Clamp, grabbing device and grabbing method

Abstract

The embodiment of the invention provides a clamp, a grabbing device and a grabbing method.The clamp comprises a base, a first driving assembly, a first clamping assembly and a second clamping assembly, the first driving assembly is installed on the base, the first clamping assembly is rotationally connected with the base through a first rotating shaft, and the first clamping assembly and the second clamping assembly are distributed in the width direction; the second clamping assembly is connected with the first driving assembly through a second rotating shaft, and the first driving assembly is used for driving the second clamping assembly to be close to or away from the first clamping assembly so as to clamp the workpiece to be grabbed. Wherein the first clamping assembly comprises two first clamping parts which are oppositely arranged in the height direction, the first rotating shaft is located between the two first clamping parts, the second clamping assembly comprises two second clamping parts which are oppositely arranged in the height direction, and the second rotating shaft is located between the two second clamping parts. The clamp can adapt to deformation of the clamped area of the workpiece to be grabbed, and meanwhile the clamping reliability and safety of the clamp can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of gripping devices, and in particular to a clamp, a gripping device and a gripping method. Background Art

[0002] When a grasping device grasps a thin-walled part, it is necessary to first use a clamp in the grasping device to clamp the thin-walled part. However, the thin-walled part is prone to deformation due to its own large elasticity during the placement process. When the existing clamp grasps the thin-walled part, the thin-walled part undergoes elastic deformation, resulting in low clamping reliability of the clamp. Summary of the invention

[0003] In view of this, the present application provides a clamp, a gripping device and a gripping method, so as to solve the problem of low clamping reliability when the clamp grips thin-walled parts in the prior art.

[0004] In a first aspect, an embodiment of the present application provides a clamp, which comprises: a base; a first drive assembly, which is mounted on the base; a first clamping assembly, which is rotatably connected to the base via a first rotating shaft; a second clamping assembly, which is distributed along a first direction with the second clamping assembly, and the second clamping assembly is connected to the first drive assembly via a second rotating shaft, and the first drive assembly is used to drive the second clamping assembly to approach or move away from the first clamping assembly to clamp a workpiece to be grasped; wherein, the first clamping assembly comprises two first clamping parts arranged opposite to each other along the second direction, and the first rotating shaft is located between the two first clamping parts along the second direction, and the second clamping assembly comprises two second clamping parts arranged opposite to each other along the second direction, and the second rotating shaft is located between the two second clamping parts along the second direction.

[0005] In this embodiment, when the clamp clamps the workpiece to be grasped, the first driving assembly drives the second clamping assembly to move toward the first clamping assembly, so that the distance between the second clamping assembly and the first clamping assembly is less than or equal to the wall thickness of the clamped area of ​​the workpiece to be grasped. At this time, the two first clamping parts and the two second clamping parts abut against the two ends of the workpiece to be grasped. The first rotating shaft is located between the two first clamping parts so that the two first clamping parts can rotate relative to the base through the first rotating shaft, and the second rotating shaft is located between the two second clamping parts so that the two second clamping parts can rotate relative to the first driving assembly through the second rotating shaft, so that when the clamp clamps the workpiece to be grasped, the first clamping assembly and the second clamping assembly can automatically adapt to the deformation that may occur in the clamped area of ​​the workpiece to be grasped, that is, when the clamped area of ​​the workpiece to be grasped is deformed (for example, deflected relative to the base), the two first clamping parts can rotate around the first rotating shaft, and the two second clamping parts can rotate around the second rotating shaft, so that the first clamping part and the second clamping part automatically rotate until they are parallel to and abut against the clamped area of ​​the workpiece to be grasped again. When the clamp is used to clamp a thin-walled clamped area, while satisfying the need to adapt to the deformation of the clamped area of ​​the workpiece to be grasped, the clamping reliability and safety of the clamp can also be improved to avoid falling off.

[0006] In a specific embodiment, the distances between the two first clamping parts and the first rotating shaft are equal, and / or the distances between the two second clamping parts and the second rotating shaft are equal.

[0007] In this embodiment, the two first clamping parts are at an equal distance from the first rotating shaft, even if the first rotating shaft is located in the middle position of the first clamping assembly, so that when clamping, the first clamping parts on both sides apply equal pressure to the workpiece to be grasped, avoiding the phenomenon that the pressure applied at either end is greater and damages the workpiece to be grasped; and the two second clamping parts are at an equal distance from the second rotating shaft, even if the second rotating shaft is located in the middle position of the second clamping assembly, so that when clamping, the second clamping parts on both sides apply equal pressure to the workpiece to be grasped, avoiding the phenomenon that the pressure applied at either end is greater and damages the workpiece to be grasped.

[0008] In a specific embodiment, the distance between the first clamping portion and the first rotating axis is L1, the distance between the second clamping portion and the second rotating axis is L2, and L1=L2.

[0009] In this embodiment, L1=L2, that is, the first rotating shaft is located in the middle position of the first clamping assembly and the second rotating shaft is located in the middle position of the second clamping assembly, and the first rotating shaft is aligned with the second rotating shaft along the first direction. When the first clamping assembly and the second clamping assembly clamp the workpiece to be grasped, the directions of the external forces applied to the workpiece to be grasped by the first clamping part and the second clamping part are the same, thereby avoiding the risk of damage to the workpiece to be grasped due to torque generated during the grasping process, and can further improve the reliability and stability of the clamp in clamping the workpiece to be grasped.

[0010] In a specific embodiment, the first clamping assembly includes a first connecting rod and the first clamping parts connected to both ends of the first connecting rod, and the first clamping part protrudes relative to the first connecting rod toward the direction of the second clamping assembly; the second clamping assembly includes a second connecting rod and the second clamping parts connected to both ends of the second connecting rod, and the second clamping part protrudes relative to the second connecting rod toward the direction of the first clamping assembly.

[0011] In this embodiment, the two first clamping parts are raised relative to the first connecting rod toward the direction of the second clamping assembly, so that when the clamp clamps the workpiece to be grasped, the two first clamping parts located at both ends of the first connecting rod abut against the workpiece to be grasped, reducing the contact area between the first clamping assembly and the workpiece to be grasped, thereby increasing the pressure applied by the first clamping part to the workpiece to be grasped, and at the same time, the two second clamping parts are raised relative to the second connecting rod toward the direction of the first clamping assembly, so that when the clamp clamps the workpiece to be grasped, the two second clamping parts located at both ends of the second connecting rod abut against the workpiece to be grasped, reducing the contact area between the second clamping assembly and the workpiece to be grasped, thereby increasing the pressure applied by the second clamping part to the workpiece to be grasped. Therefore, the provision of the raised first clamping part and the second clamping part can improve the clamping reliability and use safety of the clamp when the clamp clamps the workpiece to be grasped, and avoid the phenomenon of the workpiece to be grasped being detached.

