Grabbing mechanism and grabbing method thereof

Abstract

The invention relates to a grabbing mechanism and a grabbing method thereof.The grabbing mechanism comprises a floating locking unit and a grabbing unit, the floating locking unit comprises a first support part, an X-axis kinematic pair, a Y-axis kinematic pair, a second support part, a locking driving part and a locking shaft, the second support part has the degree of freedom of movement in the plane, the second support part is provided with a locking hole, and the locking shaft is arranged in the locking hole; the locking driving piece drives the locking shaft to move in the Z-axis direction, the locking shaft penetrates through the locking hole and comprises a locking part, a releasing part and a transition part, the shaft diameter of the locking part is the same as the hole diameter of the locking hole, the shaft diameter of the releasing part is smaller than the hole diameter of the locking hole, and the grabbing unit grabs products. When the product is grabbed, the grabbing mechanism is in a locking state, the product can be accurately grabbed, when the product is assembled or placed, the grabbing mechanism is in a floating state, the product can be assembled to another product with a certain tolerance in a floating mode or transferred to a carrier with a certain tolerance in a floating mode, and state switching of the grabbing mechanism is achieved through a simple structure.

Description

Technical Field

[0001] The present invention relates to the technical field of article transfer, and in particular to a grasping mechanism and a grasping method thereof. Background Art

[0002] With the development of automation technology, robotic automated assembly methods have been increasingly widely used. Robots grab products and then assemble them to another product. Due to certain tolerances between the product and the other product, the problem of the product not being able to be accurately assembled to another product may occur during assembly.

[0003] The Chinese invention patent with application publication number CN112976039A discloses a three-degree-of-freedom floating device for robot grippers, including a robot mounting plate, a vertical floating frame, a horizontal floating plate, a vertical locking mechanism and a horizontal locking mechanism. The vertical floating frame can be vertically movably connected to the robot mounting plate, and the horizontal floating plate can be horizontally movably arranged in the vertical floating frame. The vertical floating frame is provided with a gripper mounting plate on the outside of the robot mounting plate. The horizontal floating plate is provided with a central axis, and the central axis is fixedly connected to the gripper mounting plate after passing through the vertical floating frame. A gap is provided between the central axis and the vertical floating frame. The vertical floating frame is locked by the vertical locking mechanism, and the horizontal floating plate is locked by the horizontal locking mechanism. The above-mentioned three-degree-of-freedom floating device for robot grippers is relatively easy to switch from a locked state to a floating state, but it cannot return to a locked state from a floating state without stopping the machine. How to switch between the locked state and the floating state at any time during use is a technical problem that needs to be solved in this field. Summary of the invention

[0004] To this end, the present invention provides a gripping mechanism and a gripping method thereof, which can switch between a locking state and a floating state at any time during use.

[0005] In order to solve the above technical problems, the present invention provides a gripping mechanism, comprising: The floating locking unit comprises a first bracket member, an X-axis motion pair, a Y-axis motion pair, a second bracket member, a locking driving member and a locking shaft, wherein the second bracket member is connected to the first bracket member through the X-axis motion pair and the Y-axis motion pair, the second bracket member has a degree of freedom to move in a plane relative to the first bracket member, the second bracket member is provided with a locking hole, the locking driving member is connected to the first bracket member and drives the locking shaft to move along the Z-axis direction, the locking shaft extends along the Z-axis direction and passes through the locking hole, the locking shaft comprises a locking portion, a releasing portion and a transition portion located at different positions in the Z-axis direction, the shaft diameter of the locking portion is the same as the hole diameter of the locking hole, the shaft diameter of the releasing portion is smaller than the hole diameter of the locking hole, and the transition portion smoothly connects the locking portion and the releasing portion; A grabbing unit is connected to the second bracket member and grabs the product.

[0006] Furthermore, the locking portion and the releasing portion are both cylindrical, and the transition portion is truncated cone-shaped.

[0007] Furthermore, the floating locking unit also includes a Z-axis guide, which is connected to the first bracket member. The Z-axis guide is provided with a guide hole, and the locking shaft passes through the guide hole, and the guide hole guides the locking shaft to move along the Z-axis direction.

[0008] Furthermore, the guide hole is cooperatively connected with the locking portion.

