Grabbing mechanism, feeding device and grabbing piece adjusting method

Abstract

The invention discloses a grabbing mechanism, a feeding device and a grabbing piece adjusting method. The grabbing mechanism comprises a support, a first sensor, a first driving piece, a plurality of grabbing pieces and a controller. The first sensors are fixed to the support and suitable for sensing whether the first sensors are shielded by materials or not in the Y-axis direction; the grabbing pieces are slidably connected with the support in the X-axis direction. The controller is suitable for controlling the first driving part and is suitable for receiving at least two times of state jumping when the first sensor moves in the X-axis direction, the width of the material in the X-axis direction is determined at least through the moving distance of the first sensor moving in the X-axis direction during the two times of state jumping, and the controller controls the first driving part to move according to the width of the material in the X-axis direction based on the width of the material in the X-axis direction. The grabbing pieces are controlled to move in the X-axis direction to adjust the distance between the grabbing pieces, so that the grabbing pieces are evenly distributed, reasonable force is applied to materials, and the grabbing stability is improved.

Description

Technical Field

[0001] The invention relates to the field of feeding structures, and in particular to a gripping mechanism, a feeding device and an adjustment method for a gripping member. Background Art

[0002] In mass production and processing of panels (such as automatic edge-banding panels), due to the large differences in length and width of the panels, the use of traditional single suction cup grabbing is prone to uneven force when grabbing large panels, causing the panels to tilt or even fall off during grabbing. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned defects or problems existing in the background technology and to provide a gripping mechanism, a feeding device and an adjustment method of a gripping member.

[0004] To achieve the above objectives, the present invention and its preferred embodiments adopt the following technical solutions, but the embodiments are not limited to the following solutions:

[0005] Solution 1: A gripping mechanism comprising:

[0006] Bracket;

[0007] One or two sets of first sensors, which are fixed to the bracket and are suitable for sensing whether the Y-axis direction is blocked by the material;

[0008] A first driving member, which is suitable for driving the support to move along the X-axis direction;

[0009] A plurality of gripping members, which can be slidably connected to the bracket along the X-axis direction;

[0010] A controller, which is suitable for controlling the first driving member, which is suitable for receiving at least two state jumps of the first sensor when it moves along the X-axis direction, and at least using the moving distance of the first sensor during the two state jumps of the first sensor moving along the X-axis direction to determine the width of the material along the X-axis direction, and based on the width of the material along the X-axis direction, controlling each of the grasping members to move along the X-axis direction to adjust the spacing between each of the grasping members.

[0011] Option 2 is based on Option 1 and further includes a second driving member, wherein the controller is suitable for controlling the second driving member; the second driving member is used to drive the bracket to move along the Z-axis direction so that the grabbing member is suitable for moving along the Z-axis direction to a position suitable for grabbing the material; the grabbing member is suitable for contacting the material to adsorb the material; the controller is suitable for controlling the second driving member to drive the bracket to move away from the material to a set distance along the Z-axis direction after the grabbing member contacts the material; at the set distance, the first sensor is suitable for sensing whether it is blocked by the material or not blocked by the material when moving along the X-axis direction.

[0012] Solution 3, based on Solution 1, the number of the first sensors is two groups, the two groups of the first sensors are arranged along the X-axis direction, the first driving member is suitable for driving the bracket to move from the first initial position and in the positive direction of the X-axis direction until one group of the first sensors generates a state jump, and then drives the bracket to move in the opposite direction along the X-axis direction until the other first sensor generates a state jump; the controller is suitable for determining the width of the material based on the distance of the first sensor moving in the opposite direction along the X-axis direction and the distance of the two groups of the first sensors along the X-axis direction; at the first initial position, both of the first sensors sense being blocked by the material;

[0013] Or the number of the first sensors is two groups, and the two groups of the first sensors are arranged along the X-axis direction. The controller controls the first driving member to make the bracket move from the second initial position and in the positive direction along the X-axis until the two first sensors both have a state jump. The controller is suitable for determining the width of the material based on the distance of the positive movement of each first sensor in the X-axis direction and the distance of the two groups of the first sensors in the X-axis direction; at the second initial position, one of the two first sensors senses that it is not blocked by the material, and the other of the two first sensors senses that it is blocked by the material; wherein, the positive direction along the X-axis direction is the direction in which the first sensor whose sensing is not blocked by the material is toward the position where the material is located.

[0014] Solution 4, based on Solution 1, the first sensor is a group, the controller controls the first driving member to make the bracket move from the third initial position and along the X-axis direction toward the position of the material until the first sensor generates two state jumps, and the controller is suitable for determining the width of the material based on the distance the first sensor moves along the X-axis direction when the first sensor generates a state jump; wherein, when the bracket is in the third initial position, the first sensor senses that it is not blocked by the material; or the first sensor is a group, the controller controls the first driving member to make the bracket move from the fourth initial position and in the positive direction along the X-axis direction until the first sensor generates a state jump, and then drives the bracket to move in the opposite direction along the X-axis direction until the first sensor generates two state jumps; the controller is suitable for determining the width of the material based on the distance the first sensor moves in the opposite direction along the X-axis direction; when the bracket is in the fourth initial position, the first sensor senses that it is blocked by the material.

[0015] Solution 5, based on Solution 1, further includes a second driving member, wherein the grabbing member is suitable for contacting the material to absorb the material; the controller is suitable for controlling the second driving member to drive the bracket to move downward along the Z-axis direction and when the first sensor senses being blocked by the material, the controller controls the second driving member to decelerate the bracket until the grabbing member contacts the material.

[0016] Solution six, based on solution one, the material includes at least one column of objects to be grasped, and the controller is suitable for adjusting the spacing between each of the grasping members based on the width of the material along the X-axis direction and the number of columns of objects to be grasped.

[0017] Solution seven, based on Solution one, the controller further determines the center of the material in the width direction based on the width of the material in the X-axis direction, so as to drive the bracket to move along the X-axis direction to a position where the grabbing member is suitable for grabbing the material.

[0018] Solution eight, based on solution one, the grabbing member includes a plurality of material picking members arranged along the Y-axis direction.

[0019] Solution nine, a loading device, comprising a material receiving table and a gripping mechanism as described in any one of Solutions one to eight, wherein the material receiving table is suitable for stacking materials, and the gripping member of the gripping mechanism is suitable for gripping materials on the material receiving table.

