Clamping mechanism and pulling device

Abstract

The utility model relates to a clamping mechanism and a pulling device. The pulling device comprises a supporting mechanism and a clamping mechanism which are movably connected with each other, the clamping mechanism comprises a connecting plate, a clamping assembly and a first driving cylinder, the connecting plate is provided with a first limiting block, a second limiting block and a third limiting block which are sequentially arranged at intervals, and the clamping assembly comprises a first clamping piece and a second clamping piece; the first clamping piece is arranged between the first limiting block and the second limiting block, the second clamping piece is arranged between the second limiting block and the third limiting block, the first driving cylinder comprises a driving part and an output part which are movably connected with each other, the driving part and the output part are arranged on the connecting plate in a sliding mode, and the driving part is connected to the first clamping piece; the output part is connected to the second clamping piece, so that the clamping assembly can clamp or release the rubber plug only through one driving cylinder, the structure is simplified, the cost is saved, the rubber plug is automatically pulled out through a machine instead of manual work, the labor intensity is relieved, and the pulling-out efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pipe pile production, and particularly to a clamping mechanism and an extraction device. Background Art

[0002] A prestressed pipe pile is a kind of hollow cylindrical slender concrete precast member made by the pretensioning prestress process and the centrifugal forming method. It is an important pile foundation material and is widely used in the foundation of projects such as railways, highways and bridges, municipal works and large equipment. It has the advantages of high strength, strong bearing capacity and strong adaptability to geological structures. Specifically, its preparation method is usually to place a steel reinforcement cage in a pipe pile mold and fill it with concrete inside, and then make the whole mold rotate through a centrifuge to finally form a pipe pile.

[0003] Existing pipe pile molds usually include two semi-circular half molds, which are fixedly connected by bolts. Head plates and tail plates are arranged at the head and tail ends of the mold. A hole is opened in the center of the tail plate. When pouring concrete, a pump pipe is inserted into the hole of the tail plate and then the concrete is pumped in. After the pump pipe is pulled out, in order to prevent the concrete from flowing out, a rubber plug is stuffed into the hole of the tail plate. When the pipe pile is centrifugally formed, it is necessary to manually remove the rubber plug. Because the rubber plug and the hole of the tail plate are in a tight fit, the efficiency of manually removing the rubber plug is low, the labor intensity is large, and there are certain safety hazards. Utility Model Content

[0004] Based on this, in view of the problems of low efficiency, high labor intensity and safety hazards in manually removing rubber plugs in the prior art, it is necessary to provide a clamping mechanism that can automatically extract rubber plugs and an extraction device including the clamping mechanism.

[0005] According to one aspect of the present application, a clamping mechanism is provided, including:

[0006] A connecting plate, on which a first limiting block, a second limiting block and a third limiting block are sequentially arranged at intervals;

[0007] A clamping assembly, including a first clamping member and a second clamping member. The first clamping member is arranged between the first limiting block and the second limiting block, and the second clamping member is arranged between the second limiting block and the third limiting block;

[0008] A first driving cylinder, including a driving part and an output part movably connected to the driving part. The driving part is slidably arranged on the connecting plate and connected to the first clamping member, and the output part is also slidably arranged on the connecting plate and connected to the second clamping member;

[0009] The driving part can drive the output part to drive the second clamping part to slide relative to the connecting plate and make itself slide relative to the connecting plate, and then drive the first clamping part to slide, so that when the first clamping part or the second clamping part abuts against the second limiting block, the first clamping part can approach each other relative to the second clamping part to clamp the first workpiece; when the first clamping part abuts against the first limiting block or the second clamping part abuts against the third limiting block, the first clamping part can move away from each other relative to the second clamping part to release the first workpiece.

[0010] In one embodiment, the driving part and the output part are arranged on one side of the connecting plate in its own thickness direction, and the first clamping part and the second clamping part are arranged on the opposite side of the connecting plate in its own thickness direction.

[0011] In one embodiment, the connecting plate is provided with a slide rail and two sliders respectively slidably connected to the slide rail. The two sliders are arranged at intervals. The driving part is connected to one of the sliders, and the output part is connected to the other slider.

[0012] In one embodiment, a position sensor is arranged on the connecting plate, and the position sensor is used to measure the distance between the clamping assembly and the first workpiece.

