Clamping device

Abstract

The utility model provides a clamping device, and relates to the technical field of automatic equipment. The clamping device comprises a mounting main body, two first clamping mechanisms and two second clamping mechanisms, each of the first clamping mechanisms and the second clamping mechanisms comprises a driving part and a clamping arm, the driving parts are arranged on the mounting main body, and the driving parts are connected with the corresponding clamping arms to drive the clamping arms to move; the clamping arms of the two first clamping mechanisms are oppositely arranged, and the clamping arms of the two first clamping mechanisms are driven by the driving part to move in the first direction; and the clamping arms of the two second clamping mechanisms are oppositely arranged, the clamping arms of the two second clamping mechanisms are driven by the driving part to move in the second direction, the first direction is perpendicular to the second direction, and the clamping device can improve the stability of goods clamping.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation equipment, in particular to a clamping device. BACKGROUND

[0002] In the field of industrial production and logistics transportation, the cargo clamping mechanism is a key component for material handling in automation equipment.

[0003] Traditional clamping mechanisms are mostly designed with symmetrical double clamping arms. Such mechanisms generally drive two parallel clamping arms to move towards each other through a driving device, and the clamping arms generate static friction with the surface of the cargo to achieve the grabbing and transferring of regular-shaped cargo. However, in actual application, it is difficult to maintain a stable clamping state relying only on the friction of two contact points, especially in a fast handling environment, which is prone to cargo slipping. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the present application includes, for example, providing a clamping device that can improve the stability of cargo clamping.

[0005] Embodiments of the present application can be implemented as follows:

[0006] The embodiments of the present application provide a clamping device, which includes a mounting body and two first clamping mechanisms and two second clamping mechanisms. The first clamping mechanism and the second clamping mechanism each include a driving member and a clamping arm. The driving member is arranged on the mounting body, and the driving member is connected to the corresponding clamping arm to drive the clamping arm to move.

[0007] The clamping arms of the two first clamping mechanisms are arranged opposite to each other, and the clamping arms of the two first clamping mechanisms move in a first direction under the driving of the driving member. The clamping arms of the two second clamping mechanisms are arranged opposite to each other, and the clamping arms of the two second clamping mechanisms move in a second direction under the driving of the driving member. The first direction and the second direction are perpendicular to each other.

[0008] When the clamping device is working, the clamping arms of the first clamping mechanism approach and clamp the two opposite sides of the cargo in the first direction, and at the same time, the clamping arms of the second clamping mechanism clamp the other two sides of the cargo in the second direction. This not only improves the overall restraining force on the cargo during clamping, but also effectively prevents the cargo from slipping during handling.

[0009] Optionally, the driving member is a first air cylinder.

[0010] The air cylinder has the advantages of fast response speed, smooth action, high control precision, compact structure, etc. Using the first air cylinder as the driving member helps to ensure the smoothness of the operation of the clamping arm.

[0011] Optionally, two first electromagnetic valve groups and two second electromagnetic valve groups are arranged on the mounting body, two first electromagnetic valve groups correspond to two first clamping mechanisms one by one, and two second electromagnetic valve groups correspond to two second clamping mechanisms one by one, the first electromagnetic valve group and the second electromagnetic valve group each include a first electromagnetic valve and a second electromagnetic valve, and the first electromagnetic valve and the second electromagnetic valve are connected with a corresponding first cylinder to control the stroke of the first cylinder.

[0012] The first electromagnetic valve can control the movement of the first cylinder in the first stroke, and the second electromagnetic valve can be used to control the movement of the first cylinder in the second stroke, so as to adapt to the clamping requirements of goods of different sizes.

[0013] Optionally, the first electromagnetic valve is a two-position three-way electromagnetic valve, and the second electromagnetic valve is a two-position five-way electromagnetic valve.

[0014] Through the cooperation of the two-position three-way electromagnetic valve and the two-position five-way electromagnetic valve, not only the adaptability of the clamping device to goods of different sizes is improved, but also the controllability and stability of the clamping process are enhanced.

[0015] Optionally, a speed regulating valve is further arranged on the first cylinder to control the exhaust rate of the first cylinder.

