A material clamping device

Abstract

The utility model belongs to automatic creasing equipment technical field, concretely relates to a clamping device, include: installation bottom plate (10), still include: be located on the X direction moving mechanism (20) of installation bottom plate, be located on the Y direction mechanism (30) of entering clamping belt, enter the Y direction mechanism (40) of clamping triangular sheet, be located on the first Z direction mechanism (50) of entering clamping belt Y direction mechanism, be located on the second Z direction mechanism (60) of entering clamping triangular sheet Y direction mechanism, be located on the first finger mechanism (70) of first Z direction mechanism, be located on the second finger mechanism (80) of second Z direction mechanism, adopt this device, it is convenient to one -time with triangular sheet transmission to sewing station with belt, be favorable to the improvement processing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automatic folding and sewing equipment technology, specifically to a clamping device used in a fully automatic triangular piece folding and sewing machine. Background Technology

[0002] When processing webbing for products such as backpacks and handbags, triangular pieces need to be processed at the ends of the webbing. Currently, this processing is done using a fully automatic triangular piece folding and sewing machine. On this machine, one step involves a device clamping and pulling out one end of the webbing from the previous step, and then stacking that end of the webbing together with the triangular piece placed at the initial position of the device. At the same time, other devices on the machine fold the triangular piece into two pieces, clamping the end of the webbing between the two pieces. Then, the device conveys the triangular piece and the end of the webbing to the next station to sew the webbing and the triangular piece together. Utility Model Content

[0003] In order to complete the above-mentioned process, the purpose of this utility model is to provide a clamping device for a fully automatic triangular piece folding sewing machine.

[0004] The technical solution is as follows: a clamping device, comprising: a mounting base plate, and further comprising: an X-axis moving mechanism disposed on the mounting base plate, a Y-axis clamping mechanism and a Y-axis clamping triangular piece disposed on the X-axis moving mechanism, a first Z-axis mechanism disposed on the Y-axis clamping mechanism, a second Z-axis mechanism disposed on the Y-axis clamping triangular piece, a first finger mechanism disposed on the first Z-axis mechanism, and a second finger mechanism disposed on the second Z-axis mechanism.

[0005] Preferably, the X-axis moving mechanism includes: a motor disposed on the upper surface of one end of the mounting base plate; a drive pulley disposed below the motor and sleeved on its output shaft; a driven pulley disposed on the upper surface of the other end of the mounting base plate; a synchronous belt sleeved on the drive pulley and the driven pulley; two parallel X-axis guide rails located on opposite sides of the synchronous belt; two X-axis sliders movably disposed on the two X-axis guide rails; an X-axis mounting plate whose bottom surface is fixedly connected to the two X-axis sliders; and a clamping block whose one end is perpendicularly connected to the bottom surface of the X-axis mounting plate; the clamping block clamps the outside of one side of the synchronous belt, causing the X-axis mounting plate to move synchronously with the synchronous belt.

[0006] Preferably, the Y-axis clamping mechanism includes: a Y-axis clamping slider disposed on an X-axis mounting plate, a Y-axis clamping slide rail movably connected to the Y-axis clamping slider, a Y-axis clamping mounting plate whose bottom surface is fixedly connected to the Y-axis clamping slide rail, a Y-axis clamping mounting upright plate perpendicularly disposed on the upper surface of one end of the Y-axis clamping mounting plate, and a Y-axis clamping cylinder disposed on the X-axis mounting plate and located on one side of the Y-axis clamping slide rail; the front end of the telescopic rod of the Y-axis clamping cylinder is connected to the Y-axis clamping mounting upright plate.

[0007] Preferably, the Y-axis clamping mechanism includes: a Y-axis clamping slider mounted on an X-axis mounting plate; a Y-axis clamping slide rail movably connected to the Y-axis clamping slider; a Y-axis clamping mounting plate whose bottom surface is fixedly connected to the Y-axis clamping slide rail; a Y-axis clamping mounting plate vertically mounted on the upper surface of one end of the Y-axis clamping mounting plate; and a Y-axis clamping cylinder mounted on the X-axis mounting plate and located on one side of the Y-axis clamping slide rail. The front end of the telescopic rod of the Y-axis clamping cylinder is connected to the Y-axis clamping mounting plate.

