gripping device

Abstract

The present disclosure provides a clamping device, which comprises a mounting seat, a connecting piece, a mounting plate, a guide rail, a first side fixing plate, a second side fixing plate, a first sliding block, a second sliding block, a screw rod, a first nut, a second nut, a first clamping jaw and a second clamping jaw; both ends of the screw rod are rotatably arranged on the first side fixing plate and the second side fixing plate respectively; and the screw rod is arranged in parallel with the guide rail and below the guide rail; wherein the screw rod can be driven to rotate by a driving device; the first nut is sleeved on the screw rod, and the second nut is sleeved on the screw rod; the first clamping jaw is fixed with the first nut and the first sliding block through a first mounting piece, wherein a first deformation sensor is arranged on the first mounting piece; the second clamping jaw is fixed with the second nut and the second sliding block through a second mounting piece, wherein a second deformation sensor is arranged on the second mounting piece; wherein the first clamping jaw and the second clamping jaw can approach or move away from each other when the screw rod rotates.

Description

Technical Field

[0001] This disclosure relates to a clamping device, belonging to the field of automation equipment technology. Background Technology

[0002] With the rapid development of the robotics industry, the electric grippers used in robots have also diversified to adapt to different working environments. In particular, with the widespread application of collaborative robots and hybrid robots, grippers are required to meet requirements such as high precision, long stroke, safety, and reliability.

[0003] Currently, most electric grippers on the market lack high-precision force sensors. Most grippers indirectly control the clamping force by controlling the motor's output torque through a current loop. This design results in poor force control accuracy and is unsuitable for high-precision force-controlled electric grippers. Therefore, these grippers often require the separate purchase of high-precision force sensors and the installation of these components. This necessitates the involvement of technical personnel for adaptation, debugging, and testing, making rapid deployment impractical. Utility Model Content

[0004] To address one of the aforementioned technical problems, this disclosure provides a clamping device.

[0005] According to one aspect of this disclosure, a clamping device is provided, comprising:

[0006] Mounting base;

[0007] A connector, which is fixed to the mounting base and located below the mounting base;

[0008] Mounting plate, which is fixed to the connector and located below the connector;

[0009] A guide rail is disposed on the mounting plate and located below the mounting plate;

[0010] A first side fixing plate and a second side fixing plate are respectively fixed to both ends of the mounting plate along its length, such that the first side fixing plate and the second side fixing plate are spaced apart by a preset distance.

[0011] A first slider and a second slider, both of which are slidably disposed on the guide rail;

[0012] A lead screw, the two ends of which are rotatably mounted on a first side fixing plate and a second side fixing plate, respectively; and the lead screw is arranged parallel to the guide rail and located below the guide rail; wherein the lead screw can be driven to rotate by a driving device;

[0013] A first nut and a second nut, wherein the first nut is sleeved on the lead screw and the second nut is sleeved on the lead screw;

[0014] A first gripper, the first gripper being fixed to the first nut and the first slider via a first mounting member, wherein a first deformation sensor is provided on the first mounting member; and

[0015] The second gripper is fixed to the second nut and the second slider by a second mounting member, wherein a second deformation sensor is provided on the second mounting member;

[0016] When the lead screw rotates, the first gripper and the second gripper can approach or move away from each other.

[0017] According to at least one embodiment of the clamping device of this disclosure, the driving device is a drive motor, the drive motor is fixed to the connecting member, and the drive motor is connected to the lead screw drive.

[0018] The clamping device according to at least one embodiment of the present disclosure further includes:

[0019] A control circuit board for controlling the movement of the drive motor, wherein the control circuit board is disposed in the area between the mounting base and the connector.

[0020] The clamping device according to at least one embodiment of the present disclosure further includes:

[0021] A braking device for braking the output shaft of the drive motor.

[0022] According to at least one embodiment of the clamping device of the present disclosure, a first tactile sensor is provided on the first gripper, and / or a second tactile sensor is provided on the second gripper.

