Parallel multi-degree-of-freedom grabbing mechanism for material handling

Abstract

The application discloses a parallel type multi-degree-of-freedom grabbing mechanism for material handling, and relates to the field of material handling.The parallel type multi-degree-of-freedom grabbing mechanism for material handling can drive the mounting shaft to rotate through the first transmission mechanism to adjust the angle of the clamping frame and realize the grabbing of the material placed at different horizontal angles when the material is grabbed.The second transmission mechanism drives the first transmission shaft to rotate to make the clamping frame parallel to the horizontal plane when the material is placed after being grabbed, so that the material can be placed horizontally.Meanwhile, the third transmission mechanism drives the mounting pipe to rotate to make the first clamping plate rotate reversely with the material, so that the material is always perpendicular to the horizontal plane, and the internal articles of the material are prevented from being damaged by rolling.Further, the moving plate and the grabbing device are driven to move through the moving mechanism, and the first transmission mechanism is driven to rotate, so that multi-axis adjustment is realized, and different placed materials can be coped with.

Description

Technical Field

[0001] This invention relates to material handling technology, and more specifically to a parallel multi-degree-of-freedom gripping mechanism for material handling. Background Technology

[0002] In modern industrial production and logistics, material handling is a crucial link, and its efficiency and stability directly affect the smoothness and cost-effectiveness of the entire production process. The rapid development of the manufacturing industry has placed higher demands on the automation, intelligence, and efficiency of material handling. Traditional material handling gripping mechanisms are gradually revealing some limitations when dealing with complex and ever-changing material handling scenarios.

[0003] Traditional gripping mechanisms often employ simple clamping methods, such as two-point clamping or parallel clamping. These methods result in a small contact area with the material and uneven force distribution. When handling heavy materials, slippage is common, especially under vibration or external forces, exacerbating stability issues. This can damage materials, affecting product quality, and pose safety hazards to surrounding equipment and personnel. Furthermore, the limited freedom of movement during gripping prevents the handling of items in various positions, and after gripping, the mechanism cannot stably place the material horizontally onto shelves, leading to poor applicability. Summary of the Invention

[0004] The purpose of this invention is to provide a parallel multi-degree-of-freedom gripping mechanism for material handling, so as to solve the problems of poor stability and applicability of material gripping in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a parallel multi-degree-of-freedom gripping mechanism for material handling, comprising a mounting frame, two movable plates being arranged in parallel on the mounting frame, a movable mechanism connected to the mounting frame being provided on the movable plates, the movable mechanism being used to drive the movable plates to move, and a gripping device being provided at the bottom of the movable plates;

[0006] The gripping device includes a first telescopic drive member fixedly connected to a moving plate. A connecting plate is fixedly connected to the output end of the first telescopic drive member. A mounting shaft is rotatably connected to the connecting plate. A first transmission mechanism connected to the connecting plate is driven to the outer surface of the mounting shaft. The first transmission mechanism drives the mounting shaft to rotate. A transmission frame is fixedly connected to the bottom end of the mounting shaft. Two first transmission shafts are rotatably connected within the transmission frame. A second transmission mechanism connected to the transmission frame is driven to the outer surface of the first transmission shafts. The second transmission mechanism drives the first transmission shafts to rotate. A clamping frame is fixedly connected between the two first transmission shafts. Two mounting tubes are rotatably connected within the clamping frame. A third transmission mechanism connected to the clamping frame is driven to the outer surface of the mounting tubes. The third transmission mechanism drives the mounting tubes to rotate. A second telescopic drive member is fixedly connected within the mounting tubes. A first clamping plate is fixedly connected to the output end of the second telescopic drive member. A side clamping mechanism is provided on the first clamping plate. The side clamping mechanism clamps and fixes the side of the housing.

[0007] Furthermore, the side clamping mechanism includes a functional cavity opened on the first clamping plate. Two first transmission plates are slidably connected in the functional cavity. A second transmission plate that is slidably connected to the first clamping plate is fixedly connected to one side of the first transmission plate. An adjusting bolt is threadedly connected to the second transmission plate. One end of the adjusting bolt is rotatably connected to the second clamping plate. A transmission column that is slidably connected to the second transmission plate is fixedly connected to one side of the second clamping plate. A driving mechanism that is connected to the first clamping plate is provided on one side of the first transmission plate. The driving mechanism is used to drive the first transmission plate to move.

