Clamping device and transfer device
By designing a clamping device with a simplified structure, the synchronous movement of the first clamping member and the second clamping member is achieved by using the adapter, the problem of high cost of clamping device in the prior art is solved, and the structural simplification and Cost reduction.
Patent Information
- Application Number
- CN202420318690.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-20
- Publication Date
- 2025-02-21
- Estimated Expiration
- 2034-02-20
AI Technical Summary
The existing clamping workpiece structures have a large number of drivers, resulting in high costs.
A clamping device with a simplified structure is designed, including a drive member, two first clamping members, two second clamping members and a plurality of adapters. Through the sliding connection of the adapter, synchronous movement of the first clamping member and the second clamping member is achieved, and a driving member realizes the function of clamping and releasing the workpiece.
The structure of the clamping device is simplified, the cost is reduced, and the stability and reliability of the clamping device are improved.
Smart Images
Figure CN222512591U_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the technical field of mechanical clamping, and in particular to a clamping device and a transfer device. Background Art
[0002] The existing structure for clamping the workpiece usually uses a clamping claw cylinder to clamp the workpiece on two opposite sides, or uses two driving components to clamp the four sides of the workpiece respectively to clamp and fix the workpiece. However, this structure has a large number of driving components installed, resulting in high costs. Utility Model Content
[0003] In view of this, the present application provides a clamping device with a simplified structure.
[0004] The present application provides a clamping device, which includes a driving member, two first clamping members, two second clamping members, and a plurality of adapters. The two first clamping members are respectively connected to the driving member, and the driving member is configured to drive the two first clamping members to move toward or away from each other. Each second clamping member is connected to at least one first clamping member through an adapter. One of the first clamping member and the second clamping member is provided with a slide groove, and the other is installed with an adapter, which is reciprocatingly slidably arranged in the slide groove to enable the first clamping member and the second clamping member to move synchronously.
[0005] In the above-mentioned clamping device, each second clamping member slides back and forth along the slide groove through the adapter, so that the second clamping member can reciprocate with the movement of the first clamping member, thereby realizing that the two second clamping members and the two first clamping members clamp the surrounding sides of the workpiece at the same time, and the adapter reciprocates along the slide groove, so that the second clamping member can realize bidirectional movement driven by the first clamping member, thereby clamping and releasing the workpiece, and a driving member can realize driving the first clamping member and the second clamping member to synchronously clamp and release the workpiece, thereby simplifying the structure of the clamping device and reducing the cost.
[0006] In a possible implementation, the adapter includes a body and a rotating member. The body is connected to the first clamping member or the second clamping member. The rotating member is rotatably disposed on the body and protrudes into the chute to roll relative to the chute wall.
[0007] In the above embodiment, the rotating member rolls relative to the groove wall of the slide groove, which reduces the friction of the adapter sliding along the slide groove and improves the stability of the first clamping member driving the second clamping member to move synchronously.
[0008] In a possible implementation, the body includes a first mounting portion and a second mounting portion, the rotating member is rotatably connected to the first mounting portion, and the first mounting portion and the second mounting portion are threadedly connected and clamped on opposite sides of the first clamping member or the second clamping member.
[0009] In the above embodiment, the first mounting portion and the second mounting portion are threadedly connected and clamped on opposite sides of the second clamping member, which is more stable than the first mounting portion being directly threadedly connected to the second clamping member, and reduces the risk of loosening between the first mounting portion and the second clamping member when the rotating member moves in the slide groove.
[0010] In a possible embodiment, the two first clamping members move in opposite directions along the first direction, and the two second clamping members move in opposite directions along the second direction respectively, the second direction is perpendicular to the first direction, and the sliding direction of the rotating member along the slide groove makes an angle of 45° with the first direction and the second direction respectively.
[0011] In the above embodiment, the sliding direction of the rotating member along the slide groove makes an angle of 45° with the first direction and the second direction respectively, so that the movement stroke of the two first clamping members for clamping the workpiece is equal to the movement stroke of the two second clamping members for clamping the workpiece, reducing the risk of increased working space occupied by the clamping device due to unequal strokes of the first clamping member and the second clamping member, thereby improving the applicability of the clamping device.
[0012] In a possible implementation manner, the two first clamping members are symmetrically connected to each second clamping member through a transition member, and the two second clamping members are symmetrically arranged on each first clamping member.
