Clamping jaw, clamping mechanism and mechanical arm

Abstract

The utility model relates to the technical field of clamping tools, and provides a clamping jaw, a clamping mechanism and a mechanical arm. The clamping jaw comprises a connecting part and a clamping part. The connecting part is configured to be connected with the driving piece. And the clamping part is connected with the connecting part. And the clamping part is connected with a supporting part which forms an angle with the clamping part. Wherein the supporting part is configured to support the battery cell. Therefore, the battery cell can be prevented from falling off due to insufficient clamping force, and the reliability and the safety in the battery transplanting process are improved.

Description

Technical Field

[0001] This utility model relates to the field of clamping tooling technology, specifically to a gripper, a clamping mechanism, and a robotic arm. Background Technology

[0002] In related technologies, the grippers of robotic arms in automated lithium battery production lines typically move horizontally under the drive of cylinders, bringing the two grippers closer together to hold the battery cells. Specifically, in the gripping state, the friction between the pads on the inner side of the grippers and the battery cells prevents relative displacement between the cells and the grippers, ensuring that the two grippers can successfully grasp the cells for battery transfer. However, after frequent use of the robotic arm, the pads on the inner side of the grippers gradually become smooth, reducing the friction between the grippers and the battery cells. This creates a safety hazard of the battery cells falling out. Utility Model Content

[0003] The present invention provides a gripper, a clamping mechanism and a robotic arm, which use a clamping part to clamp the battery cell and a supporting part to support the lower surface of the battery cell to prevent the battery cell from falling due to insufficient clamping force, thereby improving the safety of the battery transfer process.

[0004] In a first aspect, embodiments of the present invention provide a gripper, comprising:

[0005] The connecting part is configured as a connecting drive element;

[0006] A clamping part is connected to the connecting part, and the clamping part is connected to a support part that is angled to it, wherein the support part is configured to support the battery cell.

[0007] In one embodiment, the clamping portion is further connected to a snap-fit ​​portion, the snap-fit ​​portion and the support portion being located on the same side of the clamping portion, and the snap-fit ​​portion being configured to snap the battery cell.

[0008] In one embodiment, the snap-fit ​​portion includes:

[0009] The base plate is connected to the clamping part;

[0010] The first side plate and the second side plate are connected at intervals to the side of the base plate away from the clamping part;

[0011] The inner surface of the connection between the first side plate and the base plate is set as an arc surface, and the inner surface of the connection between the second side plate and the base plate is also set as an arc surface.

[0012] In one embodiment, the opposite ends of the first side plate on the side away from the bottom plate are both set to arc shape, and the opposite ends of the second side plate on the side away from the bottom plate are both set to arc shape.

[0013] In one embodiment, a buffer layer is provided on the side of the base plate away from the clamping portion.

[0014] In one embodiment, a buffer portion is connected to the side of the connecting portion near the clamping portion, and the buffer portion is configured to move the battery cell away from the connecting portion.

[0015] Secondly, embodiments of this utility model also provide a clamping mechanism, comprising:

[0016] Drive components;

[0017] Two grippers as described above;

[0018] The side of the two clamping parts that is close to each other is the clamping side. The support part is located on the clamping side. The driving member is connected to the two connecting parts to drive the two grippers to move closer to each other or further away from each other.

[0019] In one embodiment, the driving member includes a driving part and a transmission part. The driving part is connected to the transmission part and is used to drive the transmission part to move along a first direction. The transmission part is connected to the connecting part and is used to drive the connecting part to move along a second direction. The first direction and the second direction are set at an angle.

[0020] In one embodiment, the transmission part is provided with a guide hole, which is inclined from the central axis of the transmission part to the edge of the transmission part along the direction from the drive part to the transmission part, wherein the connecting part is provided with a connector, which is slidably connected in the guide hole.

[0021] In one embodiment, the clamping mechanism further includes:

[0022] A frame, wherein the drive unit is mounted on the frame, and a guide extending along the second direction is provided on the frame, and the connecting part is slidably connected to the guide.

[0023] Thirdly, embodiments of this utility model provide a robotic arm, including the gripping mechanism as described above.

