Multi-claw feeding and discharging device and automatic production line

Abstract

The utility model provides a multi-claw feeding and discharging device and an automatic production line, relates to the technical field of robots, and aims to solve the problem that a device with feeding, discharging, rotating and carrying functions is large in size. The multi-claw feeding and discharging device comprises a swing arm assembly, the swing arm assembly comprises a plurality of swing arms which are fixedly connected, and the power input ends of the swing arms are configured to be connected with a rotating power source; a clamping mechanism is arranged at the free end of each swing arm, and the swing arm assembly can drive the clamping mechanisms to move between a feeding position and a discharging position; the clamping mechanism comprises a clamping power source and a clamping jaw body in transmission connection with the clamping power source. The overall size of the multi-claw feeding and discharging device can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-claw loading and unloading device and an automated production line. Background Art

[0002] In the non-standard automation industry, demand for various automated equipment, including assembly and testing, is increasing. Most automated equipment requires automatic unloading modules. There are many ways to meet these requirements for loading, unloading, and handling. For example, currently, most machines on the market use shafts and cylinders to accomplish this task. This combination increases cost and complicates control, making it unsuitable for equipment with limited space.

[0003] Especially when handling and steering need to be carried out simultaneously, the above structure often requires the addition of a rotary cylinder or motor at the end of the motion mechanism to achieve this. This method adds a power source on the original basis, making its structure more complicated. The entire module structure is bulky, which increases the cycle time and occupies a large space in the equipment, making it impossible to implement layout for some compact machines. Utility Model Content

[0004] The first aspect of the present invention aims to provide a multi-claw loading and unloading device to solve the technical problem that the existing devices with loading and unloading, rotating and transporting functions are relatively large in size.

[0005] The multi-claw loading and unloading device provided in the first aspect of the present invention includes a swing arm assembly, which includes multiple fixedly connected swing arms, and the power input end of the swing arm is configured to be connected to a rotating power source; the free end of each swing arm is provided with a clamping mechanism, and the swing arm assembly can drive the clamping mechanism to move between the loading position and the unloading position; the clamping mechanism includes a clamping power source and a clamping claw body that is transmission-connected to the clamping power source.

[0006] The beneficial effects brought by the multi-claw loading and unloading device of the utility model are:

[0007] By arranging the clamping mechanism at the free end of each swing arm respectively, the swinging of the swing arm can be used to drive the clamping mechanism to change its posture, thereby changing the posture of the product clamped by the clamping mechanism. Moreover, there is no need to add components for rotating the product at the end of the motion mechanism when realizing functions such as transportation, picking up and placing materials, and flipping, thereby reducing the volume of the clamping mechanism and thus reducing the volume of the entire multi-claw loading and unloading device, which is conducive to the installation of the multi-claw loading and unloading device in equipment with relatively compact space.

[0008] In an optional technical solution, the clamping mechanism includes a clamping transmission assembly arranged in pairs, the clamping transmission assembly includes a transmission member and a transmission beam, the transmission member is fixedly installed on the power output end of the clamping power source, the transmission beam is installed on the transmission member, and the clamping claw body is installed on the transmission beam; the clamping power source is a dual-output power source and is used to drive a pair of the transmission members to be relatively close or relatively far away.

[0009] In an optional technical solution, a first waist-shaped hole is provided on the transmission beam, and the extension direction of the first waist-shaped hole is parallel to the direction in which the clamping power source drives the transmission member to move; and / or, the clamping claw body is provided with a second waist-shaped hole, and the extension direction of the second waist-shaped hole is parallel to the length direction of the transmission beam.

[0010] In an optional technical solution, the clamping mechanism includes a clamping base and an adsorption component installed on the clamping base, and the adsorption component is configured to be connected to a vacuum generator.

[0011] In an optional technical solution, the clamping mechanism also includes a pressure block installed on the clamping base, and the distance between the free end of the pressure block and the clamping base is greater than the distance between the transmission member and the clamping base, and smaller than the distance between the adsorption surface of the adsorption component and the clamping base.

[0012] In an optional technical solution, the clamping mechanism further includes a product detection sensor, which is mounted on the clamping base and configured to face the clamped product.

[0013] In an optional technical solution, the clamping mechanism is connected to the swing arm via a floating mechanism, and the floating direction of the floating mechanism is the direction in which the clamping mechanism approaches and moves away from the swing arm.