[0008] Furthermore, the driving mechanism includes a transmission groove formed on the first transmission plate, a transmission block slidably connected in the transmission groove, a pressing plate slidably connected to the first clamping plate on one side of the transmission block, and a spring fixedly connected to the functional cavity on one side of the first transmission plate.

[0009] Furthermore, the first transmission mechanism includes a first rotation drive member fixedly connected to the connecting plate, a drive shaft fixedly connected to the output end of the first rotation drive member, a first gear fixedly sleeved on the outer surface of the drive shaft, and a second gear fixedly sleeved on the outer surface of the first gear.

[0010] Furthermore, the second transmission mechanism includes a third telescopic drive member fixedly connected to the transmission frame, and a first transmission rack is fixedly connected to the output end of the third telescopic drive member. A first transmission gear fixedly sleeved with the first transmission shaft is meshed on one side of the first transmission rack.

[0011] Furthermore, the third transmission mechanism includes a fourth telescopic drive member fixedly connected to the clamping frame, and a second transmission rack is fixedly connected to the output end of the fourth telescopic drive member. A second transmission gear, which is fixedly sleeved with the mounting tube, is meshed on one side of the second transmission rack.

[0012] Furthermore, the moving mechanism includes two second rotational driving components fixedly connected to the mounting bracket. The output end of each second rotational driving component is fixedly connected to a first threaded rod rotatably connected to the mounting bracket. The outer surface of the first threaded rod is threadedly fitted with a moving frame slidably connected to the mounting bracket. A guide rod fixedly connected to the mounting bracket is slidably connected to the moving frame. A third rotational driving component is fixedly connected to the moving frame. The output end of the third rotational driving component is fixedly connected to a second threaded rod rotatably connected to the moving frame. The outer surface of the second threaded rod is threadedly fitted to a moving plate. Two guide rods fixedly connected to the moving frame are slidably connected to the moving plate.

[0013] Furthermore, rubber pads are fixedly connected to the outer surfaces of both the first clamping plate and the second clamping plate.

[0014] Compared with the prior art, the parallel multi-degree-of-freedom gripping mechanism for material handling provided by the present invention has the following beneficial effects:

[0015] When gripping materials, the first transmission mechanism drives the mounting shaft to rotate, adjusting the angle of the clamping frame according to the material's placement angle, thus enabling the gripping of materials placed at different horizontal angles. After gripping, when placing the material, the second transmission mechanism drives the first transmission shaft to rotate, making the clamping frame parallel to the horizontal plane, facilitating horizontal material placement. Simultaneously, the third transmission mechanism drives the mounting tube to rotate, causing the first clamping plate to rotate the material in the opposite direction, ensuring the material remains perpendicular to the horizontal plane and preventing internal items from rolling and being damaged. Furthermore, a moving mechanism moves the moving plate and gripping devices, coordinating with the first transmission mechanism to achieve multi-axis adjustment, accommodating materials with different placements. Moreover, the parallel gripping devices work together to further improve the material handling efficiency of the gripping mechanism.

[0016] When gripping materials, first rotate the adjusting bolt according to the material width to position the second clamping plate appropriately. The moving mechanism drives the moving plate to move, allowing the material to enter the clamping frame. The second telescopic drive then moves the first clamping plate for initial clamping. At this point, the extrusion plate first contacts the material, and through a series of transmissions, the second clamping plate clamps the material from the side, while the first clamping plate then fully clamps and secures it. This wrap-around clamping method significantly increases the clamping area, providing a more stable fixation compared to traditional clamping methods. It effectively prevents materials from falling during gripping and movement, ensuring reliable protection for the safe handling of subsequent materials, and is particularly suitable for handling scenarios with high stability requirements. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a first perspective view of the external structure of the present invention;

