A clamping device and palletizing system

Abstract

This utility model provides a clamping device and palletizing system, belonging to the field of clamping technology. The clamping device includes a base plate and an auxiliary clamping component. A clamping assembly is disposed on the base plate, comprising two relatively movable jaws forming a clamping position between them. The auxiliary clamping component is disposed on the jaws and includes a first driving device and a movable component. The movable component is fixed to the jaws and disposed at the output end of the jaws. The first driving device drives the movable component to enter or leave the clamping position to support the clamped item. One side of the base plate is connected to a second driving device, which drives the base plate to move. This clamping device has a large range of motion, can be applied to the palletizing of heavy items, and can ensure the stability of movement after clamping the material.

Description

Technical Field

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

[0002] In modern industrial production, industrial robot palletizing technology is widely used in numerous industries, such as logistics, manufacturing, and warehousing. Automated palletizing by industrial robots significantly improves production efficiency and palletizing quality while reducing labor costs. Traditional industrial robot palletizing systems are typically equipped with matching grippers, which are directly mounted on the industrial robot's flange. Their range of motion is limited by the robot's own radius of motion, restricting their operation to a certain range. This limitation is particularly pronounced when facing palletizing tasks requiring a larger range of motion. Furthermore, traditional grippers, using only two clamping plates to hold materials on both sides, often lack sufficient stability, especially during large-scale movements or when handling heavy materials. This can easily lead to material slippage or unstable gripping, affecting production efficiency and potentially causing safety accidents.

[0003] Therefore, it is necessary to improve the existing grippers used for robotic palletizing in order to overcome the shortcomings of the existing technology. Summary of the Invention

[0004] To overcome the problems existing in related motion technologies, one of the objectives of this utility model is to provide a clamping device with a large range of motion, which can be applied to the stacking process of heavy items, and can ensure the stability of the movement after clamping the material.

[0005] A clamping device, comprising:

[0006] A substrate, wherein a clamping assembly is provided on the substrate, the clamping assembly including two relatively movable jaws, and a clamping position is formed between the two jaws;

[0007] An auxiliary clamping component is disposed on the gripper. The auxiliary clamping component includes a first driving device and a movable component. The movable component is fixed on the gripper and disposed at the output end of the gripper. The first driving device drives the movable component to enter or leave the clamping position to support the clamped item.

[0008] One side of the substrate is connected to a second driving device, which drives the substrate to move.

[0009] During operation, when an item needs to be clamped, the industrial robot moves the base plate above the item via the connecting flange. A drive system (such as a clamping cylinder) drives the movable gripper along the slide rail away from the fixed gripper, opening both grippers. The industrial robot then controls the base plate to move downwards, positioning the two grippers on either side of the item. The drive system then drives the movable gripper towards the fixed gripper, causing the two grippers to close and clamp the item. The output of the first drive unit extends, pushing the movable component into the clamping position to support the item, thus completing the clamping process.

[0010] The second drive unit (telescopic cylinder) extends and retracts as needed, driving the base plate to move, thereby moving the clamped item to the target position.

[0011] When gripping an item, the device uses two grippers to hold it, while a first drive unit simultaneously moves a movable component into the gripping position to support the item. The gripping force of the grippers and the supporting force of the movable component create a dual-fixation mechanism, effectively preventing items from falling or swaying during gripping and transport. Especially for irregularly shaped or heavy items, the supporting effect of the movable component evenly distributes the weight, preventing swaying due to a shift in the center of gravity. This significantly improves the stability of gripping the item, reduces swaying during transport, and ensures operational safety and reliability. The second drive unit can drive a base plate to move horizontally relative to the industrial robot arm. When the industrial robot's own movement radius cannot cover the target location, the extension and retraction of the second drive unit can extend the base plate's range of motion, allowing the gripping device to reach further positions for operation. This overcomes the limitations of the industrial robot's own movement radius, significantly expanding the device's range of motion and improving operational flexibility.

[0012] In this embodiment, the movable component includes a mounting plate and a support plate. The mounting plate is disposed at the bottom of the gripper and hinged to the gripper. The support plate is disposed on one side of the mounting plate and is L-shaped.

[0013] The output end of the first driving device is hinged to the mounting plate, and the first driving device drives the mounting plate to rotate so that the tray enters the clamping position.