[0024] The beneficial effects of the embodiments of this utility model are as follows:

[0025] In embodiments of this invention, a driving component is connected via a connecting portion, which in turn drives the connecting portion and the clamping portion to move, thereby using the clamping portion to clamp the battery cell. By connecting a support portion to the clamping portion to support the battery cell, it is possible to prevent the battery cell from falling due to insufficient clamping force, thus improving the reliability and safety of the battery transfer process. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a three-dimensional schematic diagram of the clamping mechanism provided in an embodiment of this utility model;

[0028] Figure 2 This is a front view of the clamping head provided in an embodiment of the present invention;

[0029] Figure 3 This is a front view of the gripper provided in an embodiment of this utility model;

[0030] Figure 4 This is a front view of the transmission unit provided in an embodiment of this utility model;

[0031] Figure 5 This is a three-dimensional schematic diagram of the snap-fit ​​part provided in an embodiment of the present invention.

[0032] Figure label:

[0033] 10-Gripper, 110-Connecting part, 1110-Connecting head, 120-Clamping part, 130-Supporting part, 140-Snap-fitting part, 1410-Base plate, 1420-First side plate, 1430-Second side plate, 1440-Arc surface, 1450-Arc shape, 150-Buffer part, 160-Clamping side, 20-Driver, 210-Driver part, 220-Transmission part, 2210-Guide hole, 2220-Central axis, 30-Frame, 310-Guide part, 40-Battery cell. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0035] like Figures 1 to 5 As shown, this application embodiment provides a gripper 10. The gripper 10 includes a connecting portion 110 and a clamping portion 120. The connecting portion 110 is configured to connect to a driving member 20. The clamping portion 120 is connected to the connecting portion 110. The clamping portion 120 is connected to a support portion 130 disposed at an angle thereto. The support portion 130 is configured to support a battery cell 40.

[0036] In this embodiment, the driving member 20 is connected via the connecting part 110. The driving member 20 can drive the connecting part 110 and the clamping part 120 to operate, thereby using the clamping part 120 to clamp the battery cell 40. By connecting the support part 130 to the clamping part 120 to support the battery cell 40, it is possible to prevent the battery cell 40 from falling due to insufficient clamping force, thus improving the reliability and safety of the battery transfer process.

[0037] Understandably, the battery cell 40 can be clamped by the cooperation of the two grippers 10. The support portion 130 is used to support the battery cell 40, and when the battery cell 40 is clamped by the two grippers 10, the support portion 130 is in contact with the lower surface of the battery cell 40. Therefore, the extension length of the clamping portion 120 is at least equal to the height of the battery cell 40 to ensure that the support portion 130 can be located on the lower surface of the battery cell 40.

[0038] The support portion 130 may be arranged at a right angle to the clamping portion 120. The connecting portion 110 is also arranged at a right angle to the clamping portion 120. Thus, the connecting portion 110 and the support portion 130 are arranged parallel to each other at the upper and lower ends of the clamping portion 120.

[0039] Alternatively, the support portion 130 and the clamping portion 120 may be arranged at an acute angle. Alternatively, the support portion 130 and the clamping portion 120 may be arranged at an obtuse angle.

[0040] In some embodiments, the connecting portion 110 and the clamping portion 120 are integrally formed. Alternatively, the connecting portion 110 and the clamping portion 120 adopt a separate structure, and the two can be connected by means of bolt connection, riveting, snap-fit, bonding, welding, etc.

[0041] In some embodiments, the support portion 130 can be connected to the clamping portion 120 by means of bolting, welding, bonding, etc. The support portion 130 can be made of rigid or flexible materials. When the support portion 130 is made of flexible material, it is necessary to ensure that the support portion 130 has sufficient strength to support the battery cell 40.

[0042] In some embodiments, the width of the support portion 130 can be the same as the width of the battery cell 40. In this case, the support portion 130 is in complete contact with the lower surface of the battery cell 40 in the width direction, ensuring a good support effect. Alternatively, the width of the support portion 130 can be smaller than the width of the battery cell 40. In this case, the support portion 130 is not in complete contact with the lower surface of the battery cell 40 in the width direction, but a good support effect can still be ensured.

