Clamping device and robot

Abstract

According to the clamping device, a convex lug is arranged on the side, located in the width direction of a sliding rail, of an installation base, a sensor is arranged on the convex lug, and the sensor is electrically connected with a driving assembly; due to the fact that the sensor can detect the relative position between the two clamping jaws, the driving assembly can correct the stroke of the clamping jaws according to a detection structure of the sensor, the stroke error generated in the moving process of the clamping jaws is reduced, and the clamping device is not prone to falling off after being used for a long time. And the workpiece can still be smoothly clamped. Meanwhile, due to the fact that the sensor is arranged on the convex lug, and the convex lug is arranged on the side, located in the width direction of the sliding rail, of the installation base, the sensor can detect the relative position between the two clamping jaws more accurately.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping devices, in particular to a clamping device and a robot. Background Art

[0002] A clamping device is usually provided on the robot to enable the robot to grasp and carry the workpiece.

[0003] In the related art, the clamping device includes a driver and two clamping jaws, and the driver drives the two clamping jaws to move closer to or away from each other to clamp or put down the workpiece.

[0004] However, after the existing clamping device has been working for a period of time, the driver frequently drives the two clamping jaws to move closer or farther away from each other to clamp or release the workpiece, resulting in a large accumulated error in the movement stroke of the clamping jaws, making it difficult for the clamping jaws to clamp the workpiece smoothly. Utility Model Content

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. In a first aspect, the present invention provides a clamping device that can still smoothly clamp a workpiece after long-term use. In a second aspect, the present invention also provides a robot.

[0006] According to the first aspect of the present invention, the clamping device provided in the embodiment includes a mounting seat, a drive assembly, a sensor and two clamping jaws; the mounting seat is provided with a slide rail extending along a preset direction, and the mounting seat is provided with a lug on one side located in the width direction of the slide rail; the two clamping jaws can be slidably arranged on the slide rail, and the end faces of the two clamping jaws that are close to each other form a clamping surface, and a clamping area for clamping the workpiece is formed between the two clamping surfaces; the drive assembly is connected to at least one of the two clamping jaws and is used to drive the two clamping jaws closer to or away from each other; the sensor is provided on the lug and is electrically connected to the drive assembly, and the sensor is used to detect the relative position between the two clamping jaws.

[0007] The clamping device described in the present invention has at least the following beneficial effects: In the clamping device of the present application, a lug is provided on one side of the mounting seat in the width direction of the slide rail, and a sensor is provided on the lug, which is electrically connected to the drive assembly; because the sensor can detect the relative position between the two clamping jaws, the drive assembly can correct the stroke of the clamping jaws according to the detection structure of the sensor, thereby reducing the stroke error generated by the clamping jaws during movement, so that the clamping device of the present application can still smoothly clamp the workpiece after long-term use. At the same time, because the sensor is provided on the lug, and the lug is provided on one side of the mounting seat in the width direction of the slide rail, the sensor can more accurately detect the relative position between the two clamping jaws.

[0008] According to the clamping device described in the embodiment of the first aspect of the present utility model, the cross-sectional size of the clamping claw gradually decreases in the direction away from the slide rail.

[0009] According to the clamping device described in the embodiment of the first aspect of the present invention, the clamping surface includes a plurality of sub-clamping surfaces smoothly connected in sequence along the direction away from the slide rail, and the sub-clamping surfaces are gradually arranged close to the clamping area along the direction away from the slide rail.

[0010] According to the clamping device described in the embodiment of the first aspect of the present invention, a clamping groove is provided on the clamping surface, and the cross-section of the clamping groove is arc-shaped or V-shaped, and the groove walls of the clamping grooves on the two clamping surfaces can cooperate to clamp the workpiece in the clamping area.

[0011] According to the clamping device described in the embodiment of the first aspect of the present invention, a flexible gasket is attached to the clamping surface of the clamping jaws.