[0016] The existence of the speed regulating valve enables the clamping arm to adjust the speed according to actual needs during the process of clamping or unclamping goods.

[0017] Optionally, the first clamping mechanism and the second clamping mechanism each include a linear guide rail and a sliding block matched with the linear guide rail, the linear guide rail is arranged on the mounting body, and the sliding block is connected with a corresponding clamping arm.

[0018] The sliding block and the linear guide rail are in sliding cooperation, and the sliding block is connected with the clamping arm, so that the clamping arm is always constrained by the linear guide rail during movement, and stable movement can be maintained.

[0019] Optionally, the surfaces of the two clamping arms of the two first clamping mechanisms and the surfaces of the two clamping arms of the two second clamping mechanisms are each provided with an anti-skid layer, and a plurality of grooves are arranged on the surface of the anti-skid layer.

[0020] The anti-skid layer and the grooves on the surface thereof can generate sufficient friction when the clamping arm clamps goods to prevent the goods from sliding.

[0021] Optionally, the anti-skid layer is made of polyurethane elastomer.

[0022] In the process of clamping the goods by the clamping arm, the polyurethane elastomer can provide a stable friction coefficient while maintaining a certain flexibility, avoiding damage to the surface of the goods due to excessive clamping force.

[0023] Optionally, a second air cylinder is vertically arranged on the mounting body, and a fixing plate is connected to the second air cylinder, and a photoelectric sensor for detecting whether the goods are horizontal is arranged on the fixing plate.

[0024] According to the signal fed back by the photoelectric sensor, it can be judged whether the bottom of the goods is horizontal, and then according to the detection result, it can be judged whether the goods posture needs to be adjusted again.

[0025] Optionally, a plurality of hollow regions are arranged on the clamping arm.

[0026] The hollow regions play a role in reducing the weight of the clamping arm, and on the other hand, they are also conducive to the wiring of the wire harness in the clamping device. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0028] Fig. 1 It is a first perspective view of the clamping device in the embodiments of the present application.

[0029] Fig. 2 It is a second perspective view of the clamping device in the embodiments of the present application.

[0030] Fig. 3 It is a partial exploded view of the clamping device in the embodiments of the present application.

[0031] Figure: 1 - mounting body; 2 - first clamping mechanism; 3 - second clamping mechanism; 4 - clamping arm; 5 - first air cylinder; 6 - first electromagnetic valve; 7 - second electromagnetic valve; 8 - speed regulating valve; 9 - linear guide; 10 - sliding block; 11 - anti-skid layer; 12 - second air cylinder; 13 - fixing plate; 14 - photoelectric sensor; 15 - hollow region. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, not all embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the application.

[0034] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0035] In the description of the application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship of the utility model product when it is usually placed, only for the convenience of describing the application and simplifying the description, and not to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the application.

[0036] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0037] It should be noted that the features in the embodiments of the application can be combined with each other without conflict.

[0038] Please refer to Figs. 1-3 The embodiments of the application provide a clamping device, which comprises a mounting body 1 and two first clamping mechanisms 2 and two second clamping mechanisms 3, the first clamping mechanism 2 and the second clamping mechanism 3 each comprise a driving member and a clamping arm 4, the driving member is arranged on the mounting body 1, the driving member is connected with the corresponding clamping arm 4 to drive the clamping arm 4 to move; the clamping arms 4 of the two first clamping mechanisms 2 are oppositely arranged, and the clamping arms 4 of the two first clamping mechanisms 2 move along a first direction under the driving of the driving member; the clamping arms 4 of the two second clamping mechanisms 3 are oppositely arranged, and the clamping arms 4 of the two second clamping mechanisms 3 move along a second direction under the driving of the driving member, wherein the first direction and the second direction are perpendicular.

