A gripper device compatible with various UPIN spans

Abstract

The present invention discloses a clamping device compatible with various UPIN spans. The clamping device includes a frame, a first clamping mechanism, a second clamping mechanism, and a control system. The second clamping mechanism includes a first slide structure, a rotating structure, a second slide structure, a second finger cylinder, and a second clamping mechanism. The control system is electrically connected to the first and second clamping mechanisms, and the control system controls the movement of the first and second clamping mechanisms to clamp a hairpin coil. For coils of different spans, the rotating structure drives the first slide structure to perform an arc motion 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 clamp the second vertical segment of the hairpin coil, thereby achieving a clamping action for various UPIN spans. The clamping device of the present invention can automatically clamp hairpin coils of different UPIN spans, thereby improving equipment utilization.

Description

Technical Field

[0001] The present invention relates to the technical field of flat wire motor coil production and processing, and in particular to a clamping device compatible with multiple UPIN spans. Background Art

[0002] 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.

[0003] Electric motors have a wide range of uses and diverse structures. Some motor windings are made using a wire winding process, while others, such as those used in new energy vehicles, are produced by first producing upin wire, inserting the upin wire into a wire cup within the motor housing, tightening the cup, and then welding it. The winding structure of new energy vehicle motors is complex, typically consisting of multiple turns of upin coils. Each upin coil is constructed from several upin wires connected in sequence. The upin wires in different upin coils are made from the same copper wire specifications, but vary in length and shape. Separate equipment is required to produce and insert the upin wires. While one type of upin wire is being produced, the equipment producing the other type is idle, resulting in low equipment utilization and high equipment costs. Summary of the Invention

[0004] In view of this, the present invention provides a clamping device compatible with multiple UPIN spans to solve the technical problems in the prior art of low equipment utilization and high cost due to the need to replace different clamping jaws to clamp coils with different spans.

[0005] In order to solve the defects of the above-mentioned technology, the technical solution provided by the present invention is as follows:

[0006] The present invention provides a clamping device compatible with various UPIN spans, which is used to automatically clamp card coils of different spans. The card coils include a card connecting section and a first vertical section and a second vertical section connected at both ends of the card connecting section. The clamping device includes:

[0007] frame;

[0008] A first clamping mechanism is mounted on one side of the bottom of the frame;

[0009] a second gripper mechanism comprising a first slide structure connected to the other 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;

[0010] 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;

[0011] 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.

[0012] Optionally, the frame includes a base plate and a mounting plate vertically connected to one end of the base plate, and a first mounting hole is further provided on a side of the base plate away from the mounting plate, and the first clamping mechanism is suitable for being connected to the frame through the first mounting hole.

[0013] Optionally, the first clamping mechanism includes a first mounting frame with a top end connected to the base plate, a first finger cylinder and a first clamping claw connected to the first finger cylinder, the end of the first mounting frame away from the base plate is connected to the first finger cylinder, and the first finger cylinder is suitable for driving the first clamping claw to move.

[0014] Optionally, the first finger cylinder includes a first finger cylinder body and a first left finger clamp and a first right finger clamp connected on both sides of the first finger cylinder body. The first finger cylinder body is suitable for connecting gas to drive the first left finger clamp and the first right finger clamp to move toward or away from each other.

[0015] Optionally, the first clamping jaw includes a first left clamping jaw and a first right clamping jaw respectively connected to the first left finger clamp and the first right finger clamp, the first left clamping jaw having a first left clamping surface adapted to one side surface of the first vertical section, and the first right clamping jaw having a first right clamping surface adapted to the other side surface of the first vertical section.

[0016] Optionally, the first clamping jaw mechanism further includes a first supporting base plate and a first detection sensor, wherein the first supporting base plate is arranged between the first left clamping jaw, the first right clamping jaw and the first finger cylinder body, and when the first left clamping jaw and the first right clamping jaw are respectively clamped on the side surface of the first vertical section, the first supporting base plate is supported on the back surface of the first vertical section.

[0017] Optionally, the first slide structure includes an arc-shaped slide connected to the base plate and a first slide, and the first slide is slidably connected to the arc-shaped slide, wherein:

[0018] The arc-shaped slider includes a connecting plate, an arc-shaped slide and a first connecting member. The top end of the connecting plate is connected to the lower surface of the base plate through the first connecting member. The arc-shaped slide is connected to the bottom end of the connecting plate. The arc-shaped slide is suitable for horizontal arc-shaped motion in the first slide seat.

