Clamp for feeding and discharging

Abstract

The utility model provides a feeding and discharging clamp which comprises a base plate and a plurality of clamping mechanisms arranged on the base plate, and a distance adjusting mechanism is arranged between the base plate and the clamping mechanisms. The spacing adjusting mechanism comprises a fixed seat and a plurality of sliding seats which are used for fixedly arranging the clamping mechanism, a limiting telescopic rod used for connecting the sliding seats in series and a driving air cylinder used for driving the limiting telescopic rod to stretch out and draw back, a guide rail extending leftwards and rightwards is fixed to the base plate, and the left end, close to the guide rail, of the fixed seat is fixed to the base plate; the sliding seats are sequentially arranged on the guide rail in a sliding mode from left to right, the limiting telescopic rod is formed by splicing a plurality of rod bodies which move in a limiting mode end to end, the rod body, located at the leftmost end, of the limiting telescopic rod is fixedly connected with the fixing seat, and the rod body, located at the rightmost end, of the limiting telescopic rod is fixedly connected with a piston rod of the driving air cylinder. And the sliding seat is correspondingly and fixedly connected with each section of rod body on the limiting telescopic rod. The clamp for feeding and discharging can be used on equipment with different station intervals.

Description

Technical Field

[0001] The utility model relates to the technical field of machining, in particular to a clamp for loading and unloading materials. Background Art

[0002] In the machining industry, especially in scenarios involving mass production of small products, the loading and unloading of workpieces often becomes a bottleneck in production efficiency. Traditional manual loading and unloading methods are inefficient, time-consuming, and difficult to meet the needs of modern production. To improve production efficiency, the combination of industrial robots and automated fixtures has become a mainstream solution. However, for small workpieces that need to be transferred between different equipment, especially in scenarios where the distance between workstations on the equipment varies, existing fixture designs face many challenges.

[0003] Existing automated loading and unloading systems usually rely on multi-claw fixtures to achieve batch operations by cooperating with industrial robots. However, when small workpieces need to be transferred between different devices and the workstation spacing of these devices varies, traditional fixture designs are unable to cope with the situation. Due to the differences in the workstation spacing of different devices, the spacing requirements between adjacent clamps on the fixture are also different. Therefore, multiple sets of fixtures often need to be specially designed and manufactured, which undoubtedly increases production costs and management difficulties. In addition, when loading and unloading between different workstations, in order to adapt to the different workstation spacing, two solutions are usually required: one is to frequently replace fixtures of different specifications, which not only increases equipment switching time but also increases the complexity of operation; the other is to install two sets of fixtures with different spacing on two industrial robots, and use the robots to drive the fixtures of different specifications to work together. However, this solution also has problems. It not only increases the cost of using the robot, but also increases the difficulty of coordinated control. The increased complexity of operation will ultimately affect the overall production efficiency. Utility Model Content

[0004] The purpose of this utility model is to overcome the defects in the prior art and provide a loading and unloading clamp that can be used when the distance between the workstations of the equipment is different. The clamp is used in conjunction with an industrial robot to automatically load and unload materials to improve production efficiency, reduce production costs, and simplify the operating process.

[0005] The cam is secured to the upper and lower ends of the cam, and the cam has a plurality of sliding seats, each of which is connected to the base frame by a plurality of sliding seats, and a plurality of sliding seats are connected to the base frame by a plurality of sliding seats.

[0006] Compared with the existing technology, the benefits of the present invention are that: the present invention adjusts the spacing between adjacent clamping mechanisms by extending and retracting the limiting telescopic rod. When the limiting telescopic rod is stretched to its longest state, the fixed seat and the sliding seat, as well as the adjacent sliding seats, are positioned on the base plate and the guide rail with the maximum spacing. When the limiting telescopic rod is compressed to its shortest state, the fixed seat and the sliding seat, as well as the adjacent sliding seats, are positioned on the base plate and the guide rail with the minimum spacing, so that the clamping mechanism can adapt to the distance between different workstations. This design enables the clamp to perform loading and unloading operations between different workstations without the need to replace clamps of different specifications in the middle, and there is no need to use two industrial robots. It not only saves the manufacturing cost of the clamp and the use cost of the industrial robot, but also simplifies the operation process, while reducing the time for replacing the clamp, improving the use efficiency of the industrial robot, and ultimately achieving an improvement in overall production efficiency.

