Rotary clamping device

Abstract

The utility model relates to the technical field of automation equipment, in particular to a rotary clamping device. The rotary clamping device comprises a clamping assembly, a first linear driving assembly, a second linear driving assembly and switching structures, the clamping assembly comprises two clamping pieces which are oppositely arranged in the first direction, and each clamping piece is connected with the output end of one switching structure; the input end of each switching structure is hinged to the output end of one second linear driving assembly, the second linear driving assemblies can drive the input ends of the switching structures to move linearly, the input ends of the switching structures can drive the output ends of the switching structures to rotate in the first direction, and the two second linear driving assemblies work synchronously. And each second linear driving assembly is connected with the output end of the first linear driving assembly, and the first linear driving assembly can drive the two second linear driving assemblies to move oppositely or oppositely in the first direction, can clamp and fix the product in the first direction and drives the product to rotate around the first direction.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a rotary clamping device. Background Art

[0002] With the continuous development of industrial technology, the automation level of production equipment is constantly improving. In the production process of products, transfer equipment can be used to clamp and fix products and drive the products to flow between different production equipment to replace the original manual handling of products. Specifically, the transfer equipment uses a clamp to clamp and fix the product.

[0003] In the related art, in order to ensure the processing quality of the product, the clamped product needs to be rotated by a certain angle so that the subsequent production equipment can process the product from the correct angle. However, the clamps in the prior art cannot rotate and cannot meet the actual clamping requirements.

[0004] Therefore, it is urgent to invent a rotating clamping device to solve the above problems. Utility Model Content

[0005] The purpose of the utility model is to provide a rotary clamping device to realize the rotational drive of the clamping claws, so as to drive the clamped and fixed product to rotate and meet the actual clamping needs.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] Rotating clamping device, comprising:

[0008] A clamping assembly, comprising two clamping members arranged opposite to each other along a first direction;

[0009] A first linear drive assembly, a second linear drive assembly and a transfer structure, each of the clamping members is connected to an output end of the transfer structure, each of the input ends of the transfer structure is hinged to an output end of the second linear drive assembly, the second linear drive assembly can drive the input end of the transfer structure to move along a straight line relative to the second linear drive assembly, the input end of the transfer structure can drive the output end of the transfer structure to rotate around the first direction, and the two second linear drive assemblies work synchronously;

[0010] Each of the second linear drive components is connected to the output end of the first linear drive component, and the first linear drive component can drive the two second linear drive components to move toward or away from each other along the first direction.

[0011] As an optional solution, the first linear drive assembly includes:

[0012] A first linear drive having two output ends; and

[0013] A connecting member, each output end of the first linear drive member is connected to the connecting member, each of the connecting members is connected to a group of the second linear drive components, and the first linear drive member can synchronously drive the two connecting members to move toward or away from each other along the first direction.

[0014] As an optional scheme, a first limiting protrusion and a second limiting protrusion are provided on the connecting member, and the first limiting protrusion and the second limiting protrusion are respectively provided on the rotation path of the adapter structure, and the first limiting protrusion and the second limiting protrusion can both abut against the adapter structure, and either the first limiting protrusion or the second limiting protrusion is used to limit the maximum positive rotation angle of the adapter structure relative to the horizontal plane around the first direction, and the other of the two is used to limit the maximum reverse rotation angle of the adapter structure relative to the horizontal plane around the first direction.

[0015] As an optional solution, the maximum positive rotation angle of the adapter structure relative to the horizontal plane around the first direction is α, and α is greater than or equal to 40°, and α is less than or equal to 60°;

[0016] The maximum reverse rotation angle of the switching structure relative to the horizontal plane around the first direction is β, and the β is greater than or equal to 40°, and the β is less than or equal to 60°.

[0017] As an optional solution, the clamping member is arranged at one end of the connecting member along the first direction, and the transition structure is arranged at the other end of the connecting member along the first direction. The connecting member is provided with an avoidance through hole extending along the first direction, and the transition structure is provided with an extension portion, which passes through the avoidance through hole and is connected and fixed to the clamping member.

