Grabbing device, side wall assembly gripper and grabbing control method thereof

Abstract

The application discloses a grabbing device, a side wall assembly gripper and a grabbing control method thereof. The grabbing device comprises a shell, a clamping mechanism and a limiting mechanism. The bottom of the shell is provided with a mounting groove, and the side of the shell is provided with a through hole communicated with the mounting groove. The clamping mechanism is arranged in the mounting groove. The clamping mechanism comprises a first elastic member, a main valve core and an electromagnet. The first elastic member is fixedly arranged at the bottom of the mounting groove. The main valve core is fixedly connected with the first elastic member. The main valve core can move up and down along the depth direction of the mounting groove. The electromagnet is fixedly arranged at the bottom of the main valve core. The side of the main valve core is provided with a matching part. The limiting mechanism is arranged in the through hole. The limiting mechanism comprises a limiting part which can move back and forth along the extension direction of the through hole. The workpiece is grabbed by the electromagnet. The grabbing point is not limited and is more free. A pneumatic valve island does not need to be additionally arranged, and the overall weight of the grabbing device is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grabbing equipment, in particular to a grabbing device, a side wall assembly gripper and a grabbing control method thereof. BACKGROUND

[0002] The existing side wall assembly automatic station gripper used in the automobile industry mostly adopts a pneumatic gripper, which lifts the part from below by the pressure generated by a cylinder. When the gripper grabs the part, it needs to pass through the clamp. When the clamps are arranged densely, the gripper is easy to collide with the clamps during production and debugging. In order to realize pneumatic control, an electric control pneumatic valve island needs to be installed on the gripper. In addition, the weight of the cylinder and the pressure arm structure itself is heavy. The robot using such a gripper is easy to exceed the rated load. It is often necessary to reduce the clamping points to meet the operation within the rated load. Moreover, the clamping points of such a gripper can only be designed at the appearance sheet metal of the vehicle body. The structure at this position is not a stress structure. It is easy to cause damage to the appearance surface and deformation during clamping and carrying. SUMMARY

[0003] The main purpose of the present application is to provide a grabbing device, a side wall assembly gripper and a grabbing control method thereof, which aims to solve the problem of excessive weight of the existing gripper structure and limited clamping point position.

[0004] To achieve the above-mentioned purpose, the present application provides a grabbing device, wherein the grabbing device comprises:

[0005] a housing, a mounting groove is formed at the bottom of the housing, and a through hole is formed at the side of the housing and communicates with the mounting groove;

[0006] a clamping mechanism arranged in the mounting groove, the clamping mechanism comprising a first elastic member, a main valve core and an electromagnet, the first elastic member being fixedly arranged at the bottom of the mounting groove, the main valve core being fixedly connected with the first elastic member, the main valve core being capable of moving up and down along the depth direction of the mounting groove, the electromagnet being fixedly arranged at the bottom of the main valve core, and the side of the main valve core being provided with a matching part; and

[0007] a limiting mechanism arranged in the through hole, the limiting mechanism comprising a limiting part capable of moving back and forth along the extension direction of the through hole, the limiting part having a locking position on its moving stroke, the locking position extending into the mounting groove and limitingly cooperating with the matching part to limit the up and down movement of the main valve core, and an unlocking position moving out of the mounting groove.

[0008] Optionally, a limiting device release box has an open accommodating cavity, a coil is arranged on the inner side wall of the accommodating cavity, the limiting device release box is arranged in the through hole, and the opening is directed to the mounting groove.

[0009] A limit stop release valve core is movably arranged in the accommodating cavity in a horizontal direction and extends out of the opening, a side of the limit stop release valve core extending out of the opening is provided with an abutting portion, and an end of the limit stop release valve core extending out of the opening is connected with a limiting pin in limiting cooperation with the cooperating portion; and

[0010] A second elastic member is arranged between the limit stop release box and the abutting portion;

[0011] The limiting portion includes the limiting pin;

[0012] When the coil is energized, the limit stop release valve core moves away from the mounting groove, drives the abutting portion to compress the second elastic member, so that the limiting pin moves out of the mounting groove to the unlocking position; when the coil is de-energized, the second elastic member drives the limit stop release valve core to move close to the mounting groove, so that the limiting pin moves to the locking position and is in limiting cooperation with the cooperating portion.