[0009] Further, the locking shaft includes two sections of the locking portion, one section of the releasing portion and two sections of the transition portion, and the two ends of the releasing portion are respectively connected to the two sections of the locking portion through the two sections of the transition portion; the Z-axis guide member includes two guide portions, and the two guide portions are respectively located on both sides of the second bracket member along the Z-axis direction, and the two guide portions are both provided with the guide holes, and the two guide holes are respectively matched and connected with the two sections of the locking portion.

[0010] Furthermore, the Z-axis guide member also includes a connecting portion, which is connected between the two guide portions, and the connecting portion is relatively fixed to the first bracket member.

[0011] Further, the X-axis motion pair includes an X-axis slide rail and an X-axis slider, the X-axis slide rail is relatively fixed to the first bracket, and the X-axis slider is slidably connected to the X-axis slide rail along the X-axis direction; The Y-axis kinematic pair includes a Y-axis guide rail and a Y-axis slider. The Y-axis guide rail is relatively fixed to the X-axis slider. The Y-axis slider is slidably connected to the Y-axis guide rail along the Y-axis direction. The second bracket is relatively fixed to the Y-axis slider.

[0012] Further, the floating locking unit includes two X-axis motion pairs, two Y-axis motion pairs and two second brackets, each X-axis motion pair includes one X-axis slide rail and two X-axis sliders, each Y-axis guide rail is relatively fixed to two X-axis sliders on different X-axis slide rails, and the two second brackets are relatively fixed to the Y-axis sliders of the two Y-axis motion pairs respectively; The grabbing mechanism comprises two grabbing units, and the two grabbing units are respectively connected to two second bracket members.

[0013] Furthermore, the grabbing unit comprises a clamping drive member and two clamping claws, wherein the clamping drive member is connected to the second bracket member and drives the two clamping claws to open and close along the Y-axis direction.

[0014] Furthermore, in the grasping method of the grasping mechanism, when the grasping mechanism grasps the product, the locking portion is connected in a cooperative manner with the locking hole, and when the grasping mechanism releases the product, the releasing portion is connected in a cooperative manner with the locking hole.

[0015] The above technical solution of the present invention has the following advantages compared with the prior art: 1) The gripping mechanism and gripping method described in the present invention can switch the locking state and floating state of the gripping mechanism at any time by setting a floating locking unit. When gripping a product, the gripping mechanism is in a locked state, and the product can be accurately gripped. When assembling or placing a product, the gripping mechanism is in a floating state, and the product can be floated and assembled to another product with a certain tolerance or floated and transferred to a carrier with a certain tolerance. The present invention realizes the state switching of the gripping mechanism through a simple structure; 2) The gripping mechanism and gripping method thereof of the present invention have a locking portion and a releasing portion that are both cylindrical, a transition portion that is truncated cone-shaped, a locking shaft that has a regular shape and high dimensional accuracy, is easy to manufacture and process, and has good mechanical properties; 3) The gripping mechanism and gripping method of the present invention provide a Z-axis guide so that the position accuracy of the locking shaft is high; 4) In the gripping mechanism and gripping method described in the present invention, a small part of the locking shaft is the release part, which only needs to cooperate with the locking hole, and the main part of the locking shaft is the locking part, which cooperates with the locking hole and the guide hole. The locking part has a large diameter, and the overall strength of the locking shaft is relatively high; 5) The gripping mechanism and gripping method of the present invention, the locking shaft includes two locking parts, one releasing part and two transition parts, the Z-axis guide includes two guide parts, the two guide parts cooperate with the two locking parts, on the one hand, the strength of the locking shaft is further improved, on the other hand, two points determine a straight line, and the motion trajectory of the locking shaft is more accurate; 6) The gripping mechanism and gripping method of the present invention, the Z-axis guide also includes a connecting portion, which connects the Z-axis guide into a whole, so as to facilitate the installation of the Z-axis guide; 7) The gripping mechanism and gripping method of the present invention, the X-axis motion pair and the Y-axis motion pair are both mobile pairs, and the two mobile pairs cooperate with each other to realize the floating of the second bracket member in the plane; 8) The gripping mechanism and gripping method of the present invention, the gripping mechanism includes two X-axis motion pairs, two Y-axis motion pairs, two second brackets and two gripping units, which can grip objects more stably; 9) The gripping mechanism and gripping method described in the present invention, wherein the gripping unit is a clamping claw, can realize the gripping, installation and transfer of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0017] Figure 1 A schematic diagram of a gripping mechanism in the present invention at one angle; Figure 2 is a schematic diagram of a floating locking unit in the present invention; Figure 3 is a schematic diagram of a second bracket member in the present invention; Figure 4 is a schematic diagram of the locking shaft in the present invention; Figure 5 It is a schematic diagram of the Y-axis guide in the present invention.

