gripping device

Abstract

The application discloses a clamping device and belongs to the technical field of mechanical equipment. The clamping device comprises a driving main body, a main clamping assembly slidably installed on the driving main body and oppositely arranged along a first direction, a side clamping assembly oppositely arranged along a second direction intersecting with the first direction, a linkage control mechanism in transmission connection with the main clamping assembly and the side clamping assembly respectively, and the main clamping assembly moves oppositely or in opposite directions along the first direction under the control of the driving main body, and the side clamping assembly is synchronously driven to oppositely or oppositely move by the linkage control mechanism until a four-point circumferential clamping state is presented.

Description

Technical Field

[0001] This application belongs to the field of mechanical equipment technology, specifically relating to a clamping device. Background Technology

[0002] Currently, in the automated production of crayfish tails, the separation of the head and tail is generally assisted by mechanical grippers. However, existing automated head-removing equipment typically uses a single mechanical chuck with fixed clamping sizes, resulting in poor compatibility with different types of crayfish, including large, small, soft, and hard varieties. During the gripping process, the head easily slips off, leading to a low success rate. Larger crayfish are prone to head breakage, and the retention rate of the crayfish roe is low. Summary of the Invention

[0003] The purpose of this application is to provide a clamping device that can solve the problem that existing automated shrimp head removal equipment has poor compatibility with different types of shrimp, resulting in low clamping success rate or low shrimp roe retention rate.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] In a first aspect, embodiments of this application provide a clamping device, including:

[0006] Driven main body;

[0007] The main clamping assembly is slidably mounted on the drive body; the main clamping assembly includes a first main clamping part and a second main clamping part disposed opposite to each other along a first direction;

[0008] A side clamping assembly includes a first side clamping portion and a second side clamping portion disposed opposite to each other along a second direction; the second direction intersects the first direction;

[0009] The linkage control mechanism is connected to the main clamping assembly and the side clamping assembly respectively.

[0010] Wherein, the first main clamping part and the second main clamping part move toward each other or away from each other along the first direction under the control of the driving body;

[0011] During the process of the first main clamping part and the second main clamping part moving towards each other, the linkage control mechanism synchronously drives the first side clamping part and the second side clamping part to move towards each other until the main clamping assembly and the side clamping assembly are in a four-point circumferential clamping state.

[0012] During the process of the first main clamping part and the second main clamping part moving in opposite directions, the linkage control mechanism synchronously drives the first side clamping part and the second side clamping part to move in opposite directions.

[0013] In some embodiments of this application, the linkage control mechanism includes:

[0014] The linkage assembly includes a main linkage connected to the first main clamping part, a first side linkage connected to the first side clamping part, and a second side linkage connected to the second side clamping part; the main linkage is hinged to the first side linkage and the second side linkage via a pivot.

[0015] A guide assembly includes a fixed guide member and a guide mating part, wherein the guide mating part is respectively disposed on the first side connecting rod and the second side connecting rod, and the fixed guide member is slidably engaged with the guide mating part;

[0016] During the process of the first main clamping part and the second main clamping part moving in opposite directions or towards each other, the first side connecting rod and the second side connecting rod rotate around the rotating shaft through the sliding engagement of the guide fitting part and the fixed guide member, so that the first side clamping part and the second side clamping part move closer to each other or further away from each other.

[0017] In some embodiments of this application, the guiding component further includes:

[0018] The guide plate, wherein the fixed guide component is a guide pin disposed on the guide plate;

[0019] The guiding mating part is a guide groove extending along the length direction of the first side connecting rod and the second side connecting rod; the guide pin is slidably disposed in the guide groove.

[0020] In some embodiments of this application, the guide plate is further provided with a linear groove, which extends along the first direction; the main connecting rod is slidably disposed in the linear groove.

[0021] In some embodiments of this application, the linkage control mechanism further includes:

[0022] A reset mechanism, one end of which is fixedly connected to the guide plate, and the other end of which is fixedly connected to the first main clamping part;

[0023] In the clamping state, the reset mechanism is stretched and stores energy; in the releasing state, the reset mechanism releases energy and pulls the main connecting rod to move in a direction away from the second main clamping part.

[0024] In some embodiments of this application, the reset mechanism includes: an elastic component;

[0025] The guide plate has an open channel; the elastic component is retractably disposed within the open channel; one end of the elastic component is connected to the guide plate, and the other end is fixedly connected to the first main clamping part.