[0039] The mounting body 1 is of a frame structure, the clamping arms 4 of the two first clamping mechanisms 2 are oppositely arranged and are driven by the driving members to move along the first direction, so as to clamp the two opposite sides of the goods in the first direction; at the same time, the clamping arms 4 of the two second clamping mechanisms 3 are also oppositely arranged and are driven by the driving members to move along the second direction, so as to clamp the two opposite sides of the goods in the second direction. Since the first direction and the second direction are perpendicular to each other, the clamping arms 4 can form a surrounding clamping on the goods from two perpendicular directions when in action, so that the clamping force acts on the four sides of the goods, forming a more stable clamping state.

[0040] When the clamping device is in operation, the clamping arms 4 of the first clamping mechanisms 2 are close to and clamp the two opposite sides of the goods in the first direction, while the clamping arms 4 of the second clamping mechanisms 3 clamp the other two sides of the goods in the second direction, which not only improves the overall constraint force on the goods during clamping, but also effectively prevents the goods from slipping during transportation.

[0041] In this embodiment, the driving member is a first air cylinder 5.

[0042] The first air cylinder 5 includes a cylinder body and a piston rod axially movable along the cylinder body, the cylinder body is fixedly arranged on the mounting body 1, and the piston rod is connected with the clamping arm 4. When the air cylinder is in operation, the piston rod can drive the clamping arm 4 to move towards or away from the goods, so as to realize the opening and closing action of the clamping arm 4. The air cylinder has the advantages of fast response speed, stable action, high control precision and compact structure, and is suitable for use as a driving element of the clamping device.

[0043] Each of the two first clamping mechanisms 2 and the two second clamping mechanisms 3 is provided with a first air cylinder 5 as a driving member, the first air cylinder 5 of the two first clamping mechanisms 2 respectively drives the corresponding clamping arm 4 to clamp or release in the first direction, and the first air cylinder 5 of the two second clamping mechanisms 3 respectively drives the corresponding clamping arm 4 to clamp or release in the second direction. Such design not only ensures the synchronism and stability of the clamping action, but also improves the adaptability of the clamping device in the clamping process of goods of different sizes.

[0044] In this embodiment, two first electromagnetic valve groups and two second electromagnetic valve groups are arranged on the mounting body 1, the two first electromagnetic valve groups correspond to the two first clamping mechanisms 2 one by one, the two second electromagnetic valve groups correspond to the two second clamping mechanisms 3 one by one, the first electromagnetic valve group and the second electromagnetic valve group each include a first electromagnetic valve 6 and a second electromagnetic valve 7, and the first electromagnetic valve 6 and the second electromagnetic valve 7 are connected with the corresponding air cylinder to control the stroke of the first air cylinder 5.

[0045] The first electromagnetic valve 6 is used to control the movement of the first cylinder 5 in the first stroke, i.e. to control the piston rod of the first cylinder 5 to perform the extension or retraction action of the first stroke; the second electromagnetic valve 7 is used to control the movement of the first cylinder 5 in the second stroke, i.e. to control the piston rod of the first cylinder 5 to perform the extension or retraction action of the second stroke, so as to realize the displacement change of the clamping arm 4 in different clamping modes. This double-stroke control mode enables the clamping arm 4 to selectively perform the full-stroke or partial-stroke clamping action in the clamping process of goods of different sizes, so as to adapt to the clamping requirements of goods of different sizes, for example, the length and width of the goods can be L1xL1, L1xL2, L2xL1 or L2xL2, wherein L1>L2.

[0046] When it is identified that the size of the incoming goods is a large specification (such as L1xL1), the control system will simultaneously control the first electromagnetic valve 6 and the second electromagnetic valve 7 to act, so that the first cylinder 5 performs the full-stroke action, thereby driving the two opposite clamping arms 4 to move away from each other first, and then controlling the second electromagnetic valve 7 to act, so that the first cylinder 5 reversely performs the second stroke action, thereby driving the two opposite clamping arms 4 to move close to each other and clamp the goods.

[0047] When it is identified that the size of the incoming goods is a small specification (such as L2xL2), the control system will simultaneously control the first electromagnetic valve 6 and the second electromagnetic valve 7 to act, so that the first cylinder 5 performs the full-stroke action, thereby driving the two opposite clamping arms 4 to move away from each other first, and then controlling the first electromagnetic valve 6 and the second electromagnetic valve 7 to act, so that the first cylinder 5 reversely performs the full-stroke action, thereby driving the two opposite clamping arms 4 to move close to each other and clamp the goods.

