Clamping jaw device

Abstract

The utility model discloses a clamping jaw device which is used for clamping trays and / or tray carriers with different sizes, the clamping jaw device comprises at least one pair of clamping mechanisms, and the adjacent clamping mechanisms move in the close direction to clamp the trays and / or the tray carriers; the clamping mechanism comprises a connecting rod and at least two clamping pieces arranged on the connecting rod, each clamping piece comprises a telescopic structure and a clamping structure connected with the telescopic structure, and each clamping structure comprises a supporting bottom; when the tray and / or the tray carrier are / is clamped, the tray and / or the tray carrier are / is supported by the supporting bottom, and the telescopic structure is in an extending state to buffer pressure borne by the supporting bottom. According to the scheme, when the tray and the tray carrier are supported by the supporting bottom, pressure brought by the tray and the tray carrier can be borne, if the pressure is too large, the overall mechanical rigidity of the clamping piece can be affected, and therefore the pressure borne by the supporting bottom is buffered through the arrangement of the telescopic structure, and the service life of the clamping piece is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of article handling, and in particular to a clamping claw device. Background Art

[0002] Wafers are the fundamental raw material for manufacturing semiconductor devices. Extremely high-purity semiconductors are produced through processes like crystal pulling and slicing to form wafers. These wafers undergo a series of semiconductor manufacturing processes to form extremely tiny circuit structures. They are then cut, packaged, and tested to become integrated circuit chips, which are widely used in various electronic devices.

[0003] A tray is a container for semiconductor devices, typically molded from conductive or dissipative plastic or carbon fiber to protect electrostatically sensitive devices. Trays are commonly used to handle and place IC chips. Their outer structure has standardized dimensions, while their inner structure features regularly arranged cavities designed to hold individual IC chips in specific packages. Trays are stackable, allowing multiple trays to be stacked and packaged for shipping by adding additional trays to the top of the tray.

[0004] Tray carriers are used to hold multiple pallets for batch processing during production and transportation. The size and shape of the tray carrier are adapted to the pallets, ensuring they fit snugly within the carrier's internal structure during transportation.

[0005] During transportation, pallets and pallet carriers are often grasped using a gripper. Driven by a robotic arm, the gripper transports the pallet or pallet carrier to the designated location. Due to the fixed structure of the gripper, the gripper cannot be adjusted, making it suitable only for gripping specific types of pallets and pallet carriers. It cannot flexibly adapt to the sizes and structures of various pallets and pallet carriers. Furthermore, the gripper is subject to excessive pressure during grasping, which can easily damage the gripper's rigid structure and reduce its service life.

[0006] Therefore, how to provide a clamping device with strong stability is a technical problem that those skilled in the art need to solve urgently. Utility Model Content

[0007] In order to solve the problems of the prior art, the present application provides a clamping device to solve one or more technical problems existing in the prior art.

[0008] A gripper device for gripping pallets and / or pallet carriers of different sizes, the gripper device comprising:

[0009] at least one pair of clamping mechanisms, wherein adjacent clamping mechanisms move in similar directions to clamp the pallet and / or the pallet carrier;

[0010] The clamping mechanism includes a connecting rod and at least two clamping members provided on the connecting rod, the clamping members include a telescopic structure and a clamping structure connected to the telescopic structure, and the clamping structure includes a supporting bottom;

[0011] When the pallet and / or the pallet carrier is clamped, the base supports the pallet and / or the pallet carrier, and the telescopic structure is in an extended state to buffer the pressure on the base.

[0012] The clamping mechanism can move toward each other to clamp the pallet and pallet carrier, or move away to lower the pallet and pallet carrier. The clamping mechanism is highly adaptable and can accommodate pallets and pallet carriers of different sizes, improving the flexibility and adaptability of the clamping. Pallets and pallet carriers are at risk of falling off when being clamped. The support base can firmly support the pallet and pallet carrier to improve the stability and reliability of the clamping. When the support base supports the pallet and pallet carrier, it will withstand the pressure brought by it. If the pressure is too high, it will affect the overall mechanical rigidity of the clamping member. Therefore, the telescopic structure buffers the pressure on the support base and increases the service life of the clamping member.

