A clamping device and a robotic arm having the same

Abstract

The present invention provides a clamping device and a robotic arm having the same, which relates to the technical field of high-temperature working equipment. The main purpose is to solve the technical problem in the prior art that the robotic arm is difficult to apply to a high-temperature and narrow environment. The clamping device includes a clamping unit, a driving unit and a material identification unit; the clamping unit forms a clamping operation area at one end pointing to the material; the driving unit is a pneumatic element connected to the clamping unit and the driving unit is arranged away from the clamping unit, and the driving unit can control the opening and closing of the clamping operation area; the material identification unit is connected to the driving unit and can control the driving unit; when the material identification unit identifies the material entering the clamping operation area, the driving unit can drive the clamping unit to move, and at this time the clamping operation area closes and clamps the material. The pneumatic element can better adapt to high-temperature environments, and arranging the driving unit away from the clamping unit can ensure that the clamping unit can be conveniently inserted into a narrow space to grab materials.

Description

Technical Field

[0001] The present invention relates to the technical field of high-temperature working equipment, and in particular to a clamping device and a robotic arm having the same. Background Art

[0002] High-temperature operations are widely used in large-scale industries such as metallurgy, steelmaking, glass, and foundry. In recent years, with the continuous advancement of my country's industrialization, the demand for metal smelting and processing has also continued to increase. After processing, high-temperature alloy products require rapid water cooling to ensure that product performance meets relevant standards.

[0003] At present, traditional heat treatment equipment for sheet metal products, such as roller-hearth furnaces, lacks reliable water cooling equipment. When the sheet needs to be water-cooled, the processed high-temperature material must be taken out first and then placed in a water tank. In this process, due to the relatively narrow material outlet of the equipment and the lack of corresponding material-retrieving devices on the market, the above operation can only be performed by manual pulling. In this process, not only can the surface quality of the sheet be guaranteed, but the time for the sheet to enter the water is also relatively random and the speed of entry is slow. Most importantly, this operation poses a huge safety hazard. Not only is it easy for people to collide with or fall into the water tank, but high-temperature burns may also occur.

[0004] In order to solve the above problems and improve the safety of water cooling treatment of plate materials, it is necessary to develop a clamping device that can be used in high-temperature and narrow environments and a robotic arm structure with the device. Summary of the Invention

[0005] The present invention aims to provide a clamping device and a robotic arm having the same to address the technical problem of conventional robotic arms being difficult to use in high-temperature, confined environments. The various technical effects that can be achieved by the preferred technical solution among the various technical solutions provided by the present invention are described in detail below.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] The clamping device provided by the present invention comprises:

[0008] A clamping unit, wherein the clamping unit points to one end of the material to form a clamping operation area;

[0009] A driving unit, wherein the driving unit is a pneumatic element connected to the clamping unit and arranged away from the clamping unit, and the driving unit can control the opening and closing of the clamping operation area;

[0010] a material identification unit, the material identification unit being connected to the driving unit and capable of controlling the driving unit;

[0011] When the material identification unit identifies the material entering the clamping operation area, the driving unit can drive the clamping unit to operate, and at this time the clamping operation area closes and clamps the material.

[0012] Because the drive unit is a pneumatic component, it is better suited to high-temperature environments. Its placement away from the clamping unit ensures that the clamping device and its surroundings are kept as small as possible, allowing the clamping unit to easily fit into tight spaces for material gripping. The material recognition unit activates the drive unit and closes the clamping unit when material enters the gripping area, completing the gripping operation.

[0013] On the basis of the above technical solution, the present invention can also be improved as follows.

[0014] As a further improvement of the present invention, the material identification unit includes a connected rocker assembly and a travel switch, and the rocker assembly is arranged adjacent to the clamping unit;

[0015] When the material enters the clamping operation area and pushes the rocker assembly to move, the travel switch is triggered and controls the drive unit to start.

[0016] As a further improvement of the present invention, the rocker assembly includes a push rod, a swing rod and a trigger member;

[0017] The push rod is arranged adjacent to the clamping operation area, one end of the push rod points to the direction of the material, and the other end is rotatably connected to the swing rod;

[0018] There are at least two swing rods arranged at intervals, one end of the swing rod is fixed, and the other end can swing along with the movement of the push rod;

[0019] The triggering member is connected to the swing rod and the travel switch. When the swing rod swings, the triggering member can move accordingly and trigger the travel switch.