[0020] Solution 10, based on Solution 9, further includes a third driving member and a fourth sensor and a fifth sensor, wherein the third driving member is suitable for driving the material receiving platform to rise and fall along the Z-axis direction; the fifth sensor is located above the fourth sensor, and the fourth sensor and the fifth sensor are both suitable for tilting upward or tilting downward to sense whether they are blocked by materials;

[0021] The fourth sensor is adapted to sense whether there is material on the material receiving platform, and the controller is adapted to control the third driving member to drive the material receiving platform to rise along the Z-axis direction until the fifth sensor senses the material when the fourth sensor senses that there is material on the material receiving platform and the fifth sensor senses that it is not blocked by the material;

[0022] The controller is suitable for controlling the third driving member to drive the material receiving platform to descend along the Z-axis direction to the initial position of the material receiving platform when the fourth sensor senses that there is no material on the material receiving platform.

[0023] Solution eleven, based on Solution nine, also includes a transmission member and a sixth sensor, wherein the transmission member is suitable for carrying materials and transmitting materials at the carrying position, and the grabbing member is suitable for placing materials at the carrying position of the transmission member; the sixth sensor is suitable for sensing whether there is material at the carrying position along a direction perpendicular to the Z-axis direction and intersecting with the transmission direction of the transmission member, and the controller is suitable for controlling the transmission member to transmit materials when the sixth sensor senses that there is material at the carrying position.

[0024] Solution 12, based on Solution 11, the sixth sensor is suitable for sensing whether it is blocked by materials along a direction perpendicular to the Z-axis direction and along a direction inclined to the X-axis direction and inclined to the Y-axis direction.

[0025] Solution thirteen, a method for adjusting a gripping member, based on a gripping mechanism described in any one of Solutions one to Eight, at least utilizing the distance moved by the first sensor moving along the X-axis direction during two state jumps to measure the width of the material along the X-axis direction, and based on the width of the material along the X-axis direction, controlling each of the gripping members to move along the X-axis direction to adjust the spacing between each of the gripping members; the first sensor is suitable for sensing whether it is blocked by the material along the Y-axis direction.

[0026] From the above description of the present invention and its preferred embodiments, it can be seen that, compared with the prior art, the technical solution of the present invention and its preferred embodiments have the following beneficial effects due to the adoption of the following technical means:

[0027] 1. In scheme 1 and its preferred embodiment, a grasping mechanism includes a bracket, a first sensor, a first driving member, a plurality of grasping members, and a controller.

[0028] One or two sets of first sensors, which are fixed to the bracket and are suitable for sensing whether they are blocked by materials along the Y-axis direction;

[0029] The first driving member moves along the X-axis direction by driving the bracket;

[0030] A plurality of grabbing members can be slidably connected to the bracket along the X-axis direction. When the bracket moves, it can drive a plurality of driving members to move synchronously, which is convenient for grabbing.

[0031] The controller is suitable for controlling the first driving member, which is suitable for receiving at least two state jumps when the first sensor moves along the X-axis direction, and at least using the distance moved during the two state jumps of the first sensor moving along the X-axis direction to determine the width of the material along the X-axis direction. By installing the first sensor on the bracket, the first sensor moves accordingly when the bracket moves, and the width of the material can be calculated simply and conveniently, while also realizing the transfer of each grabbing member. Among them, when the first sensor is only one group, multiple state jumps are provided by the first sensor, and when the first sensor is two groups, multiple state jumps are provided by the two groups of first sensors together, such as each group of first sensors provides one state jump for calculating the width.

[0032] Based on the width of the material along the X-axis, the controller controls the movement of each grabbing member along the X-axis to adjust the spacing between the grabbing members, so that the grabbing members are evenly distributed to apply reasonable force to the material and increase stability during grabbing.

[0033] 2. In the second solution and its preferred embodiment, the controller is adapted to control the second driving member; the second driving member is used to drive the bracket to move along the Z-axis direction, so that the grabbing member is adapted to move along the Z-axis direction to a position for grabbing the material. By driving the bracket to move in the Z-axis direction, each grabbing member moves in the Z-axis direction. Compared with driving each grabbing member to move in the Z-axis direction, the driving is simpler and more suitable for grabbing the flat plate.

[0034] The grabbing member is suitable for contacting the material to absorb the material; based on the fact that the grabbing member achieves grabbing by absorbing the material, touching the material will not cause damage. Based on this, the controller is also suitable for controlling the second driving member to drive the bracket to move away from the material to a set distance along the Z-axis direction after the grabbing member contacts the material, thereby determining the height of the grabbing surface. During subsequent grabbing, the grabbing member is moved at the height of the grabbing surface, and there is no need to perform measurements for convenient operation.

[0035] At the set distance, the first sensor is suitable for sensing being blocked by the material or not blocked by the material when moving along the X-axis direction, so as to reach the initial position where the width of the material can be measured. At the same time, after moving away from the material to the set distance, there is a certain distance between the gripper and the material, and when moving along the X-axis direction, no friction is generated, so as to measure the width of the material.

[0036] 3. In the third scheme and its preferred embodiment, the number of first sensors is two groups, and the two groups of first sensors are arranged along the X-axis direction. The first driving member is suitable for driving the bracket from the first initial position and moving in the positive direction of the X-axis direction until one group of first sensors generates a state jump, and then driving the bracket to move in the reverse direction of the X-axis direction until the other first sensor generates a state jump; the controller is suitable for determining the width of the material based on the distance of the first sensor moving in the reverse direction of the X-axis direction and the distance of the two groups of first sensors along the X-axis direction; at the first initial position, both first sensors sense that they are blocked by the material. In this way, since the movement distance of the first sensor is closer to the extreme position of the material, the movement distance of the first sensor is smaller, which can avoid reserving a lateral movement space for the first sensor, resulting in a larger movement space required for the gripping member, resulting in the problem that the equipment using the gripping mechanism occupies too much space. And because the movement distance of the two first sensors is smaller, the speed of measuring the width is faster, which improves work efficiency.

[0037] Alternatively, there are two groups of first sensors, and the two groups of first sensors are arranged along the X-axis direction. The controller controls the first driving member to make the bracket move from the second initial position and move in the positive direction along the X-axis direction until both first sensors have a state jump. The controller is suitable for determining the width of the material based on the distance of the first sensor moving in the positive direction along the X-axis direction and the distance of the two groups of first sensors in the X-axis direction. At the second initial position, one of the two first sensors senses that it is not blocked by the material, and the other of the two first sensors senses that it is blocked by the material. The positive direction along the X-axis direction is the direction in which the first sensor that is not blocked by the material is facing the position of the material. This method is simpler to control because the width can be measured by only controlling the bracket to move in the same direction.

