Gripping device and gripping method

Abstract

This application relates to a gripping device and gripping method. The gripping device includes a reference gripper, an auxiliary gripper, and a driving mechanism. The reference gripper has a first support portion and a second support portion disposed along a first direction. The first support portion and the second support portion are respectively used to abut against the outer wall of one end of the product in the second direction, which is perpendicular to the first direction. The auxiliary gripper has a third support portion disposed on the side near the reference gripper. The third support portion is used to abut against the outer wall of the other end of the product in the second direction, and the third support portion is located on the perpendicular bisector of the line connecting the first support portion and the second support portion. The driving mechanism drives the reference gripper and the auxiliary gripper to move closer to or further away from each other along the second direction. This gripping device and gripping method can alleviate the problem of angle deflection during product gripping and improve the stability and gripping repeatability of the product after gripping.

Description

Technical Field

[0001] This application relates to the field of gripping device technology, and in particular to gripping devices and gripping methods. Background Technology

[0002] As optical modules become increasingly integrated and optical devices shrink in size, coupling processes are becoming a bottleneck in high-speed optical device manufacturing. The purpose of coupling is to focus the divergent light emitted from the transmitting chip into the optical fiber via a lens, or to focus the light from the optical fiber into the receiving chip. As lens sizes decrease, lens handling becomes increasingly difficult. Traditional lens handling methods include vacuum suction of the product's top surface, mechanical clamping of the sides, or a combination of vacuum suction and mechanical assisted clamping.

[0003] However, vacuum suction is unstable, and the adsorption force is affected by the adsorption area and weight of the product. When the adsorption area of ​​the product is small and the gravity is large, the product is very easy to fall off after being sucked up, and the product will deflect in the plane. When mechanically clamping, the two sides of the inner sides of the left and right jaws clamp the side wall of the product. This clamping method is greatly affected by the shape of the product. When the two side walls of the product cannot be completely parallel due to processing errors, the clamping will have an angular deviation and will deflect along the X-axis or Y-axis, resulting in poor stability and poor clamping repeatability after the product is clamped. Summary of the Invention

[0004] Based on this, a gripping device and gripping method are provided to alleviate the problem of products easily falling off or deflecting during clamping.

[0005] An embodiment of the first aspect of this application provides a gripping device, comprising:

[0006] A reference gripper is provided with a first support portion and a second support portion along a first direction. The first support portion and the second support portion are respectively used to abut against the outer wall of one end of the product in a second direction. The second direction is perpendicular to the first direction.

[0007] An auxiliary gripper is provided with a third support portion on the side of the auxiliary gripper close to the reference gripper. The third support portion is used to abut against the outer wall of the other end of the product in the second direction. The third support portion is located on the perpendicular bisector of the line connecting the first support portion and the second support portion.

[0008] A driving mechanism that drives the reference gripper and the auxiliary gripper to move closer to or further away from each other along a second direction.

[0009] In one embodiment, the reference gripper is provided with a fitting positioning surface, which is used to abut against the outer wall of the third direction end of the product, wherein the second direction, the first direction and the third direction are perpendicular to each other.

[0010] In one embodiment, a first clearance groove is provided at the connection between the fitting positioning surface and the first support portion; and / or a second clearance groove is provided at the connection between the fitting positioning surface and the second support portion.

[0011] In one embodiment, the auxiliary gripper is provided with a clearance surface, and when the fitting and positioning surface is fitted with the product, a clearance gap is provided between the clearance surface and the product.

[0012] In one embodiment, a third clearance groove is provided at the connection between the clearance surface and the third support portion.

[0013] In one embodiment, the reference gripper includes a first gripper unit and a second gripper unit, with the first support portion disposed on the first gripper unit and the second support portion disposed on the second gripper unit.

[0014] In one embodiment, the first support portion, the second support portion, and / or the third support portion are provided with rounded corner structures.

[0015] In one embodiment, the drive mechanism includes a parallel pneumatic gripper, which includes two sliders that are capable of moving closer to or further away from each other along a second direction. A reference gripper is mounted on one of the sliders, and an auxiliary gripper is mounted on the other slider.

