Clamping device

Abstract

The utility model relates to a clamping device which comprises a fixing base, a first clamping assembly and a movable second clamping assembly. The driving part is in transmission connection with the second clamping assembly, the driving part drives the second clamping assembly to move on the fixing base in the first direction in the direction close to or away from the first clamping assembly, and a pressure sensor is arranged on the stress face of at least one of the first clamping assembly and the second clamping assembly; and the driving part and the pressure sensor are electrically connected with the control module. According to the clamping device, the pressure sensor is arranged on at least one of the first clamping assembly and the second clamping assembly, the stress condition of the storage battery can be monitored in real time, and therefore the storage battery can be better controlled and protected, and the efficiency and safety in the storage battery positioning process are improved. Certainly, when the second clamping assembly moves in the direction away from the first clamping assembly, the storage battery can be loosened.

Description

Technical Field

[0001] This application relates to the technical field of battery stacking, and particularly to a clamping device. Background Art

[0002] Currently, the battery stacking tooling device used within the company, which adopts screw drive for the stacking tooling equipment, is prone to damage. Due to screw drive, the pressure borne during each stacking operation is inconsistent, which easily causes uneven wear of the screw or other mechanical components, thereby shortening the service life of the equipment. At the same time, it may also damage the storage battery. Utility Model Content

[0003] This application provides a clamping device to solve the problems of easy wear of the equipment and easy damage of the storage battery that may be caused by inconsistent pressure borne by the storage battery during the clamping and fixing process.

[0004] This application provides a clamping device, including:

[0005] A fixed seat, on which a first clamping assembly and a movable second clamping assembly are provided;

[0006] A driving part, which is in transmission connection with the second clamping assembly. The driving part drives the second clamping assembly to move on the fixed seat in a first direction towards or away from the first clamping assembly. Among them, a pressure sensor is arranged on the stress surface of at least one of the first clamping assembly and the second clamping assembly;

[0007] A control module, both the driving part and the pressure sensor are electrically connected to the control module.

[0008] According to the clamping device of this application, the first clamping assembly includes a first mounting plate and a first clamping plate. The first mounting plate is fixed on the fixed seat, the first clamping plate is movably connected to the first mounting plate, and a pressure sensor is arranged between the first clamping plate and the first mounting plate.

[0009] According to the clamping device of this application, it further includes a second mounting plate, which is connected to the fixed seat. The driving part is arranged on the second mounting plate. The second clamping assembly includes a second clamping plate, the second clamping plate is movably connected to the second mounting plate, and the output end of the driving part is connected to the second clamping plate.

[0010] Optionally, at least one of the first clamping plate and the second clamping plate is provided with a buffer cushion plate on the side opposite to each other.

[0011] Optionally, the driving part is configured as a cylinder, the output shaft of the cylinder is connected to the second clamping plate, the input end of the cylinder is provided with a ventilation pipe, the ventilation pipe is used to transport gas to the cylinder, the ventilation pipe is provided with an air valve, and the air valve is electrically connected to the control module.

[0012] Optionally, a positioning plate is provided on one side of the second clamping plate close to the cylinder, and a limiting groove is provided on the positioning plate, and the output shaft of the cylinder is clamped in the limiting groove.

[0013] Optionally, the limiting groove is formed as a U-shaped groove, and a plurality of limiting holes are provided on the second mounting plate, and the plurality of limiting holes are arranged in sequence along the height direction of the second mounting plate. The cylinder is arranged on the side of the second mounting plate away from the second clamping plate, and the output shaft of the cylinder is passed through one of the limiting holes.

[0014] Optionally, the fixing seat is provided with a plurality of first fixing parts arranged along the first direction, the second mounting plate is provided with a second fixing part, and the first fixing part and the second fixing part are detachably connected.

[0015] Optionally, a guide groove extending along the first direction is provided on the fixing seat, and a guide sliding block is provided on the second mounting plate, and the guide sliding block is clamped in the guide groove.

[0016] The clamping device according to the present application further includes a clamping assembly, which includes a mechanical arm and a clamp detachably connected to the mechanical arm, and the clamp is used to clamp the object to be clamped.