[0038] 4. In the fourth scheme and its preferred embodiment, the first sensor is a group, the controller controls the first driving member to make the bracket move from the third initial position and move along the X-axis direction toward the position of the material until the first sensor generates two state jumps, and the controller is suitable for determining the width of the material based on the distance the first sensor moves along the X-axis direction when the first sensor generates a state jump; wherein, when the bracket is in the third initial position, the first sensor sensing is not blocked by the material. Only one group of the first sensor is set, and the cost is lower. This method only needs to control the bracket to move in the same direction to measure the width, and the control method is simpler.

[0039] Alternatively, the first sensor is a group, the controller controls the first driving member to make the bracket move from the fourth initial position and move forward along the X-axis direction until the first sensor generates a state jump, and then drives the bracket to move in the opposite direction along the X-axis direction until the first sensor generates two state jumps; the controller is suitable for determining the width of the material based on the distance of the first sensor moving in the opposite direction along the X-axis direction; when the bracket is in the fourth initial position, the first sensor senses being blocked by the material. The first sensor is only set in one group, which is lower in cost and can also reduce the point space occupancy rate compared with the above-mentioned solution of the first sensor being a group.

[0040] 5. In the fifth scheme and its preferred embodiment, the grabbing member is suitable for contacting the material to absorb the material, and the controller is suitable for controlling the second driving member to drive the bracket to move downward along the Z-axis direction, so as to realize the movement of the grabbing member. Since the grabbing member needs to achieve the grabbing by contacting, in order to prevent the bracket from moving too fast and causing damage to the grabbing member or the material,

[0041] When the bracket moves downward and the first sensor senses that it is blocked by the material, the second driving member is controlled to decelerate the bracket until the grabbing member contacts the material, thereby protecting the material and the grabbing member.

[0042] 6. In the sixth scheme and its preferred embodiment, the material includes at least one column of objects to be grasped, and the controller is suitable for adjusting the spacing between the grasping members based on the width of the material along the X-axis direction and the number of columns of objects to be grasped. When the objects to be grasped are wide, the material has only one column of objects to be grasped, and multiple grasping members are used and evenly distributed to ensure sufficient grasping force to avoid falling during grasping; when the objects to be grasped are narrow, the material includes at least two columns of objects to be grasped, and by adjusting the spacing between the grasping members, it is ensured that each object to be grasped is grasped by the grasping member, so that more columns of objects to be grasped can be grasped at a time.

[0043] 7. In Scheme 7 and its preferred embodiments, the controller also determines the center of the material along the width direction based on the width of the material along the X-axis direction, so as to drive the bracket to move along the X-axis direction to a position where the grabbing member is suitable for grabbing the material, and by determining the center of the material, ensures that the grabbing member is suitable for grabbing the material.

[0044] 8. In scheme eight and its preferred embodiments, when the length of the material along the Y-axis is long, and because the length of the material along the Y-axis is not measured, the grasping member may not be able to grasp the center of the material along the Y-axis, resulting in uneven force and instability after grasping. The grasping member includes a plurality of material picking members arranged along the Y-axis to ensure the gripping force at each point in the Y-axis direction.

[0045] 9. In scheme nine and its preferred embodiment, a loading device includes a loading platform and the above-mentioned grabbing mechanism, the loading platform is suitable for stacking materials, and the grabbing member of the grabbing mechanism is suitable for grabbing the materials on the loading platform, which has the beneficial effects brought by the above-mentioned grabbing mechanism.

[0046] 10. Scheme 10 and its preferred embodiments further include a third driving member, a fourth sensor and a fifth sensor. The third driving member is suitable for driving the material receiving platform to rise and fall along the Z-axis direction. The fifth sensor is located above the fourth sensor. The fourth sensor and the fifth sensor are both suitable for tilting upward or tilting downward to sense whether they are blocked by the material, so as to prevent the material receiving platform from being blocked during sensing and mistaking it for being blocked by the material.

[0047] The fourth sensor is suitable for sensing whether there is material on the material receiving platform, and the controller is suitable for controlling the third driving member to drive the material receiving platform to rise along the Z-axis direction when the fourth sensor senses that there is material on the material receiving platform and the fifth sensor senses that it is not blocked by the material, until the fifth sensor senses the material, so that the height of the gripping surface is determined each time, and the gripping member does not need to repeatedly detect the height of the gripping surface. In addition, the production rhythm of the equipment is improved and the work efficiency is accelerated.

[0048] The controller is suitable for controlling the third driving member to drive the material receiving platform to descend along the Z-axis direction to the initial position of the material receiving platform when the fourth sensor senses that there is no material on the material receiving platform, thereby facilitating the restacking of materials.

[0049] 11. In scheme 11 and its preferred embodiments, the transmission member is suitable for carrying materials and transmitting the materials at the carrying position, and the grabbing member is suitable for placing the materials at the carrying position of the transmission member; since the moving range of the grabbing member is limited, the transmission member can be set to transport the materials to the next workstation.

[0050] The sixth sensor is suitable for sensing whether there is material at the load-bearing position along a direction perpendicular to the Z-axis direction and intersecting with the transmission direction of the transmission member. The controller is suitable for controlling the transmission member to transmit the material when the sixth sensor senses that there is material at the load-bearing position to prevent disorder when placing the material.

[0051] 12. In Scheme 12 and its preferred embodiments, based on the direction perpendicular to the Z-axis, the sixth sensor is also suitable for sensing whether it is blocked by the material along the direction inclined to the X-axis direction and inclined to the Y-axis direction, so as to increase the sensing area and prevent the problem of misjudgment when sensing only along the direction perpendicular to the transmission direction of the transmission member.

