Clamp and feeding and discharging device

Abstract

The application discloses a clamp and a feeding and discharging device. The clamp comprises a base, a first material taking assembly, a second material taking assembly and a third material taking assembly arranged on the base. The first material taking assembly is used for taking or releasing a carrier. The second material taking assembly is used for taking or releasing a pressing block, and the second material taking assembly can move up and down relative to the base. The third material taking assembly is used for taking or releasing material, and the third material taking assembly can move horizontally relative to the base. When feeding, the second material taking assembly takes the pressing block, so that the third material taking assembly places the material on the carrier, and then the second material taking assembly places the pressing block on the material to fix the material. Finally, the first material taking assembly takes the carrier and places the pressing block and the material in a processing area, so that one clamp can complete the action process of taking the pressing block, taking the material, placing the pressing block, taking the carrier and placing the carrier, and the feeding and discharging efficiency of products is improved.

Description

Technical Field

[0001] This application relates to the field of automated processing technology, and in particular to a clamp and loading / unloading device. Background Technology

[0002] When sandblasting lighter products, a carrier is used to support them. However, due to the high velocity of the metal abrasive in the sandblasting machine, there is a risk that the product may fly out of the carrier. Therefore, a clamping block is often used to hold the product in place. Typical clamps can only hold one type of item. During unloading and reloading, a single robotic arm needs to perform multiple pick-and-place operations, or multiple robotic arms need to work together, to sequentially complete the actions of picking up the clamping block → picking up the material → placing the clamping block → picking up the carrier → placing the carrier, resulting in low product loading and unloading efficiency. Utility Model Content

[0003] In view of this, this application provides a clamp to solve the problem that general clamps can only hold one type of item, resulting in low product loading and unloading efficiency.

[0004] One embodiment of this application provides a clamp, including a base, and a first picking assembly, a second picking assembly, and a third picking assembly disposed on the base. The first picking assembly is used to pick up or release a carrier. The second picking assembly is used to pick up or release a pressure block, and the second picking assembly is capable of vertical movement relative to the base. The third picking assembly is used to pick up or release material, and the third picking assembly is capable of horizontal movement relative to the base.

[0005] In the above embodiments, during material loading, the second material handling component acquires the pressure block so that the third material handling component places the material onto the carrier. Then, the second material handling component places the pressure block on the material to fix it. Finally, the first material handling component acquires the carrier and places the pressure block and the material together in the processing area. This allows a single fixture to complete the action flow of picking up the pressure block → picking up the material → placing the pressure block → picking up the carrier → placing the carrier, thereby improving the efficiency of product loading and unloading.

[0006] In some embodiments, the first picking assembly includes two first translation drivers and two first grippers. One first translation driver is connected to one first gripper, and the two first grippers are used to pick up or release a carrier. The two first translation drivers are respectively located on opposite sides of the base in a direction perpendicular to the direction of movement of the third picking assembly relative to the base. Each first translation driver is used to drive its corresponding first gripper to move closer to or away from the other first gripper. By driving the corresponding first grippers to move closer to or separate from each other using the two first translation drivers, the function of picking up or releasing the carrier is achieved.

[0007] In some embodiments, each first gripper includes a gripping portion and an inclined portion. The gripping portion is located on the side of the corresponding first gripper facing the other first gripper. The inclined portion is located below the gripping portion of the corresponding first gripper and is used to apply an upward force to the carrier. Before the first gripper grips the carrier, the inclined portion acts on the carrier to lift the carrier, which helps the gripping portion to fully act on the carrier. Furthermore, when the gripping portion grips the carrier, the inclined portion supports the material, which helps to improve the stability of the first gripper gripping the material.

[0008] In some embodiments, the third material handling component includes a suction cup and a second translation driver. The suction cup is used to pick up or release material. The second translation driver is connected to both the base and the suction cup, and is used to drive the suction cup to move horizontally relative to the base. By driving the suction cup with the second translation driver to move the material, the loading and unloading function of the carrier is achieved.

[0009] In some embodiments, the third material handling assembly further includes a first lifting driver, which is connected to both the suction cup and the second translation driver. The first lifting driver is used to drive the suction cup to move up and down relative to the second translation driver and the base. By driving the suction cup to move the material up and down through the first lifting driver, the material is separated from the carrier vertically. When the third material handling assembly moves the material horizontally, the risk of friction between the material and the carrier is reduced.

