Floating grippers and clamping devices

Abstract

This utility model relates to a floating gripper and a clamping device. The floating gripper includes: a pair of gripper assemblies, each gripper assembly including a fixed gripper, a movable gripper slidably connected to the fixed gripper, and a first elastic element disposed between the fixed gripper and the movable gripper; and a tensioning assembly, the tensioning assembly including a fixed frame, a driving member fixed to the fixed frame and drivably connected to the two fixed grippers, and two second elastic elements disposed between the fixed frame and the two fixed grippers. The first elastic elements can generate a buffering effect, allowing the movable gripper to make flexible contact with the workpiece, preventing the movable gripper from damaging the product; the driving member is used to drive the two fixed grippers to move, so that the second elastic elements accumulate elastic potential energy; the second elastic elements convert the driving force into elastic force to provide clamping force, which can prevent the driving force of the driving member from being too large and causing damage to the workpiece.

Description

Technical Field

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

[0002] With the development of industrialization, grippers are widely used in various production lines. Grippers can be used to hold various workpieces, facilitating product assembly. Traditional grippers, once fixed to a cylinder, have no freedom of movement except in the opening and closing direction. In some applications, the gripping area of ​​the gripper is small or narrow, posing a risk of rigid contact when holding the workpiece. Furthermore, due to positioning accuracy requirements or to prevent direct collisions with other workpieces or the gripped object, the gripping area needs to have some allowance, further reducing the gripping capacity and making it unsuitable for holding small workpieces.

[0003] For example, in the installation of some vertical cavity surface-emitting lasers (VCSELs), the thickness of the laser is usually less than 1 mm, and the length and width are generally around 5.4 mm. When the gripper is holding the laser, if the initial height of the gripper is too high, the gripping amount of the gripper will be too large, and the gripper may easily hit the structural components on which the laser is installed, causing interference and damage to the gripper or structural components. If the initial height of the gripper is insufficient, the gripping amount of the gripper will be too small. When the laser is thin, the gripper may not be able to hold the laser or may not be able to hold it at all. Moreover, due to the small size, it is difficult to observe with the naked eye and it is difficult to adjust the initial height of the gripper.

[0004] In addition, some workpieces have a fragile structure, and traditional grippers have difficulty controlling the appropriate clamping force, which can easily lead to excessive clamping force and damage to the workpiece during the clamping process. Utility Model Content

[0005] Therefore, it is necessary to provide a floating gripper and clamping device to address the problem that traditional grippers are unable to clamp some small-sized workpieces due to the difficulty in controlling the clamping amount and clamping force.

[0006] On one hand, this application provides a floating gripper, comprising: a pair of gripper assemblies, the gripper assembly including a fixed gripper, a movable gripper slidably connected to the fixed gripper, and a first elastic member disposed between the fixed gripper and the movable gripper; and a tensioning assembly, the tensioning assembly including a fixed frame, a driving member fixed to the fixed frame and drivably connected to the two fixed grippers respectively, and two second elastic members respectively disposed between the fixed frame and the two fixed grippers.

[0007] In one embodiment, the movable gripper includes a sliding portion slidably connected to the fixed gripper, a spring-loaded portion connected to the sliding portion, and a gripper portion connected to the sliding portion. The spring-loaded portion is located above the fixed gripper, and the first elastic element is disposed between the fixed gripper and the spring-loaded portion.

[0008] In one embodiment, the fixed gripper has a spring groove, the first elastic element is a compression spring disposed in the spring groove, and the gripper assembly further includes a spring set screw disposed in the spring compression part, the spring set screw being slidably inserted into the spring groove.

[0009] In one embodiment, the spring set screw is adjustablely disposed on the spring-loaded portion.

[0010] In one embodiment, the gripper assembly further includes a limiting screw adjustablely connected to the spring-loaded portion, wherein the distance between the spring-loaded portion and the fixed gripper is minimized when the limiting screw abuts against the fixed gripper.

[0011] In one embodiment, the gripper assembly further includes a slide rail fixed to the fixed gripper and a slider fixed to the sliding portion, the slide rail extending in the same direction as the compression direction of the first elastic member, and the slider being slidably connected to the slide rail.

[0012] In one embodiment, the second elastic element is a tension spring disposed between the fixed frame and the fixed gripper.

[0013] In one embodiment, the movable gripper further includes a gripper protrusion that protrudes from the upper surface of the gripper portion, such that the outer side of the gripper protrusion and the upper surface of the gripper portion form an L-shaped structure.

