Clamping mechanism and clamping device
By introducing limiting components and sensing components into the clamping mechanism, the problems of inaccurate gripping position and inability to determine whether the gripping is empty are solved, enabling precise workpiece positioning and real-time monitoring, and improving the efficiency and reliability of CNC machining.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHENSHI YUZHAN PRECISION TECH CO LTD
- Filing Date
- 2025-05-23
- Publication Date
- 2026-06-12
AI Technical Summary
Existing clamping mechanisms have defects in CNC machining, such as inaccurate gripping position and inability to determine whether the grip is empty, which limits machining efficiency and production reliability.
The clamping mechanism includes a clamping base, a clamping assembly, a limiting component, and a sensing component. The clamping drive component drives the moving clamping component to clamp the workpiece with the fixed clamping component, and the limiting component accurately positions the workpiece. The sensing component detects whether the workpiece is being gripped, realizing real-time monitoring of the gripping status.
It achieves precise workpiece positioning and real-time gripping status detection, preventing the clamped parts from being missed, thus improving processing efficiency and production reliability.
Smart Images
Figure CN224347473U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of CNC machining equipment technology, specifically to a clamping mechanism and clamping device. Background Technology
[0002] In CNC machining, traditional manual loading and unloading methods suffer from low efficiency, high labor intensity, and high labor costs. Existing clamping mechanisms typically use cylinder-driven clamping components to hold workpieces. While this achieves automation, it still suffers from inaccurate gripping positions and the inability to determine if the grip is empty, limiting further improvements in machining efficiency and production reliability. Therefore, there is an urgent need for a clamping mechanism capable of precise positioning and real-time detection of the gripping status to solve these problems. Utility Model Content
[0003] In view of the above, it is necessary to propose a clamping mechanism and clamping device that can accurately grasp the workpiece and determine whether it has missed.
[0004] This application provides a clamping mechanism for clamping a workpiece, comprising: a clamping base; a clamping assembly including a fixed clamping member, a movable clamping member, and a clamping drive member, wherein the fixed clamping member is fixedly disposed on one side of the clamping base, the movable clamping member is movably disposed on one side of the clamping base and opposite to the fixed clamping member, and the clamping drive member is disposed on the clamping base and drivenly connected to the movable clamping member, for driving the movable clamping member to move toward the fixed clamping member, so that the movable clamping member and the fixed clamping member clamp the workpiece; a limiting member disposed on the clamping base and located between the movable clamping member and the fixed clamping member, for limiting the position of the workpiece before the movable clamping member and the fixed clamping member clamp the workpiece; and a sensing component disposed on the clamping base and located between the movable clamping member and the fixed clamping member, for abutting against the workpiece after it has been limited, to determine whether the workpiece has been gripped.
[0005] In the clamping mechanism provided in this application embodiment, the clamping drive can drive the movable clamping member to move toward the fixed clamping member, so that the movable clamping member and the fixed clamping member clamp the workpiece. By limiting the position of the workpiece before clamping by the limiting member, the workpiece can be accurately positioned, so that the movable clamping member and the fixed clamping member can accurately grasp the workpiece. By the sensing component abutting against the workpiece after the limiting, it can detect whether the workpiece is grasped and monitor the grasping status of the workpiece in real time, thereby preventing the movable clamping member and the fixed clamping member from grasping the workpiece empty.
[0006] In one possible implementation, the sensing component includes: a fixing member disposed on the clamping seat and located between the movable clamping member and the fixed clamping member, the fixing member having a through hole; a sensor disposed within the fixing member, one end of the sensor extending out of the through hole and the other end of the sensor located within the through hole; and an elastic member disposed within the through hole, one end of the elastic member abutting against the sensor and the other end of the elastic member abutting against the clamping seat.
[0007] In one possible implementation, the sensing component further includes: a guide member disposed within the through hole, one end of the guide member being connected to the sensor, the other end of the guide member extending away from the sensor, and the elastic member being sleeved on the guide member.
