Clamping device

Abstract

The utility model belongs to the technical field of clamps, and discloses a clamping device which comprises two clamping fingers which are opposite in the first horizontal direction and distributed at intervals. The end faces, close to each other, of the two clamping fingers are clamping end faces. Each clamping end face is provided with a first clamping groove set and a second clamping groove set in a concave mode. The first clamping groove set and the second clamping groove set are distributed in the height direction of the clamping fingers at intervals. The first clamping groove group comprises a triangular groove and / or an arc-shaped groove; the second clamping groove group comprises a rectangular groove; the first horizontal direction is perpendicular to the height direction of the clamping fingers. The clamping device is good in universality and high in reliability.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamp, especially clamping device. BACKGROUND

[0002] The cell culture device usually has the functions of cell liquid exchange and cell subculture. Taking cell subculture as an example, the cell liquid in the cell culture device needs to be taken out after digestion and transferred to a centrifuge tube or other vessels. The current common cell liquid transfer method is generally divided into two categories: one is to move the cell culture device to the lower side of a pipetting device by a multi-degree-of-freedom moving mechanism, then move the bottle mouth of the cell culture device upward and / or move the suction head of the pipetting device downward, so that the suction head extends into the cell culture device to perform pipetting; the other is to directly pour the cell liquid in the cell culture device into other vessels.

[0003] Among them, for the cell liquid transfer method using the multi-degree-of-freedom moving mechanism, the output end of the multi-degree-of-freedom moving mechanism is usually provided with a clamping device for clamping the cell culture device or other vessels. A clamping device in the prior art includes two clamping plates, the end faces of the two clamping plates close to each other are provided with V-shaped clamping pads, and the clamping pads are provided with patterns for increasing friction. Although it can clamp vessels of various specifications and types, the universality and reliability still need to be improved. SUMMARY

[0004] The purpose of the utility model is to provide a clamping device to solve the problem that the universality and reliability of the clamping device in the prior art need to be improved.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] The clamping device includes two clamping fingers that are opposite and spaced apart along a first horizontal direction; the end faces of the two clamping fingers close to each other are clamping end faces; each clamping end face is concavely provided with a first clamping groove group and a second clamping groove group, the first clamping groove group and the second clamping groove group are spaced apart along the height direction of the clamping finger; the first clamping groove group includes a triangular groove and / or an arc-shaped groove; the second clamping groove group includes a rectangular groove; the first horizontal direction is perpendicular to the height direction of the clamping finger.

[0007] As a preferred solution of the above-mentioned clamping device, the clamping groove of the first clamping groove group penetrates the end face of the clamping finger away from the second clamping groove group.

[0008] As a preferred solution of the above-mentioned clamping device, the maximum depth of the clamping groove of the first clamping groove group is less than or equal to the maximum depth of the rectangular groove of the second clamping groove group at the position along the first horizontal direction, and the clamping groove of the first clamping groove group penetrates through the two end faces of the clamping finger along the height direction of the clamping finger.

[0009] As a preferred solution of the above-mentioned clamping device, the number of the rectangular grooves of the second clamping groove group is multiple, and the multiple rectangular grooves are distributed in the second horizontal direction and / or the height direction of the clamping finger; the first horizontal direction is perpendicular to the second horizontal direction and both are perpendicular to the height direction of the clamping finger.

[0010] As a preferred solution of the above-mentioned clamping device, at least part of the multiple rectangular grooves are different in size.

[0011] As a preferred solution of the above-mentioned clamping device, at least part of the multiple rectangular grooves penetrate through the end face of the clamping finger away from the first clamping groove group.

[0012] As a preferred solution of the above-mentioned clamping device, at least one of the clamping fingers is further connected with an elastic clamping structure, and the elastic deformation layer of the elastic clamping structure is used for clamping the article.

[0013] As a preferred solution of the above-mentioned clamping device, the elastic clamping structure is movably connected with the clamping finger.

[0014] As a preferred solution of the above-mentioned clamping device, the clamping end face is provided with anti-skid patterns; and / or,

[0015] The inner circumferential wall of the clamping groove of the first clamping groove group is provided with anti-skid patterns; and / or,

[0016] The inner circumferential wall of the rectangular groove of the second clamping groove group is provided with anti-skid patterns.