[0012] According to the clamping device described in the embodiment of the first aspect of the present invention, the driving assembly includes a driver, a turntable and two connecting rods. The driver is connected to the turntable and is used to drive the turntable to rotate. The connecting rods are arranged in a one-to-one correspondence with the clamping claws. The connecting rods have opposite first and second ends. The first end is rotatably connected to the clamping claw, and the second end is rotatably connected to the turntable, and the two second ends are symmetrically arranged around the rotation axis of the turntable.

[0013] According to the clamping device described in the embodiment of the first aspect of the present invention, two protrusions are formed on the circumferential surface of the turntable, the two protrusions are symmetrically arranged around the rotation axis of the turntable, and the two second ends are rotatably connected to the two protrusions respectively.

[0014] According to the clamping device provided in the embodiment of the first aspect of the present invention, the slide rail is fixedly mounted on the mounting seat by a threaded connection; an abutment groove is provided on the mounting seat, part of the structure of the slide rail is passed through the abutment groove, and the two ends of the slide rail in its own width direction are respectively abutted against the two opposite groove walls of the abutment groove.

[0015] According to the clamping device described in the embodiment of the first aspect of the present invention, two abutment grooves are provided on the mounting seat, and the opposite ends of the slide rail in the preset direction are respectively inserted into the two abutment grooves.

[0016] The robot provided in accordance with the embodiment of the second aspect of the present invention includes the clamping device provided in the embodiment of the first aspect of the present invention; the robot also includes a robotic arm, and the clamping device is connected to the execution end of the robotic arm.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic structural diagram of a clamping device according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 An exploded view of the clamping device shown;

[0021] Figure 3 for Figure 2 A schematic structural diagram of a mounting base of the clamping device shown;

[0022] Figure 4 This is a schematic structural diagram of a mounting base and a turntable according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic structural diagram of a clamping device according to an embodiment of the present invention when two clamping jaws are in a closed state;

[0024] Figure 6 for Figure 5 A partial enlarged view of the structure at location A of the clamping device shown.

[0025] Reference numerals:

[0026] Mounting base 100; slide rail 110; slider 111; lug 120; abutment portion 130; abutment groove 131; mounting platform 140; mounting area 141; stopper 150;

[0027] Drive assembly 200; driver 210; turntable 220; protrusion 221; connecting rod 230; first connecting rod 230A; second connecting rod 230B;

[0028] Clamping jaw 300 ; first clamping jaw 300A; second clamping jaw 300B; clamping area 301 ; clamping surface 310 ; first sub-clamping surface 311 ; second sub-clamping surface 312 ; third sub-clamping surface 313 ; flexible gasket 320 ; hollow groove 330 . DETAILED DESCRIPTION

[0029] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0031] In the description of this utility model, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0033] Reference below Figures 1 to 6 The clamping device according to the first aspect of the present invention is described in detail.

[0034] refer to Figure 1 and Figure 2 The clamping device according to the first embodiment of the present invention includes a mounting base 100 , a driving assembly 200 , a sensor (not shown) and two clamping jaws 300 .

[0035] For example, Figure 1 、 Figure 2 and Figure 5 As shown, a slide rail 110 extending in the left-right direction is provided at the lower end of the mounting base 100, and the two clamping jaws 300 can be slidably provided on the slide rail 110; the driving assembly 200 is mounted on the mounting base 100 and is connected to the two clamping jaws 300 respectively, and the end surfaces of the two clamping jaws 300 that are close to each other form a clamping surface 310, and a clamping area 301 for clamping the workpiece is formed between the two clamping surfaces 310; a lug 120 is provided at the front end of the mounting base 100, and the lug 120 is located on the front side of the middle part of the slide rail 110, and a sensor is provided on the lug 120 and is electrically connected to the driving assembly 200, and the sensor is used to detect the relative position between the two clamping jaws 300.