[0019] Figure 2 This is a second perspective view of the external structure of the present invention;

[0020] Figure 3 This is a first perspective view of the external structure of the gripping device of the present invention;

[0021] Figure 4 This is a second perspective view of the external structure of the gripping device of the present invention;

[0022] Figure 5 This is a top view of the internal structure of the mounting tube and the first clamping plate of the present invention;

[0023] Figure 6 For the present invention Figure 3 Enlarged view of A in the middle;

[0024] Figure 7 For the present invention Figure 5 A magnified view of B in the middle.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Mounting frame; 2. Moving plate; 3. Gripping device; 4. First telescopic drive component; 5. Connecting plate; 6. Mounting shaft; 7. Transmission frame; 8. First transmission shaft; 9. Clamping frame; 10. Mounting tube; 11. Second telescopic drive component; 12. First clamping plate; 21. Functional cavity; 22. First transmission plate; 23. Second transmission plate; 24. Adjusting bolt; 25. Second clamping plate; 26. Transmission column; 31. Transmission inclined groove; 32. Transmission inclined block; 33. Extrusion plate; 34. Spring; 41. First rotation drive component; 42. Drive shaft; 43. First gear; 44. Second gear; 51. Third telescopic drive component; 52. First transmission rack; 53. First transmission gear; 61. Fourth telescopic drive component; 62. Second transmission rack; 63. Second transmission gear; 71. Second rotation drive component; 72. First threaded rod; 73. Moving frame; 74. Third rotation drive component; 75. Second threaded rod. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0028] Example 1

[0029] Please see Figures 1 to 7 As shown, the present invention provides a parallel multi-degree-of-freedom gripping mechanism for material handling, including a mounting frame 1, two movable plates 2 are arranged in parallel on the mounting frame 1, and a moving mechanism connected to the mounting frame 1 is provided on the movable plates 2. The moving mechanism is used to drive the movable plates 2 to move, and a gripping device 3 is provided at the bottom of the movable plates 2.

[0030] The gripping device 3 includes a first telescopic drive component 4 fixedly connected to the moving plate 2. The first telescopic drive component 4 is an electric telescopic rod or an electric hydraulic rod. A connecting plate 5 is fixedly connected to the output end of the first telescopic drive component 4. A mounting shaft 6 is rotatably connected to the connecting plate 5. A first transmission mechanism connected to the connecting plate 5 is connected to the outer surface of the mounting shaft 6. The first transmission mechanism is used to drive the mounting shaft 6 to rotate. A transmission frame 7 is fixedly connected to the bottom end of the mounting shaft 6. Two first transmission shafts 8 are rotatably connected inside the transmission frame 7. A second transmission mechanism connected to the transmission frame 7 is connected to the outer surface of the first transmission shafts 8. The second transmission mechanism is used to drive... The first drive shaft 8 is rotated. A clamping frame 9 is fixedly connected between the two first drive shafts 8. Two mounting tubes 10 are rotatably connected inside the clamping frame 9. A third transmission mechanism connected to the clamping frame 9 is connected to the outer surface of the mounting tube 10. The third transmission mechanism is used to drive the mounting tube 10 to rotate. A second telescopic drive member 11 is fixedly connected inside the mounting tube 10. The second telescopic drive member 11 is an electric telescopic rod or an electric hydraulic rod. A first clamping plate 12 is fixedly connected to the output end of the second telescopic drive member 11. A side clamping mechanism is provided on the first clamping plate 12. The side clamping mechanism is used to clamp and fix the side of the box.

[0031] The side clamping mechanism includes a functional cavity 21 on the first clamping plate 12. Two first transmission plates 22 are slidably connected in the functional cavity 21. A second transmission plate 23 is fixedly connected to one side of the first transmission plate 22 and slidably connected to the first clamping plate 12. An adjusting bolt 24 is threadedly connected to the second transmission plate 23. One end of the adjusting bolt 24 is rotatably connected to the second clamping plate 25. A transmission column 26 is fixedly connected to one side of the second clamping plate 25 and slidably connected to the second transmission plate 23. A driving mechanism connected to the first clamping plate 12 is provided on one side of the first transmission plate 22. The driving mechanism is used to drive the first transmission plate 22 to move.