[0017] As a preferred solution of the above-mentioned clamping device, the clamping end face is provided with an elastic deformation layer; and / or,

[0018] The inner circumferential wall of the clamping groove of the first clamping groove group is provided with an elastic deformation layer; and / or,

[0019] The inner circumferential wall of the rectangular groove of the second clamping groove group is provided with an elastic deformation layer.

[0020] The beneficial effects of the utility model are as follows:

[0021] The utility model provides a clamping device, the clamping device includes two along first horizontal direction opposite and interval distribution's clamping finger, the end face of two clamping fingers is close to all is clamping end face. In which, every clamping end face all is concave and is equipped with first clamping groove group and second clamping groove group, first clamping groove group and second clamping groove group interval distribution along the height direction of clamping finger, first clamping groove group includes triangle groove and / or arc groove, second clamping groove group includes rectangle groove, first horizontal direction is perpendicular with the height direction of clamping finger.

[0022] The clamping device, the first clamping groove group and the second clamping groove group are concave on the clamping end face of the clamping finger, and the clamping end face of the two clamping fingers can be used to clamp square articles, rectangular articles, prismatic articles and the like; the triangle groove of the two clamping fingers can be used to clamp prismatic articles and cylindrical articles; the arc groove of the two clamping fingers can be used to clamp cylindrical articles; the rectangle groove of the two clamping fingers can be used to clamp square articles, rectangular articles, prismatic articles, flat articles and articles with flanges; when one of the two clamping fingers is provided with a triangle groove and the other is provided with an arc groove, the first clamping groove group of the two clamping fingers can clamp prismatic articles and cylindrical articles. Thus, the versatility of the clamping device can be effectively improved.

[0023] Secondly, when one of the two clamping fingers is provided with a triangle groove and the other is provided with an arc groove, the first clamping groove group of the two clamping fingers can clamp prismatic articles and cylindrical articles, and the reliability of clamping prismatic articles and cylindrical articles can be effectively ensured.

[0024] Secondly, the first clamping groove group and the second clamping groove group are interval distributed along the height direction of the clamping finger, so that a support surface can be formed on the clamping finger. The support surface can support the article. Thus, the reliability of clamping the article by the clamping device can be effectively improved.

[0025] Thus, the clamping device has good versatility and high reliability. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the assembly drawing of the clamping finger, the elastic clamping structure and the connecting plate provided by the specific embodiment of the utility model;

[0027] Figure 2 is the exploded view of the clamping finger, the elastic clamping structure and the connecting plate provided by the specific embodiment of the utility model;

[0028] Figure 3 is the structure schematic view of the clamping device provided by the specific embodiment of the utility model;

[0029] Figure 4is a structure schematic view of the clamping device clamping a rectangular article provided by the embodiment of the utility model.

[0030] Figure 5 is a structure schematic view of the clamping device clamping a cylindrical article provided by the embodiment of the utility model.

[0031] In the drawing,

[0032] 100, article;

[0033] 1, clamping finger; 11, clamping end face; 12, triangular groove; 13, rectangular groove; 131, supporting surface; 14, mounting hole;

[0034] 2, elastic clamping structure;

[0035] 3, multi-degree-of-freedom moving mechanism;

[0036] 4, connecting plate. DETAILED DESCRIPTION

[0037] The utility model will be further explained in detail in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, and not limited to the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawing, not all structures.

[0038] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0039] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0040] In the description of the present embodiment, the terms "upper", "lower", "right", and the like, orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0041] Figure 1 The ab direction in and Figures 3-5 The cd direction in and Figure 1 The ef direction in and Figures 3-5 The height direction of the clamping finger 1. Figure 1 The height direction of the clamping finger 1. Figures 3-5 The ef direction is the second horizontal direction.