[0014] In an optional technical solution, the floating mechanism includes a floating base, a slide and a slide rail, and the number of the slide and the slide rail that are relatively movable is two groups, and the sliding direction of the slide rail is the floating direction of the floating mechanism; one of the clamping mechanism and the floating base is connected to the slide, and the other is connected to the slide rail, and the floating base is installed at the free end of the swing arm.

[0015] In an optional technical solution, the floating mechanism further includes a pressure sensor, one end of the pressure sensor is fixedly connected to the floating base, and the other end is fixedly connected to the clamping mechanism.

[0016] The second aspect of the present invention aims to provide an automated production line to solve the technical problem that the device with loading and unloading, rotating and transporting functions is relatively large in size.

[0017] The automated production line provided in the second aspect of the present invention includes the above-mentioned multi-claw loading and unloading device.

[0018] By setting the above-mentioned multi-claw loading and unloading device in the automated production line, the automated production line accordingly has all the advantages of the above-mentioned multi-claw loading and unloading device, which will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments or background technologies of the present invention, the following briefly introduces the drawings required for use in the embodiments or background technology descriptions. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work.

[0020] Figure 1 A schematic structural diagram of a multi-claw loading and unloading device provided in an embodiment of the present utility model;

[0021] Figure 2 A schematic structural diagram of the clamping mechanism and the floating mechanism in the multi-claw loading and unloading device provided in an embodiment of the present utility model;

[0022] Figure 3 A schematic structural diagram of the clamping mechanism and the floating mechanism in the multi-claw loading and unloading device provided in an embodiment of the present utility model;

[0023] Figure 4 This is a structural schematic diagram of the clamping mechanism and floating mechanism in the multi-claw loading and unloading device provided in an embodiment of the utility model.

[0024] Description of reference numerals:

[0025] 110-swing arm; 120-power input member;

[0026] 200 - Clamping mechanism; 210 - Clamping power source; 211 - Slider; 220 - Clamping claw; 221 - Second waist-shaped hole; 222 - Second guide ridge; 230 - Transmission member; 231 - First guide groove; 240 - Transmission beam; 241 - Crossbar; 242 - Parallel rod; 243 - First waist-shaped hole; 244 - First guide ridge; 245 - Second guide groove; 250 - Clamping base; 260 - Adsorption assembly; 270 - Pressing block; 280 - Product detection sensor;

[0027] 300-floating mechanism; 310-floating base; 320-slide; 330-slide rail; 340-pressure sensor; 400-product. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following describes in detail the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] Example 1:

[0030] Figure 1 A schematic diagram of the structure of a multi-claw loading and unloading device provided in an embodiment of the present utility model; Figure 1 As shown, the multi-claw loading and unloading device provided in the first embodiment of the present invention includes a swing arm assembly, which includes a plurality of fixedly connected swing arms 110, and the power input end of the swing arm 110 is configured to be connected to a rotating power source; a clamping mechanism 200 is provided at the free end of each swing arm 110, and the swing arm assembly can drive the clamping mechanism 200 to move between the loading position and the unloading position; the clamping mechanism 200 includes a clamping power source 210 and a clamping claw body 220 which is transmission-connected to the clamping power source 210.

[0031] By arranging the clamping mechanism 200 at the free end of each swing arm 110, the swinging of the swing arm 110 can be used to drive the clamping mechanism 200 to change its posture, thereby changing the posture of the product 400 clamped by the clamping mechanism 200. Moreover, there is no need to add components for rotating the product 400 at the end of the motion mechanism when realizing functions such as transportation, loading and unloading, and flipping, thereby reducing the volume of the clamping mechanism 200, which is conducive to the setting of the loading and unloading device in equipment with relatively compact space.

[0032] In this embodiment, there are two clamping mechanisms 200. Accordingly, the swing arm assembly includes two fixedly connected swing arms 110. Specifically, the two swing arms 110 form a 90° angle. That is, the swing arm assembly can be roughly L-shaped, with the two arms of the L being of the same length. A power input member 120 is fixedly connected at the intersection of the two swing arms 110. The power input member 120 can be connected to a robotic arm, a motor, or a rotary cylinder to input rotational and / or translational motion.