[0043] In some embodiments, the length of the support portion 130 can be relatively short, just enough to allow it to contact the lower surface of the battery cell 40 and provide support. For example, the contact length between the support portion 130 and the battery cell 40 can be set to 5 mm, 10 mm, 20 mm, 50 mm, 100 mm, or any value between these two. In this embodiment, the shape, length, width, and height of the support portion 130 are not limited, as long as it can support the battery cell 40.

[0044] like Figure 1 As shown, the battery cell 40 referred to in the embodiments of this application is usually a square battery cell 40.

[0045] Please see Figure 1 and Figure 3 In some embodiments, the clamping portion 120 is also connected to a snap-fit ​​portion 140. The snap-fit ​​portion 140 and the support portion 130 are located on the same side of the clamping portion 120. The snap-fit ​​portion 140 is configured to snap-fit ​​the battery cell 40.

[0046] Understandably, the latching part 140 is used to latch the battery cell 40, thereby limiting the front and rear directions of the battery cell 40 and preventing the battery cell 40 from falling off.

[0047] When the battery cell 40 is held by the two grippers 10, the two gripping parts 120 can limit the left and right sides of the battery cell 40, the locking part 140 can limit the front and rear sides of the battery cell 40, and the supporting part 130 can support the limited bottom. This ensures that the battery cell 40 can be stably and reliably held by the two grippers 10, preventing the battery cell 40 from falling and improving the safety of the battery transfer process.

[0048] The support portion 130 supports the battery cell 40, and the support portion 130 is located on the lower surface of the battery cell 40. The latching portion 140 clamps the battery cell 40, and the latching portion 140 is located in the middle of the battery cell 40. That is, along the height direction, the latching portion 140 is located above the support portion 130.

[0049] In some embodiments, the snap-fit ​​portion 140 can be fixed to the clamping portion 120 by fasteners. For example, the snap-fit ​​portion 140 can be locked to the clamping portion 120 by screws. Alternatively, the snap-fit ​​portion 140 can also be fixed to the clamping portion 120 by means of adhesive bonding or the like. The fixing method of the snap-fit ​​portion 140 can be reasonably selected based on the material of the snap-fit ​​portion 140.

[0050] In some embodiments, the snap-fit ​​portion 140 is made of a flexible material. For example, the snap-fit ​​portion 140 is a POM (Polyformaldehyde) block.

[0051] like Figure 5 As shown, in some embodiments, the snap-fit ​​portion 140 includes a base plate 1410, a first side plate 1420, and a second side plate 1430. The base plate 1410 is connected to the clamping portion 120. The first side plate 1420 and the second side plate 1430 are spaced apart and connected to the side of the base plate 1410 away from the clamping portion 120. The inner surface of the connection between the first side plate 1420 and the base plate 1410 is configured as an arc surface 1440. The inner surface of the connection between the second side plate 1430 and the base plate 1410 is also configured as an arc surface 1440.

[0052] Understandably, the base plate 1410 is used to connect the clamping part 120 to achieve the connection between the snap-fit ​​part 140 and the clamping part 120. The first side plate 1420 and the second side plate 1430 can limit the front and rear sides of the battery cell 40 so that the battery cell 40 can be restricted between the first side plate 1420 and the second side plate 1430, preventing the battery cell 40 from shaking during the clamping process and ensuring the stability of the clamping.

[0053] By setting the inner surface of the connection between the first side plate 1420 and the bottom plate 1410 as an arc surface 1440, and setting the inner surface of the connection between the second side plate 1430 and the bottom plate 1410 as an arc surface 1440, the two arc surfaces 1440 can adapt to the rounded chamfer of the battery cell 40, so that the first side plate 1420 and the second side plate 1430 can fit better with the battery cell 40.

[0054] The curvature and length of the two arc surfaces 1440 can be adapted to the model of the battery cell 40 so that the snap-fit ​​part 140 can accurately limit the position of the battery cell 40.

[0055] In some embodiments, the base plate 1410, the first side plate 1420, and the second side plate 1430 are integrally formed.

[0056] Please continue reading. Figure 5 In some embodiments, the opposite ends of the first side plate 1420 on the side away from the bottom plate 1410 are both set as arcs 1450. The opposite ends of the second side plate 1430 on the side away from the bottom plate 1410 are both set as arcs 1450.

