Synchronous pick-and-place gripping device

Abstract

This invention discloses a synchronous pick-and-place clamping device, including a mounting plate, a connecting plate, and a clamping module. A drive module is mounted on the mounting plate. A connecting plate is positioned above the mounting plate, having a base and a connecting portion at the edge of the base, the base being connected to the drive end of the drive module. The clamping module includes at least four clamping mechanisms, two of which are arranged along a first direction, and the other two are arranged opposite each other along a second direction. Each clamping mechanism includes a linkage assembly and a gripper. One end of the linkage assembly is pivotally connected to the connecting portion, and the gripper is connected to the linkage assembly. The drive module drives the connecting plate to move up and down along a third direction and, through the linkage assembly, drives the gripper to open and close, thereby clamping / releasing the workpiece. This configuration allows the drive module to simultaneously drive the clamping grippers in both the first and second directions to open and close, clamping / releasing the workpiece, thus reducing production costs.

Description

Technical Field

[0001] This invention relates to the field of automated equipment, and in particular to a clamping device for synchronous pick-up and put-down. Background Technology

[0002] In the field of 3C automation, it is often necessary to handle carriers. For large carriers or non-centrally symmetrical parts to be clamped, it is usually necessary to clamp the carrier from two directions. In most cases, clamping from two directions uses two cylinders to provide power in each direction to pick up and put down the carrier, resulting in wasted costs. Furthermore, clamping from two directions separately cannot be synchronized, increasing the difficulty of debugging and the stability of clamping the carrier.

[0003] Therefore, it is necessary to provide a new clamping device for synchronous pick-up and drop-off to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a clamping device capable of simultaneously picking up and placing the workpiece to be clamped.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention discloses a clamping device for simultaneous pick-up and drop-off, comprising:

[0007] Mounting plate, wherein a drive module is provided on the mounting plate;

[0008] A connecting plate is disposed above the mounting plate. The connecting plate has a base and a connecting portion disposed at the edge of the base. The base is connected to the driving end of the driving module.

[0009] A clamping module, comprising at least four clamping mechanisms, wherein two of the clamping mechanisms are arranged along a first direction, and the other two clamping mechanisms are arranged opposite to each other along a second direction, each clamping mechanism comprising:

[0010] A linkage assembly, at least a portion of which is pivotally connected to the connecting portion;

[0011] The gripper is connected to the linkage assembly. The drive module drives the connecting plate to move up and down and drives the gripper to open and close through the linkage assembly to clamp / release the object to be clamped.

[0012] As a further improved technical solution of the present invention, the linkage assembly includes a connecting rod and a connecting block. One end of the connecting rod is pivotally connected to the connecting portion. The connecting block is formed in an "L" shape. The first connecting portion of the "L" shape is pivotally connected to the other end of the connecting rod. The second connecting portion of the "L" shape is connected to the gripper.

[0013] As a further improvement of the present invention, the clamping mechanism further includes a sliding component, the sliding component including a slide rail and a slider that slides in cooperation with the slide rail, the edge of the mounting plate extends outward to form a plurality of positioning portions, the second connecting portion extends to the bottom of the positioning portions, the slide rail is disposed at the bottom of the positioning portions, and the slider is disposed at the top of the second connecting portion.

[0014] As a further improvement of the present invention, the clamping mechanism further includes an adjustment component, at least a portion of which is connected to the bottom of the second connecting portion, and another portion is connected to the gripper.

[0015] As a further improvement of the present invention, the adjustment assembly includes a pair of first adjustment members extending along the first direction and a second adjustment member extending along the second direction, wherein the lengths of the first adjustment members and the second adjustment members are the same or different from each other.

[0016] As a further improvement of the present invention, the gripper includes a gripping arm, which is disposed opposite to the lower part of the second connecting portion. The gripping arm is provided with a first connecting groove on the side near the gripping mechanism that matches another part of the adjustment component. The other part of the adjustment component is disposed in the first connecting groove.

[0017] As a further improvement of the present invention, the gripper further includes a claw body connected to the gripping arm, and the gripping arm is provided with a second connecting groove that matches the claw body on the side away from the gripping mechanism, and the claw body is disposed in the second connecting groove.

[0018] As a further improved technical solution of the present invention, the synchronous pick-and-place clamping device further includes a guide module, the guide module includes a plurality of guide posts, the mounting plate is formed in a "+" shape, an outwardly extending extension is formed at the connection position of two adjacent positioning parts, one end of the guide post is disposed on the extension, the other end extends upward along the driving direction of the driving module, and at least a portion of the other end of the guide post contacts the base.