[0033] Figure 2 A schematic structural diagram of the clamping mechanism and the floating mechanism in the multi-claw loading and unloading device provided in an embodiment of the present utility model; Figure 3 A schematic structural diagram of the clamping mechanism and the floating mechanism in the multi-claw loading and unloading device provided by the embodiment of the present utility model; Figure 2-Figure 3As shown, optionally, the clamping mechanism 200 includes a clamping transmission assembly arranged in pairs, the clamping transmission assembly including a transmission member 230 and a transmission beam 240, the transmission member 230 is fixedly installed on the power output end of the clamping power source 210, the transmission beam 240 is installed on the transmission member 230, and the clamping claw body 220 is installed on the transmission beam 240; the clamping power source 210 is a dual-output power source and is used to drive a pair of transmission members 230 to be relatively close or relatively far away.

[0034] By setting up a clamping transmission member 230 and connecting the transmission beam 240, multiple clamping claws 220 can be driven to move from the side of the product 400 toward the product 400, thereby improving the stability of the position control of the product 400. The use of a dual-output power source can simultaneously drive the clamping claws 220 to be relatively close or relatively far away. Furthermore, when the clamping mechanism 200 is close to the clamped product 400, the clamping claws 220 can be located on both sides of the clamped product 400 at the same time, and both maintain a distance from the clamped product 400, which can reduce the control accuracy requirements for the movement of the clamping mechanism 200 and help reduce the cost of the equipment.

[0035] The structures of the two clamping mechanisms 200 in this embodiment can be consistent to improve the versatility of components and reduce production costs. The two clamping mechanisms 200 only have different functions: one for grasping the processed product 400 and the other for grasping the product 400 to be processed.

[0036] Specifically, in this embodiment, the clamping power source 210 is a two-way output cylinder with its own guiding function, that is, the cylinder outputs power through a pair of sliders 211 that can move closer to each other or move away from each other, that is, this pair of sliders 211 is the power output end of the clamping power source 210, and the transmission members 230 are fixedly connected to the sliders 211 respectively. And this pair of sliders 211 can be set on the same side of the cylinder. When the cylinder is actuated, the two sliders 211 move closer to each other or move away from each other at the same time. Specifically, in this embodiment, the transmission member 230 is roughly in the shape of a rectangular block.

[0037] The transmission beam 240 can be shaped like a letter "π." Specifically, the transmission beam 240 comprises two parallel rods 242, each connected to a crossbar 241. The crossbar 241 is oriented perpendicular to the power output direction of the clamping power source 210 and parallel to the length of the transmission member 230. The two parallel rods 242 are fixedly connected to two opposing surfaces of the transmission member 230. Multiple clamping jaws 220 can be fixedly connected to the crossbar 241. Specifically, in this embodiment, two clamping jaws 220 can be connected to each transmission beam 240. The spacing between the clamping jaws 220 connected to the two transmission beams 240 is different. Thus, when clamping the product 400, the clamping jaws 220 grip the product 400 from two parallel sides, forming an isosceles trapezoidal arrangement. The crossbar 241 of the transmission beam 240 can be provided with multiple threaded holes, spaced apart along the length of the crossbar 241, to facilitate the placement of the clamping jaws 220 at different locations.

[0038] A flexible material, such as a rubber cushion, may be provided on the side of the clamping jaw 220 facing the clamped product 400 to reduce the impact on the product 400 .

[0039] Figure 4 A schematic structural diagram of the clamping mechanism and the floating mechanism in the multi-claw loading and unloading device provided by the embodiment of the present utility model; Figure 2-Figure 4 As shown, optionally, a first waist-shaped hole 243 is provided on the transmission beam 240, and the extension direction of the first waist-shaped hole 243 is parallel to the direction in which the clamping power source 210 drives the transmission member 230 to move; and / or, the clamping claw body 220 is provided with a second waist-shaped hole 221, and the extension direction of the second waist-shaped hole 221 is parallel to the length direction of the transmission beam 240.

[0040] By providing a first waist-shaped hole 243 on the transmission beam 240, extending parallel to the power output direction of the clamping power source 210, the transmission beam 240 can be precisely adjusted relative to the transmission member 230 in the power output direction of the clamping power source 210, thereby improving the operating accuracy of the multi-jaw loading and unloading device. Furthermore, providing such a second waist-shaped hole 221 on the clamping jaw body 220 allows for more flexible distribution of the clamping jaw body 220 along the length of the transmission beam 240, thereby facilitating adaptation to different product 400 sizes.

