Clamping clearance compensation mechanism and clamping device

Abstract

The utility model provides a clamping clearance compensation mechanism and a clamping device. The clamping clearance compensation mechanism comprises a pin shaft arranged on a clamping part in a sliding mode, a clamping block arranged at one end of the pin shaft, a check block arranged at the other end of the pin shaft and an elastic piece arranged between the clamping block and the clamping part. The elastic piece has pre-tightening force for driving the clamping block to be far away from the clamping part, when the clamping block is far away from the clamping part, the check block can abut against the clamping part, and when the clamping block bears clamping acting force, the elastic piece can be compressed and the pin shaft can be driven to move reversely. According to the mechanical arm, the clamping stability degree of the mechanical arm to a workpiece can be improved, so that the mechanical arm has higher positioning precision.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a clamping gap compensation mechanism. The utility model also relates to a clamping device including the above clamping gap compensation mechanism. Background Technique

[0002] With the progress of technology, the automotive manufacturing industry is transforming from traditional manual manufacturing towards the direction of intelligence, automation, and refinement. Automated mechanical equipment such as robotic arms and mechanical grippers are widely used in automotive production lines, which not only improves production efficiency but also effectively reduces the expenditure on labor costs. In the automotive production process, the positioning accuracy of the workpiece carrier to be processed will directly affect the overall quality of the vehicle. To ensure the positioning accuracy of the workpiece carrier, higher requirements are put forward for the stability of the robotic arm and mechanical gripper clamping the workpiece carrier during the automotive production process.

[0003] At present, the common robotic arm structure for automotive production is simple and reliable in performance. However, due to the existence of a mating gap in its gear structure for transmission, two adjacent robotic arms always cannot well ensure the attitude stability of the clamped workpiece carrier due to the existence of the gear mating gap. This phenomenon affects the positioning accuracy of the robotic arm clamping the workpiece carrier, making it difficult for the existing robotic arms with gear transmission structures to meet the requirements of the automotive production process for the positioning accuracy of the workpiece carrier.

[0004] From the above background technique, it can be known that the existing robotic arms applied to automotive production have a mating gap in the gear transmission structure, which has an adverse effect on the clamping stability and positioning accuracy of the workpiece carrier and cannot meet the requirements of the automotive production process. Summary of the Utility Model

[0005] In view of this, the utility model aims to propose a clamping gap compensation mechanism to improve the clamping stability of the robotic arm for the workpiece and enhance its positioning accuracy.

[0006] To achieve the above object, the technical solution of the utility model is realized as follows:

[0007] A clamping gap compensation mechanism of the utility model includes a pin shaft slidably arranged on a clamping part, a clamping block arranged at one end of the pin shaft, a stop block arranged at the other end of the pin shaft, and an elastic member arranged between the clamping block and the clamping part;

[0008] The elastic member has a pre-tightening force to drive the clamping block away from the clamping part. When the clamping block is away from the clamping part, the stop block can abut against the clamping part, and when the clamping block bears a clamping force, it can compress the elastic member and drive the pin shaft to move in the reverse direction.

[0009] Furthermore, the stopper can be adjusted in position along the axial direction of the pin shaft.

[0010] Furthermore, the stopper is screwed onto the pin shaft.

[0011] Furthermore, the clamping part is provided with an opening with one end open, the pin shaft is inserted through the opening, and a part of the clamping block is slidably inserted into the opening.

[0012] Furthermore, a limiting member is provided in the opening, and the elastic member is located between the limiting member and the clamping block; and / or,

[0013] A lubricating sleeve is embedded in the opening, the pin shaft passes through the lubricating sleeve, and the clamping block is slidably inserted into the lubricating sleeve.

[0014] Furthermore, the elastic member includes a spring sleeved on the pin shaft.

[0015] Furthermore, the clamping block is provided with a through hole for the pin shaft to pass through, and one end of the spring close to the clamping block is located in the through hole.