[0032] The drive mechanism includes a drive groove 31 opened on the first drive plate 22, a drive block 32 slidably connected in the drive groove 31, a pressing plate 33 slidably connected to the first clamping plate 12 on one side of the drive block 32, and a spring 34 fixedly connected to the functional cavity 21 on one side of the first drive plate 22.

[0033] The first transmission mechanism includes a first rotation drive component 41 fixedly connected to the connecting plate 5. The first rotation drive component 41 is a servo motor, which is controlled by a PLC programming program. The servo motor can be controlled to rotate forward and backward and rotate at different angles. The output end of the first rotation drive component 41 is fixedly connected to a drive shaft 42. A first gear 43 is fixedly sleeved on the outer surface of the drive shaft 42. A second gear 44 is meshed with the outer surface of the first gear 43 and fixedly sleeved on the mounting shaft 6. The first rotation drive component 41 drives the drive shaft 42 to rotate, and the drive shaft 42 drives the mounting shaft 6 to rotate through the first gear 43 and the second gear 44.

[0034] The second transmission mechanism includes a third telescopic drive member 51 fixedly connected to the transmission frame 7. The third telescopic drive member 51 is an electric telescopic rod or an electric hydraulic rod. The output end of the third telescopic drive member 51 is fixedly connected to a first transmission rack 52. One side of the first transmission rack 52 is meshed with a first transmission gear 53 fixedly sleeved with the first transmission shaft 8. The third telescopic drive member 51 drives the first transmission rack 52 to move, and the first transmission rack 52 drives the first transmission gear 53 and the first transmission shaft 8 to rotate.

[0035] The third transmission mechanism includes a fourth telescopic drive member 61 fixedly connected to the clamping frame 9. The fourth telescopic drive member 61 is an electric telescopic rod or an electric hydraulic rod. The output end of the fourth telescopic drive member 61 is fixedly connected to a second transmission rack 62. One side of the second transmission rack 62 is meshed with a second transmission gear 63 fixedly sleeved with the mounting tube 10. The fourth telescopic drive member 61 drives the second transmission rack 62 to move, and the second transmission rack 62 drives the second transmission gear 63 and the mounting tube 10 to rotate.

[0036] The moving mechanism includes two second rotation drive components 71 fixedly connected to the mounting bracket 1. Each second rotation drive component 71 is a servo motor, controlled by a PLC program to control forward and reverse rotation and rotation angle. The output end of each second rotation drive component 71 is fixedly connected to a first threaded rod 72 rotatably connected to the mounting bracket 1. The outer surface of the first threaded rod 72 is threadedly fitted with a moving frame 73 slidably connected to the mounting bracket 1. Two guide rods, fixedly connected to the mounting bracket 1, are slidably connected to the moving frame 73. A third rotation drive component 74, also a servo motor, is fixedly connected to the moving frame 73. The motor is controlled by a PLC programming program, which can control the servo motor to rotate forward and backward and rotate at different angles. The output end of the third rotation drive 74 is fixedly connected to a second threaded rod 75 that is rotatably connected to the moving frame 73. The outer surface of the second threaded rod 75 is threadedly connected to the moving plate 2. A guide rod that is fixedly connected to the moving frame 73 is slidably connected to the moving plate 2. The second rotation drive 71 drives the first threaded rod 72 to rotate, and the first threaded rod 72 drives the moving frame 73 to move back and forth. At the same time, the third rotation drive 74 on the moving frame 73 drives the second threaded rod 75 to rotate, and the second threaded rod 75 drives the moving plate 2 to move left and right.

[0037] Rubber pads are fixedly connected to the outer surfaces of both the first clamping plate 12 and the second clamping plate 25.