[0052] 13. In Scheme 13 and its preferred embodiments, a method for adjusting a gripping member at least utilizes the distance moved during two state jumps of a first sensor moving along the X-axis direction to measure the width of the material along the X-axis direction, and based on the width of the material along the X-axis direction, controls each gripping member to move along the X-axis direction to adjust the spacing between each gripping member; the first sensor is suitable for sensing whether it is blocked by the material along the Y-axis direction, so that each gripping member is evenly distributed, so as to apply reasonable force to the material and increase stability during gripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 It is a three-dimensional diagram of the feeding device in the first embodiment;

[0055] Figure 2 It is a partial stereoscopic diagram of the feeding device in the first embodiment;

[0056] Figure 3 is a three-dimensional diagram of the grabbing mechanism in the first embodiment;

[0057] Figure 4 It is an exploded view of the grabbing mechanism in the first embodiment;

[0058] Figure 5 This is a schematic diagram of the sensing of the fourth sensor and the fifth sensor in the first embodiment;

[0059] Figure 6 This is a schematic diagram of material width measurement in Example 1;

[0060] Figure 7 This is a schematic diagram of material width measurement in Example 2;

[0061] Figure 8 This is a schematic diagram of material width measurement in Example 3;

[0062] Fig. 9 This is a schematic diagram of material width measurement in Example 4;

[0063] Description of main reference numerals:

[0064] Grabbing mechanism 10; bracket 1; first sensor 2; first transmitter 21; first receiver 22; grabbing member 3; linear variable pitch module 4; second drive member 5; first drive member 6; fixing frame 20; material receiving platform 30; fourth sensor 40; second receiver 41; fifth sensor 50; transmission member 60; sixth sensor 70; material 80. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are preferred embodiments of the present invention and should not be regarded as excluding other embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] In the claims, description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. are for distinguishing different objects rather than for describing a specific order.

[0067] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the present invention.

[0068] In the claims, specification and the above drawings of the present invention, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0069] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0070] refer to Figure 1-Figure 6 A feeding device includes a fixed frame 20, a grasping mechanism 10, a material receiving platform 30, a third driving member, a fourth sensor 40, a fifth sensor 50, a transmission member 60 and a sixth sensor 70.

[0071] The fixing frame 20 is used to install the grabbing mechanism 10 .

[0072] The grabbing mechanism 10 includes a bracket 1 , a first sensor 2 , a first driving member 6 , a plurality of grabbing members 3 , a controller, and a second driving member 5 .

[0073] refer to Figure 1-Figure 3 The bracket 1 is mounted on the fixed frame 20, and is suitable for making the grabbing member 3 mounted thereon slide relative to the fixed frame 20 along the Z-axis direction, the X-axis direction, and the Y-axis direction, and the X-axis, the Y-axis, and the Z-axis are perpendicular to each other. The bracket 1 can be composed of a plurality of mutually nested sliding members, such as the bracket 1 includes a first sliding member, a second sliding member, and a third sliding member, the first sliding member is slidably connected to the fixed frame 20 along the X-axis direction, the second sliding member is slidably connected to the first sliding member along the Z-axis direction, and the third sliding member is slidably connected to the second sliding member along the Y-axis direction, so as to realize the sliding of the grabbing member 3 relative to the fixed frame 20. In other embodiments, the bracket 1 can only make the grabbing member 3 mounted thereon slide relative to the fixed frame 20 along the Z-axis direction and the X-axis direction.

[0074] refer to Figure 1 and Figure 3, the number of first sensors 2 is one group or two groups. In this embodiment, two groups of first sensors 2 are taken as an example. Both groups of first sensors 2 are fixed on the bracket 1 and arranged along the X-axis direction. Both first sensors 2 are suitable for sensing whether they are blocked by the material 80 along the Y-axis direction. The specific implementation method can be that the first sensors 2 are all distance measuring sensors, and whether they are blocked by the material 80 is determined by measuring the distance obtained, or the first sensors 2 are photoelectric sensors, and each group of first sensors 2 includes a first transmitter 21 and a first receiver 22, and whether the first receiver 22 can receive the light emitted by the first transmitter 21 is determined to be blocked by the material 80. Of course, it can also be other forms, which will not be described in detail. In this embodiment, the first sensor 2 is a photoelectric sensor, and the fourth sensor 40, the fifth sensor 50 and the sixth sensor 70 are also photoelectric sensors.

[0075] refer to Figure 2 The first driving member 6 drives the bracket 1 to move along the X-axis direction, so that the bracket 1 slides relative to the fixing frame 20 along the X-axis direction.

[0076] refer to Figure 3 The second driving member 5 is used to drive the bracket 1 to move along the Z-axis direction, so that the grabbing member 3 on the bracket 1 is suitable for moving along the Z-axis direction to a position suitable for grabbing the material 80.

[0077] refer to Figure 4 , there are several grabbing members 3, each grabbing member 3 can be slidably connected to the bracket 1 along the X-axis direction. The grabbing member 3 is in the form of a suction cup, and the grabbing member 3 is suitable for contacting the material 80 to absorb the material 80. In this embodiment, the movement of each grabbing member 3 relative to the bracket 1 is controlled by the linear variable pitch module 4. In this embodiment, the grabbing member 3 includes several material picking members arranged along the Y-axis direction. The material picking member is a suction cup in this embodiment, and in other embodiments, it can be a structure such as a manipulator that can realize material grabbing.

[0078] The controller is suitable for controlling the second driving member 5 to drive the bracket 1 to move up and down along the Z-axis direction. In this embodiment, when the bracket 1 moves downward at the initial position, the first sensor 2 will sense being blocked by the material 80. When the bracket 1 moves downward and the first sensor 2 senses being blocked by the material 80, the controller controls the second driving member 5 to decelerate the bracket 1 until the grabbing member 3 contacts the material 80. After the resistance is generated, the second driving member 5 will stop rotating, and the current signal will change. At this time, the controller controls the second driving member 5 to drive the bracket 1 to move away from the material 80 to a set distance along the Z-axis direction, so that the bracket 1 is located at the first initial position. At the first initial position, both first sensors 2 sense being blocked by the material 80, and the first sensor 2 is suitable for sensing being blocked by the material 80 or not being blocked by the material 80 when moving along the X-axis direction. When the first sensor 2 changes from sensing being blocked by the material 80 to sensing not being blocked by the material 80, or from sensing not being blocked by the material 80 to sensing being blocked by the material 80, a state jump occurs.

[0079] In this regard, the controller is suitable for controlling the first driving member 6 to move the first sensor 2 along the X-axis direction, and the controller is suitable for receiving at least two state jumps when the first sensor 2 moves along the X-axis direction, and at least using the distance moved during the two state jumps of the first sensor 2 moving along the X-axis direction to determine the width of the material 80 along the X-axis direction. Among them, when the first sensor 2 is only one group, multiple state jumps are provided by the first sensor 2, and when the first sensor 2 is two groups, multiple state jumps are provided by the two groups of first sensors 2 together, such as each group of first sensors 2 provides one state jump for calculating the width. In this embodiment, the controller receives two state jumps, and each group of first sensors 2 generates one state jump, thereby realizing the measurement of width.

