Clamper and feeding robot

Abstract

This utility model provides a gripper and a loading robot. The gripper includes: a base plate; multiple clamping plates, respectively mounted on a first side of the base plate to form a clamping area, wherein at least some of the clamping plates are movably connected to the base plate and configured to switch between a clamping position and a release position; a movable plate, disposed on a second side of the base plate, the movable plate being connected to at least some of the clamping plates respectively via one or more connecting rods, wherein one end of the connecting rod is hinged to the movable plate and the other end is hinged to the corresponding clamping plate; a linear actuator, connected to the movable plate and configured to drive the movable plate to move closer to or further away from the base plate along a first direction, thereby causing at least some of the clamping plates to switch between the clamping position and the release position. By providing a contoured clamping surface on each clamping plate of the gripper, it can be ensured that the clamping area formed by the multiple clamping plates matches the shape of the material to be clamped, thereby ensuring that the gripper can stably clamp the corresponding material and reducing the possibility of the material being damaged by clamping.

Description

Technical Field

[0001] This utility model relates to the field of packaging box production equipment technology, and in particular to a gripper and a feeding robot. Background Technology

[0002] In the packaging industry, the appearance and functional design of packaging boxes are crucial to the market competitiveness of products. Figure 1 An exploded view of a partial structure of a packaging box 100 in the related art is shown. (See figure.) Figure 1 As shown, the packaging box 100 has a receiving groove 111 in the box body 110. A tubular (or ring-shaped) material 120 is attached to the groove wall of the receiving groove 111. The material 120 can not only make the box body 110 more beautiful, but also play other specific functions, such as increasing structural strength, providing an additional protective layer, or achieving special visual effects.

[0003] In the production process of the aforementioned packaging box 100, a hopper is typically used to supply material 120, and automated equipment such as robotic arms are used to grasp and place the material 120. However, material 120 has a unique shape and is made of soft material. When grasping, the gripper structure of existing robotic arms is difficult to match the shape of the material, often resulting in damage to material 120 due to shape mismatch. In addition, it is difficult to precisely control the gripping force of the robotic arm. If the gripping force is too large, material 120 will be squeezed, deformed, or even damaged; if the gripping force is too small, material 120 may fall during transfer due to insufficient fixation.

[0004] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Utility Model Content

[0005] To address one or more deficiencies in the prior art, this utility model provides a clamp, comprising: substrate; Multiple clamping plates are respectively installed on the first side of the substrate to form a clamping area, wherein at least some of the clamping plates are movably connected to the substrate and configured to switch between a clamping position and a release position; A movable plate, disposed on the second side of the base plate, is connected to at least a portion of the clamping plates via one or more connecting rods, wherein one end of each connecting rod is hinged to the movable plate and the other end is hinged to a corresponding clamping plate; and A linear actuator, connected to the movable plate and configured to drive the movable plate toward or away from the substrate in a first direction, thereby causing at least a portion of the clamping plate to switch between a clamping position and a release position.

[0006] According to one aspect of the present invention, at least some of the clamping plates are slidably connected to the substrate via one or more first linear guide rails.

[0007] According to one aspect of the present invention, the clamping plate has a contoured clamping surface on the side facing the clamping area.

[0008] According to one aspect of the present invention, a positioning step is provided on the side of the clamping plate facing the clamping area, wherein the positioning step is adjacent to the contoured clamping surface, and the positioning step is closer to the substrate than the contoured clamping surface.

[0009] According to one aspect of the present invention, the end of the clamp away from the substrate is provided with a notch.

[0010] According to one aspect of the present invention, the clamp further includes a fixing plate disposed on a second side of the substrate, the fixing plate being connected to the substrate via one or more connecting rods; The movable plate is located between the fixed plate and the base plate; The linear actuator includes a fixed part and an output part, wherein the fixed part is mounted on the fixed plate, and the output part is connected to the movable plate.

[0011] According to one aspect of the present invention, a first clearance hole is provided on the fixed plate, the fixing part of the linear driver is installed on the side of the fixed plate facing away from the substrate, and the output part passes through the first clearance hole and is connected to the movable plate.

[0012] According to one aspect of the present invention, the movable plate is provided with one or more guide holes, and a guide sleeve is fitted in the guide hole. The guide sleeve is sleeved on the connecting rod and slides in cooperation with the connecting rod.

[0013] According to one aspect of the present invention, the fixed plate is provided with one or more mounting holes, each of which is fitted with a positioning bolt, the positioning bolt being configured to limit the travel of the movable plate.