[0013] Preferably, the clamping member also includes a connecting structure, which is connected to the connecting rod, and has an installation cavity inside. Part of the telescopic structure is arranged in the installation cavity, and the other part extends in a direction away from the installation cavity and is connected to the clamping structure.

[0014] The connecting structure has an installation cavity, and the telescopic structure can telescopically move in the installation cavity, thereby protecting the safety of the telescopic structure and avoiding accidental damage caused by the telescopic structure being arranged outside the connecting structure.

[0015] Preferably, a guide groove is provided at one end of the connecting structure close to the clamping structure, and a guide structure is provided at one end of the clamping structure close to the connecting structure;

[0016] When the supporting base does not support the pallet and / or the pallet carrier, the telescopic structure is in a retracted state, and the guide structure and the guide groove cooperate and abut.

[0017] Among them, the setting of the guide groove and the guide structure enables the telescopic structure to accurately retract and return to its original position when the bottom is not supporting the tray, thereby improving the accuracy of the clamping device.

[0018] Preferably, the telescopic structure includes a flexible telescopic rod or an elastic telescopic member.

[0019] Among them, the flexible telescopic rod and the elastic telescopic member can both realize the expansion and contraction and deformation of the structure and are easy to maintain, which helps to improve production efficiency and reduce manufacturing costs.

[0020] Preferably, the clamping structure further comprises a through hole, the through hole being located above the supporting base, and the through direction of the through hole being consistent with the length direction of the supporting base;

[0021] The clamping device also includes at least one first detection mechanism, which is arranged on one side of the through hole and is used to transmit a first detection signal to the pallet and / or the pallet carrier to detect whether it is placed correctly on the bottom, wherein the first detection signal is transmitted through the through hole.

[0022] The provision of the first detection mechanism ensures that the pallet can be accurately positioned at the bottom, thereby preventing the pallet from tilting and the clamping mechanism from being unable to firmly clamp the pallet, causing the pallet to fall and be damaged.

[0023] Preferably, the clamping device further comprises a second detection mechanism, which is provided between the clamping mechanisms and is configured to emit a second detection signal along the length direction of the clamping member to detect whether the pallet and / or the pallet carrier is clamped by the clamping mechanism.

[0024] The provision of the second detection mechanism ensures that the clamping mechanism has accurately grasped the pallet, thereby avoiding the waste of time and resource consumption caused by the clamping mechanism grasping nothing but performing subsequent actions.

[0025] Preferably, the clamping device further comprises a blocking pad, which is provided on a side of the clamping member opposite to the pallet and / or the pallet carrier, for preventing surface contact between the pallet and / or the pallet carrier and the clamping member.

[0026] Among them, the provision of the barrier pad ensures that the clamping mechanism will not scratch the outer coating of the pallet when clamping the pallet, thereby protecting the safety of the pallet.

[0027] Preferably, the clamping device also includes at least one sliding mechanism, which includes a slide rail and a slide table provided on the slide rail, and the slide table is connected to the connecting rod so that the clamping mechanism moves along the slide rail; wherein the extension direction of the slide rail is perpendicular to the extension direction of the connecting rod.

[0028] The setting of the slide rail enables adjacent clamping mechanisms to move closer to or away from each other to perform clamping or placing actions.

[0029] Preferably, the clamping device further comprises a driving mechanism, which comprises an electric cylinder having at least two output shafts, wherein the output shafts are connected to the connecting rod so that adjacent clamping mechanisms can move closer to or farther from each other on the slide rail via the slide platform.

[0030] Among them, the driving mechanism adopts a double-end output electric cylinder to provide power for the movement of the clamping mechanism.

[0031] Preferably, the clamping device further comprises a bracket, the bracket comprises opposite top and bottom ends, the slide rail is arranged at the bottom end along the width direction of the bracket, and the electric cylinder is arranged at the top end along the length direction of the bracket.

[0032] Among them, the setting of the bracket provides an installation basis for the slide rail and the electric cylinder, and the standardized layout of the slide rail and the electric cylinder saves space for the bracket.