[0008] In one possible implementation, the fixing member has a stop groove communicating with the through hole on the side near the clamping seat. The size of the stop groove is larger than the size of the through hole. The clamping mechanism further includes a stop member connected to the end of the sensor away from the guide member. One part of the stop member is located in the stop groove, and the other part of the stop member is located in the through hole. When the stop member moves to a preset position, it can be abutted by the bottom of the stop groove.
[0009] In one possible implementation, the fixing clamp includes: a fixing clamp body fixedly connected to the clamping seat; at least two fixing clamping parts, each disposed on the side of the fixing clamp body facing the movable clamp, and each fixing clamp includes a plurality of first anti-slip grooves for clamping the workpiece.
[0010] In one possible implementation, the movable clamping member includes: a movable clamping body movably connected to the clamping seat; at least two movable clamping portions disposed on the side of the movable clamping body facing the fixed clamping member, and each of the fixed clamping members includes a plurality of second anti-slip textures for clamping the workpiece.
[0011] In one possible implementation, the extension direction of the first anti-slip texture and the extension direction of the second anti-slip texture are arranged perpendicularly.
[0012] In one possible implementation, the workpiece includes a plurality of connecting portions spaced apart, and the limiting member includes: a limiting body connected to the clamping seat; and a plurality of pushing portions spaced apart on one side of the limiting body for extending into the workpiece and pushing the plurality of connecting portions to move, thereby adjusting the position of the workpiece.
[0013] In one possible implementation, the clamping mechanism further includes:
[0014] An air blowing component, located on one side of the clamping seat, is used to blow air in a preset direction to clean the workpiece.
[0015] This application also provides a clamping device, including: a robotic arm; and a clamping mechanism as described in any of the preceding claims, wherein the clamping mechanism is drivenly connected to the robotic arm.
[0016] The clamping device provided in this application includes the clamping mechanism described above. The clamping drive of the clamping mechanism can drive the movable clamping member to move toward the fixed clamping member, so that the movable clamping member and the fixed clamping member clamp the workpiece. By limiting the position of the workpiece before clamping by the limiting member, the workpiece can be accurately positioned, so that the movable clamping member and the fixed clamping member can accurately grasp the workpiece. By the sensing component abutting against the workpiece after the limiting, it can detect whether the workpiece is grasped and monitor the grasping status of the workpiece in real time, thereby preventing the movable clamping member and the fixed clamping member from grasping the workpiece empty. Attached Figure Description
[0017] Figure 1 This is a three-dimensional structural diagram of the clamping mechanism provided in the embodiments of this application.
[0018] Figure 2 yes Figure 1 An exploded view of the partially clamping mechanism.
[0019] Figure 3 yes Figure 2 A partial exploded view of the clamping mechanism from another angle.
[0020] Figure 4 yes Figure 3 An exploded view of the aforementioned sensing component.
[0021] Figure 5 This is a three-dimensional structural diagram of the clamping device provided in the embodiments of this application.
[0022] Explanation of main component symbols: clamping mechanism 100, clamping seat 10, clamping assembly 20, fixed clamping member 21, fixed clamping body 211, fixed clamping part 212, first anti-slip texture 2121, movable clamping member 22, movable clamping body 221, movable clamping part 222, second anti-slip texture 2221, clamping drive member 23, limiting member 30, limiting body 31, pushing part 32, sensing assembly 40, fixing member 41, through hole 411, stop groove 412, sensor 42, elastic member 43, guide member 44, stop member 45, through body 451, stop body 452, fixed seat 50, air blowing member 60, positioning member 70, workpiece 200, workpiece body 210, connecting part 220, robotic arm 300, clamping device 1000. Detailed Implementation
[0023] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows for communication; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0025] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.
[0026] The embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0027] Please see Figure 1 This application provides a clamping mechanism 100 for clamping a workpiece 200, including a clamping base 10, a clamping assembly 20, a limiting member 30, and a sensing assembly 40.