[0014] According to one aspect of the present invention, the clamp further includes: A connecting bracket, disposed on the second side of the substrate, is provided with one or more bolt holes; and One or more connecting plates are fixedly connected to the surface of the second side of the substrate and extend along a first direction. The connecting plates are connected to the connecting frame by a second linear guide rail extending along the first direction.

[0015] According to one aspect of the present invention, a spring is provided between the connecting plate and the connecting frame, the spring being configured to extend and retract along a first direction.

[0016] An embodiment of this utility model also provides a loading robot, comprising: robotic arm; and The gripper described above is mounted on the output end of the robotic arm.

[0017] Compared with existing technologies, embodiments of this utility model provide a gripper and a loading robot. A linear actuator can precisely drive at least some of the grippers to switch between gripping and releasing positions, thereby enabling multiple grippers to work collaboratively to grip and release materials. Furthermore, by providing a contoured gripping surface on each gripper, the gripping area formed by the multiple grippers matches the shape of the material to be gripped, ensuring stable gripping and reducing the possibility of material damage. Additionally, by providing positioning bolts on the fixed plate, the travel of the movable plate is limited, achieving precise positioning of the grippers and preventing excessive movement. This ensures the grippers can firmly hold the material without causing damage, further reducing the possibility of material damage. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 An exploded view of a partial structure of a packaging box in the related art is shown; Figure 2 A schematic diagram of a clamp according to an embodiment of the present invention is shown; Figure 3 Another schematic diagram of a clamp according to one embodiment of the present invention is shown; Figure 4 A schematic diagram of a clamp holding material according to an embodiment of the present invention is shown.

[0020] In the diagram: 100, Packaging box; 110, Box body; 111, Receiving slot; 120, Material; 200, Clamp; 210, Base plate; 220, Movable plate; 221, Guide hole; 222, Guide sleeve; 230, Linear actuator; 231, Mounting part; 232, Output part; 240, Clamping plate; 241, Contour clamping surface; 242, Positioning step; 243, Notch; 250, Clamping area; 260, Fixing plate; 2 61. First clearance hole; 262. Mounting hole; 263. Positioning bolt; 264. Anti-loosening nut; 270. Connecting rod; 280. Connecting bracket; 281. Bolt hole; 282. Second clearance hole; 290. Connecting plate; 291. Spring; 300. First linear guide rail; 310. First slide rail; 320. First slider; 400. First linear guide rail; 410. Second slide rail; 420. Second slider; 430. Plug. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0022] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," 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. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. 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 technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for mutual communication; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The following disclosure provides many different embodiments or examples for implementing various structures of this invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0026] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0027] Figure 2 A schematic diagram of a clamp 200 according to an embodiment of the present invention is shown. Figure 3 Another schematic diagram of a clamp 200 according to an embodiment of the present invention is shown below, in conjunction with... Figure 2 and Figure 3 Provide a detailed description.

[0028] like Figure 2 and Figure 3As shown, the gripper 200 includes a base plate 210, a movable plate 220, a linear actuator 230, and multiple clamping plates 240. The base plate 210 is generally horizontal and provides mounting positions and support for the other components of the gripper 200. The multiple clamping plates 240 are respectively mounted on a first side of the base plate 210. Figure 2 These clamping plates 240, located on the lower side of the clamping plate 240, cooperate with each other to form a clamping area 250. Specifically, a contoured clamping surface 241 is provided on the inner side of each clamping plate 240 (i.e., the side facing the clamping area 250). The shape of these contoured clamping surfaces 241 is adapted to the partial outer contour of the material to be clamped, thereby enabling the multiple clamping plates 240 to stably and safely clamp the material. It should be noted that, depending on different application scenarios and material shapes, the contoured clamping surfaces 241 on these clamping plates 240 can be designed to be the same or different. For example, in Figure 2 and Figure 3 In the illustrated embodiment, the gripper 200 has four clamping plates 240, the shape of which of the contoured clamping surfaces 241 on these clamping plates 240 is adapted to the outer contour of the material 120. The contoured clamping surfaces 241 of opposite clamping plates 240 are identical, while those of adjacent clamping surfaces 241 are different. Alternatively, in some embodiments, the material to be clamped is annular, and the gripper 200 accordingly provides three, four, or more clamping plates 240, the contoured clamping surfaces 241 on these clamping plates 240 being designed to be arc-shaped to perfectly fit the outer contour of the annular material.