[0026] In some embodiments of this application, the first side clamping part is hinged to the first side connecting rod via a first pin, the axis of the first pin extending perpendicular to the second direction; the second side clamping part is hinged to the second side connecting rod via a second pin, the axis of the second pin extending perpendicular to the second direction;

[0027] During the rotation of the first side connecting rod and the second side connecting rod around the pivot, the first side clamping part and the second side clamping part can swing relative to each other around the first pin and the second pin, so that the clamping surfaces of the first side clamping part and the second side clamping part face the object being clamped.

[0028] In some embodiments of this application, the clamping surfaces of the first main clamping part, the second main clamping part, the first side clamping part, and the second side clamping part are provided with contoured clamping surfaces, and the contoured clamping surfaces are provided with anti-slip protrusions.

[0029] In some embodiments of this application, the driving body includes a drive motor and a transmission assembly;

[0030] The transmission assembly includes: a base body, a first slider, and a second slider;

[0031] The base body is provided with a linear slide rail, and the first slider and the second slider are slidably disposed on the linear slide rail; the first main clamping part is fixedly connected to the first slider, and the second main clamping part is fixedly connected to the second slider.

[0032] In some embodiments of this application, the second main clamping part is provided with a tactile detection element, which is used to acquire a status feedback signal during the clamping process;

[0033] The clamping device further includes a control module, which is communicatively connected to the tactile detection element and the driving body, respectively; the control module is used to receive the status feedback signal and adjust the clamping force based on the status feedback signal.

[0034] In the above scheme, the main clamping component is driven to move along the first direction by a single power source, and the linear motion of the main clamping component is converted into the synchronous motion of the side clamping components along the second direction by a linkage control mechanism, thus achieving coordinated encirclement of the four clamping parts in the circumferential direction. Compared with the traditional two-finger clamping, this four-point circumferential clamping mode significantly increases the number of contact points with the clamped object, making the clamping force distribution more uniform, effectively avoiding damage to the object caused by local stress concentration, and improving the anti-torsion ability and overall stability during the clamping process, thereby increasing the clamping success rate and the shrimp roe retention rate. Attached Figure Description

[0035] Figure 1 One of the front view structural schematic diagrams of the clamping device in the released state according to an embodiment of this application;

[0036] Figure 2 This is a front view schematic diagram showing the clamping device of this application in the clamping state;

[0037] Figure 3 The second front view schematic diagram showing the clamping device of this application in the released state;

[0038] Figure 4 This is one of the schematic diagrams showing the rotation of the side clamping part in an embodiment of this application;

[0039] Figure 5 This is the second schematic diagram of the rotation of the side clamping part in an embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 100-Drive body; 110-Drive motor; 120-Transmission assembly; 121-Base body; 122-First slider; 123-Second slider; 200-Main clamping assembly; 210-First main clamping part; 220-Second main clamping part; 221-Tactile detection element; 300-Side clamping assembly; 310-First side clamping part; 311-First pin; 312-Second pin; 320-Second side clamping part; 410-Linking rod assembly; 411-Main connecting rod; 412-First side connecting rod; 413-Second side connecting rod; 414-Rotating shaft; 420-Guide assembly; 421-Guide plate; 422-Guide pin; 423-Linear slide; 430-Reset mechanism; A-Guide groove; B-Moving channel; 500-Protective housing. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0044] The clamping device provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0045] Please refer to Figures 1 to 5 This application provides a clamping device, which includes a drive body 100, a main clamping component 200, a side clamping component 300, and a linkage control mechanism. The drive body 100 serves as the power source and mounting base for the entire device, providing the driving force required for the clamping action and supporting the various functional components. Specifically, the drive body 100 can employ any power form capable of outputting linear reciprocating motion, such as electric, pneumatic, or hydraulic. In this embodiment, an electric drive structure is preferred. However, it should be understood that the specific implementation of the drive body 100 is not limited to this, as long as it can stably output a controllable linear driving force.

[0046] The main clamping assembly 200 is slidably mounted on the drive body 100, and the main clamping assembly 200 includes a first main clamping part 210 and a second main clamping part 220 disposed opposite to each other along a first direction. The first direction referred to here is the linear trajectory direction of the main clamping assembly 200 when performing its opening and closing action. Figure 1 In the example shown, the first direction is horizontal. The first main clamping part 210 and the second main clamping part 220 are arranged opposite each other in this horizontal direction, and the clamping or releasing of the object is achieved by reciprocating sliding along this direction. It should be noted that the first direction is not an absolute spatial orientation limitation. In practical applications, depending on the installation posture of the device, the first direction can also be vertical or inclined. As long as the two main clamping parts can move relative to each other along the same straight trajectory, they fall within the protection scope of this application.