[0036] It is understood that when the clamping device of the present application is working, the drive assembly 200 can drive the two clamping jaws 300 to slide along the slide rail 110 to move closer to or farther away from each other, thereby clamping or releasing the workpiece in the clamping area 301. The setting of the sensor enables the sensor to detect the relative position between the two clamping jaws 300 in real time, so that the drive assembly 200 can adjust the relative position of the clamping jaws 300 in real time according to the detection structure of the sensor, so that during each cooperation between the two clamping jaws 300 to clamp the workpiece, the difference between the travel of the clamping jaws 300 and the preset travel can be smaller, thereby enabling the clamping device of the present application to smoothly clamp the workpiece in the clamping area 301 after a long period of operation.

[0037] It is understandable that, since the lug 120 is disposed on the front side of the middle portion of the slide rail 110 and the sensor is disposed on the lug 120 , the sensor can more accurately detect the relative position between the two clamping jaws 300 .

[0038] In order to achieve a slidable connection between the clamping jaw 300 and the slide rail 110, in some embodiments of the present invention, reference is made to Figure 2 Two sliders 111 are slidably disposed on the slide rail 110 , and the two clamping jaws 300 are fixedly connected to the two sliders 111 respectively.

[0039] Furthermore, under the drive of the driving assembly 200 , the clamping jaw 300 can drive the slider 111 to slide left and right along the slide rail 110 .

[0040] It should be noted that for small-sized workpieces, the interval between two adjacent workpieces is small when such workpieces are placed.

[0041] Based on the above problems, in some embodiments of the present invention, reference Figure 1 From top to bottom, the cross-sectional dimension of the clamping jaw 300 gradually decreases, and correspondingly, the horizontal width dimension of the clamping surface 310 gradually decreases from top to bottom.

[0042] It can be understood that when the clamping device of the present application clamps a small-sized workpiece, since the cross-sectional size of the clamping jaw 300 gradually decreases from top to bottom, the lower ends of the two clamping jaws 300 can cooperate to clamp the small-sized workpiece, and the impact of the clamping jaws 300 on the surrounding workpiece can be smaller.

[0043] In some embodiments of the present invention, reference Figure 2 A hollow groove 330 is provided at one end of the clamping jaw 300 away from the clamping surface 310 .

[0044] It can be understood that by providing a hollow groove 330 at the end of the clamping jaw 300 away from the clamping surface 310, the thickness of the clamping jaw 300 in the left and right directions at the clamping surface 310 can be made smaller. When the two clamping jaws 300 cooperate to clamp the workpiece in the clamping area 301, a depression can be generated at the clamping surface 310 to more fully contact the workpiece, thereby increasing the contact area between the clamping surface 310 and the workpiece during the process of the clamping jaw 300 clamping the workpiece.

[0045] In some embodiments of the present invention, the clamping surface 310 includes a plurality of sub-clamping surfaces that are smoothly connected in sequence along a direction away from the slide rail 110 , and the sub-clamping surfaces are gradually arranged close to the clamping area 301 along the direction away from the slide rail 110 .

[0046] For example, Figure 2 and Figure 6 As shown, the clamping surface 310 includes three sub-clamping surfaces smoothly connected in sequence along the vertical direction, and along the direction from top to bottom, the three sub-clamping surfaces are the first sub-clamping surface 311, the second sub-clamping surface 312 and the third sub-clamping surface 313, and the first sub-clamping surface 311, the second sub-clamping surface 312 and the third sub-clamping surface 313 are gradually arranged close to the clamping area 301, and the horizontal width dimensions of the first sub-clamping surface 311, the second sub-clamping surface 312 and the third sub-clamping surface 313 gradually decrease.

[0047] It can be understood that since the first sub-clamping surface 311, the second sub-clamping surface 312 and the third sub-clamping surface 313 are gradually arranged close to the clamping area 301, and the horizontal width dimensions of the first sub-clamping surface 311, the second sub-clamping surface 312 and the third sub-clamping surface 313 gradually decrease, when the clamping device of the present application clamps a small workpiece, the two third sub-clamping surfaces 313 can cooperate to better clamp the small workpiece.