[0041] Two first waist-shaped holes 243 may be provided on each crossbar 241 of the transmission beam 240. The arrangement direction of the two first waist-shaped holes 243 is the same as the extension direction of the first waist-shaped holes 243. Thus, two points on a crossbar 241 can be used to fix the transmission member 230, thereby fixing the transmission beam 240. First guide grooves 231 may be provided on opposite sides of the transmission member 230, and first guide ridges 244 may be provided on the crossbar 241 of the transmission beam 240 to cooperate with the first guide grooves 231. The first guide ridges 244 can slide in the first guide grooves 231.

[0042] like Figure 4 As shown, the length of the second waist-shaped hole 221 provided on each jaw body 220 is greater than the pitch of the threaded holes on the transmission beam 240. That is, after two male threaded connectors, such as screws or bolts, are inserted into the second waist-shaped holes 221, the two male threaded connectors do not completely abut the ends of the second waist-shaped holes 221, and when the male threaded connectors are not fully tightened, the jaw body 220 can move relative to the transmission beam 240 along the length of the crossbar 241. Furthermore, the jaw body 220 can also be provided with a second guide rib 222, and the crossbar 241 of the transmission beam 240 is provided with a second guide groove 245. The second guide rib 222 mates with the second guide groove 245 and can slide within the second guide groove 245.

[0043] like Figure 2-Figure 4 As shown, optionally, the clamping mechanism 200 includes a clamping base 250 and an adsorption assembly 260 mounted on the clamping base 250 , and the adsorption assembly 260 is configured to be connected to a vacuum generator not shown in the figure.

[0044] By setting up an adsorption component 260 to connect to a vacuum generator, the adsorption component 260 can be used to adsorb the product 400 to supplement the clamping component's clamping of the product 400, thereby improving the reliability of the multi-claw loading and unloading device. Alternatively, it is also possible to achieve full clamping of the product 400 without the need for a clamping power source 210.

[0045] Specifically, in this embodiment, the product 400 is generally rectangular, so three adsorption assemblies 260 can be provided in each clamping mechanism 200. The three adsorption assemblies 260 are arranged in a triangular pattern, with two adsorption assemblies 260 located on one side of the clamping power source 210 and one adsorption assembly 260 located on the other side. This triangular arrangement of the three adsorption assemblies 260 allows the relative position of the product 400 and the clamping mechanism 200 to be maintained, utilizing the principle that three points define a plane.

[0046] like Figure 2-Figure 4As shown, optionally, the clamping mechanism 200 also includes a pressure block 270 installed on the clamping base 250, and the distance between the free end of the pressure block 270 and the clamping base 250 is greater than the distance between the transmission member 230 and the clamping base 250, and less than the distance between the adsorption surface of the adsorption component 260 and the clamping base 250.

[0047] Such a setting can prevent the product 400 from directly colliding with the clamping transmission component when the clamping mechanism 200 approaches the product 400. Moreover, it can also make the adsorption surface of the adsorption component 260 contact the product 400 before the pressing block 270, thereby ensuring reliable contact of the adsorption component 260.

[0048] Specifically, in this embodiment, each clamping mechanism is provided with two pressing blocks 270, one pressing block 270 being provided on each side of the clamping power source 210. A rubber buffer block can also be provided at the free end of each pressing block 270.

[0049] like Figure 2-Figure 4 As shown, optionally, the clamping mechanism 200 further includes a product detection sensor 280 , which is mounted on the clamping base 250 and configured to face the clamped product 400 .

[0050] By setting up a product detection sensor 280, it is possible to detect whether the clamping mechanism 200 is opposite to the product 400 at the material picking position before clamping the product 400. If the product detection sensor 280 detects the presence of the product 400, the clamping power source 210 can be activated to prevent the clamping power source 210 from malfunctioning and causing damage to the equipment.

[0051] The product detection sensor 280 may be a reflective photoelectric sensor, which is disposed on one side of the clamping power source 210 . More specifically, the product detection sensor 280 and an adsorption component 260 may be located on the same side of the clamping power source 210 .