[0013] In the above clamping mechanism, by sequentially arranging a first limiting block, a second limiting block and a third limiting block at intervals on the connecting plate of the clamping mechanism, arranging a driving part connected to a first driving cylinder for the first clamping part between the first limiting block and the second limiting block, arranging a second clamping part connected to the output part of the first driving cylinder between the second limiting block and the third limiting block, and at the same time, by making both the driving part and the output part of the first driving cylinder be slidably connected to the connecting plate respectively, the driving part can drive itself to drive the first clamping part to move or drive the output part to drive the second clamping part to move. In this way, when the first clamping part or the second clamping part abuts against the second limiting block, the first clamping part can approach each other relative to the second clamping part to clamp the first workpiece; or when the first clamping part abuts against the first limiting block or the second clamping part abuts against the third limiting block, the first clamping part can move away from each other relative to the second clamping part to release the first workpiece. In this way, only one driving cylinder is needed to drive the first clamping part and the second clamping part to realize the actions of approaching each other or moving away from each other, thereby simplifying the structure of the clamping mechanism and saving the production cost.

[0014] According to another aspect of the present application, a pulling device is provided for pulling a first workpiece from a second workpiece. The pulling device includes;

[0015] A supporting mechanism, on which a second driving cylinder is arranged;

[0016] The clamping mechanism described in any of the above solutions is movably connected to the support mechanism and connected to the output end of the second driving cylinder. The clamping mechanism can clamp the first workpiece under the drive of the second driving cylinder and move relative to the support mechanism in a direction away from the second workpiece, so as to be able to pull out the first workpiece from the second workpiece.

[0017] In one embodiment, the clamping mechanism is rotatably connected to the support mechanism about an axis extending in the vertical direction. A swing arm connecting rod is provided on the connecting plate of the clamping mechanism, and the swing arm connecting rod is connected to the output end of the second driving cylinder.

[0018] In one embodiment, the support mechanism includes a frame and a translation frame. The translation frame is slidably arranged on the frame in a first horizontal direction. The clamping mechanism is rotatably connected to the translation frame, and the second driving cylinder is arranged on the translation frame.

[0019] In one embodiment, the frame includes two groove rails arranged in parallel at intervals in a second horizontal direction perpendicular to the first horizontal direction. Each groove rail extends in the first horizontal direction, and each groove rail has a chute. The translation frame is partially slidably limited in the chutes of the corresponding groove rails at opposite ends in the second horizontal direction.

[0020] In one embodiment, the bottom ends of the two ends of the translation frame in the second horizontal direction are respectively provided with grooved wheels, and each grooved wheel is slidably limited in the chute of the corresponding groove rail.

[0021] In one embodiment, a driving element is provided on the frame or the translation frame. The translation frame is drivingly connected to the driving element through a transmission component, and the driving element is used to drive the transmission component to drive the translation frame to move relative to the frame in the first horizontal direction.

[0022] In the above extraction device, by setting the clamping mechanism to be movably connected to the support mechanism and connected to the output end of the second driving cylinder, when the clamping mechanism approaches the extraction station, the second driving cylinder can drive the clamping mechanism to clamp the first workpiece and move relative to the support assembly in a direction away from the second workpiece and pull out the first workpiece from the second workpiece, so that it is possible to realize automatic extraction of the tube mold rubber plug by machine instead of manual labor. Compared with the method of manually extracting the rubber plug, the labor intensity is reduced and the extraction efficiency is improved. Description of the Drawings

[0023] Figure 1 It is an axonometric view of the extraction device provided by an embodiment of the present application.

[0024] Figure 2 is Figure 1 an enlarged schematic view of area A in

[0025] Figure 3 is Figure 1 an enlarged schematic view of area B in

[0026] Figure 4 is an axonometric view of the clamping mechanism in the extraction device provided by an embodiment of the present application.