[0016] Compared with the prior art, the present utility model has the following advantages:

[0017] In the clamping clearance compensation mechanism of the present utility model, the pin shaft is slidably arranged on the clamping part, and the stopper arranged at one end of the pin shaft and abutted against the clamping part play a role in fixing and limiting the clamping block arranged at the other end of the pin shaft, enabling the stopper to slide relative to the clamping part. Thus, on the basis that the clamping block can slide relative to the clamping part, the clamping block is subjected to a pre-tightening force that drives itself away from the clamping part from the elastic member, and the elastic pushing action of the elastic member on the clamping block can be utilized to keep the clamping block in abutment with the surface of the workpiece to be clamped, so as to achieve the effect of clearance compensation, improve the clamping stability of the robotic arm on the workpiece, and make it have a higher positioning accuracy.

[0018] In addition, by setting the stopper into a structure that can be adjusted in position along the axial direction of the pin shaft, the staff can change the relative position between the pin shaft and the clamping part by adjusting the relative position between the stopper and the pin shaft, so as to set the relative position between the clamping part and the clamping block to achieve the purpose of clamping workpieces with different thicknesses. By installing the stopper and the pin shaft in a threaded connection manner, the installation operation can be simplified, and the convenience of the assembly and maintenance process can be improved.

[0019] Secondly, by opening an opening with one end open on the clamping part and slidably inserting a part of the clamping block into the opening, the opening can play a role in restricting and limiting the relative sliding between the clamping block and the clamping part, thereby improving the stability of the sliding process of the clamping block.

[0020] Furthermore, by arranging a limiting member inside the opening and positioning the elastic member between the limiting member and the clamping block, the limiting member can support the arrangement of the elastic member, thereby shortening the length and compression stroke of the elastic member, which is beneficial to avoiding the problem of poor clamping stability caused by an overly long elastic member or an overly large compression stroke. By arranging a lubricating sleeve on the clamping block, the friction force during the sliding process of the clamping block can be reduced, and the friction loss between the clamping blocks or clamping parts can be decreased, thereby extending the service life of the present utility model. By setting the elastic member as a spring sleeved on the pin shaft, the spool plays a role in limiting the elastic member, which is beneficial to preventing the elastic member from twisting during compression or stretching.

[0021] In addition, by arranging a through hole on the clamping block and positioning the end of the spring close to the clamping block inside the through hole, the through hole plays a certain role in limiting the spring. While facilitating assembly, it is beneficial to avoid misalignment between the elastic member and the clamping block.

[0022] In addition, the present utility model also proposes a clamping device, which includes a driving mechanism and a clamping mechanism connected to the driving mechanism through a transmission mechanism; the clamping mechanism includes two clamping arms that can open and close under the drive of the driving mechanism, and at least one of the clamping arms is provided with the clamping gap compensation mechanism described above.

[0023] Further, the driving mechanism adopts a rotary power output device;

[0024] The transmission mechanism includes a rocker arm connected to the driving end of the driving mechanism and a connecting rod hinged between the rocker arm and the clamping mechanism.

[0025] Further, the transmission mechanism is connected to one of the clamping arms, and the two clamping arms are connected through a gear transmission structure; and / or,

[0026] The clamping gap compensation mechanism is located on one of the clamping arms, and a height-adjustable clamping component is screwed on the other clamping arm.

[0027] The clamping device of the present utility model has the same beneficial effects as the clamping gap compensation mechanism described above compared to the prior art, and will not be elaborated herein.

[0028] In addition, by setting the driving mechanism as a rotary power output device, the magnitude and direction of the output torque can be adjusted according to actual usage requirements. By setting the transmission mechanism as a structure combining a rocker arm and a connecting rod, the overall structure is simple and reliable, easy to maintain, with less kinetic energy loss and higher transmission efficiency.