[0012] In a specific embodiment, the first clamping part and the second clamping part both include a limit member and a clamping member installed on the limit member, the limit member of the first clamping assembly is connected to the first connecting rod, the limit member of the second clamping assembly is connected to the second connecting rod, and an end of the clamping member protrudes relative to the limit member; the clamping member is made of elastic material, and the limit member is made of rigid material.

[0013] In this embodiment, when the clamp clamps the workpiece to be grasped, the clamping member is used to directly contact the workpiece to be grasped, and the clamping member is made of elastic material, which can prevent the clamping member from causing damage to the workpiece to be grasped, such as dents, scratches, etc. At the same time, the clamping member is connected to the first connecting rod or the second connecting rod through a limiter made of rigid material, which can improve the reliability of the connection and extend the service life of the first clamping part and the second clamping part.

[0014] In a specific embodiment, the first connecting rod also includes a first bending portion located at both ends of the first connecting rod, the first bending portion extends in a direction away from the base, and the first clamping portion is connected to the first bending portion; the second connecting rod also includes a second bending portion located at both ends of the second connecting rod, the second bending portion extends in a direction away from the base, and the second clamping portion is connected to the second bending portion.

[0015] In this embodiment, the first clamping portion is connected to the first bending portion, and the second clamping portion is connected to the second bending portion, so that the first clamping portion and the second clamping portion are arranged away from the base. Therefore, when the clamp clamps the workpiece to be grasped, the workpiece to be grasped is kept away from the base, avoiding interference between the workpiece to be grasped and the base and other components installed on the base.

[0016] In a specific embodiment, the first driving assembly includes a driving member and a rotating arm, the driving member is mounted on the base, one end of the rotating arm is connected to the second clamping assembly, and the other end of the rotating arm is connected to the driving member.

[0017] In this embodiment, the rotating arm can drive the second clamping component to move relative to the first clamping component under the drive of the driving member, so that there are a first preset distance and a second preset distance between the first clamping component and the second clamping component, wherein the first preset distance is greater than the wall thickness of the clamped area of ​​the workpiece to be grasped, and the second preset distance is less than or equal to the wall thickness of the clamped area of ​​the workpiece to be grasped. Before the clamp clamps the workpiece to be grasped, the first preset distance is set between the first clamping component and the second clamping component to avoid interference between the clamp and the workpiece to be grasped. When the clamp clamps the workpiece to be grasped, the second preset distance is set between the first clamping component and the second clamping component to enable the clamp to clamp the workpiece to be grasped.

[0018] In a second aspect, an embodiment of the present application provides a grasping device, which includes a clamp and a grasping frame, and the clamp is connected to the grasping frame.

[0019] In a specific embodiment, the base is slidably connected to the grabbing frame, and the grabbing device further includes a second driving component connected to the base, and the second driving component is used to drive the clamp to slide relative to the grabbing frame.

[0020] In this embodiment, the base is slidably connected to the grabbing frame to facilitate the base to move relative to the grabbing frame, so that the base drives the clamp to move toward or away from the workpiece to be grabbed.

[0021] In a specific embodiment, the grabbing frame further includes at least one first support portion and at least one second support portion, the first support portion and the second support portion are arranged relatively to each other along a second direction, and the first support portion and the second support portion are movably connected to the grabbing frame; the grabbing frame further includes at least one third drive component, the third drive component is used to drive the first support portion to move upward along the second direction relative to the grabbing frame; the grabbing frame further includes at least one fourth drive component, the fourth drive component is used to drive the second support portion to move downward along the second direction relative to the grabbing frame.

[0022] In this embodiment, the grabbing frame includes at least one first support portion and at least one second support portion, and the first support portion and the second support portion are arranged relatively to each other along the first direction, so that the first support portion and the second support portion can respectively move to abut against the two ends of the workpiece to be grabbed along the second direction, so that the workpiece to be grabbed is connected and fixed to the grabbing frame. The grabbing frame also includes a third driving assembly for driving the first support portion and a fourth driving assembly for driving the second support portion, so that the third driving assembly and the fourth driving assembly can respectively drive the first support portion and the second support portion, so that the first support portion and the second support portion are closer to or farther away from each other along the second direction. In addition, the first support portion can also be provided with a first clamping portion, and the first clamping portion is used to clamp with the workpiece to be grabbed; the second support portion can also be provided with a second clamping portion, and the second clamping portion is used to clamp with the workpiece to be grabbed. The first clamping portion and the second clamping portion can be groove structures to improve the reliability and stability during clamping.

[0023] In a specific embodiment, the grasping device also includes a vision module and a control module. The vision module is fixedly connected to the grasping frame, and the vision module is used to identify the position of the characteristic hole on the workpiece to be grasped; the control module is used to receive the position signal recognized by the vision module, and can control the third drive component and the fourth drive component to work or stop working according to the recognized position signal.

[0024] In this embodiment, the gripping device further includes a visual module and a control module, wherein the visual module can identify the position of the characteristic hole on the workpiece to be gripped and transmit it to the control module; the control module can receive and analyze the position signal of the characteristic hole transmitted by the visual module, and control the gripping frame and the clamp to work or stop working according to the identified position signal. By setting up the visual module, the gripping device can further improve the accuracy of gripping the workpiece to be gripped, omit manual adjustment, reduce costs, and improve efficiency.

[0025] In a specific embodiment, along the third direction, the distances between two ends of the grasping frame and the vision module are equal.

[0026] In this embodiment, the workpiece to be grasped can be placed and transported through the material frame. In order to improve the use efficiency of the material frame, multiple workpieces to be grasped arranged at intervals can be placed in the material frame, and the placement postures of the multiple workpieces to be grasped are different. Taking the workpiece to be grasped as the side outer panel of the vehicle as an example, since the B-pillar in the side outer panel is the most rigid position in the entire part, the visual module is installed in the middle position of the grasping frame, which is convenient for the visual module to identify the position of the characteristic hole of the B-pillar of the side outer panel, thereby improving the recognition accuracy of the visual module. And because the B-pillar is more rigid, the characteristic hole on the B-pillar is not easy to deform, which can reduce the error of the visual module in recognizing the characteristic hole, and further improve the accuracy of the recognized characteristic hole position signal. At the same time, there is no need to set additional visual modules at other positions of the grasping frame to meet the use requirements, which can simplify the overall structure of the grasping device and reduce costs.