[0048] When it is identified that the size of the incoming goods is an intermediate specification (such as L1xL2 or L2xL1), for the two first electromagnetic valve groups corresponding to the two first clamping mechanisms 2, the control system will simultaneously control the first electromagnetic valve 6 and the second electromagnetic valve 7 to act, so that the first cylinder 5 performs the full-stroke action, thereby driving the two opposite clamping arms 4 to move away from each other first, and then controlling the first electromagnetic valve 6 to act, so that the first cylinder 5 reversely performs the retraction action of the first stroke; at the same time, for the two second electromagnetic valve groups corresponding to the two second clamping mechanisms 3, the control system will simultaneously control the first electromagnetic valve 6 and the second electromagnetic valve 7 to act, so that the first cylinder 5 performs the full-stroke action, thereby driving the two opposite clamping arms 4 to move away from each other first, and then controlling the second electromagnetic valve 7 to act, so that the first cylinder 5 reversely performs the retraction action of the second stroke, so that the spacing of the clamping arms 4 of the two first clamping mechanisms 2 is different from the spacing of the clamping arms 4 of the two second clamping mechanisms 3, thereby meeting the clamping requirements of rectangular goods.

[0049] In the embodiment, the first electromagnetic valve 6 is a two-position three-way electromagnetic valve, and the second electromagnetic valve 7 is a two-position five-way electromagnetic valve.

[0050] The two-position three-way electromagnetic valve is used to control the first cylinder 5 to perform the first stroke action, and the intake and exhaust of the cavity of the first cylinder 5 are controlled through the two-position three-way electromagnetic valve, so as to realize the extension and retraction actions of the piston rod of the first cylinder 5. The two-position five-way electromagnetic valve is used to control the first cylinder 5 to perform the second stroke action, and it can also control the switching of the gas circuit of the first cylinder 5.

[0051] When the two-position three-way electromagnetic valve is in the energized state, compressed air enters the cavity of the first cylinder 5 through the gas circuit, and pushes the piston rod of the first cylinder 5 to perform the extension action of the first stroke; when the two-position three-way electromagnetic valve is de-energized, the gas circuit is switched to the exhaust state, so that the piston rod of the first cylinder 5 performs the retraction action of the first stroke.

[0052] When the control system determines that the size of the goods requires the first cylinder 5 to perform the second stroke action, the two-position five-way electromagnetic valve will be switched to a specific working state, so as to drive the piston rod of the first cylinder 5 to perform the second stroke. Through the cooperation of the two-position three-way electromagnetic valve and the two-position five-way electromagnetic valve, not only the adaptability of the clamping device to goods of different sizes is improved, but also the controllability and stability of the clamping process are enhanced.

[0053] In this embodiment, a speed regulating valve 8 is also arranged on the first cylinder 5 to control the exhaust rate of the first cylinder 5.

[0054] The speed regulating valve 8 is installed at the exhaust port of the first cylinder 5, and its function is to control the speed of compressed air discharged from the cylinder cavity by adjusting the opening degree of the exhaust passage, thereby affecting the movement speed of the cylinder piston rod. Since the movement speed of the cylinder is closely related to the exhaust rate, when the speed regulating valve 8 limits the exhaust flow, the movement speed of the piston rod slows down accordingly; on the contrary, when the opening degree of the exhaust passage increases, the movement speed of the cylinder increases. Therefore, the existence of the speed regulating valve 8 enables the clamping arm 4 to adjust the speed according to the actual needs during the process of clamping or unclamping the goods, thereby realizing flexible control of the clamping action.

[0055] In actual application, if the clamping object is a fragile or surface-damaged object, the speed regulating valve 8 can be adjusted to a smaller opening degree to reduce the closing speed of the clamping arm 4, thereby reducing the impact force on the goods; for regular goods, the opening degree of the speed regulating valve 8 can be appropriately increased to improve the clamping efficiency.