[0020] As a further improvement of the present invention, the triggering member is a transmission rod, and the transmission rod can rotate under the drive of the swing rod.

[0021] As a further improvement of the present invention, the triggering member is a brake wire, the brake wire is in a tensioned state, and both ends of the brake wire are respectively connected to the swing rod and the travel switch.

[0022] As a further improvement of the present invention, the clamping unit is a lever structure, including a first lever arm, a second lever arm and a rotating shaft. The first lever arm and the second lever arm are rotatably connected via the rotating shaft, and the ends of the first lever arm and the second lever arm closer to the rotating shaft form the clamping operation area.

[0023] As a further improvement of the present invention, the drive unit includes an output shaft and a gear set;

[0024] The gear set includes two gears meshing with each other, and the first lever arm and the second lever arm are respectively meshed with the two gears.

[0025] The output shaft is connected to one of the gears, and when the output shaft rotates, the gear rotates synchronously.

[0026] As a further improvement of the present invention, the driving unit includes a telescopic rod and a pull wire, and the two ends of the pull wire are respectively connected to the telescopic rod and the first lever arm or the second lever arm; when the telescopic rod contracts, the pull wire moves accordingly and pulls the first lever arm or the second lever arm to rotate.

[0027] As a further improvement of the present invention, the material identification unit is any one or more of an infrared identification component, a visual sensing component and a laser identification component.

[0028] The present invention also provides a robotic arm comprising any one of the clamping devices described above.

[0029] Compared with the existing technology, the technical solution provided by the preferred embodiment of the present invention has the following beneficial effects: this solution not only solves the problem that conventional power sources cannot operate normally in high-temperature environments by means of external pneumatic elements, making the equipment more suitable for high-temperature environments, but also effectively reduces the size of the clamping unit and its surroundings, ensuring that the clamping unit can smoothly complete the material clamping at the relatively narrow equipment discharge port. At the same time, the structure can also effectively protect related components away from high-temperature areas to prevent the equipment from being damaged by high temperatures. In addition, the clamping unit can achieve a firm clamping of the material through a labor-saving lever structure, thereby conveniently transporting the material from the discharge port to the water tank. This solution can effectively solve the problem that traditional clamping equipment cannot be used in high-temperature and narrow environments, can replace manual material collection, and greatly improve the safety of material collection and water cooling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the clamping member of the present invention;

[0032] Figure 2 yes Figure 1The main view;

[0033] Figure 3 yes Figure 1 Side view of;

[0034] Figure 4 yes Figure 3 AA section view in the figure;

[0035] Figure 5 yes Figure 3 DD-axis section axial view;

[0036] Figure 6 Schematic diagram of the structure of the clamping unit and the rocker assembly in the clamping member of the present invention;

[0037] Figure 7 is a structural schematic diagram of a second embodiment of the clamping member of the present invention;

[0038] Figure 8 yes Figure 7 Schematic diagram of the structure of the pendulum assembly;

[0039] Figure 9 yes Figure 7 Schematic diagram of the connection of the trigger component;

[0040] Figure 10 yes Figure 6 Schematic diagram of the connection between the driving unit and the clamping unit;

[0041] Figure 11 yes Figure 6 A schematic diagram of the connection between the driving unit and the clamping unit at another angle;

[0042] Figure 12 Schematic diagram of the overall structure of the robotic arm of the present invention;

[0043] Figure 13 is a side view of the robotic arm of the present invention;

[0044] Figure 14 2 is a schematic diagram of the use of the robotic arm of the present invention.

[0045] In the figure: 1. Clamping unit; 11. Clamping operation area; 12. First lever; 13. Second lever; 2. Drive unit; 21. Cylinder; 22. Output shaft; 23. Gear set; 24. Telescopic rod; 25. Pull wire; 3. Material identification unit; 31. Rocker assembly; 311. Push rod; 312. Swing rod; 313. Trigger; 32. Travel switch; 4. Water tank. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0048] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention depending on the specific circumstances.