[0027] At the same time, since the recognition distance of the vision module is limited when it is working, when it is necessary to identify the workpiece to be grasped that is placed deep in the material frame, the grasping frame is required to drive the vision module to move close to the workpiece to be grasped. At this time, the grasping frame is located inside the material frame as a whole, and the vision module is installed in the middle position of the grasping frame so that the vision module is away from the side wall of the material frame. This can avoid the phenomenon of grasping failure or deformation of the material frame caused by collision between the vision module and the side wall of the material frame when adjusting the position of the grasping frame.

[0028] In a specific embodiment, the grasping device also includes an operating arm, and the grasping frame is provided with a connecting end, and the connecting end is used to be fixedly connected to the operating arm; the grasping frame is also provided with at least two positioning pins, and the control module can control the operating arm to drive the grasping frame to move toward the workpiece to be grasped, so that the positioning pins are engaged with the characteristic holes.

[0029] In this embodiment, the grabbing frame is fixedly connected to the operating arm through the connecting end, which can improve the connection reliability between the grabbing frame and the operating arm. The control module can control the operating arm to drive the grabbing frame to move relative to the workpiece to be grabbed, so as to facilitate the adjustment of the relative position between the grabbing frame and the workpiece to be grabbed, thereby facilitating the subsequent grabbing work. In this embodiment, at least two positioning pins are provided on the grabbing frame, and the positioning pins can be engaged with the characteristic holes on the workpiece to be grabbed, so as to further improve the connection reliability between the grabbing frame and the workpiece to be grabbed, and can limit some degrees of freedom of the workpiece to be grabbed, so as to prevent the workpiece to be grabbed from continuing to move or deform.

[0030] In a third aspect, an embodiment of the present application provides a grasping method for controlling a grasping device to grasp a workpiece to be grasped, wherein the grasping device includes a vision module and a control module, and the grasping frame also includes at least one first support portion and at least one second support portion, wherein the first support portion and the second support portion are arranged relative to each other along a second direction, and the grasping method includes:

[0031] The visual module identifies the position of the characteristic hole on the workpiece to be grasped, and transmits the position signal to the control module;

[0032] The control module adjusts the position of the grabbing device according to the position signal so that the grabbing device is at a preset grabbing position;

[0033] The control module controls the at least one first support portion to rise, and controls the at least one second support portion to fall, so that the first support portion and the second support portion respectively abut against the workpiece to be grasped along the second direction;

[0034] The control module controls the clamp to move toward the workpiece to be grasped, and enables the first clamping assembly and the second clamping assembly to clamp the workpiece to be grasped.

[0035] In this embodiment, before the grasping device grasps the workpiece to be grasped, the visual module in the grasping device can pre-identify the characteristic holes on the workpiece to be grasped, and the control module adjusts the position of the grasping device according to the characteristic hole position signal recognized by the visual module, so that the grasping device moves to be roughly parallel to the workpiece to be grasped, thereby improving the accuracy of subsequent grasping work. And the grasping device is connected and fixed to the workpiece to be grasped through the joint action of the first support part, the second support part and the clamp, which can improve the reliability and stability when grasping the workpiece to be grasped.

[0036] In a specific embodiment, the grasping frame has a positioning pin, and before the control module controls the at least one first support portion to rise and controls the at least one second support portion to descend so that the first support portion and the second support portion respectively abut against the workpiece to be grasped along the second direction, the grasping method further includes:

[0037] The control module drives the grasping frame to move toward the workpiece to be grasped until the positioning pin is engaged with the characteristic hole of the workpiece to be grasped.

[0038] In the present embodiment, in the process of moving the grabbing frame to a preset grabbing position, the control module can drive the grabbing frame to move toward the workpiece to be grabbed until the positioning pin engages with the characteristic hole, thereby limiting part of the freedom of the workpiece to be grabbed, and before the control module controls the first support part and the second support part to abut against the workpiece to be grabbed, the workpiece to be grabbed itself is prevented from moving or deforming, thereby improving the accuracy of the first support part and the second support part when abutting against the workpiece to be grabbed.

[0039] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 A schematic diagram of the structure of a gripping device and a workpiece to be gripped in a specific embodiment of the present application;

[0042] Figure 2 for Figure 1 A schematic diagram of the structure of the grabbing device;

[0043] Figure 3 for Figure 1 A partial enlarged view of part I;

[0044] Figure 4 for Figure 2 Schematic diagram of the structure of the middle fixture;

[0045] Figure 5 for Figure 4 A schematic structural diagram of the first connecting rod and the first bending portion;

[0046] Figure 6 for Figure 4 Schematic diagram of the structure of the middle limiter and the clamping part.

[0047] Description of reference numerals:

[0048] 1- Grasping device;

[0049] 11- Clamp;

[0050] 111- base;

[0051] 112- first driving assembly;

[0052] 112a- rotating arm;

[0053] 113-first clamping assembly;

[0054] 113a-first clamping portion;

[0055] 113b-first connecting rod;

[0056] 113c-first bending portion;

[0057] 113d-first rotating shaft;

[0058] 114 - second clamping assembly;

[0059] 114a- second clamping portion;

[0060] 114b- second connecting rod;

[0061] 114c- second bending portion;

[0062] 114d-second rotating shaft;

[0063] 115-limiting member;

[0064] 116-clamping member;

[0065] 116a-Part I;

[0066] 116b-Part II;

[0067] 12-Grab the frame;

[0068] 121- second driving assembly;

[0069] 122-connection end;

[0070] 123- first supporting portion;

[0071] 123a-first clamping portion;

[0072] 124- second supporting portion;

[0073] 124a- second clamping portion;

[0074] 125- third drive assembly;

[0075] 126- fourth drive assembly;

[0076] 128- positioning pin;

[0077] 13-Vision module;

[0078] 2-Workpiece to be grasped;

[0079] 21-Clamped area. DETAILED DESCRIPTION

[0080] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0081] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0082] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0083] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0084] The present application embodiment provides a gripping device 1 for gripping a workpiece 2 to be gripped. Figure 1 and Figure 2 As shown, the gripping device 1 comprises a clamp 11 and a gripping frame 12 , wherein the clamp 11 is connected to the gripping frame 12 , and the clamp 11 is used to clamp the workpiece 2 to be gripped.