[0019] As a further improvement of the present invention, the guide module further includes a mounting block, which is disposed above the connecting plate, and the guide post extends upward and connects to the mounting block.

[0020] As a further improved technical solution of the present invention, the synchronous pick-and-place clamping device further includes a fixing member, which is disposed on the top of the mounting block and is configured to be connected to the robot arm so as to drive the synchronous pick-and-place clamping device to move to the clamping position.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: The synchronous pick-and-place clamping device of this patent application, by providing the drive module on the mounting plate, the drive end of the drive module drives the base of the connecting plate to move up and down, and at the same time drives the clamping mechanism to open and close simultaneously in the first direction and the second direction, so as to achieve the purpose of clamping / releasing the clamping part. Attached Figure Description

[0022] Figure 1 This is a three-dimensional schematic diagram of the clamping device for synchronous pick-up and drop-off of the present invention and the clamped part in the released state.

[0023] Figure 2 yes Figure 1 A three-dimensional diagram from another angle;

[0024] Figure 3 yes Figure 1 The main view;

[0025] Figure 4 This is a three-dimensional schematic diagram of the clamping device for synchronous pick-up and drop-off of the present invention and the clamped part in the released state.

[0026] Figure 5 This is a three-dimensional schematic diagram of the clamping device for synchronous pick-up and drop-off of the present invention and the workpiece to be clamped in the clamping state.

[0027] Figure 6 yes Figure 5 A three-dimensional diagram from another angle;

[0028] Figure 7 This is a three-dimensional schematic diagram of the mounting plate in the clamping device for synchronous picking and placing of the present invention;

[0029] Figure 8 yes Figure 7 Top view;

[0030] Figure 9 yes Figure 7 A three-dimensional diagram from another angle;

[0031] Figure 10 yes Figure 7 A three-dimensional diagram from another angle;

[0032] Figure 11 This is a three-dimensional schematic diagram of the mounting plate, drive module, guide module, mounting block, and fixing component in the clamping device for synchronous picking and placing of the present invention.

[0033] Figure 12 This is a three-dimensional exploded view of the mounting plate, drive module, connecting plate, and clamping module in the synchronous pick-and-place clamping device of the present invention.

[0034] Figure 13 This is a three-dimensional schematic diagram of the connecting plate in the clamping device for synchronous picking and placing of the present invention;

[0035] Figure 14 This is a three-dimensional schematic diagram of the clamping mechanism in the clamping device for synchronous pick-up and drop-off of the present invention;

[0036] Figure 15 yes Figure 14 A three-dimensional schematic diagram of the connecting block, gripper, and slider in the diagram;

[0037] Figure 16 yes Figure 15 A three-dimensional exploded view;

[0038] Figure 17 This is a bottom view of the clamping device for synchronous pick-up and drop-off of the present invention;

[0039] Figure 18 This is a three-dimensional exploded view of the gripper in the synchronous pick-and-place clamping device of the present invention. Detailed Implementation

[0040] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, features in these embodiments may be combined with each other without conflict. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings represent the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0041] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” as used in the specification and claims of this invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this invention are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" encompasses the element following "comprising" or "including" and its equivalents, but this does not preclude the element preceding "comprising" or "including" from also including other elements. In this invention, the term "several" means two or more.

[0043] Please refer to Figures 1 to 18 This invention discloses a synchronous pick-and-place clamping device 100. The clamped part 10 can be centrally symmetrical or non-centrally symmetrical. Non-centrally symmetrical shapes include, but are not limited to, elongated, asymmetrical, and irregular shapes. In the embodiment illustrated in this invention, the clamped part 10 is in the shape of a cross. The synchronous pick-and-place clamping device 100 can simultaneously clamp the four ends of the clamped part 10 and transport it to a designated position by a robotic arm.

[0044] Please refer to Figures 1 to 6 The synchronous pick-and-place clamping device 100 includes a mounting plate 1, a connecting plate 4, and a clamping module, with the connecting plate 4 positioned above the mounting plate 1. For ease of explanation, the synchronous pick-and-place clamping device 100 of this invention defines... Figure 1 In the diagram, the left-right direction AA is the first direction, the front-back direction BB is the second direction, and the up-down direction CC is the third direction. The first direction AA, the second direction BB, and the third direction CC are perpendicular to each other.