[0080] refer to Figure 6 Specifically, the first driving member 6 is suitable for driving the bracket 1 from the first initial position and moving in the positive direction along the X-axis direction until one group of the first sensors 2 generates a state jump, and then driving the bracket 1 to move in the reverse direction along the X-axis direction until the other first sensor 2 generates a state jump; the controller is suitable for determining the width L0 of the material 80 based on the distance L1 of the first sensor 2 moving in the reverse direction along the X-axis direction and the distance L2 of the two groups of first sensors 2 along the X-axis direction, such as Figure 6 As shown, the solid line is the position of the two first sensors 2 at the first initial position, and the dotted line is the position of the two first sensors 2 when the first sensor 2 on the right side changes state during forward movement. At this time, L0 = L1 + L2;

[0081] After obtaining the width of the material 80 along the X-axis direction, the controller controls each grabbing member 3 to move along the X-axis direction based on the width of the material 80 along the X-axis direction to adjust the spacing between each grabbing member 3 so as to make the grabbing more uniform. Preferably, the material includes at least one column of objects to be grabbed, and the controller is suitable for adjusting the spacing between each grabbing member 3 based on the width of the material along the X-axis direction and the number of columns of the objects to be grabbed (the number of columns of the objects to be grabbed can be input into the controller in advance). The controller also determines the center of the material 80 along the width direction based on the width of the material 80 along the X-axis direction to drive the bracket 1 to move along the X-axis direction to a position where the grabbing member 3 is suitable for grabbing the material. When the object to be grabbed is wide, the material has only one column of objects to be grabbed. Using multiple grabbing members 3 and evenly distributing them can ensure sufficient grabbing force to avoid falling during grabbing; when the object to be grabbed is narrow, the material includes at least two columns of objects to be grabbed. By adjusting the spacing between the grabbing members 3, it is ensured that each object to be grabbed is grabbed by the grabbing member 3, so that more columns of objects to be grabbed can be grabbed at a time. Taking material 80 as a plate as an example, if material 80 is a plurality of rows (the number in the moving direction of the grabbing member 3) of plates, the width of each plate can be obtained according to the width of material 80 and the number of rows of plates, and each grabbing member 3 can be evenly distributed to each plate.

[0082] The material receiving platform 30 is suitable for stacking materials 80 , and the grabbing member 3 of the grabbing mechanism 10 is suitable for grabbing the uppermost material 80 on the material receiving platform 30 .

[0083] The third driving member is suitable for driving the material receiving platform 30 to move up and down along the Z-axis direction;

[0084] refer to Figure 5 The fourth sensor 40 and the fifth sensor 50 are both suitable for sensing whether they are blocked by the material 80 at an angle upward or downward; the fifth sensor 50 and the fourth sensor 40 can share the same second receiver 41, and the fifth sensor 50 is located above the fourth sensor 40.

[0085] The fourth sensor 40 is suitable for sensing whether there is material 80 on the material receiving table 30. The controller is suitable for controlling the third driving member to drive the material receiving table 30 to rise along the Z-axis direction when the fourth sensor 40 senses that there is material 80 on the material receiving table 30 and the fifth sensor 50 senses that it is not blocked by the material 80, until the fifth sensor 50 senses the material 80, and controls the third driving member to stop.

[0086] The controller is suitable for controlling the third driving member to drive the material receiving platform 30 to descend to a predetermined position along the Z-axis direction when the fourth sensor 40 senses that there is no material 80 on the material receiving platform 30 , so as to facilitate restacking of the material 80 .

[0087] The grabbing member 3 of the grabbing mechanism 10 is suitable for grabbing the material 80 on the material receiving platform 30 to the carrying position of the transmission member 60. The transmission member 60 is suitable for carrying the material 80 and transmitting the material 80 on the carrying position to transport the material 80 over a longer distance so that the material 80 reaches the next station.

[0088] refer to Figure 2 The sixth sensor 70 is suitable for sensing whether there is material 80 on the carrying position along a direction perpendicular to the Z-axis direction and intersecting with the transmission direction of the transmission member 60. Preferably, on the basis of being perpendicular to the Z-axis direction, the sixth sensor 70 is suitable for sensing whether it is blocked by the material 80 along a direction inclined to the X-axis direction and inclined to the Y-axis direction.

[0089] The controller is adapted to control the transmission member 60 to transmit the material 80 when the sixth sensor 70 senses that there is the material 80 on the carrying position.

[0090] The overall working process is as follows:

[0091] The material 80 is stacked on the material receiving platform 30 , and the controller controls the third driving member to make the material receiving platform 30 rise until the fourth sensor 40 and the fifth sensor 50 sense the material 80 , and then controls the third driving member to stop working.

[0092] Initially, the bracket 1 is located directly above the material receiving platform 30, and the controller controls the second driving member 5 to lower the bracket 1. When the first sensor 2 senses that it is blocked by the material 80, the second driving member 5 is controlled to slow down the bracket 1 until the grabbing member 3 contacts the material 80. At this time, the descent of the bracket 1 will produce a certain resistance, and the second driving member 5 stops moving and sends a feedback signal to the controller to confirm that the position is the stacking height of the plates and indicates that the grabbing member 3 has contacted the material 80.

[0093] After receiving the feedback signal, the controller automatically controls the second driving member 5 to drive the bracket 1 to move away from the material 80 to a set distance along the Z-axis direction, so that the bracket 1 is located at the first initial position. At the first initial position, both first sensors 2 sense being blocked by the material 80, and the first sensor 2 is suitable for sensing being blocked by the material 80 or not being blocked by the material 80 when moving along the X-axis direction.

[0094] The controller controls the first driving member 6 to drive the bracket 1 to move from the first initial position and in the positive direction along the X-axis until one group of the first sensors 2 generates a state jump, and then drives the bracket 1 to move in the reverse direction along the X-axis until another group of the first sensors 2 generates a state jump;

[0095] The controller is adapted to determine the width L0 of the material 80 based on the distance L1 of the reverse movement of the first sensor 2 along the X-axis direction and the distance L2 of the two groups of first sensors 2 along the X-axis direction, and to control the movement of each grabbing member 3 along the X-axis direction to adjust the spacing of each grabbing member 3 based on the width L0 of the material 80 along the X-axis direction, so as to make the grabbing more uniform. The first sensor 2 is mounted on the bracket 1, so the movement distance of the first sensor 2 is equal to the movement distance of the bracket 1, and the movement distance of the bracket 1 can be determined by the working condition of the first driving member 6.