[0017] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0018] The clamping device provided in the embodiment of the present application is connected to the second clamping assembly by a driving part through a first clamping assembly on a fixed seat and a movable second clamping assembly, and the driving part provides power for the movement of the second clamping assembly. When the battery needs to be clamped and positioned, the battery is placed between the first clamping assembly and the second clamping assembly, and the second clamping assembly can clamp the battery when it moves toward the direction close to the first clamping assembly. A pressure sensor is provided on at least one of the first clamping assembly and the second clamping assembly, and the force condition of the battery can be monitored in real time, so as to better control and protect the battery, thereby improving the efficiency and safety of the battery positioning process. Of course, the second clamping assembly can release the battery when it moves toward the direction away from the first clamping assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments in line with the present utility model, and are used together with the specification to explain the principles of the present utility model.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0021] One or more embodiments are exemplarily illustrated by the pictures in the corresponding accompanying drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the accompanying drawings are represented as similar elements. Unless otherwise stated, the drawings in the accompanying drawings do not constitute a proportional limitation.

[0022] Figure 1 A perspective view of a clamping device provided for an embodiment of the present application;

[0023] Figure 2 A perspective view of the second mounting plate of a clamping device provided for an embodiment of the present application;

[0024] Figure 3 A perspective view of the positioning plate of a clamping device provided for an embodiment of the present application;

[0025] Figure 4 A perspective view of another clamping device provided for an embodiment of the present application.

[0026] Explanation of reference numerals in the drawings:

[0027] Fixed seat 10, first clamping assembly 11, first mounting plate 111, first clamping plate 112, second clamping assembly 12, second clamping plate 121, positioning plate 122, limiting groove 1221, guide groove 14, driving part 20, ventilation pipe 21, air valve 22, pressure sensor 30, control module 40, second mounting plate 50, limiting hole 51, second fixing part 52, buffer backing plate 60, clamping component 70, robotic arm 71, fixture 72, workpiece to be clamped 2. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0029] The following disclosure provides many different embodiments or examples for implementing different structures of the present utility model. To simplify the disclosure of the present utility model, components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present utility model. In addition, the present utility model may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0030] For ease of description, spatially relative relationship terms may be used in the text to describe the relative positional relationship or movement of one element or feature shown in the figure relative to another element or feature. These relative relationship terms are, for example, "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "over", "front", "rear", etc. Such spatially relative relationship terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip, attitude change, or motion state change, then these directional indications will change accordingly. For example, an element described as "below" or "beneath" other elements or features will then be oriented as "above" or "over" other elements or features. Thus, the exemplary term "below" can include both the upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other directions) and the spatially relative relationship descriptors used in the text are interpreted accordingly.

[0031] As Figure 1 and Figure 4 shown, the clamping device according to an embodiment of the present application includes: a fixed seat 10, a driving part 20, and a control module 40.

[0032] Specifically, a first clamping assembly 11 and a movable second clamping assembly 12 are provided on the fixed seat 10; the driving part 20 is in transmission connection with the second clamping assembly 12, and the driving part 20 drives the second clamping assembly 12 to move on the fixed seat 10 in a first direction toward or away from the first clamping assembly 11. Among them, a pressure sensor 30 is provided on the force-bearing surface of at least one of the first clamping assembly 11 and the second clamping assembly 12; both the driving part 20 and the pressure sensor 30 are electrically connected to the control module 40.

[0033] In detail, the part to be clamped 2 can be fixed by the first clamping component 11 on the fixed seat 10 and the movable second clamping component 12. The driving part 20 is transmission-connected to the second clamping component 12, and the driving part 20 provides power for the movement of the second clamping component 12. When the part to be clamped 2 needs to be clamped and positioned, the part to be clamped 2 is placed between the first clamping component 11 and the second clamping component 12. When the second clamping component 12 moves toward the direction close to the first clamping component 11, the part to be clamped 2 can be clamped. A pressure sensor 30 is arranged on the force-bearing surface of at least one of the first clamping component 11 and the second clamping component 12. When the part to be clamped 2 is clamped by the first clamping component 11 and the second clamping component 12, the pressure sensor 30 can feedback the force acting on the part to be clamped 2, and can monitor the force condition of the part to be clamped 2 in real time, so as to better control and protect the part to be clamped 2, thereby improving the efficiency and safety of the positioning process of the part to be clamped 2. Of course, the second clamping assembly 12 can release the object 2 to be clamped when it moves in a direction away from the first clamping assembly 11 .