[0033] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0034] The present application discloses a clamping device for clamping pallets and / or pallet carriers of different sizes. The clamping device includes: at least two clamping mechanisms, adjacent clamping mechanisms move in similar directions to clamp the pallet and / or pallet carrier; the clamping mechanism includes a connecting rod, and at least two clamping members provided on the connecting rod, the clamping members include a telescopic structure and a clamping structure connected to the telescopic structure, and the clamping structure includes a supporting bottom; when the pallet and / or pallet carrier is clamped, the supporting bottom supports the pallet and / or pallet carrier, and the telescopic structure is in an extended state to buffer the pressure on the supporting bottom. The clamping mechanisms can move close to each other to clamp the pallet and pallet carrier, or move away from each other to put down the pallet and pallet carrier. The clamping mechanism has strong adaptability and can adapt to pallets and pallet carriers of different sizes, thereby improving the flexibility and adaptability of clamping. There is a risk of pallets and pallet carriers falling off when being clamped. The setting of the bottom support can firmly support the pallet and pallet carrier to improve the stability and reliability of clamping. When the bottom support supports the pallet and pallet carrier, it will bear the pressure brought by them. If the pressure is too great, it will affect the overall mechanical rigidity of the clamping part. Therefore, the setting of the telescopic structure buffers the pressure borne by the bottom support and increases the service life of the clamping part. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 is an overall schematic diagram of the clamping device provided in an embodiment of the present application;

[0037] Figure 2 is a bottom perspective schematic diagram of a clamping device provided in an embodiment of the present application;

[0038] Figure 3 This is one of the structural schematic diagrams of the clamping member provided in the embodiment of the present application;

[0039] Figure 4 This is the second structural schematic diagram of the clamping member provided in the embodiment of the present application.

[0040] Figure numerals: 10, clamping mechanism; 11, connecting rod; 12, clamping member; 20, first detection mechanism; 30, second detection mechanism; 40, blocking pad; 50, slide rail; 51, slide table; 60, electric cylinder; 61, output shaft; 70, bracket; 120, telescopic structure; 130, clamping structure; 131, bottom support; 132, guide structure; 133, through hole; 140, connecting structure; 141, guide groove. DETAILED DESCRIPTION

[0041] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0042] As described in the background, during transportation, a gripper is often used to grasp pallets and pallet carriers. Driven by a robotic arm, the gripper transports the pallet or pallet carrier to a designated location. Due to the fixed structure of the gripper, the gripper cannot be adjusted, making it suitable only for specific pallet and pallet carrier models and unable to flexibly adapt to the sizes and structures of a wide variety of pallets and pallet carriers. Furthermore, the gripper is subject to excessive pressure during grasping, which can easily damage the gripper's rigid structure and reduce its service life.

[0043] In order to solve one or more of the above problems, the core of the present application is to provide a clamping device that relieves the pressure when supporting the bottom of the pallet and the pallet carrier through a telescopic structure.

[0044] refer to Figure 1 The overall schematic diagram of the clamping device shown in the figure includes a bracket 70, a clamping mechanism 10, a sliding mechanism, and a driving mechanism arranged on the bracket 70. During operation, the driving mechanism drives the clamping mechanism 10 to move closer or farther through the sliding mechanism to clamp or put down the pallet and pallet assembly.

[0045] A gripper device for gripping pallets and / or pallet carriers of different sizes, with reference to Figures 1 to 4 The clamping device and clamping member shown in the figure, the clamping device includes: at least one pair of clamping mechanisms 10, adjacent clamping mechanisms 10 move in similar directions to clamp the pallet and / or pallet carrier; the clamping mechanism includes a connecting rod 11, and at least two clamping members 12 provided on the connecting rod 11, the clamping member 12 includes a telescopic structure 120 and a clamping structure 130 connected to the telescopic structure 120, the clamping structure 130 includes a supporting bottom 131; when the pallet and / or pallet carrier is clamped, the supporting bottom 131 supports the pallet and / or pallet carrier, and the telescopic structure 120 is in an extended state to buffer the pressure on the supporting bottom 131.

[0046] The clamping mechanism 10 can move closer to clamp the pallet and pallet carrier, or move away to lower the pallet and pallet carrier. The clamping mechanism 10 is highly adaptable and can accommodate pallets and pallet carriers of different sizes, thereby improving the flexibility and adaptability of clamping. There is a risk of pallets and pallet carriers falling off when being clamped. The setting of the support base 131 can firmly support the pallet and pallet carrier to improve the stability and reliability of clamping. When the support base 131 supports the pallet and pallet carrier, it will withstand the pressure brought by it. If the pressure is too great, it will affect the overall mechanical rigidity of the clamping member 12. Therefore, the setting of the telescopic structure 120 buffers the pressure on the support base 131 and improves the service life of the clamping member 12.