[0027] Description of reference numerals:

[0028] 10. Extraction device; 100. Support mechanism; 110. Frame; 111. Groove rail; 111a. Slide groove; 120. Translation frame; 121. Grooved pulley; 130. Driving element; 140. Transmission component; 200. Clamping mechanism; 210. Connecting plate; 220. Clamping component; 221. First clamping piece; 222. Second clamping piece; 230. First driving cylinder; 231. Driving part; 232. Output part; 240. First limiting block; 250. Second limiting block; 260. Third limiting block; 270. Slide rail; 280. Slide block; 290. Displacement sensor; 300. Second driving cylinder; 400. Rotating shaft; 500. Swing connecting rod. Detailed implementation manners

[0029] In order to make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0031] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, if the term "a plurality of" appears, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0032] In this application, unless otherwise clearly specified and limited, if terms such as "installed", "connected", "joined", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; 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 parts or the interaction relationship between two parts, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] In this application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0034] It should be noted that if an element is referred to as "fixed to" or "disposed on" another part, it can be directly on the other part or there can also be an intermediate part. If an element is considered to be "connected" to another element, it can be directly connected to the other part or there may be an intermediate part at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0035] This application provides a clamping mechanism and a pulling device, wherein the pulling device includes the clamping mechanism. The pulling device is used to clamp a first workpiece inserted on a second workpiece by using the clamping mechanism and finally pull out the first workpiece from the second workpiece to replace manual pulling of the first workpiece, so as to achieve the purpose of reducing labor and improving the pulling efficiency of the first workpiece.

[0036] The following takes the second workpiece as a pipe pile mold and the first workpiece as a rubber plug on the pipe pile mold as an example, and takes the clamping mechanism for the extraction device, and takes the extraction device for extracting the rubber plug inserted on the pipe pile mold as an example to illustrate the structures of the extraction device and the clamping mechanism in the present application. It can be understood that in other embodiments, the extraction device of the present application is not limited to only extracting the rubber plug on the pipe pile mold, and can also be used to extract another workpiece inserted on any workpiece, and the clamping mechanism of the present application is not limited to being used in the extraction device, and can also be used to clamp any article, which is not limited herein.

[0037] Refer to Figure 1 , FIG. 1 shows an extraction device 10 in an embodiment of the present application. The extraction device 10 provided by the embodiment of the present application includes a support mechanism 100 and a clamping mechanism 200. The support mechanism 100 is provided with a second driving cylinder 300. The clamping mechanism 200 is movably connected to the support mechanism 100 and is connected to the output end of the second driving cylinder 300. The support mechanism 100 is used to support the entire device; the clamping mechanism 200 is used to clamp the rubber plug; the second driving cylinder 300 can be a pneumatic cylinder or a hydraulic cylinder, etc., which is used to drive the clamping mechanism 200 to move relative to the support mechanism 100 so that the clamping mechanism 200 can clamp the rubber plug and move away from the pipe pile mold (hereinafter referred to as the pipe mold), so that the clamping mechanism 200 can perform the operation of pulling out the rubber plug from the pipe mold.

[0038] Specifically, in one embodiment, the clamping mechanism 200 is rotatably connected to the support mechanism 100 through a rotating shaft 400 around an axis extending in the vertical direction, and a swing arm connecting rod 500 is provided on the clamping mechanism 200. The swing arm connecting rod 500 is connected to the output end of the second driving cylinder 300. Thus, as observed from the top-down direction in the figure, at the moment when the second driving cylinder 300 drives the clamping mechanism 200 to rotate counterclockwise relative to the support mechanism 100 around the above-mentioned axis extending in the vertical direction, the clamping mechanism 200 can clamp the rubber plug and move away from the pipe mold with a large force, so that the rubber plug can be pulled out from the pipe mold.

[0039] Refer to Figure 1 , in one embodiment, the support mechanism 100 includes a frame 110 and a translation frame 120. The frame 110 is fixed on the ground or a workbench. The translation frame 120 is slidably arranged on the frame 110 along a first horizontal direction (i.e., the X direction shown in the figure). The clamping mechanism 200 is rotatably connected to the translation frame 120, and the second driving cylinder 300 is arranged on the translation frame 120.