[0013] In the above embodiment, the two first clamping members are symmetrically arranged, and the two second clamping members are symmetrically arranged, so that the two first clamping members can move symmetrically on both sides of the workpiece, and the two second clamping members can move symmetrically on both sides of the workpiece, so as to reduce the risk of the workpiece being pushed against and moved by the clamping device when clamping the workpiece, thereby improving the reliability of the clamping device clamping the workpiece. In addition, the connection between the first clamping member and the second clamping member and the adapter is a symmetrical structure, which is convenient for the installation of the first clamping member and the second clamping member and the adapter.
[0014] In a possible implementation, the clamping device further includes a support member, the driving member is fixedly disposed on the support member, and the two first clamping members and the two second clamping members are respectively slidably disposed on the support member.
[0015] In the above embodiment, the support member provides support force for the driving member, the two first clamping members and the two second clamping members, so that the movement stability of the first clamping members and the second clamping members is improved, thereby improving the reliability of the clamping device in clamping the workpiece.
[0016] In a possible implementation, the driving member includes a driving body and two output ends disposed on both sides of the driving body, and the driving body is configured to drive the two output ends to move relative to each other. The supporting member is provided with two through holes spaced apart, and the through holes allow at least one of the output end and the first clamping member to pass through, so that the output end and the first clamping member are connected.
[0017] In the above embodiment, at least a portion of the connection between the output end and the first clamping member is located in the through hole, which effectively utilizes the space occupied by the support member, avoids the connection structure between the output end and the first clamping member (for example, screws, etc.) occupying the space outside the support member, and saves the space occupied by the clamping device.
[0018] In a possible implementation, the support member includes a first support body, a second support body and a connecting member, wherein the connecting member is connected between the first support body and the second support body. The first clamping member and the second clamping member are arranged on the same side of the first support body. The driving member is arranged on the second support body and is located on a side of the first support body away from the first clamping member and the second clamping member.
[0019] In the above embodiment, the driving member and the first clamping member and the second clamping member are respectively fixedly mounted on two different structures (the first supporting body and the second supporting body) of the supporting member. Compared with the case where the driving member, the first clamping member and the second clamping member are all mounted on the first supporting member, the driving member, the first clamping member and the second clamping member are more compact and convenient for the layout of the mounting position where the supporting member connects the first clamping member and the second clamping member. The driving member, the first clamping member and the second clamping member can be assembled first and then installed on the supporting member, which is simple to install.
[0020] In a possible implementation, the clamping device further includes a plurality of gaskets, and the gaskets are connected to the opposite sides of the two first clamping members, and the gaskets are connected to the opposite sides of the two second clamping members.
[0021] In the above embodiment, the gasket can protect the workpiece, and at the same time the gasket allows a certain amount of deformation, thereby causing a certain amount of change in the distance between the two first clamping members and the distance between the two second clamping members, thereby improving the clamping device's ability to adapt to clamping operations of workpieces within a certain tolerance range.
[0022] The present application also provides a transfer device, which includes a transfer member and a clamping device. The clamping device is disposed on the transfer member, and the transfer member is configured to drive the clamping device to move or rotate so as to transfer the clamping device to a set position. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 A schematic diagram of a transfer device provided in an embodiment of the present application.
[0024] Figure 2 for Figure 1 A schematic diagram of the clamping device in the transfer device shown in another perspective.
[0025] Figure 3 for Figure 1 An exploded schematic diagram of the clamping device shown.
[0026] Figure 4 for Figure 1The clamping device shown is a schematic diagram in which the supporting member is omitted and the driving member is detached.
[0027] Figure 5 for Figure 1 A partial cross-sectional schematic diagram of the adapter member in the clamping device shown is installed on the first clamping member and the second clamping member.
[0028] Main component symbols
[0029] Transfer device 200
[0030] Transfer 201
[0031] Clamping device 100
[0032] Driving member 10
[0033] Driving body 11
[0034] Output 13
[0035] The first clamping member 20
[0036] Chute 2001
[0037] First body portion 21
[0038] The first clamping portion 23
[0039] Connection part 25
[0040] The first extension portion 27
[0041] The second clamping member 30
[0042] The second main body 31
[0043] The second clamping portion 33
[0044] The second extension portion 35
[0045] Adapter 40
[0046] Ontology 41
[0047] First mounting portion 411
[0048] Second mounting portion 413
[0049] Rotating member 43
[0050] Support member 50
[0051] Through hole 501
[0052] The first supporting body 51
[0053] Second supporting body 53
[0054] Connector 55
[0055] The first guide assembly 60
[0056] First guide rail 61
[0057] First slider 63
[0058] The second guide assembly 70
[0059] Gasket 80
[0060] First direction X
[0061] Second direction Y
[0062] The third direction Z
[0063] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION
[0064] In order to further illustrate the technical means and effects adopted by the present application to achieve the intended application purpose, the following is combined with the drawings and implementation methods. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.