[0008] Preferably, the first Z-axis mechanism includes: a first Z-axis cylinder disposed on the front surface of the Y-axis mounting plate of the clamping belt; a first upper connecting plate whose bottom surface is perpendicularly connected to the upper end of the telescopic rod of the first Z-axis cylinder; a first Z-axis guide rail disposed on the back side of the Y-axis mounting plate of the clamping belt; a first Z-axis slider movably disposed on the first Z-axis guide rail; a first Z-axis connecting plate whose back side is fixedly connected to the first Z-axis slider; and a first Z-axis horizontal plate perpendicularly connected to the first Z-axis connecting plate; the first Z-axis horizontal plate is fixedly connected to the other end of the first upper connecting plate.

[0009] Preferably, the second Z-axis mechanism includes: a second Z-axis cylinder disposed on the front surface of the Y-axis mounting plate of the clamping triangular piece; a second upper connecting plate whose bottom surface is perpendicularly connected to the upper end of the telescopic rod of the second Z-axis cylinder; a second Z-axis guide rail disposed on the back side of the Y-axis mounting plate of the clamping triangular piece; a second Z-axis slider movably disposed on the second Z-axis guide rail; a second Z-axis connecting plate whose back side is fixedly connected to the second Z-axis slider; and a second Z-axis horizontal plate perpendicularly connected to the second Z-axis connecting plate; the other end of the second Z-axis horizontal plate is fixedly connected to the second upper connecting plate.

[0010] Preferably, the first finger mechanism includes: a first finger cylinder disposed on the bottom surface of the first Z-direction horizontal plate, a first finger mounting plate vertically disposed at the lower end of the telescopic rod of the first finger cylinder, a first movable finger clip fixedly connected at one end to the bottom surface of the first finger mounting plate, and a first fixed finger clip located below the first movable finger clip and vertically connected at one end to the bottom surface of the first Z-direction connecting plate.

[0011] Preferably, the second finger mechanism includes: a second finger cylinder disposed on the bottom surface of the second Z-direction horizontal plate, a second finger mounting plate vertically disposed at the lower end of the telescopic rod of the second finger cylinder, a second movable finger clip fixedly connected at one end to the bottom surface of the second finger mounting plate, and a second fixed finger clip located below the second movable finger clip and vertically connected at one end to the bottom surface of the second Z-direction connecting plate.

[0012] Preferably, a first corner code is provided on one side of the X-axis mounting plate, and the Y-axis clamping cylinder is fixedly connected to the first corner code; a Y-axis clamping cylinder connecting block is provided on one side of the Y-axis clamping mounting plate and is fixedly connected to the front end of the telescopic rod of the Y-axis clamping cylinder.

[0013] Preferably, a second corner bracket is provided on the other side of the X-axis mounting plate, and the Y-axis cylinder of the clamping triangular plate is fixedly connected to the second corner bracket; a clamping triangular plate Y-axis mounting plate is provided on one side of the clamping triangular plate Y-axis mounting plate, which is fixedly connected to the front end of the telescopic rod of the clamping triangular plate Y-axis cylinder.

[0014] Technical Effect: During processing, the X-axis moving mechanism drives the Y-axis clamping mechanism and the Y-axis clamping triangular piece mechanism to move from the initial position in the X direction. When they reach the set position, the Y-axis clamping mechanism extends forward to one end of the webbing conveyed in the previous process. The first Z-axis mechanism is activated, driving the first finger mechanism to move downward and clamp one end of the webbing. Then, the X-axis moving mechanism is activated again, driving the Y-axis clamping mechanism and the Y-axis clamping triangular piece mechanism back to the initial position, placing that end of the webbing above the triangular piece located at the initial position. Then, the Y-axis clamping mechanism moves backward. After retracting to the initial position, once the triangular piece folds and clamps one end of the webbing, the Y-axis clamping mechanism and the Y-axis clamping triangular piece mechanism extend forward. Simultaneously, the first Z-axis mechanism and the second Z-axis mechanism respectively drive the first finger mechanism and the second finger mechanism to clamp the webbing and the folded triangular piece. The other end of the webbing is cut off, forming an independent section of webbing. The X-axis moving mechanism then starts, moving in the opposite direction to the direction of clamping the webbing to the next work station. Using this device, it is convenient to transfer the webbing and the triangular piece to the sewing station in one go, which helps to improve processing efficiency. Attached Figure Description

[0015] Figure 1 This is a perspective view of the clamping device according to an embodiment of the present utility model.