[0048] It should be noted that for a workpiece with an arc-shaped circumference, if the clamping surface 310 is only a plane, when the clamping device clamps the workpiece, the contact area between the clamping surface 310 and the workpiece is small, and the stability of the clamping device in clamping the workpiece is low.

[0049] In order to enable the two clamping surfaces 310 to more firmly clamp the workpiece with an arc-shaped circumference, in some embodiments of the present invention, a clamping groove is provided on the clamping surface 310, and the cross-section of the clamping groove is arc-shaped or V-shaped, and the groove walls of the clamping grooves on the two clamping surfaces 310 can cooperate to clamp the workpiece in the clamping area 301.

[0050] It can be understood that when the cross-section of the clamping groove is arc-shaped, when the two clamping jaws 300 cooperate to clamp the workpiece in the clamping area 301, the groove surfaces of the two clamping grooves can fit with the arc-shaped circumferential surface of the workpiece, so that the two clamping jaws 300 can clamp the workpiece more firmly; when the cross-section of the clamping groove is V-shaped, when the two clamping jaws 300 cooperate to clamp the workpiece in the clamping area 301, since the cross-section of the clamping groove is V-shaped, each clamping groove has two groove walls in contact with the workpiece, thereby increasing the contact area between the clamping jaws 300 and the workpiece, and thus the two clamping jaws 300 can clamp the workpiece more firmly.

[0051] It should be noted that when the two clamping jaws 300 cooperate to clamp a workpiece, a rigid collision may occur between the clamping jaws 300 and the workpiece, thereby causing scratches on the clamping jaws 300 and the workpiece.

[0052] Based on the above situation, in some embodiments of the present invention, reference Figure 1 and Figure 2 A flexible gasket 320 is attached to the clamping surface 310 of the clamping jaw 300 .

[0053] It can be understood that by fitting the flexible gasket 320 on the clamping surface 310 of the jaw 300, when the jaw 300 contacts the workpiece, the flexible gasket 320 can act as a buffer to reduce the collision strength between the jaw 300 and the workpiece, thereby protecting the jaw 300 and the workpiece.

[0054] In some embodiments of the present invention, the drive assembly 200 includes a driver 210, a turntable 220 and two connecting rods 230. The driver 210 is connected to the turntable 220 and is used to drive the turntable 220 to rotate. The connecting rod 230 is arranged in a one-to-one correspondence with the clamp 300. The connecting rod 230 has a first end and a second end relative to each other. The first end is rotatably connected to the clamp 300, and the second end is rotatably connected to the turntable 220. The two second ends are symmetrically arranged around the rotation axis of the turntable 220.

[0055] For example, Figure 2As shown, the jaw 300 located on the left is the first jaw 300A, the jaw 300 located on the right is the second jaw 300B, the connecting rod 230 connected to the first jaw 300A is the first connecting rod 230A, and the connecting rod 230 connected to the second jaw 300B is the second connecting rod 230B; the driver 210 drives the turntable 220 to rotate so that when the second end of the first connecting rod 230A is located at the leftmost end of the turntable 220 and the second end of the second connecting rod 230B is located at the rightmost end of the turntable 220, the distance between the first jaw 300A and the second jaw 300B reaches the maximum; the driver 210 drives the turntable 220 to rotate so that when the second end of the first connecting rod 230A is located at the rightmost end of the turntable 220 and the second end of the second connecting rod 230B is located at the leftmost end of the turntable 220, the distance between the first jaw 300A and the second jaw 300B reaches the minimum.

[0056] Furthermore, under the drive of the driver 210, the turntable 220 can rotate, so that the first connecting rod 230A and the second connecting rod 230B can cooperate to drive the first clamping jaw 300A and the second clamping jaw 300B to move closer to or away from each other. Compared with the use of a gear rack to drive the first clamping jaw 300A and the second clamping jaw 300B to move closer to or away from each other, the structure of the turntable 220 and the connecting rod 230 used in the present application has a higher structural strength.

[0057] Longer service life and lower manufacturing costs.