[0010] In some embodiments, the third material handling component further includes a guide structure for guiding the movement of the suction cup. The guide structure improves the stability of material movement driven by the suction cup, thereby enhancing the accuracy of loading and unloading the carrier.

[0011] In some embodiments, the second material handling assembly includes a clamping driver, a second lifting driver, and two second grippers. The clamping driver is connected to both the second lifting driver and the two second grippers, and is used to drive the two second grippers to move closer or further apart. The two second grippers are used to acquire or release the pressure block. The second lifting driver is connected to a base and is used to drive the clamping driver to move up and down, synchronously moving the two second grippers. By using the clamping driver to drive the two second grippers to acquire or release the pressure block, and then using the second lifting driver to drive the clamping driver to move the second grippers up and down, the assembly functions to pressurize or release pressure on the material on the carrier.

[0012] In some embodiments, each second gripper has a groove on the side facing the other second gripper, the groove being used to receive a portion of the pressing block. Receiving a portion of the pressing block in the groove helps to position the pressing block and increase the contact area between the second gripper and the pressing block, thus improving the stability of the second material handling assembly in acquiring the pressing block.

[0013] In some embodiments, the fixture further includes a detection component for detecting the stroke of the third material handling component and sending a feedback signal to the third material handling component. Detecting the stroke of the third material handling component enables the third material handling component to accurately pick up or release material outside the carrier.

[0014] This application also provides a loading and unloading device, a robotic arm, and a clamp as described above. The robotic arm is connected to a base and is used to drive the base to move. By moving the clamp through the robotic arm, the device can achieve the function of picking up or releasing materials at a designated position, or picking up or releasing a carrier at a designated position. Attached Figure Description

[0015] Figure 1 This is an exploded view of the material, briquettes, and carrier.

[0016] Figure 2 This is a schematic diagram of the working state of the clamp provided in an embodiment of this application. At this time, the clamp is in the state of releasing the pressure block to the material and pressing down the material.

[0017] Figure 3 for Figure 1 This is a schematic diagram of another working state of the clamp, in which the clamp is in the state of moving the material to the outside of the carrier.

[0018] Figure 4 for Figure 2 A schematic diagram of the fixture from another perspective.

[0019] Figure 5 for Figure 4 Side view of the fixture.

[0020] Explanation of main component symbols 10. Fixture; 11. Base; 12. First material handling assembly; 121. First translation driver; 122. First gripper; 123. Clamping part; 124. Inclined part; 125. Limiting part; 13. Second material handling assembly; 131. Clamping driver; 132. Second gripper; 133. Second lifting driver; 134. Groove; 135. Third mounting plate; 14. Third material handling assembly; 141. Suction cup; 142. Second translation driver; 143. First mounting plate; 144. First lifting driver; 145. Guide structure; 146. Guide rod; 147. Guide block; 148. Second mounting plate; 15. Loading area; 16. Transfer area; 17. Detection assembly; 20. Carrier; 30. Material; 40. Pressing block; 41. Lifting lug; 42. Boss. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0022] The terms “first”, “second”, etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implying the quantity, specific order, or primary and secondary relationship of the indicated technical features.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0024] Please see Figure 1 For some products, it is necessary to use a pressure block 40 to press down the product on the carrier 20 in order to reduce the risk of the product flying out of the carrier 20 during the sandblasting process.

[0025] Please see Figure 1 Some of the pressure blocks 40 have a lifting lug 41 fixedly connected to their top for the gripper to hold the pressure block 40.

[0026] Please see Figure 1 Some of the handles 41 have a protrusion 42 at the top.

[0027] One embodiment of this application provides a clamp, including a base, and a first, second, and third material-grabbing components disposed on the base. The first material-grabbing component is used to pick up or release a carrier. The second material-grabbing component is used to pick up or release a pressing block, and the second material-grabbing component is capable of vertical movement relative to the base. The third material-grabbing component is used to pick up or release material, and the third material-grabbing component is capable of horizontal movement relative to the base.

