Clamp and industrial robot
By introducing distance detectors and intelligent control into industrial robot fixtures, the collision between the fixture and the workpiece is avoided, and the problem of workpiece damage in the prior art is solved, thereby achieving the extension of workpiece life and cost reduction.
Patent Information
- Application Number
- CN202420930491.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-29
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2034-04-29
AI Technical Summary
Existing industrial robot fixtures are prone to downforce the workpiece during movement, causing damage to the workpiece, affecting service life and increasing costs.
A fixture including a fixture body, a clamping assembly and a distance detector is designed. The distance detector detects the distance between the fixture and the workpiece, generates a distance signal and outputs it to the robot body, and controls the robot arm to clamp at a suitable distance. , avoid bumps.
It effectively reduces the damage to the workpiece, improves the service life of the workpiece, and reduces the cost.
Smart Images
Figure CN222155630U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a clamp and an industrial robot. Background Art
[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in industrial fields. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.
[0003] Industrial robots usually use clamps to clamp workpieces, but when existing clamps move toward the workpiece, they move downward too far and are prone to pressurize the workpiece, causing damage to the workpiece, affecting its service life and increasing costs. Utility Model Content
[0004] The utility model aims to provide a clamp and an industrial robot, which can reduce damage to a workpiece, increase the service life of the workpiece, and reduce costs.
[0005] The embodiment of the utility model is achieved as follows:
[0006] In a first aspect, the utility model provides a clamp, comprising:
[0007] The fixture body;
[0008] A clamping assembly, the clamping assembly comprising a first clamp and a second clamp arranged at intervals, the first clamp and the second clamp both being movably connected to the clamp body; and
[0009] A distance detector is disposed on the fixture body and located between the first chuck and the second chuck. The distance detector is used to output a distance signal representing the distance between the fixture body and the workpiece.
[0010] In an optional embodiment, a mounting groove is formed on one side of the clamp body close to the first clamp and the second clamp, and the clamp further comprises a connecting column, which is arranged in the mounting groove, an outer side wall of the connecting column is provided with a first thread, an inner side wall of the mounting groove is provided with a second thread, and the first thread cooperates with the second thread;
[0011] The distance detector is disposed in the mounting groove and connected to one end of the connecting column close to the first clamp and the second clamp.
[0012] In an optional embodiment, a force-applying groove is formed on a side of the clamp body away from the first clamp and the second clamp, and the force-applying groove is communicated with the mounting groove;
[0013] The clamp further includes a force applying member, which is disposed in the force applying groove and is detachably connected to the connecting column.
[0014] In an optional embodiment, a connecting groove is formed at one end of the connecting column away from the distance detector, and the force applying member has a clamping portion, and the clamping portion is arranged in the connecting groove.
[0015] In an optional embodiment, a plurality of anti-slip grooves are formed on the outer side wall of the force-applying member, and the plurality of anti-slip grooves are arranged at intervals along the circumference of the force-applying member.
[0016] In an optional embodiment, the clamp further includes an anti-lost rope, one end of which is connected to the force-applying member, and the other end of which is connected to the clamp body.
[0017] In an optional embodiment, the clamp also includes a first limit plate, a second limit plate, a first buffer pad and a second buffer pad, the first limit plate and the second limit plate are respectively arranged on the first chuck and the second chuck; the first buffer pad is arranged on the side of the first limit plate away from the first chuck, and the second buffer pad is arranged on the side of the second limit plate away from the second chuck.
[0018] In an optional embodiment, the clamp further includes a first Velcro, a second Velcro, a third Velcro and a fourth Velcro, the first Velcro is fixedly arranged on a side of the first limiting plate close to the first buffer pad, the second Velcro is fixedly arranged on a side of the first buffer pad close to the first limiting plate, and is bonded to the first Velcro;
[0019] The third Velcro is fixedly arranged on a side of the second limiting plate close to the second buffer pad, and the fourth Velcro is fixedly arranged on a side of the second buffer pad close to the second limiting plate and is bonded to the third Velcro.
[0020] In an optional embodiment, the first buffer pad is provided with a first buckle groove, and the second buffer pad is provided with a second buckle groove.
[0021] In a second aspect, the utility model provides an industrial robot, comprising a robot body and the clamp described in any one of the aforementioned embodiments, wherein the clamp body is arranged on a mechanical arm of the robot body.