[0042] The utility model provides a clamping device, such as Figures 1-5 As shown in the figure, the clamping device comprises two clamping fingers 1 which are opposite and spaced apart along a first horizontal direction; the end faces of the two clamping fingers 1 which are close to each other are all clamping end faces 11. Wherein, each clamping end face 11 is concavely provided with a first clamping groove group and a second clamping groove group; the first clamping groove group and the second clamping groove group are spaced apart along the height direction of the clamping finger 1; the first clamping groove group comprises a triangular groove 12 and / or an arc-shaped groove; the second clamping groove group comprises a rectangular groove 13; the first horizontal direction is perpendicular to the height direction of the clamping finger 1.

[0043] The clamping device, the first clamping groove group and the second clamping groove group are concavely arranged on the clamping end face 11 of the clamping finger 1, and it can be understood that the clamping end face 11 of the two clamping fingers 1 can be used to clamp square articles, rectangular articles and prismatic articles and the like; the triangular groove 12 of the two clamping fingers 1 can be used to clamp prismatic articles and cylindrical articles and the like; the arc-shaped groove of the two clamping fingers 1 can be used for cylindrical articles; the rectangular groove 13 of the two clamping fingers 1 can be used to clamp square articles, rectangular articles, prismatic articles, flat plate type articles and articles with flanges and the like; when one of the two clamping fingers 1 is provided with a triangular groove 12 and the other is provided with an arc-shaped groove, the first clamping groove group of the two clamping fingers 1 can clamp prismatic articles and cylindrical articles. Thus the versatility of the clamping device can be effectively improved.

[0044] Secondly, when one of the two clamping fingers 1 is provided with a triangular groove 12 and the other is provided with an arc-shaped groove, the first clamping groove group of the two clamping fingers 1 can clamp prismatic articles and cylindrical articles, and can effectively ensure the reliability of clamping prismatic articles and cylindrical articles.

[0045] Secondly, the first and second sets of clamping grooves are spaced apart along the height direction of the clamping fingers 1, so that a support surface 131 can be formed on the clamping fingers 1. The support surface 131 can support the article 100. Thus, the reliability of clamping the article 100 by the clamping device can be effectively improved.

[0046] Thus, the clamping device has good versatility and high reliability.

[0047] It can be understood that the article 100 includes a square article, a rectangular article, a prismatic article, a cylindrical article, a flat article, and a flanged article, etc.

[0048] Preferably, the triangular grooves 12 are isosceles triangular grooves. Compared with non-isosceles triangular grooves, the reliability of clamping the article 100 by the clamping device can be improved.

[0049] Specifically, as shown in Figure 4 , the article 100 clamped by the clamping device is a rectangular article. As shown in Figure 5 , the article 100 clamped by the clamping device is a cylindrical article.

[0050] Specifically, as shown in Figures 3-5 , the two clamping fingers 1 are arranged at the output end of the multi-degree-of-freedom moving mechanism 3. The multi-degree-of-freedom moving mechanism 3 can drive the two clamping fingers 1 to move closer to or away from each other along the first horizontal direction, and can drive the two clamping fingers 1 to move synchronously in translation, lifting and rotation. The specific structure of the multi-degree-of-freedom moving mechanism 3 belongs to the prior art, and will not be described here.

[0051] Specifically, the clamping fingers 1 are made of metal material. The durability of the clamping fingers 1 can be improved. Further, the clamping fingers 1 are made of aluminum or stainless steel, etc. As an alternative, the clamping fingers 1 can also be made of non-metallic materials such as plastic.

[0052] Optionally, as shown in Figures 1-3 , the clamping grooves of the first set of clamping grooves penetrate through the end surface of the clamping finger 1 away from the second set of clamping grooves. Specifically, when the first set of clamping grooves includes the triangular grooves 12, the triangular grooves 12 penetrate through the end surface of the clamping finger 1 away from the second set of clamping grooves. When the first set of clamping grooves includes the arc-shaped grooves, the arc-shaped grooves penetrate through the end surface of the clamping finger 1 away from the second set of clamping grooves. When the first set of clamping grooves includes the triangular grooves 12 and the arc-shaped grooves, the triangular grooves 12 and the arc-shaped grooves both penetrate through the end surface of the clamping finger 1 away from the second set of clamping grooves. In this way, the first set of clamping grooves of the two clamping fingers 1 can be suitable for clamping prismatic articles and cylindrical articles with different axial lengths, thereby further improving the versatility of the clamping device.