[0028] The clamping assembly 20 includes a fixed clamping member 21, a movable clamping member 22, and a clamping drive member 23. The fixed clamping member 21 is fixedly disposed on one side of the clamping base 10. The movable clamping member 22 is movably disposed on one side of the clamping base 10 and is disposed opposite to the fixed clamping member 21. The clamping drive member 23 is disposed on the clamping base 10 and is drivenly connected to the movable clamping member 22. The clamping drive member 23 is used to drive the movable clamping member 22 to move toward the fixed clamping member 21 so that the movable clamping member 22 and the fixed clamping member 21 clamp the workpiece 200. The limiting member 30 is disposed in the clamping base 10 and located between the movable clamping member 22 and the fixed clamping member 21, and is used to limit the position of the workpiece 200 before the movable clamping member 22 and the fixed clamping member 21 clamp the workpiece 200; the sensing component 40 is disposed in the clamping base 10 and located between the movable clamping member 22 and the fixed clamping member 21, and is used to abut against the workpiece 200 after it is limited, so as to determine whether the workpiece 200 is gripped.
[0029] In the clamping mechanism 100 provided in this application embodiment, the clamping drive member 23 can drive the movable clamping member 22 to move toward the fixed clamping member 21, so that the movable clamping member 22 and the fixed clamping member 21 clamp the workpiece 200. By limiting the position of the workpiece 200 before clamping by the limiting member 30, the workpiece 200 can be accurately positioned, so that the movable clamping member 22 and the fixed clamping member 21 can accurately grasp the workpiece 200. By the sensing component 40 abutting against the workpiece 200 after the limiting, it can detect whether the workpiece 200 has been grasped and monitor the grasping status of the workpiece 200 in real time, thereby preventing the movable clamping member 22 and the fixed clamping member 21 from grasping the workpiece 200 empty.
[0030] In this embodiment, the clamping mechanism 100 further includes a fixed base 50. The clamping base 10, clamping assembly 20, limiting member 30, and sensing assembly 40 are arranged in three groups and evenly distributed on the outer periphery of the fixed base 50. Each group of clamping base 10 has four fixed clamping members 21, movable clamping members 22, limiting member 30, and sensing assembly 40 arranged in a rectangular shape to grip four workpieces 200. There are three clamping drive members 23, which are respectively driven connected to the four movable clamping members 22 to drive the four movable clamping members 22 to move toward the corresponding fixed clamping member 21, thereby clamping the workpiece 200. Figure 1 In the middle, three clamping drive units 23 are arranged side by side. The left clamping drive unit 23 is driven to the left ends of the two left movable clamping units 22 respectively. The right clamping drive unit 23 is driven to the right ends of the two right movable clamping units 22 respectively. The middle clamping drive unit 23 is driven to the right ends of the two left movable clamping units 22 and the left ends of the two right movable clamping units 22 respectively.
[0031] Please see also Figure 2In one possible implementation, the fixing clamp 21 includes a fixing clamp body 211 and at least two fixing clamping parts 212. The fixing clamp body 211 is elongated and fixedly connected to the clamping seat 10. The fixing clamping parts 212 are block-shaped, and at least two fixing clamping parts 212 are disposed on the side of the fixing clamp body 211 facing the movable clamp 22. Each fixing clamp 21 includes multiple first anti-slip textures 2121 for clamping the workpiece 200. In this embodiment, there are two fixing clamping parts 212, which are spaced apart at both ends of the fixing clamp body 211, and multiple first anti-slip textures 2121 are arranged parallel to one side of the fixing clamping parts 212. By providing at least two fixing clamping parts 212, the stability of the clamped workpiece 200 can be ensured, and the workpiece 200 can be prevented from shaking. By providing the first anti-slip textures 2121, the friction between the fixing clamping parts 212 and the workpiece 200 can be increased, preventing the workpiece 200 from falling off.