[0014] In one embodiment, the floating gripper further includes a base assembly, the base assembly including a fixed base, a plurality of guide posts fixed to the fixed base, a movable base slidably connected to the guide posts, and a third elastic member disposed between the fixed base and the movable base, the drive member being fixed to the movable base.

[0015] On the other hand, this application provides a clamping device, including: a three-axis motion mechanism and a floating gripper as described above, wherein the floating gripper is disposed on the three-axis motion mechanism.

[0016] In summary, the floating gripper of this application, by setting a first elastic element, allows the movable gripper to slide relative to the fixed gripper when it abuts against the workpiece, squeezing the first elastic element to generate a buffering effect. This enables the movable gripper to make flexible contact with the workpiece, preventing the movable gripper from damaging the product. Furthermore, by utilizing the flexible contact characteristic of the movable gripper, it is not necessary to precisely adjust the height of the gripper when clamping the workpiece, thus reducing the positioning accuracy requirements of the gripper assembly when clamping the workpiece.

[0017] The floating gripper of this application converts the driving force of the driving component into the elastic force of the second elastic component by setting a second elastic element. When clamping the workpiece, the second elastic element provides the clamping force. The magnitude of the clamping force is determined by the elastic limit of the second elastic element, making the clamping force more controllable and avoiding damage to the workpiece caused by excessive driving force of the driving component. Attached Figure Description

[0018] Figure 1 A perspective view of a floating gripper provided for one embodiment of this application;

[0019] Figure 2 A plan view of a gripper assembly of a floating gripper according to the above embodiments of this application is shown;

[0020] Figure 3 A cross-sectional schematic diagram of a gripper assembly of a floating gripper according to the above embodiments of this application is shown;

[0021] Figure 4 A plan view of the tensioning assembly of the floating gripper according to the above embodiments of this application is shown;

[0022] Figure 5 A schematic diagram is shown of the movable jaw of the floating gripper according to the above embodiment of this application, which extends to hold the workpiece.

[0023] Figure 6 A schematic diagram is shown of the movable jaw of the floating gripper retracting to hold the workpiece according to the above embodiment of this application;

[0024] Figure 7 A plan view of the base assembly of the floating gripper according to the above embodiments of this application is shown.

[0025] Reference numerals: 10, gripper assembly; 11, fixed gripper; 111, spring groove; 12, movable gripper; 121, sliding part; 122, spring-loaded part; 123, gripper part; 124, gripper protrusion; 13, first elastic element; 14, spring set screw; 15, limiting set screw; 16, slide rail; 17, slider; 20, tensioning assembly; 21, fixed frame; 22, driving element; 23, second elastic element; 30, base assembly; 31, fixed base; 32, guide post; 33, movable base; 34, third elastic element; 40, workpiece. Detailed Implementation

[0026] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to 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 of this utility model.

[0028] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] Therefore, it is necessary to provide a floating gripper and clamping device to address the problem that traditional grippers are unable to clamp some small workpieces due to the difficulty in controlling the clamping amount and clamping force. The floating gripper of this application does not require precise adjustment of the gripper height and will not damage the workpiece.

[0033] Specifically, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4According to one aspect of this application, the floating gripper may include a pair of gripper assemblies 10 and a tensioning assembly 20. The gripper assembly 10 may include a fixed gripper 11, a movable gripper 12, and a first elastic member 13. The movable gripper 12 is slidably connected to the fixed gripper 11, and the first elastic member 13 is disposed between the fixed gripper 11 and the movable gripper 12. The tensioning assembly 20 may include a fixed frame 21, a driving member 22, and two second elastic members 23. The driving member 22 is fixed to the fixed frame 21 and is drivably connected to the two fixed grippers 11 respectively. The driving member 22 can drive the two fixed grippers 11 to move. When the two fixed grippers 11 move away from each other, the gripper assembly 10 opens; when the two fixed grippers 11 move closer to each other, the gripper assembly 10 closes. Two second elastic elements 23 are respectively disposed between the fixed frame 21 and the two fixed grippers 11. When the driving member 22 drives the two fixed grippers 11 to move, the two second elastic elements 23 accumulate elastic potential energy and convert the driving force of the driving member 22 into the elastic force of the second elastic elements 23. When the driving member 22 stops driving, the two second elastic elements 23 release elastic potential energy and form a clamping force, so that the gripper assembly 10 clamps the workpiece 40.