[0028] In the above embodiments, during material loading, the second material handling component acquires the pressure block so that the third material handling component places the material onto the carrier. Then, the second material handling component places the pressure block on the material to fix it. Finally, the first material handling component acquires the carrier and places the pressure block and the material together in the processing area. This realizes the fixture's operation flow of picking up the pressure block → picking up the material → placing the pressure block → picking up the carrier → placing the carrier, thereby improving the efficiency of product loading and unloading.

[0029] Some embodiments of this application will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0030] Please see Figures 2 to 4A clamp 10 includes a base 11, and a first picking component 12, a second picking component 13, and a third picking component 14 disposed on the base 11. When loading material 30, the second picking component 13 first picks up the pressing block 40 and raises the pressing block 40 away from the carrier 20, so that the third picking component picks up the material 30 and moves the material 30 horizontally to transfer the material 30 from outside the carrier 20 onto the carrier 20. After the material 30 is placed on the carrier 20, the second material-picking component 13 drives the pressure block 40 to descend and release the pressure block 40, so that the pressure block 40 is placed on the material 30 and presses down and fixes the material 30. Finally, the carrier 20 is picked up by the first material-picking component 12, so that the clamp 10 can place the carrier 20 together with the pressure block 40 and the material 30 into the processing area under the drive of the external robot. This realizes that one clamp 10 completes the action flow of picking up the pressure block 40 → picking up the material → placing the pressure block 40 → picking up the carrier 20 → placing the carrier 20. Compared with one clamp 10 moving its position multiple times under the drive of the robot or multiple robots driving multiple clamps 10 to cooperate with each other to pick up or release the material 30 and the pressure block 40, it can reduce the number of robot movements and improve the efficiency of product loading and unloading.

[0031] It is understandable that by connecting the second material-grabbing component 13 to the base 11 and moving synchronously with the first material-grabbing component 12 and the third material-grabbing component 14, the relative position of the material-grabbing component 40 to the material 30 and the carrier 20 in the horizontal direction is kept constant, which helps to improve the accuracy of the material-grabbing component 40 pressing the material 30 towards the carrier 20.

[0032] In some embodiments, the first material handling component 12, the second material handling component 13, and the third material handling component 14 are all disposed below the base 11.

[0033] In some embodiments, please refer to Figures 3 to 5 The first material handling assembly 12 includes two first translation drivers 121 and two first grippers 122. Each first translation driver 121 is connected to a first gripper 122. The two first translation drivers 121 are respectively located on both sides of the base 11 in a direction perpendicular to the direction in which the third material handling assembly 14 moves relative to the base 11. During operation, each first translation driver 121 drives the corresponding first gripper 122 to move closer to or away from the other first gripper 122, so that the two first grippers 122 move closer to or separate from each other, thereby realizing the function of the first material handling assembly 12 in acquiring or releasing the carrier 20.

[0034] As shown in the figure, the direction in which the two first translation actuators 121 are set relative to each other is defined as the X-axis direction. The two first translation actuators 121 are located on both sides of the base 11 along the X-axis direction, where the Z-axis is parallel to the direction of gravity and the X-axis is perpendicular to the Z-axis.

[0035] In some embodiments, please refer to Figure 5 Each first gripper 122 includes a gripping portion 123 and an inclined portion 124. The gripping portion 123 is located on the side of the corresponding first gripper 122 facing the other first gripper 122, and the inclined portion 124 is located below the gripping portion 123 of the corresponding first gripper 122. For example, the inclined portion 124 of each first gripper 122 extends relative to the gripping portion 123 along the X-axis towards the other first gripper 122. When the carrier 20 needs to be acquired, the base 11 drives two first translation actuators 121 to move towards the carrier 20 on the processing area. Each gripping actuator 131 drives the corresponding first gripper 122 to move towards the carrier 20 at another first angle. When the inclined portion 124 contacts the carrier 20, the inclined portion 124 applies pressure to the bottom of the carrier 20. The force applied to the surface lifts the carrier 20, raising it above the plane it is on. This allows each first gripper 122 to move a specified distance toward the other first gripper 122, so that the gripping part 123 can fully contact the side of the carrier 20 along the X-axis. At this time, when the gripping parts 123 of the two first grippers 122 grip the carrier 20 together, the inclined part 124 also supports the material 30, which helps to improve the stability of the first gripper 122 gripping the material 30.