[0016] Figure 2 This is a perspective view of the clamping device according to an embodiment of the present invention, taken from a bottom angle.

[0017] Figure 3 This is a top-view perspective view of the clamping device according to an embodiment of the present utility model;

[0018] Figure 4 This is a perspective view of the clamping device according to an embodiment of the present invention, viewed from the left.

[0019] Figure 5 This is a rear-view perspective view of the clamping device according to an embodiment of the present utility model;

[0020] Figure 6 This is an exploded rear view of the clamping device according to an embodiment of the present invention.

[0021] Figure 7 This is an exploded view of the clamping device according to an embodiment of the present invention, viewed from below.

[0022] Figure 8 This is an exploded top view of the clamping device according to an embodiment of the present invention.

[0023] Reference numerals: Mounting base plate -10, X-axis moving mechanism -20, Motor -201, Driving pulley -202, Driven pulley -203, Synchronous belt -204, X-axis guide rail -205, X-axis mounting plate -206, Clamping block -207, Y-axis clamping mechanism -30, Y-axis clamping slider -301, Y-axis clamping slide rail -302, Y-axis clamping mounting plate -303, Y-axis clamping mounting plate -3 04, Y-axis clamping cylinder - 305, First angle bracket - 306, Y-axis clamping cylinder connecting block - 307, Y-axis clamping triangular piece clamping mechanism - 40, Y-axis clamping triangular piece clamping slider - 401, Y-axis clamping triangular piece clamping slide rail - 402, Y-axis clamping triangular piece clamping mounting plate - 403, Y-axis clamping triangular piece clamping mounting plate - 404, Y-axis clamping triangular piece clamping cylinder - 405, Second angle bracket - 406, Y-axis clamping triangular piece clamping cylinder Cylinder connecting block-407, First Z-axis mechanism-50, First Z-axis cylinder-501, First upper connecting plate-502, First Z-axis slider-504, First Z-axis connecting plate-505, First Z-axis horizontal plate-506, Second Z-axis mechanism-60, Second Z-axis cylinder-601, Second upper connecting plate-602, Second Z-axis guide rail-603, Second Z-axis slider-604, Second Z-axis connecting plate-605, Second Z-axis horizontal plate-606, First finger mechanism-70, First finger cylinder-701, First finger mounting plate-702, First movable finger clip-703, First fixed finger clip-704, Second finger mechanism-80, Second finger cylinder-801, Second finger mounting plate-802, Second movable finger clip-803, Second fixed finger clip-804, Webbing-90, Triangular piece-100. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0025] like Figures 1-3As shown, this utility model embodiment provides a clamping device for use on a fully automatic triangular piece folding and sewing machine. It includes: a mounting base plate 10, and further includes: an X-axis moving mechanism 20 mounted on the mounting base plate; a Y-axis clamping mechanism 30 and a Y-axis clamping mechanism 40 mounted on the X-axis moving mechanism; a first Z-axis mechanism 50 mounted on the Y-axis clamping mechanism; a second Z-axis mechanism 60 mounted on the Y-axis clamping mechanism; a first finger mechanism 70 mounted on the first Z-axis mechanism; and a second finger mechanism 80 mounted on the second Z-axis mechanism. Here, the X-axis moving mechanism 20 drives the Y-axis clamping mechanism 30 and the Y-axis clamping mechanism 40 to reciprocate in the X direction; while the Y-axis clamping mechanism 30 and the Y-axis clamping mechanism 40 respectively drive the first Z-axis mechanism 50 and the second Z-axis mechanism 60 to reciprocate in the Y direction; the first Z-axis mechanism 50 and the second Z-axis mechanism 60 respectively drive the first finger mechanism 70 and the second finger mechanism 80 to reciprocate in the Z direction.