[0056] In this embodiment, the first clamping mechanism 2 and the second clamping mechanism 3 each include a linear guide rail 9 and a sliding block 10 matched with the linear guide rail 9, the linear guide rail 9 is arranged on the mounting body 1, and the sliding block 10 is connected with the corresponding clamping arm 4.

[0057] The linear guide rail 9 as a guide element, its extension direction is consistent with the moving direction of the clamping arm 4, ensures that the clamping arm 4 can move smoothly along the predetermined path under the action of the first cylinder 5, for example, the linear guide rail 9 in the first clamping mechanism 2 extends in the first direction, and the linear guide rail 9 in the second clamping mechanism 3 extends in the second direction. The sliding block 10 is in sliding fit with the linear guide rail 9 and is connected with the clamping arm 4, so that the clamping arm 4 is always constrained by the linear guide rail 9 during movement, and stable movement is maintained.

[0058] Optionally, for a single first clamping mechanism 2 or a single second clamping mechanism 3, it can include two sets of linear guide rails 9 and sliding blocks 10, the two sets of linear guide rails 9 are arranged on both sides of the clamping arm 4 in parallel, and the two sliding blocks 10 are connected with the clamping arm 4 at the same time, so as to ensure the stability of the movement of the clamping arm 4.

[0059] In the embodiment, the surfaces of the two clamping arms 4 of the two first clamping mechanisms 2 facing each other and the surfaces of the two clamping arms 4 of the two second clamping mechanisms 3 facing each other are provided with anti-skid layers 11, and a plurality of grooves are arranged on the surfaces of the anti-skid layers 11.

[0060] The anti-skid layer 11 covers the clamping surface on the inner side of the clamping arm 4 and directly contacts the goods, and has a certain elasticity and friction coefficient, which can generate sufficient friction force to prevent the goods from sliding when the clamping arm 4 clamps the goods. In addition, the surface of the anti-skid layer 11 is provided with a plurality of spaced grooves, which can increase the surface roughness of the clamping surface, thereby improving the friction coefficient.

[0061] When the clamping arm 4 moves to the goods direction under the action of the first cylinder 5 and clamps the goods, the anti-skid layer 11 contacts the surface of the goods, and the groove structure is locally deformed under the action of the clamping force, so that the clamping surface and the goods form a more closely fitted state, thereby improving the friction force.

[0062] In the embodiment, the anti-skid layer 11 is made of polyurethane elastomer.

[0063] As a kind of high polymer material, polyurethane elastomer has excellent wear resistance, tear resistance and resilience. In the process of clamping the goods by the clamping arm 4, the polyurethane elastomer can provide stable friction coefficient while maintaining certain softness, avoiding damaging the surface of the goods due to excessive clamping force.

[0064] In other embodiments, the anti-skid layer 11 can also be made of silicone rubber or thermoplastic elastomer (TPE), which is not limited.

[0065] In the embodiment, the second cylinder 12 is vertically arranged on the mounting body 1, the second cylinder 12 is connected with the fixed plate 13, and the fixed plate 13 is provided with the photoelectric sensor 14 for detecting whether the goods are horizontal.

[0066] The second cylinder 12 is arranged in a vertical direction, and the fixed plate 13 is fixedly connected to the piston rod end of the second cylinder 12 and can move vertically under the driving of the second cylinder 12. The photoelectric sensor 14 is installed on the fixed plate 13 and moves vertically synchronously with the fixed plate 13. The photoelectric sensor 14 functions to detect whether the bottom surface of the goods is in a horizontal state, and its working principle is based on whether the light path between the emitting end and the receiving end is blocked or reflected, so as to judge the levelness of the bottom surface of the goods.

[0067] When the clamping device clamps the goods, the second cylinder 12 drives the fixed plate 13 to move the photoelectric sensor 14 vertically downward to approach the bottom of the goods, and the control system can judge whether the bottom of the goods is horizontal according to the signal fed back by the photoelectric sensor 14, and judge whether to readjust the posture of the goods according to the detection result.

[0068] In the embodiment, a plurality of hollow regions 15 are arranged on the clamping arm 4.