[0014] In this embodiment, multiple trays are provided on the mounting plate, and each tray is provided with a rubber pad.

[0015] In this embodiment, after the grippers hold the material, the hydraulic cylinder piston rod extends, pushing the mounting plate to rotate around the hinge axis, causing the L-shaped pallet to flip towards the gripping position. The horizontal sections of multiple pallets simultaneously conform to the bottom surface of the material, and the rubber pads, through elastic deformation, maintain close contact with the material, forming multi-point support. When the material is heavy, the multiple pallets can distribute the supporting force, preventing excessive force at a single point from causing the material to tilt; the anti-slip design of the rubber pads further prevents the material from sliding.

[0016] In this embodiment, the gripper is provided with a mounting bracket, and the first driving device is fixed on the mounting bracket;

[0017] The plane of the movable component is parallel to the plane of the substrate, and the first driving device drives the movable component to enter or leave the clamping position.

[0018] The mounting bracket supports the first driving device. In this embodiment, the first driving device drives the movable part to enter the clamping position from the side away from the substrate, thereby supporting the item and effectively improving the clamping stability of the item.

[0019] In this embodiment, the second driving device includes a connecting plate and a driving structure. The connecting plate is fixedly connected to the substrate, the driving structure is disposed on one side of the connecting plate, and the output end of the driving structure is fixedly connected to the connecting plate.

[0020] In this embodiment, a plurality of buffers are provided between the connecting plate and the substrate.

[0021] Specifically, the drive structure of this application uses a servo electric cylinder, which is fixedly installed on the outer side of the horizontal section of the connecting plate. The piston rod of the electric cylinder is fixedly connected to the inner side of the horizontal section of the connecting plate through a coupling. The servo motor of the electric cylinder can precisely control the extension and retraction stroke of the piston rod (accuracy ±0.1mm), so as to realize the smooth movement of the base plate.

[0022] After receiving the control signal, the servo electric cylinder pushes the connecting plate to move the base plate horizontally. A buffer rubber block forms a buffer structure between the connecting plate and the base plate. When the base plate moves to the target position or encounters an external impact, the buffer rubber block absorbs kinetic energy through compression deformation, reducing rigid collisions between the drive structure and the base plate, thereby extending the service life of the equipment.

[0023] In this embodiment, a guide rail is provided on the substrate, and the gripper is slidably disposed on the guide rail; a third driving device is also provided on the substrate, the output end of the third driving device is fixedly connected to any one of the grippers, and the other gripper is locked on the guide rail by a locking member.

[0024] Specifically, the locking element is a wedge-shaped locking block structure, fixed between the bottom of the fixed gripper and the guide rail by a hand-tightening bolt. When the wedge-shaped surface of the locking block is in contact with the side of the guide rail, the fixed gripper can be locked at any position on the guide rail. When released, the gripper can slide along the guide rail to adjust its position. The gripper in this embodiment is used as follows: according to the material size, loosen the locking element of the fixed gripper, slide it along the guide rail to a suitable position, and then tighten the locking element to fix it. The piston rod of the third drive device pushes the movable gripper to move along the guide rail towards the fixed gripper, so that the gripper fits against both sides of the material to achieve clamping. When changing to different specifications of materials, only the locking element needs to be loosened to adjust the position of the fixed gripper; there is no need to replace the entire gripper assembly, improving the equipment adaptability efficiency.

[0025] In this embodiment, a dual-axis drive device is also provided on the substrate. The dual-axis drive device has two output ends, and the two output ends of the dual-axis drive device are respectively fixedly connected to one of the grippers.

[0026] In this embodiment, the two output shafts of the dual-axis drive device extend or retract synchronously, driving the left and right grippers to move towards the center simultaneously, achieving symmetrical clamping (e.g., when clamping a cube-shaped cardboard box, the two grippers close synchronously to ensure center alignment).

[0027] More preferably, this embodiment can also control the two output shafts to move asynchronously to achieve clamping of asymmetrical items. For example, by setting different displacements of the two output shafts of the dual-axis drive device through the control system, the left and right grippers can move with different strokes to adapt to the asymmetrical contour of the workpiece. The dual-axis synchronous drive of this embodiment reduces the off-center load problem that may occur in single-axis drive (such as the moving gripper may tilt due to uneven resistance in single-axis drive). The synchronous movement of the two grippers makes the clamping force distribution more uniform, which can improve clamping stability.