[0023] According to at least one embodiment of the clamping device of the present disclosure, the first gripper has a first groove for accommodating the connection cable of the first tactile sensor; and / or, the second gripper has a second groove for accommodating the connection cable of the second tactile sensor.

[0024] According to at least one embodiment of the clamping device of the present disclosure, a first take-up member is fixed on the first mounting member, the first take-up member being used to fix the connecting cable of the first tactile sensor; and / or, a second take-up member is fixed on the second mounting member, the second take-up member being used to fix the connecting cable of the second tactile sensor.

[0025] According to at least one embodiment of the clamping device of the present disclosure, the first take-up member is further used to fix the cable of the first deformation sensor; and / or, the second take-up member is further used to fix the cable of the second deformation sensor.

[0026] The clamping device according to at least one embodiment of the present disclosure further includes a retaining coil, wherein multiple retaining coils are provided, and the connecting cable of the first tactile sensor passes through the retaining coil located in the middle and is connected to the control circuit board via a retaining coil located at one end; and / or, the connecting cable of the first deformation sensor passes through the retaining coil located in the middle and is connected to the control circuit board via a retaining coil located at one end; and / or, the connecting cable of the second tactile sensor passes through the retaining coil located in the middle and is connected to the control circuit board via a retaining coil located at the other end; and / or, the connecting cable of the second deformation sensor passes through the retaining coil located in the middle and is connected to the control circuit board via a retaining coil located at one end.

[0027] The clamping device according to at least one embodiment of the present disclosure further includes:

[0028] A shielding plate, the two ends of which are fixed to a first side fixing plate and a second side fixing plate respectively, so as to shield the guide rail. Attached Figure Description

[0029] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0030] Figure 1 This is a schematic diagram of the clamping device according to one embodiment of the present disclosure.

[0031] Figure 2 This is a structural schematic diagram of a clamping device according to one embodiment of the present disclosure from another angle.

[0032] Figure 3 This is a schematic diagram of the internal structure of a clamping device according to one embodiment of the present disclosure.

[0033] Figure 4 This is a structural schematic diagram of the internal structure of a clamping device according to one embodiment of the present disclosure from another angle.

[0034] Figure 5 This is a cross-sectional structural schematic diagram of a clamping device according to one embodiment of the present disclosure.

[0035] Figure 6 This is a schematic diagram of the structure of a first mounting component according to one embodiment of the present disclosure.

[0036] Figure 7 This is a schematic diagram of the wiring of the connecting cable of a clamping device according to one embodiment of the present disclosure.

[0037] Figure 8 This is a schematic diagram of the structure of the first groove of a clamping device according to one embodiment of the present disclosure.

[0038] The specific labels in the attached figures are as follows:

[0039] 100 clamping device

[0040] 110 mounting base

[0041] 120 connector

[0042] 130 guide rail

[0043] 140 First side fixing plate

[0044] 150 Second side fixing plate

[0045] 160 First slider

[0046] 170 Second slider

[0047] 180 lead screw

[0048] 190 First Mother Silk

[0049] 200 Second Mother Silk

[0050] 210 First gripper

[0051] 211 First trench

[0052] 220 Second Gripper

[0053] 230 drive motor

[0054] 240 Control Circuit Board

[0055] 250 Braking System

[0056] 260 First Installer

[0057] 261 Upper end

[0058] 262 Lower end

[0059] 263 Connecting part

[0060] 270 Second mounting component

[0061] 280 First tactile sensor

[0062] 290 Second tactile sensor

[0063] 310 First take-up component

[0064] 320 Second take-up component

[0065] 330 Protector Coil

[0066] 340 shielding panel

[0067] 350 indicator light

[0068] 400 connecting cable. Detailed Implementation

[0069] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0070] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0071] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0072] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0073] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0074] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0075] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0076] Figure 1 This is a schematic diagram of the structure of a clamping device 100 according to one embodiment of the present disclosure. Figure 2 This is a structural schematic diagram of the clamping device 100 according to one embodiment of the present disclosure from another angle. Figure 3 This is a schematic diagram of the internal structure of a clamping device according to one embodiment of the present disclosure. Figure 4This is a structural schematic diagram of the internal structure of a clamping device according to one embodiment of the present disclosure from another angle.