[0016] An embodiment of the second aspect of this application provides a grasping method for grasping a first position, a second position, and a third position of a product, wherein the first position and the second position are located at one end of the product, the third position is located at the other end of the product, and the third position is located on the perpendicular bisector of the line connecting the first position and the second position.

[0017] In one embodiment, before grasping the first, second, and third positions of the product, the fourth position of the product is positioned to abut against it. The first and second positions are located at one end of the product in a second direction, the third position is located at the other end of the product in the second direction, and the fourth position is located at one end of the product in a third direction. The first direction and the third direction are perpendicular to each other.

[0018] According to the gripping device and gripping method of this application embodiment, the driving mechanism drives the reference gripper and the auxiliary gripper to move away from each other, so that the product can be placed between the reference gripper and the auxiliary gripper and wait to be gripped by the gripping device. The driving mechanism then drives the reference gripper and the auxiliary gripper to move closer to each other until the first support part and the second support part abut against the outer wall of one end of the product in the second direction, and the third support part abuts against the outer wall of the other end of the product in the second direction. Since the third support is located on the perpendicular bisector of the line connecting the first and second supports, the first, second, and third supports can only move along the second direction under the drive of the drive mechanism. Therefore, no matter how the drive mechanism moves the reference gripper and the auxiliary gripper, the first, second, and third supports always form a stable support relationship of a near-isosceles triangle. When the product's external dimensions deviate due to processing errors, the two side walls of the product cannot be completely parallel. The gripping device can provide the product with a three-point clamping force, so that the product will not deflect at an angle in the plane formed by the second and first directions. The reference gripper and the auxiliary gripper automatically engage under the drive of the drive mechanism, resulting in high product gripping stability and good gripping repeatability. It can highly adapt to product external dimension deviations, alleviate the problem of angle deflection when the product is gripped, and improve the stability and gripping repeatability of the product after it is gripped. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the gripping device according to an embodiment of this application;

[0020] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle;

[0021] Figure 3 This is a partial schematic diagram of the gripping device in one embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the gripping device according to an embodiment of the present application when gripping a product;

[0023] Figure 5 for Figure 4 A magnified view of a portion of point B in the middle;

[0024] Figure 6 This is a schematic diagram of the gripping device according to an embodiment of this application from another perspective;

[0025] Figure 7 This is a front view of a gripping device according to an embodiment of this application;

[0026] Figure 8 for Figure 7 A magnified view of a portion of point C.

[0027] Figure label:

[0028] 1. Gripping device;

[0029] 10. Parallel pneumatic gripper; 11. Slider;

[0030] 20. Reference gripper; 21. First gripper unit; 211. First support portion; 212. Fitting positioning surface; 213. First clearance groove; 22. Second gripper unit; 221. Second support portion; 222. Second clearance groove;

[0031] 30. Auxiliary gripper; 31. Third support part; 32. Avoidance surface; 33. Third avoidance groove;

[0032] 2. Products;

[0033] LN1, the connecting line between the first support part and the second support part;

[0034] LN2, perpendicular bisector. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, 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", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and 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 application.

[0037] 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0041] As optical modules become increasingly integrated and optical devices shrink in size, coupling is a crucial step in high-speed optical device manufacturing. The purpose of coupling is to focus the divergent light emitted from the transmitting chip into the optical fiber via a lens, or to focus the light from the optical fiber into the receiving chip. With the decreasing size of lenses, their gripping becomes increasingly difficult. Traditional lens gripping methods include vacuum suction of the product's top surface, mechanical clamping of the sides, or a combination of vacuum suction and mechanical assisted clamping.

[0042] However, among the three lens clamping methods mentioned above, the first method, vacuum suction, is unstable. The suction force is affected by the product's suction area and weight. When the product's suction area is small and the weight is large, the product is very easy to fall off after being suctioned, and the product will deflect in the plane. The second method, mechanical clamping of the side, uses the inner two sides of the left and right jaws to clamp the product's side. This clamping method is greatly affected by the product's shape. When the two sides of the product are not completely parallel, the clamping will have an angular deviation, and it will deflect along the X-axis or Y-axis, resulting in poor stability and poor clamping repeatability after the product is clamped. The third method, when vacuum suction is combined with mechanical auxiliary clamping, is greatly affected by the installation space. It cannot be used when there is not enough space, and the cost is relatively high.