[0096] The controller controls the first driving member 6 to move the bracket 1 so that the adjustment position of each grabbing member 3 corresponds to the material 80 (such as returning to the initial position of the bracket 1), and then controls the second driving member 5 to move the bracket 1 downward, so that the grabbing member 3 abuts against the material 80 and adsorbs the material 80, and grabs the material 80 above the carrying position of the transmission member 60. When the sixth sensor 70 senses that there is material 80 on the carrying position, it waits. If there is no material 80, the material 80 is placed on the carrying position of the transmission member 60, and the bracket 1 rises. Then, the sixth sensor 70 senses that there is material 80 on the carrying position, and the controller controls the transmission member 60 to transmit the material 80.

[0097] After all the materials 80 on the grabbing member 3 are placed at the carrying position, the bracket 1 returns to the initial position and repeats the action of grabbing the material 80 on the top of the material receiving platform 30 .

[0098] After the grabbing member 3 grabs the material 80 at the top of the material receiving platform 30, the fifth sensor 50 senses that it is not blocked by the material 80. If the fourth sensor 40 senses that there is material 80 on the material receiving platform 30, the controller will control the third driving member to drive the material receiving platform 30 to rise along the Z-axis direction until the fifth sensor 50 senses the material 80 and controls the third driving member to stop. In this embodiment, since the height of the grabbing surface of the same batch of materials 80 to be processed remains unchanged, the bracket 1 can be evenly grabbed by descending the same distance again. In this embodiment, the height of the grabbing surface is the top surface height of the topmost material 80 in the same batch of materials 80 to be processed.

[0099] When the controller senses that there is no material 80 on the material receiving table 30 through the fourth sensor 40, and at this time, the fifth sensor 50 also cannot sense being blocked by the material 80, the controller controls the third driving member to drive the material receiving table 30 to descend along the Z-axis direction to a predetermined position, that is, the initial position of the material receiving table 30, so as to facilitate restacking of the material 80.

[0100] The controller also obtains the number of columns of objects to be grasped (such as plates) contained in the material 80 to confirm the position and width of each object to be grasped, and also adjusts the spacing between each grasping member 3 based on the position and width of each object to be grasped, so that each object to be grasped has at least one group of grasping members 3 corresponding to it, to prevent some grasping members from being located in the gap between two objects to be grasped when the material is directly distributed evenly according to the width, resulting in instability during grasping.

[0101] Compared with the prior art, this embodiment has the following beneficial effects:

[0102] In an exemplary embodiment, a gripping mechanism 10 includes a bracket 1, a first sensor 2, a first driving member 6, a plurality of gripping members 3, and a controller.

[0103] At least one set of first sensors 2, which are fixed to the bracket 1 and are suitable for sensing whether they are blocked by the material 80 along the Y-axis direction;

[0104] The first driving member 6 drives the bracket 1 to move along the X-axis direction;

[0105] A plurality of grabbing members 3 are slidably connected to the bracket 1 along the X-axis direction. When the bracket 1 moves, it can drive a plurality of driving members to move synchronously, which is convenient for grabbing.

[0106] The controller is suitable for controlling the first driving member 6, which is suitable for receiving at least two state jumps of the first sensor 2 when it moves along the X-axis direction, and at least using the moving distance of the first sensor 2 when it moves along the X-axis direction for two state jumps to determine the width of the material 80 along the X-axis direction. When the bracket 1 moves, the first sensor 2 moves accordingly to calculate the width of the material 80, which is simple and convenient, and also realizes the movement of each grabbing member 3 along the X-axis direction, so as to better correspond to the material 80. And based on the width of the material 80 along the X-axis direction, the controller controls each grabbing member 3 to move along the X-axis direction to adjust the spacing between each grabbing member 3, so that each grabbing member 3 is evenly distributed, so as to reasonably apply force to the material 80 and increase the stability during grabbing.

[0107] In an exemplary embodiment, the controller is adapted to control the second driving member 5; the second driving member 5 is used to drive the bracket 1 to move along the Z-axis direction, so that the grabbing member 3 is adapted to move along the Z-axis direction to a position for grabbing the material 80. By driving the bracket 1 to move in the Z-axis direction so that each grabbing member 3 moves in the Z-axis direction, the driving is simpler and more suitable for grabbing a flat plate than driving each grabbing member 3 to move in the Z-axis direction.

[0108] In an exemplary embodiment, the grasping member 3 is suitable for contacting the material 80 to absorb the material 80; based on the fact that the grasping member 3 achieves grasping by absorbing the material 80, the material 80 will not be damaged by touching it. Based on this, the controller is also suitable for controlling the second driving member 5 to drive the bracket 1 to move away from the material 80 to a set distance along the Z-axis direction after the grasping member 3 contacts the material 80, so as to determine the grasping surface height. During subsequent grasping, the grasping member 3 is moved at the grasping surface height, and no measurement is required for convenient operation.

[0109] At the set distance, the first sensor 2 is adapted to sense being blocked by the material 80 or not blocked by the material 80 when moving along the X-axis direction, thereby reaching the initial position where the width of the material 80 can be measured. At the same time, after being away from the material 80 to the set distance, there is a certain distance between the gripper 3 and the material 80, and when moving along the X-axis direction, no friction is generated, so that the width of the material 80 can be measured.

[0110] In an exemplary embodiment, the number of first sensors 2 is two groups, and the two groups of first sensors 2 are arranged along the X-axis direction. The first driving member 6 is suitable for driving the bracket 1 from the first initial position and moving in the positive direction of the X-axis direction until one group of first sensors 2 generates a state jump, and then drives the bracket 1 to move in the reverse direction of the X-axis direction until the other first sensor 2 generates a state jump; the controller is suitable for determining the width of the material 80 based on the distance of the first sensor 2 moving in the reverse direction of the X-axis direction and the distance of the two groups of first sensors 2 along the X-axis direction; at the first initial position, both first sensors 2 sense being blocked by the material 80. In this way, since the movement distance of the first sensor 2 is relatively close to the extreme position of the material 80, the movement distance of the first sensor 2 is relatively small, which can avoid the problem that the lateral movement space reserved for the first sensor 2 causes the gripper 3 to have a larger movement space, resulting in the equipment using the gripping mechanism 10 occupying too much space. And since the movement distance of the two first sensors 2 is smaller, the speed of measuring the width is faster, which improves the work efficiency.

[0111] In an exemplary embodiment, the grabbing member 3 is suitable for contacting the material 80 to absorb the material 80, and the controller is suitable for controlling the second driving member 5 to drive the bracket 1 to move downward along the Z-axis direction, thereby realizing the movement of the grabbing member 3. Since the grabbing member 3 needs to achieve gripping through contact, in order to prevent the bracket 1 from moving too fast and damaging the grabbing member 3 or the material 80, when the bracket 1 moves downward and the first sensor 2 senses that it is blocked by the material 80, the second driving member 5 is controlled to slow down the bracket 1 until the grabbing member 3 contacts the material 80, thereby protecting the material 80 and the grabbing member 3.