[0034] The direct contact surface or indirect contact surface of the first clamping assembly 11 or the second clamping assembly 12 with the clamped part 2 is a force-bearing surface, which can transmit the mutual force between the clamped part 2 and the first clamping assembly 11. In addition, the driving part 20 is usually an electric or pneumatic device, which can be responsible for driving the movement of the second clamping assembly 12.

[0035] It is understandable that, since the distance between the second clamping assembly 12 and the first clamping assembly 11 is variable, and since the pressure sensor 30 is provided, the pressure on the clamped part 2 can be fed back in real time, the clamping device can be adapted to the positioning and clamping of various different specifications of the clamped parts 2 within a certain range, thereby improving the applicability of the clamping device. In addition, the clamping device can be placed on a flat ground or an operating table for use.

[0036] According to the clamping device of the embodiment of the present application, the pressure sensor 30 can be used to monitor in real time the pressure changes in the process of the driving unit 20 driving the second clamping component 12 to clamp the part to be clamped 2, ensuring that the pressure in the process of clamping the part to be clamped 2 is always within a safe range. At the same time, by monitoring the pressure, abnormal conditions can also be discovered in time to avoid damage to the driving unit 20 due to overload, thereby improving overall safety. In addition, the real-time feedback of the pressure sensor 30 can reduce the problem of inconsistent pressure caused by improper operation of the operator.

[0037] like Figure 1 and Figure 4As shown, for the clamping device according to an embodiment of the present application, the first clamping assembly 11 includes a first mounting plate 111 and a first clamping plate 112. The first mounting plate 111 is fixed to the fixed seat 10, and the first clamping plate 112 is movably connected to the first mounting plate 111. A pressure sensor 30 is provided between the first clamping plate 112 and the first mounting plate 111.

[0038] Specifically, when the workpiece to be clamped 2 is placed between the first clamping assembly 11 and the second clamping assembly 12, the second clamping assembly 12 moves along the first direction towards the first clamping assembly 11. At this time, during the process of clamping the workpiece to be clamped 2, the workpiece to be clamped 2 will be pushed to abut against the first clamping plate 112, and the pressure sensor 30 will be gradually pressed. Since the force between the workpiece to be clamped 2 and the first clamping plate 112 is mutual, with such a setting, the pressure sensor 30 can be used to real-time feedback the clamping force received by the workpiece to be clamped 2, ensuring that the clamping force is within a suitable range and avoiding over-clamping or under-clamping.

[0039] Among them, setting the first clamping plate 112 to be movable and movable in a specific direction, namely the first direction, is beneficial to adjusting the clamping position of the workpiece to be clamped 2 and is applicable to workpieces to be clamped 2 of different sizes. And setting the pressure sensor 30 between the first clamping plate 112 and the first mounting plate 111 is beneficial to protecting the pressure sensor 30 and preventing the pressure sensor 30 from being impacted or damaged during the repeated use of clamping or loosening the workpiece to be clamped 2.

[0040] And the first mounting plate 111 is fixed on the fixed seat 10. The fixed seat 10 provides a stable foundation for the first mounting plate 111, enabling the first clamping plate 112 to move on a fixed reference system, ensuring the clamping accuracy and repeatability of the workpiece to be clamped 2.

[0041] In some embodiments, a first guide rod is provided on one of the first mounting plate 111 and the first clamping plate 112, and a first guide hole is provided on the other. The first guide rod passes through the first guide hole.

[0042] It can be understood that through the cooperation of the first guide rod and the first guide hole, the first clamping plate 112 can be effectively restricted during the movement process, ensuring that the first clamping plate 112 moves along the specified first direction without deviation, improving the clamping accuracy and stability of the workpiece to be clamped 2.

[0043] For example, in some specific embodiments, the first mounting plate 111 is provided with a first guide rod, and the first clamping plate 112 is provided with a first guide hole; in some specific embodiments, the first mounting plate 111 is provided with a first guide hole, and the first clamping plate 112 is provided with a first guide rod.