[0077] like Figures 1 to 4 As shown, the gripping device 100 of this disclosure can be applied to the end of a robotic arm and used as an end effector of the robotic arm. Thus, when the robotic arm moves the gripping device 100 to a preset position, the gripping device 100 can grip an object, and then the robotic arm can drive the gripping device 100 to move and change the position of the object.

[0078] In one specific embodiment, the clamping device 100 may include a mounting base 110, a connector 120, a guide rail 130, a first side fixing plate 140, a second side fixing plate 150, a first slider 160, a second slider 170, a lead screw 180, a first lead screw nut 190, a second lead screw nut 200, a first gripper 210, and a second gripper 220.

[0079] The mounting base 110 disclosed herein may include a flange structure, through which the mounting base 110 can be connected to the end of the robotic arm, and correspondingly, the entire clamping device 100 can be fixed to the end of the robotic arm.

[0080] The connector 120 (which may also be referred to as a motor mounting component) is fixed to the mounting base 110 and located below the mounting base 110. In this disclosure, the interior of the connector 120 can be formed as a hollow structure, allowing the drive motor 230 to be disposed inside the connector 120 and fixed to it. Those skilled in the art will understand that the output shaft of the drive motor 230 can be located outside the connector 120, thereby enabling the drive motor 230 to output driving force outwards.

[0081] A receiving space is also formed between the connector 120 and the mounting base 110 of this disclosure, and the control circuit board 240 for controlling the drive motor 230 is disposed within the receiving space between the connector 120 and the mounting base 110. In other words, the control circuit board 240 of this disclosure is used to control the movement of the drive motor 230, and the control circuit board 240 is disposed in the area between the mounting base 110 and the connector 120.

[0082] The braking device 250 is used to brake the output shaft of the drive motor 230. In a preferred embodiment, the braking device 250 can be fixed to the connector 120 by screws or other components. The output shaft of the drive motor 230 is fixedly connected to the extension shaft by adhesive. In this case, the extension shaft can pass through the center hole of the braking device 250, and an active synchronous pulley (small pulley) can be provided on the extension shaft. Thus, by providing the braking device 250, the clamping device 100 of this disclosure has a safety self-locking function to prevent the clamped object from falling and causing a safety accident after power failure.

[0083] Guide rail 130 is disposed on mounting plate, which is fixed to connector 120 and located below connector 120, wherein guide rail 130 is located below mounting plate; Figure 3 and Figure 4 As shown, the length direction of the guide rail 130 can be left or right, in which case the guide rail 130 can be a linear guide rail. Both the first slider 160 and the second slider 170 are slidably mounted on the guide rail 130.

[0084] The first side fixing plate 140 and the second side fixing plate 150 are respectively fixed to both ends of the mounting plate along its length, such that the first side fixing plate 140 and the second side fixing plate 150 are spaced apart by a preset distance. The length direction of the mounting plate is the same as the length direction of the guide rail 130.

[0085] The two ends of the lead screw 180 are rotatably mounted on the first side fixing plate 140 and the second side fixing plate 150, respectively; and the lead screw 180 is arranged parallel to the guide rail 130 and located below the guide rail 130; wherein, the lead screw 180 can be driven to rotate by a drive device; specifically, one end of the lead screw 180 can be fixed with a driven synchronous pulley (large pulley), and the driving synchronous pulley and the driven synchronous pulley can be connected by a synchronous belt, thereby the drive motor 230 can drive the lead screw 180 to rotate.