[0085] like Figures 2 to 4 As shown, the clamp 11 includes a base 111, a first driving component 112, a first clamping component 113 and a second clamping component 114. The first driving component 112 is installed on the base 111. The first clamping component 113 is rotatably connected to the base 111 through a first rotating shaft 113d. The first clamping component 113 and the second clamping component 114 are distributed along a first direction X. The second clamping component 114 is connected to the first driving component 112 through a second rotating shaft 114d. The first driving component 112 is used to drive the second clamping component 114 to approach or move away from the first clamping component 113 to clamp the workpiece 2 to be grasped. Among them, the first clamping component 113 includes two first clamping parts 113a arranged opposite to each other along the second direction Y, and along the second direction Y, the first rotating shaft 113d is located between the two first clamping parts 113a, and the second clamping component 114 includes two second clamping parts 114a arranged opposite to each other along the second direction Y, and along the second direction Y, the second rotating shaft 114d is located between the two second clamping parts 114a.

[0086] In this embodiment, when the clamp 11 clamps the workpiece 2 to be grasped, the first driving component 112 drives the second clamping component 114 to move toward the first clamping component 113, so that the distance between the second clamping component 114 and the first clamping component 113 is less than or equal to the wall thickness of the clamped area 21 of the workpiece 2 to be grasped. At this time, the two first clamping parts 113a and the two second clamping parts 114a are in contact with the two ends of the workpiece 2 to be grasped. The first rotating shaft 113d is located between the two first clamping parts 113a, so that the two first clamping parts 113a can rotate relative to the base 111 through the first rotating shaft 113d, and the second rotating shaft 114d is located between the two second clamping parts 114a, so that the two second clamping parts 114a can rotate relative to the first driving component 112 through the second rotating shaft 114d, so that when the clamp 11 clamps the workpiece 2 to be grasped, the first clamping component 113 and the second clamping component 114 can Automatically adapt to the possible deformation of the clamped area 21 of the workpiece 2 to be grasped, that is, when the clamped area 21 of the workpiece 2 to be grasped is deformed (for example, deflected relative to the base 111), the two first clamping parts 113a can rotate around the first rotation axis 113d, and the two second clamping parts 114a can rotate around the second rotation axis 114d, so that the first clamping parts 113a and the second clamping parts 114a automatically rotate to be parallel to and abut against the clamped area 21 of the workpiece 2 to be grasped. When the clamp 1 is used to clamp a thin-walled clamped area 21, while meeting the requirements of adapting to the deformation of the clamped area 21 of the workpiece 2 to be grasped, it can also improve the clamping reliability and safety of the clamp 1 to avoid falling off.

[0087] Among them, the first direction X in the embodiment of the present application can be the width direction of the grasping device 1, the second direction Y can be the height direction of the grasping device 1, and the third direction Z can be the length direction of the grasping device 1.

[0088] In a specific embodiment, Figure 4 As shown, the distances between the two first clamping portions 113a and the first rotating shaft 113d are equal, and / or the distances between the two second clamping portions 114a and the second rotating shaft 114d are equal.

[0089] In this embodiment, the two first clamping parts 113a are at an equal distance from the first rotating shaft 113d, even if the first rotating shaft 113d is located in the middle position of the first clamping assembly 113, so that the pressure applied by the first clamping parts 113a on both sides to the workpiece to be grasped is equal during clamping, thereby avoiding the phenomenon that the pressure applied at either end is too high and damages the workpiece to be grasped; and the two second clamping parts 114a are at an equal distance from the second rotating shaft 114d, even if the second rotating shaft 114d is located in the middle position of the second clamping assembly 114, so that the pressure applied by the second clamping parts 114a on both sides to the workpiece to be grasped is equal during clamping, thereby avoiding the phenomenon that the pressure applied at either end is too high and damages the workpiece to be grasped.

[0090] In a specific embodiment, Figure 4 As shown, the distance between the first clamping portion 113a and the first rotating shaft 113d is L1, and the distance between the second clamping portion 114a and the second rotating shaft 114d is L2, and L1=L2.

[0091] In this embodiment, L1=L2, that is, the first rotating shaft 113d is located in the middle position of the first clamping component 113, and the second rotating shaft 114d is located in the middle position of the second clamping component 114, and the first rotating shaft 113d is aligned with the second rotating shaft 114d along the first direction X. When the first clamping component 113 and the second clamping component 114 clamp the workpiece to be grasped, the directions of the external forces acting on the workpiece to be grasped by the first clamping part 113a and the second clamping part 114a are the same, thereby avoiding the risk of damage to the workpiece to be grasped due to the torque formed during the grasping process, and can further improve the reliability and stability of the clamp 11 in clamping the workpiece to be grasped.

[0092] In a specific embodiment, Figure 3 and Figure 4 As shown, the first clamping assembly 113 includes a first connecting rod 113b and a first clamping portion 113a connected at both ends of the first connecting rod 113b, and the first clamping portion 113a protrudes relative to the first connecting rod 113b toward the direction of the second clamping assembly 114; the second clamping assembly 114 includes a second connecting rod 114b and a second clamping portion 114a connected at both ends of the second connecting rod 114b, and the second clamping portion 114a protrudes relative to the second connecting rod 114b toward the direction of the first clamping assembly 113.

[0093] In this embodiment, the two first clamping portions 113a are protruded relative to the first connecting rod 113b toward the direction of the second clamping assembly 114, so that when the clamp 11 clamps the workpiece to be grasped, the two first clamping portions 113a located at both ends of the first connecting rod 113b abut against the workpiece to be grasped, reducing the contact area between the first clamping assembly 113 and the workpiece to be grasped. Therefore, when the pressure applied by the first clamping portion 113a to the workpiece to be grasped is constant, the pressure applied by the first clamping portion 113a to the workpiece to be grasped is increased, thereby enhancing the effect of the pressure. At the same time, the two second clamping parts 114a are raised relative to the second connecting rod 114b toward the direction of the first clamping assembly 113, so that when the clamp clamps the workpiece to be grasped, the two second clamping parts 114a at both ends of the second connecting rod 114b abut against the workpiece to be grasped, reducing the contact area between the second clamping assembly 114 and the workpiece to be grasped, so that when the pressure applied by the second clamping parts 114a to the workpiece to be grasped is constant, the pressure applied by the second clamping parts 114a to the workpiece to be grasped is increased, thereby improving the effect of the pressure. Therefore, the provision of the raised first clamping parts 113a and the second clamping parts 114a can improve the clamping reliability and use safety of the clamp 11 when the clamp 11 clamps the workpiece to be grasped, and avoid the phenomenon of the workpiece to be grasped being separated.

[0094] In a specific embodiment, Figure 3 , Figure 4 and Figure 6 As shown, the first clamping portion 113a and the second clamping portion 114a both include a limiter 115 and a clamping member 116 mounted on the limiter 115, the limiter 115 of the first clamping assembly 113 is connected to the first connecting rod 113b, the limiter 115 of the second clamping assembly 114 is connected to the second connecting rod 114b, and the end of the clamping member 116 protrudes relative to the limiter 115. The clamping member 116 is made of elastic material, and the limiter 115 is made of rigid material.