[0069] The hollow region 15 refers to an open space formed on the body structure of the clamping arm 4, which can be a regular or irregular geometric shape such as a circle, a rectangle or a polygon.

[0070] On the one hand, the hollow region 15 plays a role in reducing the weight of the clamping arm 4, and on the other hand, the clamping device usually needs to be arranged with air pipes, cables and other lines for driving and detection. The line bundle is arranged in the hollow region 15 on the clamping arm 4 to limit the wiring path of the line bundle, which helps to improve the convenience of maintenance of the clamping device.

[0071] In summary, the clamping device provided by the embodiment of the present application includes a mounting body 1 and two first clamping mechanisms 2 and two second clamping mechanisms 3. When the clamping device works, the clamping arms 4 of the first clamping mechanisms 2 approach and clamp the two opposite sides of the goods in the first direction, and at the same time, the clamping arms 4 of the second clamping mechanisms 3 clamp the other two sides of the goods in the second direction. Not only does it improve the overall restraining force on the goods during clamping, but it also effectively prevents the goods from slipping during transportation.

[0072] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical range disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A gripping device, characterized in that The device comprises a mounting body (1) and two first clamping mechanisms (2) and two second clamping mechanisms (3), the first clamping mechanisms (2) and the second clamping mechanisms (3) each comprise a driving member and a clamping arm (4), the driving member is arranged on the mounting body (1), and the driving member is connected with the corresponding clamping arm (4) to drive the clamping arm (4) to move. The clamping arms (4) of the two first clamping mechanisms (2) are oppositely arranged, and the clamping arms (4) of the two first clamping mechanisms (2) move in a first direction under the driving of the driving member; the clamping arms (4) of the two second clamping mechanisms (3) are oppositely arranged, and the clamping arms (4) of the two second clamping mechanisms (3) move in a second direction under the driving of the driving member, wherein the first direction and the second direction are perpendicular.

2. The gripping device according to claim 1, characterized in that The driving member is a first cylinder (5).

3. The gripping device according to claim 2, characterized in that Two first electromagnetic valve groups and two second electromagnetic valve groups are arranged on the mounting body (1), the two first electromagnetic valve groups correspond to the two first clamping mechanisms (2) one by one, the two second electromagnetic valve groups correspond to the two second clamping mechanisms (3) one by one, the first electromagnetic valve group and the second electromagnetic valve group each comprise a first electromagnetic valve (6) and a second electromagnetic valve (7), and the first electromagnetic valve (6) and the second electromagnetic valve (7) are connected with the corresponding first cylinder (5) to control the stroke of the first cylinder (5).

4. The gripping device according to claim 3, characterized in that The first electromagnetic valve (6) is a two-position three-way electromagnetic valve, and the second electromagnetic valve (7) is a two-position five-way electromagnetic valve.

5. The gripping device of claim 2, wherein A speed regulating valve (8) is further arranged on the first cylinder (5) to control the exhaust rate of the first cylinder (5).

6. The gripping device of claim 1, wherein The first clamping mechanism (2) and the second clamping mechanism (3) each comprise a linear guide rail (9) and a sliding block (10) matched with the linear guide rail (9), the linear guide rail (9) is arranged on the mounting body (1), and the sliding block (10) is connected with the corresponding clamping arm (4).

7. The gripping device of claim 1, wherein Opposite surfaces of the two clamping arms (4) of the two first clamping mechanisms (2) and opposite surfaces of the two clamping arms (4) of the two second clamping mechanisms (3) are each provided with an anti-skid layer (11), and a plurality of grooves are arranged on the surface of the anti-skid layer (11).

8. The gripping device according to claim 7, characterized in that The anti-skid layer (11) is made of polyurethane elastomer.

9. The gripping device of claim 1, wherein A second cylinder (12) is vertically arranged on the mounting body (1), the second cylinder (12) is connected with a fixing plate (13), and a photoelectric sensor (14) for detecting whether goods are horizontal is arranged on the fixing plate (13).

10. The gripping device of claim 1, wherein A plurality of hollow areas (15) are arranged on the clamping arm (4).

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