[0112] In an exemplary embodiment, the material includes at least one column of objects to be grasped, and the controller is adapted to adjust the spacing of the grasping members 3 based on the width of the material along the X-axis direction and the number of columns of the objects to be grasped. When the objects to be grasped are wide, the material has only one column of objects to be grasped, and multiple grasping members 3 are used and evenly distributed to ensure sufficient grasping force to prevent falling during grasping; when the objects to be grasped are narrow, the material includes at least two columns of objects to be grasped, and by adjusting the spacing of the grasping members 3, it is ensured that each object to be grasped is grasped by the grasping member 3, so that more columns of objects to be grasped can be grasped at a time.

[0113] In an exemplary embodiment, the controller also determines the center of the material 80 along the width direction based on the width of the material 80 along the X-axis direction, so as to drive the bracket 1 to move along the X-axis direction to a position where the grabbing member 3 is suitable for grabbing the material, and determines the center of the material 80 to ensure that the grabbing member 3 is suitable for grabbing the material.

[0114] In an exemplary embodiment, when the length of the material 80 along the Y-axis direction is longer, and because the length of the material 80 along the Y-axis direction is not measured, the grasping member 3 may not be able to grasp the center of the material along the Y-axis direction, resulting in uneven force and instability after grasping. The grasping member 3 includes a plurality of material picking members arranged along the Y-axis direction to ensure the gripping force at each point in the Y-axis direction.

[0115] In an exemplary embodiment, the third driving member is adapted to drive the material receiving platform 30 to rise and fall along the Z-axis direction; the fourth sensor 40 and the fifth sensor 50 are both adapted to tilt upward or tilt downward to sense whether they are blocked by the material 80, so as to prevent the material receiving platform 30 from being blocked during sensing and mistaking the material 80 for being blocked;

[0116] The fourth sensor 40 is suitable for sensing whether there is material 80 on the material receiving platform 30. The controller is suitable for controlling the third driving member to drive the material receiving platform 30 to rise along the Z-axis direction until the fifth sensor 50 senses the material 80 when the fourth sensor 40 senses that there is material 80 on the material receiving platform 30 and the fifth sensor 50 senses that it is not blocked by the material 80, so that the height of the gripping surface is determined each time, and the gripping member 3 does not need to repeatedly detect the height of the gripping surface. In addition, the production rhythm of the equipment is improved and the work efficiency is accelerated.

[0117] The controller is suitable for controlling the third driving member to drive the material receiving platform 30 to descend along the Z-axis direction to the initial position of the material receiving platform 30 when the fourth sensor 40 senses that there is no material 80 on the material receiving platform 30, so as to facilitate the restacking of the material 80.

[0118] In an exemplary embodiment, the transmission member 60 is suitable for carrying the material 80 and transferring the material 80 at the carrying position, and the grabbing member 3 is suitable for placing the material 80 at the carrying position of the transmission member 60; since the moving range of the grabbing member 3 is limited, the transmission member 60 can be set to transport the material 80 to the next workstation.

[0119] The sixth sensor 70 is suitable for sensing whether there is material 80 at the carrying position along a direction perpendicular to the Z-axis direction and intersecting with the transmission direction of the transmission member 60. The controller is suitable for controlling the transmission member 60 to transmit the material 80 when the sixth sensor 70 senses that there is material 80 at the carrying position to prevent disorder when placing the material 80.

[0120] In an exemplary embodiment, based on the direction perpendicular to the Z-axis, the sixth sensor 70 is also suitable for sensing whether it is blocked by the material 80 along the direction inclined to the X-axis direction and the Y-axis direction, so as to increase the sensing area and prevent the problem of misjudgment when sensing only along the direction perpendicular to the transmission direction of the transmission member 60.

[0121] In an exemplary embodiment, the number of columns of objects to be grasped contained in the material 80 is obtained to confirm the position and width of each object to be grasped, and the spacing between the grasping members 3 is adjusted based on the position and width of each object to be grasped, so that each object to be grasped has at least one group of grasping members 3 corresponding to it, to prevent some grasping members 3 from being located in the gap between two objects to be grasped when the material is evenly distributed directly according to the width, resulting in instability during grasping.

[0122] Embodiment 2

[0123] What is different from the first embodiment is that the initial position of the first sensor 2 is different, resulting in a different specific method for measuring the width of the material 80.

[0124] refer to Figure 7 Specifically, there are two groups of first sensors 2, and the two groups of first sensors 2 are arranged along the X-axis direction. The controller controls the first driving member 6 to make the bracket 1 move from the second initial position and move in the positive direction along the X-axis direction until the two first sensors 2 both have a state jump. At the second initial position, one of the two first sensors 2 senses that it is not blocked by the material 80, and the other of the two first sensors 2 senses that it is blocked by the material 80; the positive direction along the X-axis direction is the direction in which the first sensor 2 that is not blocked by the material 80 is toward the position where the material 80 is located.

[0125] The controller is adapted to determine the width of the material 80 based on the distance of the first sensor 2 moving in the positive direction along the X-axis direction and the distance between the two groups of first sensors 2 along the X-axis direction. Figure 7As shown, the solid line is the position of the two first sensors 2 at the second initial position, and the dotted line is the position of the two first sensors 2 when the first sensor 2 on the right changes state during forward movement. At this time, the movement distance of the first sensor 2 on the left when a state change occurs is L3, and the movement distance of the first sensor 2 on the right when a state change occurs is L4. The distance between the two groups of first sensors 2 along the X-axis direction is L2, and the width L0 of the material 80 is L2-L3+L4. This method is simpler to control because it only needs to control the bracket 1 to move in the same direction to measure the width.

[0126] The second embodiment can be implemented independently of the first embodiment, or the state of the two first sensors 2 when the bracket 1 is located at the initial position can be judged to determine which control mode and which width measurement method to use.

