Clamp device and mechanical arm

Abstract

The utility model discloses a clamp device and mechanical arm relates to mechanical arm clamp technical field, the clamp device includes frame and gripping subassembly, gripping subassembly includes two sets of gripping jaw that set oppositely, each gripping jaw includes mounting plate and sucker structure, the sucker structure is connected to the mounting plate, the mounting plate is movably connected to the frame, and the mounting plate is movably connected to the frame. And the two mounting plates can move towards each other or away from each other so that the suction cup structures can grab or place workpieces.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm clamping technology, and in particular to a clamping device and a robotic arm. Background Technology

[0002] With the rapid development of industrial automation, intelligent manufacturing, and robotics, robotic arms are increasingly being used in manufacturing, logistics, healthcare, and service industries. However, traditional robotic arm grippers are typically designed for specific tasks or single workpieces. Their rigid structure and fixed function exhibit significant limitations when facing diverse, small-batch, and flexible production demands. To grip and place different types of workpieces, corresponding gripping devices are required, which increases the production cost and time associated with designing and manufacturing multiple grippers. Furthermore, the time spent changing gripping devices during actual production also increases efficiency. Utility Model Content

[0003] The main purpose of this invention is to provide a clamping device and a robotic arm, which aims to improve the adaptability of the clamping device to clamping various types of workpieces.

[0004] To achieve the above objectives, the clamping device proposed in this utility model includes:

[0005] frame;

[0006] The gripping assembly includes two sets of grippers arranged in opposite directions. Each gripper includes a mounting plate and a suction cup structure. The suction cup structure is connected to the mounting plate, and the mounting plate is movably connected to the frame. The two mounting plates can move towards or away from each other to allow the suction cup structure to grip or place the workpiece.

[0007] In one embodiment, the suction cup structure includes a suction cup and a telescopic component, the telescopic component being connected to the mounting plate, and the suction cup being connected to the end of the telescopic component.

[0008] In one embodiment, the telescopic component includes a telescopic sleeve and a telescopic rod, the telescopic sleeve being fitted onto the telescopic rod, and the telescopic rod being capable of telescopic movement along the axial direction of the telescopic sleeve.

[0009] In one embodiment, the telescopic component further includes a first elastic element and a second elastic element. The first elastic element is wound around the telescopic rod and abuts against the outer end of the telescopic sleeve. The second elastic element is disposed inside the telescopic sleeve and abuts against the end of the telescopic rod near the telescopic sleeve. The elastic coefficient of the first elastic element is greater than that of the second elastic element.

[0010] In one embodiment, the telescopic rod is provided with an air pipe, which extends along the axial direction of the telescopic rod and communicates with the telescopic sleeve. The telescopic sleeve has a connection port for connecting an air pump.

[0011] In one embodiment, the telescopic sleeve includes a main body and a rear cover, the rear cover being connected to the end of the main body away from the telescopic rod, the second elastic member abutting against the rear cover, and the connection port being provided on the rear cover.

[0012] In one embodiment, the suction cup structure further includes an elastic contact head connected to the end of the telescopic rod away from the telescopic sleeve, and the suction cup is connected to the elastic contact head.

[0013] In one embodiment, the clamping device further includes a transmission assembly, which includes a fixed main board, a drive wheel, a first driven wheel, a second driven wheel, and a driving component. The fixed main board is connected to the frame. The drive wheel, the first driven wheel, and the second driven wheel are disposed on the fixed main board. The drive wheel is engaged with the first driven wheel, and the first driven wheel is engaged with the second driven wheel. One mounting plate is connected to the first driven wheel, and the other mounting plate is connected to the second driven wheel.

[0014] In one embodiment, the suction cup structure is attached to the mounting plate, and each mounting plate is provided with at least two suction cup structures.

[0015] This utility model also proposes a robotic arm, which includes a clamping device, the clamping device comprising:

[0016] frame;

[0017] The gripping assembly includes two sets of grippers arranged in opposite directions. Each gripper includes a mounting plate and a suction cup structure. The suction cup structure is connected to the mounting plate, and the mounting plate is movably connected to the frame. The two mounting plates can move towards or away from each other to allow the suction cup structure to grip or place the workpiece.