[0047] In some embodiments of the present application, a clamping device may include multiple pairs of clamping mechanisms 10 to achieve synchronous or distributed clamping of multiple pallets and pallet assemblies.

[0048] In some embodiments of the present application, the clamping device includes two clamping mechanisms 10. Adjacent clamping mechanisms 10 move in similar directions, and the clamping members 12 on both sides respectively touch the two sides of the pallet to clamp it. At the same time, the bottom of the pallet abuts against the support base 131, and the support base 131 supports the pallet. At this time, the telescopic structure 120 is in an extended state, extending from the initial position in a direction away from the connecting rod 11 to buffer the pressure on the support base 131. Adjacent clamping mechanisms 10 move in separate directions, and the clamping members 12 on both sides break contact with the pallet. At the same time, the pallet moves away from the support base 131, and the support base 131 is no longer under pressure. At this time, the telescopic structure 120 is in a retracted state, retracting in a direction close to the connecting rod 11 and returning to its initial position.

[0049] In some embodiments of the present application, the clamping members 12 are disposed at opposite ends of the connecting rod 11 .

[0050] Preferably, reference Figure 1 、 Figure 3 and Figure 4 The clamping member also includes a connecting structure 140, which is connected to the connecting rod and has an installation cavity (not shown in the figure) inside. Part of the telescopic structure 120 is arranged in the installation cavity, and the other part extends in a direction away from the installation cavity and is connected to the clamping structure 130.

[0051] The connecting structure 140 has an installation cavity, and the telescopic structure 120 can telescopically move in the installation cavity, thereby protecting the safety of the telescopic structure and avoiding accidental damage caused by the telescopic structure 120 being arranged outside the connecting structure 140.

[0052] In some embodiments of the present application, the connecting structure 140 is approximately L-shaped, consisting of a shorter first plate and a longer second plate, the first plate is perpendicular to the second plate, the first plate is connected to the connecting rod 11, and the second plate extends in a direction away from the connecting rod 11 and is arranged perpendicular to the connecting rod 11.

[0053] In some embodiments of the present application, the mounting cavity is specifically a mounting channel, so that the telescopic structure 120 can telescopically move inside the mounting cavity.

[0054] In some embodiments of the present application, the telescopic structure 120 is rod-shaped. The telescopic structure 120 is installed in the installation channel of the connecting structure 140 . One end of the telescopic structure 120 extending out of the installation channel is connected to the clamping structure 130 .

[0055] Preferably, reference Figure 1 、 Figure 3 and Figure 4 A guide groove 141 is provided at one end of the connecting structure 140 close to the clamping structure 130, and a guide structure 132 is provided at one end of the clamping structure 130 close to the connecting structure 140; when the supporting base 131 does not support the pallet and / or pallet carrier, the telescopic structure 120 is in a retracted state, and the guide structure 132 and the guide groove 141 complementarily cooperate and abut.

[0056] The provision of the guide groove 141 and the guide structure 132 enables the telescopic structure 120 to accurately retract and return to its original position when the supporting base 131 is not supporting a tray, thereby improving the accuracy of the clamping device.

[0057] In some embodiments of the present application, the guide groove 141 is formed by being recessed into the interior of the connecting structure 140, and the guide structure 132 is formed by extending the clamping structure 130 toward the connecting structure 140. The guide groove 141 is concave in shape, and the guide structure 132 is convex in shape, and the two complement each other.

[0058] Preferably, the telescopic structure 120 includes a flexible telescopic rod or an elastic telescopic member.

[0059] Among them, the flexible telescopic rod and the elastic telescopic member can both realize the expansion and contraction and deformation of the structure and are easy to maintain, which helps to improve production efficiency and reduce manufacturing costs.

[0060] In some embodiments of the present application, the flexible telescopic rod may adopt a flexible hinge structure.

[0061] In some embodiments of the present application, the elastic telescopic member may be made of rubber.