[0022] The beneficial effects of the embodiments of the utility model include:
[0023] The fixture includes a fixture body, a clamping assembly and a distance detector. The clamping assembly includes a first chuck and a second chuck arranged at intervals. Both the first chuck and the second chuck can be movably connected to the fixture body. The distance detector is arranged on the fixture body and located between the first chuck and the second chuck. The distance detector is used to output a distance signal representing the distance between the fixture body and the workpiece. When the industrial robot is used to clamp the workpiece, the robot arm of the robot body controls the fixture body to move toward the workpiece, and the distance between the fixture body and the workpiece is detected by the distance detector, and the detected data is used to generate a distance signal, and then the distance signal is output to the robot body; when the detected distance data is too small, the robot arm will stop moving toward the workpiece, so as to avoid the fixture body and the workpiece from colliding and causing damage to the workpiece; then when the fixture body and the workpiece are at a suitable distance, the workpiece is clamped by moving the first chuck and the second chuck on the fixture body. Therefore, the fixture can reduce damage to the workpiece, increase the service life of the workpiece, and reduce costs.
[0024] The industrial robot comprises a robot body and a clamp, and has all the beneficial effects of the clamp. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0026] Figure 1 A schematic diagram of the structure of a clamp provided in an embodiment of the utility model;
[0027] Figure 2 An exploded view of a portion of the structure of the clamp provided in an embodiment of the utility model;
[0028] Figure 3 for Figure 1 A partial enlarged view of the middle A;
[0029] Figure 4 for Figure 1 A partial enlarged view of point B in the middle.
[0030] Icons: 100-clamp; 10-clamp body; 11-installation slot; 12-second thread; 13-force-applying slot; 20-clamping assembly; 21-first chuck; 22-second chuck; 30-distance detector; 40-controller; 50-connecting column; 51-first thread; 52-connecting slot; 60-force-applying member; 61-clamping portion; 62-anti-slip slot; 70-anti-lost rope; 81-first limiting plate; 82-second limiting plate; 83-first buffer pad; 831-first buckle slot; 84-second buffer pad; 841-second buckle slot; 91-first Velcro; 92-second Velcro; 93-third Velcro; 94-fourth Velcro. DETAILED DESCRIPTION
[0031] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.
[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0034] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0035] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0037] As described in the background technology, industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Industrial robots usually use fixtures to clamp workpieces, but when existing fixtures move toward the workpiece, the downward movement distance is too large, which can easily cause downward pressure on the workpiece, resulting in damage to the workpiece, affecting the service life of the workpiece and increasing costs.
[0038] Based on this, please refer to Figure 1-Figure 4 The embodiment of the utility model provides a fixture 100 and an industrial robot, which can effectively improve the above-mentioned technical problems, that is, it can reduce damage to the workpiece, increase the service life of the workpiece, and reduce costs. The fixture 100 and the industrial robot will be described in detail below.
[0039] The industrial robot includes a robot body (not shown) and a clamp 100 . The clamp 100 is disposed on a robot arm of the robot body. The clamp 100 is controlled by the robot arm to move toward a workpiece, thereby clamping the workpiece.
[0040] Specifically, please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the clamp 100 provided in this embodiment. Figure 2 The exploded view of the partial structure of the clamp 100 provided in this embodiment, combined with Figure 1 and Figure 2The fixture 100 includes a fixture body 10, a clamping assembly 20 and a distance detector 30. The clamping assembly 20 includes a first chuck 21 and a second chuck 22 that are spaced apart. Both the first chuck 21 and the second chuck 22 can be movably connected to the fixture body 10. The distance detector 30 is disposed on the fixture body 10 and is located between the first chuck 21 and the second chuck 22. The distance detector 30 is used to output a distance signal representing the distance between the fixture body 10 and the workpiece.
[0041] When the industrial robot is used to clamp the workpiece, the robot body's mechanical arm controls the fixture body 10 to move toward the workpiece, detects the distance between the fixture body 10 and the workpiece through the distance detector 30, generates a distance signal from the detected data, and then outputs the distance signal to the robot body; when the detected distance data is too small, the mechanical arm will stop moving toward the workpiece, thereby avoiding the fixture body 10 from colliding with the workpiece and causing damage to the workpiece; then when the fixture body 10 and the workpiece are at a suitable distance, the first chuck 21 and the second chuck 22 are moved on the fixture body 10 to clamp the workpiece. Therefore, the fixture 100 can reduce damage to the workpiece, increase the service life of the workpiece, and reduce costs.
[0042] It should be noted that the industrial robot may further include a controller 40 , which is disposed on the fixture body 10 and electrically connected to the distance detector 30 . The controller 40 is used to obtain a distance signal and control the movement of the robot arm.