[0038] First, install the mounting bracket 1 to the required handling and gripping position. Then, according to the required width of the material to be gripped, rotate the adjusting bolt 24. The adjusting bolt 24 drives the second clamping plate 25 to move, adjusting the second clamping plate 25 to a suitable position according to the required width of the material to be gripped. Then, the moving mechanism drives the two parallel moving plates 2 to move, moving the moving plates 2 above the material to be gripped. Then, the first telescopic drive member 4 drives the connecting plate 5 to move downward. The connecting plate 5 drives the mounting shaft 6, transmission frame 7, first transmission shaft 8, and clamping frame 9 to move downward, allowing the material to be gripped to enter the clamping frame 9. Then, the second telescopic drive member 11 drives the first clamping plate 12 to move, clamping the material. When the first clamping plate 12 is in the clamping position... During the process, the extrusion plate 33 on the first clamping plate 12 first contacts the material. At this time, the extrusion plate 33 is squeezed by the material, and the extrusion plate 33 drives the transmission inclined block 32 to move. The transmission inclined block 32 drives the first transmission plate 22 to move through the transmission inclined groove 31. The first transmission plate 22 drives the second transmission plate 23 to move. The second transmission plate 23 drives the adjusting bolt 24 and the second clamping plate 25 to move. The second clamping plate 25 clamps the side of the material. Then the extrusion plate 33 enters the functional cavity. At this time, the first clamping plate 12 clamps and fixes the material, thereby realizing the wrap-around clamping and fixing of materials of different sizes, which greatly improves the clamping area of ​​the material, further improves the stability of the material clamping, facilitates the subsequent movement of the gripped material, and effectively prevents the risk of the material falling during the gripping process.

[0039] Example 2

[0040] Based on Example 1, please refer to Figures 2 to 7As shown, during the material gripping process, the first transmission mechanism drives the mounting shaft 6 to rotate according to the placement angle of the gripped material. The mounting shaft 6 drives the transmission frame 7 and the clamping frame 9 to rotate, thereby adjusting the angle of the clamping frame 9 to grip materials placed at different horizontal angles. Simultaneously, after gripping the material, when it is subsequently placed horizontally on the shelf, the second transmission mechanism drives the first transmission shaft 8 to rotate. The first transmission shaft 8 drives the clamping frame 9 to rotate until it is parallel to the horizontal plane, facilitating the horizontal placement of the material clamped within the clamping frame 9 into the shelf. Simultaneously, the third transmission mechanism drives the mounting tube 10 to rotate, which in turn drives the first clamping plate 12 to rotate. The first clamping plate 12 then moves the clamped material relative to the clamping frame. The clamping frame 9 rotates in the opposite direction to the rotation of the clamping frame 9, thereby offsetting the rotation angle of the clamped material and keeping the clamped material perpendicular to the horizontal plane. This effectively prevents the internal items of the gripped material from rolling over and being damaged, further improving the stability of material handling. At the same time, the second transmission mechanism drives the first transmission shaft 8 and the clamping frame 9 to rotate, changing the clamping angle of the clamping frame 9. This, combined with the aforementioned moving mechanism, drives the movement of the clamping frame 9 and rotates it through the first transmission mechanism. This allows the gripping mechanism to be multi-axis adjustable, facilitating the handling of materials with different orientations and greatly improving its applicability. Furthermore, the coordinated operation of the two parallel gripping devices 3 further improves the material handling efficiency of the gripping mechanism.

[0041] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A parallel multi-degree-of-freedom gripping mechanism for material handling, characterized in that, Includes a mounting frame (1), on which two movable plates (2) are connected in parallel. The movable plates (2) are provided with a moving mechanism connected to the mounting frame (1). The moving mechanism is used to drive the movable plates (2) to move. The bottom of the movable plates (2) is provided with a gripping device (3). The gripping device (3) includes a first telescopic drive member (4) fixedly connected to the moving plate (2). A connecting plate (5) is fixedly connected to the output end of the first telescopic drive member (4). A mounting shaft (6) is rotatably connected to the connecting plate (5). A first transmission mechanism connected to the connecting plate (5) is driven to the outer surface of the mounting shaft (6). The first transmission mechanism is used to drive the mounting shaft (6) to rotate. A transmission frame (7) is fixedly connected to the bottom end of the mounting shaft (6). Two first transmission shafts (8) are rotatably connected inside the transmission frame (7). A second transmission mechanism connected to the transmission frame (7) is driven to the outer surface of the first transmission shafts (8). The mechanism is used to drive the first drive shaft (8) to rotate. A clamping frame (9) is fixedly connected between the two first drive shafts (8). Two mounting tubes (10) are rotatably connected inside the clamping frame (9). A third transmission mechanism connected to the clamping frame (9) is connected to the outer surface of the mounting tube (10). The third transmission mechanism is used to drive the mounting tube (10) to rotate. A second telescopic drive member (11) is fixedly connected inside the mounting tube (10). A first clamping plate (12) is fixedly connected to the output end of the second telescopic drive member (11). A side clamping mechanism is provided on the first clamping plate (12). The side clamping mechanism is used to clamp and fix the side of the box.