[0013] Optionally, a first groove is arranged on a side of the main valve core corresponding to the limiting portion, and the first groove is in limiting cooperation with the limiting pin;

[0014] The cooperating portion includes the first groove.

[0015] Optionally, the main valve core includes a main body portion and a connecting portion locally protruding from a middle portion of a lower end of the main body portion, the cooperating portion is arranged on a side of the main body portion, the electromagnet is fixedly arranged on a bottom of the connecting portion, and first limiting protrusions are arranged on both side walls of the mounting groove corresponding to the connecting portion, so that the main body portion is limited at a position after moving downward and abutting against the first limiting protrusions.

[0016] Optionally, a second groove is arranged on a side of the main body portion away from the cooperating portion, and a second limiting protrusion is arranged on a side wall of the mounting groove corresponding to the second groove.

[0017] Optionally, a guide bushing is arranged on a side wall of the mounting groove close to the slot.

[0018] The application further provides a side wall assembly gripper, which includes:

[0019] A rack;

[0020] An adapter disc is arranged on the rack;

[0021] A plurality of robots are partially arranged on a bottom of the adapter disc and partially arranged on the rack;

[0022] A plurality of gripping devices are arranged on the robots respectively, and each robot can drive the gripping device to move in an up-down direction; and

[0023] An energy storage power supply is electrically connected with each of the grabbing devices.

[0024] The grabbing device comprises:

[0025] A housing is formed with a mounting groove at the bottom, and a through hole is formed at the side of the housing and communicates with the mounting groove;

[0026] A clamping mechanism is arranged in the mounting groove, which comprises a first elastic member, a main valve core and an electromagnet. The first elastic member is fixedly arranged at the bottom of the mounting groove. The main valve core is fixedly connected with the first elastic member. The main valve core can move up and down along the depth direction of the mounting groove. The electromagnet is fixedly arranged at the bottom of the main valve core. The side of the main valve core is provided with a matching part; and

[0027] A limiting mechanism is arranged in the through hole, which comprises a limiting part that can move back and forth along the extension direction of the through hole. The limiting part has a locking position on its activity stroke, which extends into the mounting groove and limits the cooperation of the matching part, so as to limit the up-and-down movement of the main valve core, and an unlocking position which moves out of the mounting groove.

[0028] Optionally, the adapter disc is provided with a positioning pin at the bottom.

[0029] The application also provides a grabbing control method of a side wall assembly gripper. The limiting mechanism comprises a limiting device release box, which has an open accommodating cavity. A coil is arranged on the inner side wall of the accommodating cavity. The grabbing control method comprises the following steps:

[0030] Obtaining the weight value of the workpiece to be grabbed;

[0031] Determining the number value of the grabbing device according to the weight value;

[0032] Controlling the robot to drive the grabbing device to move to a pre-grabbing position;

[0033] Controlling the coil to be powered on;

[0034] Controlling the electromagnet to be powered on;

[0035] Controlling the robot to drive the grabbing device to move the workpiece to a next processing position;

[0036] After reaching the next processing position, controlling the coil and the electromagnet to be powered off.

[0037] Optionally, after the step of controlling the robot to drive the grabbing device to move to a pre-grabbing position, the method further comprises the following steps:

[0038] Obtaining the actual distance value between the grabbing device and the workpiece;

[0039] determining a target active distance according to the actual distance value;

[0040] controlling the robot to drive the grabbing device to move downward by the target active distance.