[0044] Among them, the cross-sectional shape of the first guiding hole includes but is not limited to being circular, elliptical, square, triangular, etc., and the cross-sectional shape of the first guiding post includes but is not limited to being circular, elliptical, square, triangular, etc., and the cross-sectional shape of the first guiding hole and the cross-sectional shape of the first guiding post are correspondingly arranged. Preferably, the cross-sectional shape of the first guiding hole is set to be circular or elliptical, so as to reduce the friction force of the relative movement between the first guiding post and the first guiding hole.

[0045] As Figure 1 , Figure 2 and Figure 4 shown, in some embodiments, the clamping device further includes a second mounting plate 50, the second mounting plate 50 is connected to the fixed seat 10, the driving part 20 is arranged on the second mounting plate 50, the second clamping assembly 12 includes a second clamping plate 121, the second clamping plate 121 is movably connected to the second mounting plate 50, and the output end of the driving part 20 is connected to the second clamping plate 121.

[0046] Specifically, the second mounting plate 50 is connected to the fixed seat 10, which can carry the driving part 20 and the second clamping plate 121, so as to play a role of support and connection. A pressure sensor 30 is arranged between the second clamping plate 121 and the second mounting plate 50. When the second clamping plate 121 clamps the workpiece to be clamped 2, the pressure sensor 30 can sense the applied pressure and feedback it to the control module 40, so as to ensure that the clamping force on the workpiece to be clamped 2 is within a safe range and avoid damaging the workpiece to be clamped 2.

[0047] It can be understood that, in some embodiments, a pressure sensor 30 is also arranged at the second clamping plate 121. Arranging a pressure sensor 30 at the second clamping plate 121 and a pressure sensor 30 at the first clamping plate 112 can more accurately reflect the actual clamping forces on both sides compared to arranging a pressure sensor 30 only on one side, avoiding uneven pressure and affecting the quality of the workpiece to be clamped 2; in addition, arranging pressure sensors 30 on both sides can accurately adjust the clamping force, so as to ensure the stability and consistency during the clamping process and improve the positioning and fixing accuracy of the workpiece to be clamped 2; furthermore, if the pressure sensor 30 on one side fails, the pressure sensor 30 on the other side can still maintain pressure feedback.

[0048] In some embodiments, at least one of the first clamping plate 112 and the second clamping plate 121 is provided with a buffer pad 60 on the side facing each other.

[0049] Specifically, the buffer pad 60 can effectively absorb impacts and vibrations, and can slow down the impacts and rebound forces during the clamping process of the first clamping plate 112 and the second clamping plate 121 on the workpiece to be clamped 2, so as to play a role in protecting the workpiece to be clamped 2.

[0050] In some embodiments, the cushioning plate 60 is made of bakelite blocks.

[0051] In some embodiments, the driving unit 20 is configured as a cylinder, the output shaft of the cylinder is connected to the second clamping plate 121, and a ventilation pipe 21 is provided at the input end of the cylinder. The ventilation pipe 21 is used to transport gas to the cylinder. A gas valve 22 is provided on the ventilation pipe 21, and the gas valve 22 is electrically connected to the control module 40.

[0052] In detail, the driving part 20 is configured as a cylinder, and the appropriate pressure can be adjusted according to the specifications of the part to be clamped 2, which is more conducive to accurately controlling the force transmitted by clamping the part to be clamped 2 each time. The other end of the ventilation pipe 21 is connected to the air source, and the air pressure delivered to the cylinder by the ventilation pipe 21 is adjusted by adjusting the air valve 22. The control module 40 is electrically connected to the air valve 22, which can achieve precise control of the air valve 22, thereby ensuring the automation and programmability of the operation.

[0053] Among them, the cylinder control number can be selected as single-stroke, multi-stroke, manual control or automatic control cylinder, thereby reducing labor costs.

[0054] like Figure 1 and Figure 3 As shown, in some embodiments, a positioning plate 122 is provided on one side of the second clamping plate 121 close to the cylinder, and a limiting groove 1221 is provided on the positioning plate 122 , and the output shaft of the cylinder is clamped in the limiting groove 1221 .