[0047] The side clamping assembly 300 includes a first side clamping portion 310 and a second side clamping portion 320 arranged opposite each other along a second direction, and the second direction intersects the first direction. Specifically, the second direction refers to the direction of the motion component of the side clamping assembly 300 when performing the clamping action. The intersection of the second direction and the first direction means that there is a non-zero angle between the second direction and the first direction, so that the side clamping assembly 300 can approach the object to be clamped from a direction different from the main clamping assembly 200. In an optional embodiment, the second direction and the first direction are perpendicular to each other, that is, at a 90-degree angle, in which case the four clamping portions can form a symmetrical enclosure in the two orthogonal directions. However, in other feasible embodiments, the second direction and the first direction can also be at a 60-degree, 120-degree, or other acute or obtuse angle relationship, as long as this intersecting arrangement can enable the side clamping portions and the main clamping portions to jointly form a multi-point circumferential enclosure.

[0048] The linkage control mechanism is connected to the main clamping assembly 200 and the side clamping assembly 300 respectively. The first main clamping part 210 and the second main clamping part 220 move towards each other or away from each other along a first direction under the control of the drive body 100. During the movement of the first main clamping part 210 and the second main clamping part 220 towards each other, the linkage control mechanism simultaneously drives the first side clamping part 310 and the second side clamping part 320 to move towards each other until the main clamping assembly 200 and the side clamping assembly 300 are in a four-point circumferential clamping state. During the movement of the first main clamping part 210 and the second main clamping part 220 away from each other, the linkage control mechanism simultaneously drives the first side clamping part 310 and the second side clamping part 320 to move away from each other.

[0049] Specifically, synchronous drive here means that the movement of the side clamping part is not controlled by an independent power source, but rather through a transmission relationship established between the linkage control mechanism and the main clamping assembly 200, which converts the linear motion of the main clamping part into the approaching or moving away motion of the side clamping part. When the drive body 100 pushes the main clamping part to close, the linkage control mechanism passively drives the side clamping part to retract inward as well. The high consistency of the four-finger movements can be guaranteed solely by the inherent constraints of the mechanical structure.

[0050] This embodiment of the application achieves a four-point circumferential clamping state through the above structural design. In the four-point circumferential clamping state, the first main clamping part 210, the second main clamping part 220, the first side clamping part 310, and the second side clamping part 320 simultaneously adhere to the surface of the object to be clamped from four directions, forming a closed or semi-closed annular constraint space. Compared with the traditional two-finger clamping, this four-point circumferential clamping method can increase the number of contact points with the clamped object, making the clamping force more evenly distributed in the circumferential direction, effectively avoiding damage or slippage of the clamped object caused by local stress concentration. At the same time, since the four clamping points are spatially intersecting, when the device is subjected to rotational torque or axial pull-out force, it can use the vector synthesis of multi-point frictional forces to resist external loads, greatly improving the anti-torsional ability and overall stability during the clamping process. Furthermore, since the movement of the side clamping part is entirely dependent on the movement of the main clamping part, the entire device only needs one drive source to complete the four-dimensional collaborative operation, which greatly simplifies the system complexity and reduces manufacturing costs and maintenance difficulty while ensuring clamping performance.

[0051] In some embodiments of this application, the linkage control mechanism includes a linkage assembly 410 and a guide assembly 420. The linkage assembly 410 includes a main link 411 connected to the first main clamping portion 210, a first side link 412 connected to the first side clamping portion 310, and a second side link 413 connected to the second side clamping portion 320. The main link 411 is hinged to the first side link 412 and the second side link 413 via a pivot 414. The guide assembly 420 includes a fixed guide member and a guide mating portion. The guide mating portions are respectively disposed on the first side link 412 and the second side link 413, and the fixed guide member slides in contact with the guide mating portion. During the movement of the first main clamping portion 210 and the second main clamping portion 220 in opposite directions or towards each other, the first side link 412 and the second side link 413 rotate around the pivot 414 through the sliding contact between the guide mating portion and the fixed guide member, causing the first side clamping portion 310 and the second side clamping portion 320 to move closer to or further away from each other.