[0049] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] The present invention provides a clamping device. Compared with traditional clamping equipment, the clamping device can be used in a relatively open environment with a suitable temperature, as well as in an environment with a relatively narrow space and a high temperature.

[0051] Specifically, the clamping device includes three parts: a clamping unit 1, a driving unit 2 and a material identification unit 3. The clamping unit 1 is used to clamp the material, the driving unit 2 is used to control the opening and closing of the clamping unit 1, and the material identification unit 3 is used to control the start and stop and working status of the above-mentioned driving unit 2, so as to achieve the effect of executing the clamping action when the material enters the clamping range of the clamping unit 1 (that is, the clamping operation area 11 mentioned above), ensuring that the material can be grasped in a timely, accurate and firm manner.

[0052] The above-mentioned clamping unit 1 can form a clamping operation area 11 at one end pointing to the material. The driving unit 2 is a pneumatic component connected to the clamping unit 1 and the driving unit 2 is arranged away from the clamping unit 1. The driving unit 2 can control the opening and closing of the clamping operation area 11; the material identification unit 3 is connected to the driving unit 2 and can control the driving unit 2; when the material identification unit 3 identifies the material entering the clamping operation area 11, the driving unit 2 can drive the clamping unit 1 to move, and at this time the clamping operation area 11 closes and clamps the material.

[0053] Because the drive unit 2 is a pneumatic component, it is better adapted to high-temperature environments. Its placement away from the clamping unit 1 ensures that the dimensions of the clamping device and its surroundings are minimized, allowing the clamping unit 1 to be easily inserted into narrow spaces to grasp materials. Under the action of the material identification unit 3, when material enters the clamping operation area 11, the drive unit 2 activates and drives the clamping unit 1 to close, completing the material clamping operation.

[0054] The structure of the material identification unit 3 is described below:

[0055] As an optional embodiment, the material identification unit 3 includes a connected rocker assembly 31 and a limit switch 32, and the rocker assembly 31 is arranged adjacent to the clamping unit 1; when the material enters the clamping operation area 11 and pushes the rocker assembly 31 to move, the limit switch 32 is triggered and controls the drive unit 2 to start.

[0056] The material will be discharged from the discharge port as it is transported by the conveying equipment. When using the clamping device, the clamping unit 1 needs to be arranged at the discharge port in advance. The material will enter the clamping operation area 11 of the clamping unit 1 as it is transported by the conveying equipment and push the above-mentioned rocker assembly 31 to produce displacement. Generally speaking, the end of the rocker assembly 31 is arranged in the front half of the clamping operation area 11, so as to leave enough reaction time for the rocker assembly 31, and at the same time ensure that the material can continue to move to a certain position after contacting the rocker assembly 31. This structural arrangement can not only effectively improve the success rate of the rocker assembly 31 triggering the travel switch 32, ensuring the accurate grasping of the material (especially the plate-like material), but also ensure that the material can enter the clamping operation area 11 relatively deeply, thereby improving the firmness of the material grasping by the clamping unit 1.

[0057] Specifically, the rocker assembly 31 includes a push rod 311, a swing rod 312 and a trigger member 313; the push rod 311 is arranged adjacent to the clamping operation area 11, one end of which points in the direction of the material, and the other end is rotatably connected to the swing rod 312; there are at least two swing rods 312 and they are arranged at intervals, one end of the swing rod 312 is fixed, and the other end can swing with the movement of the push rod 311; the trigger member 313 connects the swing rod 312 and the limit switch 32, and when the swing rod 312 swings, the trigger member 313 can move accordingly and trigger the limit switch 32.

[0058] It should be noted that the displacement of the trigger member 313 may be rotation or rotation, or may be pulled, etc.

[0059] When the trigger member 313 is a transmission rod, the transmission rod can rotate under the drive of the swing rod 312 and drive the travel switch 32 connected thereto to operate. The travel switch 32 can directly or indirectly control the operation of the drive unit 2.

[0060] When the trigger 313 is a brake wire, the brake wire is in a tensioned state and the two ends of the brake wire are respectively connected to the swing rod 312 and the travel switch 32. When the swing rod 312 is actuated, the brake wire is pulled and drives the travel switch 32 connected thereto to actuate.