[0043] In summary, the coupling process has gradually become a bottleneck process. Based on the above considerations, this application provides a clamping device and clamping method. By providing two support points on one side of the product and one support point on the other side, a total of three support points are provided for the product. When clamping the product, a stable three-point clamping force is formed, which can effectively alleviate the problem that the product is easy to fall off or deflect when clamped, resulting in poor stability and clamping repeatability after the product is clamped.

[0044] See Figure 1 , Figure 2 and Figure 3 , Figure 1 A schematic diagram of the gripping device 1 according to an embodiment of this application is shown. Figure 2 It shows Figure 1 A magnified view of a portion of point A in the diagram. Figure 3 This is a partial schematic diagram of a gripping device in one embodiment of this application. The first aspect of this application proposes a gripping device 1, including a reference gripper 20, an auxiliary gripper 30, and a driving mechanism. The reference gripper 20 is provided with a first support portion 211 and a second support portion 221 along a first direction. The first support portion 211 and the second support portion 221 are respectively used to abut against the outer wall of one end of the product 2 in a second direction. The second direction is perpendicular to the first direction. The auxiliary gripper 30 is provided with a third support portion 31 on the side close to the reference gripper 20. The third support portion 31 is used to abut against the outer wall of the other end of the product 2 in the second direction. The third support portion 31 is located on the perpendicular bisector LN2 of the line connecting the first support portion 211 and the second support portion 221. The driving mechanism drives the reference gripper 20 and the auxiliary gripper 30 to move closer to or further away from each other along the second direction.

[0045] like Figure 1 As shown in the figure, the X direction is the first direction in the embodiment of this application, the Y direction is the second direction in the embodiment of this application, and the Z direction is the third direction in the embodiment of this application.

[0046] The gripping device 1 disclosed in the embodiments of this application can be used to grip the lens in the coupling process, that is, the product 2 can be a lens or other products 2.

[0047] Combination Figure 4 and Figure 5 , Figure 4 This diagram shows a structural schematic of the gripping device 1 gripping the product 2 according to an embodiment of this application. Figure 5 It shows Figure 4 The enlarged schematic diagram at point B shows that, according to the gripping device 1 of this application embodiment, the driving mechanism drives the reference gripper 20 and the auxiliary gripper 30 to move away from each other, so that the product 2 can be placed between the reference gripper 20 and the auxiliary gripper 30, waiting to be gripped by the gripping device 1. The driving mechanism then drives the reference gripper 20 and the auxiliary gripper 30 to move closer to each other until the first support part 211 and the second support part 221 abut against the outer wall of one end of the product 2 in the second direction, and the third support part 31 abuts against the outer wall of the other end of the product 2 in the second direction. Since the third support 31 is located on the perpendicular bisector LN2 of the line connecting the first support 211 and the second support 221, the first support 211, the second support 221 and the third support 31 can only move along the second direction under the drive of the drive mechanism. Therefore, no matter how the drive mechanism moves the reference gripper 20 and the auxiliary gripper 30, the first support 211, the second support 221 and the third support 31 always form a stable support relationship of a near-isosceles triangle. When the product 2 has a deviation in its external dimensions due to processing errors, the two side walls of the product 2 cannot be completely parallel. The gripping device 1 can provide the product 2 with a three-point clamping force, so that the product 2 will not have an angular deflection in the plane formed by the second direction and the first direction. The reference gripper 20 and the auxiliary gripper 30 automatically engage under the drive of the drive mechanism, resulting in high stability and good gripping repeatability of the product 2. It can highly adapt to the deviation in the external dimensions of the product 2, alleviate the problem of angular deflection when the product 2 is clamped, and improve the stability and gripping repeatability of the product 2 after it is clamped.