[0028] In this embodiment, anti-slip textures are provided on the opposite sides of the two grippers. The anti-slip textures protrude from the surface of the grippers and the protrusion height is 0.5cm-1cm.

[0029] The anti-slip texture design significantly increases the coefficient of friction on the clamping surface. The protrusion height of 0.5cm-1cm allows the texture to embed into tiny depressions on the material surface (such as the corrugated structure of a cardboard box), forming a mechanical interlock and preventing the material from slipping.

[0030] The second objective of this utility model is to provide a palletizing system, which includes a robotic arm and a clamping device as described above, wherein the second driving device is fixedly connected to the end of the robotic arm.

[0031] The beneficial effects of this utility model are as follows:

[0032] This utility model provides a clamping device, which includes a base plate and an auxiliary clamping component. A clamping assembly is disposed on the base plate, comprising two relatively movable jaws forming a clamping position between them. The auxiliary clamping component is disposed on the jaws and includes a first driving device and a movable component. The movable component is fixed to the jaws and disposed at the output end of the jaws. The first driving device drives the movable component to enter or leave the clamping position to support the clamped item. One side of the base plate is connected to a second driving device, which drives the base plate to move. During use, the second driving device drives the base plate to move, thereby moving the clamping assembly above the item to be clamped. The two jaws open under the drive of the driving system, and then the base plate moves down, positioning the two jaws on either side of the item to be clamped. Then, the two jaws close to clamp the item. The first driving device then drives the movable component to move, supporting the item in the clamping position, thus completing the clamping of the item. This clamping device can expand the range of motion of the equipment through a second drive device, thereby improving operational flexibility; and the support design of the grippers and moving parts can improve the stability of clamping the items and reduce shaking during the transport of the items.

[0033] This application also provides a palletizing system, which includes a robotic arm and a gripping device as described above, wherein a second drive device is fixedly connected to the end of the robotic arm. This system enables stable movement of items during palletizing, thereby ensuring the stability of item operation, reducing the probability of item damage, and improving work efficiency. Attached Figure Description

[0034] Figure 1 This is a perspective view of the clamping device provided in an embodiment of this utility model;

[0035] Figure 2 This is a front view of the clamping device provided in an embodiment of this utility model;

[0036] Figure 3 This is a side view of the clamping device provided in an embodiment of this utility model;

[0037] Figure 4 This is a perspective view of the auxiliary clamping component provided in an embodiment of this utility model;

[0038] Figure 5 This is a schematic diagram of an embodiment of the present invention in which the first driving device is mounted on a mounting bracket.

[0039] Figure label:

[0040] 1. Base plate; 11. Guide rail; 2. Gripper; 21. Clamping position; 3. Auxiliary clamping component; 31. First driving device; 32. Movable component; 321. Mounting plate; 322. Support plate; 33. Mounting bracket; 4. Connecting plate; 41. Buffer component; 5. Driving structure; 6. Third driving device. Detailed Implementation

[0041] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0042] In modern industrial production, industrial robot palletizing technology is widely used in numerous industries, such as logistics, manufacturing, and warehousing. Automated palletizing by industrial robots significantly improves production efficiency and palletizing quality while reducing labor costs. Traditional industrial robot palletizing systems are typically equipped with matching grippers, which are directly mounted on the industrial robot's flange. Their range of motion is limited by the robot's own radius of motion, restricting their operation to a certain range. This limitation is particularly pronounced when facing palletizing tasks requiring a larger range of motion. Furthermore, traditional grippers, using only two clamping plates to hold materials on both sides, often lack sufficient stability, especially during large-scale movements or when handling heavy materials. This can easily lead to material slippage or unstable gripping, affecting production efficiency and potentially causing safety accidents.

[0043] Based on this, this application provides a clamping device.

[0044] Example 1

[0045] like Figures 1-5 As shown, this embodiment provides a clamping device, including:

[0046] A substrate 1, on which a clamping assembly is provided, the clamping assembly including two relatively movable jaws 2, with a clamping position 21 formed between the two jaws 2;

[0047] An auxiliary clamping component 3 is disposed on the gripper 2. The auxiliary clamping component 3 includes a first driving device 31 and a movable component 32. The movable component 32 is fixed on the gripper 2 and disposed at the output end of the gripper 2. The first driving device 31 drives the movable component 32 to enter or leave the clamping position 21 to support the clamped item.