[0061] At this time, since the material identification unit 3 relies on a mechanical structure to identify materials through remote contact recognition, it is applicable to high-temperature environments, for example, high-temperature environments between 300-1280°C. Of course, the material identification unit 3 is also applicable to ordinary room temperature environments.

[0062] Alternatively, as an optional implementation, the material identification unit 3 may also be any one or more of an infrared identification component, a visual sensing component, and a laser identification component.

[0063] Compared to the aforementioned contact recognition methods, infrared, visual, and laser recognition modules all offer the advantage of remotely identifying sheet materials at greater distances. However, it's important to note that in high-temperature environments, where the steel material becomes red-hot, infrared and visual recognition modules may not function properly. Therefore, these modules are generally suitable for environments below 300°C.

[0064] It should also be noted that this type of identification component can be set in conjunction with the above-mentioned contact identification component to achieve accurate identification of materials.

[0065] In addition, the above-mentioned infrared recognition components, visual sensing components and laser recognition components are all existing technologies. Their specific structures, installations and usage methods are existing technologies for those skilled in the art and will not be described in detail here.

[0066] The structure of the clamping unit 1 is described below:

[0067] In order to ensure that the clamping unit 1 can be better used in a narrow environment and to prevent high temperature from affecting the normal use of other parts of the equipment, the clamping unit 1 is generally configured as a lever structure and the lever is a force-saving lever.

[0068] Specifically, the clamping unit 1 is a lever structure, including a first lever 12, a second lever 13 and a rotating shaft. The first lever 12 and the second lever 13 are rotatably connected via the rotating shaft, and the ends of the first lever 12 and the second lever 13 closer to the rotating shaft form a clamping operation area 11.

[0069] The first and second lever arms 12, 13 are located at one end of the clamping area 11 and are configured to facilitate material clamping. Furthermore, to further enhance the clamping effect and prevent material slippage, when the first and second lever arms 12, 13 are clamped, the contact portions with the material are fixedly provided with / formed with a roughened surface, thereby increasing friction between the material and the clamping unit 1.

[0070] The clamping force of the clamping unit 1 with the above structure can reach up to 700 kg. At this time, the clamping unit 1 can clamp a sheet material weighing up to 140 kg at a time in a relatively small working space.

[0071] In addition to pneumatic components (such as the cylinder 21, etc.), the above-mentioned drive unit 2 can also include an output shaft 22 and a gear set 23, wherein the gear set 23 includes two gears that are meshed with each other, the first lever arm 12 and the second lever arm 13 are respectively meshed with the two gears, and the output shaft 22 is connected to a gear. When the output shaft 22 rotates, the gears rotate synchronously.

[0072] The output shaft 22 can rotate under the drive of the pneumatic element, thereby driving the corresponding gears in the gear set 23 to rotate, and further driving the clamping unit 1 to clamp or release the material.

[0073] Alternatively, in addition to pneumatic components (such as the cylinder 21, etc.), the above-mentioned drive unit 2 may also include a telescopic rod 24 and a pull wire 25, and the two ends of the pull wire 25 are respectively connected to the telescopic rod 24 and the first lever arm 12 or the second lever arm 13; when the telescopic rod 24 contracts, the pull wire 25 moves accordingly and pulls the first lever arm 12 or the second lever arm 13 to rotate.

[0074] The telescopic rod 24 can be extended or retracted under the drive of the pneumatic component. When the telescopic rod 24 is retracted, the pull wire 25 can be pulled back synchronously, thereby pulling a certain rotatable force arm to rotate and realize material clamping; when the telescopic rod 24 is extended, the pull wire 25 is extended synchronously, causing the corresponding force arm to rotate and realize the release of the material.

[0075] It should be noted that the above operation mode may be exactly the opposite in practice, for example, when the pull wire 25 is retracted, the material is released, and when the pull wire 25 is extended, the material is clamped, etc. The specific operation mode can be flexibly adjusted according to actual needs.