[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.
[0066] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.
[0067] Please also see Figures 1 to 3 , one embodiment of the present application proposes a clamping device 100. The clamping device 100 is used to clamp and position a workpiece (not shown). The present application also proposes a transfer device 200. The transfer device 200 also includes a transfer member 201. In one embodiment, the transfer member 201 is a robot, but is not limited to this. The clamping device 100 is disposed on the transfer member 201. The transfer member 201 is configured to drive the clamping device 100 to move or rotate so as to transfer the clamping device 100 to a set position, such as a storage position and a work station for the workpiece.
[0068] In one embodiment, the workpiece is an upper cover structure, and the robot drives the clamping device 100 to clamp the workpiece and then the cover is arranged on the lower cover, but it is not limited thereto. For example, in other embodiments, the workpiece can also be a part to be processed, and the robot drives the clamping device 100 to clamp the workpiece and then transfer the workpiece to the processing station.
[0069] The clamping device 100 includes a driving member 10, two first clamping members 20, two second clamping members 30 and a plurality of adapters 40. In one embodiment, the number of the adapters 40 is four, but is not limited thereto. The two first clamping members 20 are respectively connected to the driving member 10. The driving member 10 is configured to drive the two first clamping members 20 to move in two opposite directions, thereby enabling the two first clamping members 20 to clamp or release the workpiece. Each second clamping member 30 is respectively connected to the two first adapters 40 through two adapters 40. The first clamping member 20 is provided with a slide groove 2001, and the second clamping member 30 is connected to the adapter 40. The adapter 40 is reciprocatingly slidably disposed in the slide groove 2001, such as Figure 4 As shown, the first clamping member 20 moves to drive the second clamping member 30 to move, thereby causing the first clamping member 20 and the second clamping member 30 to move synchronously.
[0070] Each second clamping member 30 slides back and forth along the slide groove 2001 through the adapter 40, so that the second clamping member 30 can reciprocate with the movement of the first clamping member 20, thereby realizing that the two second clamping members 30 and the two first clamping members 20 clamp the surrounding side of the workpiece at the same time. The adapter 40 reciprocates along the slide groove 2001, so that the second clamping member 30 can realize bidirectional movement driven by the first clamping member 20 to clamp and release the workpiece. A driving member 10 drives the first clamping member 20 and the second clamping member 30 to clamp or release the workpiece synchronously, which simplifies the structure of the clamping device 100 and reduces the cost.
[0071] The two adapters 40 are respectively disposed at two ends of the second clamping member 30 , so that the second clamping member 30 is respectively connected to the first clamping members 20 at both sides, but the present invention is not limited thereto.
[0072] It is understandable that the number of adapters 40 may be two, three, five, six, seven, eight, nine, ten, etc. For example, the number of adapters 40 is two, and each second clamping member 30 is slidably connected to a first clamping member 20 through one adapter 40. For another example, the number of adapters 40 is eight, and one end of each second clamping member 30 is connected to an adjacent first clamping member 20 through two adapters 40 to improve the connection stability.
[0073] It can be understood that in other embodiments, the slide groove 2001 can also be set on the second clamping member 30, the adapter 40 is connected to the first clamping member 20, and the adapter 40 is slidably set on the slide groove 2001, which can also realize the synchronous movement of the first clamping member 20 and the second clamping member 30.
[0074] In one embodiment, the driving member 10 includes a driving body 11 and two output ends 13 disposed on both sides of the driving body 11. The driving body 11 is configured to drive the two output ends 13 to move relative to each other. Each output end 13 is fixedly connected to a first clamping member 20 so that the driving body 11 can drive the two first clamping members 20 to move relative to each other.
[0075] In one embodiment, the driving member 10 is a cylinder, but is not limited thereto. For example, in other embodiments, the driving member 10 is a bidirectional driving structure such as an electric cylinder.
[0076] In one embodiment, please refer to Figure 4 and Figure 5 The adapter 40 includes a body 41 and a rotating member 43. The body 41 is disposed on the second clamping member 30, and the rotating member 43 is rotatably disposed on the body 41, so that the rotating member 43 rolls along the groove wall of the slide groove 2001. The rotating member 43 protrudes into the slide groove 2001 of the first clamping member 20. The first clamping member 20 moves under the action of the driving member 10, and the groove wall of the slide groove 2001 pushes the rotating member 43, so that the rotating member 43 drives the second clamping member 30 to move.