[0095] In this embodiment, when the clamp 11 clamps the workpiece to be grasped, the clamping member 116 is used to directly contact the workpiece to be grasped, and the clamping member 116 is made of elastic material, which can prevent the clamping member 116 from causing damage to the workpiece to be grasped, such as dents, scratches, etc. At the same time, the clamping member 116 is connected to the first connecting rod 113b or the second connecting rod 114b through the limiter 115 made of rigid material, which can improve the reliability of the connection and extend the service life of the first clamping portion 113a and the second clamping portion 114a.

[0096] In a specific embodiment, the clamping member 116 may be made of polyurethane, and the limiting member 115 may be made of metal.

[0097] In this embodiment, the clamping member 116 is made of polyurethane. Polyurethane has good elasticity and can meet the use requirements of the clamping member 116. Polyurethane also has good wear resistance, impact resistance and tensile strength, which can extend the service life of the clamping member 116. The limiting member 115 is made of a metal material with high rigidity and strength, which can improve the connection reliability between the limiting member 115 and the first connecting rod 113b or the second connecting rod 114b and extend the service life of the limiting member 115.

[0098] In a specific embodiment, Figure 3 and Figure 6 As shown, a portion of the clamping member 116 is embedded in the limiting member 115 .

[0099] In this embodiment, a part of the clamping member 116 is embedded in the limiting member 115, which can further improve the connection reliability between the clamping member 116 and the limiting member 115. Specifically, the limiting member 115 can be provided with a mounting groove, and the clamping member 116 can include a first part 116a and a second part 116b connected to each other. The first part 116a is installed in the mounting groove, so that the clamping member 116 is connected to the limiting member 115 and the connection reliability is improved. The second part 116b is raised relative to the first part 116a, and along the third direction Z, the cross-sectional area of ​​the second part 116b is smaller than the cross-sectional area of ​​the first part 116a, so that when clamping the workpiece to be grasped, the second part 116b is abutted against the workpiece to be grasped, further increasing the pressure applied by the clamping member 116 to the workpiece to be grasped, and improving the clamping reliability.

[0100] In a specific embodiment, Figure 3 and Figure 4 As shown, the first connecting rod 113b also includes a first bending portion 113c located at both ends of the first connecting rod 113b, the first bending portion 113c extends in a direction away from the base 11, and the first clamping portion 113a is connected to the first bending portion 113c; the second connecting rod 114b also includes a second bending portion 114c located at both ends of the second connecting rod 114b, the second bending portion 114c extends in a direction away from the base 11, and the second clamping portion 114a is connected to the second bending portion 114c.

[0101] In this embodiment, the first clamping portion 113a is connected to the first bending portion 113c, and the second clamping portion 114a is connected to the second bending portion 114c, so that the first clamping portion 113a and the second clamping portion 114a are arranged away from the base 111. Therefore, when the clamp 11 clamps the workpiece to be grasped, the workpiece to be grasped is kept away from the base 111, avoiding interference between the workpiece to be grasped and the base 111 and other components installed on the base 111.

[0102] Among them, the structures of the first connecting rod 113b and the first bending portion 113c and the second connecting rod 114b and the second bending portion 114c in the embodiment of the present application can be the same.

[0103] At the same time, if Figure 3 As shown, the first clamping assembly 113 is connected to the side wall of the base 111 , and the first clamping assembly 113 and the second clamping assembly 114 extend out of the base 111 .

[0104] In this embodiment, the first clamping assembly 113 and the second clamping assembly 114 are extended out of the base 111, so that the first clamping assembly 113 and the second clamping assembly 114 are away from the base 111, further avoiding the first clamping assembly 113 and the second clamping assembly 114 from interfering with the base 111 and other components installed on the base 111 when clamping the workpiece to be grasped.

[0105] In a specific embodiment, Figure 3 and Figure 4 As shown, the driving assembly 112 includes a driving member and a rotating arm 112a. The driving member is mounted on the base 111. One end of the rotating arm 112a is connected to the second clamping assembly 114, and the other end is connected to the driving member.

[0106] In this embodiment, the rotating arm 112a can drive the second clamping component 114 to move relative to the first clamping component 113 under the drive of the driving member, so that there are a first preset distance and a second preset distance between the first clamping component 113 and the second clamping component 114, wherein the first preset distance is greater than the wall thickness of the clamped area 21 of the workpiece to be grasped, and the second preset distance is less than or equal to the wall thickness of the clamped area 21 of the workpiece to be grasped. Before the clamp 11 clamps the workpiece to be grasped, the first clamping component 113 and the second clamping component 114 are set to the first preset distance to avoid interference between the clamp 11 and the workpiece to be grasped. When the clamp 11 clamps the workpiece to be grasped, the first clamping component 113 and the second clamping component 114 are set to the second preset distance so that the clamp 11 can clamp the workpiece to be grasped.

[0107] Wherein, the driving member may be a cylinder structure.

[0108] In a specific embodiment, Figure 2 As shown, the base 111 is slidably connected to the grabbing frame 12 , and the grabbing device 1 further comprises a second driving assembly 121 connected to the base 111 , and the second driving assembly 121 is used to drive the clamp 11 to slide relative to the grabbing frame 12 .

[0109] In this embodiment, the base 111 is slidably connected to the grab frame 12 to facilitate the base 111 to move relative to the grab frame 12 so that the base 111 drives the clamp 11 to move toward or away from the workpiece to be grabbed.

[0110] The second driving assembly 121 may be an electric screw structure.

[0111] In a specific embodiment, Figure 2 As shown, the grabbing frame 12 also includes at least one first support portion 123 and at least one second support portion 124, the first support portion 123 and the second support portion 124 are relatively arranged along the second direction Y, and the first support portion 123 and the second support portion 124 are movably connected to the grabbing frame 12; the grabbing frame 12 also includes at least one third driving component 125, the third driving component 125 is used to drive the first support portion 123 to move upward along the second direction Y relative to the grabbing frame 12; the grabbing frame 12 also includes at least one fourth driving component 126, the fourth driving component 126 is used to drive the second support portion 124 to move downward along the second direction Y relative to the grabbing frame 12.