[0036] In some embodiments, please refer to Figure 5 Each first gripper 122 further includes a limiting portion 125. In the Z-axis direction, a clamping portion 123 is located between the limiting portion 125 and the tilting portion 124. When the carrier 20 moves a specified distance upward relative to the first gripper 122 under the action of the tilting portion 124, the limiting portion 125 limits the carrier 20 to ensure that the carrier 20 is aligned with the clamping portion 123 in the horizontal direction. This helps reduce the risk of the carrier 20 tilting due to excessive force exerted by the tilting portion 124. It is understood that the length of the clamping portion 123 along the Z-axis direction is equal to the length of the carrier 20 along the Z-axis direction to improve the accuracy of the clamping portion 123 in clamping the carrier 20.

[0037] In some embodiments, please refer to Figure 5 The clamp 10 includes a loading area 15 and a transfer area 16. The loading area 15 is located between two first grippers 122. When the first picking component 12 picks up the carrier 20, the carrier 20 is located in the loading area 15. The transfer area 16 is located above the loading area 15 and is used to hold the material 30.

[0038] In some embodiments, please refer to Figure 4 and Figure 5 The third material handling component 14 includes a suction cup 141 and a second translation driver 142, which is connected to the base 11 and the suction cup 141 respectively. When material 30 needs to be acquired, the base 11 drives the second translation driver 142 to move closer to the material 30 so that the suction cup 141 can adsorb the material 30. After the suction cup 141 acquires the material 30, the second translation driver 142 drives the suction cup 141 to move horizontally relative to the base 11 so that the suction cup 141 moves the material 30 from outside the transfer area 16 to inside the transfer area 16 (when the first picking component 12 holds the carrier 20, the material 30 moves from outside the carrier 20 to the area above the carrier 20, that is, the material 30 moves from outside the transfer area 16 to inside the transfer area 16). When material 30 needs to be released, the base 11 drives the second translation driver 142 to move closer to the placement area of ​​the material 30. The second translation driver 142 drives the suction cup 141 to move the material 30 from inside the transfer area 16 to inside and outside the transfer area 16, and the suction cup 141 releases the material 30 outside the transfer area 16, so as to realize the function of loading and unloading the carrier 20.

[0039] In some embodiments, please refer to Figure 4 The number of suction cups 141 is at least two. The third material handling component 14 also includes a first mounting plate 143. The first mounting plate 143 is connected to the second translation driver 142 and the multiple suction cups 141 respectively. During operation, the second translation driver 142 drives the first mounting plate 143 and synchronously drives the multiple suction cups 141 to move. The multiple suction cups 141 jointly adsorb the material 30, which helps to improve the stability of the third material handling component 14 in acquiring the material 30.

[0040] In some embodiments, please refer to Figure 4 The third material handling component 14 also includes a first lifting driver 144, which is connected to a suction cup 141 and a second translation driver 142. When there is a carrier 20 in the material loading area 15, the first lifting driver 144 drives the suction cup 141 to move the material 30 up and down, so that the material 30 is separated from the carrier 20 vertically. This reduces the risk of friction between the material 30 and the carrier 20 when the third material handling component 14 moves the material 30 horizontally.

[0041] In some embodiments, please refer to Figure 4 When the third material handling component 14 includes the first mounting plate 143, the first lifting driver 144 is connected to the first mounting plate 143 and the second translation driver 142 respectively.

[0042] In some embodiments, please refer to Figure 3 and Figure 4 The third material handling assembly 14 also includes a guide structure 145 for guiding the movement of the suction cup 141. For example, the guide structure 145 includes a guide rod 146 and a guide block 147, the guide block 147 being connected to the base 11, and the guide rod 146 extending along the Y-axis direction, wherein the Y-axis, Z-axis and X-axis are perpendicular to each other. When the third material handling component 14 includes the first lifting driver 144, the third material handling component 14 also includes the second mounting plate 148. One end of the guide rod 146 is slidably connected to the guide block 147, and the other ends of the first lifting driver 144 and the guide rod 146 are respectively connected to the second mounting plate 148. During operation, the second translation driver 142 drives the second mounting plate 148 and simultaneously drives the guide rod 146 and the first lifting driver 144 to move. The guide block 147 sets the movement guide for the guide rod 146, thereby improving the accuracy of the movement of the second mounting plate 148 and thus improving the stability of the material 30 moved by the suction cup 141, thereby improving the accuracy of loading and unloading the carrier 20.