[0048] One side of the substrate 1 is connected to a second driving device, which drives the substrate 1 to move.

[0049] Specifically, the two grippers 2 of this application are provided with anti-slip textures on their opposite sides. The anti-slip textures protrude from the surface of the grippers 2 and the protrusion height is 0.5cm-1cm.

[0050] The anti-slip texture design significantly increases the coefficient of friction on the clamping surface. The protrusion height of 0.5cm-1cm allows the texture to embed into tiny depressions on the material surface (such as the corrugated structure of a cardboard box), forming a mechanical interlock and preventing the material from slipping.

[0051] During operation, when an item needs to be clamped, the industrial robot moves the base plate 1 above the item to be clamped via the connecting flange. A drive system (such as a clamping cylinder) drives the movable gripper 2 along the slide rail away from the fixed gripper 2, opening both grippers 2. The industrial robot controls the base plate 1 to move downwards, positioning the two grippers 2 on either side of the item. The drive system then drives the movable gripper 2 towards the fixed gripper 2, causing the two grippers 2 to close and clamp the item. The output end of the first drive device 31 extends, pushing the movable component 32 into the clamping position 21 to support the item, thus completing the clamping process.

[0052] The second drive device (telescopic cylinder) extends and retracts as needed, driving the base plate 1 to move, thereby moving the clamped item to the target position.

[0053] When gripping an item, the two grippers 2 hold the item, while the first drive device 31 drives the movable part 32 into the gripping position 21 to support the item. The gripping force of the grippers 2 and the supporting force of the movable part 32 form a double fixation, effectively preventing the item from falling or shaking during gripping and transportation. Especially for irregularly shaped or heavy items, the supporting effect of the movable part 32 can evenly distribute the weight of the item, preventing it from shaking due to a shift in the center of gravity, thus greatly improving the stability of gripping the item, reducing shaking during transportation, and ensuring the safety and reliability of the operation. The second drive device can drive the base plate 1 to move horizontally relative to the industrial robot arm. When the movement radius of the industrial robot body cannot cover the target position, the movement range of the base plate 1 can be extended by the extension and retraction of the second drive device, allowing the gripping device to reach a farther position for operation, breaking through the limitation of the movement radius of the industrial robot body, significantly expanding the range of motion of the equipment, and improving the flexibility of operation.

[0054] Example 2

[0055] This embodiment is an improvement on embodiment 1.

[0056] like Figures 1-5 As shown, in this embodiment, the movable component 32 includes a mounting plate 321 and a support plate 322. The mounting plate 321 is disposed at the bottom of the gripper 2 and is hinged to the gripper 2. The support plate 322 is disposed on one side of the mounting plate 321 and is L-shaped.

[0057] The output end of the first driving device 31 is hinged to the mounting plate 321. The first driving device 31 drives the mounting plate 321 to rotate so that the tray 322 enters the clamping position 21.

[0058] In this embodiment, multiple trays 322 are provided on the mounting plate 321, and each tray 322 is provided with a rubber pad.

[0059] In this embodiment, after the gripper 2 clamps the material, the hydraulic cylinder piston rod extends, pushing the mounting plate 321 to rotate around the hinge axis, causing the L-shaped support plate 322 to flip towards the clamping position 21. The horizontal sections of multiple support plates 322 synchronously adhere to the bottom surface of the material, and the rubber pads, through elastic deformation, closely contact the material, forming multi-point support. When the material is heavy, the multiple support plates 322 can distribute the supporting force, avoiding excessive force at a single point that could cause the material to tilt; the anti-slip design of the rubber pads further prevents the material from sliding.

[0060] Example 3

[0061] This embodiment is an improvement on embodiment 1.

[0062] like Figures 1-5 As shown, in this embodiment, the gripper 2 is provided with a mounting bracket 33, and the first driving device 31 is fixed on the mounting bracket 33;

[0063] The plane of the movable member 32 is parallel to the plane of the substrate 1, and the first driving device 31 drives the movable member 32 to enter or leave the clamping position 21.

[0064] The mounting bracket 33 supports the first driving device 31. In this embodiment, the first driving device 31 drives the movable part 32 to enter the clamping position 21 from the side away from the substrate 1, thereby supporting the item and effectively improving the clamping stability of the item.

[0065] Example 4

[0066] This embodiment is an improvement on embodiment 1.