[0018] As an optional solution, both end surfaces of the two clamping members that are arranged opposite to each other are covered with anti-slip protrusions.

[0019] As an optional solution, the second linear drive assembly includes:

[0020] a second linear drive; and

[0021] The mounting seat is fixed on the output end of the first linear drive component, the second linear drive member is hinged to the mounting seat, the output end of the second linear drive member is hinged to the input end of the adapter structure, and the output end of the second linear drive member can drive the input end of the adapter structure to move along a straight line relative to the second linear drive member.

[0022] As an optional solution, the rotary clamping device further includes:

[0023] The first detection component, which is communicatively connected to the first linear drive component, is configured to detect the moving distance of the clamping member along the first direction.

[0024] As an alternative, the rotary clamping device further includes:

[0025] The second detection component, which is communicatively connected to the second linear drive component, is configured to detect the rotation angle of the clamping member around the first direction.

[0026] As an alternative, the rotary clamping device further includes:

[0027] The elastic buffer member, which is disposed between the clamping member and the output end of the adapter structure, is capable of deforming along the first direction.

[0028] Advantages of the present utility model:

[0029] The rotary clamping device provided by the present utility model, by providing two clamping members oppositely arranged along the first direction, connecting each clamping member to the output end of an adapter structure, and hinging each adapter structure to the output end of a second linear drive component, enables the second linear drive component to drive the input end of the corresponding adapter structure to move linearly relative to the second linear drive component, thereby driving the output end of the adapter structure to rotate around the first direction, achieving the effect of driving the clamping member to rotate around the first direction. By connecting the two second linear drive components to the output end of the first linear drive component respectively, the first linear drive component drives the two second linear drive components to move towards each other or away from each other along the first direction, achieving the effect of the clamping members oppositely arranged along the first direction moving towards each other or away from each other, and thus being able to clamp and fix the product along the first direction. Combining the synchronous operation of the two second linear drive components, the synchronous rotation of the two clamping members around the first direction is realized, achieving the rotation of the product clamped and fixed by the two clamping members along the first direction around the first direction, meeting the actual clamping requirements. Description of the Drawings

[0030] Figure 1 is a schematic structural diagram of the rotary clamping device provided by an embodiment of the present utility model;

[0031] Figure 2 is one of the schematic structural diagrams of the clamping member, the adapter structure, the second linear drive component, and the connecting member provided by an embodiment of the present utility model;

[0032] Figure 3 is another schematic structural diagram of the clamping member, the adapter structure, the second linear drive component, and the connecting member provided by an embodiment of the present utility model;

[0033] Figure 4 It is a cross-sectional schematic diagram of the clamping member, the switching structure, the second linear drive assembly and the connecting member provided in the embodiment of the utility model.

[0034] In the figure:

[0035] 100, clamping assembly; 110, clamping member; 111, anti-slip protrusion;

[0036] 200, first linear drive assembly; 210, first linear drive member; 220, connecting member; 221, first limiting protrusion; 222, second limiting protrusion; 223, avoidance through hole;

[0037] 300, second linear drive assembly; 310, second linear drive member; 320, mounting seat;

[0038] 400, transfer structure; 410, extension part;

[0039] 500. First detection component. DETAILED DESCRIPTION

[0040] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the present invention are further explained below with reference to the accompanying drawings and through specific implementation methods.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0044] During the production process of a product, a transfer device can be used to clamp and fix the product and drive the product to flow between different production equipment, thereby replacing the original manual handling of the product. Specifically, the transfer device uses a clamp to clamp and fix the product.

[0045] In the related art, in order to ensure the processing quality of the product, the clamped product needs to be rotated by a certain angle so that the subsequent production equipment can process the product from the correct angle. However, the clamps in the prior art cannot rotate and cannot meet the actual production needs.