[0018] Description of the accompanying drawings in the specification: 1. floating locking unit; 11. first bracket member; 12. X-axis kinematic pair; 121. X-axis slide rail; 122. X-axis slider; 13. Y-axis kinematic pair; 131. Y-axis guide rail; 132. Y-axis slider; 14. second bracket member; 141. locking hole; 15. locking drive member; 16. locking shaft; 161. locking portion; 162. releasing portion; 163. transition portion; 17. Z-axis guide member; 171. guide hole; 172. guide portion; 173. connecting portion; 2. Grabbing unit; 21. Clamping drive; 22. Clamping claw. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention. Embodiment 1

[0020] See also Figures 1 to 5 As shown, one embodiment of the grabbing mechanism provided by the present invention.

[0021] The gripping mechanism includes: The floating locking unit 1 comprises a first bracket member 11, an X-axis motion pair 12, a Y-axis motion pair 13, a second bracket member 14, a locking driving member 15 and a locking shaft 16. The second bracket member 14 is connected to the first bracket member 11 through the X-axis motion pair 12 and the Y-axis motion pair 13. The second bracket member 14 has a degree of freedom to move in a plane relative to the first bracket member 11. The second bracket member 14 is provided with a locking hole 141. The locking driving member 15 is connected to the first bracket member 11. The locking shaft 16 is driven to move along the Z-axis direction. The locking shaft 16 extends along the Z-axis direction and passes through the locking hole 141. The locking shaft 16 includes a locking portion 161, a releasing portion 162 and a transition portion 163 located at different positions in the Z-axis direction. The shaft diameter of the locking portion 161 is the same as the hole diameter of the locking hole 141. The shaft diameter of the releasing portion 162 is smaller than the hole diameter of the locking hole 141. The transition portion 163 smoothly connects the locking portion 161 and the releasing portion 162. The grabbing unit 2 is connected to the second bracket 14 and grabs the product.

[0022] When the locking drive member 15 drives the locking shaft 16 to move axially, when the locking portion 161 of the locking shaft 16 cooperates with the locking hole 141, the locking shaft 16 and the locking hole 141 are tightly matched. Therefore, the second bracket member 14 cannot move relative to the locking shaft 16 along the X-axis direction and the Y-axis direction, and the position of the second bracket member 14 is fixed. Therefore, the position of the grabbing unit 2 is also fixed. At this time, the grabbing mechanism is in a locked state and can accurately grab the product; when the release portion 162 of the locking shaft 16 cooperates with the locking hole 141, there is a gap between the locking shaft 16 and the locking hole 141. Therefore, the second bracket member 14 has the freedom to move a small distance relative to the locking shaft 16 along the X-axis direction and the Y-axis direction. Therefore, the position of the grabbing unit 2 can float a small amount. At this time, the grabbing mechanism is in a floating state. The grabbing mechanism can float the product to another product with a certain tolerance, or float it into a carrier with a certain tolerance. Different parts of the outer side surface of the locking shaft 16 should be smoothly connected without obvious contractions or mutations, so that different positions of the locking shaft 16 can smoothly pass through the locking hole 141 when the locking shaft 16 moves axially.

[0023] By setting up the floating locking unit 1, the locking state and the floating state of the grasping mechanism can be switched at any time. When grasping the product, the grasping mechanism is in the locking state, and the product can be grasped accurately. When assembling or placing the product, the grasping mechanism is in the floating state, and the product can be floated and assembled to another product with a certain tolerance or floated and transferred to a carrier with a certain tolerance. The present invention realizes the state switching of the grasping mechanism through a simple structure.