[0067] like Figures 1-5As shown, in this embodiment, the second driving device includes a connecting plate 4 and a driving structure 5. The connecting plate 4 is fixedly connected to the base plate 1, the driving structure 5 is disposed on one side of the connecting plate 4, and the output end of the driving structure 5 is fixedly connected to the connecting plate 4.

[0068] In this embodiment, a plurality of buffer members 41 are provided between the connecting plate 4 and the substrate 1.

[0069] Specifically, the drive structure 5 of this application uses a servo electric cylinder, which is fixedly installed on the outer side of the horizontal section of the connecting plate 4. The piston rod of the electric cylinder is fixedly connected to the inner side of the horizontal section of the connecting plate 4 through a coupling. The servo motor of the electric cylinder can precisely control the extension and retraction stroke of the piston rod (accuracy ±0.1mm), so as to realize the smooth movement of the base plate 1.

[0070] After receiving the control signal, the piston rod of the servo electric cylinder pushes the connecting plate 4 to move the base plate 1 horizontally. The buffer rubber block forms a buffer structure between the connecting plate 4 and the base plate 1. When the base plate 1 moves to the target position or encounters an external impact, the buffer rubber block absorbs kinetic energy through compression deformation, reducing the rigid collision between the drive structure 5 and the base plate 1, thereby improving the service life of the equipment.

[0071] Example 5

[0072] This embodiment is an improvement on embodiment 1.

[0073] like Figures 1-5 As shown, in this embodiment, a guide rail 11 is provided on the substrate 1, and the gripper 2 is slidably disposed on the guide rail 11; a third driving device 6 is also provided on the substrate 1, the output end of the third driving device 6 is fixedly connected to any one of the grippers 2, and the other gripper 2 is locked on the guide rail 11 by a locking member.

[0074] Specifically, the locking element is a wedge-shaped locking block structure, which is fixed between the bottom of the fixed gripper 2 and the guide rail 11 by a hand-tightening bolt. When the wedge-shaped surface of the locking block is in contact with the side of the guide rail 11, the fixed gripper 2 can be locked at any position on the guide rail 11. When released, the gripper 2 can slide along the guide rail 11 to adjust its position. The method of using the gripper 2 in this embodiment is as follows: According to the material size, loosen the locking element of the fixed gripper 2, slide it along the guide rail 11 to a suitable position, and then tighten the locking element to fix it. The piston rod of the third drive device 6 pushes the movable gripper 2 to move along the guide rail 11 toward the fixed gripper 2, so that the gripper 2 fits against both sides of the material to achieve clamping. When changing to different specifications of materials, only the locking element needs to be loosened to adjust the position of the fixed gripper 2, without replacing the entire gripper 2 assembly, thus improving the equipment adaptability efficiency.

[0075] Example 6

[0076] like Figures 1-5 As shown, this embodiment is an improvement on embodiment 1. In this embodiment, a guide rail 11 is provided on the substrate 1, and the gripper 2 is slidably disposed on the guide rail 11; a dual-axis drive device is also provided on the substrate 1, and each dual-axis drive device has two output ends, and the two output ends of the dual-axis drive device are respectively fixedly connected to one of the grippers 2.

[0077] In this embodiment, the two output shafts of the dual-axis drive device extend or retract synchronously, driving the left and right grippers 2 to move towards the center at the same time, so as to achieve symmetrical clamping (for example, when clamping a cube-shaped cardboard box, the two grippers 2 close synchronously to ensure center alignment).

[0078] More preferably, this embodiment can also control the two output shafts to move asynchronously to achieve clamping of asymmetrical items. For example, by setting different displacements of the two output shafts of the dual-axis drive device through the control system, the left and right grippers 2 can move with different strokes to adapt to the asymmetrical contour of the workpiece. The dual-axis synchronous drive of this embodiment reduces the off-center load problem that may occur during single-axis drive (such as the movable gripper 2 may tilt due to uneven resistance during single-axis drive). The synchronous movement of the two grippers 2 makes the clamping force distribution more uniform, which can improve clamping stability.

[0079] Example 7

[0080] like Figures 1-5 As shown, this embodiment provides a palletizing system, which includes a robotic arm and a gripping device as described above, wherein the second driving device is fixedly connected to the end of the robotic arm.