[0057] Understandably, setting both ends of the first side plate 1420, on the side furthest from the bottom plate 1410, to be arc-shaped 1450 can prevent the first side plate 1420 from scratching the battery cell 40 during clamping. Similarly, setting both ends of the second side plate 1430, on the side furthest from the bottom plate 1410, to be arc-shaped 1450 can prevent the second side plate 1430 from scratching the battery cell 40 during clamping.

[0058] In some embodiments, a buffer layer is provided on the side of the base plate 1410 away from the clamping portion 120.

[0059] It is understandable that a buffer layer can be used to protect the battery cell 40, preventing hard contact between the battery cell 40 and the base plate 1410 and thus preventing damage to the battery cell 40.

[0060] The buffer layer can be made of rubber or similar materials.

[0061] like Figure 3 As shown, in some embodiments, a buffer portion 150 is connected to the side of the connecting portion 110 near the clamping portion 120. The buffer portion 150 is configured to move the battery cell 40 away from the connecting portion 110.

[0062] Understandably, the buffer portion 150 can limit the upward movement range of the battery cell 40, ensuring that the battery cell 40 can only abut against the buffer portion 150 at most, preventing the risk of short-circuit discharge caused by contact between the terminal of the battery cell 40 and the connecting portion 110. Simultaneously, when the upper surface of the battery cell 40 abuts against the buffer portion 150, the buffer portion 150 can also limit the position of the upper surface of the battery cell 40. Therefore, the left and right sides of the battery cell 40 can be clamped and fixed by the clamping portion 120 and the snap-fit ​​portion 140, the front and rear sides of the battery cell 40 can be limited and fixed by the first side plate 1420 and the second side plate 1430 of the snap-fit ​​portion 140, and the upper and lower sides of the battery cell 40 can be limited and fixed by the buffer portion 150 and the support portion 130, thus making the battery cell 40 more stable during transplantation and providing multiple guarantees for the safe clamping of the battery cell 40.

[0063] In some embodiments, the buffer portion 150 is an urethane block.

[0064] In some embodiments, the upper surface of the battery cell 40 may be in contact with the buffer portion 150. Alternatively, the upper surface of the battery cell 40 may be spaced apart from the buffer portion 150.

[0065] On the other hand, please see Figure 1 and Figure 2This application also provides a clamping mechanism. The clamping mechanism includes a drive member 20 and two grippers 10 as described in the previous embodiments. The side of the two gripping portions 120 closest to each other is a clamping side 160. A support portion 130 is disposed on the clamping side 160. The drive member 20 is tractively connected to two connecting portions 110 to drive the two grippers 10 to move closer or further apart.

[0066] In this embodiment, the driving member 20 is connected via the connecting part 110. The driving member 20 can drive the connecting part 110 and the clamping part 120 to move, causing the two grippers 10 to move closer or further apart. When the driving member 20 drives the two grippers 10 to move closer together, the battery cell 40 can be clamped. When the driving member 20 drives the two grippers 10 to move further apart, the battery cell 40 can be placed in a preset position. By connecting the support part 130 to the clamping part 120 to support the battery cell 40, it is possible to prevent the battery cell 40 from falling due to insufficient clamping force, thereby improving the safety of the clamping mechanism during battery transfer.

[0067] Understandably, when the driving member 20 drives the two connecting parts 110 to move closer to each other, the two clamping parts 120, the two supporting parts 130, and the two snap-fit ​​parts 140 also move closer to each other. Thus, the two clamping parts 120 and the two snap-fit ​​parts 140 can be used to clamp the left and right sides of the battery cell 40, the two snap-fit ​​parts 140 can be used to limit the front-back direction of the battery cell 40, and the two supporting parts 130 can be used to support the lower surface of the battery cell 40, thereby ensuring stable and reliable clamping.

[0068] Please continue reading. Figure 1 and Figure 2 In some embodiments, the driving member 20 includes a driving part 210 and a transmission part 220. The driving part 210 is connected to the transmission part 220 and is used to drive the transmission part 220 to move along a first direction. The transmission part 220 is connected to the connecting part 110 and is used to drive the connecting part 110 to move along a second direction. The first direction and the second direction are set at an angle.