[0026] Specifically, such as Figures 4-8 As shown, the X-axis moving mechanism 20 includes: a motor 201 mounted on the upper surface of one end of the mounting base plate 10; a drive pulley 202 mounted below the motor and sleeved on its output shaft; a driven pulley 203 mounted on the upper surface of the other end of the mounting base plate; a synchronous belt 204 sleeved on the drive pulley and the driven pulley; two parallel X-axis guide rails 205 located on both sides of the synchronous belt; two X-axis sliders (not shown) movably mounted on the two X-axis guide rails; an X-axis mounting plate 206 whose bottom surface is fixedly connected to the two X-axis sliders; and a clamping block 207 whose one end is perpendicularly connected to the bottom surface of the X-axis mounting plate. The clamping block clamps the outside of one side of the synchronous belt, causing the X-axis mounting plate to move synchronously with the synchronous belt. After the motor 201 starts, it drives the drive pulley 202 to rotate. Under the drive of the synchronous belt 204, the driven pulley 203 rotates synchronously. The clamping block 207, which is fixedly connected to one side of the synchronous belt, reciprocates in the X direction, driving the X-axis mounting plate 206 and the mechanism mounted on it to reciprocate synchronously in the X direction.

[0027] Specifically, such as Figures 4-8As shown, the Y-axis clamping mechanism 30 includes: a Y-axis clamping slider 301 mounted on the X-axis mounting plate 206; a Y-axis clamping slide rail 302 movably connected to the Y-axis clamping slider; a Y-axis clamping mounting plate 303 whose bottom surface is fixedly connected to the Y-axis clamping slide rail; a Y-axis clamping mounting upright plate 304 vertically mounted on the upper surface of one end of the Y-axis clamping mounting plate; and a Y-axis clamping cylinder 305 mounted on the X-axis mounting plate 206 and located on one side of the Y-axis clamping slide rail. The front end of the telescopic rod of the Y-axis clamping cylinder is connected to the Y-axis clamping mounting upright plate 304. To install the Y-axis clamping cylinder 305 and connect the Y-axis clamping mounting plate 303 to the Y-axis clamping cylinder, a first angle bracket 306 is provided on one side of the X-axis mounting plate 206, and the Y-axis clamping cylinder 305 is fixedly connected to the first angle bracket; a Y-axis clamping cylinder connecting block 307 is provided on one side of the Y-axis clamping mounting plate 303, which is fixedly connected to the front end of the telescopic rod of the Y-axis clamping cylinder. After the Y-axis clamping cylinder 305 is activated, it drives its telescopic rod to extend and retract in the Y direction, causing the Y-axis clamping mounting plate 303 and the Y-axis clamping mounting stand 304 to reciprocate in the Y direction, and the mechanism installed on the Y-axis clamping mounting stand 304 moves synchronously.

[0028] like Figures 4-8 As shown, the Y-axis clamping mechanism 40 includes: a Y-axis clamping slider 401 mounted on the X-axis mounting plate 206; a Y-axis clamping slide rail 402 movably connected to the Y-axis clamping slider; a Y-axis clamping mounting plate 403 whose bottom surface is fixedly connected to the Y-axis clamping slide rail; a Y-axis clamping mounting stand 404 vertically mounted on the upper surface of one end of the Y-axis clamping mounting plate; and a Y-axis clamping cylinder 405 mounted on the X-axis mounting plate 206 and located on one side of the Y-axis clamping slide rail. The front end of the telescopic rod of the Y-axis clamping cylinder is connected to the Y-axis clamping mounting stand 404. To install the Y-axis cylinder 405 for clamping triangular plates and to connect the Y-axis mounting plate 403 for clamping triangular plates to the Y-axis cylinder, a second angle bracket 406 is provided on the other side of the X-axis mounting plate 206, and the Y-axis cylinder 405 for clamping triangular plates is fixedly connected to the second angle bracket. A connecting block 407 for clamping triangular plates is provided on one side of the Y-axis mounting plate 403, which is fixedly connected to the front end of the telescopic rod of the Y-axis cylinder for clamping triangular plates. After the Y-axis cylinder 405 for clamping triangular plates is activated, it drives its telescopic rod to extend and retract in the Y direction, causing the Y-axis mounting plate 403 and the Y-axis mounting stand 404 for clamping triangular plates to reciprocate in the Y direction. The mechanism mounted on the Y-axis mounting stand 404 for clamping triangular plates moves synchronously accordingly.