[0041] The technical scheme provided by the present application, when the workpiece needs to be clamped, first moves the grabbing device to the pre-clamping position, then drives the limiting part to move to the unlocking position, so that the main valve core can move up and down along the depth direction of the mounting groove through the first elastic member, and then energizes the electromagnet to grab the workpiece through the electromagnetic force. The first elastic member can provide a certain displacement movement amount for the main valve core while absorbing the impact force caused by the workpiece hitting the electromagnet after being sucked upward. After the grabbing is completed, the limiting part is driven to move to the locking position to avoid the workpiece moving up and down due to the up-down movement of the main valve core. The grabbing point of the workpiece grabbed by the electromagnet is not limited and is more free, and a pneumatic valve island does not need to be additionally arranged, thereby reducing the overall weight of the grabbing device. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0043] Figure 1 An internal structure diagram of an embodiment of the grabbing device provided by the present application;

[0044] Figure 2 An internal structure diagram of the limiting part in the embodiment of the present application in the unlocking position; Figure 1

[0045] Figure 3 An exploded view of the grabbing device in the embodiment of the present application; Figure 1

[0046] A three-dimensional structure diagram of an embodiment of the side wall assembly grabber provided by the present application; Figure 4

[0047] A schematic diagram of the side wall assembly grabber in the embodiment of the present application before grabbing the side wall assembly; Figure 5 Figure 4 A schematic diagram of the side wall assembly grabber in the embodiment of the present application after grabbing the side wall assembly;

[0048] Figure 6 Figure 4 A schematic diagram of the side wall assembly grabber in the embodiment of the present application after grabbing the side wall assembly;

[0049] Figure 7 ​​​A flowchart of a side wall assembly gripper grabbing control method according to a first embodiment of the present application is shown in the figure.

[0050] Figure 8 A flowchart of a side wall assembly gripper grabbing control method according to a second embodiment of the present application is shown in the figure.

[0051] Explanation of reference numerals:

[0052]

[0053]

[0054] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0056] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0057] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, the meaning of “and / or” appearing throughout the text includes three parallel schemes, taking “A and / or B” as an example, which includes A scheme, or B scheme, or A and B simultaneously satisfying the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0058] The existing automobile industry uses a side wall assembly automatic work station gripper, which is mostly pneumatic, and the pressure generated by the cylinder lifts the part from below, and when the gripper is grabbing the part, it needs to pass through the fixture, and when the fixture is arranged densely, the gripper is easy to collide with the fixture during production and debugging. The pneumatic gripper uses a cylinder for clamping, in order to realize pneumatic control, an electric control pneumatic valve island needs to be installed on the gripper, and at the same time, the weight of the cylinder and the pressure arm frame itself is heavy, and the actual use of such a gripper robot is easy to exceed the rated load, and it is often necessary to reduce the clamping point to meet the operation within the rated load, and moreover, the clamping point of such a gripper can only be designed at the appearance sheet metal of the vehicle body, and the structure at this place is not a stress structure, and in the clamping and carrying process, the appearance surface is easy to be damaged and deformed.

[0059] In order to solve the above problems, the present application provides a kind of grabbing device, Figures 1 to 3 The specific embodiments of the grabbing device provided by the present application.

[0060] Please refer to Figures 1 to 3 The grabbing device 100 includes a housing 1, a clamping mechanism 2 and a limiting mechanism 3, the bottom of the housing 1 is formed with a mounting groove 11, the side of the housing 1 is formed with a through hole 12 communicating with the mounting groove 11, the clamping mechanism 2 is arranged in the mounting groove 11, the clamping mechanism 2 includes a first elastic member 21, a main valve core 22 and an electromagnet 23, the first elastic member 21 is fixedly arranged at the bottom of the mounting groove 11, the main valve core 22 is fixedly connected with the first elastic member 21, the main valve core 22 can move up and down along the depth direction of the mounting groove 11, the electromagnet 23 is fixedly arranged at the bottom of the main valve core 22, the side of the main valve core 22 is provided with a matching part 221, the limiting mechanism 3 is arranged in the through hole 12, the limiting mechanism 3 includes a limiting part 31 which can move back and forth along the extension direction of the through hole 12, the limiting part 31 has a locking position on its activity stroke, which extends into the mounting groove 11 and limits the cooperation of the matching part 221, so as to limit the up and down movement of the main valve core 22, and an unlocking position which moves out of the mounting groove 11.