[0052] In this embodiment, the single linear input of the main clamping part can be converted into the rotary output of the side clamping part. When the main connecting rod 411 is driven to move along the first direction, since the spatial position of the fixed guide is fixed, the guide mating part is forced to displace under the constraint of the fixed guide, thereby forcing the side connecting rod to deflect around the rotation axis 414. This structural design can ensure strict synchronization of the four-finger movements, significantly reducing the control complexity and manufacturing cost of the system.

[0053] In some embodiments of this application, the guide assembly 420 further includes a guide plate 421, the fixed guide member is a guide pin 422 disposed on the guide plate 421, and the guide mating part is a guide groove A extending along the length direction of the first side connecting rod 412 and the second side connecting rod 413, and the guide pin 422 is slidably disposed in the guide groove A.

[0054] In this structure, the guide groove A extends along the length of the connecting rod and forms a long strip-shaped guide groove A, allowing the guide pin 422 to slide freely in the guide groove A. This structure can absorb the radial displacement component during rotation, ensuring the stability of the linkage control.

[0055] In some embodiments of this application, the guide plate 421 is further provided with a linear groove 423, which extends along a first direction, and the main connecting rod 411 is slidably disposed within the linear groove 423. In this embodiment, the linear groove 423 can provide guidance for the main connecting rod 411, eliminating the radial offset or sway that may occur when the main connecting rod 411 is subjected to lateral force, ensuring that the driving force can be transmitted to the two side connecting rods without loss, and improving the rigidity and lifespan of the entire linkage mechanism.

[0056] In some embodiments of this application, the clamping device further includes a protective housing 500, which is a box-shaped protective structure. The protective housing 500 covers the guide plate 421 on the side near the moving link assembly 410, and together with the guide plate 421, forms a receiving space in which the link assembly 410 and the guide assembly 420 are housed. Optionally, the protective housing 500 is detachably connected to the guide plate 421 by fasteners (e.g., screws).

[0057] In some embodiments of this application, the protective housing 500 has at least one telescopic opening. The main connecting rod 411, the first side connecting rod 412, and the second side connecting rod 413 respectively pass through the telescopic opening to correspondingly connect with the first main clamping part 210, the first side clamping part 310, and the second side clamping part 320. The telescopic opening is arranged along the stroke direction of the corresponding connecting rod, and the opening size is slightly larger than the width of the corresponding connecting rod. In this way, each connecting rod can move smoothly within the telescopic opening during reciprocating motion.

[0058] In some embodiments of this application, the linkage control mechanism further includes a reset mechanism 430, one end of which is fixedly connected to a guide plate 421, and the other end is fixedly connected to a first main clamping part 210. In the clamping state, the reset mechanism 430 is stretched to store energy; in the release state, the reset mechanism 430 releases energy and pulls the main connecting rod 411 to move in a direction away from the second main clamping part 220.

[0059] In this embodiment, when the driving body 100 stops applying clamping force, the potential energy stored in the elastic component is rapidly released, actively pulling the main connecting rod 411 to reverse reset, and driving all side clamping parts to open synchronously through the above-mentioned linkage transmission chain, thus realizing automatic reset after clamping is completed.

[0060] In some embodiments of this application, the reset mechanism 430 includes an elastic member, wherein a movable channel B is provided on the guide plate 421, the elastic member is retractably disposed in the movable channel B, and one end of the elastic member is connected to the guide plate 421, and the other end is fixedly connected to the first main clamping part 210.

[0061] In this embodiment, by completely housing the elastic component within the movable channel B of the guide plate 421, the risk of the elastic component being exposed and easily damaged can be avoided; on the other hand, the size of the clamping device can be significantly reduced, making the structure of the clamping device more compact.

[0062] Optionally, the elastic component can be implemented as a tension spring, a compression spring, or a rubber elastomer. For example, the elastic component is a tension spring, with hooks at both ends of the tension spring respectively hooked to the guide plate 421 and the first main clamping part 210, and housed in the movable channel B; it is stretched to store energy when clamped, and springs back to pull the main connecting rod 411 to reset when released.

[0063] In some embodiments of this application, the first side clamping part 310 is hinged to the first side connecting rod 412 via a first pin 311, the axis of the first pin 311 extending perpendicular to the second direction; the second side clamping part 320 is hinged to the second side connecting rod 413 via a second pin 312, the axis of the second pin 312 extending perpendicular to the second direction. During the rotation of the first side connecting rod 412 and the second side connecting rod 413 around the pivot 414, the first side clamping part 310 and the second side clamping part 320 can swing relative to each other around the first pin 311 and the second pin 312, so that the clamping surfaces of the first side clamping part 310 and the second side clamping part 320 face the object being clamped.