[0029] Secondly, by providing an adjustable-height adjustment component on the clamping arms, the distance between the two clamping arms after closing can be adjusted, enabling the clamping device to clamp workpieces of different sizes and thicknesses, thus having a wider range of applications. By separately providing the adjustment component and the clamping gap compensation mechanism on the two clamping arms of the clamping mechanism, the applicable range of the clamping device is further increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings forming a part of the present utility model are used to provide a further understanding of the present utility model. The schematic embodiments and descriptions thereof of the present utility model are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0031] Figure 1 is a schematic structural view of the clamping gap compensation mechanism in an embodiment of the present utility model;

[0032] Figure 2 is an exploded structural view of the clamping gap compensation structure in an embodiment of the present utility model;

[0033] Figure 3 is a schematic structural view of the clamping device in an embodiment of the present utility model;

[0034] Figure 4 is a schematic structural view of the drive mechanism in an embodiment of the present utility model;

[0035] Figure 5 is a schematic structural view of the transmission mechanism in an embodiment of the present utility model;

[0036] Figure 6 is a schematic structural view of the clamping mechanism in an embodiment of the present utility model;

[0037] Figure 7 is a schematic structural view of the adjustment component in an embodiment of the present utility model.

[0038] Description of the reference numerals:

[0039] 1. Clamping part; 101. Opening; 102. Limiting member; 103. Lubricating sleeve;

[0040] 2. Pin shaft;

[0041] 3. Clamping block; 301. Through hole;

[0042] 4. Stopper; 5. Elastic member; 6. Drive mechanism;

[0043] 7. Transmission mechanism; 701. Rocker; 702. Connecting rod;

[0044] 8. Clamping mechanism; 801. Clamping arm; 802. Adjusting assembly; 8021. Adjusting bolt; 8022. Adjusting block; 8023. Open end. Detailed implementation manners

[0045] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will describe the specific implementation manners of the present utility model with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings, and other implementation manners can also be obtained.

[0046] In the description of the present utility model, it should be noted that if terms indicating orientation or positional relationship such as "upper", "lower", "inner", "outer", etc. appear, they are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, if terms such as "first", "second", etc. appear, they are also only for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] Taking a clamping clearance compensation mechanism and a clamping device described in the present utility model as an example, the orientation terms such as "upper, lower, left, right, front, back" used in the embodiments are defined based on the up-down direction (also known as the height direction, or the overall Z direction), the left-right direction (also known as the width direction, or the overall Y direction), and the front-back direction (also known as the length direction, or the overall X direction) of the whole device. "Inner" and "outer" are defined based on the contour of the corresponding component. For example, "inner" and "outer" defined based on the contour of the whole device, the side closer to the middle of the whole device is "inner", and vice versa.

[0048] In addition, in the description of the present utility model, unless otherwise clearly defined, the terms "installation", "connection", "connection", "connecting piece" 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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood in combination with specific situations.

[0049] The following will describe the present utility model in detail with reference to the drawings and in combination with the embodiments.

[0050] Embodiment 1

[0051] This embodiment relates to a clamping gap compensation mechanism. By arranging a slidable clamping block on the clamping part and arranging an elastic member between the clamping block and the clamping part, the elastic member has a pre-tightening force to drive the clamping block away from the clamping part, so that the clamping block maintains contact with the workpiece to be clamped, thereby improving the clamping stability of the robotic arm for the workpiece and enabling it to have higher positioning accuracy.

[0052] In terms of the overall structure, referring to Figure 1 and Figure 2 , the clamping gap compensation mechanism of this embodiment includes a pin shaft 2, a clamping block 3, a stop block 4, and an elastic member 5.

[0053] Among them, the pin shaft 2 is slidably arranged on the clamping part 1 and can slide along its own axis direction with respect to the clamping part 1. The stop block 4 and the clamping block 3 are respectively installed at both ends of the pin shaft 2. While the stop block 4 is connected to one end of the pin shaft 2, it abuts against the clamping part 1, thus limiting the position of the clamping block 3 installed at the other end of the pin shaft 2. The elastic member 5 is installed between the clamping block 3 and the clamping part 1 and has a pre-tightening force to drive the clamping block 3 away from the clamping part 1. When the clamping block 3 is driven away from the clamping part 1 by the pre-tightening force, the stop block 4 abuts against the clamping part 1. When the clamping block 3 bears the clamping force, it can compress the elastic member 5 and drive the pin shaft 2 to move along the axis of the pin shaft 2 in the reverse direction of the clamping direction.