[0043] Specifically, in this embodiment, when the distance represented by the distance signal received by the controller 40 is greater than 10 cm, the robot arm is controlled to drive the clamp body 10 to move toward the workpiece; and when the distance represented by the distance signal received by the controller 40 is less than or equal to 10 cm, the robot arm is controlled to stop driving, that is, the clamp body 10 stops moving toward the workpiece, thereby avoiding the clamp body 10 from colliding with the workpiece.
[0044] It should be noted that in this embodiment, when the distance represented by the distance signal is less than or equal to 10 cm, the clamp body 10 will stop moving; of course, in other embodiments, the distance represented by the distance signal can also be other values, and its specific value needs to be determined based on the actual design structure and clamping requirements of the clamp body and the workpiece.
[0045] In order to facilitate the installation and replacement of the distance detector 30, in the present embodiment, a mounting groove 11 is provided on one side of the clamp body 10 close to the first clamp 21 and the second clamp 22, and the clamp 100 also includes a connecting column 50, which is arranged in the mounting groove 11, and the outer wall of the connecting column 50 is provided with a first thread 51, and the inner wall of the mounting groove 11 is provided with a second thread 12, and the first thread 51 cooperates with the second thread 12; the distance detector 30 is arranged in the mounting groove 11, and is connected to one end of the connecting column 50 close to the first clamp 21 and the second clamp 22.
[0046] It is easy to understand that through the threaded connection between the connecting column 50 and the mounting groove 11, the distance detector 30 can be conveniently set in the mounting groove 11. When the distance detector 30 needs to be disassembled for maintenance or replacement, it is only necessary to rotate the connecting column 50 and the mounting groove 11 to disengage the threaded connection. The operation is simple and convenient.
[0047] Since the distance detector 30 is installed in the installation slot 11, it is usually not convenient to directly rotate the distance detector 30 from the installation slot 11 when replacing it. Therefore, in order to more conveniently install and remove the distance detector 30, please continue to combine Figure 1 and Figure 2 A force-applying groove 13 is formed on one side of the clamp body 10 away from the first clamp 21 and the second clamp 22 , and the force-applying groove 13 is connected to the mounting groove 11 ; the clamp 100 also includes a force-applying member 60 , which is disposed in the force-applying groove 13 and is detachably connected to the connecting column 50 .
[0048] The operator can connect the force-applying member 60 to the connecting column 50, then rotate the force-applying member 60, and drive the first thread 51 of the connecting column 50 and the second thread 12 of the mounting groove 11 to tighten or loosen, thereby making it more convenient to remove or install the distance detector 30 from the mounting groove 11, thereby improving maintenance efficiency.
[0049] Further, in this embodiment, a connection groove 52 is formed at one end of the connection column 50 away from the distance detector 30, and the force-applying member 60 has a clamping portion 61, which is disposed in the connection groove 52. Through the clamping cooperation between the clamping portion 61 and the connection groove 52, the force-applying member 60 and the connection column 50 are detachably connected. Of course, in some other embodiments, the force-applying member 60 can also be detachably connected to the connection column 50 by means of a threaded connection.
[0050] It should be noted that, in this embodiment, the connection groove 52 is specifically an inner hexagonal groove, and the clamping portion 61 is specifically an inner hexagonal structure, so as to achieve the adaptation of the two and facilitate the force-applying member 60 to drive the connection column 50 to rotate. Of course, in other embodiments, the connection groove 52 can also be an inner triangular groove, an inner quadrangular groove, or an inner pentagonal groove, etc., and correspondingly, the clamping portion 61 can also be an inner triangular, inner quadrangular, or inner pentagonal structure.
[0051] When the operator rotates the force applying member 60 , in order to increase the friction between the hand and the force applying member 60 and avoid slipping, the outer wall of the force applying member 60 is provided with a plurality of anti-skid grooves 62 , which are arranged at intervals along the circumference of the force applying member 60 .
[0052] In addition, since the force-applying member 60 is detachably connected to the connecting column 50, in order to prevent the force-applying member 60 from being lost after use, in this embodiment, the clamp 100 further includes an anti-lost rope 70, one end of which is connected to the force-applying member 60, and the other end of which is connected to the clamp body 10. By providing the anti-lost rope 70, the force-applying member 60 can be connected to the clamp body 10, and even if the force-applying member 60 is loose, it can be suspended on the clamp body 10, thereby avoiding the situation of loss, increasing the service life of the force-applying member 60, and saving costs to a certain extent.