[0053] Optionally, as shown in Figures 1-3As shown, along the first horizontal direction, the maximum depth of the clamping groove of the first clamping groove group is less than or equal to the maximum depth of the rectangular groove 13 of the second clamping groove group at the location, and the clamping groove of the first clamping groove group penetrates through both end faces of the clamping finger 1 along the height direction of the clamping finger 1. In this way, the effect that the first clamping groove group of the two clamping fingers 1 can be applied to clamping prismatic articles and cylindrical articles of different axial lengths is further improved, and the contact area between the inner circumferential wall of the clamping groove of the two first clamping groove groups and the article 100 is increased, thereby further improving the versatility and reliability of the clamping device for clamping the article 100.

[0054] It can be understood that the maximum depth of the clamping groove of the first clamping groove group is less than or equal to the maximum depth of the rectangular groove 13 of the second clamping groove group at the location, so that when the clamping groove of the first clamping groove group penetrates through both end faces of the clamping finger 1 along the height direction of the clamping finger 1, the effect of the second clamping groove group clamping the article 100 is not affected.

[0055] In the embodiment, as shown, Figures 1-3 For example, the first clamping groove group of the two clamping fingers 1 each includes a triangular groove 12. Along the first horizontal direction, the maximum depth of the triangular groove 12 is less than the maximum depth of the rectangular groove 13 of the second clamping groove group at the location, and the triangular groove 12 penetrates through both end faces of the clamping finger 1 along the height direction of the clamping finger 1.

[0056] Optionally, the number of clamping grooves of the first clamping groove group is a plurality, and the plurality of clamping grooves are distributed in the second horizontal direction and / or the height direction of the clamping finger 1. In this way, the first clamping groove group of the two clamping fingers 1 can simultaneously clamp a plurality of articles 100, thereby further improving the use performance of the clamping device.

[0057] Optionally, as shown, Figures 1-3 The number of rectangular grooves 13 of the second clamping groove group is a plurality, and the plurality of rectangular grooves 13 are distributed in the second horizontal direction and / or the height direction of the clamping finger 1. The first horizontal direction and the second horizontal direction are perpendicular to the height direction of the clamping finger 1. In this way, the second clamping groove group of the two clamping fingers 1 can simultaneously clamp a plurality of articles 100, thereby further improving the use performance of the clamping device.

[0058] Optionally, at least part of the plurality of rectangular grooves 13 are different in size. In this way, the second clamping groove group of the two clamping fingers 1 can be applied to articles 100 of different size specifications, thereby further improving the versatility of the clamping device.

[0059] Further optionally, as shown, Figures 1-3As shown, the plurality of rectangular grooves 13 at least partially penetrate the end face of the clamping finger 1 away from the first clamping groove group. In this way, the partially penetrating rectangular grooves 13 of the end face of the clamping finger 1 away from the first clamping groove group can be used to clamp square, rectangular, prismatic, flat plate type and flange type articles with different elongated lengths in the height direction of the clamping finger 1, thereby further improving the versatility of the clamping device.

[0060] In this embodiment, as shown in Figures 1-3 , the number of rectangular grooves 13 in the second clamping groove group is three as an example.

[0061] In this embodiment, as shown in Figures 1-3 , along the second horizontal direction, two rectangular grooves 13 are sequentially distributed and penetrate the end face of the clamping finger 1 away from the first clamping groove group; the remaining one rectangular groove 13 does not penetrate the end face of the clamping finger 1 away from the first clamping groove group. In this embodiment, the parameters of the rectangular grooves 13 penetrating the end face of the clamping finger 1 away from the first clamping groove group are set as an example: the depth range along the first horizontal direction is 4mm-10mm, the length range along the second horizontal direction is 30mm-50mm, and the height range along the height direction of the clamping finger 1 is 5mm-15mm. It can be understood that the parameter range of each rectangular groove 13 can also be adaptively adjusted according to actual working conditions.

[0062] In this embodiment, as shown in Figures 1-3 , the three rectangular grooves 13 are sequentially distributed and connected along the second horizontal direction. This allows the second clamping groove group to maximize the length of the article 100 clamped along the second horizontal direction, thereby further improving the versatility of the clamping device.