[0029] Of the plurality of clamping plates 240, at least some clamping plates 240 are movably connected to the substrate 210, while the other clamping plates 240 are fixedly connected to the substrate 210. In specific embodiments, the number of clamping plates 240 movably connected to the substrate 210 can be flexibly determined according to the actual application scenario and material shape, and this utility model does not impose specific limitations in this regard. For example, in Figure 2 and Figure 3 In the illustrated embodiment, all four clamping plates 240 are movably connected to the base plate 210. This design is more conducive to the gripper 200 grasping materials. It should be noted that the clamping plates 240 movably connected to the base plate 210 are configured to switch between a clamping position and a release position. When all the clamping plates 240 movably connected to the base plate 210 are in the clamping position, all the clamping plates 240 can work together to firmly clamp the material; correspondingly, when all the clamping plates 240 movably connected to the base plate 210 are in the release position, all the clamping plates 240 will separate from the material, no longer applying any clamping force to the material, thereby releasing the material.

[0030] A movable plate 220 is disposed on the second side of the substrate 210. A clamping plate 240 movably connected to the substrate 210 is connected to the movable plate 220 via one or more connecting rods, wherein one end of the connecting rod is hinged to the movable plate 220 and the other end is hinged to the corresponding clamping plate 240. Optionally, a notch 243 and / or a through hole are provided on the substrate 210. A portion of the clamping plate 240 extends to the first side of the substrate 210 via the corresponding notch 243 or through hole and is hinged to the other end of the connecting rod. The linear actuator 230 may be a cylinder, a hydraulic cylinder, or an electric push rod, etc. It is connected to the movable plate 220 and configured to drive the movable plate 220 to move closer to or further away from the substrate 210 in a first direction, thereby causing the corresponding clamping plate 240 (the clamping plate 240 movably connected to the substrate 210) to switch between a clamping position and a release position, thereby realizing the clamping and release of materials.

[0031] According to one embodiment of the present invention, such as Figure 3 As shown, the clamping plate 240 and the substrate 210 can be movably connected by one or more first linear guide rails 400300. Specifically, the first linear guide rail 400300 may include a first slide rail 310 and a first slider 320, wherein the first slider 320 is slidably connected to the first slide rail 310, the first slide rail 310 is fixedly connected to the surface of the first side of the base plate, and the first slider 320 is fixedly connected to the corresponding clamping plate 240, thereby realizing the movable connection between the clamping plate 240 and the substrate 210, allowing the clamping plate 240 to slide along the first linear guide rail 400300 on the substrate 210. Those skilled in the art will readily understand that in other embodiments, the first slider 320 of the first linear guide rail 400300 can also be fixedly connected to the surface of the first side of the base plate, and the first slide rail 310 can be fixedly connected to the corresponding clamping plate 240, which also achieves the movable connection between the clamping plate 240 and the substrate 210.

[0032] According to one embodiment of the present invention, such as Figure 3 As shown, a positioning step 242 is provided on the inner side of the clamping plate 240 (the side facing the clamping area 250). This positioning step 242 is adjacent to the aforementioned contoured clamping surface 241, and the positioning step 242 is closer to the substrate 210 than the contoured clamping surface 241. When clamping materials, the positioning step 242 abuts against the materials, effectively preventing the clamping device 200 (multiple clamping plates 240) from over-clamping the materials, ensuring that a portion of the materials remains outside the clamping device 200 (e.g., ...). Figure 4 As shown in the figure, this not only facilitates the smooth placement of materials into the designated position, but also provides convenience for using image acquisition equipment to detect the materials held by the gripper 200.

[0033] According to one embodiment of the present invention, such as Figure 2 and Figure 3As shown, at one end of the clamping plate 240 away from the substrate 210 ( Figure 2 and Figure 3 The lower end of the clamp 240 has a notch 243. This design not only effectively reduces the weight of the clamp 240, but also allows the material to be more fully exposed, thus facilitating subsequent operations and inspections.

[0034] According to one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the clamp 200 may further include a fixed plate 260 and one or more connecting rods 270. The fixed plate 260 is disposed on the second side of the substrate 210 and spaced at a predetermined distance from the substrate 210. The aforementioned movable plate 220 is located between the fixed plate 260 and the substrate 210. The connecting rods 270 are fixedly connected between the fixed plate 260 and the substrate 210 to fix the fixed plate 260 and the substrate 210 relative to each other. The linear actuator 230 includes a fixed part and an output part 232. The fixed part may be, for example, the cylinder body of a cylinder, which is mounted on the fixed plate 260. Correspondingly, the output part 232 may be, for example, the piston rod of a cylinder, which is connected to the movable plate 220. Through the driving action of the linear actuator 230, the movable plate 220 can be pushed closer to or further away from the substrate 210 in a first direction, thereby driving the corresponding clamping plate 240 to switch between a clamping position and a release position, thereby realizing the clamping and release of materials.