[0029] like Figures 4-8As shown, the first Z-axis mechanism 50 includes: a first Z-axis cylinder 501 disposed on the front surface of the Y-axis mounting plate 304 for the clamping belt; a first upper connecting plate 502 whose bottom end is perpendicularly connected to the upper end of the telescopic rod of the first Z-axis cylinder; a first Z-axis guide rail (not shown) disposed on the back of the Y-axis mounting plate for the clamping belt; a first Z-axis slider 504 movably disposed on the first Z-axis guide rail; a first Z-axis connecting plate 505 whose back is fixedly connected to the first Z-axis slider; and a first Z-axis horizontal plate 506 perpendicularly connected to the first Z-axis connecting plate; the other end of the first Z-axis horizontal plate is fixedly connected to the first upper connecting plate 502. When the first Z-axis cylinder 501 is activated, it drives the first upper connecting plate 502 to reciprocate in the Z-axis direction, and the first Z-axis connecting plate 505 and the first Z-axis slider 504 subsequently reciprocate along the first Z-axis guide rail in the Z-axis direction.

[0030] like Figures 4-8 As shown, the second Z-axis mechanism 60 includes: a second Z-axis cylinder 601 disposed on the front surface of the Y-axis mounting plate 404 for the clamping triangular piece; a second upper connecting plate 602 whose bottom end is perpendicularly connected to the upper end of the telescopic rod of the second Z-axis cylinder; a second Z-axis guide rail 603 disposed on the back side of the Y-axis mounting plate for the clamping triangular piece; a second Z-axis slider 604 movably disposed on the second Z-axis guide rail; a second Z-axis connecting plate 605 whose back side is fixedly connected to the second Z-axis slider; and a second Z-axis horizontal plate 606 perpendicularly connected to the second Z-axis connecting plate. The other end of the second Z-axis horizontal plate is fixedly connected to the second upper connecting plate 602. When the second Z-axis cylinder 601 is activated, it drives the second upper connecting plate 602 to reciprocate in the Z-axis direction, and the second Z-axis connecting plate 605 and the second Z-axis slider 604 subsequently reciprocate along the second Z-axis guide rail 603 in the Z-axis direction. The first Z-axis guide rail is parallel to the second Z-axis guide rail 603.

[0031] like Figures 1-2 , Figures 4-8 As shown, the first finger mechanism 70 includes: a first finger cylinder 701 disposed on the bottom surface of the first Z-direction horizontal plate 506; a first finger mounting plate 702 vertically disposed at the lower end of the telescopic rod of the first finger cylinder; a first movable finger clamp 703 with one end fixedly connected to the bottom surface of the first finger mounting plate; and a first fixed finger clamp 704 with one end perpendicularly connected to the bottom surface of the first Z-direction connecting plate 505 and located below the first movable finger clamp. When the first finger cylinder 701 is activated, it drives the first movable finger clamp 703 to move up and down, cooperating with the first fixed finger clamp 704 to clamp the webbing 90.

[0032] like Figures 1-2 , Figures 4-8As shown, the second finger mechanism 80 includes: a second finger cylinder 801 disposed on the bottom surface of the second Z-direction horizontal plate 606; a second finger mounting plate 802 vertically disposed at the lower end of the telescopic rod of the second finger cylinder; a second movable finger clamp 803 with one end fixedly connected to the bottom surface of the second finger mounting plate; and a second fixed finger clamp 804 with one end perpendicularly connected to the bottom surface of the second Z-direction connecting plate 605 and located below the second movable finger clamp. When the second finger cylinder 801 is activated, it drives the second movable finger clamp 803 to move up and down, cooperating with the second fixed finger clamp 804 to clamp the structure after the webbing 90 and the triangular piece 100 are combined. Here, both the first finger mechanism 70 and the second finger mechanism 80 are used to clamp the structure after the webbing 90 and the triangular piece 100 are combined.