[0040] In the embodiment shown in the figure, the frame 110 and the translation frame 120 are respectively formed by splicing a plurality of profiles or channel steels, wherein the frame 110 includes two groove rails 111 in a second horizontal direction (the Y direction shown in the figure) perpendicular to the first horizontal direction, each groove rail 111 extends along the first horizontal direction, and each groove rail 111 is preferably a channel steel, and thus has a slide groove 111a, and the translation frame 120 is partially limited in the slide groove 111a of a corresponding groove rail 111 at opposite ends of the second horizontal direction. More specifically, in combination with Figure 1 and Figure 2 As shown, the slide groove 111a of each groove rail 111 opens toward another groove rail 111 , and groove wheels 121 are respectively provided at the bottom of both ends of the translation frame 120 in the second horizontal direction, and each groove wheel 121 is slidably limited in the slide groove 111a of the corresponding groove rail 111 .

[0041] In this way, by selecting the channel rail 111 as channel steel and arranging the groove wheel 121 in the channel steel, when the groove wheel 121 rolls in the slide groove 111a, it can bear the gravity of the translation frame 120 and reduce the resistance of the translation frame 120 to the movement of the frame 120 relative to the frame 110, thereby making the movement of the translation frame 120 smoother; and because the channel steel and the groove wheel 121 are inexpensive and the precision requirements during installation are not high, the processing precision requirements can be correspondingly reduced when the translation frame 120 and the frame 110 are processed and assembled, and the installation is also convenient and quick, so the production cost can be greatly saved without affecting the function of the equipment.

[0042] Furthermore, if Figure 1 As shown, a driving element 130 is provided on the frame 110, and the driving element 130 can be a driving source such as a servo motor, and the translation frame 120 is connected to the driving element 130 through a transmission assembly 140, so that the driving element 130 can drive the transmission assembly 140 to drive the translation frame 120 to move along the first horizontal direction relative to the frame 110. In the embodiment shown in the figure, the transmission assembly 140 is a chain and sprocket transmission structure, the chain is annularly wound around two sprockets, the translation frame 120 is connected to the chain, and the output end of the driving element 130 is connected to one of the sprockets. Under the drive of the driving element 130, the chain can be cyclically translated along the first horizontal direction, thereby driving the translation frame 120 to move along the first horizontal direction.

[0043] It can be understood that the structure of the transmission assembly 140 is not limited to the structure of the sprocket and chain shown in the embodiments in the figure, and can also be the structure of a synchronous belt and a pulley or the structure of a gear and a rack cooperating with each other, which is not limited herein. For example, when the structure of the transmission assembly 140 is the structure of a gear and a rack cooperating with each other, the rack is arranged on the frame 110, the driving element 130 is arranged on the translation frame 120, the gear is connected to the output end of the driving element 130 and meshes with the rack, so that the transmission assembly 140 can also be driven to drive the translation frame 120 to move relative to the frame 110 under the drive of the driving element 130.

[0044] Referring to Figure 3 and Figure 4 , the specific structure of the clamping mechanism 200 is shown. In the embodiment shown in the figure, the clamping mechanism 200 includes a connecting plate 210, a clamping assembly 220 and a first driving cylinder 230. The connecting plate 210 is rotatably connected to the translation frame 120 of the support mechanism 100 through a rotating shaft 400. One end of the swing arm connecting rod 500 is arranged on the connecting plate 210, and the other end is connected to the output end of the second driving cylinder 300. As shown in the figure, the connecting plate 210 is provided with a first limiting block 240, a second limiting block 250 and a third limiting block 260 which are sequentially arranged at intervals along the second horizontal direction in the figure. The clamping assembly 220 includes a first clamping member 221 and a second clamping member 222 which are arranged relatively at intervals. The first clamping member 221 is arranged between the first limiting block 240 and the second limiting block 250, and the second clamping member 222 is arranged between the second limiting block 250 and the third limiting block 260. The first driving cylinder 230 can also be a cylinder or a hydraulic cylinder, etc. It includes a driving part 231 and an output part 232 movably connected to the driving part 231. The driving part 231 is slidably arranged on the connecting plate 210 and connected to the first clamping member 221, and the output part 232 is also slidably arranged on the connecting plate 210 and connected to the second clamping member 222.