[0034] Understandably, when the movable gripper 12 abuts against the workpiece 40, the movable gripper 12 can slide relative to the fixed gripper 11, squeezing the first elastic element 13, thereby generating a buffering effect. This allows the movable gripper 12 to make flexible contact with the workpiece 40, preventing the movable gripper 12 from damaging the product. Furthermore, by utilizing the flexible contact characteristic of the movable gripper 12, it is not necessary to precisely adjust the height of the gripper when clamping the workpiece 40, reducing the positioning accuracy requirements of the gripper assembly 10 when clamping the workpiece 40. In addition, the driving force of the drive member 22 is converted into the elastic force of the second elastic element 23. When clamping the workpiece 40, the clamping force is provided by the second elastic element 23. The magnitude of the clamping force is determined by the elastic limit of the second elastic element 23, making the clamping force more controllable and preventing the drive member 22 from being too strong and damaging the workpiece 40.

[0035] Optionally, such as Figure 2 and Figure 3As shown, in some embodiments, the movable gripper 12 may include a sliding portion 121, a spring-loaded portion 122, and a gripper portion 123. The sliding portion 121 is slidably connected to the fixed gripper 11, the spring-loaded portion 122 is connected to the sliding portion 121 and located above the fixed gripper 11, and the gripper portion 123 is connected to the sliding portion 121 for gripping the workpiece 40. A first elastic member 13 is disposed between the fixed gripper 11 and the spring-loaded portion 122. In this way, the spring-loaded portion 122 is located above the fixed gripper 11, does not occupy the lateral space of the gripper assembly 10, and makes the overall size of the gripper smaller, suitable for use in the assembly of some small workpieces 40. When the gripper assembly 10 moves upward and touches the workpiece 40, the sliding portion 121 slides downward relative to the fixed gripper 11, while the spring-loaded portion 122 cooperates with the fixed gripper 11 to compress the first elastic member 13, forming a buffer, thereby avoiding rigid contact between the gripper portion 123 and the workpiece 40. When the gripper assembly 10 moves downward, the first elastic element 13 releases elastic force to push the spring-loaded part 122, causing the sliding part 121 to slide upward relative to the fixed gripper 11, and the movable gripper 12 and the fixed gripper 11 return to their initial state.

[0036] Optionally, such as Figure 2 and Figure 3 As shown, in some embodiments, the fixed gripper 11 has a spring groove 111, and the first elastic element 13 is a compression spring disposed in the spring groove 111. The gripper assembly 10 also includes a spring set screw 14, which is disposed in the spring pressing part 122 and slidably inserted into the spring groove 111. When the sliding part 121 slides downward relative to the fixed gripper 11, the spring pressing set screw disposed in the spring pressing part 122 can slide along the spring groove 111 and compress the compression spring in the spring groove 111. In this way, the radial displacement of the compression spring is limited by the spring groove 111 and the spring set screw 14, ensuring that the compression spring is compressed linearly along the axial direction and avoiding lateral bending failure of the first elastic element 13.

[0037] Specifically, in some embodiments, the spring set screw 14 is adjustablely disposed in the spring-loaded portion 122. By adjusting the initial depth of the spring set screw 14 inserted into the spring groove 111, the elastic force of the first elastic element 13 can be adjusted, thereby adjusting the magnitude of the buffering force when the movable gripper 12 contacts the workpiece 40.

[0038] For example, in some embodiments, the spring set screw 14 is screwed into the spring compression part 122. By rotating the spring set screw 14, the initial depth of the spring set screw 14 screwed into the spring groove 111 can be adjusted, thereby adjusting the magnitude of the elastic force of the first elastic element 13.

[0039] Furthermore, such as Figure 2 and Figure 3As shown, in some embodiments, the gripper assembly 10 further includes a limiting screw 15, which is adjustablely connected to the spring-loaded portion 122. The limiting screw 15 limits the maximum compression stroke of the first elastic element 13. When the limiting screw 15 abuts against the fixed gripper 11, the distance between the spring-loaded portion 122 and the fixed gripper 11 is at its minimum, and the first elastic element 13 is compressed to its maximum compression stroke. By adjusting the distance between the limiting screw 15 and the fixed gripper 11, the compression stroke of the first elastic element 13 can be adjusted. Thus, by limiting the maximum compression stroke of the first elastic element 13 with the limiting screw 15, the elastic limit of the first elastic element 13 can be prevented from being exceeded, extending the service life of the first elastic element 13 and avoiding the problem of rigid contact between the movable gripper 12 and the workpiece 40 after exceeding the elastic limit, which could lead to damage to the movable gripper 12 or the workpiece 40. Furthermore, by adjusting the compression stroke of the first elastic element 13, the floating gripper can be adapted to workpieces 40 of various thicknesses.