[0018] This utility model proposes a clamping device, comprising a frame and a clamping assembly. The frame provides a support and foundation for the entire clamping device, ensuring its stability in the working environment and providing a stable platform for subsequent clamping operations. The clamping assembly includes two sets of opposing jaws, allowing the jaws to clamp the workpiece from both sides. The clamping and placement of the workpiece can be flexibly controlled by the opposing or separating movements of the two sets of jaws. Each jaw's mounting plate is movably connected to the frame, enabling the mounting plate to move and, in turn, drive the suction cup structure to move, thus achieving the gripping or placement of the workpiece. The suction cup structure is connected to the mounting plate, utilizing the suction effect to firmly grip the workpiece. Compared to traditional mechanical clamping, this method can more stably fix the workpiece without damaging its surface, especially for workpieces with smooth or easily damaged surfaces, demonstrating better clamping performance and advantages, and improving the adaptability and practicality for clamping various workpieces. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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 the structures shown in these drawings without creative effort.

[0020] Figure 1 A schematic diagram of an embodiment of the clamping device provided by this utility model;

[0021] Figure 2 for Figure 1 Schematic diagram of the middle gripper;

[0022] Figure 3 for Figure 2 A cross-sectional view of the central suction cup structure.

[0023] Explanation of icon numbers:

[0024] 100. Clamping device; 10. Frame; 20. Clamping assembly; 2. Gripper; 21. Mounting plate; 22. Suction cup structure; 221. Suction cup; 222. Telescopic component; 2221. Telescopic sleeve; 2221a. Main body; 2221b. Rear cover; 2221c. Connection port; 2222. Telescopic rod; 2222a. Air pipe; 2223. First elastic element; 2224. Second elastic element; 223. Elastic contact head; 30. Transmission assembly; 31. Fixed main board; 32. Driving wheel; 33. First driven wheel; 34. Second driven wheel.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] 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 of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0027] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0028] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] With the rapid development of industrial automation, intelligent manufacturing, and robotics, robotic arms are increasingly being used in manufacturing, logistics, healthcare, and service industries. However, traditional robotic arm grippers are typically designed for specific tasks or single workpieces. Their rigid structure and fixed function exhibit significant limitations when facing diverse, small-batch, and flexible production demands. To grip and place different types of workpieces, corresponding gripping devices are required, which increases the production cost and time associated with designing and manufacturing multiple grippers. Furthermore, the time spent changing gripping devices during actual production also increases efficiency.

[0030] To solve the above problems, please refer to... Figures 1 to 3This utility model proposes a clamping device 100, including a frame 10 and a clamping assembly 20. The clamping assembly 20 includes two sets of grippers 2 arranged in opposite directions. Each gripper 2 includes a mounting plate 21 and a suction cup structure 22. The suction cup structure 22 is connected to the mounting plate 21. The mounting plate 21 is movably connected to the frame 10. The two mounting plates 21 can move towards each other or away from each other so that the suction cup structure 22 can grip or place the workpiece.

[0031] This utility model provides a clamping device 100, comprising a frame 10 and a clamping assembly 20. The frame 10 provides a support and fixation foundation for the entire clamping device 100, enabling it to remain stable in the working environment and providing a stable platform for subsequent clamping operations. The clamping assembly 20 includes two sets of opposing grippers 2, allowing the grippers 2 to clamp workpieces from both sides. The clamping and placement of workpieces can be flexibly controlled by the opposing or separating movements of the two sets of grippers 2. A mounting plate 21 for each gripper 2 is movably connected to the frame 10, allowing the mounting plate 21 to move, thereby driving the suction cup structure 22 to move and achieve the gripping or placement of the workpiece. The suction cup structure 22 is connected to the mounting plate 21. The suction cup structure 22 is used to firmly grasp the workpiece. Compared with the traditional mechanical clamping, this method can fix the workpiece more stably without damaging the surface of the workpiece. It has better clamping effect and advantages, especially for some workpieces with relatively smooth or easily damaged surfaces, and improves the adaptability and practicality of clamping various workpieces.