[0045] Preferably, in order to save space, the driving part 231 and the output part 232 of the first driving member are arranged on one side of the connecting plate 210 in its own thickness direction, and the first clamping member 221 and the second clamping member 222 are arranged on the opposite side of the connecting plate 210 in its own thickness direction. More preferably, in order to make the driving part 231 and the output part 232 slide more smoothly on the connecting plate 210, the connecting plate 210 is provided with a slide rail 270 and two sliders 280 respectively connected to the slide rail 270. The two sliders 280 are arranged at intervals along the second horizontal direction shown in the figure. The driving part 231 is connected to one of the sliders 280, and the output part 232 is connected to the other slider 280. When the slider 280 slides on the slide rail 270, the driving part 231 or the output part 232 can also slide relative to the connecting plate 210 accordingly. In the embodiment shown in the figure, there are two slide rails 270. The two slide rails 270 are arranged in parallel at intervals in the vertical direction. Two sliders 280 are respectively slidably connected to each slide rail 270. One slider 280 on each slide rail 270 is connected to the driving part 231, and the other slider 280 is connected to the output part 232. Of course, the number of the slide rails 270 can be set according to needs and is not limited herein.

[0046] It is not difficult to understand that since both the driving part 231 and the output part 232 are slidably arranged on the connecting plate 210, when the driving part 231 of the first driving cylinder 230 drives the output part 232 to drive the second clamping member 222 to slide relative to the connecting plate 210, the driving part 231 itself may also slide relative to the connecting plate 210. Therefore, it can also drive the first clamping member 221 to slide relative to the connecting plate 210, and the driving part 231 and the output part 232 can move relative to each other. When the first clamping member 221 or the second clamping member 222 moves toward the direction close to the second limit block 250 and abuts against the second limit block 250, due to the limitation of the second limit block 250, the first clamping member 221 can approach the second clamping member 222 relative to each other to clamp the rubber plug; and when the first clamping member 221 moves toward the direction close to the first limit block 240 and abuts against the first limit block 240, due to the limitation of the first limit block 240 on the first clamping member 221, or when the second clamping member 222 moves toward the direction close to the third limit block 260 and abuts against the third limit block 260, due to the limitation of the third limit block 260 on the second clamping member 222, the first clamping member 221 and the second clamping member 222 can only move away from each other to release the rubber plug.

[0047] In this way, through the above settings, only one driving cylinder can drive the first clamping member 221 and the second clamping member 222 to perform the actions of approaching or moving away from each other, and further realize automatic centering. Therefore, other additional motion mechanisms are reduced, the structure of the clamping mechanism 200 is simplified, and the manufacturing cost is saved.

[0048] In addition, as an improvement to the above embodiments, in order to further enhance the automation level of the extraction device 10, as Figure 1 shown, the extraction device 10 further includes a control unit (not shown in the figure). A displacement sensor 290 communicatively connected to the control unit is further provided on the connecting plate 210. The displacement sensor 290 is used to measure the distance between the clamping assembly 220 and the rubber plug. Specifically, before the rubber plug extraction operation is performed, the displacement sensor 290 measures the distance between the clamping assembly 220 and the end face of the rubber plug. Then, according to the measured distance, after the control unit controls the translation frame 120 to move a certain distance in place, the second driving cylinder 300 is controlled to drive the clamping assembly 220 to clamp the rubber plug, and then the first driving cylinder 230 is controlled to drive the clamping mechanism 200 to rotate relative to the support mechanism 100 to perform the extraction operation.

[0049] The following further combines with Figures 1 to 4 to introduce the working process of the extraction device 10 provided by the present application:

[0050] First, as described above, after the pipe mold is conveyed in place, the displacement sensor 290 senses and measures the distance between the clamping assembly 220 and the end face of the rubber plug. After obtaining the distance that the translation frame 120 should travel, the driving element 130 drives the translation frame 120 to move to the position for extracting the rubber plug through the transmission assembly 140.

[0051] Then, the first driving cylinder 230 drives the first clamping member 221 and the second clamping member 222 to approach each other to tightly clamp the rubber plug rod. After clamping, the second driving cylinder 300 drives the clamping mechanism 200 to rotate relative to the support mechanism 100 around the rotation shaft 400. At the moment of rotation, the clamping assembly 220 can clamp the rubber plug and pull out the rubber plug from the pipe mold.

[0052] After the extraction operation is completed, the driving element 130 drives the translation frame 120 to return to the initial position, and the first clamping member 221 and the second clamping member 222 move away from each other to release the extracted rubber plug, completing the blanking action.