[0024] The above-mentioned first bracket member 11 is used for external connection and serves as the installation base of the floating locking unit 1. The first bracket member 11 in this embodiment is a bracket plate. The above-mentioned X-axis motion pair 12 and Y-axis motion pair 13 are for making the grasping unit 2 translate in a precise plane. The specific structure of the X-axis motion pair 12 and the Y-axis motion pair 13 in this embodiment will be described below. The above-mentioned second bracket member 14 serves as the installation base of the grasping unit 2. The second bracket member 14 in this embodiment is a bracket plate. The above-mentioned grasping unit 2 can grasp the product and then assemble or transfer the product. The specific structure of the grasping unit will be described below.

[0025] In this embodiment, the locking portion 161 and the releasing portion 162 are both cylindrical, and the transition portion 163 is truncated cone-shaped.

[0026] The locking portion 161 and the release portion 162 are both cylindrical, and the transition portion 163 is truncated cone-shaped. Both the cylinder and the truncated cone are rotating bodies. On the one hand, the locking shaft 16 has smooth transitions at all locations along the circumferential and axial directions, and it is not easy for the locking shaft 16 to get stuck with the locking hole 141. On the other hand, the processing technology of the cylinder and the truncated cone is mature, which can improve the processing accuracy of the locking shaft 16, and the mechanical properties of the locking shaft 16 are good.

[0027] In this embodiment, the floating locking unit 1 also includes a Z-axis guide member 17, which is connected to the first bracket member 11. The Z-axis guide member 17 is provided with a guide hole 171, and the locking shaft 16 passes through the guide hole 171. The guide hole 171 guides the locking shaft 16 to move along the Z-axis direction.

[0028] When the above-mentioned gripping mechanism is in the locked state, the product is gripped accurately, so the position accuracy of the gripping unit 2 is relatively high, and the position accuracy of the gripping unit 2 depends on the position accuracy of the second bracket member 14, and the position accuracy of the second bracket member 14 depends on the position accuracy and shape accuracy of the locking shaft 16. Therefore, the size accuracy and position accuracy of the locking shaft 16 itself are required to be high, especially the position and shape accuracy of the locking portion 161 of the locking shaft 16. By providing the Z-axis guide 17, the movement of the locking shaft 16 can be guided, and the position accuracy of the locking shaft 16 can be ensured. By providing the Z-axis guide 17, the position accuracy of the locking shaft 16 is high.

[0029] In this embodiment, the guide hole 171 is cooperatively connected with the locking portion 161 .

[0030] When the gripping mechanism is in a locked state, the guide hole 171 contacts the above-mentioned locking portion 161. When the gripping mechanism is in a released state, the guide hole 171 contacts the locking portion 161. A small part of the locking shaft 16 is the release portion 162, which only needs to cooperate with the locking hole 141. The main part of the locking shaft 16 is the locking portion 161, and the locking portion cooperates with the locking hole 141 and the guide hole 171. The diameter of the locking portion 161 is large, and the overall strength of the locking shaft 16 is relatively high.

[0031] In this embodiment, the locking shaft 16 includes two sections of the locking portion 161, one section of the releasing portion 162 and two sections of the transition portion 163. The two ends of the releasing portion 162 are respectively connected to the two sections of the locking portion 161 through the two sections of the transition portion 163; the Z-axis guide member 17 includes two guide portions 172. The two guide portions 172 are respectively located on both sides of the second bracket member 14 along the Z-axis direction. The two guide portions 172 are both provided with the guide holes 171. The two guide holes 171 are respectively matched and connected with the two sections of the locking portion 161.

[0032] The shaft diameter of the locking portion 161 is the same as the large end diameter of the transition portion 163, and the large ends of the locking portion 161 and the transition portion 163 are connected to each other. The shaft diameter of the release portion 162 is the same as the small end diameter of the transition portion 163, and the small ends of the release portion 162 and the transition portion 163 are connected to each other. The locking shaft 16 includes two sections of locking portions 161, one section of release portion 162, and two sections of transition portions 163. The Z-axis guide 17 includes two guide portions 172. The two guide portions 172 cooperate with the two sections of locking portions 161. On the one hand, the strength of the locking shaft 16 is further improved. On the other hand, two points determine a straight line, and the motion trajectory of the locking shaft 16 is more accurate.