[0032] In an optional embodiment, to improve the workpiece gripping effect of the suction cup structure 22, the suction cup structure 22 includes a suction cup 221 and a telescopic component 222, the telescopic component 222 being connected to the mounting plate 21, and the suction cup 221 being connected to the end of the telescopic component 222.

[0033] This structural design allows the suction cup 221 to be positioned via the telescopic component 222. When the mounting plate 21 moves, the telescopic component 222 moves the suction cup 221 along with it. Simultaneously, the telescopic movement of the component 222 allows for individual fine-tuning of the suction cup 221's position. For example, when gripping a workpiece, the telescopic component 222 can adjust the suction cup 221 to the most suitable position based on the shape and location of the workpiece, enabling the suction cup 221 to more accurately contact the workpiece surface and generate suction force. Similarly, when placing a workpiece, the position of the suction cup 221 can be adjusted via the telescopic component 222 to ensure the workpiece is accurately placed in the predetermined position, avoiding problems such as insecure gripping or inaccurate placement caused by a fixed position of the suction cup 221. This telescopic design increases the adaptability and flexibility of the clamping device 100 to different workpieces, enabling it to be more widely used for workpiece gripping and placement under various complex working conditions, greatly improving the versatility and practicality of the clamping device 100.

[0034] Furthermore, in order to realize the telescopic adjustment of the telescopic component 222, the telescopic component 222 includes a telescopic sleeve 2221 and a telescopic rod 2222. The telescopic sleeve 2221 is sleeved on the telescopic rod 2222, and the telescopic rod 2222 can move telescopically along the axial direction of the telescopic sleeve 2221.

[0035] The axial telescopic movement of the suction cup 221 is achieved through the cooperation of the telescopic sleeve 2221 and the telescopic rod 2222. The telescopic sleeve 2221 defines the movement trajectory of the telescopic rod 2222, allowing it to extend and retract smoothly under the constraint of the sleeve, ensuring accuracy and reliability. The movement of the telescopic rod 2222 directly drives the position change of the suction cup 221, ensuring precise and controllable positional changes during extension and retraction. When gripping workpieces with irregular shapes or slight positional deviations, the telescopic rod 2222 can be appropriately extended and retracted within the telescopic sleeve 2221, allowing the suction cup 221 to better conform to the workpiece surface, thereby improving gripping stability. Simultaneously, this telescopic method also allows the clamping device 100 to more precisely control the release position of the suction cup 221 when placing workpieces, avoiding problems such as inaccurate workpiece placement or dropping due to inaccurate suction cup 221 positioning.

[0036] In an optional embodiment, to ensure high stability of the clamping device 100 when clamping a workpiece, the telescopic component 222 further includes a first elastic element 2223 and a second elastic element 2224. The first elastic element 2223 is wound around the telescopic rod 2222 and abuts against the outer end of the telescopic sleeve 2221. The second elastic element 2224 is disposed inside the telescopic sleeve 2221 and abuts against the end of the telescopic rod 2222 near the telescopic sleeve 2221. The elastic coefficient of the first elastic element 2223 is greater than the elastic coefficient of the second elastic element 2224.

[0037] This design allows the telescopic component 222 to maintain stable clamping of the workpiece during telescopic movement, while the first elastic element 2223 and the second elastic element 2224 also provide elastic buffering. In this embodiment, both the first elastic element 2223 and the second elastic element 2224 are springs. When clamping the workpiece, the mounting plates 21 and suction cup structures 22 on the two sets of grippers 2 approach each other. When the suction cup structure 22 contacts the workpiece and applies clamping force, since the elastic coefficient of the first elastic element 2223 is larger than that of the second elastic element, that is, under the same force, the second elastic element 2224 is more likely to undergo elastic deformation than the first elastic element 2223. When the telescopic component 222 is subjected to the reaction force of the workpiece, since the second elastic element 2224 is located inside the telescopic sleeve 2221, and one The end abuts against the telescopic rod 2222, and the telescopic rod 2222 squeezes the second elastic element 2224 to cause it to compress first. The telescopic rod 2222 also retracts into the telescopic sleeve 2221. The pressure applied by the second elastic element 2224 to the telescopic rod 2222 serves as part of the clamping force to clamp the workpiece. At the same time, the first elastic element 2223, which is wrapped around the outside of the telescopic rod 2222, tends to be compressed or moves due to the contraction of the telescopic rod 2222, thereby generating an outward elastic force as another part of the clamping force to clamp the workpiece. By compressing and retracting the telescopic rod 2222 into the telescopic sleeve 2221, the overall axial length of the telescopic component 222 is shortened. This prevents the telescopic component 222 from easily shifting or deforming radially when clamping the workpiece, ensuring that the telescopic component 222 can stably apply clamping force to the workpiece. In addition, through the synergistic action of the first elastic element 2223 and the second elastic element 2224, the telescopic component 222 has an elastic buffer space when elastically clamping the workpiece, achieving flexible clamping of the workpiece. This not only ensures the stability of clamping but also helps to protect the integrity of the workpiece, thereby improving the applicability and practicality of the clamping device 100.