[0007] The top end of the third rod is provided with a third push-pull block which is protruding from the left end and is fixed with the first push-pull block on the right end. This technical solution adopts a multi-section limited telescopic rod structure, which is composed of multiple first rod bodies, multiple second rod bodies and a third rod body spliced end to end and connected to the piston rod of the driving cylinder through a connecting plate. The first rod body is fixedly connected to the fixed seat, the third rod body is fixedly connected to the sliding seat at the rightmost end, and the remaining sliding seats are respectively fixedly connected to the corresponding first rod body or the second rod body. The first, second and third rod bodies are respectively fixedly connected to each other through push-pull blocks and limit grooves. The left and right side walls of the limit groove play a limiting role when the push-pull block slides left and right, ensuring that the adjacent two sections of the multi-section limited telescopic rod are stretched and contracted at a certain length. When the driving cylinder pushes the piston rod to move to the right, the third rod body drives the sliding seat at the rightmost end to move to the right, and through the action of the push-pull block and the limit groove, drives the remaining sliding seats to move to the right in turn, thereby expanding the spacing. Conversely, when the driving cylinder pushes the piston rod to the left, the spacing is reduced.

[0008] Specifically, the clamping mechanism includes a plurality of first finger cylinders and a V-shaped clamp that is opened and closed on the clamping jaws of the first finger cylinders. One of the plurality of first finger cylinders is fixedly set on a fixed seat, and the remaining first finger cylinders are fixedly connected to a corresponding sliding seat. The V-shaped clamp includes a first straight arm, a second straight arm, and a first vertical arm formed by bending the end of the first straight arm upward and a second vertical arm formed by bending the end of the second straight arm upward. The front end of the first straight arm is fixedly set on a clamping jaw of the first finger cylinder, and the front end of the second straight arm is fixedly set on the other clamping jaw of the first finger cylinder. A V-shaped angle is formed between the first straight arm and the second straight arm. The upper end of the first vertical arm is provided with a first stop portion protruding inward, and the upper end of the second vertical arm is provided with a second stop portion protruding inward. This technical solution adopts a V-shaped clamp as a clamping mechanism, which consists of a first finger cylinder and a V-shaped clamp installed on its clamping jaws. The V-shaped clamp consists of a first straight arm and a second straight arm. The ends of the two straight arms are bent upward to form a first vertical arm and a second vertical arm, and are respectively provided with a first stop portion and a second stop portion protruding inward. This structural design effectively expands the clamping distance of the first finger cylinder clamping jaws through the V-shaped angle of the V-shaped clamp, so that it can clamp larger workpieces, and the vertical arm formed by bending upward at the end of the straight arm can increase the surface of the workpiece being clamped, making the clamping more secure. In addition, the stop portion at the upper end of the vertical arm can effectively prevent the workpiece from flipping downward and falling off during the clamping process. When the first finger cylinder contracts, the V-shaped clamp clamps the workpiece through the two vertical arms to realize the clamping function.

[0009] As an improvement, a tightening mechanism is provided below the V-shaped clamp. The tightening mechanism includes a mounting base fixed to the main body of the first finger cylinder, a lifting cylinder with a piston rod upwardly disposed on the mounting base, and a top block fixed to the piston rod of the lifting cylinder. The top block is located between the first vertical arm and the second vertical arm and below the first and second stops. This technical solution effectively improves the positioning accuracy of the workpiece by providing a tightening mechanism below the V-shaped clamp. The tightening mechanism uses the lifting cylinder to drive the top block upward, tightening the workpiece between the top block and the stop, ensuring the consistent height of the workpiece above the equipment station, thereby avoiding the problem of reduced positioning accuracy due to different workpiece heights. Ultimately, the workpiece is accurately placed on the equipment station, significantly improving the efficiency and accuracy of automated production.