[0077] The rotating member 43 rolls relative to the groove wall of the slide groove 2001 , thereby reducing the friction of the adapter 40 sliding along the slide groove 2001 and improving the stability of the first clamping member 20 driving the second clamping member 30 to move synchronously.
[0078] In one embodiment, the adapter 40 is a follower bearing structure, and the rotating member 43 is a bearing, but is not limited thereto. In other embodiments, the rotating member 43 may also be other structures such as a cylinder or a sphere that rotates around the body 41, as long as the adapter 40 can roll relative to the groove wall of the groove 2001 when moving along the groove 2001.
[0079] The body 41 includes a first mounting portion 411 and a second mounting portion 413 , and the rotating member 43 is rotatably connected to the first mounting portion 411 ; the first mounting portion 411 and the second mounting portion 413 are threadedly connected and clamped on opposite sides of the first clamping member 20 or the second clamping member 30 .
[0080] In one embodiment, the body 41 includes a first mounting portion 411 and a second mounting portion 413. The rotating member 43 is rotatably connected to the first mounting portion 411. The first mounting portion 411 and the second mounting portion 413 are threadedly connected and clamped on opposite sides of the second clamping member 30, which is more stable than the first mounting portion 411 being directly threadedly connected to the second clamping member 30, and reduces the risk of loosening between the first mounting portion 411 and the second clamping member 30 when the rotating member 43 moves in the slide groove 2001.
[0081] See also Figure 1For the convenience of subsequent description, it is defined that the first direction X is parallel to the movement direction of the two first clamping members 20, the second direction Y is parallel to the movement direction of the two second clamping members 30, and the third direction Z is perpendicular to the first direction X and the second direction Y respectively.
[0082] In one embodiment, the first direction X and the second direction Y are perpendicular to each other, but the present invention is not limited thereto.
[0083] In one embodiment, the sliding direction of the adapter 40 along the slide groove 2001 and the extension direction of the slide groove 2001 form an angle of 45° with the first direction X and the second direction Y, respectively, so that the movement stroke of the two first clamping members 20 for clamping the workpiece is equal to the movement stroke of the two second clamping members 30 for clamping the workpiece, reducing the risk of increasing the working space occupied by the clamping device 100 due to the unequal strokes of the first clamping members 20 and the second clamping members 30, thereby improving the applicability of the clamping device 100.
[0084] It is understood that in other embodiments, the angle between the first direction X and the second direction Y may be non-perpendicular, such as 60°, 70°, etc. The extending direction of the slide groove 2001 may also have a different angle with the angle between the first direction X and the second direction Y.
[0085] In one embodiment, the two first clamping members 20 are symmetrically connected to each second clamping member 30 through an adapter 40, and the two second clamping members 30 are symmetrically arranged on each first clamping member 20, so as to facilitate the symmetrical movement of the two first clamping members 20 on both sides of the workpiece, and to facilitate the symmetrical movement of the two second clamping members 30 on both sides of the workpiece, so as to reduce the risk of friction between the workpiece and the clamping device 100 when clamping the workpiece and pushing the workpiece to move, thereby improving the reliability of the clamping device 100 in clamping the workpiece.
[0086] In addition, the connection points between the first clamping member 20 and the second clamping member 30 and the adapter 40 are symmetrical structures, which facilitates the installation of the first clamping member 20 and the second clamping member 30 and the adapter 40 respectively.
[0087] See also Figure 1 , Figure 2 and Figure 3 In one embodiment, the clamping device 100 further includes a support member 50. The driving member 10 is fixed to the support member 50. The two first clamping members 20 are slidably connected to the support member 50 along the first direction X. The two second clamping members 30 are slidably connected to the support member 50 along the second direction Y.
[0088] The support member 50 provides support force for the driving member 10 , the two first clamping members 20 and the two second clamping members 30 , so as to improve the movement stability of the first clamping members 20 and the second clamping members 30 , thereby improving the reliability of the clamping device 100 in clamping the workpiece.