[0038] In an optional embodiment, the telescopic rod 2222 is provided with an air pipe 2222a, which extends along the axial direction of the telescopic rod 2222 and communicates with the telescopic sleeve 2221. The telescopic sleeve 2221 is provided with a connection port 2221c for connecting an air pump.

[0039] The air pipe 2222a provides a stable air supply channel for the suction cup 221, enabling the suction cup 221 to maintain good suction effect at different telescopic positions. When the air pump delivers airflow into the telescopic sleeve 2221 through the connection port 2221c, the airflow can smoothly pass through the air pipe 2222a to reach the suction cup 221, causing the suction cup 221 to generate suction force to grasp the workpiece. This air path design is inside the telescopic component 222, avoiding interference and damage that may be caused by the external exposure of the air pipe 2222a. It also makes the overall structure of the clamping device 100 more compact, and the external air pipe 2222a will not affect the movement flexibility and operating space of the clamping device 100. During the clamping and placement of workpieces, the unobstructed air path ensures that the suction and release actions of the suction cup 221 are executed in a timely and accurate manner, improving work efficiency. A stable air path ensures that the suction cup 221 generates sufficient suction force with each action, grasping and releasing the workpiece in a timely manner, reducing the occurrence of clamping failures or workpiece drops due to air path problems.

[0040] In an optional embodiment, the telescopic sleeve 2221 includes a main body 2221a and a rear cover 2221b. The rear cover 2221b is connected to the end of the main body 2221a away from the telescopic rod 2222. The second elastic member 2224 abuts against the rear cover 2221b, and the connection port 2221c is provided on the rear cover 2221b.

[0041] This structure makes the assembly of the telescopic sleeve 2221 more convenient. The connection between the main body 2221a and the rear cover 2221b can be achieved through various methods such as threaded connection, snap-fit, or welding, facilitating processing and assembly during manufacturing. The rear cover 2221b not only provides a stable support point for the second elastic element 2224, allowing it to better perform its buffering and positioning functions, but also allows for a connection port 2221c, making the air path connection more stable and reliable. This also makes the overall structure of the telescopic sleeve 2221 more complete and compact. In actual use, after the air pump is connected to the connection port 2221c on the rear cover 2221b, the airflow can smoothly enter the telescopic sleeve 2221 and then be transmitted to the suction cup 221 through the air pipe 2222a inside the telescopic rod 2222. This facilitates precise control of the air path; for example, the suction force of the suction cup 221 can be controlled by adjusting the pressure and flow rate of the air pump to adapt to the needs of different workpieces. Meanwhile, the separate structure of the main body 2221a and the rear cover 2221b also facilitates the installation and maintenance of other components inside the telescopic sleeve 2221, such as the replacement of elastic elements and the maintenance of air pipe 2222a, so that the telescopic sleeve 2221 can maintain good performance during long-term use, and improves the service life and reliability of the clamping device 100.

[0042] In an optional embodiment, the suction cup structure 22 further includes an elastic contact head 223, which is connected to the end of the telescopic rod 2222 away from the telescopic sleeve 2221, and the suction cup 221 is connected to the elastic contact head 223.