[0045] Please refer to Figures 1 to 11 The mounting plate 1 is provided with a drive module 2, which can drive the clamping module to clamp / release the workpiece 10 to be clamped. Multiple positioning portions 12 extend outward from the edge of the mounting plate 1. In the embodiment illustrated in the invention, the mounting plate 1 also has a central portion 11, and for example, four positioning portions 12 are respectively disposed around the central portion 11. Two of the positioning portions 12 are arranged opposite each other along a first direction AA, and the other two positioning portions 12 are arranged opposite each other along a second direction BB, making the mounting plate 1 form a cross shape, so that the clamping module can simultaneously clamp / release the workpiece 10 to be clamped in the first direction AA and the second direction BB.

[0046] Please refer to Figure 12The drive module 2 is located at the center 11, and the drive end 21 of the drive module 2 moves along the third direction CC. In the embodiment illustrated in the figure, the drive module 2 is a cylinder, which includes a cylinder body 22 and a telescopic rod 23 disposed within the cylinder body 22. The cylinder body 22 is located above the center 11 along the third direction CC and has an air inlet and an air outlet. The drive end 21 is fixed to one end of the telescopic rod 23 and is connected to the bottom of the connecting plate 4. The telescopic rod 23 drives the drive end 21 to move the connecting plate 4 up and down along the third direction CC, thereby enabling the clamping module to clamp / release the workpiece 10 simultaneously in the first direction AA and the second direction BB, reducing costs and improving clamping stability. In other embodiments, the drive module 2 can also be a linear motor.

[0047] Please refer to Figures 1 to 6 as well as Figures 11 to 12 The connecting plate 4 is arranged parallel to the mounting plate 1, and when viewed in the third direction CC, the projected area of ​​the connecting plate 4 is smaller than the projected area of ​​the mounting plate 1. The connecting plate 4 has a base 41 and a connecting portion 42 disposed at the edge of the base 41. The base 41 is connected to the driving end 21 of the driving module 2. Specifically, there are four connecting portions 42, each extending outward along the edge of the base 41. Two of the connecting portions 42 are arranged opposite each other along the first direction AA, and the other two are arranged opposite each other along the second direction BB, so that the connecting plate 4 forms a "+" shaped structure, thereby driving the clamping module to clamp / release the object to be clamped 10 simultaneously in the first direction AA and the second direction BB. Preferably, each positioning portion 12 and the connecting portion 42 are arranged one-to-one in the third direction CC.

[0048] Please refer to Figures 1 to 6 as well as Figures 12 to 18 The clamping module includes at least four clamping mechanisms 3, two of which are arranged along a first direction AA, and the other two are arranged opposite each other along a second direction BB. The clamping mechanisms 3 are pivotally mounted on the connecting portion 42 so that the clamping mechanisms 3 can clamp / release the object to be clamped 10 simultaneously in the first direction AA and the second direction BB.

[0049] The connecting part 42 includes a first arm 421, a second arm 422, and a pin 423. The first arm 421 and the second arm 422 are parallel to each other, and there is a first gap between the first arm 421 and the second arm 422. The clamping mechanism 3 is pivotally disposed within the first gap.

[0050] Each clamping mechanism 3 includes a linkage assembly 31 and a gripper 32. At least a portion of the linkage assembly 31 is pivotally connected to the connecting portion 42, and another portion of the linkage assembly 31 is slidably connected to the bottom of the positioning portion 12. The gripper 32 is connected to the linkage assembly 31, and the drive module 2 drives the connecting plate 4 to move up and down, and drives the gripper 32 to open and close through the linkage assembly 31, so as to clamp / release the workpiece 10 to be clamped.

[0051] Specifically, please refer to Figures 1 to 8 The connecting rod assembly 31 includes a connecting rod 311 and a connecting block 312. One end of the connecting rod 311 is pivotally connected to the connecting portion 42. The first arm 421 and the second arm 422 of the connecting portion 42 have through holes at corresponding positions. A pin 423 passes sequentially through the first through hole 4211 of the first arm 421, one end of the connecting rod 311, and the second through hole 4221 of the second arm 422, allowing one end of the connecting rod 311 to pivot between the first arm 421 and the second arm 422. The connecting block 312 is L-shaped, with the first connecting portion 3121 of the L-shape pivotally connected to the other end of the connecting rod 311, and the second connecting portion 3122 of the L-shape connected to the gripper 32. Preferably, the connecting rod 311 is elongated. The other end of the first connecting part 3121 has a third arm 31211 and a fourth arm 31212. There is a second gap between the third arm 31211 and the fourth arm 31212. The third arm 31211 and the fourth arm 31212 also have through holes. The pin 423 passes through the third through hole 312111 of the third arm 31211, the other end of the connecting rod 311, and the fourth through hole 312121 of the fourth arm 31212 in sequence and pivots within the second gap.