[0033] During processing, the X-axis moving mechanism 20 drives the Y-axis clamping mechanism 30 and the Y-axis clamping triangular piece mechanism 40 to move from the initial position in the X direction. When they reach the set position, the Y-axis clamping mechanism 30 extends forward to one end of the webbing 90 conveyed in the previous process. The first Z-axis mechanism 50 is activated, driving the first finger mechanism 70 to move downward to clamp one end of the webbing. Then, the X-axis moving mechanism 20 is activated again, driving the Y-axis clamping mechanism 30 and the Y-axis clamping triangular piece mechanism 40 back to the initial position, placing that end of the webbing above the triangular piece 100 located at the initial position. Then, the Y-axis clamping mechanism 30 retracts back to the initial position, and the triangular piece 100 folds and clamps the webbing. After the end of the 90° section, the Y-axis clamping mechanism 30 and the Y-axis clamping triangular piece mechanism 40 extend forward. At the same time, the first Z-axis mechanism 50 and the second Z-axis mechanism 60 respectively drive the first finger mechanism 70 and the second finger mechanism 80 to clamp the webbing and the folded triangular piece. The other end of the webbing is cut off, forming an independent section of webbing. The X-axis moving mechanism then starts and moves to the next station in the opposite direction to the direction of clamping the webbing. That is, if the X-axis moving mechanism moves in the X direction when clamping one end of the webbing, then when moving to the next station, the X-axis moving mechanism moves in the -X direction. Using this device, it is convenient to transfer the webbing and the triangular piece to the sewing station in one go, which helps to improve processing efficiency.

[0034] In the above description, it should be noted that the terms "installation", "connection", "connection" and other related terms should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components; "set at" should be understood as "installed at" or "set at", including installation methods such as fixed installation and movable installation.

[0035] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Any equivalent structures made based on the description and drawings of this utility model, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A clamping device, comprising: The mounting base plate (10) is characterized in that it further includes: an X-axis moving mechanism (20) disposed on the mounting base plate, a Y-axis clamping mechanism (30) and a Y-axis clamping triangular piece (40) disposed on the X-axis moving mechanism, a first Z-axis mechanism (50) disposed on the Y-axis clamping mechanism, a second Z-axis mechanism (60) disposed on the Y-axis clamping triangular piece, a first finger mechanism (70) disposed on the first Z-axis mechanism, and a second finger mechanism (80) disposed on the second Z-axis mechanism.

2. The clamping device as described in claim 1, characterized in that, The X-axis moving mechanism (20) includes: a motor (201) located on the upper surface of one end of the mounting base plate (10); a drive pulley (202) located below the motor and sleeved on its output shaft; a driven pulley (203) located on the upper surface of the other end of the mounting base plate; a synchronous belt (204) sleeved on the drive pulley and the driven pulley; two parallel X-axis guide rails (205) located on both sides of the synchronous belt; two X-axis sliders movably mounted on the two X-axis guide rails; an X-axis mounting plate (206) whose bottom surface is fixedly connected to the two X-axis sliders; and a clamping block (207) whose one end is perpendicularly connected to the bottom surface of the X-axis mounting plate. The clamping block clamps the outside of one side of the synchronous belt so that the X-axis mounting plate moves synchronously with the synchronous belt.

3. The clamping device as described in claim 2, characterized in that, The Y-axis clamping mechanism (30) includes: a Y-axis clamping slider (301) mounted on an X-axis mounting plate (206), a Y-axis clamping slide rail (302) movably connected to the Y-axis clamping slider, a Y-axis clamping mounting plate (303) whose bottom surface is fixedly connected to the Y-axis clamping slide rail, a Y-axis clamping mounting stand (304) vertically mounted on the upper surface of one end of the Y-axis clamping mounting plate, and a Y-axis clamping cylinder (305) mounted on the X-axis mounting plate (206) and located on one side of the Y-axis clamping slide rail; the front end of the telescopic rod of the Y-axis clamping cylinder is connected to the Y-axis clamping mounting stand (304).