[0048] See Figure 1In some embodiments, the driving mechanism includes a parallel gripper 10, which includes two sliders 11 that can move closer to or further away from each other along a second direction. A reference gripper 20 is mounted on one slider 11, and an auxiliary gripper 30 is mounted on the other slider 11. Controlling the movement of the reference gripper 20 and the auxiliary gripper 30 with the parallel gripper 10 is relatively simple, making the gripping device 1 more compact. Specifically, in some embodiments, the reference gripper 20 is detachably connected to the slider 11, and the auxiliary gripper 30 is detachably connected to the other slider 11, allowing the reference gripper 20 and the auxiliary gripper 30 to be interchangeable. This improves the versatility of the gripping device 1 in gripping products 2. The ability to replace the reference gripper 20 and the auxiliary gripper 30 according to different product 2 usage requirements also makes the gripping device 1 easy to displace.

[0049] It is understood that in some embodiments, the drive mechanism can also be other mechanisms with drive functions. Besides the parallel gripper 10, the reference gripper 20 and the auxiliary gripper 30 can each be connected to a drive cylinder. One drive cylinder drives the reference gripper 20 to move along the second direction, and the other drive cylinder drives the auxiliary gripper 30 to move along the second direction. When both drive cylinders work simultaneously, the reference gripper 20 and the auxiliary gripper 30 move closer to or further away from each other. It is also understood that in some embodiments, the drive mechanism can be a single drive cylinder connected to either the reference gripper 20 or the auxiliary gripper 30. When the drive cylinder is connected to the reference gripper 20, the auxiliary gripper 30 remains stationary, and the drive cylinder drives the reference gripper 20 to move closer to or further away from the auxiliary gripper 30. When the drive cylinder is connected to the auxiliary gripper 30, the reference gripper 20 remains stationary, and the drive cylinder drives the auxiliary gripper 30 to move closer to or further away from the reference gripper 20. Furthermore, the drive mechanism can also be an electric push rod, etc., as long as its output end can perform linear motion; further details are omitted here.

[0050] See Figure 2 In some embodiments, the reference gripper 20 includes a first gripper unit 21 and a second gripper unit 22, with a first support portion 211 disposed on the first gripper unit 21 and a second support portion 221 disposed on the second gripper unit 22. The arrangement of the first gripper unit 21 and the second gripper unit 22 reduces the overall mass of the reference gripper 20, thereby making the gripping device 1 lighter and easier to use.

[0051] See Figure 6 , Figure 7 and Figure 8 , Figure 6 This is a schematic diagram of the gripping device according to an embodiment of this application from another perspective. Figure 7 The following is a front view of a gripping device 1 according to an embodiment of this application. Figure 8 It shows Figure 7The enlarged schematic diagram at point C shows that in some embodiments, the reference gripper 20 is provided with a contact positioning surface 212. The contact positioning surface 212 is used to abut against the outer wall of the third-direction end of the product 2. The second direction, the first direction, and the third-direction are mutually perpendicular. After the contact positioning surface 212 positions the product 2 in the third-direction, it works in conjunction with the reference gripper 20 and the auxiliary gripper 30 to position the product 2 in the second direction, providing auxiliary positioning for the gripping operation of the reference gripper 20 and the auxiliary gripper 30, making the gripping action of the reference gripper 20 and the auxiliary gripper 30 more precise.

[0052] See Figure 2 and Figure 8 In some embodiments, a first clearance groove 213 is provided at the connection between the fitting positioning surface 212 and the first support portion 211; and / or a second clearance groove 222 is provided at the connection between the fitting positioning surface 212 and the second support portion 221. Specifically, in some embodiments, the first clearance groove 213 and the second clearance groove 222 are set as arc-shaped grooves, which are easier to process and have a better clearance effect. It is understood that the first clearance groove 213 and the second clearance groove 222 can also be set as other shapes, and the first clearance groove 213 and the second clearance groove 222 can also be set as different shapes, not limited to the same shape, as long as there is a clearance effect. The first clearance groove 213 and the second clearance groove 222 prevent the corners of the product 2 from interfering with the reference gripper 20, especially in the third direction, i.e., the Z direction, so as to prevent the product 2 from interfering with the reference gripper 20, and enable the fitting positioning surface 212 to abut against the outer wall of the product 2 in the third direction, so as to ensure the positioning effect of the fitting positioning surface 212.