[0040] Preferably, such as Figure 2 and Figure 3 As shown, in some embodiments, the gripper assembly 10 further includes a slide rail 16 and a slider 17. The slide rail 16 is fixed to the fixed gripper 11, and the extension direction of the slide rail 16 is the same as the compression direction of the compression spring. The slider 17 is fixed to the sliding portion 121 and slidably connected to the slide rail 16. In this way, on the one hand, the slide rail 16 and the slider 17 can guide the sliding direction of the movable gripper 12, maintaining the accurate positioning of the gripper assembly 10. On the other hand, by having the slide rail 16 withstand the lateral force from the workpiece 40 or external collisions, the movable gripper 12 can be prevented from shifting or wobbling.

[0041] Optionally, in some embodiments, the driving member 22 is a pneumatic finger, and two fixed claws 11 are respectively fixed on the two fingers of the pneumatic finger. The pneumatic finger uses compressed air as power to drive the two fixed claws 11 to move away from or towards each other.

[0042] Optionally, the clamping assembly can have two methods: either expanding outward to clamp the workpiece 40 or retracting inward to clamp the workpiece 40.

[0043] like Figure 4As shown, in some embodiments, the second elastic element 23 is a tension spring disposed between the fixed frame 21 and the fixed gripper 11. When the driving member 22 drives the two gripper assemblies 10 to approach each other, the two tension springs are pulled apart, allowing the two elastic elements to accumulate elastic potential energy. After the gripper portion 123 is inserted into the workpiece 40, the driving force of the driving member 22 is removed, and the two tension springs release the accumulated elastic potential energy to generate tension, pulling apart the two gripper assemblies 10 respectively, causing the gripper portion 123 to spread open the workpiece 40, thereby clamping the workpiece 40. In this way, by using the outward expansion clamping method, the gripper assembly 10 can clamp the workpiece 40 in a narrow space, which is suitable for some workpieces 40 that do not have a suitable external clamping surface but have a suitable internal clamping surface.

[0044] Preferably, such as Figure 5 As shown, in some embodiments, the movable gripper 12 further includes a gripper protrusion 124, which protrudes from the upper surface of the gripper portion 123, such that the outer side of the gripper protrusion 124 and the upper surface of the gripper portion 123 form an L-shaped structure. This L-shaped structure enhances the fit between the movable gripper 12 and the workpiece 40, increasing the stability of the gripper assembly 10 when holding the workpiece 40. When holding the workpiece 40, the outer side of the gripper protrusion 124 abuts against the inner surface of the workpiece 40, and the upper surface of the gripper portion 123 abuts against the lower surface of the workpiece 40, thereby enabling the gripper assembly 10 to support the workpiece 40 and counteract the effects of gravity.

[0045] Specifically, in some embodiments, the drive assembly further includes two pairs of hook screws, each pair of hook screws being fixed to the fixed frame 21 and the fixed jaw 11 respectively, with the tension spring connected to the hook screws. Thus, the preload of the tension spring can be adjusted by adjusting the hook screws.

[0046] Optionally, in some embodiments, the second elastic element 23 is a compression spring disposed between the fixed frame 21 and the fixed gripper 11. When the driving member 22 drives the two gripper assemblies 10 away from each other, the two compression springs are compressed, causing the two elastic elements to accumulate elastic potential energy respectively. After the two gripper assemblies 10 are moved to both sides of the workpiece 40, the driving force of the driving member 22 is removed, and the two tension springs release the accumulated elastic potential energy to generate a clamping force, causing the gripper portion 123 to clamp the workpiece 40. In this way, by using the method of inward clamping of the workpiece 40, the gripper assembly 10 can clamp the workpiece 40 from both sides of the workpiece 40, which is suitable for some workpieces 40 with suitable external clamping surfaces.

[0047] Preferably, such as Figure 6As shown, in some embodiments, the movable gripper 12 further includes a gripper protrusion 124, which protrudes from the upper surface of the gripper portion 123, such that the inner side of the gripper protrusion 124 and the upper surface of the gripper portion 123 form an L-shaped structure. This L-shaped structure enhances the fit between the movable gripper 12 and the workpiece 40, increasing the stability of the gripper assembly 10 when holding the workpiece 40. When holding the workpiece 40, the inner side of the gripper protrusion 124 abuts against the outer surface of the workpiece 40, and the upper surface of the gripper portion 123 abuts against the lower surface of the workpiece 40, thereby enabling the gripper assembly 10 to support the workpiece 40 and counteract the effects of gravity.