[0053] Please continue to combine Figure 1 It should be noted that when the first chuck 21 and the second chuck 22 move on the fixture body 10 and clamp the workpiece, it is easy for the clamping force of the first chuck 21 and the second chuck 22 to be too large, causing bumps and damage to the workpiece. In order to further protect the workpiece and reduce damage to the workpiece, in this embodiment, the fixture 100 also includes a first limit plate 81, a second limit plate 82, a first buffer pad 83 and a second buffer pad 84. The first limit plate 81 and the second limit plate 82 are respectively arranged on the first chuck 21 and the second chuck 22; the first buffer pad 83 is arranged on the side of the first limit plate 81 away from the first chuck 21, and the second buffer pad 84 is arranged on the side of the second limit plate 82 away from the second chuck 22.
[0054] By setting the first buffer pad 83 and the second buffer pad 84, the clamping contact position of the workpiece is flexible, providing a certain buffering effect, thereby further reducing the damage to the workpiece caused by the clamp 100 during the process of clamping the workpiece, further improving the service life of the workpiece and reducing costs.
[0055] Due to the long-term clamping of the workpiece, the first buffer pad 83 and the second buffer pad 84 are prone to aging and damage. In order to facilitate the disassembly and replacement of the first buffer pad 83 and the second buffer pad 84, please refer to Figure 3 and Figure 4 , Figure 3 for Figure 1 A partial enlarged view of the middle A. Figure 4 for Figure 1 The local enlarged picture of B in the middle, combined with Figure 1 , Figure 3 and Figure 4 The clamp 100 also includes a first Velcro 91, a second Velcro 92, a third Velcro 93 and a fourth Velcro 94. The first Velcro 91 is fixedly arranged on a side of the first limiting plate 81 close to the first buffer pad 83, the second Velcro 92 is fixedly arranged on a side of the first buffer pad 83 close to the first limiting plate 81, and is bonded to the first Velcro 91; the third Velcro 93 is fixedly arranged on a side of the second limiting plate 82 close to the second buffer pad 84, the fourth Velcro 94 is fixedly arranged on a side of the second buffer pad 84 close to the second limiting plate 82, and is bonded to the third Velcro 93.
[0056] It is easy to understand that when the first buffer pad 83 and the second buffer pad 84 need to be replaced, the operator only needs to hold the old first buffer pad 83 and the second buffer pad 84 and tear them off, so that the first Velcro 91 and the second Velcro 92 are separated and no longer sticky, and the third Velcro 93 and the fourth Velcro 94 are also separated and no longer sticky; then the new first buffer pad 83 and the second buffer pad 84 can be pasted respectively.
[0057] Furthermore, in order to make it easier for the operator to tear off the first buffer pad 83 and the second buffer pad 84, in this embodiment, the first buffer pad 83 is provided with a first buckle groove 831, and the second buffer pad 84 is provided with a second buckle groove 841. It is easy to understand that the first buckle groove 831 and the second buckle groove 841 can provide force application points, and the operator can apply force by buckling the first buckle groove 831 and the second buckle groove 841 with his hands, which further improves the replacement efficiency.
[0058] It should be noted that, in the present embodiment, first buckle grooves 831 are provided on two opposite sides of the first buffer pad 83, and second buckle grooves 841 are provided on two opposite sides of the second buffer pad 84; of course, in other embodiments, the first buckle groove 831 may be provided on only one side of the first buffer pad 83, or on two adjacent sides thereof, or on all four sides thereof, and so on; similarly, the second buckle groove 841 may be provided on only one side of the second buffer pad 84, or on two adjacent sides thereof, or on all four sides thereof, and so on.
[0059] In addition, it should be noted that, in the present embodiment, the material of the first buffer pad 83 and the second buffer pad 84 are both natural rubber, which has good flexibility and buffering effect; of course, in other embodiments, the material of the first buffer pad 83 and the second buffer pad 84 can also be plastic, etc., as long as the buffering effect can be achieved and the damage to the workpiece can be reduced.
[0060] In summary, an embodiment of the utility model provides a clamp 100 and an industrial robot, wherein the clamp 100 includes a clamp body 10, a clamping assembly 20 and a distance detector 30, wherein the clamping assembly 20 includes a first chuck 21 and a second chuck 22 which are spaced apart, and both the first chuck 21 and the second chuck 22 can be movably connected to the clamp body 10; the distance detector 30 is disposed on the clamp body 10 and is located between the first chuck 21 and the second chuck 22, and the distance detector 30 is used to output a distance signal representing the distance between the clamp body 10 and the workpiece. When an industrial robot is used to clamp a workpiece, the robot's mechanical arm controls the fixture body 10 to move toward the workpiece, detects the distance between the fixture body 10 and the workpiece through the distance detector 30, generates a distance signal from the detected data, and then outputs the distance signal to the robot body; when the detected distance data is too small, the mechanical arm will stop moving toward the workpiece to avoid damage to the workpiece caused by the collision between the fixture body 10 and the workpiece; then when the fixture body 10 and the workpiece are at a suitable distance, the workpiece is clamped by moving the first chuck 21 and the second chuck 22 on the fixture body 10.