[0052] like Figure 1 As shown, optionally, the clamping mechanism 200 is connected to the swing arm 110 via a floating mechanism 300 , and the floating direction of the floating mechanism 300 is the direction in which the clamping mechanism 200 approaches and moves away from the swing arm 110 .

[0053] By arranging the clamping mechanism 200 and the swing arm 110 to float relative to each other, the clamping mechanism 200 can move a certain distance toward the swing arm 110 after contacting the clamped product 400. On the one hand, it can ensure that the clamping mechanism 200 can actually contact the product 400 in the direction away from and close to the swing arm 110. On the other hand, there is no need to have overly high requirements for the position accuracy of the clamping mechanism 200, thereby facilitating the improvement of the movement efficiency of the multi-claw loading and unloading device.

[0054] like Figure 2-Figure 4As shown, optionally, the floating mechanism 300 includes a floating base 310, a slide 320 and a slide rail 330, and the number of the slide 320 and the slide rail 330 that are relatively movable is two groups, and the sliding direction of the slide rail 330 is the floating direction of the floating mechanism 300; one of the clamping mechanism 200 and the floating base 310 is connected to the slide 320, and the other is connected to the slide rail 330, and the floating base 310 is installed on the free end of the swing arm 110.

[0055] With such an arrangement, the clamping mechanism 200 can float along the slide rail 330 toward the swing arm 110 , and during the swinging of the swing arm 110 , the centrifugal force can cause the clamping mechanism 200 to move away from the swing arm 110 .

[0056] In this embodiment, the clamping base 250 is fixedly connected to the slide 320, and the slide rail 330 is fixedly installed on the floating base 310. The two slide rails 330 are disposed on two opposite edges of the floating base 310 facing the clamping base 250, and each slide rail 330 is perpendicular to the floating base 310.

[0057] like Figure 2-Figure 4 As shown, optionally, the floating mechanism 300 further includes a pressure sensor 340 , one end of the pressure sensor 340 is fixedly connected to the floating base 310 , and the other end is fixedly connected to the clamping mechanism 200 .

[0058] By providing the pressure sensor 340 , it can be achieved that when the pressure sensor 340 senses pressure, it indicates that the clamping mechanism 200 has moved to the closest position relative to the floating base 310 , and the swing arm assembly cannot get closer to the clamped product 400 .

[0059] Part of the pressure sensor 340 can be mounted on the surface of the floating base 310 facing the clamping base 250, while the other part of the pressure sensor 340 can be mounted on the surface of the clamping base 250 facing the floating base 310. When the pressure sensor 340 senses pressure, it will feedback a signal to the control device, which will trigger an alarm so that the operator can check whether the position of the relevant components has shifted or loosened, thereby preventing the multi-claw loading and unloading device from recurring such a situation or causing damage.

[0060] like Figure 1-Figure 4 As shown, the operating principle of this embodiment is:

[0061] When a product 400 needs to be grasped, the multi-claw loading and unloading device, driven by an upstream drive device (not shown), moves to the vicinity of the product 400. One of the swing arms 110 of the swing arm assembly drives the clamping device to move above the product 400. The multi-claw loading and unloading device continues to move toward the product 400 until the suction surface of the suction assembly 260 contacts the product 400. Before the suction assembly 260 contacts the product 400, the clamping power source 210 drives the clamping jaws 220 to remain open.

[0062] After the suction assembly 260 contacts the product 400, the swing arm 110 can continue to move toward the clamped product 400, but only until the pressure sensor 340 no longer senses pressure. When the swing arm 110 reaches a preset position, the suction assembly 260 activates, sucking the product 400. The clamping power source 210, via the transmission member 230 and transmission beam 240, drives the jaws 220 toward each other, thereby clamping the product 400. The suction action and the clamping action can begin simultaneously, or one after the other.

[0063] After confirming that the suction assembly 260 has attached the product 400, the swing arm 110 can be retracted, and the swing arm assembly then rotates, driving the clamping mechanism 200 to rotate to assemble or inspect the product 400. If the clamping jaws 220 interfere during the assembly or inspection of the product 400, the clamping power source 210 can release the clamping jaws 220 to allow for appropriate manipulation of the side edges of the product 400.

[0064] When the inspection or assembly operation is completed, the multi-claw loading and unloading device performs the opposite action to the above action, and puts the product 400 back to its original position or to the corresponding work station.