[0033] In this embodiment, the Z-axis guide member 17 further includes a connecting portion 173 . The connecting portion 173 is connected between the two guide portions 172 . The connecting portion 173 is relatively fixed to the first bracket member 11 .

[0034] In this embodiment, the Z-axis guide member 17 is roughly in the shape of a concave character, the bottom of the concave character is a connecting portion 173, the groove wall of the concave character is a guiding portion 172, and the guiding hole 171 passes through the inner side and the outer side of the groove wall. The connecting portion 173 connects the Z-axis guide member 17 into a whole, which facilitates the connection of the Z-axis guide member 17 with the first bracket member 11.

[0035] In this embodiment, the X-axis kinematic pair 12 includes an X-axis slide rail 121 and an X-axis slider 122. The X-axis slide rail 121 is relatively fixed to the first bracket 11, and the X-axis slider 122 is slidably connected to the X-axis slide rail 121 along the X-axis direction. The Y-axis kinematic pair 13 includes a Y-axis guide rail 131 and a Y-axis slider 132. The Y-axis guide rail 131 is relatively fixed to the X-axis slider 122. The Y-axis slider 132 is slidably connected to the Y-axis guide rail 131 along the Y-axis direction. The second bracket 14 is relatively fixed to the Y-axis slider 132.

[0036] The X-axis slide rail 121 and the X-axis slider 122 form an X-axis moving pair, and the Y-axis guide rail 131 and the Y-axis slider 132 form a Y-axis moving pair. Both the X-axis moving pair 12 and the Y-axis moving pair 13 are moving pairs, and the two moving pairs cooperate with each other to realize the second bracket 14 to float smoothly in the plane.

[0037] In this embodiment, the floating locking unit 1 includes the two X-axis motion pairs 12, the two Y-axis motion pairs 13 and the two second brackets 14, each of the X-axis motion pairs 12 includes one X-axis guide rail 121 and two X-axis sliders 122, each of the Y-axis guide rails 131 is relatively fixed to the two X-axis sliders 122 on different X-axis guide rails 121, and the two second brackets 14 are relatively fixed to the Y-axis sliders 132 of the two Y-axis motion pairs 13 respectively; The grabbing mechanism comprises the two grabbing units 2 , and the two grabbing units 2 are connected to the two second bracket members 14 respectively.

[0038] In this embodiment, the first bracket 11, the X-axis motion pair 12, the Y-axis motion pair 13 and the second bracket 14 are connected in sequence. The X-axis motion pair 12 needs to bear a large weight, so two X-axis motion pairs 12 are set, and two Y-axis motion pairs 13, the second bracket 14 and the grabbing unit 2 are set. The two grabbing units 2 grab two positions of the product, and the grabbing mechanism grabs the product more smoothly. The grabbing mechanism includes two X-axis motion pairs 12, two Y-axis motion pairs 13, two second brackets 14 and two grabbing units 2, which can grab items more smoothly.

[0039] In this embodiment, the grabbing unit 2 includes a clamping driving member 21 and two clamping claws 22. The clamping driving member 21 is connected to the second bracket member 14 and drives the two clamping claws 22 to open and close along the Y-axis direction.

[0040] The opening and closing movement of the two clamping jaws 22 refers to the two clamping jaws 22 approaching each other and moving away from each other along the Y-axis direction. When the two clamping jaws 22 approach each other, they can clamp the product, and when the two clamping jaws 22 move away from each other, they release the product. The clamping drive 21 in this embodiment is a clamping jaw cylinder. The clamping jaw cylinder is a pneumatic finger, also known as a pneumatic clamping jaw or a pneumatic clamping finger. It is an actuator that uses compressed air as a power source to clamp or grab a workpiece. The grabbing unit 2 is a clamping jaw that can realize the grabbing, installation, and transfer of the product.

[0041] In this embodiment, in the grabbing method of the grabbing mechanism, when the grabbing mechanism grabs the product, the locking portion 161 is connected with the locking hole 141 , and when the grabbing mechanism releases the product, the releasing portion 162 is connected with the locking hole 141 .

[0042] Before the grabbing mechanism grabs the product, the locking drive 15 drives the locking shaft 16 to move along the Z-axis direction, so that the locking portion 161 of the locking shaft 16 is exactly located in the locking hole 141, and the second bracket member 14 loses the freedom to move in the plane relative to the first bracket member 11.