[0055] It can be understood that using the limit groove 1221 to limit the output shaft of the cylinder can ensure that the output shaft of the cylinder can be accurately fixed at a specific position, which is convenient for positioning the output shaft of the cylinder. The presence of the limit groove 1221 can also help control the stroke and position of the output shaft of the cylinder, thereby ensuring the stability and accuracy of the clamping device, thereby improving production efficiency and product quality.

[0056] like Figure 2 and Figure 3 As shown, in some embodiments, the limit groove 1221 is formed as a U-shaped groove, and a plurality of limit holes 51 are provided on the second mounting plate 50. The plurality of limit holes 51 are arranged in sequence along the height direction of the second mounting plate 50. The cylinder is arranged on the side of the second mounting plate 50 away from the second clamping plate 121, and the output shaft of the cylinder is passed through one of the limit holes 51.

[0057] Specifically, a plurality of limit holes 51 are provided on the second mounting plate 50, and the plurality of limit holes 51 are arranged in sequence along the height direction of the second mounting plate 50. The position of the cylinder can be adjusted according to the actual height of the workpiece 2 to be clamped, so as to achieve the versatility of fixing workpieces 2 of different sizes. After the installation position of the cylinder on the second mounting plate 50 changes, in order to adapt to the position change of the output shaft of the cylinder, the limit groove 1221 is formed as a U-shaped groove, which can better limit the output shaft of the cylinder at different heights during the movement process, making the cylinder more stable during operation and avoiding deviation during the movement process.

[0058] In a specific embodiment, the number of the limit holes 51 is three, and the clamping device is adapted to the height of the storage battery of 50 - 300 mm.

[0059] In some embodiments, a plurality of first fixing parts arranged along the first direction are provided on the fixing seat 10, and a second fixing part 52 is provided on the second mounting plate 50. The first fixing part and the second fixing part 52 are detachably connected.

[0060] It can be understood that since the lengths of the workpieces 2 to be clamped are different, in order to adapt to workpieces 2 of different sizes, a plurality of first fixing parts arranged along the first direction are provided on the fixing seat 10. When the second mounting plate 50 is connected to the corresponding first fixing part according to the size of the workpiece 2, it can be applicable to workpieces 2 of various sizes.

[0061] In a specific embodiment, by adjusting the position of the second mounting plate 50, the clamping device is adapted to a storage battery with a length of 0.4 m to 1.2 m.

[0062] In some specific embodiments, the first fixing part is a plug or a pin, and the second fixing part 52 is a corresponding slot or hole; in some specific embodiments, the first fixing part and the second fixing part 52 are connected by threads, with a threaded hole provided on one of them and a threaded bolt provided on the other, and the fixing and disassembly are completed by rotation; in some specific embodiments, the first fixing part is a snap structure, and a corresponding slot is provided on the second fixing part 52, and the snap structure and the slot are used to achieve clamping.

[0063] In some embodiments, a guide groove 14 extending along the first direction is provided on the fixing seat 10, and a guide slider is provided on the second mounting plate 50. The guide slider is clamped in the guide groove 14.

[0064] It can be understood that when connecting the second fixing part 52 on the second mounting plate 50 to the first fixing parts at different positions, the position of the second mounting plate 50 needs to be changed. By providing a guide slider and a guide groove 14 for cooperation, the positioning of the second mounting plate 50 can be quickly achieved, enabling the first fixing part and the second fixing part 52 to be quickly aligned, thereby reducing the difficulty of adjustment and positioning.

[0065] As Figure 4 shown, the clamping device according to an embodiment of the present application further includes a clamping component 70. The clamping component 70 includes a robotic arm 71 and a fixture 72 detachably connected to the robotic arm 71. The fixture 72 is used to clamp the workpiece to be clamped 2.

[0066] Specifically, the clamping component 70 is used to clamp the workpiece to be clamped 2. After the first clamping component 11 and the second clamping component 12 adjust and align the workpiece to be clamped 2 appropriately, the robotic arm 71 drives the fixture 72 to clamp and transfer the workpiece to be clamped 2 to a suitable station. For example, when the workpiece to be clamped 2 is a storage battery, the fixture 72 stacks the storage batteries. The fixture 72 is detachably connected to the robotic arm 71. By preparing various fixtures 72 with different specifications, it is applicable to workpieces to be clamped 2 of different sizes. After determining the size of the workpiece to be clamped 2, the matching fixture 72 is connected to the robotic arm 71, thereby realizing the quick replacement of the fixture 72 to adapt to workpieces to be clamped 2 of different sizes.