[0062] Preferably, reference Figure 1 、 Figure 3 and Figure 4The clamping structure 130 also includes a through hole 133, which is located above the base 131, and the penetration direction of the through hole 133 is consistent with the length direction of the base 131; the clamping device also includes at least one first detection mechanism 20, which is provided on one side of the through hole 133, and is used to transmit a first detection signal to the tray and / or the tray carrier to detect whether it is placed correctly on the base 131, wherein the first detection signal is transmitted through the through hole 133.

[0063] The provision of the first detection mechanism 20 ensures that the tray can be accurately positioned on the support base 131 , thereby preventing the tray from tilting and causing the clamping mechanism 10 to be unable to firmly clamp the tray, thereby preventing the tray from falling and being damaged.

[0064] In some embodiments of the present application, the first detection mechanism 20 uses a laser sensor, which is arranged on the side of the clamping structure 130 that does not contact the pallet. The laser sensor emits a laser signal, which penetrates the through hole 133 and shines on the pallet. When the laser signal is perpendicular to the side of the pallet, it indicates that the pallet is placed correctly on the base 131.

[0065] Preferably, reference Figure 2 The clamping device also includes a second detection mechanism 30, which is arranged between the clamping mechanism 10 and is used to emit a second detection signal along the length direction of the clamping member 12 to detect whether the pallet and / or pallet carrier is clamped by the clamping mechanism 10.

[0066] The provision of the second detection mechanism 30 ensures that the clamping mechanism 10 has accurately grasped the pallet, thereby avoiding the waste of time and resource consumption caused by the clamping mechanism 10 grasping nothing but performing subsequent actions.

[0067] In some embodiments of the present application, the second detection mechanism 30 uses a laser sensor, which is located in the middle of the two clamping mechanisms 10. The laser sensor emits a laser signal, which is irradiated on the pallet to generate a reflection signal. When the reflection signal is analyzed and it is found that the distance between the laser sensor and the pallet meets the preset distance, it indicates that the pallet has been correctly clamped by the clamping mechanism 10, and subsequent operations are performed.

[0068] Preferably, reference Figure 1 The clamping device further includes a barrier pad 40 , which is disposed on a side of the clamping member 12 opposite to the pallet and / or pallet carrier, for preventing surface contact between the pallet and / or pallet carrier and the clamping member 12 .

[0069] The provision of the barrier pad 40 ensures that the outer coating of the pallet will not be scratched when the clamping mechanism 10 clamps the pallet, thereby protecting the safety of the pallet.

[0070] In some embodiments of the present application, the barrier pad 40 is made of rubber and is coated on the surface of the clamping member 12 .

[0071] Preferably, reference Figure 1 and Figure 2 The clamping device also includes at least one sliding mechanism, which includes a slide rail 50 and a slide table 51 arranged on the slide rail 50. The slide table 51 is connected to the connecting rod 11 so that the clamping mechanism 10 moves along the slide rail 50; wherein the extension direction of the slide rail 50 is perpendicular to the extension direction of the connecting rod 11.

[0072] The arrangement of the slide rails 50 enables adjacent clamping mechanisms 10 to move closer to or further from each other to perform clamping or placing actions.

[0073] Preferably, reference Figure 1 and Figure 2 The clamping device also includes a driving mechanism, which includes an electric cylinder 60 with at least two output shafts 61. The output shafts 61 are connected to the connecting rod 11 so that adjacent clamping mechanisms 10 can move closer to or farther from each other on the slide rail 50 through the slide 51.

[0074] The driving mechanism adopts a double-end output electric cylinder 60 to provide power for the movement of the clamping mechanism 10 .

[0075] In some embodiments of the present application, the clamping device also includes a connecting member, the connecting rod 11 includes a fixed end and a connecting end, one end of the connecting member is connected to the connecting end, and the other end is connected to the output shaft 61, and the fixed end is connected to the slide 51. The electric cylinder 60 drives the clamping mechanism 10 to move along the slide rail 50 through the slide 51 through the connecting member.

[0076] Preferably, reference Figure 1 and Figure 2 The clamping device also includes a bracket 70, the bracket 70 includes a top end and a bottom end relative to each other, the slide rail 50 is arranged at the bottom end along the width direction of the bracket 70, and the electric cylinder 60 is arranged at the top end along the length direction of the bracket 70.