[0046] In order to solve the above problems, Figures 1 to 4 As shown, this embodiment provides a rotary clamping device. The rotary clamping device includes a clamping assembly 100, a first linear drive assembly 200, a second linear drive assembly 300 and an adapter structure 400, wherein the clamping assembly 100 includes two clamping members 110 arranged opposite to each other along a first direction, each clamping member 110 is connected to an output end of an adapter structure 400, and the input end of each adapter structure 400 is hinged to an output end of a second linear drive assembly 300, and the second linear drive assembly 300 can drive the input end of the adapter structure 400 to move along a straight line relative to the second linear drive assembly 300, and the input end of the adapter structure 400 can drive the output end of the adapter structure 400 to rotate around the first direction, and the two second linear drive assemblies 300 work synchronously, and each second linear drive assembly 300 is connected to the output end of the first linear drive assembly 200, and the first linear drive assembly 200 can drive the two second linear drive assemblies 300 to move toward or away from each other along the first direction.

[0047] The rotary clamping device is configured by arranging two clamping members 110 oppositely disposed along a first direction, connecting each clamping member 110 to the output end of a transfer structure 400, and hinging each transfer structure 400 to the output end of a second linear drive assembly 300. The second linear drive assembly 300 drives the input end of the corresponding transfer structure 400 to move linearly relative to the second linear drive assembly 300, thereby driving the output end of the transfer structure 400 to rotate around the first direction, achieving the effect of driving the clamping member 110 to rotate around the first direction. By connecting the two second linear drive assemblies 300 to the output end of the first linear drive assembly 200 respectively, the first linear drive assembly 200 drives the two second linear drive assemblies 300 to move towards each other or away from each other along the first direction, achieving the effect of the clamping members 110 oppositely disposed along the first direction moving towards each other or away from each other, and thus being able to clamp and fix the product along the first direction. Combining the synchronous operation of the two second linear drive assemblies 300 enables the two clamping members 110 to rotate synchronously around the first direction, achieving the rotation of the product clamped and fixed by the two clamping members 110 along the first direction around the first direction, meeting the actual clamping requirements.

[0048] To improve the clamping effect on the product, the opposite end faces of the two clamping members 110 are covered with anti-slip protrusions 111. By covering the opposite end faces of the two clamping members 110 with anti-slip protrusions 111, the surface roughness of the opposite end faces of the clamping members 110 can be increased. When the two clamping members 110 jointly clamp and fix the product, the friction between the opposite end faces of the clamping members 110 and the product clamping surfaces can be increased, solving the problem of the product slipping between the two clamping members 110, and thus improving the clamping effect on the product.

[0049] As an alternative solution, the first linear drive assembly 200 includes a first linear drive member 210 and a connecting member 220. Among them, the first linear drive member 210 has two output ends, each output end of the first linear drive member 210 is connected to a connecting member 220, and each connecting member 220 is connected to a set of second linear drive assemblies 300. The first linear drive member 210 can synchronously drive the two connecting members 220 to move towards each other or away from each other along the first direction. By arranging the first linear drive member 210 with two output ends, connecting each output end to a connecting member 220, and connecting each connecting member 220 to a set of second linear drive assemblies 300, and using the first linear drive member 210 to drive the two connecting members 220 to move towards each other or away from each other along the first direction, the driving of the two sets of second linear drive assemblies 300 and the corresponding clamping members 110 to move towards each other and away from each other is achieved. The structure is simple and the driving effect is good.

[0050] It should be noted that, in the present embodiment, the first linear drive member 210 is a double-rod cylinder, the two extension rods of the double-rod cylinder are arranged opposite to each other along the first direction, the connecting member 220 is respectively connected to one extension rod, and the two extension rods of the double-rod cylinder can be synchronously extended along the first direction or retracted along the first direction to realize the drive of the two connecting members 220 to move toward each other or move away from each other along the first direction. In other embodiments, the first linear drive member 210 may also be a double-rod motor or other linear drive structure with bidirectional output, which is not specifically limited in the present embodiment. In addition, in the present embodiment, the first direction is the left-right direction. In other embodiments, the first direction may also be any direction in the space, which is not specifically limited in the present embodiment.