[0019] Optionally, the rotating structure includes a rotating plate connected to the bottom of the first slide, a rotating drive structure, and a fourth detection sensor mounted on the rotating drive structure, wherein one end of the rotating drive structure is hinged to the rotating plate, and the other end is connected to a side of the bottom plate away from the first clamping mechanism;

[0020] The rotation drive structure includes a vertical shaft vertically connected to the base plate, a connecting shaft sleeved on the top of the vertical shaft, a first driving cylinder and a cylinder mounting seat. The first driving cylinder is horizontally connected to the first mounting hole through the cylinder mounting seat, and the output shaft of the first driving cylinder is connected to the end of the connecting shaft away from the vertical shaft.

[0021] Optionally, the second slide structure includes a second slide and a slide groove, wherein:

[0022] The second slide seat includes a cylinder sliding body and a slider connected to the bottom of the rotating plate. One end of the slider is suitable for slidingly engaging with the cylinder sliding body, and the other end of the slider is suitable for sliding in the sliding groove.

[0023] Optionally, the second finger cylinder is connected to the lower surface of the slide groove through a second mounting bracket, wherein:

[0024] The second finger cylinder includes a second finger cylinder body and a second left finger clamp and a second right finger clamp connected to two ends of one side of the second finger cylinder body;

[0025] The second clamping jaw includes a second left clamping jaw and a second right clamping jaw respectively connected to the second left finger clamp and the second right finger clamp, the second left clamping jaw has a second left clamping surface adapted to one side surface of the second vertical section, and the second right clamping jaw has a second right clamping surface adapted to the other side surface of the second vertical section.

[0026] Compared with the prior art, the present invention has at least the following beneficial effects:

[0027] The clamping device of the present invention is compatible with 3D card-issuing coils of various UPIN spans, 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 bearing mechanism for fixedly installing the first clamping mechanism and the second clamping mechanism, and the first clamping mechanism is installed on one side of the bottom plate of the frame for automatically clamping the first vertical section of the card-issuing coil; the second clamping mechanism includes a first slide structure, a rotating structure, a second slide structure, a second finger cylinder and a second clamp, and the first slide structure is connected to the other side of the bottom plate of the frame through the first slide The seat structure is capable of adjusting the horizontal angle. 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 are capable of driving the second clamping jaw on the second finger cylinder to move and adjust the angle. The second clamping jaw is adjusted to automatically grasp the second vertical segment of the 3D card-hairing coil according to the horizontal span of the 3D card-hairing coil. The control system is electrically connected to the first and second clamping jaw mechanisms and is capable of controlling the movement of the first and second clamping jaw mechanisms to grasp the card-hairing coil. For coils of different spans, the rotating structure is capable of 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 jaw is driven to automatically grasp the second vertical segment of the card-hairing coil, thereby realizing grasping actions for various UPIN spans. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the three-dimensional structure of a gripper device compatible with various UPIN spans in an embodiment of the present invention;

[0029] Figure 2 A schematic side view of the structure of a gripper device compatible with various UPIN spans according to an embodiment of the present invention;

[0030] Figure 3 This is another side structural schematic diagram of a clamping device compatible with various UPIN spans according to an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of the installation structure of the first clamping mechanism and the frame in an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of the assembly structure of the first clamping mechanism and the hairpin coil in an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the assembly structure of the second clamping mechanism and the hairpin coil in an embodiment of the present invention;

[0034] Figure 7 Schematic diagram of the assembly structure of the second slide structure, the second mounting frame, the second finger cylinder and the second clamping claw in an embodiment of the present invention;

[0035] Figure 8 A schematic structural diagram of a rack in an embodiment of the present invention;

[0036] Figure 9 Schematic diagram of the structure of the arc-shaped slider in an embodiment of the present invention;

[0037] Figure 10 Schematic diagram of the structure of the card issuing coil with different UPIN spans in an embodiment of the present invention.