[0043] After the gripping mechanism grips the product, before assembling or putting down the product, the locking drive 15 drives the locking shaft 16 to move along the Z-axis direction, so that the release portion 162 of the locking shaft 16 is exactly located in the locking hole 141, and the second bracket member 14 has the freedom to move in the plane relative to the first bracket member 11.

[0044] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A gripping mechanism, characterized in that: include: The floating locking unit comprises a first bracket member, an X-axis motion pair, a Y-axis motion pair, a second bracket member, a locking driving member and a locking shaft, wherein the second bracket member is connected to the first bracket member through the X-axis motion pair and the Y-axis motion pair, the second bracket member has a degree of freedom to move in a plane relative to the first bracket member, the second bracket member is provided with a locking hole, the locking driving member is connected to the first bracket member and drives the locking shaft to move along the Z-axis direction, the locking shaft extends along the Z-axis direction and passes through the locking hole, the locking shaft comprises a locking portion, a releasing portion and a transition portion located at different positions in the Z-axis direction, the shaft diameter of the locking portion is the same as the hole diameter of the locking hole, the shaft diameter of the releasing portion is smaller than the hole diameter of the locking hole, and the transition portion smoothly connects the locking portion and the releasing portion; A grabbing unit is connected to the second bracket member and grabs the product.

2. The gripping mechanism according to claim 1, characterized in that: The locking portion and the releasing portion are both cylindrical, and the transition portion is truncated cone-shaped.

3. The gripping mechanism according to claim 1, characterized in that: The floating locking unit also includes a Z-axis guide, which is connected to the first bracket. The Z-axis guide is provided with a guide hole, through which the locking shaft passes, and the guide hole guides the locking shaft to move along the Z-axis direction.

4. The gripping mechanism according to claim 3, characterized in that: The guide hole is cooperatively connected with the locking portion.

5. The gripping mechanism according to claim 4, characterized in that: The locking shaft includes two sections of the locking portion, one section of the releasing portion and two sections of the transition portion, and the two ends of the releasing portion are respectively connected to the two sections of the locking portion through the two sections of the transition portion; the Z-axis guide member includes two guide portions, and the two guide portions are respectively located on both sides of the second bracket member along the Z-axis direction, and the two guide portions are both provided with the guide holes, and the two guide holes are respectively matched and connected with the two sections of the locking portion.

6. The gripping mechanism according to claim 5, characterized in that: The Z-axis guide also includes a connecting portion, which is connected between the two guide portions and is relatively fixed to the first bracket.

7. The gripping mechanism according to claim 1, characterized in that: The X-axis kinematic pair comprises an X-axis slide rail and an X-axis slider, the X-axis slide rail is relatively fixed to the first bracket, and the X-axis slider is slidably connected to the X-axis slide rail along the X-axis direction; The Y-axis motion pair includes a Y-axis guide rail and a Y-axis slider. The Y-axis guide rail is relatively fixed to the X-axis slider. The Y-axis slider is slidably connected to the Y-axis guide rail along the Y-axis direction. The second bracket is relatively fixed to the Y-axis slider.

8. The gripping mechanism according to claim 7, characterized in that: The floating locking unit includes two X-axis motion pairs, two Y-axis motion pairs and two second brackets, each X-axis motion pair includes one X-axis guide rail and two X-axis sliders, each Y-axis guide rail is relatively fixed to two X-axis sliders on different X-axis guide rails, and the two second brackets are relatively fixed to the Y-axis sliders of the two Y-axis motion pairs respectively; The grabbing mechanism comprises two grabbing units, and the two grabbing units are respectively connected to two second bracket members.

9. The gripping mechanism according to claim 1, characterized in that: The grabbing unit comprises a clamping driving member and two clamping claws. The clamping driving member is connected to the second bracket member and drives the two clamping claws to open and close along the Y-axis direction.

10. The grasping method of the grasping mechanism according to any one of claims 1 to 9, characterized in that: When the grabbing mechanism grabs the product, the locking portion is connected in a cooperative manner with the locking hole; when the grabbing mechanism releases the product, the releasing portion is connected in a cooperative manner with the locking hole.

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