[0051] Combination Figures 2 to 4 The specific structures among the connecting member 220, the transition structure 400 and the clamping member 110 are described. The clamping member 110 is arranged at one end of the connecting member 220 along the first direction, the transition structure 400 is arranged at the other end of the connecting member 220 along the first direction, the connecting member 220 is provided with an avoidance through hole 223 extending along the first direction, and the transition structure 400 is provided with an extension part 410, the extension part 410 is penetrated by the avoidance through hole 223 and is connected and fixed to the clamping member 110. By respectively arranging the clamping member 110 and the adapter structure 400 at two opposite ends of the connecting member 220 along the first direction, and opening an avoidance through hole 223 extending along the first direction on the connecting member 220, the extension portion 410 on the adapter structure 400 passes through the avoidance through hole 223 and is connected and fixed to the clamping member 110, the problem of interference between the clamping member 110 and the adapter structure 400 can be solved while ensuring the normal clamping and fixing of the product by the two clamping members 110 in the clamping assembly 100.

[0052] In this embodiment, the second linear drive component 300 includes a second linear drive member 310 and a mounting seat 320, wherein the mounting seat 320 is fixed on the connecting member 220, the second linear drive member 310 and the mounting seat 320 are hinged, and the output end of the second linear drive member 310 is connected to the input end of the transfer structure 400, and the output end of the second linear drive member 310 can drive the input end of the transfer structure 400 to move along a straight line relative to the second linear drive member 310. By fixing the mounting seat 320 on the connecting member 220, and hinge-mounting the second linear drive member 310 with the mounting seat 320, and hinge-mounting the output end of the second linear drive member 310 with the input end of the transfer structure 400, the mounting seat 320, the second linear drive member 310 and the transfer structure 400 together form a mutually hinged connecting rod structure. When the second linear drive member 310 drives the input end of the transfer structure 400 to move along a straight line relative to the second linear drive member 310, the second linear drive member 310 can rotate relative to the mounting seat 320, and ensure that the output end of the transfer structure 400 can rotate around the first direction. It should be noted that in this embodiment, the second linear drive member 310 is a linear cylinder. The linear cylinder is small in size, responsive, and easy to disassemble and assemble. In other embodiments, the second linear drive member 310 can also be a linear motor or other linear drive structure, which is not specifically limited in this embodiment.

[0053] In addition, a first limiting protrusion 221 and a second limiting protrusion 222 are provided on the connecting member 220. The first limiting protrusion 221 and the second limiting protrusion 222 are respectively arranged on the rotation path of the adapter structure 400. The first limiting protrusion 221 and the second limiting protrusion 222 can both abut against the adapter structure 400. Any one of the first limiting protrusion 221 and the second limiting protrusion 222 is used to limit the maximum positive rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction, and the other one is used to limit the maximum reverse rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction. By respectively providing a first limiting protrusion 221 and a second limiting protrusion 222 on the connecting member 220, the first limiting protrusion 221 and the second limiting protrusion 222 are both located on the rotation path of the adapter structure 400. Any one of the first limiting protrusion 221 and the second limiting protrusion 222 limits the maximum positive rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction, and the other of the two limits the maximum reverse rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction. This can achieve the limitation of the rotation angle of the product clamped and fixed by the clamping member 110, avoid the product from rotating out of position, and ensure the normal rotation of the product.

[0054] It should be noted that, in the present embodiment, the first limiting protrusion 221 is arranged on the forward rotation path of the adapter structure 400, and the first limiting protrusion 221 is used to limit the maximum forward rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction. The second limiting protrusion 222 is arranged on the reverse rotation path of the adapter structure 400, and the second limiting protrusion 222 is used to limit the maximum reverse rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction. In other embodiments, the second limiting protrusion 222 can also be arranged on the forward rotation path of the adapter structure 400, so that the second limiting protrusion 222 limits the maximum forward rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction, and the first limiting protrusion 221 is arranged on the reverse rotation path of the adapter structure 400, so that the first limiting protrusion 221 limits the maximum reverse rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction, which is not specifically limited in the present embodiment.