[0077] The arrangement of the bracket 70 provides an installation base for the slide rail 50 and the electric cylinder 60 , and the standardized layout of the slide rail 50 and the electric cylinder 60 saves space for the bracket 70 .

[0078] In some embodiments of the present application, the bracket 70 has an H-shaped structure.

[0079] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0081] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A gripper device for gripping pallets and / or pallet carriers of different sizes, characterized in that: The clamping device comprises: At least one pair of clamping mechanisms (10), wherein adjacent clamping mechanisms (10) move in a close direction to clamp the pallet and / or the pallet carrier, or move in a separate direction to place the pallet and / or the pallet carrier; The clamping mechanism (10) comprises a connecting rod (11) and at least two clamping members (12) provided on the connecting rod (11); the clamping member (12) comprises a telescopic structure (120) and a clamping structure (130) connected to the telescopic structure (120); the clamping structure (130) comprises a supporting base (131); When the pallet and / or the pallet carrier is clamped, the support base (131) supports the pallet and / or the pallet carrier, and the telescopic structure (120) is in an extended state to buffer the pressure borne by the support base (131).

2. The clamping device according to claim 1, characterized in that The clamping member further comprises a connecting structure (140), wherein the connecting structure (140) is connected to the connecting rod (11), wherein the connecting structure (140) has an installation cavity inside, wherein a portion of the telescopic structure (120) is disposed in the installation cavity, and the other portion extends in a direction away from the installation cavity and is connected to the clamping structure (130).

3. The clamping device according to claim 2, characterized in that The connecting structure (140) is provided with a guide groove (141) at one end close to the clamping structure (130), and the clamping structure (130) is provided with a guide structure (132) at one end close to the connecting structure (140); When the supporting base (131) does not support the pallet and / or the pallet carrier, the telescopic structure (120) is in a contracted state, and the guide structure (132) and the guide groove (141) are in contact with each other.

4. The clamping device according to any one of claims 1 to 3, characterized in that: The telescopic structure (120) comprises a flexible telescopic rod or an elastic telescopic member.

5. The clamping jaw device according to any one of claims 1 to 3, characterized in that: The clamping structure (130) further includes a through hole (133); The clamping device also includes at least one first detection mechanism (20), which is arranged on one side of the through hole (133) and is used to transmit a first detection signal to the tray and / or the tray carrier to detect whether it is aligned with the base (131), wherein the first detection signal is transmitted through the through hole (133).

6. The clamping device according to any one of claims 1 to 3, characterized in that: The clamping device further comprises a second detection mechanism (30), which is arranged between the clamping mechanisms (10) and is used to emit a second detection signal along the length direction of the clamping member (12) to detect whether the pallet and / or the pallet carrier is clamped by the clamping mechanism (10).

7. The clamping device according to any one of claims 1 to 3, characterized in that: The clamping device further comprises a blocking pad (40), which is arranged on a side of the clamping member (12) opposite to the pallet and / or the pallet carrier, and is used to prevent the pallet and / or the pallet carrier from contacting the surface of the clamping member (12).

8. The clamping device according to any one of claims 1 to 3, characterized in that: The clamping device further comprises at least one sliding mechanism, wherein the sliding mechanism comprises a slide rail (50) and a slide platform (51) provided on the slide rail (50), wherein the slide platform (51) is connected to the connecting rod (11) so as to enable the clamping mechanism (10) to move along the slide rail (50); Wherein, the extending direction of the slide rail (50) is perpendicular to the extending direction of the connecting rod (11).

9. The clamping device according to claim 8, characterized in that The clamping device also includes a driving mechanism, which includes an electric cylinder (60) having at least two output shafts (61). The output shafts (61) are connected to the connecting rod (11) so that adjacent clamping mechanisms (10) can move closer to or farther from each other on the slide rail (50) through the slide platform (51).

10. The clamping device according to claim 9, characterized in that: The clamping device further comprises a bracket (70), the bracket (70) comprising opposite top and bottom ends, the slide rail (50) being arranged at the bottom end along the width direction of the bracket (70), and the electric cylinder (60) being arranged at the top end along the length direction of the bracket (70).

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