[0086] In addition, the distance between the rotation axis of the drive motor 230 and the rotation axis of the lead screw 180 can be adjusted by adjusting the mounting position of the drive motor 230 on the connector 120, thereby achieving the tensioning of the synchronous belt and preventing slippage between the driving and driven synchronous pulleys.

[0087] A first nut 190 is fitted onto a lead screw 180, and a second nut 200 is fitted onto the lead screw 180. In one specific embodiment, the lead screw 180 can be a bidirectional trapezoidal lead screw, and correspondingly, the first nut 190 and the second nut 200 have different directions of rotation. For example, the first nut 190 can be a left-hand nut, and the second nut 200 can be a right-hand nut. Accordingly, the lead screw 180 that mates with the first nut 190 is a left-hand lead screw, and the lead screw 180 that mates with the second nut 200 is a right-hand lead screw.

[0088] The first gripper 210 is fixed to the first nut 190 and the first slider 160 via the first mounting member 260, wherein the first mounting member 260 is provided with a first deformation sensor; the second gripper 220 is fixed to the second nut 200 and the second slider 170 via the second mounting member 270, wherein the second mounting member 270 is provided with a second deformation sensor; wherein, when the lead screw 180 rotates, the first gripper 210 and the second gripper 220 can approach or move away from each other, at which time the first gripper 210 and the second gripper 220 can clamp or release an object.

[0089] Figure 6 This is a schematic diagram of the structure of a first mounting component according to one embodiment of the present disclosure.

[0090] like Figure 6 As shown, the first mounting member 260 and the second mounting member 270 of this disclosure are formed in a symmetrical structure. Here, only the first mounting member 260 is used as an example for explanation.

[0091] The first mounting member 260 may include an upper end portion 261, a lower end portion 262, and a connecting portion 263 connecting the upper end portion 261 and the lower end portion 262; the upper end portion 261 has a through hole, and the lead screw 180 can be located in the through hole of the upper end portion 261, thereby the upper end portion 261 is configured to slide along the lead screw 180. Preferably, the diameter of the through hole is larger than the diameter of the lead screw 180, that is, the through hole does not contact the lead screw 180.

[0092] The lower end portion 262 is used to connect the first gripper 210, and the connecting portion 263 is formed as a deformable part of the entire first mounting member 260. In other words, the cross-sectional area (horizontal plane) of the connecting portion 263 is smaller than the area of ​​the upper end portion 261 and the lower end portion 262. In this case, the first deformation sensor can be a strain gauge, which can be attached to the connecting portion 263 to detect the external force borne by the first gripper 210 through the deformation of the connecting portion 263, that is, to detect the clamping force of the first gripper 210.

[0093] In a preferred embodiment, a first tactile sensor 280 is provided on the first gripper 210, and / or a second tactile sensor 290 is provided on the second gripper 220. Thus, the gripping device 100 of this disclosure is configured to integrate multiple sensors, enabling high-precision detection of gripping force; simultaneously, through the tactile sensor configured on the fingertip, the shape and size of the grasped object can be highly reproduced, while providing real-time feedback on the magnitude of the gripping force; moreover, it can also detect object drops, solving the technical problem of insufficient intelligence in existing gripping devices.

[0094] Figure 7This is a schematic diagram of the wiring of the connecting cable of a clamping device according to one embodiment of the present disclosure.

[0095] The first gripper 210 has a first groove 211 for accommodating the connecting cable of the first tactile sensor 280. At the same time, the first gripper 210 is also provided with a first cover plate, which can cover the first groove 211 and prevent the connecting cable from being exposed.

[0096] Similarly, the second gripper 220 is provided with a second groove for accommodating the connection cable of the second tactile sensor 290; at the same time, the second gripper 220 is also provided with a second cover plate, which can cover the second groove and prevent the connection cable from being exposed.