4. A clamping device as described in claim 2, characterized in that, The Y-axis clamping mechanism (40) includes: a Y-axis clamping slider (401) mounted on the X-axis mounting plate (206), a Y-axis clamping slide rail (402) movably connected to the Y-axis clamping slider, a Y-axis clamping mounting plate (403) whose bottom surface is fixedly connected to the Y-axis clamping slide rail, a Y-axis clamping mounting stand (404) vertically mounted on the upper surface of one end of the Y-axis clamping mounting plate, and a Y-axis clamping cylinder (405) mounted on the X-axis mounting plate (206) and located on one side of the Y-axis clamping slide rail; the front end of the telescopic rod of the Y-axis clamping cylinder is connected to the Y-axis clamping mounting stand (404).

5. A clamping device as described in claim 3, characterized in that, The first Z-axis mechanism (50) includes: a first Z-axis cylinder (501) disposed on the front surface of the Y-axis mounting plate (304) of the clamping belt; a first upper connecting plate (502) whose bottom surface is perpendicularly connected to the upper end of the telescopic rod of the first Z-axis cylinder; a first Z-axis guide rail disposed on the back side of the Y-axis mounting plate of the clamping belt; a first Z-axis slider (504) movably disposed on the first Z-axis guide rail; a first Z-axis connecting plate (505) whose back side is fixedly connected to the first Z-axis slider; and a first Z-axis horizontal plate (506) perpendicularly connected to the first Z-axis connecting plate; the first Z-axis horizontal plate is fixedly connected to the other end of the first upper connecting plate (502).

6. A clamping device as described in claim 4, characterized in that, The second Z-axis mechanism (60) includes: a second Z-axis cylinder (601) disposed on the front surface of the Y-axis mounting plate (404) for the clamping triangular piece; a second upper connecting plate (602) whose bottom surface is perpendicularly connected to the upper end of the telescopic rod of the second Z-axis cylinder; a second Z-axis guide rail (603) disposed on the back side of the Y-axis mounting plate for the clamping triangular piece; a second Z-axis slider (604) movably disposed on the second Z-axis guide rail; a second Z-axis connecting plate (605) whose back side is fixedly connected to the second Z-axis slider; and a second Z-axis horizontal plate (606) perpendicularly connected to the second Z-axis connecting plate; the second Z-axis horizontal plate is fixedly connected to the other end of the second upper connecting plate (602).

7. A clamping device as described in claim 5, characterized in that, The first finger mechanism (70) includes: a first finger cylinder (701) disposed on the bottom surface of the first Z-direction horizontal plate (506), a first finger mounting plate (702) vertically disposed at the lower end of the telescopic rod of the first finger cylinder, a first movable finger clip (703) with one end fixedly connected to the bottom surface of the first finger mounting plate, and a first fixed finger clip (704) with one end vertically connected to the bottom surface of the first Z-direction connecting plate (505) and located below the first movable finger clip.

8. A clamping device as described in claim 6, characterized in that, The second finger mechanism (80) includes: a second finger cylinder (801) disposed on the bottom surface of the second Z-direction horizontal plate (606), a second finger mounting plate (802) vertically disposed at the lower end of the telescopic rod of the second finger cylinder, a second movable finger clip (803) with one end fixedly connected to the bottom surface of the second finger mounting plate, and a second fixed finger clip (804) with one end vertically connected to the bottom surface of the second Z-direction connecting plate (605) and located below the second movable finger clip.

9. A clamping device as described in claim 3, characterized in that, The X-axis mounting plate (206) has a first corner bracket (306) on one side, and the Y-axis clamping cylinder (305) is fixedly connected to the first corner bracket; the Y-axis clamping mounting plate (303) has a Y-axis clamping cylinder connecting block (307) on one side, which is fixedly connected to the front end of the telescopic rod of the Y-axis clamping cylinder.

10. A clamping device as described in claim 4, characterized in that, A second corner bracket (406) is provided on the other side of the X-axis mounting plate (206), and the Y-axis cylinder (405) for clamping triangular pieces is fixedly connected to the second corner bracket; a Y-axis cylinder connecting block (407) for clamping triangular pieces is provided on one side of the Y-axis mounting plate (403) for clamping triangular pieces, which is fixedly connected to the front end of the telescopic rod of the Y-axis cylinder for clamping triangular pieces.

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