[0053] In some embodiments, the auxiliary gripper 30 is provided with a clearance surface 32. When the contact positioning surface 212 is in contact with the product 2, a clearance gap is provided between the clearance surface 32 and the product 2. The clearance gap ensures that the clearance surface 32 does not affect the positioning effect of the contact positioning surface 212. The clearance surface 32 and the clearance gap ensure that when the product 2 is in contact with the contact positioning surface 212, the outer wall of the product 2 in the third direction will not contact the auxiliary gripper 30, avoiding interference between the product 2 and the auxiliary gripper 30. This allows the contact positioning surface 212 to abut against the outer wall of the product 2 in the third direction, further ensuring the positioning effect of the contact positioning surface 212.

[0054] In some embodiments, a third clearance groove 33 is provided at the connection between the clearance surface 32 and the third support portion 31. Specifically, in some embodiments, the third clearance groove 33 is set as an arc-shaped groove, which is easier to process and has a better clearance effect. It is understood that the third clearance groove 33 can also be set as other shapes, as long as it has a clearance effect.

[0055] In some embodiments, the first support portion 211, the second support portion 221, and / or the third support portion 31 are provided with rounded corner structures. The rounded corner structures make the first support portion 211, the second support portion 221, and / or the third support portion 31 more rounded, reducing wear on the product 2. They also ensure that when the first support portion 211, the second support portion 221, and / or the third support portion 31 contact the outer wall of the product 2, forming line or point contact. This ensures effective support for the product 2 while minimizing the contact area, preventing the gripping stability of the gripping device 1 from being excessively affected by the processing quality of the outer wall of the product 2. This avoids unstable contact between the first support portion 211, the second support portion 221, and / or the third support portion 31 and the product 2 when the outer wall of the product 2 is poorly processed or uneven.

[0056] See Figure 7 and Figure 8 The second aspect of this application provides a grasping method for grasping a first position, a second position and a third position of a product 2, wherein the first position and the second position are located at one end of the product 2, the third position is located at the other end of the product 2, and the third position is located on the perpendicular bisector of the line connecting the first position and the second position.

[0057] In some embodiments, before grasping the first, second, and third positions of product 2, it is positioned to abut against the fourth position of product 2. The first and second positions are located at one end of product 2 in a second direction, the third position is located at the other end of product 2 in a second direction, and the fourth position is located at one end of product 2 in a third direction. The first and third directions are perpendicular to each other.

[0058] In some embodiments, when the gripping method of this application is executed, an execution device and a gripping device 1 as described in any of the above embodiments are provided on the execution device. The drive mechanism drives the reference gripper 20 and the auxiliary gripper 30 to grip the product 2 simultaneously until the first support 211 abuts against the first position of the product 2, the second support 221 abuts against the second position of the product, and the third support 31 abuts against the third position of the product 2.

[0059] Specifically, in some embodiments, the actuator includes a multi-axis robotic arm, with a gripping device 1 mounted on the output end of the multi-axis robotic arm, which drives the gripping device 1 to move. It is understood that the actuator can be any device capable of driving the gripping device 1 to move; further details will not be provided here.

[0060] In some embodiments, the reference gripper 20 is provided with a contact positioning surface 212. Before the drive mechanism drives the reference gripper 20 and the auxiliary gripper 30 to simultaneously clamp the product 2, the actuator drives the contact positioning surface 212 to abut against the fourth position of the product 2, with the second direction, the first direction, and the third direction being mutually perpendicular. After the contact positioning surface 212 positions the product 2 in the third direction, it then works with the reference gripper 20 and the auxiliary gripper 30 to position the product 2 in the second direction, providing auxiliary positioning for the clamping operation of the reference gripper 20 and the auxiliary gripper 30, making the gripping action of the reference gripper 20 and the auxiliary gripper 30 more precise.