[0054] With the above arrangement, the pin shaft 2 is slidably arranged on the clamping part 1. Cooperating with the stop block 4 arranged at one end of the pin shaft 2 and the stop block 4 abutting against the clamping part 1, it plays a role of fixing and limiting the clamping block 3 arranged at the other end of the pin shaft 2, enabling the stop block 4 to slide relative to the clamping part 1. On the basis that the clamping block 3 can slide relative to the clamping part 1, it is subjected to a pre-tightening force from the elastic member 5 to drive itself away from the clamping part 1. The elastic abutting action of the elastic member 5 on the clamping block 3 keeps the clamping block 3 in contact with the surface of the workpiece to be clamped, thereby realizing the function of gap compensation and also achieving the effect of improving the clamping stability of the robotic arm for the workpiece and enabling it to have higher positioning accuracy.

[0055] Based on the above overall design, specifically, in this embodiment, referring to Figure 1 and Figure 2 , the stop block 4 is installed on the pin shaft 2 by means of threaded connection, and the relative position between the stop block 4 and the pin shaft 2 can be adjusted along the axis direction of the pin shaft 2.

[0056] By setting the stopper 4 to a structure that can be adjusted in position along the axial direction of the pin shaft 2, the operator can change the relative position between the pin shaft 2 and the clamping part 1 by adjusting the relative position between the stopper 4 and the pin shaft 2, so as to set the relative position between the clamping part 1 and the clamping block 3, and achieve the purpose of clamping workpieces with different thicknesses. By installing the stopper 4 and the pin shaft 2 in a threaded connection, the installation operation can be simplified, and the convenience of the assembly and maintenance process can be improved.

[0057] In order to improve the stability of the clamping block 3 during the relative sliding between the clamping block 3 and the clamping part 1, in this embodiment, referring to Figure 1 and Figure 2 , an opening 101 with an open end 8023 is provided at one end of the clamping part 1. The pin shaft 2 is inserted through the opening 101 to form a sliding connection structure with the clamping part 1. A part of the clamping block 3 is slidably inserted into the opening 101.

[0058] By providing an opening 101 with an open end 8023 on the clamping part 1, and a part of the clamping block 3 is slidably inserted into the opening 101, the opening 101 can play a role in restricting and positioning the relative sliding between the clamping block 3 and the clamping part 1, thereby improving the stability of the clamping block 3 during sliding.

[0059] Referring to Figure 1 and Figure 2 , for the purpose of improving the stability of the elastic member 5 during compression or elongation, a limiting member 102 is installed in the opening 101 in this embodiment. The elastic member 5 is located between the limiting member 102 and the clamping block 3. In order to reduce the frictional loss generated by the relative sliding between the clamping block 3 and the clamping part 1, a lubricating sleeve 103 is also embedded in the opening 101. The pin shaft 2 passes through the lubricating sleeve 103, and the clamping block 3 is slidably inserted into the lubricating sleeve 103. The lubricating sleeve 103 can be a copper cylindrical metal sleeve.

[0060] By providing a limiting member 102 in the opening 101, and making the elastic member 5 located between the limiting member 102 and the clamping block 3, the limiting member 102 can support the arrangement of the elastic member 5, thereby shortening the length and compression stroke of the elastic member 5, which is beneficial to avoiding the problem of poor clamping stability caused by the overlong elastic member 5 or too large compression stroke. By providing a lubricating sleeve 103 on the clamping block 3, the frictional force received during the sliding of the clamping block 3 can be reduced, and the frictional loss between the clamping block 3 and the clamping part 1 can be reduced, thereby improving the service life of the present utility model.

[0061] Referring to Figure 1 and Figure 2, To improve the structural stability of the present utility model, in this embodiment, the elastic member 5 may be a spring sleeved on the pin shaft 2. A through hole 301 is formed in the clamping block 3. The pin shaft 2 passes through the through hole 301, and a part of the spring near one end of the clamping block 3 is located in the through hole 301.

[0062] By setting the elastic member 5 as a spring sleeved on the pin shaft 2, the spool plays a limiting role on the elastic member 5, which is beneficial to avoiding the torsion of the elastic member 5 during compression or stretching. By providing the through hole 301 on the clamping block 3 and arranging one end of the spring near the clamping block 3 in the through hole 301, the through hole 301 plays a certain limiting role on the spring. While facilitating the assembly, it is beneficial to avoid the misalignment between the elastic member 5 and the clamping block 3.