[0035] According to one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, a first clearance hole 261 is provided at the center of the fixed plate 260, which penetrates the upper and lower sides of the fixed plate 260. Correspondingly, the mounting part 231 of the linear actuator 230 is mounted on the upper side of the fixed plate 260 by a bracket, while the output part 232 passes through the first clearance hole 261 and is fixedly connected to the movable plate 220. By adopting the above design, the structure of the gripper 200 can be made more compact, which is beneficial to improving the operational flexibility and adaptability of the gripper 200 in a limited space.

[0036] According to one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, one or more guide holes 221 are provided on the movable plate 220, the number of guide holes 221 corresponding to the number of connecting rods 270. The connecting rods 270 pass through the movable plate 220 via their corresponding guide holes 221. Furthermore, at least one guide sleeve 222 is fitted into each guide hole 221, and the guide sleeve 222 is slidably fitted onto the corresponding connecting rod 270. By adopting the above design, the connecting rods 270 can guide the movement of the movable plate 220, which helps to improve the movement stability and accuracy of the movable plate 220.

[0037] According to one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, one or more mounting holes 262 are provided on the fixed plate 260, penetrating the upper and lower surfaces of the fixed plate 260. A positioning bolt 263 is fitted into the mounting hole 262, aligning with the movable plate 220. In some embodiments, the mounting hole 262 is a threaded hole, and the positioning bolt 263 is threaded into the threaded hole. By tightening the positioning bolt 263, it can be moved closer to or further away from the movable plate 220, thereby effectively adjusting the travel of the movable plate 220. This ensures that the linear actuator 230 can accurately drive the clamping plate 240 to switch between the clamping and releasing positions, for example... Figure 2 and Figure 3 In the illustrated embodiment, when the movable plate 220 abuts against the positioning bolt 263, the clamping plate 240 reaches the clamping position. Preferably, a locking nut 264 is also fitted onto the positioning bolt 263. Tightening the locking nut 264 to abut against the movable plate 220 further secures the positioning bolt 263, preventing it from shifting position due to vibration or other external forces, thereby ensuring the stability and reliability of the clamp 200. Furthermore, in some embodiments, the mounting hole 262 may not have threads; instead, a nut may be fixedly installed in the mounting hole 262. The stroke of the movable plate 220 can be adjusted by the cooperation of this nut and the positioning bolt 263.

[0038] According to one embodiment of the present invention, such as Figure 2 and Figure 3As shown, the gripper 200 may further include a connecting frame 280 and one or more connecting plates 290. The connecting frame 280 is located on the second side of the substrate 210, and one or more bolt holes 281 are provided on the connecting frame 280 to facilitate the use of bolts to install the connecting frame 280 to the output end of the robotic arm, thereby connecting the gripper 200 to the robotic arm. The connecting plate 290 is fixedly connected to the surface of the second side of the substrate 210 and extends along a first direction. The connecting plate 290 and the connecting frame 280 are connected by a second linear guide rail extending along the first direction. Specifically, the second linear guide rail may include a second slide rail 410 and a second slider 420, wherein the second slider 420 is slidably connected to the second slide rail 410, the second slide rail 410 is fixedly connected to the side of the connecting frame 280, and the second slider 420 is fixedly connected to the side of the corresponding connecting plate 290. This structure realizes the movable connection between the connecting frame 280 and the connecting plate 290 (substrate 210), allowing the connecting frame 280 and the substrate 210 to move relative to each other in the first direction. Preferably, the second linear guide rail may further include a plug 430, which is installed at the lower end of the second slide rail 410 to prevent the second slider 420 from falling off the second guide rail. When the gripper 200 is driven by the robotic arm to perform gripping and placing operations on materials, the allowance for movement between the base plate 210 and the connecting frame 280 can play a buffering role, effectively reducing the impact of the gripper 200 on the hopper, materials, and boxes, thereby ensuring the safety of gripping and placing operations. Those skilled in the art will readily understand that although the design and function of the connecting frame 280 and the connecting plate 290 have been described in detail above, in other embodiments, the aforementioned connecting frame 280 and connecting plate 290 may not be provided, and the base plate 210 may be directly connected to the output end of the robotic arm using bolts to achieve the connection between the gripper 200 and the robotic arm.

[0039] According to one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, a spring 291 is provided between the top of the connecting plate 290 and the connecting frame 280. The spring 291 is configured to extend and retract in a first direction. This further improves the cushioning performance of the gripper 200, enhances its adaptability to complex working conditions, and further ensures the safety of gripping and placing operations.