[0048] Furthermore, in some cases, the two gripper assemblies 10 need to be controlled to have equal heights, and the heights of the two gripper assemblies 10 are determined based on the height of the object being gripped. Therefore, as... Figure 7 As shown, in some embodiments, the floating gripper further includes a base assembly 30, which includes a fixed base 31, a plurality of guide posts 32, a movable base 33, and a third elastic member 34. The plurality of guide posts 32 are respectively fixed to the fixed base 31, and the movable base 33 is slidably connected to each guide post 32. The third elastic member 34 is disposed between the fixed base 31 and the movable base 33. The drive member 22 is fixed to the movable base 33. By removing the first elastic member 13 or adjusting the limiting screw 15 to press against the fixed gripper 11, the movable base 33 compresses the third elastic member 34 to replace the buffering effect of the first elastic member 13. Due to the guiding effect of each guide post 32, the two gripper assemblies 10 can be ensured to move synchronously, avoiding unilateral tilting.

[0049] Optionally, in some embodiments, the free end of the guide post 32 is provided with a limiting spring. The limiting spring restricts the movable base 33, which on the one hand prevents the movable base 33 from detaching from the guide post 32, and on the other hand allows the third elastic member 34 to have a pre-compression force.

[0050] On the other hand, this application provides a clamping device, which may include a three-axis motion mechanism and any of the motion mechanisms described above. The floating gripper is disposed on the three-axis motion mechanism. The three-axis motion mechanism can drive the floating gripper to move along the X-axis, Y-axis and Z-axis. With the help of programming control, high-precision position adjustment can be achieved, solving the problem of collision or gap clamping caused by inaccurate positioning of the transmission gripper.

[0051] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A floating clamp jaw characterized in that, include: A pair of gripper assemblies, the gripper assembly including a fixed gripper, a movable gripper slidably connected to the fixed gripper, and a first elastic member disposed between the fixed gripper and the movable gripper; and The tensioning assembly includes a fixed frame, a drive member fixed to the fixed frame and drivably connected to the two fixed grippers, and two second elastic members respectively disposed between the fixed frame and the two fixed grippers.

2. The floating clamp jaw of claim 1, wherein, The movable gripper includes a sliding portion slidably connected to the fixed gripper, a spring-loaded portion connected to the sliding portion, and a gripper portion connected to the sliding portion. The spring-loaded portion is located above the fixed gripper, and the first elastic element is disposed between the fixed gripper and the spring-loaded portion.

3. The floating clamp jaw of claim 2, wherein, The fixed gripper has a spring groove, the first elastic element is a compression spring disposed in the spring groove, and the gripper assembly also includes a spring set screw disposed in the spring pressure part, the spring set screw being slidably inserted into the spring groove.

4. The floating clamp jaw of claim 3, wherein, The spring set screw is adjustablely disposed in the spring-loaded part.

5. The floating clamp jaw of claim 2, wherein, The gripper assembly also includes a limiting screw that is adjustablely connected to the spring-loaded part. When the limiting screw abuts against the fixed gripper, the distance between the spring-loaded part and the fixed gripper is minimized.

6. The floating clamp jaw of claim 3, wherein, The gripper assembly further includes a slide rail fixed to the fixed gripper and a slider fixed to the sliding portion. The extension direction of the slide rail is the same as the compression direction of the first elastic member, and the slider is slidably connected to the slide rail.

7. The floating clamp jaw of claim 2, wherein, The second elastic element is a tension spring disposed between the fixed frame and the fixed gripper.

8. The floating clamp jaw of claim 7, wherein, The movable gripper further includes a gripper protrusion, which protrudes from the upper surface of the gripper portion, so that the outer side of the gripper protrusion and the upper surface of the gripper portion form an L-shaped structure.

9. The floating clamp jaw of claim 1, wherein, The floating gripper further includes a base assembly, which includes a fixed base, a plurality of guide posts fixed to the fixed base, a movable base slidably connected to the guide posts, and a third elastic member disposed between the fixed base and the movable base. The driving member is fixed to the movable base.

10. A clamping device, characterized in that include: Three-axis motion mechanism; and The floating gripper as described in any one of claims 1 to 9, wherein the floating gripper is disposed on the three-axis motion mechanism.

Images