[0063] In this embodiment, as shown in Figures 1-2 , along the height direction of the clamping finger 1, the inner bottom wall of the rectangular groove 13 is formed as a support surface 131 that can support the article 100. This can effectively improve the reliability of clamping the article 100 by the clamping device.

[0064] Optionally, as shown in Figures 1-3As shown, at least one gripping finger 1 is also connected to an elastic clamping structure 2, the elastic deformation layer of which is used to clamp the article 100. When the elastic clamping structure 2 clamps the article 100, the elastic deformation layer undergoes elastic deformation, making the clamping device suitable for clamping easily deformable and easily damaged articles 100, thereby further improving the versatility of the clamping device. Secondly, for articles 100 that are not easily deformable or damaged, the elastic deformation layer of the elastic clamping structure 2 further improves the reliability of clamping the article 100. In this embodiment, it is preferable that both gripping fingers 1 are connected to the elastic clamping structure 2 to further improve the reliability of clamping the article 100.

[0065] Specifically, to ensure the reliability of the elastic clamping structure 2 in clamping the article 100, when the orthographic projection of the article 100 along the first horizontal direction is completely located on the elastic deformation layer of the elastic clamping structure 2, the elastic deformation layer of the elastic clamping structure 2 does not extend beyond the clamping end face 11 along the first horizontal direction, or the elastic deformation layer of the elastic clamping structure 2 at least partially extends beyond the clamping end face 11 along the first horizontal direction. This ensures that the article 100 can be effectively clamped.

[0066] Specifically, to ensure the reliability of the elastic clamping structure 2 in clamping the article 100, when the orthographic projection of the article 100 along the first horizontal direction is located on the elastic deformation layer of the elastic clamping structure 2, the elastic deformation layer of the elastic clamping structure 2 extends at least partially beyond the clamping end face 11 along the first horizontal direction. Furthermore, when the elastic deformation layer of the elastic clamping structure 2 is compressed to its maximum compression degree, the elastic deformation layer of the elastic clamping structure 2 extends at least partially beyond the clamping end face 11. This ensures that the article 100 can be effectively clamped.

[0067] like Figures 1-3 As shown, the elastic deformation layer of the preferred elastic clamping structure 2 extends at least partially beyond the clamping end face 11 along the first horizontal direction; and when the elastic deformation layer of the elastic clamping structure 2 is compressed to its maximum compression degree, the elastic deformation layer of the elastic clamping structure 2 extends at least partially beyond the clamping end face 11. This further improves the versatility of the clamping device. In this embodiment, the thickness of the elastic deformation layer of the elastic clamping structure 2 extending beyond the clamping end face 11 along the first horizontal direction is exemplaryly set to be in the range of 1mm to 5mm, and is exemplaryly taken as 2mm.

[0068] Optionally, the elastic clamping structure 2 is movably connected to the clamping finger 1. In this way, when the clamped surface of the article 100 is an inclined surface, a stepped surface or an irregular surface, the article 100 can still be effectively clamped, thereby further improving the versatility of the clamping device. Specifically, the clamping finger 1 is provided with a mounting hole 14, the body of the elastic clamping structure 2 is inserted into the mounting hole 14 and is in clearance fit with the mounting hole 14, and the clamping finger 1 and the body of the elastic clamping structure 2 are connected through a ball hinge structure. Alternatively, the clamping finger 1 is provided with a mounting hole 14, the body of the elastic clamping structure 2 is inserted into the mounting hole 14 and is in clearance fit with the mounting hole 14, and the clamping finger 1 and the body of the elastic clamping structure 2 are connected through a spring.

[0069] Alternatively, the elastic clamping structure 2 is movably connected to the clamping finger 1. In this way, when the clamped surface of the article 100 is an inclined surface, a stepped surface or an irregular surface, the article 100 can still be effectively clamped, thereby further improving the versatility of the clamping device. Specifically, the clamping finger 1 is provided with a mounting hole 14, the body of the elastic clamping structure 2 is inserted into the mounting hole 14 and is in clearance fit with the mounting hole 14, and the clamping finger 1 and the body of the elastic clamping structure 2 are connected through a ball hinge structure. Alternatively, the clamping finger 1 is provided with a mounting hole 14, the body of the elastic clamping structure 2 is inserted into the mounting hole 14 and is in clearance fit with the mounting hole 14, and the clamping finger 1 and the body of the elastic clamping structure 2 are connected through a spring.