[0040] According to one embodiment of the present invention, such as Figure 2 As shown, a second clearance hole 282 is provided on the connecting frame 280, which extends through the upper and lower sides of the connecting frame 280. Correspondingly, a portion of the mounting portion 231 of the linear actuator 230 passes through the second clearance hole 282. By adopting the above design, the structure of the gripper 200 can be made more compact, which is beneficial to improving the operational flexibility and adaptability of the gripper 200 in a limited space.

[0041] An embodiment of this utility model also provides a loading robot, which includes a robotic arm and the gripper 200 described above. The robotic arm can be a multi-joint robotic arm or a selectively compliant robotic arm (SCARA), etc. The gripper 200 is mounted on the output end of the robotic arm and can be driven by the robotic arm.

[0042] Compared with the prior art, the embodiments of this utility model provide a gripper 200 and a loading robot. A linear actuator 230 can precisely drive at least some of the grippers 240 to switch between gripping and releasing positions, thereby enabling multiple grippers 240 to work together to complete the gripping and releasing of materials. Furthermore, by providing a contoured gripping surface 241 on each gripper 240 of the gripper 200, it can be ensured that the gripping area 250 formed by the multiple grippers 240 matches the shape of the material to be gripped, thus ensuring that the gripper 200 can stably grip the corresponding material and reducing the possibility of material damage. In addition, by providing positioning bolts 263 on the fixed plate 260, the stroke of the movable plate 220 can be limited, thereby achieving precise positioning of the grippers 240, preventing excessive movement of the grippers 240, and ensuring that the grippers 240 can just firmly grip the material without causing damage, further reducing the possibility of material damage.

[0043] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A clamp, characterized in that, include: substrate; Multiple clamping plates are respectively installed on the first side of the substrate to form a clamping area. The clamping plates are provided with a contoured clamping surface on the side facing the clamping area. At least some of the clamping plates are movably connected to the substrate and configured to switch between a clamping position and a release position. A movable plate, disposed on the second side of the base plate, is connected to at least a portion of the clamping plates via one or more connecting rods, wherein one end of each connecting rod is hinged to the movable plate and the other end is hinged to a corresponding clamping plate; and A linear actuator, connected to the movable plate and configured to drive the movable plate toward or away from the substrate in a first direction, thereby causing at least a portion of the clamping plate to switch between a clamping position and a release position.

2. The clamp according to claim 1, characterized in that, At least some of the clamping plates are slidably connected to the substrate via one or more first linear guide rails.

3. The clamp according to claim 1, characterized in that, The clamping plate has a positioning step on the side facing the clamping area, wherein the positioning step is adjacent to the contoured clamping surface and is closer to the substrate than the contoured clamping surface.

4. The clamp according to claim 1, characterized in that, The clamping plate has a notch at the end away from the substrate.

5. The clamp according to claim 1, characterized in that, The clamp also includes a fixing plate, which is disposed on the second side of the base plate and is connected to the base plate by one or more connecting rods; The movable plate is located between the fixed plate and the base plate; The linear actuator includes a fixed part and an output part, wherein the fixed part is mounted on the fixed plate, and the output part is connected to the movable plate.

6. The clamp according to claim 5, characterized in that, The fixed plate is provided with a first clearance hole, the fixing part of the linear driver is installed on the side of the fixed plate facing away from the substrate, and the output part passes through the first clearance hole and is connected to the movable plate.

7. The clamp according to claim 5, characterized in that, The movable plate is provided with one or more guide holes, and a guide sleeve is fitted into the guide hole. The guide sleeve is sleeved on the connecting rod and slides with the connecting rod.

8. The clamp according to claim 5, characterized in that, The fixed plate is provided with one or more mounting holes, each of which is fitted with a positioning bolt. The positioning bolt is configured to limit the travel of the movable plate.

9. The clamp according to any one of claims 1-8, characterized in that, The clamp also includes: A connecting bracket, disposed on the second side of the substrate, is provided with one or more bolt holes; and One or more connecting plates are fixedly connected to the surface of the second side of the substrate and extend along a first direction. The connecting plates are connected to the connecting frame by a second linear guide rail extending along the first direction.

10. The clamp according to claim 9, characterized in that, A spring is provided between the connecting plate and the connecting frame, and the spring is configured to extend and retract in a first direction.

11. A loading robot, characterized in that, include: robotic arm; and The gripper according to any one of claims 1-10, wherein the gripper is mounted on the output end of the robotic arm.

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