[0061] The technical scheme provided by the application, when the workpiece needs to be clamped, first, the grabbing device 100 is moved to the pre-grabbing position, then the limiting part 31 is driven to move to the unlocking position, so that the main valve core 22 can move up and down along the depth direction of the mounting groove 11 through the first elastic piece 21, then the electromagnet 23 is powered on to grab the workpiece through the electromagnetic force, the first elastic piece 21 can provide a certain displacement movement amount for the main valve core 22 while absorbing the impact force caused by the workpiece being sucked upward and colliding with the electromagnet 23, and when the grabbing is completed, the limiting part 31 is driven to move to the locking position again, so as to avoid the workpiece from moving up and down due to the up-and-down movement of the main valve core 22, the grabbing point of the workpiece grabbed by the electromagnet 23 is not limited and is more free, and a pneumatic valve island does not need to be additionally arranged, thereby reducing the overall weight of the grabbing device 100.

[0062] Specifically, since the limiting mechanism 3 is arranged in the through hole 12, it is difficult to drive the limiting part 31 to move back and forth from the outside of the shell 1. Please refer to Figure 1 and Figure 3 In this embodiment, the limiting mechanism 3 includes a limiter release box 32, a limiter release valve core 33 and a second elastic piece 34, the limiter release box 32 has an open accommodating cavity 321, the inner side wall of the accommodating cavity 321 is provided with a coil 322, the limiter release box 32 is arranged in the through hole 12, and the opening faces the mounting groove 11; the limiter release valve core 33 is arranged in the accommodating cavity 321 and extends in the horizontal direction, and at least part of the limiter release valve core 33 extends out of the opening, the circumferential side of the end of the limiter release valve core 33 extending out of the opening is provided with an abutting part 331, and the end of the limiter release valve core 33 extending out of the opening is connected and provided with a limiting pin 311 limiting matched with the matching part 221; the second elastic piece 34 is arranged between the limiter release box 32 and the abutting part 331; the limiting part 31 includes the limiting pin 311; when the coil 322 is powered on, the limiter release valve core 33 moves away from the mounting groove 11, drives the abutting part 331 to compress the second elastic piece 34, so that the limiting pin 311 moves out of the mounting groove 11 to the unlocking position, and when the coil 322 is powered off, the second elastic piece 34 drives the limiter release valve core 33 to move close to the mounting groove 11, so that the limiting pin 311 moves to the locking position and is limited matched with the matching part 221, in this way, only the coil 322 needs to be powered on to make the limiting pin 311 move to the unlocking position, and after being powered off, the limiting pin 311 can be driven to move to the locking position again through the resetting action of the second elastic piece 34, so as to limit the up-and-down movement of the main valve core 22, and the limiting pin 311 does not need to be manually driven to move back and forth, only the coil 322 needs to be powered on and powered off, which is convenient to operate and quick and accurate to control.

[0063] It should be noted that the first elastic member 21 and the second elastic member 34 are not specifically limited, and can be a spiral spring or a pneumatic spring. In the embodiment, the first elastic member 21 and the second elastic member 34 are spiral springs.

[0064] Further, in order to enable the limiting portion 31 and the limiting pin 311 to be limitedly matched, in the embodiment, the main valve core 22 side portion corresponding to the limiting portion 31 is provided with a first groove 2211, the first groove 2211 is limitedly matched with the limiting pin 311, and the matching portion 221 includes the first groove 2211. In this way, after the limiting pin 311 is inserted into the first groove 2211, the upward and downward movement of the main valve core 22 is limited.