[0043] This design provides the suction cup 221 with a certain degree of elastic cushioning when in contact with the workpiece. When the suction cup 221 contacts the workpiece surface, the elastic contact head 223 can undergo appropriate elastic deformation according to the shape and friction of the workpiece surface, thereby better conforming to the workpiece surface and improving the stability and reliability of the adsorption. For example, if the workpiece surface has some unevenness or curvature, the elastic contact head 223 can automatically adjust the angle and position of the suction cup 221 to maximize the contact area between the suction cup 221 and the workpiece surface, thereby enhancing the adsorption force. At the same time, when releasing the workpiece, the elastic contact head 223 also acts as a buffer, preventing the suction cup 221 from suddenly detaching from the workpiece surface and causing damage to the workpiece or the suction cup 221 itself, thus extending the service life of the suction cup 221. In addition, the elastic contact head 223 also increases the adaptability of the suction cup 221 to different workpieces, making the clamping device 100 applicable to a wider range of workpiece types, further improving the versatility and practicality of the clamping device 100. In practical use, it helps reduce clamping failures caused by uneven workpiece surfaces or complex shapes, thus improving work efficiency and equipment operational stability.

[0044] In an optional embodiment, to facilitate the movable clamping of the gripper 2, the clamping device 100 further includes a transmission assembly 30. The transmission assembly 30 includes a fixed main board 31, a drive wheel 32, a first driven wheel 33, a second driven wheel 34, and a driving component. The fixed main board 31 is connected to the frame 10. The drive wheel 32, the first driven wheel 33, and the second driven wheel 34 are disposed on the fixed main board 31. The drive wheel 32 is engaged with the first driven wheel 33, and the first driven wheel 33 is engaged with the second driven wheel 34. One mounting plate 21 is connected to the first driven wheel 33, and another mounting plate 21 is connected to the second driven wheel 34.

[0045] The transmission assembly 30 enables the two sets of grippers 2 to move synchronously towards or away from each other. A drive unit drives the driving wheel 32 to rotate; this drive unit can be a servo motor or other rotary motor. Since the driving wheel 32 meshes with the first driven wheel 33, the first driven wheel 33 rotates accordingly. Furthermore, through the meshing of the first driven wheel 33 with the second driven wheel 34, the second driven wheel 34 also rotates accordingly. Because the mounting plate 21 is connected to both the first and second driven wheels 33 and 34 respectively, when the driven wheels rotate, the mounting plate 21 drives the suction cup structure 22 to move towards or away from each other along a predetermined trajectory, thereby achieving the gripping and release of the workpiece. This transmission method ensures a high degree of synchronization and precision in the movement of the two sets of grippers 2, avoiding unstable gripping or workpiece damage caused by asynchronous movement of the two sets of grippers 2. Simultaneously, by adjusting the speed and rotation direction of the drive unit, the opening and closing speed and position of the grippers 2 can be precisely controlled, allowing the clamping device 100 to adapt to different workpiece gripping requirements and production rhythms. In addition, gear transmission structures have high stability and reliability, and can maintain good transmission performance during long-term use, reducing equipment maintenance costs and downtime, and improving the overall operating efficiency and reliability of the equipment.

[0046] In an optional embodiment, the suction cup 221 is disassembled and attached to the mounting plate 21, and each mounting plate 21 is provided with at least two suction cup structures 22.

[0047] The mounting method allows for quick installation and removal of the suction cup structures 22, facilitating adjustments to the number and position of the suction cups 221 as needed during use, thus improving the flexibility and maintainability of the clamping device 100. Simultaneously, the presence of at least two suction cup structures 22 on each mounting plate 21 increases the contact area between the suction cups 221 and the workpiece, thereby enhancing the suction force and enabling the clamping device 100 to grip the workpiece more firmly. In this embodiment, each mounting plate 21 has 18 sets of suction cup structures 22, and the entire clamping device 100 has a total of 36 sets of suction cup structures 22. In other embodiments, the number of suction cup structures 22 can be selected according to actual needs. In practical applications, for heavier or larger workpieces, multiple suction cup structures 22 can distribute the suction force, preventing suction failure due to excessive force on a single suction cup 221. Furthermore, multiple suction cup structures 22 can be appropriately arranged according to the shape and size of the workpiece, allowing the suction cups 221 to better conform to the workpiece surface, improving the stability and reliability of the gripping. For example, when gripping irregularly shaped workpieces, multiple suction cups 221 can adsorb the workpiece from different angles and positions, forming a more stable gripping effect. This design not only improves the adaptability of the clamping device 100 to different types of workpieces, but also enhances its working ability under complex working conditions, enabling the clamping device 100 to complete the workpiece gripping and placement tasks more efficiently, further improving the practicality and production efficiency of the equipment.