[0064] like Figure 4 and Figure 5 As shown, the pin arrangement perpendicular to the clamping direction provides additional swing freedom for the side clamping part. When the side clamping part approaches an irregularly shaped target object, the clamping surface of the side clamping part can automatically adjust its posture and fit the target surface with the maximum area, avoiding the problem of low clamping success rate due to clamping angle deviation, and improving the effectiveness and stability of clamping.

[0065] In some embodiments of this application, the clamping surfaces of the first main clamping part 210, the second main clamping part 220, the first side clamping part 310, and the second side clamping part 320 are all provided with a contoured clamping surface, and the contoured clamping surface is provided with an anti-slip protrusion.

[0066] Optionally, the radius of curvature of the contoured clamping surface can be designed according to the outer contour of the object being clamped (such as the head of a crayfish). The anti-slip protrusions on the contoured clamping surface can provide mechanical engagement points based on the contoured surface, reducing the risk of the clamped object slipping and falling off during operation.

[0067] In some embodiments of this application, the drive body 100 includes a drive motor 110 and a transmission assembly 120. The transmission assembly 120 includes a base body 121, a first slider 122, and a second slider 123. The base body 121 is provided with a linear slide rail. The first slider 122 and the second slider 123 are slidably disposed on the linear slide rail. A first main clamping part 210 is fixedly connected to the first slider 122, and a second main clamping part 220 is fixedly connected to the second slider 123.

[0068] It should be understood that although this embodiment shows a drive form in which a motor cooperates with a slider, in other embodiments, the drive body can also be a driver such as a cylinder, hydraulic cylinder or linear motor, as long as it can realize the controlled reciprocating motion of the main clamping part along the first direction.

[0069] In some embodiments of this application, the second main clamping part 220 is provided with a tactile detection element 221, which is used to acquire status feedback signals during the clamping process. The clamping device also includes a control module, which is communicatively connected to the tactile detection element 221 and the driving body 100 respectively; the control module is used to receive status feedback signals and adjust the clamping force based on the status feedback signals.

[0070] Optionally, the tactile detection element 221 can be installed on the inner surface of the second main clamping part 220 facing the object being clamped, so as to directly contact the object being clamped and collect sensing data. Regarding the specific type of the tactile detection element 221, this application is not limited to a single form, but can be selected according to actual working conditions. For example, the tactile detection element 221 can be a pressure sensor or an array-type tactile sensor, etc. The status feedback signal collected by the tactile detection element 221 can include, but is not limited to, one or more combinations of real-time pressure values, distance to the object being clamped, or the material of the object being clamped.

[0071] Optionally, in a specific implementation, after receiving the status feedback signal from the tactile detection element 221, the control module can dynamically adjust the output of the driving body 100 based on a preset control algorithm. For example, when the real-time pressure value fed back by the tactile detection element 221 exceeds a preset safety threshold, it indicates that the current clamping force may be too large, posing a risk of damage. The control module will send a first control command to the driving body 100 to control the main clamping component 200 and the side clamping component 300 to release the excessive clamping force, protecting the clamped object from damage. Conversely, if the detected pressure value is lower than the minimum threshold required to maintain stable clamping, the control module can output a second control command to the driving body 100 to control the main clamping component 200 and the side clamping component 300 to increase the clamping force.

[0072] Furthermore, this application also provides a clamping device, which includes the clamping apparatus as described in any of the foregoing embodiments. Specifically, the clamping device can be integrated into an automated production line to perform gripping, handling, or processing operations as an end effector.

[0073] To more clearly demonstrate the technical solution of this application, a detailed description is provided below using the automatic head-removal station in a crayfish processing production line as an example. It should be understood that although this embodiment uses crayfish as the specific application object, this is merely an illustrative example and not a limiting provision, and can be extended to other automated clamping scenarios.