[0065] Specifically, considering that when the main valve core 22 continuously moves downward, the first elastic member 21 will be stretched too long and damaged, and in addition, when the main valve core 22 moves downward for a long distance, the limiting matching of the limiting pin 311 and the first groove 2211 will be affected, therefore, referring to Figure 1 In the embodiment, the main valve core 22 includes a main body portion 222 and a connecting portion 223 locally protruding from the middle portion of the lower end of the main body portion 222, the matching portion 221 is arranged on the side portion of the main body portion 222, the electromagnet 23 is fixedly arranged on the bottom portion of the connecting portion 223, and the two side walls of the mounting groove 11 protrudely arranged with first limiting protrusions 111 corresponding to the connecting portion 223. When the main body portion 222 moves downward to abut against the first limiting protrusions 111, it will be blocked by the first limiting protrusions 111 and cannot continue to move downward.

[0066] Further, considering that when the main valve core 22 moves upward for a long distance, the limiting matching of the limiting pin 311 and the first groove 2211 will be affected, in the embodiment, the side of the main body portion 222 away from the matching portion 221 is provided with a second groove 2221, and the side wall of the mounting groove 11 corresponding to the second groove 2221 protrudesly arranged with a second limiting protrusion 112. In this way, the side wall of the second groove 2221 close to the electromagnet 23 will abut against the second limiting protrusion 112 after moving upward for a certain distance, thereby limiting the continuous upward movement of the main valve core 22.

[0067] It is worth mentioning that by limiting the continuous upward and downward movement of the main valve core 22, the main valve core 22 is limited to move within a certain range in the upward and downward directions. In the embodiment, considering that the workpiece to be tested is a side wall assembly, the movement amount of the main valve core 22 is set to 2mm.

[0068] Specifically, in order to enable the main valve core 22 to move accurately along the up-down direction of the mounting groove 11 without deviation, in the embodiment, a guide bushing 4 is arranged on the side wall of the mounting groove 11 near the slot opening, to provide a guiding effect for the main valve core 22, and in addition, the inner wall of the guide bushing 4 can be coated with lubricating oil to reduce friction between the two and reduce noise.

[0069] In addition, the application also provides a side wall assembly gripper 200, which comprises a rack 201, an adapter disc 202, a plurality of robots 203, a plurality of grabbing devices 100 and an energy storage power supply, the adapter disc 202 is arranged on the rack 201; a plurality of robots 203 are partially arranged at the bottom of the adapter disc 202 and partially arranged on the rack 201, a plurality of grabbing devices 100 are arranged on each robot 203, each robot 203 can drive each grabbing device 100 to move in the up-down direction, and the energy storage power supply is electrically connected with each grabbing device 100, wherein the grabbing device 100 comprises a shell 1, a clamping mechanism 2 and a limiting mechanism 3, the bottom of the shell 1 is formed with a mounting groove 11, the side of the shell 1 is formed with a through hole 12 communicating with the mounting groove 11, the clamping mechanism 2 is arranged in the mounting groove 11, the clamping mechanism 2 comprises a first elastic member 21, a main valve core 22 and an electromagnet 23, the first elastic member 21 is fixedly arranged at the bottom of the mounting groove 11, the main valve core 22 is fixedly connected with the first elastic member 21, and the main valve core 22 can move up and down along the depth direction of the mounting groove 11, the electromagnet 23 is fixedly arranged at the bottom of the main valve core 22, the side of the main valve core 22 is provided with a matching part 221, the limiting mechanism 3 is arranged in the through hole 12, and the limiting mechanism 3 comprises a limiting part 31 which can move back and forth along the extension direction of the through hole 12, the limiting part 31 has a locking position in its movement stroke, which extends into the mounting groove 11 and limits the matching part 221, to limit the movement of the main valve core 22 in the up-down direction, and an unlocking position which moves out of the mounting groove 11.

[0070] It should be noted that the energy storage power supply is used to replace the original power input immediately when an emergency power failure occurs, to ensure the power supply of the electromagnet 23, so that the workpiece is always grabbed by the grabbing device 100 during unexpected power failure.

[0071] Specifically, the bottom of the adapter disc 202 is provided with a positioning pin 204, which is used to limit the movement of the workpiece after it is grabbed.