[0112] In this embodiment, the grabbing frame 12 includes at least one first support portion 123 and at least one second support portion 124, and the first support portion 123 and the second support portion 124 are arranged opposite to each other along the first direction X, so that the first support portion 123 and the second support portion 124 can respectively move to abut against the two ends of the workpiece to be grabbed along the second direction Y, so that the workpiece to be grabbed is connected and fixed to the grabbing frame 12. The grabbing frame also includes a third driving component 125 for driving the first support portion 123 and a fourth driving component 126 for driving the second support portion 124, so that the third driving component 125 and the fourth driving component 126 can respectively drive the first support portion and the second support portion, so that the first support portion 123 and the second support portion 124 can move closer to or farther away from each other along the second direction Y. In addition, the first support portion 123 may also be provided with a first clamping portion 123a, which is used to clamp the workpiece to be grasped; the second support portion 124 may also be provided with a second clamping portion 124a, which is used to clamp the workpiece to be grasped. The first clamping portion 123a and the second clamping portion 124a may be groove structures to improve the reliability and stability of the clamping.

[0113] The third driving assembly 125 and the fourth driving assembly 126 may be electric screw structures.

[0114] In a specific embodiment, Figure 2 As shown, the grasping device 1 can also include a vision module 13 and a control module. The vision module 13 is fixedly connected to the grasping frame 12, and the vision module 13 is used to identify the position of the characteristic hole on the workpiece to be grasped; the control module is used to receive the position signal recognized by the vision module 13, and can control the first drive component 112, the second drive component 121, the third drive component 125, and the fourth drive component 126 to work or stop working according to the recognized position signal.

[0115] In this embodiment, the gripping device 1 further includes a visual module 13 and a control module, wherein the visual module 13 can identify the position of the characteristic hole on the workpiece to be gripped and transmit it to the control module; the control module can receive and analyze the position signal of the characteristic hole transmitted by the visual module 13, and control the gripping frame 12 and the clamp 11 to work or stop working according to the identified position signal. By setting the visual module 13, the gripping accuracy of the gripping device 1 when gripping the workpiece to be gripped is further improved, manual adjustment is omitted, cost is reduced, and efficiency is improved.

[0116] Among them, the visual module 13 may include a 3D camera, which can make the identified position signal more accurate when performing position recognition on the characteristic hole, and further improve the accuracy of subsequent grasping work.

[0117] In a specific embodiment, Figure 1 and Figure 2 As shown, along the third direction Z, the distances between the two ends of the grabbing frame 12 and the vision module 13 can be equal, even if the vision module 13 is installed in the middle position of the grabbing frame 12 .

[0118] In this embodiment, the workpiece 2 to be grasped can be placed and transported through the material frame. In order to improve the use efficiency of the material frame, a plurality of workpieces 2 to be grasped arranged at intervals can be placed in the material frame, and the placement postures of the plurality of workpieces 2 to be grasped are different (i.e., different positions and angles with the material frame). Taking the workpiece 2 to be grasped as the side outer panel of the vehicle as an example, since the B-pillar in the side outer panel is the position with the strongest rigidity in the entire part, the visual module 13 is installed in the middle position of the grasping frame 12, so that the visual module 13 can recognize the position of the characteristic hole of the B-pillar of the side outer panel, thereby improving the recognition accuracy of the visual module 13. And because the B-pillar is relatively rigid, the characteristic holes on the B-pillar are not easy to deform, so that the relative posture relationship (i.e., relative position and posture) between the characteristic holes changes less, thereby reducing the error when the visual module 13 recognizes the characteristic holes, and further improving the accuracy of the recognized characteristic hole position signal. At the same time, there is no need to set additional visual modules at other positions of the grasping frame 12 to meet the use requirements, which can simplify the overall structure of the grasping device 1 and reduce costs.

[0119] At the same time, since the recognition distance of the visual module 13 is limited when it is working, when it is necessary to identify the workpiece 2 to be grasped that is placed deep in the material frame, the grasping frame 12 is required to drive the visual module 13 to move close to the workpiece 2 to be grasped. At this time, the grasping frame 12 is located as a whole inside the material frame, and the visual module 13 is installed in the middle position of the grasping frame 12, so that the visual module 13 is set away from the side wall of the material frame. This can avoid the phenomenon of grasping failure or deformation of the material frame caused by the collision between the visual module 13 and the side wall of the material frame when adjusting the position of the grasping frame 12.

[0120] In a specific embodiment, Figure 1 and Figure 2 As shown, the gripping device 1 may further include an operating arm, and the gripping frame 12 is provided with a connecting end 122, which is used to be fixedly connected to the operating arm; the control module can control the operating arm to drive the gripping frame 12 to move relative to the workpiece 2 to be gripped.

[0121] In this embodiment, the grabbing frame 12 is fixedly connected to the operating arm through the connecting end 122, which can improve the connection reliability between the grabbing frame 12 and the operating arm. In addition, the control module can control the operating arm to drive the grabbing frame 12 to move relative to the workpiece 2 to be grabbed, so as to facilitate the adjustment of the relative position between the grabbing frame 12 and the workpiece 2 to be grabbed, thereby facilitating the subsequent grabbing work.

[0122] In a specific embodiment, Figure 2 As shown, the grabbing frame 12 may also be provided with at least two positioning pins 128 , and the control module can control the operating arm to drive the grabbing frame 12 to move toward the workpiece to be grabbed, so that the positioning pins 128 are engaged with the characteristic holes.

[0123] In this embodiment, at least two positioning pins 128 are provided on the grasping frame 12, and the positioning pins 128 can be engaged with the characteristic holes on the workpiece to be grasped, so as to further improve the connection reliability between the grasping frame 12 and the workpiece to be grasped, and can limit part of the freedom of the workpiece to be grasped, thereby preventing the workpiece to be grasped from continuing to move or deform.

[0124] like Figures 1 to 4 As shown, when the grasping device 1 grasps the workpiece 2 to be grasped, the grasping method in a specific embodiment may include but is not limited to the following steps:

[0125] S11: The visual module 13 identifies the position of the characteristic hole on the workpiece 2 to be grasped, and transmits the position signal to the control module;

[0126] S12: The control module adjusts the position of the grasping device 1 according to the position signal so that the grasping device 1 is at a preset grasping position;

[0127] S13: The control module controls at least one first support portion 123 to rise, and controls at least one second support portion 124 to descend, so that the first support portion 123 and the second support portion 124 are respectively in contact with the workpiece 2 to be grasped along the second direction;

[0128] S14: The control module controls the clamp 11 to move toward the workpiece 2 to be grasped, and enables the first clamping component 113 and the second clamping component 114 to clamp the workpiece 2 to be grasped.

[0129] The preset grasping position in this embodiment may be a position where the grasping device 1 is parallel to the workpiece 2 to be grasped.