[0032] In one possible implementation, the workpiece 200 includes a workpiece body 210 and a plurality of connecting portions 220 spaced apart from the workpiece body 210. In this embodiment, the workpiece body 210 is generally L-shaped, and there are two connecting portions 220 spaced apart on one side of the workpiece body 210. The limiting member 30 includes a limiting body 31 and a plurality of pushing portions 32. The limiting body 31 is generally elongated and connected to the clamping seat 10. The plurality of pushing portions 32 are spaced apart on one side of the limiting body 31 and are used to extend into the workpiece 200 and push against the moving connecting portions 220 to adjust the position of the workpiece 200. In this embodiment, there are two connecting portions 220 and two pushing portions 32 spaced apart on one side of the limiting body 31. The end of the pushing portion 32 away from the limiting body 31 has a tapered structure to facilitate pushing against the connecting portions 220. By providing multiple pushing parts 32 on one side of the limiting body 31, before clamping the workpiece 200, the multiple pushing parts 32 can extend into the workpiece 200 and push the multiple connecting parts 220 to move, thereby adjusting the position of the workpiece 200 and achieving precise positioning of the workpiece 200.
[0033] Please see Figure 3 In one possible implementation, the movable clamping member 22 includes a movable clamping body 221 and at least two movable clamping parts 222. The movable clamping body 221 is elongated and movably connected to the clamping seat 10. At least two movable clamping parts 222 are located on the side of the movable clamping body 221 facing the fixed clamping member 21. Each fixed clamping member 21 includes multiple second anti-slip textures 2221 for clamping the workpiece 200. By providing at least two movable clamping parts 222, the stability of the clamped workpiece 200 can be ensured, preventing the workpiece 200 from shaking. By providing the second anti-slip textures 2221, the friction between the movable clamping parts 222 and the workpiece 200 can be increased, preventing the workpiece 200 from falling off.
[0034] In this embodiment, there are two movable clamping parts 222, which are spaced apart at both ends of the movable clamping body 221, and a plurality of second anti-slip textures 2221 are arranged parallel to one side of the movable clamping part 222.
[0035] In some embodiments, the extending direction of the first anti-slip texture 2121 on the fixed clamping part 212 is perpendicular to the extending direction of the second anti-slip texture 2221 on the corresponding movable clamping part 222. For example, the first anti-slip texture 2121 on the fixed clamping part 212 is a horizontal texture, and the second anti-slip texture 2221 on the corresponding movable clamping part 222 is a vertical texture. In this way, the friction between the fixed clamping part 212 and the workpiece 200, as well as the friction between the movable clamping part 222 and the workpiece 200, can be increased, preventing the workpiece 200 from falling off.
[0036] In some embodiments, the extending direction of the first anti-slip texture 2121 on the fixed clamping part 212 is the same as the extending direction of the second anti-slip texture 2221 on the corresponding movable clamping part 222. For example, both the first anti-slip texture 2121 on the fixed clamping part 212 and the second anti-slip texture 2221 on the corresponding movable clamping part 222 are horizontal lines.
[0037] Please see also Figure 4 In one possible implementation, the sensing component 40 includes a fixing member 41, a sensor 42, and an elastic member 43. The fixing member 41 is a block structure, located in the clamping base 10 and between the movable clamping member 22 and the fixed clamping member 21, and has a through hole 411. The sensor 42 is located inside the fixing member 41, with one end extending out of the through hole 411 and the other end inside the through hole 411. The elastic member 43 is located inside the through hole 411, with one end abutting against the sensor 42 and the other end abutting against the clamping base 10. In this embodiment, the elastic member 43 is a spring. By providing the elastic member 43 and the fixing member 41, the sensor 42 can move along the axial direction of the through hole 411 and elastically contact the workpiece 200, thus avoiding hard contact between the sensor 42 and the workpiece 200 and damage to the workpiece 200.
[0038] In some embodiments, the fixing member 41 may be disposed on the side of the limiting body 31 away from the clamping seat 10 and located between the two pushing parts 32. In this case, the two ends of the elastic member 43 abut against the sensor 42 and the limiting body 31 respectively.