[0055] Specifically, the maximum positive rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction is α, α is greater than or equal to 40°, and α is less than or equal to 60°; the maximum reverse rotation angle of the adapter structure 400 relative to the horizontal plane around the first direction is β, β is greater than or equal to 40°, and β is less than or equal to 60°. It should be noted that in this embodiment, the maximum positive rotation angle α of the adapter structure 400 relative to the horizontal plane around the first direction is 50°, and the maximum reverse rotation angle β of the adapter structure 400 relative to the horizontal plane around the first direction is 50°. In other embodiments, the specific value of α can be arbitrarily adjusted within the range of 40° to 60° according to actual needs, and the specific value of β can be arbitrarily adjusted within the range of 40° to 60° according to actual needs, and this embodiment does not make specific limitations.

[0056] As an optional solution, the rotary clamping device further includes a first detection component 500, wherein the first linear drive component 200 further includes a first control component, the first control component is used to control the start and stop of the first linear drive member 210, the first detection component 500 is connected to the first control component in the first linear drive component 200, and the first detection component 500 is used to detect the moving distance of the clamping member 110 along the first direction. By setting the first detection component 500 to detect the moving distance of the clamping member 110 along the first direction, and connecting the first detection component 500 to the first control component in the first linear drive component 200, the first detection component 500 transmits the detection information to the first control component, and the first control component controls the start and stop of the first linear drive member 210 according to the detection information, so as to ensure that the two clamping members 110 will not move offside when moving toward each other, and avoid damaging the clamped and fixed product due to the two clamping members 110 being too close to each other. It should be noted that in this embodiment, the first detection component 500 is a laser sensor, which is compact, has high detection accuracy, and is sensitive to response. In other embodiments, the first detection component 500 may also be an ultrasonic sensor or other structure with distance detection function, which is not specifically limited in this embodiment. The specific control principle of the first control component belongs to the prior art and will not be described in detail here.

[0057] In addition, the rotary clamping device also includes an elastic buffer (not shown in the figure), wherein the elastic buffer is arranged between the clamping member 110 and the extension 410 of the adapter structure 400, and the elastic buffer can be deformed along the first direction. By arranging the elastic buffer between the clamping member 110 and the extension 410, the elastic buffer can be deformed along the first direction. When the first linear drive member 210 drives the clamping member 110 to clamp and fix the product, if the clamping member 110 has abutted against the product, and the first linear drive member 210 continues to drive the clamping member 110 to move in the direction close to the product, the elastic buffer will be compressed by force along the first direction, reducing the clamping force between the clamping member 110 and the product, thereby improving the protection of the product. It should be noted that in this embodiment, the elastic buffer is a spring. The spring structure is simple and easy to disassemble and assemble. In other embodiments, the elastic buffer can also be other structures that can produce elastic deformation, which is not specifically limited in this embodiment.

[0058] As an alternative, the rotary clamping device further includes a second detection component (not shown in the figure). Among them, the second linear driving component 300 further includes a second control component, and the second control component is used to control the start and stop of the second linear driving member 310. The second detection component is communicatively connected to the second control component in the second linear driving component 300, and the second detection component is used to detect the rotation angle of the clamping member 110 around the first direction. By setting the second detection component to detect the rotation angle of the clamping member 110 around the first direction and communicatively connecting the second detection component to the second control component in the second linear driving component 300, the second detection component transmits the detection information to the second control component, and the second control component controls the start and stop of the second linear driving member 310 according to the detection information, which can ensure that the clamping member 110 does not rotate beyond the limit when rotating around the first direction, prevent the transfer structure 400 from being driven to rotate after abutting against the first limiting protrusion 221 or the second limiting protrusion 222, and improve the protection of the transfer structure 400, the first limiting protrusion 221, and the second limiting protrusion 222. It should be noted that in this embodiment, the second detection component is a laser sensor, which is small in size, high in detection accuracy, and sensitive in response. In other embodiments, the second detection component may also be an ultrasonic sensor or other structures with distance detection functions, and this embodiment does not make specific limitations. The specific control principle of the second control component belongs to the prior art and will not be elaborated here.