[0063] The clamping gap compensation mechanism of this embodiment adopts the following assembly method: First, pass the pin shaft 2 through the clamping portion 1, and install the stop block 4 at one end of the pin shaft 2 and abut it against the clamping portion 1. Then, sequentially sleeve the limiting member 102 and the elastic member 5 on the pin shaft 2 and install them in the opening 101. Finally, install the lubricating sleeve 103 in the opening 101, insert the clamping block 3 into the lubricating sleeve 103, and make one end of the elastic member 5 inserted into the through hole 301. Fix the clamping block 3 to the end of the pin shaft 2 away from the stop block 4, and the assembly can be completed.

[0064] When the clamping portion 1 clamps the workpiece, the clamping force acts on the clamping block 3, enabling the clamping block 3 to overcome the elastic pre-tightening force of the elastic member 5 and drive the whole pin shaft 2 to slide relative to the clamping portion 1. In the above process, the clamping block 3 remains in contact with the surface of the clamped workpiece, thereby improving the clamping stability of the clamping portion 1 on the workpiece and making it have higher positioning accuracy.

[0065] Embodiment Two

[0066] This embodiment relates to a clamping device, including a driving mechanism 6, a transmission mechanism 7, a clamping mechanism 8, and a clamping gap compensation mechanism as involved in Embodiment One.

[0067] Among them, the clamping mechanism 8 includes two clamping arms 801, and at least one clamping arm 801 is equipped with the clamping gap compensation mechanism involved in Embodiment One. The two clamping arms 801 of the clamping mechanism 8 are opened and closed under the driving action of the driving mechanism 6, so as to complete the clamping action on the workpiece. In this embodiment, by providing the clamping gap compensation mechanism involved in Embodiment One on the clamping arm 801, the stability and positioning accuracy of the clamping effect of the clamping mechanism 8 on the workpiece are improved.

[0068] In order to make the torque output by the driving mechanism 6 adjustable in magnitude and direction, and the overall structure is simple and reliable. In this embodiment, referring to Figure 3 andFigure 4 The driving mechanism 6 adopts a rotary power output device. The driving mechanism 6 can be composed of a three-phase asynchronous motor and a speed reducer. Among them, the power input end of the speed reducer is connected to the rotating shaft of the three-phase asynchronous motor through a coupling.

[0069] By setting the driving mechanism 6 as a rotary power output device composed of a motor and a speed reducer, the magnitude and direction of the torque output by the driving mechanism 6 can be adjusted according to actual usage requirements, improving the convenience of use of the clamping device.

[0070] For the purpose of transmitting the torque generated by the driving mechanism 6 to the clamping mechanism 8, in this embodiment, referring to Figure 3 and Figure 5 , the transmission mechanism 7 includes a rocker 701 and a connecting rod 702. Among them, one end of the rocker 701 is sleeved on the power output end of the driving mechanism 6 and can rotate synchronously with the rotation of the power output end of the driving mechanism 6. The other end of the rocker 701 is hinged to one end of the connecting rod 702. The other end of the connecting rod 702 is hinged to one of the two clamping arms 801. When the rocker 701 rotates, the connecting rod 702 will push or pull the connected clamping arm 801 under the drive of the rocker 701, causing it to open and close with the other clamping arm 801, thereby realizing the clamping and releasing actions.

[0071] In order to better improve the stability of the workpiece to be clamped, in this embodiment, referring to Figure 3 and Figure 6 , both clamping arms 801 are installed on the frame by means of rotational connection and can rotate around the installation points on the frame. The two clamping arms 801 are connected by a gear transmission structure. While the clamping arm 801 connected to the connecting rod 702 moves under the action of the connecting rod 702, it will drive the other clamping arm 801 to move synchronously through the gear transmission mechanism 7, thereby realizing the opening and closing between the two clamping arms 801 and ensuring the synchronism of the movement between the two clamping arms 801.