[0097] See again Figure 7 The first mounting component 260 of this disclosure is fixed with a first take-up component 310, which is used to fix the connecting cable of the first tactile sensor 280. Thus, the connecting cable of the first tactile sensor 280 can move synchronously with the first take-up component 310 to prevent the connecting cable from bending back and forth at the gripper.

[0098] Similarly, a second take-up component 320 is fixed to the second mounting member 270, which is used to fix the connecting cable of the second tactile sensor 290. In this disclosure, the service life of the connecting cable can be improved by the arrangement of the first take-up component 310 and the second take-up component 320, thereby further improving the service life of the entire clamping device 100.

[0099] In addition, the first take-up component 310 is also used to fix the cable of the first deformation sensor. Specifically, components such as strain gauges are connected to the adapter plate via cables. The adapter plate is connected to the control circuit board 240 via connecting wires. At this time, the connecting cable is fixed or its position is restricted by the first take-up component 310.

[0100] Similarly, the second take-up component 320 is also used to secure the cable of the second deformation sensor. Since this structure is the same as that at the first deformation sensor, it will not be described in detail here. Therefore, the clamping device 100 of this disclosure has no excess cable on the outside, is aesthetically pleasing, and is safe and reliable.

[0101] See again Figure 3 and Figure 7 The clamping device 100 disclosed herein also includes a guard coil 330, which is provided in a plurality of cases, and in one particular embodiment, the guard coil 330 is provided in three cases.

[0102] The connecting cable of the first tactile sensor 280 passes through the protective coil 330 located in the middle and is connected to the control circuit board 240 via the protective coil 330 located at one end. Similarly, the connecting cable of the first deformation sensor passes through the protective coil 330 located in the middle and is connected to the control circuit board 240 via the protective coil 330 located at one end. This allows the connecting cables to be protected by the protective coil 330, preventing damage to the outer sheath caused by friction or other reasons, which could lead to short circuits or other problems.

[0103] On the other hand, the connecting cable of the second tactile sensor 290 passes through the guard coil 330 located in the middle and is connected to the control circuit board 240 via the guard coil 330 located at the other end; the connecting cable of the second deformation sensor passes through the guard coil 330 located in the middle and is connected to the control circuit board 240 via the guard coil 330 located at the end.

[0104] Therefore, in the clamping device disclosed herein, connecting cables in different directions can be arranged in a U-shape at the position of the coil guard 330 and can slide freely in the cable sliding groove. At this time, the cable sliding groove is the structure formed by the groove-shaped component that fixes the coil guard 330, and the groove-shaped component can be fixed to the mounting base 110.

[0105] The clamping device 100 disclosed herein also includes a shielding plate 340, the two ends of which are fixed to a first side fixing plate 140 and a second side fixing plate 150, respectively, so as to shield the guide rail 130 through the shielding plate 340.

[0106] Specifically, the first mounting member 260 and the first gripper 210 of this disclosure have a first gap, and the second mounting member 270 and the second gripper 220 have a second gap. The shielding plate 340 can move within both the first and second gaps. In other words, the shielding plate 340 does not affect the movement of the first gripper 210 and the second gripper 220. Moreover, by providing the shielding plate 340, the movement gaps between the first gripper 210 and the second gripper 220 can be concealed, preventing hand injuries or other external objects from falling into the gripping device, thus improving the safety performance of the gripping device.

[0107] The clamping device 100 disclosed herein may further include a first housing and a second housing, which can be fixed to the mounting base 110 and cover most of the components of the clamping device 100, thereby protecting the components of the clamping device 100 through the first housing and the second housing.

[0108] In addition, the clamping device 100 disclosed herein may also include components such as an indicator light 350, which can indicate different working states of the grippers. A through hole is provided on the first or second housing, and at least a portion of the indicator light 350 can be disposed within the through hole, thereby allowing the user to easily observe the color of the indicator light 350 or which indicator light 350 is lit to determine the working state of the clamping device 100.