[0061] According to the gripping method of this application embodiment, the first support part 211, the second support part 221 and the third support part 31 always form a stable support relationship of a quasi-isosceles triangle. When the outer dimensions of the product 2 have deviations, it can also provide the product 2 with a three-point clamping force, so that the product 2 will not have angular deflection in the plane formed by the second direction and the first direction. The reference gripper 20 and the auxiliary gripper 30 automatically engage under the drive of the drive mechanism, resulting in high stability and good gripping repeatability of the product 2. It can highly adapt to the deviation of the outer dimensions of the product 2, alleviate the problem of angular deflection when the product 2 is clamped, and improve the stability and gripping repeatability of the product 2 after it is clamped.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gripping device, characterized in that, include: A reference gripper (20) is provided with a first support portion (211) and a second support portion (221) along a first direction. The first support portion (211) and the second support portion (221) are respectively used to abut against the outer wall of one end of the product (2) in a second direction. The second direction is perpendicular to the first direction. The reference gripper (20) is provided with a fitting positioning surface (212). The fitting positioning surface (212) is used to abut against the outer wall of one end of the product (2) in a third direction. The second direction, the first direction, and the third direction are perpendicular to each other. An auxiliary gripper (30) is provided with a third support portion (31) on the side of the auxiliary gripper (30) near the reference gripper (20). The third support portion (31) is used to abut against the outer wall of the other end of the product (2) in the second direction. The third support portion (31) is located on the perpendicular bisector of the line connecting the first support portion (211) and the second support portion (221). The auxiliary gripper (30) is provided with a clearance surface (32). When the fitting positioning surface (212) is fitted with the product (2), a clearance gap is provided between the clearance surface (32) and the product (2). A driving mechanism drives the reference gripper (20) and the auxiliary gripper (30) to move closer to or further away from each other along a second direction.

2. The gripping device according to claim 1, characterized in that, A first clearance groove (213) is provided at the connection between the fitting positioning surface (212) and the first support part (211); and / or a second clearance groove (222) is provided at the connection between the fitting positioning surface (212) and the second support part (221).

3. The gripping device according to claim 2, characterized in that, A third clearance groove (33) is provided at the connection between the clearance surface (32) and the third support part (31).

4. The gripping device according to claim 3, characterized in that, The first clearance groove (213) and the second clearance groove (222) are configured as arc-shaped grooves; And / or, the third clearance groove (33) is configured as an arc-shaped groove.

5. The gripping device according to claim 1, characterized in that, The reference gripper (20) includes a first gripper unit (21) and a second gripper unit (22), with the first support (211) disposed on the first gripper unit (21) and the second support (221) disposed on the second gripper unit (22).

6. The gripping device according to claim 1, characterized in that, The first support portion (211), the second support portion (221) and / or the third support portion (31) are provided with rounded corner structures.

7. The gripping device according to claim 1, characterized in that, The drive mechanism includes a parallel pneumatic gripper (10), which includes two sliders (11) that can move closer to or further away from each other along a second direction. A reference gripper (20) is mounted on one of the sliders (11), and an auxiliary gripper (30) is mounted on the other slider (11).

8. The gripping device according to claim 7, characterized in that, The reference gripper (20) is detachably connected to one of the sliders (11), and the auxiliary gripper (30) is detachably connected to the other slider (11).

9. A grasping method, characterized in that, A gripping device as described in any one of claims 1-8 is provided, which grips a first position, a second position, and a third position of a product, wherein the first position and the second position are located at one end of the product, the third position is located at the other end of the product, and the third position is located on the perpendicular bisector of the line connecting the first position and the second position. Before gripping the first, second, and third positions of the product, the contact positioning surface of the reference gripper is positioned to abut against the fourth position of the product. The first and second positions are located at one end of the product in a second direction, the third position is located at the other end of the product in a second direction, and the fourth position is located at one end of the product in a third direction. The first direction and the third direction are perpendicular to each other. When the contact positioning surface is in contact with the product, a clearance gap is maintained between the clearance surface of the auxiliary gripper and the product.

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