necessary to clamp other types of hairpin coils, it is necessary to adjust the horizontal displacement and angle between the first clamping mechanism 2 and the second clamping mechanism 3. Since the second clamping mechanism 3 includes a first slide structure 31, a rotating structure 32, a second slide structure 33, a second finger cylinder 35 and a second clamping jaw 36, the first slide structure 31 is connected to the second side of the bottom plate 11 of the frame 1, and the horizontal angle can be adjusted through the first slide structure 31. The rotating structure 32 is connected to the first slide structure 31 and the frame 1. Under the action of the rotating structure 32, the second slide structure 33 and the second finger cylinder 35 can drive the second clamping jaw 36 on the second finger cylinder 35 to move and adjust the angle, and adjust the second clamping jaw 36 to automatically clamp the second vertical section 43 of the hairpin coil 4 according to the horizontal span of the three-dimensional (3D) hairpin coil.

[0058] For coils with different spans, the rotating structure 32 is suitable for driving the first slide structure 31 to move in an arc to adjust the horizontal angle of the second slide structure 33 and the second finger cylinder 35. Driven by the second finger cylinder 35, the second clamping jaw 36 is driven to automatically clamp the second vertical section 43 of the hairpin coil 4 to achieve clamping actions of various Upin spans.

[0059] The clamping device in this application is compatible with a variety of U The invention relates to a 3D card-hairing coil with a pin span, and the clamping device includes a frame, a first clamping mechanism, a second clamping mechanism and a control system, wherein the frame serves as a connecting and supporting mechanism for fixedly installing the first clamping mechanism and the second clamping mechanism, and the first clamping mechanism is installed on the first side of the bottom plate of the frame for automatically clamping the first vertical section of the card-hairing coil; the second clamping mechanism includes a first slide structure, a rotating structure, a second slide structure, a second finger cylinder and a second clamping jaw, the first slide structure is connected to the second side of the bottom plate of the frame, and the horizontal angle can be adjusted by the first slide structure, the rotating structure is connected to the first slide structure and the frame, and the second slide structure is connected to the rotating structure, under the action of the rotating structure, the second slide structure and the second finger cylinder can drive the second clamping jaw on the second finger cylinder to move and adjust the angle, and adjust the second clamping jaw to automatically clamp the second vertical section of the card-hairing coil according to the horizontal span of the 3D card-hairing coil; the control system is electrically connected to the first clamping mechanism and the second clamping mechanism, and the control system can be suitable for controlling the actions of the first clamping mechanism and the second clamping mechanism to clamp the card-hairing coil. For coils with different spans, the rotating structure is suitable for driving the first slide structure to move in an arc to adjust the horizontal angle of the second slide structure and the second finger cylinder. Driven by the second finger cylinder, the second clamping claw is driven to automatically clamp the second vertical section of the hairpin coil to achieve clamping actions for various U pin spans.

Claims

1. A clamping device compatible with a variety of U-shaped hairpin U pin spans, configured to automatically clamp hairpin coils (4) with different spans, the hairpin coil (4) comprising a hairpin connecting section (41) and a first vertical section (42) and a second vertical section (43) connected to both ends of the hairpin connecting section (41), the clamping device comprising: Rack (1); A first clamping claw mechanism (2) mounted on a first side of the bottom of the frame (1); A second gripper mechanism (3), comprising a first slide structure (31) connected to a second side of the bottom of the frame (1), a rotating structure (32) connected to the first slide structure (31) and the frame (1), a second slide structure (33) connected to the rotating structure (32), a second finger cylinder (35) and a second gripper (36) connected to the second finger cylinder (35), wherein the second finger cylinder (35) is connected to the bottom of the second slide structure (33); A control system (5) electrically connected to the first clamping mechanism (2) and the second clamping mechanism (3), wherein the control system (5) is adapted to control the first clamping mechanism (2) and the second clamping mechanism (3) to move so as to clamp the hairpin coil (4); For coils with different spans, the first clamping jaw mechanism (2) is suitable for automatically clamping the first vertical section (42) of the hairpin coil (4), and the rotating structure (32) of the second clamping jaw mechanism (3) is suitable for driving the first slide structure (31) to make an arc movement to adjust the horizontal angle of the second slide structure (33) and the second finger cylinder (35). Driven by the second finger cylinder (35), the second clamping jaw (36) is driven to automatically clamp the second vertical section (43) of the hairpin coil (4) to realize the clamping action of various U pin spans.

2. The clamping device compatible with various U pin spans according to claim 1, wherein: The frame (1) comprises a base plate (11) and a mounting plate (12) vertically connected to one end of the base plate (11); a first mounting hole (111) is further provided on a side of the base plate (11) away from the mounting plate (12); and the first clamping jaw mechanism (2) is suitable for being connected to the frame (1) through the first mounting hole (111).