[0053] Finally, the clamping mechanism 200 rotates around the rotation shaft 400 to the initial position, continues to wait for the pipe mold to be in place, and cyclically extracts the rubber plugs on the pipe mold.

[0054] It can be seen that the extraction device provided by the present application can realize the automatic extraction operation of the pipe mold rubber plug by using a machine to replace manual labor. Compared with the method of manually extracting the rubber plug, the labor intensity is reduced, the extraction efficiency is improved, it can adapt to different working conditions of rubber plug extraction, and meets the development needs of automated production.

[0055] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0056] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A clamping mechanism, characterized in that, Comprising: A connecting plate, on which a first limiting block, a second limiting block and a third limiting block are arranged at intervals in sequence; A clamping assembly, including a first clamping member and a second clamping member, the first clamping member is arranged between the first limiting block and the second limiting block, and the second clamping member is arranged between the second limiting block and the third limiting block; A first driving cylinder, including a driving part and an output part movably connected to the driving part, the driving part is slidably arranged on the connecting plate and connected to the first clamping member, and the output part is also slidably arranged on the connecting plate and connected to the second clamping member; The driving part can drive the output part to drive the second clamping member to slide relative to the connecting plate and make itself slide relative to the connecting plate, thereby driving the first clamping member to slide, so that when the first clamping member or the second clamping member abuts against the second limiting block, the first clamping member can approach each other relative to the second clamping member to clamp the first workpiece; when the first clamping member abuts against the first limiting block or the second clamping member abuts against the third limiting block, the first clamping member can move away from each other relative to the second clamping member to release the first workpiece.

2. The clamping mechanism according to claim 1, characterized in that The driving part and the output part are arranged on one side of the connecting plate in its own thickness direction, and the first clamping member and the second clamping member are arranged on the opposite side of the connecting plate in its own thickness direction.

3. The clamping mechanism according to claim 1, characterized in that, A slide rail is arranged on the connecting plate, and two sliders respectively slidably connected to the slide rail are arranged at intervals, the driving part is connected to one of the sliders, and the output part is connected to the other slider.

4. The clamping mechanism according to claim 1, characterized in that, A position sensor is arranged on the connecting plate, and the position sensor is used to measure the distance between the clamping assembly and the first workpiece.

5. A picking device, characterized in that, For pulling out a first workpiece from a second workpiece, the pulling device includes; A support mechanism, on which a second driving cylinder is arranged; The clamping mechanism according to any one of claims 1-4, the clamping mechanism is movably connected to the support mechanism and connected to the output end of the second driving cylinder, and the clamping mechanism can clamp the first workpiece relative to the support mechanism and move away from the second workpiece under the drive of the second driving cylinder, so as to be able to pull out the first workpiece from the second workpiece.

6. The extraction device according to claim 5, characterized in that, The clamping mechanism is rotatably connected to the support mechanism around an axis extending in the vertical direction, and a swing arm connecting rod is arranged on the connecting plate of the clamping mechanism, and the swing arm connecting rod is connected to the output end of the second driving cylinder.

7. The extraction device according to claim 6, characterized in that, The support mechanism includes a frame and a translation frame, the translation frame is slidably arranged on the frame along a first horizontal direction, the clamping mechanism is rotatably connected to the translation frame, and the second driving cylinder is arranged on the translation frame.

8. The extraction device according to claim 7, characterized in that, The frame includes two groove rails that are arranged in parallel at intervals in a second horizontal direction perpendicular to the first horizontal direction. Each groove rail extends along the first horizontal direction, and each groove rail has a sliding groove. The translation frame is partially and slidably limited in the sliding grooves of a corresponding groove rail at opposite ends in the second horizontal direction.

9. The extraction device according to claim 8, characterized in that Groove wheels are respectively provided at the bottom ends of both ends of the translation frame in the second horizontal direction, and each groove wheel is slidably limited in the sliding groove of a corresponding groove rail.

10. The extraction device according to claim 7, characterized in that, A driving element is provided on the frame or the translation frame. The translation frame is drivingly connected to the driving element through a transmission assembly, and the driving element is used to drive the transmission assembly to drive the translation frame to move relative to the frame along the first horizontal direction.

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