[0010] As an improvement, an inwardly protruding third stop is provided on the first straight arm. The third stop is located above the first stop, and a slot is formed between the third stop and the first stop for embedding into the side edge of the workpiece. This technical solution provides an inwardly protruding third stop on the first straight arm, located above the first stop, with a slot formed between the two. When the workpiece is clamped with the top side facing upward, the first and second stops prevent it from falling and cooperate with the clamping mechanism to secure the workpiece. When the workpiece is clamped with the bottom side facing upward, the third and second stops prevent it from falling and cooperate with the clamping mechanism to secure the workpiece. The presence of the slot provides a clearance space for the third stop to abut against the step surface on the top of the workpiece, solving the clamping and positioning problems caused by the different spacing between the upper and lower steps of the workpiece, and further improving the adaptability and versatility of the clamping mechanism.

[0011] As an improvement, a defective product clamping mechanism is provided on at least one of the left or right ends of the substrate. The defective product clamping mechanism includes a second finger cylinder fixedly mounted on the substrate and a set of clamping arms that open and close on the two clamping claws of the second finger cylinder. This technical solution sets a defective product clamping mechanism on at least one of the left or right ends of the substrate to specifically pick up defective products during the processing process. When the defective product needs to be removed, the second finger cylinder drives the clamping arm to clamp the defective product and remove it from the equipment workstation. Compared with using a clamping mechanism to pick up defective products, the specially provided defective product clamping mechanism does not affect normal loading and unloading operations, improves operating efficiency, and avoids the complex situation of multiple finger cylinders working simultaneously, which is more economical and can further save costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0013] Figure 2 It is a partial structural diagram of the utility model;

[0014] Figure 3 This is the first stereogram of the present utility model;

[0015] Figure 4 This is the second stereoscopic view of the present invention;

[0016] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0017] Figure 6 This is the third stereogram of the present utility model.

[0018] Description of reference numerals:

[0019] 1. Base plate; 11. Guide rail; 2. Clamping mechanism; 21. First finger cylinder; 22. V-shaped clamp; 3. Spacing adjustment mechanism; 31. Fixed seat; 32. Sliding seat; 33. Limiting telescopic rod; 34. Driving cylinder; 41. First straight arm; 42. Second straight arm; 410. First vertical arm; 420. Second vertical arm; 430. Slot; 431. First stop; 432. Second stop; 433. Third stop; 51. First rod body; 52. Second rod body; 53. Third rod body; 34. Driving cylinder; 61. First push-pull block; 62. Second push-pull block; 63. Third push-pull block; 7. Connecting plate; 71. First limiting groove; 72. Second limiting groove; 8. Tightening mechanism; 81. Mounting seat; 82. Lifting cylinder; 83. Ejecting block; 9. Defective product clamping mechanism; 91. Clamping arm; 92. Second finger cylinder. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] like Figure 1 and Figure 2 As shown, a clamp for loading and unloading materials includes a base plate 1 and a plurality of clamping mechanisms 2 arranged at at least one end of the upper and lower ends of the base plate 1. A spacing adjustment mechanism 3 is provided between the base plate 1 and the clamping mechanism 2 for adjusting the spacing between adjacent clamping mechanisms 2. The spacing adjustment mechanism 3 includes a fixed seat 31 and a plurality of sliding seats 32 for fixing the clamping mechanism 2, a limiting telescopic rod 33 for connecting the plurality of sliding seats 32 in series, and a driving cylinder 34 for driving the limiting telescopic rod 33 to extend and retract. The base plate 1 is fixed with a plurality of clamping mechanisms 2 extending left and right. The guide rail 11 and the fixed seat 31 are fixedly arranged on the base plate 1 near the left end of the guide rail 11, and multiple sliding seats 32 are slidably arranged on the guide rail 11 in sequence from left to right. The limiting telescopic rod 33 is composed of multiple sections of rod bodies that limit the movement of each other, and the leftmost section of the limiting telescopic rod 33 is fixedly connected to the fixed seat 31, and the rightmost section of the limiting telescopic rod 33 is fixedly connected to the piston rod of the driving cylinder 34. The sliding seat 32 is fixedly connected to each of the remaining sections of the limiting telescopic rod 33.