[0076] Example 1:

[0077] like Figure 1-6 As shown, this embodiment provides a clamping device comprising a clamping unit 1, a drive unit 2, and a material identification unit 3. The clamping unit 1 is a lever-shaped structure comprising a first arm 12, a second arm 13, and a housing that encompasses most of the arms. A clamping operation area 11 of the clamping unit 1 extends from the housing. Ends of the first and second arms 12, 13, distal from the clamping operation area 11, are located within the housing and have teeth formed thereon.

[0078] The material identification unit 3 includes a rocker assembly 31 and a travel switch 32, wherein the push rod 311 in the rocker assembly 31 is a T-shaped structure and is located on one side of the clamping operation area 11, one end of the rocker arm 312 is fixedly provided on the above-mentioned shell, and the other end is rotatably connected to the rocker arm.

[0079] It should be noted that there are multiple swing rods 312, two of which are respectively connected to the middle part of the push rod 311 and the end away from the clamping operation area 11, and the other two swing rods 312 form a connecting rod structure to respectively connect the swing rods 312 located at the ends of the push rod 311 and the transmission shaft.

[0080] Specifically, the swing arm 312 connecting the connecting rod and the push rod 311 is generally triangular in structure, with its upper end fixed to the housing and its lower end connected to the push rod 311. The connecting rod is rotatably connected to the middle region of the swing arm 312. When the push rod 311 is pushed and moved by the material, the swing arm 312 rotates synchronously, driving the connecting rod to move, and in turn, driving the drive shaft to rotate.

[0081] The transmission shaft is connected to the travel switch 32.

[0082] The travel switch 32 is electrically connected to the pneumatic element. Taking the cylinder 21 as an example, the working mode of the drive unit 2 is described.

[0083] In this embodiment, the activation of the cylinder 21 drives the output shaft 22 to rotate. One end of the output shaft 22 is connected to the output end of the cylinder 21, and the other end is connected to a gear set 23 located inside the housing. The gear set 23 includes two meshing gear structures. The gear set 23 also meshes with the two lever arms of the clamping unit 1.

[0084] It is understandable that the gear can rotate under the drive of the output shaft 22 and drive the first lever arm 12 and the second lever arm 13 to rotate, thereby realizing the opening and closing control of the clamping operation area 11.

[0085] Example 2:

[0086] This embodiment 2 provides a clamping device, such as Figure 5-11 shown.

[0087] The clamping device comprises a clamping unit 1, a drive unit 2, and a material identification unit 3. The clamping unit 1 is a lever-shaped structure comprising a first arm 12, a second arm 13, and a housing that encloses the ends of the arms away from the clamping area 11. The ends of the first arm 12 or the second arm 13 away from the clamping area 11 are located within the housing and are connected to the drive unit 2 via a cable 25.

[0088] It should be noted that, in order to prevent the first lever arm 12 or the second lever arm 13 from being restricted in swing, a strip groove is formed in the housing near the end of the first lever arm 12 or the second lever arm 13, through which the end of the first lever arm 12 or the second lever arm 13 extends. The strip groove is provided along the vertical direction.

[0089] The material identification unit 3 includes a rocker assembly 31 and a travel switch 32, wherein the push rod 311 in the rocker assembly 31 is a T-shaped structure and is located on one side of the clamping operation area 11, one end of the rocker arm 312 is fixedly set on the above-mentioned shell (or, it can also be fixedly set on a force arm that is not connected to the pull wire 25, and the force arm can be used to remain relatively stationary when in use), and the other end is rotatably connected to the rocker arm.

[0090] At this time, the trigger member 313 is a brake wire, one end of which is connected to the end of the swing rod 312 , and the other end of which is connected to the travel switch 32 .

[0091] Taking the cylinder 21 as an example, the working mode of the drive unit 2 is described.

[0092] In this embodiment, the other end of the pull wire 25 is connected to the telescopic rod 24 , and the cylinder 21 is activated to drive the telescopic rod 24 to perform a telescopic action.

[0093] It should be noted that the pull wire 25 is always in a tensioned state when in use.

[0094] It is understandable that the pull wire 25 can pull the first lever 12 or the second lever 13 to swing up and down (or rotate) under the drive of the telescopic rod 24, thereby realizing the opening and closing control of the clamping operation area 11.

[0095] The connection method between the travel switch 32 and the pneumatic component is prior art and will not be described in detail here.