[0070] Specifically, in the present embodiment, as shown in Figure 2 the clamping finger 1 is provided with a mounting hole 14 through which the body of the elastic clamping structure 2 is inserted, and the clamping finger 1 and the body of the elastic clamping structure 2 are detachably connected to the connecting plate 4 through screws.

[0071] Optionally, the clamping end surface 11 is provided with anti-skid patterns. Optionally, the inner circumferential wall of the clamping groove of the first clamping groove group is provided with anti-skid patterns. Optionally, the inner circumferential wall of the rectangular groove 13 of the second clamping groove group is provided with anti-skid patterns. Preferably, the clamping end surface 11 is provided with anti-skid patterns, the inner circumferential wall of the clamping groove of the first clamping groove group is provided with anti-skid patterns, and the inner circumferential wall of the rectangular groove 13 of the second clamping groove group is provided with anti-skid patterns. In this way, the reliability of the clamping device in clamping the article 100 is further improved. Alternatively, the anti-skid patterns can be replaced by anti-skid grooves. In the present embodiment, the parameters of the anti-skid grooves are as follows: the depth in the first horizontal direction is 1 mm, the width in the second horizontal direction is 1 mm, and the anti-skid grooves penetrate through both end surfaces of the clamping finger 1 in the height direction of the clamping finger 1.

[0072] Optionally, the clamping end surface 11 is provided with an elastic deformation layer. Optionally, the inner circumferential wall of the clamping groove of the first clamping groove group is provided with an elastic deformation layer. Optionally, the inner circumferential wall of the rectangular groove 13 of the second clamping groove group is provided with an elastic deformation layer. In the present embodiment, preferably, the clamping end surface 11 is provided with an elastic deformation layer, the inner circumferential wall of the clamping groove of the first clamping groove group is provided with an elastic deformation layer, and the inner circumferential wall of the rectangular groove 13 of the second clamping groove group is provided with an elastic deformation layer. In this way, the reliability of the clamping device in clamping the article 100 is further improved.

[0073] It can be understood that when the clamping end face 11 is provided with an elastic deformation layer, the anti-skid patterns or anti-skid grooves are arranged on the elastic deformation layer. When the inner peripheral wall of the clamping groove of the first clamping groove group is provided with an elastic deformation layer, the anti-skid patterns or anti-skid grooves are arranged on the inner peripheral wall of the clamping groove of the first clamping groove group. When the inner peripheral wall of the rectangular groove 13 of the second clamping groove group is provided with an elastic deformation layer, the anti-skid patterns or anti-skid grooves are arranged on the inner peripheral wall of the rectangular groove 13 of the second clamping groove group.

[0074] Optionally, the elastic deformation layer is a silica gel layer. Alternatively, the elastic deformation layer can also be a rubber layer or the like.

[0075] Specifically, the elastic deformation layer is connected to the connected member by means of adhesive bonding or embedding; the connected member includes the clamping end face 11, the inner peripheral wall of the clamping groove of the first clamping groove group, the inner peripheral wall of the rectangular groove 13 of the second clamping groove group, and the body of the elastic clamping structure 2. Preferably, the elastic deformation layer is connected to the connected member by means of embedding, so as to facilitate regular replacement of the elastic deformation layer.

[0076] Specifically, in this embodiment, the thickness of the elastic deformation layer is exemplarily arranged in the range of 2mm-6mm, and the thickness of the elastic deformation layer is exemplarily taken as 3mm. It can be understood that the thickness range of the elastic deformation layer can also be adaptively adjusted according to actual working conditions.

[0077] Preferably, the elastic deformation layer is provided with functional holes. The number of functional holes is multiple, and the multiple functional holes are distributed on the elastic deformation layer at intervals. The arrangement of the functional holes can improve the elasticity of the elastic deformation layer. Further, the functional holes can be through holes or blind holes. Further, the functional holes can be circular holes or square holes, etc. Further, the multiple functional holes are arrayed on the elastic deformation layer, or the arrangement of the multiple functional holes is adaptively adjusted according to the shape of the elastic deformation layer. Further, the multiple functional holes are not communicated with each other, or at least part of the multiple functional holes are communicated with each other.