[0048] This utility model also proposes a robotic arm, which includes a clamping device 100. The specific structure of the clamping device 100 is as described in the above embodiments. Since this robotic arm adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here. Applying the above-mentioned clamping device 100 to the robotic arm gives it a more powerful gripping function. The efficient, stable, and flexible gripping capabilities of the clamping device 100 itself can be directly used by the robotic arm. In automated production, the robotic arm is mainly responsible for tasks such as material handling and workpiece positioning. The addition of the clamping device 100 enables the robotic arm to more accurately grasp and place various workpieces. In addition, the versatility and adaptability of the clamping device 100 enable the robotic arm to handle a variety of different workpieces, reduce the time and cost of changing clamps, improve the efficiency and flexibility of the robotic arm, enhance its application capability and competitiveness in complex automated production environments, and provide strong support and guarantee for its widespread application in the industrial field.

[0049] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A clamping device, characterized in that, include: frame; The gripping assembly includes two sets of grippers arranged in opposite directions. Each gripper includes a mounting plate and a suction cup structure. The suction cup structure is connected to the mounting plate, and the mounting plate is movably connected to the frame. The two mounting plates can move towards or away from each other to allow the suction cup structure to grip or place the workpiece.

2. The clamping device as described in claim 1, characterized in that, The suction cup structure includes a suction cup and a telescopic component. The telescopic component is connected to the mounting plate, and the suction cup is connected to the end of the telescopic component.

3. The clamping device as described in claim 2, characterized in that, The telescopic component includes a telescopic sleeve and a telescopic rod. The telescopic sleeve is fitted onto the telescopic rod, and the telescopic rod can extend and retract along the axial direction of the telescopic sleeve.

4. The clamping device as described in claim 3, characterized in that, The telescopic component further includes a first elastic element and a second elastic element. The first elastic element is wound around the telescopic rod and abuts against the outer end of the telescopic sleeve. The second elastic element is disposed inside the telescopic sleeve and abuts against the end of the telescopic rod near the telescopic sleeve. The elastic coefficient of the first elastic element is greater than that of the second elastic element.

5. The clamping device as described in claim 4, characterized in that, The telescopic rod is equipped with an air pipe that extends along the axial direction of the telescopic rod and communicates with the telescopic sleeve. The telescopic sleeve has a connection port for connecting an air pump.

6. The clamping device as described in claim 5, characterized in that, The telescopic sleeve includes a main body and a rear cover. The rear cover is connected to the end of the main body away from the telescopic rod. The second elastic element abuts against the rear cover, and the connection port is located on the rear cover.

7. The clamping device as described in any one of claims 3 to 6, characterized in that, The suction cup structure also includes an elastic contact head, which is connected to the end of the telescopic rod away from the telescopic sleeve, and the suction cup is connected to the elastic contact head.

8. The clamping device as described in claim 7, characterized in that, The clamping device further includes a transmission assembly, which includes a fixed main board, a drive wheel, a first driven wheel, a second driven wheel, and a driving component. The fixed main board is connected to the frame. The drive wheel, the first driven wheel, and the second driven wheel are disposed on the fixed main board. The drive wheel is meshed with the first driven wheel, and the first driven wheel is meshed with the second driven wheel. One mounting plate is connected to the first driven wheel, and the other mounting plate is connected to the second driven wheel.

9. The clamping device as described in claim 8, characterized in that, The suction cup structure is mounted on the mounting plate, and each mounting plate is provided with at least two suction cup structures.

10. A robotic arm, characterized in that, Includes the clamping device as described in any one of claims 1 to 9.

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