[0038] Description of reference numerals:

[0039] 1- rack;

[0040] 11- bottom plate; 111- first mounting hole; 12- mounting plate;

[0041] 2-first clamping mechanism;

[0042] 21- first mounting frame;

[0043] 22-first finger cylinder;

[0044] 221-first finger cylinder body; 222-first left finger clamp; 223-first right finger clamp;

[0045] 23- first clamping jaw;

[0046] 231-first left clamping jaw; 2311-first left clamping surface; 232-first right clamping jaw; 2321-first right clamping surface;

[0047] 24-first supporting base plate; 25-first detection sensor;

[0048] 3- second clamping mechanism;

[0049] 31-first slide structure;

[0050] 311-arc-shaped slider; 3111-connecting plate; 3112-arc-shaped slide bar; 3113-first connecting member;

[0051] 312-first slide;

[0052] 32-rotation structure;

[0053] 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;

[0054] 33- second slide structure;

[0055] 331-second slide; 3311-cylinder sliding body; 3312-slider; 332-slide groove;

[0056] 34- second mounting frame;

[0057] 35-second finger cylinder; 351-second finger cylinder body; 352-second left finger clamp; 353-second right finger clamp;

[0058] 36-second clamping jaw; 361-second left clamping jaw; 3611-second left clamping surface; 362-second right clamping jaw; 3621-second right clamping surface;

[0059] 37-second supporting base plate; 38-second detection sensor; 39-third detection sensor;

[0060] 4-Hairpin coil;

[0061] 41 - hairpin connecting section; 42 - first vertical section; 43 - second vertical section. DETAILED DESCRIPTION

[0062] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0063] In the description of the present invention, 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.

[0064] In the description of the present invention, 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; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components; wireless connections or wired connections. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0065] To solve the above problems, Figure 1-10 The embodiment of the present invention provides a clamping device compatible with various UPIN spans, which is used to automatically clamp the card-issuing coils 4 with different spans. The card-issuing coils 4 in the embodiment of the present invention (specifically as shown in FIG. Figure 10 The hairpin connecting section 41, the first vertical section 42 and the second vertical section 43 are respectively connected to the two ends of the hairpin connecting section 41, and the clamping device includes a frame 1, a first clamping mechanism 2 and a second clamping mechanism 3, wherein:

[0066] The first clamping mechanism 2 is mounted on the bottom side of the frame 1 (also known as the attachment Figure 1 The right side of the figure), and the first clamping mechanism 2 is used to automatically clamp the first vertical section 42 of the hairpin coil 4;

[0067] See also Figure 1 、 2 As shown in Figures 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 plate 37, a second detection sensor 38, and a third detection sensor 39, wherein:

[0068] The first slide structure 31 is connected to the other side of the bottom plate 11 of the frame 1 (also known as the attached 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 finger cylinder 35 and the second clamp 36 are connected to the second finger cylinder 35, and the second finger cylinder 35 is connected to the bottom of the second slide structure 33.

[0069] 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 .

[0070] For coils with different spans, the control system controls the movement of the first clamping mechanism 2 to automatically clamp the first vertical section 42 of the hairpin coil 4, and then the control system controls the movement of the second clamping mechanism 3. The rotating structure 32 of the second clamping mechanism 3 is suitable for driving the first slide structure 31 to move in an arc in the horizontal square 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 the clamping action of various U-PIN spans.

[0071] Specifically, see Figure 8 As shown, in the embodiment of the present invention, 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 used to connect with other driving components, and a mounting hole is provided on one side thereof. A first mounting hole 111 is further 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.

[0072] Specifically, see Figure 4 、 5As shown, in the embodiment of the present invention, the first clamping mechanism 2 includes a first mounting frame 21, a first finger cylinder 22 and a first clamping claw 23, wherein:

[0073] 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.

[0074] Specifically, see Figure 4 、 5 As shown, in the embodiment of the present invention, 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:

[0075] 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.

[0076] Specifically, see Figure 4 、 5 As shown, in an embodiment of the present invention, 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, and the first left clamping jaw 231 has a first left clamping surface 2311 adapted to one side surface of the first vertical section 42, and the first right clamping jaw 232 has a first right clamping surface 2321 adapted to the other side surface of the first vertical section 42, so that the clamping is more reliable.

[0077] Specifically, see Figure 4 As shown, in an embodiment of the present invention, the first clamping jaw mechanism 2 further includes 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 segment 42, the first supporting base plate 24 is supported on the back surface of the first vertical segment 42 to form a back clamping of the first vertical segment 42.

[0078] Specifically, see Figure 3 、 6 As shown, in the embodiment of the present invention, the first slide structure 31 includes an arc-shaped slider 311 connected to the base plate 11 and a first slide 312, and the first slide 312 is slidably connected to the arc-shaped slider 311, wherein:

[0079] See also Figure 9 As shown, 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.