[0130] In this embodiment, before the grasping device 1 grasps the workpiece 2 to be grasped, the visual module 13 in the grasping device 1 can pre-identify the characteristic holes on the workpiece 2 to be grasped, and the control module adjusts the position of the grasping device 1 according to the characteristic hole position signal recognized by the visual module 13, so that the grasping device 1 moves to be roughly parallel to the workpiece 2 to be grasped, thereby improving the accuracy of subsequent grasping work. And the grasping device 1 is connected and fixed to the workpiece 2 to be grasped through the joint action of the first support part 123, the second support part 124 and the clamp 11, which can improve the reliability and stability when grasping the workpiece 2 to be grasped.

[0131] In a specific embodiment, Figure 1 and Figure 2 As shown, the above step S13 may further specifically include:

[0132] S131: The control module controls at least one first support portion 123 to rise, and controls at least one second support portion 124 to descend, so that the first support portion 123 and the second support portion 124 are respectively in contact with the workpiece 2 to be grasped along the second direction;

[0133] S132: The control module controls the operating arm to drive the grabbing frame 12 to move away from the material frame, so that the grabbing frame 12 drives the workpiece 2 to be grabbed to move outside the material frame.

[0134] In this embodiment, the workpiece 2 to be grasped can be placed and transported through the material frame. In order to improve the use efficiency of the material frame, a plurality of workpieces 2 to be grasped arranged at intervals can be placed in the material frame, and the intervals between the plurality of workpieces 2 to be grasped are small. Therefore, when the control module controls at least one first support portion 123 to rise, and controls at least one second support portion 124 to descend, so that the first support portion 123 and the second support portion 124 are respectively in contact with the workpiece 2 to be grasped along the second direction and fixed to the workpiece 2 to be grasped, the control module can control the operating arm to drive the grasping frame 12 to move away from the material frame, so that the grasping frame 12 drives the workpiece 2 to be grasped to move outside the material frame, so that the workpiece 2 to be grasped grasped by the grasping frame 12 is away from other workpieces 2 to be grasped in the material frame. When performing step S14, the first clamping component 113 or the second clamping component 114 of the clamp 11 can avoid interference with other workpieces 2 to be grasped in the material frame, thereby avoiding scratching or damaging other workpieces 2 to be grasped in the material frame.

[0135] In a specific embodiment, Figure 2 As shown, the grabbing frame 12 has a positioning pin 128, and the above step S12 is specifically as follows:

[0136] S121: The control module drives the grasping frame 12 to move toward the workpiece 2 to be grasped until the positioning pin 128 engages with the characteristic hole of the workpiece to be grasped.

[0137] In this embodiment, in the process of moving the grabbing frame 12 to the preset grabbing position, the control module can drive the grabbing frame 12 to move toward the workpiece 2 to be grabbed until the positioning pin 128 engages with the characteristic hole, thereby limiting part of the freedom of the workpiece 2 to be grabbed. And this step is set before step S13, so as to avoid the workpiece 2 to be grabbed from moving or deforming before the control module controls the first support part 123 and the second support part 124 to abut against the workpiece 2 to be grabbed, and improve the accuracy of the first support part 123 and the second support part 124 abutting against the workpiece 2 to be grabbed.

[0138] In a specific embodiment, the control module may also include a programmable logic controller (PLC), which can detect whether the material frame moves to a preset location (i.e., within the working range of the grabbing device) and transmit the detection signal to the control module, so that the control module can control the grabbing device to start grabbing according to the detection signal.

[0139] In a specific embodiment, Figure 1 and Figure 2 As shown, taking the workpiece 2 to be grasped as the side outer panel of a vehicle as an example, the grasping method may include but is not limited to the following steps:

[0140] The visual module 13 identifies the position of the characteristic hole in the B-pillar of the side panel outer panel (the B-pillar of the side panel outer panel has obvious characteristics and is the place with the strongest rigidity of the entire part, so the estimation of the posture of the entire side panel outer panel in the material frame is more accurate). The control module controls the operating arm to drive the grabbing frame 12 to move according to the identified position signal, so that the positioning pin 128 on the grabbing frame 12 enters the characteristic hole of the B-pillar of the side panel outer panel (at this time, 3 degrees of freedom of the 6 degrees of freedom of the side panel outer panel can be fixed). The specific process is: the visual module 13 on the grabbing device 1 identifies the position signal of the characteristic hole on the B-pillar of the side panel outer panel, and uses these position signals to evaluate the placement posture of the side panel outer panel in the material frame, and then the control module controls the operating arm to adjust the grabbing frame 12 to move to the same posture as the side panel outer panel (that is, the grabbing frame 12 is parallel to the side panel outer panel), and then slowly approaches the side panel outer panel. When the grabbing frame 12 enters the material frame, it stops at a position that matches the side panel. The two first support parts 123 and the two second support parts 124 (four sets of servo linear modules) on the grabbing frame 12 support the side panel as a whole and take it out of the material frame (the remaining three degrees of freedom of the side panel parts can be fixed at this time). After the side panel completely leaves the material frame, the clamp 11 in the grabbing device 1 clamps the A-pillar of the side panel, completely fixes the lower side panel in this state and forms a rigid body with the grabbing frame 12, reducing the random deformation of the side panel during the handling process (the D-pillar is a shape and does not need to be clamped).

[0141] In this embodiment, the visual measurement principle of estimating the overall posture by using the local feature posture is used to guide the grasping device 1 to grasp the side outer panel and is combined with the first support part 123, the second support part 124 and the clamp 11 to grasp the side outer panel without damage in a flexible and compact material frame that can hold 12 side outer panels. Computer-aided engineering (CAE) is used to integrate the range of the self-deformation of the part under its own weight and the range of the picking accuracy of the grasping device 1 into the entire grasping system, calculate the guidance accuracy error range of the system and finally integrate it into the visual module 13, so as to correct the offset of the visual module 13 and improve the recognition accuracy of the visual module 13. At the same time, the grabbing device 1 in this embodiment also has the following advantages: it can stably, efficiently and quickly grab parts with large dimensions such as side panel outer panels; it can realize intelligent and flexible grabbing of various outer panel parts in the material frame, so that it can be used in conjunction with the flexible material frame, so that the placement posture of the side panel outer panels in the material frame is random, and it can also be compatible with various side panel outer panels, thereby increasing the adaptability of the material frame and improving the placement rhythm, and there is no need to worry about damaging the next part outer panel when taking out the parts; it can automatically realize flexible and non-destructive grabbing of parts in different postures in the material frame, so that there is no need to do too much limiting or clamping of the parts in the material frame, and the structure of the material frame can be simplified; it can grab thinner and more elastic parts to avoid damage and scrapping of parts due to unstable grabbing or inadequate grabbing position, and even damage to the next part; it can realize intelligent and flexible grabbing of outer panels of different models from a compact material frame, so that different models can be equipped with the grabbing device 1; when the material frame is driven by an automatic guided vehicle (Automated Guided Vehicle After the material is delivered by AGV (le, AGV), there is no need for precise positioning, which can give AGV greater freedom and complete more delivery work; it can realize intelligent pickup, save space and optimize 4 loading workers (2 shifts) and improve the work efficiency of 1 large robot; it can be connected with different conveying systems, not only suitable for material frame conveying systems with precise positioning, but also suitable for material frame conveying systems without precise positioning; it can realize unmanned supervision of the entire process, without worrying about parts jumping or incorrect position during the grasping process.