[0072] In addition, an adjustable-height adjustment component 802 is installed on the clamping arm 801. The adjustment component 802 and the clamping gap compensation mechanism are respectively arranged at the ends of the two clamping arms 801. Referring to Figure 7 , in order to be able to more conveniently adjust the distance between the two clamping arms 801, the adjustment component 802 includes an adjustment bolt 8021, a copper sleeve and an adjustment block 8022.

[0073] Among them, an opening 8023 is provided at the end of the clamping arm 801 where the adjusting component 802 is installed. The copper sleeve is coated on the outside of the adjusting block 8022 and is arranged in contact with the inner wall of the opening 8023. The adjusting block 8022 is slidably arranged between the opening 8023 of the clamping arm 801. The adjusting bolt 8021 is penetrated through the clamping arm 801, extends from the inside of the opening 8023 towards the adjusting block 8022 and is threadedly connected to the adjusting block 8022 for fixation. By adjusting the length of the adjusting block 8022 extending out of the opening 8023, the distance adjustment between the two clamping arms 801 for clamping one end of the workpiece can be achieved.

[0074] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A clamping gap compensation mechanism, characterized in that: The invention comprises a pin shaft (2) slidably arranged on a clamping part (1), a clamping block (3) arranged at one end of the pin shaft (2), a stopper (4) arranged at the other end of the pin shaft (2), and an elastic member (5) arranged between the clamping block (3) and the clamping part (1); The elastic member (5) has a pre-tightening force that drives the clamping block (3) away from the clamping portion (1); when the clamping block (3) moves away from the clamping portion (1), the stop block (4) can be placed against the clamping portion (1); and when the clamping block (3) is subjected to the clamping force, it can compress the elastic member (5) and drive the pin shaft (2) to move in the opposite direction.

2. The clamping gap compensation mechanism according to claim 1, characterized in that: The stopper (4) can be positionally adjusted along the axial direction of the pin shaft (2).

3. The clamping gap compensation mechanism according to claim 2, characterized in that: The stopper (4) is screwed onto the pin shaft (2).

4. The clamping gap compensation mechanism according to claim 1, characterized in that: The clamping portion (1) is provided with an opening (101) with one end open, the pin shaft (2) is inserted into the opening (101), and a portion of the clamping block (3) is slidably inserted into the opening (101).

5. The clamping gap compensation mechanism according to claim 4, characterized in that: A limiting member (102) is provided in the opening (101), and the elastic member (5) is located between the limiting member (102) and the clamping block (3); and / or, A lubricating sleeve (103) is embedded in the opening (101), the pin shaft (2) passes through the lubricating sleeve (103), and the clamping block (3) is slidably inserted in the lubricating sleeve (103).

6. The clamping gap compensation mechanism according to any one of claims 1 to 5, characterized in that: The elastic member (5) comprises a spring sleeved on the pin shaft (2).

7. The clamping gap compensation mechanism according to claim 6, characterized in that: The clamping block (3) is provided with a through hole (301) for the pin shaft (2) to pass through, and one end of the spring close to the clamping block (3) is located in the through hole (301).

8. A clamping device, characterized in that: It comprises a driving mechanism (6) and a clamping mechanism (8) connected to the driving mechanism (6) via a transmission mechanism (7); The clamping mechanism (8) comprises two clamping arms (801) which can be opened and closed under the drive of the driving mechanism (6), and at least one of the clamping arms (801) is provided with a clamping gap compensation mechanism as claimed in any one of claims 1 to 7.

9. The clamping device according to claim 8, characterized in that: The driving mechanism (6) adopts a rotary power output device; The transmission mechanism (7) comprises a rocker (701) connected to the driving end of the driving mechanism (6), and a connecting rod (702) hinged between the rocker (701) and the clamping mechanism (8).

10. The clamping device according to claim 8, characterized in that: The transmission mechanism (7) is connected to one of the clamping arms (801), and the two clamping arms (801) are connected via a gear transmission structure; and / or, The clamping gap compensation mechanism is located on one of the clamping arms (801), and a height-adjustable adjustment component (802) is screwed onto the other clamping arm (801).

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