[0089] In one embodiment, the clamping device 100 further includes two first guide assemblies 60 and two second guide assemblies 70. The first guide assembly 60 includes a first guide rail 61 and a first slider 63. The first guide rail 61 is fixedly disposed on the support member 50. The first slider 63 is slidably connected to the first guide rail 61 and reciprocates along the first direction X. The first slider 63 is fixedly connected to the first clamping member 20 so that the first clamping member 20 reciprocates along the first direction X relative to the support member 50. The second clamping member 30 reciprocates along the second direction Y relative to the support member 50 through a second guide assembly 70.
[0090] The support member 50 is provided with two spaced through holes 501. The output end 13 of the driving member 10 and a portion of the first clamping member 20 both protrude into the through hole 501, so that the connection between the output end 13 and the first clamping member 20 is located in the through hole 501, which effectively utilizes the space occupied by the support member 50, avoids the connection structure (e.g., screws, etc.) between the output end 13 and the first clamping member 20 from occupying the space outside the support member 50, and saves the space occupied by the clamping device 100.
[0091] It can be understood that in other embodiments, the connection between the output end 13 and the first clamping member 20 may also be partially located in the through hole 501 .
[0092] In one embodiment, the support member 50 includes a first support body 51, a second support body 53 and a connecting member 55. The connecting member 55 is connected between the first support body 51 and the second support body 53. In one embodiment, the first support body 51 and the second support body 53 are respectively plate-shaped structures, and the connecting member 55 is a rod-shaped structure, but is not limited thereto. The first support body 51 and the second support body 53 are spaced to form a space to accommodate the driving member 10. The driving member 10 is fixedly connected to the second support body 53. The first clamping member 20 and the second clamping member 30 are respectively slidably arranged on the same side of the first support body 51, and are located on the side of the first support body 51 away from the driving member 10 along the third direction Z.
[0093] The driving member 10 and the first clamping member 20 and the second clamping member 30 are respectively fixedly mounted on two different structures (the first supporting body 51 and the second supporting body 53) of the supporting member 50. Compared with the compactness and easy interference when the driving member 10, the first clamping member 20 and the second clamping member 30 are all installed on the first supporting member 50, it is convenient to arrange the mounting position of the supporting member 50 connecting the first clamping member 20 and the second clamping member 30. The driving member 10, the first clamping member 20 and the second clamping member 30 can be assembled first, and then installed successively on the first supporting body 51 and the second supporting body 53 of the supporting member 50, which is simple to install.
[0094] It can be understood that in other embodiments, the first clamping member 20, the second clamping member 30 and the driving member 10 may also be located on the same side of the supporting member 50, and the through hole 501 is omitted.
[0095] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 The first clamping member 20 includes a first main body 21, a first clamping portion 23 and a connecting portion 25. The first clamping portion 23 and the connecting portion 25 are respectively connected to the first main body 21, and extend along the third direction Z to the opposite sides of the first main body 21. The first clamping portion 23 is configured to clamp a workpiece, and the connecting portion 25 is connected to the driving member 10.
[0096] The first clamping member 20 further includes two first extensions 27. The two first extensions 27 are disposed on opposite sides of the first main body 21. Each slide groove 2001 is provided in a first extension 27. The two first extensions 27 are disposed on opposite sides of the connecting portion 25 to leave an escape space for the connection between the driving member 10 and the first clamping member 20, which is beneficial to improve the layout rationality of the clamping device 100.
[0097] The second clamping member 30 includes a second main body 31, a second clamping portion 33 and two second extension portions 35. The second clamping portion 33 is disposed on the second main body 31 and extends to one side of the second main body 31 along the third direction Z. The two second extension portions 35 are respectively disposed on opposite sides of the second main body 31. Each adapter 40 is connected to a second extension portion 35. The second extension portion 35 is used to connect with the adapter 40, which reduces the material used for the second clamping member 30 and saves costs.
[0098] In one embodiment, the clamping device 100 further includes a plurality of gaskets 80. The gaskets 80 are connected to the opposite sides of the two first clamping members 20. The gaskets 80 are connected to the opposite sides of the two second clamping members 30. The gaskets 80 can protect the workpieces, and the gaskets 80 allow a certain amount of deformation, thereby causing a certain amount of change in the spacing between the two first clamping members 20 and the spacing between the two second clamping members 30, thereby improving the clamping device 100 to adapt to the clamping operation of the workpiece within a certain tolerance range.
[0099] It can be understood that in other embodiments, the gasket 80 can also be omitted.
[0100] The driving member 10 adjusts the distance between the two output ends 13 by adjusting the control valve (not shown), thereby adjusting the clamping force of the first clamping member 20 and the second clamping member 30, but the present invention is not limited thereto.