[0080] Specifically, see Figure 2 、 3 As shown in FIG. 6 , in the embodiment of the present invention, the rotating structure 32 includes a rotating plate 321, a rotating driving structure 322 and a fourth detection sensor 323, wherein:

[0081] 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 . One end of the rotating drive structure 322 is hinged to the rotating plate 321 , and the other end is connected to the side of the base plate 11 away from the first clamping mechanism 2 .

[0082] 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.

[0083] Also, see Figure 1 、 2 As shown in , 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:

[0084] 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.

[0085] 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.

[0086] Specifically, see Figure 2 、 3 As shown, in the embodiment of the present invention, the second slide structure 33 includes a second slide 331 and a slide groove 332, wherein:

[0087] See also Figure 7As shown, 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. One end of the slider 3312 is suitable for sliding and clamping on the cylinder sliding body 3311, and the other end of the slider 3312 is suitable for sliding in the slide groove 332.

[0088] 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.

[0089] Specifically, see Figure 2 、 3 As shown in Figures 6 and 7, in the embodiment of the present invention, the second finger cylinder 35 is connected to the lower surface of the slide groove 332 through the second mounting bracket 34, wherein:

[0090] 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 .

[0091] See also Figure 7 As shown, 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 one 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 other side surface of the second vertical section 43.

[0092] Specifically, see Figure 6 、 7 As shown, in an embodiment of the present invention, 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.

[0093] A second detection sensor 38 is further connected to the bottom of the second supporting base plate 37 , and is used to identify whether the second clamping jaw 36 is clamping a coil through detection by the second detection sensor 38 .

[0094] 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 one side of the bottom plate 11 of the frame 1, and is used to automatically clamp the first vertical section 42 of the hairpin coil 4; the second clamping mechanism 3 is used to clamp the second vertical section 43 of the hairpin coil 4, thereby realizing the hairpin coil clamping action of a certain span.

[0095] When it is necessary to clamp another type of card-hairing coil, 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 other 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 card-hairing coil 4 according to the horizontal span of the 3D card-hairing coil.

[0096] 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 for various U-PIN spans.

[0097] Although the present invention is disclosed as above, the scope of protection disclosed by the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A clamping device compatible with various UPIN spans, used for automatically clamping card-issuing coils (4) of different spans, wherein the card-issuing coil (4) comprises a card-issuing connecting section (41) and a first vertical section (42) and a second vertical section (43) connected to both ends of the card-issuing connecting section (41), characterized in that: The clamping device comprises: Rack (1); A first clamping claw mechanism (2) is mounted on one side of the bottom of the frame (1); 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 mechanism (2) is adapted to be connected to the frame (1) through the first mounting hole (111); A second gripper mechanism (3) comprises a first slide structure (31) connected to the other 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); The first slide seat structure (31) comprises an arc-shaped slide block (311) connected to the base 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 base 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 slide seat (312); The rotating structure (32) comprises a rotating plate (321) connected to the bottom of the first slide (312), a rotating drive structure (322), and a fourth detection sensor (323) mounted on the rotating drive structure (322); one end of the rotating drive structure (322) is hinged to the rotating plate (321), and the other end is connected to a side of the bottom plate (11) away from the first clamping mechanism (2); The rotation drive 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 an end of the connecting shaft (3222) away from the vertical shaft (3221); The second slide structure (33) includes a second slide (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), one end of the slider (3312) is suitable for sliding and clamping on the cylinder sliding body (3311), and the other end of the slider (3312) is suitable for sliding in the slide groove (332); a control system electrically connected to the first clamping mechanism (2) and the second clamping mechanism (3), wherein the control system 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 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 mechanism (3) is suitable for driving the first slide structure (31) to move in an arc shape 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 achieve clamping actions of various U-PIN spans; 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); an 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; 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 with gas to drive the first left finger clamp (222) and the first right finger clamp (223) to move toward or away from each other; The first clamping jaw (23) comprises a first left clamping jaw (231) and a first right clamping jaw (232) 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) adapted to one side surface of the first vertical section (42); the first right clamping jaw (232) has a first right clamping surface (2321) adapted to the other side surface of the first vertical section (42); 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), 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).

2. The clamping device compatible with various UPIN spans according to claim 1, characterized in that: The second finger cylinder (35) is connected to the lower surface of the slide groove (332) through 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 one 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 other side surface of the second vertical section (43).

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