[0058] In a further embodiment of the present invention, reference is made to Figure 2 Two protrusions 221 are formed on the circumferential surface of the turntable 220 . The two protrusions 221 are symmetrically arranged around the rotation axis of the turntable 220 . The two second ends are rotatably connected to the two protrusions 221 .

[0059] It can be understood that by providing two protrusions 221 on the circumferential surface of the turntable 220, and the two second ends are rotatably connected to the two protrusions 221 respectively, the distance between the second end and the rotation axis of the turntable 220 can be increased, so that under the premise that the diameter of the turntable 220 is small, the clamping jaw 300 can still have a certain stroke during the process of the driver 210 driving the turntable 220 to rotate one circle.

[0060] In order to reduce the influence of the slide rail 110 on the turntable 220 during the operation of the turntable 220, in some embodiments of the present invention, Figure 2 and Figure 3 Two mounting platforms 140 distributed on the left and right are formed at the lower end of the mounting seat 100. The slide rails 110 are respectively connected to the lower ends of the two mounting platforms 140. An mounting area 141 is formed between the two mounting platforms 140, and the turntable 220 is arranged in the mounting area 141.

[0061] It can be understood that by forming two mounting platforms 140 at the lower end of the mounting base 100, a mounting area 141 for accommodating the turntable 220 can be formed between the two mounting platforms 140 to reduce the interference of the slide rail 110 on the turntable 220 during operation.

[0062] In some embodiments of the present invention, the slide rail 110 is fixedly mounted on the mounting base 100 via a threaded connection.

[0063] For example, Figure 2 As shown, the slide rail 110 is fixedly connected to the two mounting platforms 140 on the mounting base 100 through threaded connectors.

[0064] In order to enable the turntable 220 to rotate within a certain angle range, in some embodiments of the present invention, reference Figure 4 Two limiting members 150 are provided on the mounting base 100 , and in the rotation direction of the protrusion 221 , the two limiting members 150 are respectively located on opposite sides of the protrusion 221 .

[0065] Furthermore, when the turntable 220 rotates forward by a certain angle, the protrusion 221 can abut against one of the limit members 150 to prevent the turntable 220 from continuing to rotate forward. When the turntable 220 rotates reversely by a certain angle, the protrusion 221 can abut against the other limit member 150 to prevent the turntable 220 from continuing to rotate reversely. Thus, under the limiting action of the two limit members 150, the turntable 220 can rotate within a certain angle range, and accordingly, the two clamps 300 can move left and right within a certain range.

[0066] It should be noted that when the drive assembly 200 drives the clamping jaw 300 to slide along the slide rail 110, the clamping jaw 300 will still apply a load to the slide rail 110 along the width direction of the slide rail 110, and these loads need to be transferred from the slide rail 110 to the mounting seat 100 through the threaded connector. In this case, the threaded connector will be subjected to a large shear force, which will reduce the service life of the threaded connector.

[0067] Based on the above problems, in some embodiments of the present invention, reference Figure 2 The mounting seat 100 is provided with an abutting portion 130, and an abutting groove 131 is formed on the abutting portion 130. Part of the structure of the slide rail 110 is passed through the abutting groove 131, and the two ends of the slide rail 110 in its own width direction are respectively abutted with the two opposite groove walls of the abutting groove 131.

[0068] It can be understood that since the two ends of the slide rail 110 in the width direction are respectively in abutment with the two opposite groove walls of the abutment groove 131, when the clamping jaw 300 applies a load to the slide rail 110 along the width direction of the slide rail 110, these loads can be directly transmitted to the mounting seat 100 through the groove wall of the abutment groove 130, thereby reducing the shear force on the threaded connection and extending the service life of the threaded connection.

[0069] When the clamping jaw 300 slides along the slide rail 110, in order to reduce the influence of the groove wall of the abutment groove 131 on the clamping jaw 300, in a further embodiment of the present invention, Figure 2 The mounting seat 100 is provided with two abutting portions 130 distributed on the left and right, and each abutting portion 130 is provided with an abutting groove 130. The two abutting grooves 130 extend in the left and right directions. The left and right ends of the slide rail 110 are respectively passed through the two abutting grooves 130, and the two clamping jaws 300 are located between the two abutting portions 130.