[0043] Furthermore, when the third material handling assembly 14 includes both the first mounting plate 143 and the second mounting plate 148, the number of guide structures 145 is two sets. The guide block 147 of the other set of guide structures 145 is located on the second mounting plate 148. One end of the corresponding guide rod 146 is slidably connected to the guide block 147 on the second mounting plate 148, and the other end is fixedly connected to the first mounting plate 143.

[0044] In some embodiments, please refer to Figure 4 The clamp 10 further includes a detection component 17, which is used to detect the stroke of the third material handling component 14 and send a feedback signal to the third material handling component 14. For example, the detection component 17 includes a photoelectric sensor (with a built-in controller). The photoelectric sensor is located at the fixed end of the second translation driver 142 and sends a detection signal towards the telescopic end of the second translation driver 142 to detect the stroke of the second translation driver 142. When the suction cup 141 is at a designated position, the photoelectric sensor detects that the second translation driver 142 has reached the designated stroke. At this time, the photoelectric sensor sends a feedback signal to the second translation driver 142 and stops the second translation driver 142 from working, thereby improving the accuracy of the second translation driver 142 driving the suction cup 141 to move the material 30.

[0045] In some embodiments, please refer to Figure 4The second material handling assembly 13 includes a clamping driver 131, a second lifting driver 133, and two second grippers 132. The clamping driver 131 is connected to the second lifting driver 133 and the two second grippers 132, respectively. The second lifting driver 133 is connected to the base 11. During operation, before the material 30 needs to be moved into or out of the carrier 20, the lifting lug 41 near the pressure block 40 moves. When the two second grippers 132 and the lifting lug 41 are at the same horizontal height, the second lifting driver 133 stops working, and the clamping driver 131 drives the two second grippers 132 to move closer together, so that the two second grippers 132 clamp the lifting lug 41 to obtain the pressure block 40. The second lifting driver 133 drives the clamping driver 131 to move upward relative to the base 11, and synchronously drives the two second grippers 132 and the pressure block 40 to move, so that the pressure block 40 is away from the carrier 20 or the pressure block 40 releases the pressure on the material 30 on the carrier 20. After the material 30 is placed on the carrier 20, the second lifting driver 133 drives the clamping driver 131 to move downward relative to the base 11, and synchronously drives the two second grippers 132 to move, so that the two second grippers 132 release the pressure block 40 onto the material 30, so that the pressure block 40 pressurizes the material 30.

[0046] In some embodiments, please refer to Figure 4 Each second gripper 132 has a groove 134 on the side facing the other second gripper 132. When the second gripper 132 grips the lifting lug 41, the groove 134 accommodates the lifting lug 41 of the pressing block 40 to position the pressing block 40 and increase the contact area between the second gripper 132 and the lifting lug 41, which helps to improve the stability of the second material handling assembly 13 in obtaining the pressing block 40.

[0047] Furthermore, when the lifting lug 41 includes the boss 42, the second gripper 132 can also support the boss 42 to reduce the risk of the pressure block 40 falling off.

[0048] In some embodiments, please refer to Figure 4 The second lifting actuator 133 and the second translation actuator 142 are respectively disposed on both sides of the base 11 along the Y-axis direction to reduce the risk of interference between the second lifting actuator 133 and the second translation actuator 142. For example, the second lifting actuator 133 is located on one side of the second translation actuator 142 along the positive Y-axis direction. When it is necessary to unload the material 30 on the carrier 20, the second translation actuator 142 drives the suction cup 141 to move the material 30 in the negative Y-axis direction relative to the base 11.

[0049] In some embodiments, please refer to Figure 4The second material handling assembly 13 includes at least two clamping drivers 131, each clamping driver 131 being connected to two second grippers 132 to accommodate the clamping requirements of the pressure block 40 having multiple lifting ears 41. Furthermore, the second material handling assembly 13 also includes a third mounting plate 135, which is connected to the second lifting driver 133 and the at least two clamping drivers 131.

[0050] In some embodiments, the first translation driver 121, the second translation driver 142, the first lifting driver 144, the second lifting driver 133, and the clamping driver 131 are power devices such as cylinders, electric actuators, or hydraulic cylinders that can output reciprocating forces.