[0039] In one possible implementation, the sensing assembly 40 further includes a guide 44, which is a rod-shaped structure and is disposed within the through hole 411. One end of the guide 44 is connected to the sensor 42, and the other end extends away from the sensor 42. An elastic member 43 is sleeved on the guide 44. By providing the guide 44, the position of the elastic member 43 can be limited, preventing the elastic member 43 from shaking.
[0040] In one possible implementation, the fixing member 41 has a stop groove 412 communicating with the through hole 411 on the side near the clamping base 10. The size of the stop groove 412 is larger than the size of the through hole 411. The clamping mechanism 100 also includes a stop member 45, which is connected to the end of the sensor 42 away from the guide member 44. One part of the stop member 45 is located in the stop groove 412, and the other part is located in the through hole 411. When the stop member 45 moves to a preset position, it can be abutted by the bottom of the stop groove 412. In this embodiment, the diameter of the stop groove 412 is larger than the diameter of the through hole 411.
[0041] Specifically, the stop 45 includes a through body 451 and a stop 452 connected together. The through body 451 is adapted to the shape of the through hole 411, and the stop 452 is adapted to the shape of the stop groove 412. By setting the stop 45, the sensor 42 can be prevented from falling out of the through hole 411, and the sensor 42 is safe to use.
[0042] Please continue reading Figure 1 In one possible implementation, the clamping mechanism 100 further includes an air blowing element 60, which is disposed on one side of the clamping seat 10 and is used to blow air in a preset direction to clean the workpiece 200. In this embodiment, the air blowing element 60 is an air blowing head, and there are two of them. The air blowing element 60 is connected to an air blowing device (not shown). By providing the air blowing element 60, when the workpiece 200 is clamped, the air blowing element 60 can blow air towards the workpiece 200, thereby cleaning the workpiece 200.
[0043] In one possible implementation, the clamping mechanism 100 further includes two positioning members 70 spaced apart on one side of the clamping base 10. The positioning members 70 are generally rod-shaped, and the two positioning members 70 are located on opposite sides of all the fixed clamping members 21 and the movable clamping members 22. By providing the positioning members 70, when clamping the workpiece 200, the positioning members 70 can be inserted into the positioning holes of the storage tray (not shown) where the workpiece 200 is placed, thereby enabling the fixed clamping members 21 and the movable clamping members 22 to accurately grasp the workpiece 200.
[0044] Please see Figure 5 This application also provides a clamping device 1000, including a robotic arm 300 and a clamping mechanism 100, wherein the clamping mechanism 100 is drivenly connected to the robotic arm 300.
[0045] The clamping device 1000 provided in this application embodiment includes the clamping mechanism 100 described above. The clamping drive member 23 of the clamping mechanism 100 can drive the movable clamping member 22 to move toward the fixed clamping member 21, so that the movable clamping member 22 and the fixed clamping member 21 clamp the workpiece 200. By limiting the position of the workpiece 200 before clamping by the limiting member 30, the workpiece 200 can be accurately positioned, so that the movable clamping member 22 and the fixed clamping member 21 can accurately grasp the workpiece 200. By the sensing component 40 abutting against the workpiece 200 after being limited, it can detect whether the workpiece 200 has been grasped and monitor the grasping state of the workpiece 200 in real time, thereby preventing the movable clamping member 22 and the fixed clamping member 21 from grasping the workpiece 200 empty.
[0046] The implementation process of the clamping device 1000 in this application embodiment is as follows:
[0047] First, the robotic arm 300 drives the clamping mechanism 100 to move toward the storage tray where the workpiece 200 is placed, so that one set of positioning members 70 inserts into the positioning hole of the storage tray where the workpiece 200 is placed. Then, multiple pushing parts 32 of the limiting member 30 extend into the workpiece 200 and push multiple connecting parts 220 to move, thereby adjusting the position of the workpiece 200 and achieving precise positioning of the workpiece 200. After that, the sensor 42 elastically contacts the workpiece 200 under the action of the elastic member 43. When the sensor 42 senses the workpiece 200, the clamping drive member 23 drives the moving clamping member 22 to move toward the fixed clamping member 21, so that the moving clamping member 22 and the fixed clamping member 21 clamp the workpiece 200. Then, the robotic arm 300 drives the clamping mechanism 100 to move and remove the workpiece 200.