[0070] It can be understood that by providing two sections of abutment grooves 131, on the one hand, the load applied by the clamping jaw 300 to the slide rail 110 can be transmitted to the mounting seat 100 through the groove walls of the two sections of abutment grooves 131 respectively, so as to reduce the load on the groove wall of the single section of abutment groove 131. On the other hand, since the left and right ends of the slide rail 110 are respectively provided in the two sections of abutment grooves 131, and the two clamping jaws 300 are both located between the two sections of abutment grooves 131, the influence of the groove wall of the abutment groove 131 on the clamping jaw 300 can be reduced, so as to reduce the interference between the groove wall of the abutment groove 131 and the clamping jaw 300.

[0071] The robot provided in accordance with the embodiment of the second aspect of the present invention includes the clamping device provided in the embodiment of the first aspect of the present invention; the robot also includes a robotic arm, and the clamping device is connected to the execution end of the robotic arm.

[0072] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A clamping device, characterized in that: include: A mounting seat, wherein the mounting seat is provided with a slide rail extending in a preset direction, and a lug is provided on one side of the mounting seat in the width direction of the slide rail; Two clamping jaws are slidably disposed on the slide rail, and the end surfaces of the two clamping jaws that are close to each other form a clamping surface, and a clamping area for clamping a workpiece is formed between the two clamping surfaces; a driving assembly connected to at least one of the two clamping jaws and used to drive the two clamping jaws toward or away from each other; A sensor is provided on the lug and is electrically connected to the driving assembly. The sensor is used to detect the relative position between the two clamping jaws.

2. A clamping device according to claim 1, characterized in that: The cross-sectional size of the clamping claw gradually decreases in a direction away from the slide rail.

3. A clamping device according to claim 1, characterized in that: The clamping surface includes a plurality of sub-clamping surfaces that are smoothly connected in sequence along a direction away from the slide rail, and the sub-clamping surfaces are gradually arranged close to the clamping area along the direction away from the slide rail.

4. A clamping device according to claim 1, characterized in that: The clamping surface is provided with a clamping groove, and the cross section of the clamping groove is arc-shaped or V-shaped. The groove walls of the clamping grooves on the two clamping surfaces can cooperate to clamp the workpiece in the clamping area.

5. The clamping device according to claim 1, characterized in that: A flexible gasket is attached to the clamping surface of the clamping jaw.

6. A clamping device according to claim 1, characterized in that: The driving assembly includes a driver, a turntable and two connecting rods. The driver is connected to the turntable and is used to drive the turntable to rotate. The connecting rods are arranged in a one-to-one correspondence with the clamps. The connecting rods have a first end and a second end relative to each other. The first end is rotatably connected to the clamp, and the second end is rotatably connected to the turntable, and the two second ends are symmetrically arranged around the rotation axis of the turntable.

7. A clamping device according to claim 6, characterized in that: Two protrusions are formed on the circumferential surface of the turntable. The two protrusions are symmetrically arranged around the rotation axis of the turntable. The two second ends are rotatably connected to the two protrusions respectively.

8. The clamping device according to claim 1, characterized in that: The slide rail is fixedly mounted on the mounting seat via a threaded connection; an abutment groove is provided on the mounting seat, part of the structure of the slide rail is passed through the abutment groove, and the two ends of the slide rail in its width direction are respectively abutted against the two opposite groove walls of the abutment groove.

9. A clamping device according to claim 8, characterized in that: The mounting seat is provided with two sections of the abutting grooves, and the two opposite ends of the slide rail in a preset direction are respectively passed through the two sections of the abutting grooves.

10. A robot, characterized in that: It comprises the clamping device according to any one of claims 1 to 9; the robot further comprises a robotic arm, and the clamping device is connected to the execution end of the robotic arm.

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