[0022] This embodiment adjusts the distance between adjacent clamping mechanisms 2 by extending and retracting the limiting telescopic rod 33. When the limiting telescopic rod 33 is stretched to its longest state, the fixed seat 31 and the sliding seat 32, as well as the adjacent sliding seats 32, are positioned on the base plate 1 and the guide rail 11 with the maximum distance. When the limiting telescopic rod 33 is compressed to its shortest state, the fixed seat 31 and the sliding seat 32, as well as the adjacent sliding seats 32, are positioned on the base plate 1 and the guide rail 11 with the minimum distance, so that the clamping mechanism 2 can adapt to the distance between different workstations. This design enables the clamp to perform loading and unloading operations between different workstations without having to replace clamps of different specifications in the middle, and without having to use two industrial robots. This not only saves the manufacturing cost of the clamp and the use cost of the industrial robot, but also simplifies the operation process, while reducing the time for replacing the clamp, improving the use efficiency of the industrial robot, and ultimately achieving an improvement in overall production efficiency.

[0023] like Figure 3 As shown, the technical solution adopts a multi-stage limiting telescopic rod 33 structure to achieve the purpose of adjusting the distance between adjacent clamping mechanisms 2. Specifically, the limiting telescopic rod 33 includes a plurality of first rod bodies 51 and a plurality of second rod bodies 52 spliced end to end in order from left to right, and a third rod body 53 spliced at the rightmost end. The first rod body 51 at the leftmost end is fixedly connected to the fixed seat 31, and the third rod body 53 is fixed to the piston rod of the driving cylinder 34 through the connecting plate 7 and is fixedly connected to the sliding seat 32 at the rightmost end. The remaining sliding seats 32 are fixedly connected to the corresponding first rod body 51 or the second rod body 52. The left end of the first rod body 51 is fixedly connected to the fixed seat 31. A downwardly protruding first push-pull block 61 is provided at the bottom of the end, a downwardly concave second limit groove 72 is provided at the top of the right end of the second rod body 52, and the first push-pull block 61 is slid left and right in the second limit groove 72, a first upwardly concave first limit groove 71 is provided at the bottom of the right end of the first rod body 51, and an upwardly protruding second push-pull block 62 is provided at the top of the left end of the second rod body 52, and the second push-pull block 62 is slid left and right in the first limit groove 71, and a third upwardly protruding third push-pull block 63 is provided at the top of the left end of the third rod body 53, and the third push-pull block 63 is slid left and right in the first limit groove 71 of the first rod body 51 located at the rightmost end. In this structure, the first, second and third rod bodies are slidably positioned relative to each other through the push-pull block and the limit groove. The left and right side walls of the limit groove play a limiting role when the push-pull block slides left and right, ensuring that the two adjacent sections of the multi-section limit telescopic rod 33 are stretched and contracted at a certain length. When the driving cylinder 34 pushes the piston rod to the right, the third rod body 53 drives the rightmost sliding seat 32 to move to the right, and through the action of the push-pull block and the limit groove, it drives the remaining sliding seats 32 to move to the right in turn, thereby expanding the spacing. Conversely, when the driving cylinder 34 pushes the piston rod to the left, the spacing is reduced.

[0024] like Figure 4 and Figure 5 As shown, the present invention adopts a V-shaped clamp 22 as the clamping mechanism 2 to achieve a larger clamping distance and a more secure clamping of the workpiece. Specifically, the clamping mechanism 2 includes a plurality of first finger cylinders 21 and a V-shaped clamp 22 that is opened and closed on the clamping claws of the first finger cylinders 21. One of the plurality of first finger cylinders 21 is fixedly set on the fixed seat 31, and the remaining first finger cylinders 21 are fixedly connected to a corresponding sliding seat 32. The V-shaped clamp 22 includes a first straight arm 41, a second straight arm 42, and a first straight arm 41. 1 is formed by bending the end thereof upward to form a first vertical arm 410, and the end thereof is bent upward to form a second vertical arm 420, the front end of the first straight arm 41 is fixedly disposed on one clamping jaw of the first finger cylinder 21, and the front end of the second straight arm 42 is fixedly disposed on the other clamping jaw of the first finger cylinder 21, a V-shaped angle being formed between the first straight arm 41 and the second straight arm 42, the upper end of the first vertical arm 410 is provided with a first stop portion 431 protruding inwardly, and the upper end of the second vertical arm 420 is provided with a second stop portion 432 protruding inwardly. This structural design effectively expands the clamping distance of the first finger cylinder 21 through the V-shaped angle of the V-shaped clamp 22, so that it can clamp larger workpieces, and the vertical arm formed by bending the end of the straight arm upward can increase the surface of the clamped workpiece, making the clamping more secure. In addition, the stop portion at the upper end of the vertical arm can effectively prevent the workpiece from flipping downward and falling off during the clamping process. When the first finger cylinder 21 contracts, the V-shaped clamp 22 clamps the workpiece through the two vertical arms to achieve the clamping function.