2. The parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 1, characterized in that, The side clamping mechanism includes a functional cavity (21) on a first clamping plate (12). Two first transmission plates (22) are slidably connected in the functional cavity (21). A second transmission plate (23) is fixedly connected to one side of the first transmission plate (22) and slidably connected to the first clamping plate (12). An adjusting bolt (24) is threaded onto the second transmission plate (23). One end of the adjusting bolt (24) is rotatably connected to a second clamping plate (25). A transmission column (26) is fixedly connected to one side of the second clamping plate (25) and slidably connected to the second transmission plate (23). A driving mechanism connected to the first clamping plate (12) is provided on one side of the first transmission plate (22). The driving mechanism is used to drive the first transmission plate (22) to move.

3. A parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 2, characterized in that, The driving mechanism includes a transmission groove (31) opened on the first transmission plate (22), a transmission block (32) is slidably connected in the transmission groove (31), a pressing plate (33) that is slidably connected to the first clamping plate (12) is fixedly connected to one side of the transmission block (32), and a spring (34) that is fixedly connected to the functional cavity (21) is fixedly connected to one side of the first transmission plate (22).

4. A parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 1, characterized in that, The first transmission mechanism includes a first rotation drive member (41) fixedly connected to the connecting plate (5), and a drive shaft (42) fixedly connected to the output end of the first rotation drive member (41). A first gear (43) is fixedly sleeved on the outer surface of the drive shaft (42), and a second gear (44) fixedly sleeved on the outer surface of the first gear (43) is meshed with the mounting shaft (6).

5. A parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 1, characterized in that, The second transmission mechanism includes a third telescopic drive member (51) fixedly connected to the transmission frame (7). The output end of the third telescopic drive member (51) is fixedly connected to a first transmission rack (52). One side of the first transmission rack (52) is meshed with a first transmission gear (53) fixedly sleeved with the first transmission shaft (8).

6. A parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 1, characterized in that, The third transmission mechanism includes a fourth telescopic drive member (61) fixedly connected to the clamping frame (9). The output end of the fourth telescopic drive member (61) is fixedly connected to a second transmission rack (62). One side of the second transmission rack (62) is meshed with a second transmission gear (63) fixedly sleeved with the mounting tube (10).

7. A parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 1, characterized in that, The moving mechanism includes two second rotation drive members (71) fixedly connected to the mounting frame (1). The output end of the second rotation drive member (71) is fixedly connected to a first threaded rod (72) rotatably connected to the mounting frame (1). The outer surface of the first threaded rod (72) is threadedly fitted with a moving frame (73) slidably connected to the mounting frame (1). A guide rod fixedly connected to the mounting frame (1) is slidably connected to the moving frame (73). A third rotation drive member (74) is fixedly connected to the moving frame (73). The output end of the third rotation drive member (74) is fixedly connected to a second threaded rod (75) rotatably connected to the moving frame (73). The outer surface of the second threaded rod (75) is threadedly fitted to the moving plate (2). A guide rod fixedly connected to the moving frame (73) is slidably connected to the moving plate (2). The number of guide rods is two.

8. A parallel multi-degree-of-freedom gripping mechanism for material handling according to claim 2, characterized in that, Rubber pads are fixedly connected to the outer surfaces of the first clamping plate (12) and the second clamping plate (25).

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