[0074] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0076] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A clamping device, characterized in that, include: Drive unit (100); The main clamping assembly (200) is slidably mounted on the drive body (100); the main clamping assembly (200) includes a first main clamping part (210) and a second main clamping part (220) arranged opposite to each other along a first direction. The side clamping assembly (300) includes a first side clamping portion (310) and a second side clamping portion (320) disposed opposite each other along a second direction; the second direction intersects the first direction; The linkage control mechanism is connected to the main clamping assembly (200) and the side clamping assembly (300) respectively; The first main clamping part (210) and the second main clamping part (220) move towards each other or away from each other along the first direction under the control of the driving body (100); During the process of the first main clamping part (210) and the second main clamping part (220) moving towards each other, the linkage control mechanism synchronously drives the first side clamping part (310) and the second side clamping part (320) to move towards each other until the main clamping assembly (200) and the side clamping assembly (300) are in a four-point circumferential clamping state; During the process of the first main clamping part (210) and the second main clamping part (220) moving in opposite directions, the linkage control mechanism synchronously drives the first side clamping part (310) and the second side clamping part (320) to move in opposite directions.

2. The clamping device according to claim 1, characterized in that, The linkage control mechanism includes: The linkage assembly (410) includes a main link (411) connected to the first main clamping part (210), a first side link (412) connected to the first side clamping part (310), and a second side link (413) connected to the second side clamping part (320); the main link (411) is hinged to the first side link (412) and the second side link (413) via a pivot (414); The guide assembly (420) includes a fixed guide member and a guide mating part, the guide mating part being respectively disposed on the first side connecting rod (412) and the second side connecting rod (413), and the fixed guide member slidingly engaging with the guide mating part; During the process of the first main clamping part (210) and the second main clamping part (220) moving in opposite directions or towards each other, the first side connecting rod (412) and the second side connecting rod (413) rotate around the rotating shaft through the sliding engagement of the guide fitting part and the fixed guide member, so that the first side clamping part (310) and the second side clamping part (320) move closer to each other or further away from each other.

3. The clamping device according to claim 2, characterized in that, The guide assembly (420) further includes: Guide plate (421), the fixed guide member is a guide pin (422) provided on the guide plate (421); The guiding mating part is a guide groove (A) extending along the length direction of the first side connecting rod (412) and the second side connecting rod (413); the guide pin (422) is slidably disposed in the guide groove (A).

4. The clamping device according to claim 3, characterized in that, The guide plate (421) is also provided with a linear slide groove (423), which extends along the first direction; the main connecting rod (411) is slidably disposed in the linear slide groove (423).

5. The clamping device according to claim 3, characterized in that, The linkage control mechanism also includes: A reset mechanism (430) is fixedly connected at one end to the guide plate (421) and at the other end to the first main clamping part (210). In the clamping state, the reset mechanism (430) is stretched and stores energy; in the releasing state, the reset mechanism (430) releases energy and pulls the main connecting rod (411) to move in a direction away from the second main clamping part (220).

6. The clamping device according to claim 5, characterized in that, The reset mechanism (430) includes: an elastic component; The guide plate (421) has an active channel (B); the elastic component is retractably disposed in the active channel (B); and one end of the elastic component is connected to the guide plate (421), and the other end is fixedly connected to the first main clamping part (210).

7. The clamping device according to claim 2, characterized in that, The first side clamping part (310) is hinged to the first side connecting rod (412) via a first pin (311), the axis of the first pin (311) extending perpendicular to the second direction; the second side clamping part (320) is hinged to the second side connecting rod (413) via a second pin (312), the axis of the second pin (312) extending perpendicular to the second direction; During the rotation of the first side link (412) and the second side link (413) around the pivot, the first side clamping part (310) and the second side clamping part (320) can swing relative to each other around the first pin (311) and the second pin (312), so that the clamping surfaces of the first side clamping part (310) and the second side clamping part (320) face the object being clamped.

8. The clamping device according to claim 1, characterized in that, The clamping surfaces of the first main clamping part (210), the second main clamping part (220), the first side clamping part (310) and the second side clamping part (320) are provided with contoured clamping surfaces, and the contoured clamping surfaces are provided with anti-slip protrusions.

9. The clamping device according to claim 2, characterized in that, The drive unit (100) includes a drive motor (110) and a transmission assembly (120). The transmission assembly (120) includes: a base body (121), a first slider (122), and a second slider (123). The base body (121) is provided with a linear slide rail, and the first slider (122) and the second slider (123) are slidably disposed on the linear slide rail; the first main clamping part (210) is fixedly connected to the first slider (122), and the second main clamping part (220) is fixedly connected to the second slider (123).

10. The clamping device according to claim 1, characterized in that, The second main clamping part (220) is provided with a tactile detection element (221), which is used to acquire the status feedback signal during the clamping process; The clamping device further includes a control module, which is communicatively connected to the tactile detection element (221) and the driving body (100) respectively; the control module is used to receive the status feedback signal and adjust the clamping force based on the status feedback signal.

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