[0067] In a specific embodiment, when the workpiece to be clamped 2 is a storage battery, the operation process is as follows:

[0068] Place the storage battery between the first clamping component 11 and the second clamping component 12, and adjust the position of the second mounting plate 50 appropriately so that the second fixing part 52 is connected to the corresponding first fixing part. At the same time, fix the cylinder so that the output shaft of the cylinder passes through the limiting hole 51 adapted to the storage battery at the corresponding height;

[0069] Adjust the air valve 22 to a relatively small air pressure (to avoid damaging the storage battery due to excessive air pressure on the cylinder);

[0070] Adjust the control module 40 to set corresponding parameters, such as time, number of segments, manual or automatic, etc.;

[0071] After starting the operation, the pressure sensor 30 will display the pressure parameters received by the storage battery, and then control the air pressure of the cylinder by controlling the air valve 22 to adjust to appropriate parameters;

[0072] Drive the fixture 72 to move and align with the storage battery through the manipulator, thereby transferring the storage battery to a suitable position. For example, it can be battery pneumatic stacking or in a battery expansion pressure testing device.

[0073] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of performance is expressly stated. It should also be understood that additional or alternative steps may be used.

[0074] Although the terms first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms when used herein do not imply an order or sequence. Thus, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of the example embodiments.

[0075] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A clamping device, characterized in that, include: A fixed seat, on which a first clamping assembly and a movable second clamping assembly are provided; a driving part, wherein the driving part is in transmission connection with the second clamping assembly, and the driving part drives the second clamping assembly to move on the fixing seat along a first direction toward or away from the first clamping assembly, wherein a pressure sensor is provided on a force-bearing surface of at least one of the first clamping assembly and the second clamping assembly; The control module is electrically connected to the driving unit and the pressure sensor.

2. The clamping device according to claim 1, wherein The first clamping assembly includes a first mounting plate and a first clamping plate, the first mounting plate is fixed on the fixing seat, the first clamping plate is movably connected to the first mounting plate, and a pressure sensor is provided between the first clamping plate and the first mounting plate.

3. The clamping device according to claim 2, wherein, It also includes a second mounting plate, which is connected to the fixing seat. The driving part is arranged on the second mounting plate. The second clamping assembly includes a second clamping plate, which is movably connected to the second mounting plate. The output end of the driving part is connected to the second clamping plate.

4. The clamping device according to claim 3, characterized in that, At least one of the first clamping plate and the second clamping plate is provided with a buffer pad on one side opposite to each other.

5. The clamping device according to claim 3, characterized in that, The driving part is configured as a cylinder, the output shaft of the cylinder is connected to the second clamping plate, the input end of the cylinder is provided with a ventilation pipe, the ventilation pipe is used to transport gas to the cylinder, the ventilation pipe is provided with a gas valve, and the gas valve is electrically connected to the control module.

6. The clamping device according to claim 5, characterized in that, A positioning plate is provided on one side of the second clamping plate close to the cylinder. A limiting groove is provided on the positioning plate, and the output shaft of the cylinder is clamped in the limiting groove.

7. The clamping device according to claim 6, wherein The limiting groove is formed as a U-shaped groove, and a plurality of limiting holes are provided on the second mounting plate. The plurality of limiting holes are arranged in sequence along the height direction of the second mounting plate. The cylinder is provided on the side of the second mounting plate away from the second clamping plate, and the output shaft of the cylinder is passed through one of the limiting holes.

8. The clamping device according to claim 3, characterized in that, The fixing seat is provided with a plurality of first fixing parts arranged along the first direction, the second mounting plate is provided with a second fixing part, and the first fixing parts and the second fixing parts are detachably connected.

9. The clamping device according to claim 8, characterized in that, The fixing seat is provided with a guide groove extending along the first direction, and the second mounting plate is provided with a guide sliding block, and the guide sliding block is clamped in the guide groove.

10. The clamping device according to any one of claims 5-9, characterized in that, It also includes a clamping assembly, which includes a mechanical arm and a clamp detachably connected to the mechanical arm, and the clamp is used to clamp the object to be clamped.

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