[0065] for

[0066] Example 2:

[0067] The second embodiment further provides an automated production line, comprising the above-mentioned multi-claw loading and unloading device.

[0068] By setting the above-mentioned multi-claw loading and unloading device in the automated production line, the automated production line accordingly has all the advantages of the above-mentioned multi-claw loading and unloading device, which will not be described one by one here.

[0069] Although the present invention is disclosed as above, it is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope defined by the claims.

[0070] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0071] In the above embodiments, the descriptions of directions such as “upper” and “lower” are all based on the drawings.

[0072] The above description of the disclosed embodiments is intended to enable those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0073] Thus, the present invention will not be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-claw loading and unloading device, characterized in that: The invention comprises a swing arm assembly, wherein the swing arm assembly comprises a plurality of fixedly connected swing arms (110), wherein the power input end of the swing arm (110) is configured to be connected to a rotational power source; a clamping mechanism (200) is provided at the free end of each swing arm (110), and the swing arm assembly can drive the clamping mechanism (200) to move between an upper material position and a lower material position; and the clamping mechanism (200) comprises a clamping power source (210) and a clamping claw body (220) which is transmission-connected to the clamping power source (210).

2. The multi-claw loading and unloading device according to claim 1, characterized in that: The clamping mechanism (200) includes a clamping transmission assembly arranged in pairs, the clamping transmission assembly including a transmission member (230) and a transmission beam (240), the transmission member (230) is fixedly mounted on the power output end of the clamping power source (210), the transmission beam (240) is mounted on the transmission member (230), and the clamping claw body (220) is mounted on the transmission beam (240); the clamping power source (210) is a dual-output power source and is used to drive a pair of the transmission members (230) to move relatively close to or relatively away from each other.

3. The multi-claw loading and unloading device according to claim 2, characterized in that: The transmission beam (240) is provided with a first waist-shaped hole (243), and the extension direction of the first waist-shaped hole (243) is parallel to the direction in which the clamping power source (210) drives the transmission member (230) to move; and / or, the clamping claw body (220) is provided with a second waist-shaped hole (221), and the extension direction of the second waist-shaped hole (221) is parallel to the length direction of the transmission beam (240).

4. The multi-claw loading and unloading device according to claim 2, characterized in that: The clamping mechanism (200) comprises a clamping base (250) and an adsorption assembly (260) mounted on the clamping base (250), and the adsorption assembly (260) is configured to be connected to a vacuum generator.

5. The multi-claw loading and unloading device according to claim 4, characterized in that: The clamping mechanism (200) further includes a pressure block (270) mounted on the clamping base (250), wherein the distance between the free end of the pressure block (270) and the clamping base (250) is greater than the distance between the transmission member (230) and the clamping base (250), and is smaller than the distance between the adsorption surface of the adsorption component (260) and the clamping base (250).

6. The multi-claw loading and unloading device according to claim 4, characterized in that: The clamping mechanism (200) further includes a product detection sensor (280), which is mounted on the clamping base (250) and configured to face the clamped product (400).

7. The multi-claw loading and unloading device according to any one of claims 1 to 6, characterized in that: The clamping mechanism (200) is connected to the swing arm (110) via a floating mechanism (300), and the floating direction of the floating mechanism (300) is the direction in which the clamping mechanism (200) approaches and moves away from the swing arm (110).

8. The multi-claw loading and unloading device according to claim 7, characterized in that: The floating mechanism (300) includes a floating base (310), a slide (320) and a slide rail (330). The slide (320) and the slide rail (330) are arranged to move relative to each other in two groups. The sliding direction of the slide rail (330) is the floating direction of the floating mechanism (300). One of the clamping mechanism (200) and the floating base (310) is connected to the slide (320), and the other is connected to the slide rail (330). The floating base (310) is installed at the free end of the swing arm (110).

9. The multi-claw loading and unloading device according to claim 8, characterized in that: The floating mechanism (300) further comprises a pressure sensor (340), one end of the pressure sensor (340) being fixedly connected to the floating base (310), and the other end being fixedly connected to the clamping mechanism (200).

10. An automated production line, characterized in that: The automated production line comprises the multi-claw loading and unloading device according to any one of claims 1 to 9.

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