[0072] Based on the above structure, the application further provides a grabbing control method of the side wall assembly gripper 200, the limiting mechanism 3 comprises a limiter release box 32, the limiter release box 32 has an open containing cavity 321, and the inner side wall of the containing cavity 321 is provided with a coil 322.

[0073] Specifically, refer to Figure 7 , the grabbing control method of the side wall assembly gripper 200 comprises:

[0074] S10: acquiring a weight value of a workpiece to be grabbed;

[0075] S20: determining a grabbing device number value according to the weight value;

[0076] S30: controlling the robot 203 to drive the grabbing device 100 to move to a pre-grabbing position;

[0077] S70: controlling the coil 322 to be powered on;

[0078] It should be noted that when the coil 322 is powered on, the limiting part 31 moves to the unlocked position, so that the main valve core 22 has a certain movement amount in the up-down direction.

[0079] S80: controlling the electromagnet 23 to be powered on;

[0080] It should be noted that when the electromagnet 23 is powered on, the workpiece can be attracted upward by the electromagnetic force.

[0081] S90: controlling the robot 203 to drive the grabbing device 100 to move the workpiece to the next processing position;

[0082] S100: after reaching the next processing position, controlling the coil and the electromagnet to be powered off.

[0083] In the embodiment, the weight value of the workpiece to be grabbed is acquired, the number value of the grabbing device is determined according to the weight value, the number value of the grabbing device is in a proportional relationship with the weight value of the workpiece to be grabbed, the robot 203 is controlled to drive the grabbing device 100 to move to the pre-grabbing position, the coil 322 is controlled to be energized, the limiting pin 311 is moved to the unlocking position, the limiting of the main valve core 22 in the up-down direction is released, the main valve core 22 is connected with the first elastic member 21, the main valve core 22 has a certain movement amount in the up-down direction through the first elastic member 21, when the electromagnet 23 is controlled to be energized, the first elastic member 21 absorbs the impact force of the workpiece after being sucked upward and colliding with the electromagnet 23, and the first elastic member 21 plays a buffering role, the robot 203 is controlled to drive the grabbing device 100 to move the workpiece to the next processing position, the coil and the electromagnet are controlled to be de-energized, the workpiece is placed in the next processing position, and subsequent processing is facilitated.

[0084] Further, referring to Figure 8 , after the robot 203 is controlled to drive the grabbing device 100 to move to the pre-grabbing position, the method further comprises:

[0085] S40: acquiring an actual distance value of the grabbing device 100 and the workpiece;

[0086] S50: determining a target movement distance according to the actual distance value;

[0087] S60: controlling the robot 203 to drive the grabbing device 100 to move downward by the target movement distance.

[0088] In the embodiment, the actual distance value of the grabbing device 100 and the workpiece is acquired, the target movement distance is determined according to the actual distance value, and it should be noted that after the grabbing device 100 moves to the pre-grabbing position, there is a certain error in workpiece processing, and the grabbing device 100 needs to move downward by a certain distance to absorb the error generated in workpiece processing. Therefore, after the actual distance value of the grabbing device 100 and the workpiece is acquired, the difference between the actual distance value and the optimal grabbing distance value is calculated, the difference is the target movement distance, and the robot 203 is controlled to drive the grabbing device 100 to move downward by the target movement distance, so that the actual distance of the grabbing device 100 and the workpiece can be kept at the optimal grabbing distance. The optimal grabbing distance can be obtained through multiple tests.

[0089] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural changes made under the concept of the present application, or direct / indirect application in other related technical fields, using the content of the present application specification and drawings, are included in the patent protection scope of the present application.