[0078] Optionally, the number of the first clamping groove groups is multiple; along the height direction of the clamping finger 1, part of the first clamping groove groups are located on one side of the second clamping groove group, and the remaining part of the first clamping groove groups are located on the other side of the second clamping groove group. Preferably, the number of the first clamping groove groups is two; along the height direction of the clamping finger 1, the two first clamping groove groups are respectively located on the two sides of the second clamping groove group.

[0079] Alternatively, the number of the second clamping groove groups is multiple; along the height direction of the clamping finger 1, part of the second clamping groove groups are located on one side of the first clamping groove group, and the remaining part of the second clamping groove groups are located on the other side of the first clamping groove group. Preferably, the number of the second clamping groove groups is two; along the height direction of the clamping finger 1, the two second clamping groove groups are respectively located on the two sides of the first clamping groove group.

[0080] It can be understood that, along the height direction of the clamping finger 1, other types of clamping grooves can be arranged in the height range of the first clamping groove group on the clamping end face 11, and other types of clamping grooves can be arranged in the height range of the second clamping groove group on the clamping end face 11.

[0081] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application claims.

Claims

1. A clamping device, comprising two clamping fingers (1) spaced apart and facing each other along a first horizontal direction; wherein the adjacent end faces of the two clamping fingers (1) are clamping end faces (11); characterized in that, Each of the clamping end faces (11) is recessed with a first clamping groove group and a second clamping groove group, the first clamping groove group and the second clamping groove group are distributed at intervals along the height direction of the clamping finger (1); the first clamping groove group includes a triangular groove (12) and / or an arc groove; the second clamping groove group includes a rectangular groove (13); the first horizontal direction is perpendicular to the height direction of the clamping finger (1).

2. The clamping device according to claim 1, characterized in that, The clamping groove of the first clamping groove group extends through the end face of the clamping finger (1) away from the second clamping groove group.

3. The clamping device according to claim 1, characterized in that, Along the first horizontal direction, the maximum depth of the clamping groove of the first clamping groove group is less than or equal to the maximum depth of the rectangular groove (13) of the second clamping groove group at the same position, and the clamping groove of the first clamping groove group penetrates through the two end faces of the clamping finger (1) along the height direction of the clamping finger (1).

4. The clamping device according to any one of claims 1-3, characterized in that, The second clamping groove group has multiple rectangular grooves (13), and the multiple rectangular grooves (13) are distributed at intervals along the second horizontal direction and / or the height direction of the clamping finger (1); the first horizontal direction is perpendicular to the second horizontal direction and is also perpendicular to the height direction of the clamping finger (1).

5. The clamping device according to claim 4, characterized in that, At least some of the rectangular slots (13) have different dimensions.

6. The clamping device according to claim 4, characterized in that, At least a portion of the plurality of rectangular grooves (13) extends through the end face of the clamping finger (1) away from the first clamping groove group.

7. The clamping device according to any one of claims 1-3, characterized in that, At least one of the clamping fingers (1) is also connected to an elastic clamping structure (2), the elastic deformation layer of which is used to clamp the article (100).

8. The clamping device according to claim 7, characterized in that, The elastic clamping structure (2) is movably connected to the clamping finger (1).

9. The clamping device according to any one of claims 1-3, characterized in that: The clamping end face (11) is provided with anti-slip patterns; and / or, The inner peripheral wall of the clamping groove of the first clamping groove group is provided with anti-slip pattern; and / or, The inner peripheral wall of the rectangular groove (13) of the second clamping groove group is provided with anti-slip pattern.

10. The clamping device according to any one of claims 1-3, characterized in that, The clamping end face (11) is provided with an elastic deformation layer; and / or, The inner peripheral wall of the clamping groove of the first clamping groove group is provided with an elastic deformation layer; and / or, The inner peripheral wall of the rectangular groove (13) of the second clamping groove group is provided with an elastic deformation layer.

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