[0101] It can be understood that in other embodiments, the connection position between the first clamping member 20 and the first slider 63 is changed to change the distance between the two first clamping members 20, thereby adjusting the clamping strength of the two first clamping members 20; or, by replacing the gasket 80 of different materials, the distance between the two first clamping members 20 can be fine-tuned to adjust the clamping strength of the two first clamping members 20. The clamping strength between the two second clamping members 30 is adjusted in a similar manner and will not be described in detail here.
[0102] In the above-mentioned clamping device 100, each second clamping member 30 slides back and forth along the slide groove 2001 through the adapter 40, so that the second clamping member 30 can reciprocate with the movement of the first clamping member 20, thereby realizing that the two second clamping members 30 and the two first clamping members 20 clamp the surrounding side of the workpiece at the same time, and the adapter 40 reciprocates along the slide groove 2001, so that the second clamping member 30 can realize bidirectional movement driven by the first clamping member 20, and realize clamping and releasing the workpiece. A driving member 10 realizes driving the first clamping member 20 and the second clamping member 30 to synchronously clamp and release the workpiece, thereby simplifying the structure of the clamping device 100 and reducing the cost.
[0103] In addition, those skilled in the art should recognize that the above embodiments are only used to illustrate the present application and are not intended to be limiting of the present application. As long as they are within the spirit and scope of the present application, appropriate changes and modifications to the above embodiments are within the scope of the present application.
Claims
1. A clamping device, comprising a driving member, characterized in that: The clamping device also includes: The two first clamping members are respectively connected to the driving member, and the driving member is configured to drive the two first clamping members to move toward or away from each other; two second clamping members; and Multiple adapters; Each of the second clamping members is connected to at least one of the first clamping members through the adapter; one of the first clamping member and the second clamping member is provided with a slide groove, and the other is installed with the adapter, and the adapter is reciprocatingly slidably arranged in the slide groove to enable the first clamping member and the second clamping member to move synchronously.
2. The clamping device according to claim 1, characterized in that: The adapter comprises a body and a rotating member; the body is connected to the first clamping member or the second clamping member; the rotating member is rotatably arranged on the body and protrudes into the slide groove to roll relative to the groove wall of the slide groove.
3. The clamping device according to claim 2, characterized in that: The body comprises a first mounting portion and a second mounting portion, the rotating member is rotatably connected to the first mounting portion; the first mounting portion and the second mounting portion are threadedly connected and clamped on opposite sides of the first clamping member or the second clamping member.
4. The clamping device according to claim 2, characterized in that: The two first clamping members move in opposite directions along the first direction, and the two second clamping members move in opposite directions along the second direction respectively, the second direction is perpendicular to the first direction, and the sliding direction of the rotating member along the sliding groove forms an angle of 45° with the first direction and the second direction respectively.
5. The clamping device according to claim 4, characterized in that: The two first clamping members are symmetrically connected to each second clamping member through the adapter, and the two second clamping members are symmetrically arranged on each first clamping member.
6. The clamping device according to claim 1, characterized in that: The clamping device further comprises a supporting member, the driving member is fixedly arranged on the supporting member, and the two first clamping members and the two second clamping members are respectively slidably arranged on the supporting member.
7. The clamping device according to claim 6, characterized in that: The driving member includes a driving body and two output ends disposed on both sides of the driving body, and the driving body is configured to drive the two output ends to move relative to each other; the supporting member is provided with two spaced through holes, and the through holes allow at least one of the output ends and the first clamping member to pass through, so that the output end and the first clamping member are connected.
8. The clamping device according to claim 6 or 7, characterized in that: The support member includes a first support body, a second support body and a connecting member, wherein the connecting member is connected between the first support body and the second support body; The first clamping member and the second clamping member are arranged on the same side of the first supporting body; The driving member is disposed on the second supporting body and is located at a side of the first supporting body away from the first clamping member and the second clamping member.
9. The clamping device according to any one of claims 1 to 7, characterized in that: The clamping device further comprises a plurality of gaskets, and the gaskets are respectively connected to the opposite sides of the two first clamping members; and the gaskets are respectively connected to the opposite sides of the two second clamping members.
10. A transfer device, comprising a transfer member and a clamping device, wherein the clamping device is disposed on the transfer member, and the transfer member is configured to drive the clamping device to move or rotate so as to transfer the clamping device to a set position, characterized in that: The clamping device is the clamping device according to any one of claims 1 to 9.