[0081] In this embodiment, a six-axis industrial robot is used as the robotic arm, and its end flange is fixedly connected to the second drive unit. The robotic arm's control system supports signal interaction with the drive unit of the gripping device to achieve coordinated motion control. The second drive unit is fixedly connected to the robotic arm's end flange using high-strength bolts (M12×80) with a preload torque of 110 N·m to ensure connection strength. A 2mm thick rubber buffer pad is placed between the connecting plate 4 and the flange to reduce vibration transmission during robotic arm movement.

[0082] The palletizing workflow is as follows: The robotic arm moves the gripping device to above the loading area of ​​the palletizing station. A vision sensor (installed at the end of the robotic arm) identifies the position and orientation of the material to be palletized. The second drive unit (servo electric cylinder) adjusts the horizontal position of the base plate 1 according to the material position, aligning the grippers 2 with both sides of the material. The dual-axis drive unit of the gripping assembly controls the left and right grippers 2 to close synchronously, bringing the anti-slip textured surface into contact with the material. Simultaneously, the tray 322 of the auxiliary gripper 3 flips into the gripping position 21, completing the material fixation. The robotic arm moves along a preset trajectory, transporting the material to the target palletizing position (e.g., a designated layer on the pallet). During the movement, the second drive unit can adjust the extension of the base plate 1 in real time according to the robotic arm's movement radius to ensure the material reaches the designated position. Then, the grippers 2 release, the tray 322 retracts, and the robotic arm returns to the loading area, entering the next palletizing cycle.

[0083] This system automates palletizing through the operation of a robotic arm and gripping equipment, eliminating the need for manual material handling and reducing labor costs. Furthermore, the gripping equipment offers high stability, ensuring consistent clamping.

[0084] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings. In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0085] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0086] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. The above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. For those skilled in the art, this utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A clamping device, characterized in that, include: A substrate, wherein a clamping assembly is provided on the substrate, the clamping assembly including two relatively movable jaws, and a clamping position is formed between the two jaws; An auxiliary clamping component is disposed on the gripper. The auxiliary clamping component includes a first driving device and a movable component. The movable component is fixed on the gripper and disposed at the output end of the gripper. The first driving device drives the movable component to enter or leave the clamping position to support the clamped item. One side of the substrate is connected to a second driving device, which drives the substrate to move.

2. The clamping device according to claim 1, characterized in that: The movable component includes a mounting plate and a support plate. The mounting plate is disposed at the bottom of the gripper and hinged to the gripper. The support plate is disposed on one side of the mounting plate and is L-shaped. The output end of the first driving device is hinged to the mounting plate, and the first driving device drives the mounting plate to rotate so that the tray enters the clamping position.

3. The clamping device according to claim 2, characterized in that: Multiple trays are provided on the mounting plate, and each tray is provided with a rubber pad.

4. The clamping device according to claim 2, characterized in that: The gripper is provided with a mounting bracket, and the first drive device is fixed on the mounting bracket; The plane of the movable component is parallel to the plane of the substrate, and the first driving device drives the movable component to enter or leave the clamping position.

5. The clamping device according to any one of claims 1-4, characterized in that: The second driving device includes a connecting plate and a driving structure. The connecting plate is fixedly connected to the base plate, the driving structure is disposed on one side of the connecting plate, and the output end of the driving structure is fixedly connected to the connecting plate.

6. The clamping device according to claim 5, characterized in that: Several buffer components are provided between the connecting plate and the substrate.

7. The clamping device according to any one of claims 1-4, characterized in that: The substrate is provided with a guide rail, and the gripper is slidably disposed on the guide rail; the substrate is also provided with a third driving device, the output end of the third driving device is fixedly connected to any one of the grippers, and the other gripper is locked on the guide rail by a locking member.

8. The clamping device according to claim 7, characterized in that: The substrate is also provided with a dual-axis drive device, each of which has two output ends, and the two output ends of the dual-axis drive device are respectively fixedly connected to one of the grippers.

9. The clamping device according to any one of claims 1-4, characterized in that: Anti-slip textures are provided on the opposite sides of the two grippers, and the anti-slip textures protrude from the surface of the grippers with a protrusion height of 0.5cm-1cm.

10. A palletizing system, characterized in that: It includes a robotic arm and a gripping device as described in any one of claims 1-9, wherein the second drive device is fixedly connected to the end of the robotic arm.

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