[0052] Please refer to Figures 1 to 6 as well as Figures 12 to 18 The clamping mechanism 3 also includes a sliding component 33, which is disposed between the second connecting portion 3122 and the positioning portion 12. The second connecting portion 3122 extends below the positioning portion 12, that is, a gap is provided between the second connecting portion 3122 and the positioning portion 12 to accommodate the sliding component 33. The sliding component 33 includes a slide rail 331 and a slider 332 that cooperates with the slide rail 331. The slide rail 331 is disposed at the bottom of the positioning portion 12, and the slider 332 is disposed at the top of the second connecting portion 3122. When the drive module 2 drives the connecting plate 4 to move up and down along the third direction CC via the drive end 21, one end of the connecting rod 311, which is pivotally connected to the connecting part 42, moves up and down. The other end of the connecting rod 311 drives the first connecting part 3121 to slide inward or outward in the planes where the first direction AA and the second direction BB are located. Thus, under the guidance of the sliding component 33, two of the grippers 32 open and close along the first direction AA, and the other two grippers 32 open and close along the second direction BB, thereby improving the motion accuracy.

[0053] Please refer to Figures 1 to 6 as well as Figure 17 The clamping mechanism 3 further includes an adjustment component 34, at least a portion of which is connected to the bottom of the second connecting portion 3122, and another portion is connected to the gripper 32. The adjustment component 34 includes a pair of first adjustment members 341 extending along a first direction AA and a pair of second adjustment members 342 extending along a second direction BB. The lengths of the first adjustment members 341 and the second adjustment members 342 may be the same or different from each other. When the lengths of the first adjustment members 341 and the second adjustment members 342 are the same, it can be applied to a centrally symmetrical clamping member 10, such as a square, circle, or a regular polygon with a multiple of 4 sides in cross-section. When the lengths of the first adjustment members 341 and the second adjustment members 342 are different, it can be applied to a non-centrally symmetrical clamping member 10, such as a cross-shaped, rectangular, elliptical, or a regular polygon with a multiple of 2 sides in cross-section. In the embodiment illustrated in the present invention, the length of the first adjustment member 341 is greater than the length of the second adjustment member 342 to adapt to the clamping member 10 illustrated in the present invention. In this invention, a drive module 2 drives the four linkage assemblies 31 of the clamping mechanism 3 to move synchronously and equidistantly. Then, by setting adjustment components 34 of different lengths, synchronous clamping of the non-centrally symmetrical clamped part 10 is achieved. That is, by driving the four linkage assemblies 31 to move synchronously and equidistantly, the four grippers 32 have synchronous and equidistant movement characteristics. Furthermore, first adjustment components 341 and second adjustment components 342 of different lengths are respectively set in the first direction AA and the second direction BB, compensating for the inconsistent lengths of the clamped part 10 in the first direction AA and the second direction BB, thereby achieving synchronous clamping of the non-centrally symmetrical clamped part 10. It is worth noting that, in practice, to accommodate the clamping of the non-centrally symmetrical clamped part 10, the lengths of the two first adjustment components 341 in the first direction AA can also be different. Similarly, the lengths of the second adjustment components 342 in the second direction BB can also be different. In other words, the lengths of the four adjustment components can be adjusted according to the length of the clamped part 10 relative to its center, thus expanding the applicability of the device.

[0054] Please refer to Figures 14 to 18 The gripper 32 includes a gripping arm 321, which is disposed below the second connecting portion 3122. By disposing the gripping arm 321 below the second connecting portion 3122, interference between the gripping arm 321 and the second connecting portion 3122 during opening and closing can be avoided, thereby improving the reliability of the device.

[0055] The clamping arm 321 has a first connecting groove 3211 on the side near the clamping mechanism 3, which matches another part of the adjusting assembly 34. The other part of the adjusting assembly 34 is disposed within the first connecting groove 3211. Specifically, the first connecting groove 3211 includes a first wall 32111 and a second wall 32112. The first wall 32111 and the second wall 32112 are perpendicular to each other. The first wall 32111 contacts the bottom of the adjusting assembly 34, and the second wall 32112 contacts the side edge of the adjusting assembly 34. The clamping arm 321 and the other part of the adjusting assembly 34 are fixedly connected by screws to facilitate better gripping of the jaws 32 to accommodate more clamped parts 10, and also to facilitate subsequent maintenance and reduce maintenance costs.