[0069] Understandably, the drive unit 210 drives the transmission unit 220 to operate, and the transmission unit 220 can drive the connecting part 110 to operate, causing the two grippers 10 to move closer or further apart. For example, when the drive unit 210 drives the transmission unit 220 away from the drive unit 210, the transmission unit 220 can drive the connecting part 110 to operate, causing the two grippers 10 to move closer together. When the drive unit 210 drives the transmission unit 220 closer to the drive unit 210, the transmission unit 220 can drive the connecting part 110 to operate, causing the two grippers 10 to move further apart.

[0070] In some embodiments, the drive unit 210 may be configured as a cylinder. The cylinder has a piston rod extending in a first direction, and the piston rod is connected to the transmission unit 220, thereby enabling the transmission unit 220 to perform linear motion toward or away from the drive unit 210.

[0071] like Figure 1 and Figure 2 As shown, the transmission unit 220 can be constructed with a T-shaped groove, the opening of which faces the drive unit 210. The width of the T-shaped groove opening is smaller than the width of the T-shaped groove bottom. The piston rod of the cylinder can pass through the T-shaped groove opening and be connected to a limiting member. The width of the limiting member can be adapted to the width of the T-shaped groove bottom, or the width of the limiting member can be slightly larger than the width of the T-shaped groove opening. This prevents the limiting member from exiting the T-shaped groove. Thus, the connection between the piston rod and the transmission unit 220 is achieved by utilizing the structure of the limiting member and the T-shaped groove.

[0072] like Figure 2 As shown, the first direction can be the height direction of the battery cell 40, and the second direction can be the length direction of the battery cell 40.

[0073] like Figure 4 As shown, in some embodiments, the transmission part 220 is provided with a guide hole 2210. Along the direction from the drive part 210 to the transmission part 220, the guide hole 2210 is inclined from the central axis 2220 of the transmission part 220 to the edge of the transmission part 220. The connecting part 110 is provided with a connector 1110. The connector 1110 is slidably connected within the guide hole 2210.

[0074] It is understood that the connecting part 110 is slidably connected to the guide hole 2210 of the transmission part 220 via the connector 1110. When the driving part 210 drives the transmission part 220 to move, the transmission part 220 can apply a force to the connecting part 110 through the guide hole 2210 to drive the connecting part 110 to move. The driving part 210 applies a force to the transmission part 220 in a first direction. Because the guide hole 2210 is inclined, the force exerted by the transmission part 220 on the connector 1110 can have a component force in a second direction. This component force in the second direction can drive the connector 1110 and the connecting part 110 to move.

[0075] The transmission unit 220 has two guide holes 2210. The two guide holes 2210 are symmetrically arranged along the central axis 2220 of the transmission unit 220. Each guide hole 2210 is connected to a gripper 10. This allows the two grippers 10 to move closer to or further apart from each other in the second direction.

[0076] In some embodiments, the guide hole 2210 is configured as a strip hole, and the connector 1110 is configured as a cylinder.

[0077] Please continue reading. Figure 1 and Figure 2 In some embodiments, the clamping mechanism further includes a frame 30. A drive unit 210 is mounted on the frame 30. A guide member 310 extending in a second direction is constructed on the frame 30. A connecting portion 110 is slidably connected to the guide member 310.

[0078] Understandably, the frame 30 serves as the main structure for fixing the drive unit 210 and the connecting unit 110, and the clamping mechanism can be connected to the robotic arm via the frame 30. The guide member 310 on the frame 30 is used to achieve a sliding connection with the connecting unit 110, thereby limiting the movement direction of the connecting unit 110 and ensuring that the connecting unit 110 can only move in the second direction.

[0079] Specifically, the connecting part 110 is slidably connected to the guide hole 2210 of the transmission part 220 via the connector 1110. When the driving part 210 drives the transmission part 220 to move, the transmission part 220 can apply a force to the connecting part 110 through the guide hole 2210 to drive the connecting part 110 to move. The driving part 210 applies a force to the transmission part 220 in a first direction. Because the guide hole 2210 is inclined and the guide member 310 can restrict the connecting part 110 to move only in a second direction, the force of the transmission part 220 on the connector 1110 can only drive the connecting part 110 to move in the second direction.