[0142] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A clamp, characterized in that: The fixture comprises: Pedestal; a first drive assembly, the first drive assembly being mounted on the base; A first clamping assembly, wherein the first clamping assembly is rotatably connected to the base via a first rotating shaft; A second clamping assembly, wherein the first clamping assembly and the second clamping assembly are distributed along a first direction, the second clamping assembly is connected to the first driving assembly via a second rotating shaft, and the first driving assembly is used to drive the second clamping assembly to approach or move away from the first clamping assembly to clamp the workpiece to be grasped; Wherein, the first clamping assembly includes two first clamping parts arranged opposite to each other along the second direction, and the first rotating shaft is located between the two first clamping parts along the second direction; the second clamping assembly includes two second clamping parts arranged opposite to each other along the second direction, and the second rotating shaft is located between the two second clamping parts along the second direction.

2. The clamp according to claim 1, characterized in that: The distances between the two first clamping parts and the first rotating shaft are equal, and / or the distances between the two second clamping parts and the second rotating shaft are equal.

3. The clamp according to claim 2, characterized in that: The distance between the first clamping portion and the first rotating axis is L1, the distance between the second clamping portion and the second rotating axis is L2, and L1=L2.

4. The clamp according to any one of claims 1 to 3, characterized in that: The first clamping assembly includes a first connecting rod and the first clamping parts connected to both ends of the first connecting rod, and the first clamping part protrudes relative to the first connecting rod toward the direction of the second clamping assembly; the second clamping assembly includes a second connecting rod and the second clamping parts connected to both ends of the second connecting rod, and the second clamping part protrudes relative to the second connecting rod toward the direction of the first clamping assembly.

5. The clamp according to claim 4, characterized in that: The first clamping part and the second clamping part each include a limiter and a clamping member installed on the limiter, the limiter of the first clamping assembly is connected to the first connecting rod, the limiter of the second clamping assembly is connected to the second connecting rod, and an end of the clamping member protrudes relative to the limiter; The clamping member is made of elastic material, and the limiting member is made of rigid material.

6. The clamp according to claim 4, characterized in that: The first connecting rod also includes a first bending portion located at both ends of the first connecting rod, the first bending portion extends in a direction away from the base, and the first clamping portion is connected to the first bending portion; the second connecting rod also includes a second bending portion located at both ends of the second connecting rod, the second bending portion extends in a direction away from the base, and the second clamping portion is connected to the second bending portion.

7. The clamp according to any one of claims 1 to 3, characterized in that: The first driving assembly includes a driving member and a rotating arm. The driving member is mounted on the base. One end of the rotating arm is connected to the second clamping assembly, and the other end of the rotating arm is connected to the driving member.

8. A gripping device, characterized in that: The grabbing device comprises: A clamp, wherein the clamp is the clamp according to any one of claims 1 to 7; A grabbing frame, the clamp is connected to the grabbing frame.

9. The gripping device according to claim 8, characterized in that: The base is slidably connected to the grabbing frame, and the grabbing device further comprises a second driving assembly connected to the base, wherein the second driving assembly is used to drive the clamp to slide relative to the grabbing frame.

10. The gripping device according to claim 8, characterized in that: The grabbing frame further comprises at least one first supporting portion and at least one second supporting portion, the first supporting portion and the second supporting portion are arranged opposite to each other along a second direction, and the first supporting portion and the second supporting portion are movably connected to the grabbing frame; The grabbing frame further includes at least one third driving assembly, which is used to drive the first supporting portion to move upward in a second direction relative to the grabbing frame; the grabbing frame further includes at least one fourth driving assembly, which is used to drive the second supporting portion to move downward in the second direction relative to the grabbing frame.

11. The gripping device according to claim 10, characterized in that: The grasping device further comprises a vision module and a control module, wherein the vision module is fixedly connected to the grasping frame, and the vision module is used to identify the position of the characteristic hole on the workpiece to be grasped; The control module is used to receive the position signal recognized by the visual module, and can control the third driving component and the fourth driving component to work or stop working according to the recognized position signal.

12. The gripping device according to claim 11, characterized in that Along the third direction, the distances between the two ends of the grasping frame and the vision module are equal.

13. The gripping device according to claim 11, characterized in that: The grabbing device further comprises an operating arm, and the grabbing frame is provided with a connecting end, and the connecting end is used for fixed connection with the operating arm; The grabbing frame is also provided with at least two positioning pins, and the control module can control the operating arm to drive the grabbing frame to move toward the workpiece to be grabbed, so that the positioning pins are engaged with the characteristic holes.

14. A grasping method for controlling a grasping device to grasp a workpiece to be grasped, characterized in that: The grasping device is a grasping device according to any one of claims 8 to 13, the grasping device comprises a vision module and a control module, the grasping frame further comprises at least one first support portion and at least one second support portion, the first support portion and the second support portion are arranged opposite to each other along a second direction, and the grasping method comprises: The visual module identifies the position of the characteristic hole on the workpiece to be grasped, and transmits the position signal to the control module; The control module adjusts the position of the grabbing device according to the position signal so that the grabbing device is at a preset grabbing position; The control module controls the at least one first support portion to rise, and controls the at least one second support portion to fall, so that the first support portion and the second support portion respectively abut against the workpiece to be grasped along the second direction; The control module controls the clamp to move toward the workpiece to be grasped, and enables the first clamping assembly and the second clamping assembly to clamp the workpiece to be grasped.

15. The grasping method according to claim 14, characterized in that: The grabbing frame has a positioning pin, and before the control module controls the at least one first support portion to rise and controls the at least one second support portion to descend so that the first support portion and the second support portion respectively abut against the workpiece to be grabbed along the second direction, the grabbing method further includes: The control module drives the grasping frame to move toward the workpiece to be grasped until the positioning pin is engaged with the characteristic hole of the workpiece to be grasped.

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