[0056] Please refer to Figure 18 The gripper 32 also includes a gripper body 322 connected to the gripping arm 321. A second connecting groove 3212 matching the gripper body 322 is provided on the side of the gripping arm 321 away from the gripping mechanism 3, and the gripper body 322 is disposed within the second connecting groove 3212. Preferably, the shape of the gripper body matches the edge of the workpiece 10 to be gripped, the second connecting groove 3212 is U-shaped, and the opening of the second connecting groove 3212 faces the center of the gripping mechanism 3. The shape of the second connecting groove 3212 matches the shape of the gripper body 322 to improve the accuracy of gripping / releasing by the gripper 32, preventing the workpiece 10 from falling during transport and causing damage. In the embodiment illustrated in the present invention, the gripper body 322 is made of anti-static plastic steel. When the gripper body 322 contacts the workpiece 10 to be gripped, it can reduce static electricity and protect the workpiece 10.

[0057] Please refer to Figures 1 to 6 as well as Figure 11The synchronous gripping device 100 also includes a guide module 5, which is positioned above the mounting plate 1 along a third direction (CC). The guide module 5 is configured to position the connecting plate 4. The guide module 5 includes multiple guide posts 51. The mounting plate 1 is shaped like a cross. An outwardly extending extension 13 is formed at the connection position of two adjacent positioning portions 12 of the mounting plate 1. One end of the guide post 51 is disposed on the extension 13, and the other end extends upward along the driving direction of the drive module 2. At least a portion of the other end of the guide post 51 contacts the base 41. The driving direction of the drive module 2 is a third direction (CC). By providing an extension 13 between two adjacent positioning portions 12, the volume of the mounting plate 1 can be reduced, meeting the requirements for lightweight devices. In the embodiment illustrated in the present invention, the drive module 2 is located at the center of the central portion 11. Four guide posts 51 are arranged circumferentially around the drive module 2. The edge of the base 41 lies within the plane formed by the four guide posts 51. Each connecting portion 42 extends outward from the edge of the base 41 between two adjacent guide posts 51. When the drive module 2 drives the connecting plate 4 to move up and down along the third direction CC via the drive end 21, causing it to deflect, the connecting portion 42 contacts the sidewall of the guide post 51. The guide post 51 guides the up and down movement of the connecting plate 4, improving the motion accuracy of the linkage assembly 31 and thus improving the synchronization of the gripper 32. It also restricts the deflection of the connecting portion 42 in the horizontal plane, further improving the stability of the device. In other embodiments, the edge of the base 41 extends beyond or equals the plane formed by the four guide posts 51, which also ensures the stability of the synchronously operated gripping device 100 during gripping / releasing.

[0058] Please refer to Figures 1 to 6 as well as Figure 11 The guide module 5 also includes a mounting block 52, which is positioned above the connecting plate 4. Guide posts 51 extend upwards and connect to the mounting block 52. Specifically, four guide posts 51 are positioned above the mounting block 52 along a third direction CC. A receiving space 101 exists between the mounting block 52 and the mounting plate 1. The drive module 2 and the connecting plate 4 are both located within the receiving space 101 to enhance the stability of the synchronous pick-and-place clamping device 100. The synchronous pick-and-place clamping device 100 also includes a fixing member 6, which is located on top of the mounting block 52. The fixing member 6 is configured to connect to the robot arm to move the synchronous pick-and-place clamping device 100 to the clamping position.

[0059] In summary, the synchronous pick-and-place clamping device 100 of this patent application, by providing a drive module 2 on the mounting plate 1, drives the base 41 of the connecting plate 4 to move up and down, and at the same time drives the clamping mechanism 3 to open and close simultaneously in the first direction AA and the second direction BB, so as to achieve the purpose of clamping / releasing the clamping part 10.

[0060] The above embodiments are for illustrative purposes only and are not intended to limit the technical solutions described in this invention. The understanding of this specification should be based on those skilled in the art. For example, the directional descriptions such as "front," "back," "left," "right," "up," and "down" are important. Although this specification has described the invention in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify or make equivalent substitutions to this invention. All technical solutions and improvements that do not depart from the spirit and scope of this invention should be covered within the scope of the claims of this invention.