[0080] The frame 30 is equipped with two guide members 310, each guide member 310 being slidably connected to a connecting part 110 to restrict the sliding direction of the two grippers 10. The two guide members 310 are located on both sides of the transmission part 220 and are symmetrically arranged along the central axis 2220 of the transmission part 220. Correspondingly, the two grippers 10 are also symmetrically arranged along the central axis 2220 of the transmission part 220.

[0081] In some embodiments, the drive unit 210 can be fixed to the frame 30 by fasteners. The frame 30 may have a recessed area, in which the drive unit 210 and the transmission unit 220 may be disposed. The guide member 310 is located near the recessed area.

[0082] In some embodiments, the guide 310 is configured as a guide rail, and the connecting part 110 is configured with a slider, which is slidably connected to the guide rail.

[0083] In another aspect, embodiments of this application also provide a robotic arm. This robotic arm includes the gripping mechanism as described in the foregoing embodiments.

[0084] In this embodiment, the driving member 20 is connected via the connecting part 110. The driving member 20 can drive the connecting part 110 and the clamping part 120 to move, causing the two grippers 10 to move closer or further apart. When the driving member 20 drives the two grippers 10 to move closer together, the battery cell 40 can be clamped. When the driving member 20 drives the two grippers 10 to move further apart, the battery cell 40 can be placed in a preset position. By connecting the support part 130 to the clamping part 120 to support the battery cell 40, it is possible to prevent the battery cell 40 from falling due to insufficient clamping force, thereby improving the safety of the robotic arm during battery transfer.

[0085] The embodiments of this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A gripper, characterized in that, include: The connecting part is configured as a connecting drive element; A clamping part is connected to the connecting part, and the clamping part is connected to a support part that is angled to it, wherein the support part is configured to support the battery cell.

2. The gripper according to claim 1, characterized in that, The clamping part is also connected to a snap-fit ​​part, which is located on the same side of the clamping part as the supporting part, and the snap-fit ​​part is configured to snap the battery cell.

3. The gripper according to claim 2, characterized in that, The snap-fit ​​portion includes: The base plate is connected to the clamping part; The first side plate and the second side plate are connected at intervals to the side of the base plate away from the clamping part; The inner surface of the connection between the first side plate and the base plate is set as an arc surface, and the inner surface of the connection between the second side plate and the base plate is also set as an arc surface.

4. The gripper according to claim 3, characterized in that, Both ends of the first side plate on the side away from the bottom plate are arc-shaped, and both ends of the second side plate on the side away from the bottom plate are arc-shaped.

5. The gripper according to claim 3, characterized in that, The base plate has a buffer layer on the side away from the clamping part.

6. The gripper according to any one of claims 1-5, characterized in that, A buffer portion is connected to the side of the connecting portion near the clamping portion, and the buffer portion is configured to keep the battery cell away from the connecting portion.

7. A clamping mechanism, characterized in that, include: Drive components; Two grippers as described in any one of claims 1-6; The two clamping parts are located on opposite sides of each other, forming a clamping side. The support part is located on the clamping side. The driving member is connected to the two connecting parts to drive the two grippers to move closer or further apart.

8. The clamping mechanism according to claim 7, characterized in that, The driving component includes a driving part and a transmission part. The driving part is connected to the transmission part and is used to drive the transmission part to move along a first direction. The transmission part is connected to the connecting part and is used to drive the connecting part to move along a second direction. The first direction and the second direction are set at an angle.

9. The clamping mechanism according to claim 8, characterized in that, The transmission part is provided with a guide hole. Along the direction from the driving part to the transmission part, the guide hole is inclined from the central axis of the transmission part to the edge of the transmission part. The connecting part is provided with a connector, which is slidably connected in the guide hole.

10. The clamping mechanism according to claim 9, characterized in that, The clamping mechanism further includes: A frame, wherein the drive unit is mounted on the frame, and a guide extending along the second direction is provided on the frame, and the connecting part is slidably connected to the guide.

11. A robotic arm, characterized in that, Includes the clamping mechanism as described in any one of claims 7-10.

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