Claims

1. A gripping device, characterized in that The utility model relates to a kind of robot arm, including: Shell, bottom is formed with installation slot, the shell side is formed with the through hole being communicated with the installation slot; Clamping mechanism is arranged in the installation slot, the clamping mechanism includes first elastic member, main valve core and electromagnet, the first elastic member is fixed in the bottom of the installation slot, the main valve core is fixedly connected with the first elastic member, the main valve core can be moved up and down along the depth direction of the installation slot, the electromagnet is fixed in the bottom of the main valve core, the side of the main valve core is provided with cooperation part;And, Limiting mechanism is arranged in the through hole, the limiting mechanism includes the limiting part that can be moved back and forth along the extension direction of the through hole, the limiting part has locking position on its activity stroke, which is inserted into the installation slot and is limited with the cooperation part, to limit the activity of the main valve core in the up-down direction, and unlocking position that moves out of the installation slot; The limiting mechanism includes: Limiting release box, with open accommodating cavity, the inner wall of the accommodating cavity is provided with coil, the limiting release box is arranged in the through hole, and the opening is towards the installation slot; Limiting release valve core, along the horizontal direction, is movably arranged in the accommodating cavity, and at least part of it is extended out of the opening, the side of the limiting release valve core, which is extended out of the opening, is provided with abutting portion, and the end of the limiting release valve core, which is extended out of the opening, is connected with limiting pin that is limited with the cooperation part;And, Second elastic member is arranged between the limiting release box and the abutting portion; The limiting part includes the limiting pin; When the coil is powered, the limiting release valve core moves away from the installation slot, drives the abutting portion to compress the second elastic member, so that the limiting pin moves out of the installation slot to the unlocking position, when the coil is powered off, the second elastic member drives the limiting release valve core to move close to the installation slot, so that the limiting pin moves to the locking position and is limited with the cooperation part.

2. The gripping device of claim 1, wherein The side of the main valve core corresponds to the limiting part and is provided with first groove, and the first groove is limited with the limiting pin. The cooperation part includes the first groove.

3. The gripping device of claim 1, wherein The main valve core includes main body part and connecting part locally protruding from the middle of the lower end of the main body part, the cooperation part is arranged on the side of the main body part, the electromagnet is fixed on the bottom of the connecting part, and the two side walls of the installation slot correspond to the connecting part and are provided with first limiting protrusions.

4. The gripping device of claim 3, wherein The side of the main body part, away from the cooperation part, is provided with second groove, and the side wall of the installation slot, corresponding to the second groove, is provided with second limiting protrusion.

5. The gripping device of claim 1, wherein The side wall of the installation slot, close to the slot, is provided with guide bushing.

6. A side wall assembly gripper characterized by, Including: Frame; Adapter disk, installed on the frame; Multiple robots, part of which is installed on the bottom of the adapter disk, and part of which is installed on the frame. A plurality of grabbing devices, each of the grabbing devices is arranged on each of the robots, each of the robots can drive each of the grabbing devices to move along the up-down direction, each of the grabbing devices comprises the grabbing device according to any one of claims 1-5; and An energy storage power supply, which is electrically connected with each of the grabbing devices.

7. The side assembly gripper of claim 6, wherein The adapter disc is provided with a positioning pin at the bottom.

8. A method of controlling a side wall assembly gripper based on the side wall assembly gripper according to any one of claims 6 to 7, characterized in that, The limiting mechanism comprises a limiter release box, the limiter release box has an open accommodating cavity, the inner side wall of the accommodating cavity is provided with a coil, and the grabbing control method comprises: Obtaining the weight value of the workpiece to be grabbed; According to the weight value, the number of grabbing devices is determined; Controlling the robot to drive the grabbing device to move to the pre-grabbing position; Controlling the coil to be powered on; Controlling the electromagnet to be powered on; Controlling the robot to drive the grabbing device to move the workpiece to the next processing position; After reaching the next processing position, the coil and the electromagnet are controlled to be powered off.

9. The grasp control method of claim 8, wherein, After the robot drives the grabbing device to move to the pre-grabbing position, the method further comprises: Obtaining the actual distance value between the grabbing device and the workpiece; According to the actual distance value, the target moving distance is determined; Controlling the robot to drive the grabbing device to move downward by the target moving distance.

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