[0025] like Figure 5 As shown, the present invention effectively improves the positioning accuracy of the workpiece by providing a tightening mechanism 8 below the V-shaped clamp 22. Specifically, a tightening mechanism 8 is provided below the V-shaped clamp 22. The tightening mechanism 8 includes a mounting base 81 fixed on the body of the first finger cylinder 21, a lifting cylinder 82 with a piston rod upwardly provided on the mounting base 81, and a top block 83 fixed on the piston rod of the lifting cylinder 82. The top block 83 is located between the first vertical arm 410 and the second vertical arm 420, and below the first stop 431 and the second stop 432. When in use, the tightening mechanism 8 uses the lifting cylinder 82 to drive the top block 83 to rise, tightening the workpiece between the top block 83 and the stop, ensuring that the height of the workpiece above the equipment station is consistent, thereby avoiding the problem of reduced positioning accuracy due to different heights of the workpiece, and ultimately achieving accurate placement of the workpiece on the equipment station, significantly improving the efficiency and accuracy of automated production.

[0026] like Figure 5As shown, in order to solve the clamping and positioning problems caused by the different step spacings on the upper and lower sides of the workpiece, the adaptability and versatility of the clamping mechanism are further improved. The first straight arm 41 is provided with an inwardly protruding third stop 433, which is located above the first stop 431. A slot 430 for embedding into the side of the workpiece is formed between the third stop 433 and the first stop 431. When the workpiece is clamped with the upper surface facing upward, the first stop 431 and the second stop 432 prevent it from falling and cooperate with the clamping mechanism 8 to secure the workpiece. When the workpiece is clamped with the lower surface facing upward, the third stop 433 and the second stop 432 prevent it from falling and cooperate with the clamping mechanism 8 to secure the workpiece. The presence of the slot 430 provides a clearance space for the third stop 433 to abut against the step surface on the upper side of the workpiece.

[0027] like Figure 6 As shown, to pick up defective products during processing, a defective product clamping mechanism 9 is provided on at least one of the left and right ends of the base plate 1. The defective product clamping mechanism 9 includes a second finger cylinder 92 fixed to the base plate 1 and a set of clamping arms 91 that open and close the two clamping jaws of the second finger cylinder 92. When the defective product needs to be removed, the second finger cylinder 92 drives the clamping arms 91 to clamp the defective product and remove it from the equipment station. Compared with using the clamping mechanism 2 to pick up defective products, the specially designed defective product clamping mechanism 9 does not affect normal loading and unloading operations, improves operating efficiency, and avoids the complex situation of multiple finger cylinders working simultaneously, which is more economical and can further save costs.

[0028] Although the disclosure is as described above, the scope of protection of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of protection of the utility model.

Claims

1. A clamp for loading and unloading materials, comprising a base plate (1) and a plurality of clamping mechanisms (2) arranged at at least one of the upper and lower ends of the base plate (1), characterized in that: A spacing adjustment mechanism (3) for adjusting the spacing between adjacent clamping mechanisms (2) is provided between the substrate (1) and the clamping mechanism (2). The spacing adjustment mechanism (3) comprises a fixed seat (31) for fixing the clamping mechanism (2) and a plurality of sliding seats (32), a limiting telescopic rod (33) for connecting the plurality of sliding seats (32) in series, and a driving cylinder (34) for driving the limiting telescopic rod (33) to extend and retract. A guide rail (11) extending leftward and rightward is fixed on the substrate (1). The fixed seat (31) is close to the guide rail (11). ) is fixedly arranged on the base plate (1), and a plurality of the sliding seats (32) are slidably arranged on the guide rail (11) in sequence from left to right. The limiting telescopic rod (33) is composed of a plurality of rod bodies that are mutually limited in movement and are spliced end to end. The leftmost rod body of the limiting telescopic rod (33) is fixedly connected to the fixed seat (31), and the rightmost rod body of the limiting telescopic rod (33) is fixedly connected to the piston rod of the driving cylinder (34). The sliding seat (32) is correspondingly fixedly connected to each of the remaining rod bodies on the limiting telescopic rod (33).