[0051] One embodiment of this application also provides a loading and unloading device, including a robotic arm (not shown) and a clamp 10 as described above. The robotic arm is connected to a base 11. Exemplarily, the loading and unloading device includes a processing area (not shown) and a loading and unloading area (not shown). During operation, the robotic arm moves the clamp 10 to the loading and unloading area, and the clamp 10 picks up material 30 in the loading and unloading area (at this time, the clamp 10 also holds a carrier 20). After the clamp 10 picks up the material 30, the clamp 10 places the material 30 on the carrier 20 and applies pressure to the material 30 using a pressure block 40. Simultaneously, the robotic arm moves the clamp 10 towards the processing area so that the clamp 10 can release the carrier 20 into the processing area. After the clamp 10 releases the carrier 20 from the processing area, the robotic arm then moves the clamp 10 to the processing area to pick up another carrier 20 carrying the processed material 30. When the fixture 10 picks up the carrier 20 containing the processed material 30, the fixture 10 removes the material 30 from the carrier 20. Simultaneously, the robotic arm drives the fixture 10 to move towards the loading / unloading area, so that the fixture 10 releases the material 30 into the loading / unloading area. After the fixture 10 releases the material 30, the robotic arm moves the fixture 10 closer to another material 30 to be processed in the loading / unloading area, and the fixture 10 picks up the material 30 in the loading / unloading area. This cycle is repeated to improve the efficiency of loading and unloading the material 30.

[0052] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the substantive scope of this application fall within the scope of this application.

Claims

1. A clamp, characterized in that, It includes a base, and a first material handling component, a second material handling component, and a third material handling component disposed on the base; The first material handling component is used to acquire or release the vehicle; The second material handling component is used to acquire or release the pressure block, and the second material handling component is capable of lifting and lowering relative to the base; The third material handling component is used to acquire or release material, and the third material handling component is capable of moving horizontally relative to the base.

2. The clamp according to claim 1, characterized in that, The first material handling assembly includes two first translation drivers and two first grippers, one of the first translation drivers being connected to one of the first grippers, and the two first grippers being used to acquire or release the carrier; Two first translation actuators are respectively disposed on both sides of the base in a direction perpendicular to the movement of the third material handling component relative to the base. Each first translation actuator is used to drive the corresponding first gripper to move closer to or away from the other first gripper.

3. The clamp according to claim 2, characterized in that, Each of the first grippers includes a gripping portion and an inclined portion, wherein the gripping portion is disposed on the side of the corresponding first gripper facing the other first gripper; The inclined portion is located below the clamping portion of the corresponding first gripper, and the inclined portion is used to apply an upward force to the vehicle.

4. The clamp according to claim 1, characterized in that, The third material handling component includes a suction cup and a second translation driver, wherein the suction cup is used to acquire or release the material; The second translation driver is connected to both the base and the suction cup, and is used to drive the suction cup to move horizontally relative to the base.

5. The clamp according to claim 4, characterized in that, The third material handling component further includes a first lifting driver, which is connected to the suction cup and the second translation driver respectively. The first lifting driver is used to drive the suction cup to move up and down relative to the second translation driver and the base.

6. The clamp according to claim 4 or 5, characterized in that, The third material handling component also includes a guide structure for guiding the movement of the suction cup.

7. The clamp according to claim 1, characterized in that, The second material handling component includes a clamping driver, a second lifting driver, and two second grippers. The clamping driver is connected to the second lifting driver and the two second grippers respectively. The clamping driver is used to drive the two second grippers to move closer or separate, and the two second grippers are used to acquire or release the pressure block. The second lifting driver is connected to the base and is used to drive the clamping driver to move up and down, and synchronously drive the two second grippers to move.

8. The clamp according to claim 7, characterized in that, Each of the second jaws has a groove on the side facing the other second jaw, the groove being used to receive a portion of the pressure block.

9. The clamp according to claim 1, characterized in that, The fixture also includes a detection component, which is used to detect the stroke of the third material handling component and send a feedback signal to the third material handling component.

10. A loading and unloading device, characterized in that, The device includes a robotic arm and a gripper as described in any one of claims 1 to 9, wherein the robotic arm is connected to the base and is used to drive the base to move.

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