3. The clamping device compatible with various U pin spans according to claim 2, wherein: The first clamping mechanism (2) comprises a first mounting frame (21) whose top end is connected to the base plate (11), a first finger cylinder (22) and a first clamping claw (23) connected to the first finger cylinder (22); one end of the first mounting frame (21) away from the base plate (11) is connected to the first finger cylinder (22); and the first finger cylinder (22) is suitable for driving the first clamping claw (23) to move.

4. The clamping device compatible with various U pin spans according to claim 3, wherein: The first finger cylinder (22) comprises a first finger cylinder body (221) and a first left finger clamp (222) and a first right finger clamp (223) connected to both sides of the first finger cylinder body (221); the first finger cylinder body (221) is suitable for communicating gas to drive the first left finger clamp (222) and the first right finger clamp (223) to move toward or away from each other.

5. The clamping device compatible with various U pin spans according to claim 4, wherein: The first clamping jaw (23) includes a first left clamping jaw (231) and a first right clamping jaw (232) which are respectively connected to the first left finger clamp (222) and the first right finger clamp (223), the first left clamping jaw (231) having a first left clamping surface (2311) adapted to the first side surface of the first vertical section (42), and the first right clamping jaw (232) having a first right clamping surface (2321) adapted to the second side surface of the first vertical section (42).

6. The clamping device compatible with various U pin spans according to claim 5, wherein: The first clamping jaw mechanism (2) further comprises a first supporting base plate (24) and a first detection sensor (25); the first supporting base plate (24) is arranged between the first left clamping jaw (231) and the first right clamping jaw (232) and the first finger cylinder body (221); when the first left clamping jaw (231) and the first right clamping jaw (232) are respectively clamped on the side surfaces of the first vertical section (42), the first supporting base plate (24) is supported on the back surface of the first vertical section (42).

7. The clamping device compatible with various U pin spans according to claim 2, wherein: The first slide seat structure (31) comprises an arc-shaped slide block (311) connected to the bottom plate (11) and a first slide seat (312), wherein the first slide seat (312) is slidably connected to the arc-shaped slide block (311), wherein: The arc-shaped slider (311) comprises a connecting plate (3111), an arc-shaped slide bar (3112) and a first connecting member (3113); the top end of the connecting plate (3111) is connected to the lower surface of the bottom plate (11) via the first connecting member (3113); the arc-shaped slide bar (3112) is connected to the bottom end of the connecting plate (3111); and the arc-shaped slide bar (3112) is suitable for performing horizontal arc-shaped motion in the first sliding seat (312).

8. The clamping device compatible with various U pin spans according to claim 7, wherein: The rotating structure (32) comprises a rotating plate (321) connected to the bottom of the first slide seat (312), a rotating driving structure (322) and a fourth detection sensor (323) mounted on the rotating driving structure (322), wherein a first end of the rotating driving structure (322) is hinged on the rotating plate (321), and a second end is connected to a side of the bottom plate (11) away from the first clamping mechanism (2); The rotation driving structure (322) comprises a vertical shaft (3221) vertically connected to the base plate (11), a connecting shaft (3222) sleeved on the top of the vertical shaft (3221), a first driving cylinder (3223) and a cylinder mounting seat (3224); the first driving cylinder (3223) is horizontally connected to the first mounting hole (111) through the cylinder mounting seat (3224); and the output shaft of the first driving cylinder (3223) is connected to one end of the connecting shaft (3222) away from the vertical shaft (3221).

9. The clamping device compatible with various U pin spans according to claim 8, wherein: The second slide seat structure (33) comprises a second slide seat (331) and a slide groove (332), wherein: The second slide seat (331) includes a cylinder sliding body (3311) and a slider (3312) connected to the bottom of the rotating plate (321), the first end of the slider (3312) is suitable for slidingly clamping on the cylinder sliding body (3311), and the second end of the slider (3312) is suitable for sliding in the slide groove (332).

10. The clamping device compatible with various U pin spans according to claim 9, wherein: The second finger cylinder (35) is connected to the lower surface of the slide groove (332) via a second mounting frame (34), wherein: The second finger cylinder (35) comprises a second finger cylinder body (351) and a second left finger clamp (352) and a second right finger clamp (353) connected to two ends of one side of the second finger cylinder body (351); The second clamping jaw (36) includes a second left clamping jaw (361) and a second right clamping jaw (362) which are respectively connected to the second left finger clamp (352) and the second right finger clamp (353), the second left clamping jaw (361) having a second left clamping surface (3611) adapted to the first side surface of the second vertical section (43), and the second right clamping jaw (362) having a second right clamping surface (3621) adapted to the second side surface of the second vertical section (43).

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