[0048] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be incorporated into this invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural.
[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model.
Claims
1. A clamping mechanism for clamping a workpiece, characterized in that, include: Clamping seat; A clamping assembly includes a fixed clamping member, a movable clamping member, and a clamping drive member. The fixed clamping member is fixedly disposed on one side of the clamping base. The movable clamping member is movably disposed on one side of the clamping base and is disposed opposite to the fixed clamping member. The clamping drive member is disposed on the clamping base and is drivenly connected to the movable clamping member, and is used to drive the movable clamping member to move toward the fixed clamping member so that the movable clamping member and the fixed clamping member clamp the workpiece. A limiting member is provided on the clamping seat and located between the movable clamping member and the fixed clamping member, for limiting the position of the workpiece before the movable clamping member and the fixed clamping member clamp the workpiece; and A sensing component is disposed on the clamping base and located between the movable clamping member and the fixed clamping member, for abutting against the workpiece after it has been limited, in order to determine whether the workpiece has been gripped.
2. The clamping mechanism as described in claim 1, characterized in that, The sensing component includes: A fixing member is provided on the clamping seat and located between the movable clamping member and the fixed clamping member, and the fixing member has a through hole; A sensor is disposed within the fixing member, with one end of the sensor extending out of the through hole and the other end of the sensor located within the through hole; An elastic element is disposed in the through hole, one end of the elastic element abuts against the sensor, and the other end of the elastic element abuts against the clamping seat.
3. The clamping mechanism as described in claim 2, characterized in that, The sensing component also includes: A guide member is disposed within the through hole, one end of the guide member is connected to the sensor, the other end of the guide member extends away from the sensor, and the elastic member is sleeved on the guide member.
4. The clamping mechanism as described in claim 3, characterized in that, The fixing member has a stop groove on the side near the clamping seat that communicates with the through hole. The size of the stop groove is larger than the size of the through hole. The clamping mechanism further includes: A stop member is connected to the end of the sensor away from the guide member. One part of the stop member is located in the stop groove, and the other part of the stop member is located in the through hole. When the stop member moves to a preset position, it can be abutted by the bottom of the stop groove.
5. The clamping mechanism as described in claim 1, characterized in that, The fixing clamp includes: The clamping body is fixedly connected to the clamping seat; At least two fixed clamping parts are provided on the side of the fixed clamping body facing the movable clamping member, and each fixed clamping member includes a plurality of first anti-slip textures for clamping the workpiece.
6. The clamping mechanism as described in claim 5, characterized in that, The movable clamping component includes: The movable clamping body is movably connected to the clamping seat; At least two movable clamping parts are provided on the side of the movable clamping body facing the fixed clamping member, and each of the fixed clamping members includes a plurality of second anti-slip textures for clamping the workpiece.
7. The clamping mechanism as described in claim 6, characterized in that, The extension direction of the first anti-slip pattern is perpendicular to the extension direction of the second anti-slip pattern.
8. The clamping mechanism as described in claim 5, characterized in that, The workpiece includes a plurality of connecting parts spaced apart, and the limiting member includes: The limiting body is connected to the clamping seat; Multiple pushing parts are spaced apart on one side of the limiting body, and are used to extend into the workpiece and push the multiple connecting parts to move, so as to adjust the position of the workpiece.
9. The clamping mechanism as described in claim 1, characterized in that, The clamping mechanism further includes: An air blowing component, located on one side of the clamping seat, is used to blow air in a preset direction to clean the workpiece.
10. A clamping device, characterized in that, include: robotic arm; and The clamping mechanism as described in any one of claims 1-9, wherein the clamping mechanism is drivenly connected to the robotic arm.