2. The loading and unloading fixture according to claim 1, characterized in that: The position-limiting telescopic rod (33) comprises a plurality of first rod bodies (51) and a plurality of second rod bodies (52) spliced end to end in sequence from left to right, and a third rod body (53) spliced at the rightmost end, the first rod body (51) located at the leftmost end is fixedly connected to the fixed seat (31), the third rod body (53) is fixed to the piston rod of the driving cylinder (34) through a connecting plate (7) and is fixedly connected to the sliding seat (32) located at the rightmost end, the remaining sliding seats (32) are fixedly connected to the corresponding first rod body (51) or the second rod body (52), the left end bottom of the first rod body (51) is provided with a first push-pull block (61) protruding downwards, and the second rod body (61) is fixedly connected to the piston rod of the driving cylinder (34) through a connecting plate (7). A second limiting groove (72) that is concave downward is provided at the top of the right end of the rod (52), and the first push-pull block (61) is slidably arranged in the second limiting groove (72) left and right. A first limiting groove (71) that is concave upward is provided at the bottom of the right end of the first rod (51), and a second pushing-pull block (62) that is protruding upward is provided at the top of the left end of the second rod (52), and the second pushing-pull block (62) is slidably arranged in the first limiting groove (71) left and right. A third pushing-pull block (63) that is protruding upward is provided at the top of the left end of the third rod (53), and the third pushing-pull block (63) is slidably arranged in the first limiting groove (71) of the first rod (51) located at the rightmost end.

3. The loading and unloading fixture according to claim 1, characterized in that: The clamping mechanism (2) comprises a plurality of first finger cylinders (21) and a V-shaped clamp (22) which is opened and closed on the clamping claws of the first finger cylinders (21), one of the plurality of first finger cylinders (21) is fixedly arranged on the fixed seat (31), and the remaining first finger cylinders (21) are fixedly connected to a corresponding one of the sliding seats (32), and the V-shaped clamp (22) comprises a first straight arm (41), a second straight arm (42), a first vertical arm (410) formed by bending the end of the first straight arm (41) upward, and a second vertical arm (411) formed by bending the end of the second straight arm (42) upward. The end of the arm (42) is bent upward to form a second vertical arm (420), the front end of the first straight arm (41) is fixedly arranged on a clamping claw of the first finger cylinder (21), and the front end of the second straight arm (42) is fixedly arranged on the other clamping claw of the first finger cylinder (21), a V-shaped angle is formed between the first straight arm (41) and the second straight arm (42), the upper end of the first vertical arm (410) is provided with a first stopper (431) protruding inwardly, and the upper end of the second vertical arm (420) is provided with a second stopper (432) protruding inwardly.

4. The loading and unloading fixture according to claim 3, characterized in that: A tightening mechanism (8) is provided below the V-shaped clamp (22), and the tightening mechanism (8) comprises a mounting base (81) fixed on the body of the first finger cylinder (21), a lifting cylinder (82) with a piston rod upwardly disposed on the mounting base (81), and a lifting block (83) fixed on the piston rod of the lifting cylinder (82), wherein the lifting block (83) is located between the first vertical arm (410) and the second vertical arm (420), and below the first stop portion (431) and the second stop portion (432).

5. The material loading and unloading fixture according to claim 4, characterized in that: The first straight arm (41) is provided with a third stopper (433) protruding inwardly. The third stopper (433) is located above the first stopper (431). A slot (430) for embedding into a side edge of a workpiece is formed between the third stopper (433) and the first stopper (431).

6. The material loading and unloading fixture according to claim 1, characterized in that: At least one of the left and right ends of the substrate (1) is provided with a defective product clamping mechanism (9), the defective product clamping mechanism (9) comprising a second finger cylinder (92) fixedly arranged on the substrate (1) and a group of clamping arms (91) opened and closed on two clamping claws of the second finger cylinder (92).

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