[0109] Based on the above structure, the gripping device 100 disclosed herein integrates multiple sensors, which can be quickly deployed to the end effector of a robot for easy use and has high force feedback accuracy. At the same time, the sensor drivers are also integrated into the gripping device 100. The gripping device 100 is aesthetically pleasing, with no extra cables or gaps in its appearance, avoiding the risk of human fingers being pinched. It is very suitable for use in collaborative robots and composite robots. The gripper is designed with a braking device at the end of the motor, and the gripper itself has a safety self-locking function to prevent the gripped object from falling and causing a safety accident after power failure.

[0110] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0111] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A clamping device, characterized in that, include: Mounting base; A connector, which is fixed to the mounting base and located below the mounting base; Mounting plate, which is fixed to the connector and located below the connector; A guide rail is disposed on the mounting plate and located below the mounting plate; A first side fixing plate and a second side fixing plate are respectively fixed to both ends of the mounting plate along its length, such that the first side fixing plate and the second side fixing plate are spaced apart by a preset distance. A first slider and a second slider, both of which are slidably disposed on the guide rail; A lead screw, the two ends of which are rotatably mounted on a first side fixing plate and a second side fixing plate, respectively; and the lead screw is arranged parallel to the guide rail and located below the guide rail; wherein the lead screw can be driven to rotate by a driving device; A first nut and a second nut, wherein the first nut is sleeved on the lead screw and the second nut is sleeved on the lead screw; A first gripper, the first gripper being fixed to the first nut and the first slider via a first mounting member, wherein a first deformation sensor is provided on the first mounting member; and The second gripper is fixed to the second nut and the second slider by a second mounting member, wherein a second deformation sensor is provided on the second mounting member; When the lead screw rotates, the first gripper and the second gripper can approach or move away from each other.

2. The clamping device according to claim 1, characterized in that, The driving device is a drive motor, which is fixed to the connecting member and is connected to the lead screw drive.

3. The clamping device according to claim 2, characterized in that, Also includes: A control circuit board for controlling the movement of the drive motor, wherein the control circuit board is disposed in the area between the mounting base and the connector.

4. The clamping device according to claim 2, characterized in that, Also includes: A braking device for braking the output shaft of the drive motor.

5. The clamping device according to claim 1, characterized in that, The first gripper is provided with a first tactile sensor, and / or the second gripper is provided with a second tactile sensor.

6. The clamping device according to claim 5, characterized in that, The first gripper has a first groove for accommodating the connection cable of the first tactile sensor; and / or, the second gripper has a second groove for accommodating the connection cable of the second tactile sensor.

7. The clamping device according to claim 6, characterized in that, A first take-up component is fixed on the first mounting component, which is used to fix the connecting cable of the first tactile sensor; and / or, a second take-up component is fixed on the second mounting component, which is used to fix the connecting cable of the second tactile sensor.

8. The clamping device according to claim 7, characterized in that, The first take-up component is also used to fix the cable of the first deformation sensor; and / or, the second take-up component is also used to fix the cable of the second deformation sensor.

9. The clamping device according to claim 5, characterized in that, It also includes guard coils, which are configured in multiple ways, wherein the connecting cable of the first tactile sensor passes through the guard coil located in the middle and is connected to the control circuit board via the guard coil located at one end; and / or, the connecting cable of the first deformation sensor passes through the guard coil located in the middle and is connected to the control circuit board via the guard coil located at one end; and / or, the connecting cable of the second tactile sensor passes through the guard coil located in the middle and is connected to the control circuit board via the guard coil located at the other end; and / or, the connecting cable of the second deformation sensor passes through the guard coil located in the middle and is connected to the control circuit board via the guard coil located at the end.

10. The clamping device according to claim 1, characterized in that, Also includes: A shielding plate, the two ends of which are fixed to a first side fixing plate and a second side fixing plate respectively, so as to shield the guide rail.

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