[0061] Therefore, the clamp 100 can reduce damage to the workpiece, increase the service life of the workpiece, and reduce costs.
[0062] The industrial robot comprises a robot body and a fixture 100 . The fixture body 10 is arranged on a mechanical arm of the robot body. The industrial robot has all the functions and beneficial effects of the fixture 100 .
[0063] The above description is only a specific embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. A clamp, characterized in that: include: A fixture body (10); A clamping assembly (20), the clamping assembly (20) comprising a first clamp (21) and a second clamp (22) arranged at an interval, the first clamp (21) and the second clamp (22) both being movably connected to the clamp body (10); and A distance detector (30) is arranged on the clamp body (10) and located between the first clamp (21) and the second clamp (22), and the distance detector (30) is used to output a distance signal representing the distance between the clamp body (10) and the workpiece.
2. The clamp according to claim 1, characterized in that: A mounting groove (11) is provided on one side of the clamp body (10) close to the first clamp (21) and the second clamp (22); the clamp (100) further comprises a connecting column (50), the connecting column (50) is arranged in the mounting groove (11), the outer side wall of the connecting column (50) is provided with a first thread (51), the inner side wall of the mounting groove (11) is provided with a second thread (12), and the first thread (51) cooperates with the second thread (12); The distance detector (30) is arranged in the mounting groove (11) and is connected to one end of the connecting column (50) close to the first clamp (21) and the second clamp (22).
3. The clamp according to claim 2, characterized in that: A force-applying groove (13) is provided on a side of the clamp body (10) away from the first clamp (21) and the second clamp (22), and the force-applying groove (13) is communicated with the mounting groove (11); The clamp (100) further comprises a force applying member (60), wherein the force applying member (60) is disposed in the force applying groove (13), and the force applying member (60) is detachably connected to the connecting column (50).
4. The clamp according to claim 3, characterized in that: A connecting groove (52) is formed at one end of the connecting column (50) away from the distance detector (30), and the force applying member (60) has a clamping portion (61), and the clamping portion (61) is arranged in the connecting groove (52).
5. The clamp according to claim 3, characterized in that: The outer side wall of the force applying member (60) is provided with a plurality of anti-slip grooves (62), and the plurality of anti-slip grooves (62) are arranged at intervals along the circumference of the force applying member (60).
6. The clamp according to claim 3, characterized in that: The clamp (100) further comprises an anti-lost rope (70), one end of which is connected to the force applying member (60), and the other end of which is connected to the clamp body (10).
7. The clamp according to claim 1, characterized in that: The clamp (100) further comprises a first limiting plate (81), a second limiting plate (82), a first buffer pad (83) and a second buffer pad (84); the first limiting plate (81) and the second limiting plate (82) are respectively arranged on the first chuck (21) and the second chuck (22); the first buffer pad (83) is arranged on a side of the first limiting plate (81) away from the first chuck (21), and the second buffer pad (84) is arranged on a side of the second limiting plate (82) away from the second chuck (22).
8. The clamp according to claim 7, characterized in that: The clamp (100) further comprises a first Velcro (91), a second Velcro (92), a third Velcro (93) and a fourth Velcro (94), wherein the first Velcro (91) is fixedly arranged on a side of the first limiting plate (81) close to the first buffer pad (83), and the second Velcro (92) is fixedly arranged on a side of the first buffer pad (83) close to the first limiting plate (81), and is bonded to the first Velcro (91); The third Velcro (93) is fixedly arranged on a side of the second limiting plate (82) close to the second buffer pad (84), and the fourth Velcro (94) is fixedly arranged on a side of the second buffer pad (84) close to the second limiting plate (82), and is bonded to the third Velcro (93).
9. The clamp according to claim 8, characterized in that The first buffer pad (83) is provided with a first buckle groove (831), and the second buffer pad (84) is provided with a second buckle groove (841).
10. An industrial robot, characterized in that: It comprises a robot body and the clamp according to any one of claims 1 to 9, wherein the clamp body (10) is arranged on a mechanical arm of the robot body.