Claims

1. A synchronous pick-and-place gripping device, characterized in that, include: Mounting plate (1), on which a driving module (2) is provided, and the edge of the mounting plate (1) extends outward to form a plurality of positioning parts (12), and an outward extension part (13) is formed at the connection position of two adjacent positioning parts (12). A connecting plate (4) is disposed above the mounting plate (1). The connecting plate (4) has a base (41) and a connecting part (42) disposed on the edge of the base (41). The base (41) is connected to the driving end (21) of the driving module (2). A clamping module comprising at least four clamping mechanisms (3), wherein two of the clamping mechanisms (3) are arranged along a first direction, and the other two clamping mechanisms (3) are arranged opposite each other along a second direction, each clamping mechanism (3) comprising: Linkage assembly (31), at least a portion of which is pivotally connected to the connecting portion (42), and another portion of which is slidably connected to the bottom of the positioning portion (12); The gripper (32) is connected to the linkage assembly (31). The drive module (2) drives the connecting plate (4) to move up and down and drives the gripper (32) to open and close through the linkage assembly (31) to clamp / release the clamped part (10). A guide module (5) is disposed above the mounting plate (1) and includes a guide post (51). One end of the guide post (51) is disposed on the extension (13), and the other end of the guide post (51) extends upward along the driving direction of the drive module (2). The guide post (51) is disposed around the circumference of the drive module (2). The edge of the base (41) is in the plane formed by the guide post (51). Each connecting part (42) extends outward from the edge of the base (41) between two adjacent guide posts (51).

2. The synchronous pick-and-place gripping device of claim 1, wherein: The linkage assembly (31) includes a connecting rod (311) and a connecting block (312). One end of the connecting rod (311) is pivotally connected to the connecting portion (42). The connecting block (312) is formed in an "L" shape. The first connecting portion (3121) of the "L" shape is pivotally connected to the other end of the connecting rod (311). The second connecting portion (3122) of the "L" shape is connected to the gripper (32).

3. The synchronous pick-and-place gripping device of claim 2, wherein: The clamping mechanism (3) further includes a sliding component (33), which includes a slide rail (331) and a slider (332) that slides in cooperation with the slide rail (331). The second connecting part (3122) extends to the bottom of the positioning part (12), the slide rail (331) is located at the bottom of the positioning part (12), and the slider (332) is located at the top of the second connecting part (3122).

4. The synchronous pick-and-place gripping device of claim 3, wherein: The clamping mechanism (3) further includes an adjustment component (34), at least a portion of which is connected to the bottom of the second connecting part (3122) and another portion is connected to the gripper (32).

5. The synchronous pick-and-place gripping device of claim 4, wherein: The adjustment assembly (34) includes a pair of first adjustment members (341) extending along the first direction and a second adjustment member (342) extending along the second direction, wherein the length of the first adjustment member (341) and the length of the second adjustment member (342) are the same or different from each other.

6. The synchronous pick-and-place gripping device of claim 5, wherein: The gripper (32) includes a gripping arm (321), which is disposed opposite to the second connecting part (3122). The gripping arm (321) is provided with a first connecting groove (3211) on the side near the gripping mechanism (3) that matches another part of the adjusting component (34). The other part of the adjusting component (34) is disposed in the first connecting groove (3211).

7. The clamping device for synchronous pick-up and drop-off as described in claim 6, characterized in that: The gripper (32) also includes a gripper body (322) connected to the gripping arm (321). The gripping arm (321) is provided with a second connecting groove (3212) that matches the gripper body (322) on the side away from the gripping mechanism (3). The gripper body (322) is disposed in the second connecting groove (3212).

8. The synchronous pick-and-place gripping device of claim 1, wherein: The mounting plate (1) is formed in a cross shape, and at least a portion of the other end of the guide post (51) is in contact with the base (41).

9. The synchronous pick-and-place gripping device of claim 8, wherein: The guide module (5) also includes a mounting block (52), which is positioned above the connecting plate (4), and the guide post (51) extends upward to connect with the mounting block (52).

10. The clamping device for synchronous pick-up and drop-off as described in claim 9, characterized in that: The synchronous pick-and-place clamping device also includes a fixing member (6), which is located on the top of the mounting block (52). The fixing member (6) is configured to be connected to the robot arm to drive the synchronous pick-and-place clamping device to move to the clamping position.

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