[0096] It should also be noted that the various components in the above-mentioned embodiment 1 and embodiment 2 can be reasonably reorganized according to actual needs to form a variety of different embodiments.

[0097] Example 3:

[0098] The present invention also provides a robotic arm comprising any one of the clamping devices described above.

[0099] In addition, it also includes a transfer device, the rotation of which can drive the clamping device to point to different directions, such as Figure 12-13 shown.

[0100] The above-mentioned rotating device is prior art.

[0101] When the robotic arm is in use, it can transfer the grasped materials as needed, thereby enabling stacking, palletizing and other processing of the materials.

[0102] In addition, when the robot arm is used in a high temperature environment, the high temperature material can be transferred to the water tank 4 within the movement range of the robot arm, such as Figure 14 As shown, the strip structure in the figure is the moving path of the grasping device in the robotic arm.

[0103] It should be noted that when the robotic arm works in a high-temperature environment, in order to avoid damage to it and extend its service life, the transfer device of the robotic arm and the remaining exposed parts can be wrapped with high-temperature resistant materials to prevent the equipment from being damaged by high temperature.

[0104] In addition, in this embodiment, the water tank 4 may be an ordinary water tank 4 or a water tank 4 with a constant temperature adjustment function and / or a liquid level height adjustment function.

[0105] It is understandable that the robotic arm structure can be applied to the material grabbing needs in high-temperature and narrow environments. It can not only effectively solve the safety issues of workers, but also more accurately control the water cooling time of high-temperature plates. Combined with the water tank 4 equipment with constant temperature function, it can greatly improve the automation level of steel plate processing and improve the quenching quality of the plates.

[0106] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A clamping device, characterized in that: include: A clamping unit, wherein the clamping unit points to one end of the material to form a clamping operation area; A driving unit, wherein the driving unit is a pneumatic element connected to the clamping unit and arranged away from the clamping unit, and the driving unit can control the opening and closing of the clamping operation area; a material identification unit, the material identification unit being connected to the driving unit and capable of controlling the driving unit; When the material recognition unit recognizes the material entering the clamping operation area, the driving unit can drive the clamping unit to operate, and the clamping operation area closes and clamps the material; The material identification unit includes a connected rocker assembly and a travel switch, and the rocker assembly is arranged adjacent to the clamping unit; When the material enters the clamping operation area and pushes the rocker assembly to move, the travel switch is triggered and controls the drive unit to start; The rocker assembly includes a push rod, a swing rod and a trigger member; The push rod is arranged adjacent to the clamping operation area, one end of the push rod points to the direction of the material, and the other end is rotatably connected to the swing rod; There are at least two swing rods arranged at intervals, one end of the swing rod is fixed, and the other end can swing along with the movement of the push rod; The triggering member is connected to the swing rod and the travel switch. When the swing rod swings, the triggering member can move accordingly and trigger the travel switch. The clamping unit is a lever structure, including a first lever arm, a second lever arm and a rotating shaft. The first lever arm and the second lever arm are rotatably connected via the rotating shaft, and the ends of the first lever arm and the second lever arm closer to the rotating shaft form the clamping operation area.

2. The clamping device according to claim 1, characterized in that The triggering member is a transmission rod, and the transmission rod can rotate under the drive of the swing rod.

3. The clamping device according to claim 1, characterized in that The triggering member is a brake wire, the brake wire is in a tensioned state, and two ends of the brake wire are respectively connected to the swing rod and the travel switch.

4. The clamping device according to claim 1, characterized in that The drive unit includes an output shaft and a gear set; The gear set includes two gears meshing with each other, and the first lever arm and the second lever arm are respectively meshed with the two gears. The output shaft is connected to one of the gears, and when the output shaft rotates, the gear rotates synchronously.

5. The clamping device according to claim 1, characterized in that The driving unit includes a telescopic rod and a pull wire, wherein both ends of the pull wire are respectively connected to the telescopic rod and the first lever arm or the second lever arm; when the telescopic rod contracts, the pull wire moves accordingly and pulls the first lever arm or the second lever arm to rotate.

6. A robotic arm, characterized in that: The invention comprises the clamping device according to any one of claims 1 to 5.

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