[0059] Obviously, the above-mentioned embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A rotary clamping device, characterized in that, Comprising: A clamping assembly (100), including two clamping members (110) arranged oppositely along a first direction; A first linear drive assembly (200), a second linear drive assembly (300), and a transfer structure (400). Each of the clamping members (110) is connected to the output end of a transfer structure (400), and the input end of each transfer structure (400) is hinged to the output end of a second linear drive assembly (300). The second linear drive assembly (300) can drive the input end of the transfer structure (400) to move linearly relative to the second linear drive assembly (300), and the input end of the transfer structure (400) can drive the output end of the transfer structure (400) to rotate around the first direction. The two second linear drive assemblies (300) work synchronously; Each of the second linear drive assemblies (300) is connected to the output end of the first linear drive assembly (200), and the first linear drive assembly (200) can drive the two second linear drive assemblies (300) to move towards each other or away from each other along the first direction.

2. The rotary clamping device according to claim 1, characterized in that, The first linear drive assembly (200) includes: A first linear drive member (210), the first linear drive member (210) having two output ends; and Connectors (220), each output end of the first linear drive member (210) is connected to a connector (220), and each connector (220) is connected to a set of second linear drive assemblies (300). The first linear drive member (210) can synchronously drive the two connectors (220) to move towards each other or away from each other along the first direction.

3. The rotary clamping device according to claim 2, wherein The connector (220) is provided with a first limit protrusion (221) and a second limit protrusion (222). The first limit protrusion (221) and the second limit protrusion (222) are respectively arranged on the rotation path of the transfer structure (400). Both the first limit protrusion (221) and the second limit protrusion (222) can abut against the transfer structure (400). Any one of the first limit protrusion (221) and the second limit protrusion (222) is used to limit the maximum positive rotation angle of the transfer structure (400) relative to the horizontal plane around the first direction, and the other is used to limit the maximum negative rotation angle of the transfer structure (400) relative to the horizontal plane around the first direction.

4. The rotary clamping device according to claim 3, characterized in that, The maximum positive rotation angle of the transfer structure (400) relative to the horizontal plane around the first direction is α, where α is greater than or equal to 40° and less than or equal to 60°; The maximum negative rotation angle of the transfer structure (400) relative to the horizontal plane around the first direction is β, where β is greater than or equal to 40° and less than or equal to 60°.

5. The rotary clamping device according to claim 2, characterized in that, The clamping member (110) is arranged at one end of the connecting member (220) along the first direction, and the transition structure (400) is arranged at the other end of the connecting member (220) along the first direction. The connecting member (220) is provided with an avoidance through hole (223) extending along the first direction, and the transition structure (400) is provided with an extension part (410), and the extension part (410) passes through the avoidance through hole (223) and is connected and fixed to the clamping member (110).

6. The rotary clamping device according to any one of claims 1 to 5, characterized in that Both end surfaces of the two clamping members (110) which are arranged opposite to each other are covered with anti-slip protrusions (111).

7. The rotary clamping device according to any one of claims 1 to 5, characterized in that, The second linear drive assembly (300) comprises: A second linear drive member (310); and The mounting seat (320) is fixed on the output end of the first linear drive component (200); the second linear drive member (310) is hinged to the mounting seat (320); the output end of the second linear drive member (310) is hinged to the input end of the adapter structure (400); the output end of the second linear drive member (310) can drive the input end of the adapter structure (400) to move along a straight line relative to the second linear drive member (310).

8. The rotary clamping device according to any one of claims 1 to 5, characterized in that, The rotary clamping device also includes: A first detection component (500), the first detection component (500) is communicatively connected to the first linear drive component (200), and the first detection component (500) is used to detect the moving distance of the clamping member (110) along the first direction.

9. The rotary clamping device according to any one of claims 1 to 5, characterized in that, The rotary clamping device also includes: A second detection component, the second detection component is communicatively connected to the second linear drive component (300), and the second detection component is used to detect the rotation angle of the clamping member (110) around the first direction.

10. The rotary clamping device according to any one of claims 1 to 5, characterized in that, The rotary clamping device also includes: An elastic buffer member, the elastic buffer member is arranged between the clamping member (110) and an output end of the switching structure (400), and the elastic buffer member can be deformed along the first direction.

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