[0127] Embodiment 3

[0128] What is different from the first embodiment is that the number of the first sensors 2 is different, resulting in a different specific method for measuring the width of the material 80. Figure 8 Specifically, the first sensor 2 is a group, and the controller controls the first driving member 6 to make the bracket 1 move from the third initial position (when the bracket 1 is in the third initial position, the first sensor 2 is not blocked by the material 80), and move along the X-axis direction and toward the position of the material 80 until the first sensor 2 generates two state jumps, and the controller is suitable for determining the width of the material 80 based on the distance that the bracket 1 moves along the X-axis direction when the first sensor 2 generates a state jump; specifically, as Figure 8 As shown, when the state jump occurs for the first time, it is sensed that the material 80 is blocked and the movement distance is L5. When the state jump occurs for the second time, it is sensed that the material 80 is not blocked and the movement distance is L6. The width of the material 80 L0 = L6-L5.

[0129] Only one group of the first sensor 2 is provided, which has a lower cost. In this method, the width can be measured by only controlling the bracket 1 to move in the same direction, and the control method is simpler.

[0130] Embodiment 4

[0131] What is different from the first embodiment is that the number of the first sensors 2 is different, resulting in a different specific method of measuring the width of the material 80.

[0132] refer to Fig. 9Specifically, the first sensor 2 is a group, the controller controls the first driving member 6 to make the bracket 1 move from the fourth initial position and move forward along the X-axis direction until the first sensor 2 generates a state jump, and then drives the bracket 1 to move in the reverse direction along the X-axis direction until the first sensor 2 generates two state jumps; the controller is suitable for determining the width of the material 80 based on the distance of the first sensor 2 moving in the reverse direction along the X-axis direction; when the bracket 1 is in the fourth initial position, the first sensor 2 senses being blocked by the material 80. Specifically, as Fig. 9 As shown, when a jump occurs on the left side, it moves in the reverse direction and is first blocked by the material 80, causing a jump, until it is no longer blocked by the material 80 and causes a second jump. The width of the material 80 L0 is calculated to be equal to the total distance L7 of the reverse movement.

[0133] Only one group of the first sensor 2 is provided, which has lower cost and lower space occupancy rate compared with the third embodiment.

[0134] The fourth embodiment can be implemented independently of the third embodiment, or the state of the first sensor 2 when the bracket 1 is located at the initial position can be judged to determine which control mode and which width measurement method to adopt.

[0135] Embodiment 5

[0136] A method for adjusting a gripping member 3, at least using the distance moved by the first sensor 2 moving along the X-axis direction during two state jumps to measure the width of the material 80 along the X-axis direction, and based on the width of the material 80 along the X-axis direction, controlling each gripping member 3 to move along the X-axis direction to adjust the spacing of each gripping member 3; the first sensor 2 is suitable for sensing whether it is blocked by the material 80 along the Y-axis direction. Preferably, the spacing of each gripping member 3 can be further adjusted by obtaining the number of columns of objects to be gripped included in the material and based on the width of the material 80 along the X-axis direction.

[0137] When the number of the first sensor 2 is one, the width of the material 80 along the X-axis direction is measured as shown in the third embodiment and the fourth embodiment.

[0138] When there are at least two groups of first sensors 2, the distances moved by the first sensors 2 moving along the X-axis direction during two state transitions and the distances between the first sensors 2 are used to measure the width of the material 80 along the X-axis direction. The feeding mechanism using this method requires a smaller floor space. The specific calculation method can be as shown in Example 1 and Example 2.

[0139] The description of the above specification and embodiments is used to explain the protection scope of the present invention, but does not constitute a limitation on the protection scope of the present invention. Through the enlightenment of the present invention or the above embodiments, ordinary technicians in this field can obtain modifications, equivalent substitutions or other improvements to the embodiments of the present invention or part of the technical features thereof through logical analysis, reasoning or limited experiments, which should be included in the protection scope of the present invention.

Claims

1. A gripping mechanism, characterized in that: It includes Bracket (1); One or two groups of first sensors (2), which are fixed to the support (1) and are suitable for sensing whether the Y-axis direction is blocked by the material (80); A first driving member (6) adapted to drive the support (1) to move along the X-axis direction; A plurality of gripping members (3) which are slidably connected to the support (1) along the X-axis direction; A controller, which is suitable for controlling the first driving member (6), which is suitable for receiving at least two state jumps when the first sensor (2) moves along the X-axis direction, and at least using the moving distance of the first sensor (2) moving along the X-axis direction during the two state jumps to determine the width of the material (80) along the X-axis direction, and based on the width of the material (80) along the X-axis direction, controlling each of the grasping members (3) to move along the X-axis direction to adjust the spacing between each of the grasping members (3).

2. A gripping mechanism according to claim 1, characterized in that: It also includes a second driving member (5), and the controller is suitable for controlling the second driving member (5); the second driving member (5) is used to drive the bracket (1) to move along the Z-axis direction, so that the grasping member (3) is suitable for moving along the Z-axis direction to a position suitable for grasping the material (80); the grasping member (3) is suitable for contacting the material (80) to absorb the material (80); the controller is suitable for controlling the second driving member (5) to drive the bracket (1) to move away from the material (80) along the Z-axis direction to a set distance after the grasping member (3) contacts the material (80); at the set distance, the first sensor (2) is suitable for sensing whether it is blocked by the material (80) or not blocked by the material (80) when moving along the X-axis direction.

3. A gripping mechanism according to claim 1, characterized in that: The number of the first sensors (2) is two groups, and the two groups of the first sensors (2) are arranged along the X-axis direction. The first driving member (6) is suitable for driving the bracket (1) to move from the first initial position and in the positive direction of the X-axis direction until one group of the first sensors (2) generates a state jump, and then drives the bracket (1) to move in the reverse direction of the X-axis direction until the other first sensor (2) generates a state jump; the controller is suitable for determining the width of the material (80) based on the distance of the first sensors (2) moving in the reverse direction of the X-axis direction and the distance of the two groups of the first sensors (2) in the X-axis direction; when in the first initial position, both of the first sensors (2) sense being blocked by the material (80); Or the number of the first sensors (2) is two groups, the two groups of the first sensors (2) are arranged along the X-axis direction, the controller controls the first driving member (6) to make the bracket (1) move from the second initial position and in the positive direction along the X-axis direction until the two first sensors (2) both have a state jump, and the controller is suitable for determining the width of the material (80) based on the distance of each first sensor (2) moving in the positive direction along the X-axis direction and the distance of the two groups of the first sensors (2) in the X-axis direction; at the second initial position, one of the two first sensors (2) senses that it is not blocked by the material (80), and the other of the two first sensors (2) senses that it is blocked by the material (80); wherein the positive direction along the X-axis direction is the direction in which the first sensor (2) whose sense is not blocked by the material (80) is directed toward the position where the material (80) is located.

4. A gripping mechanism according to claim 1, characterized in that: The first sensors (2) are a group, the controller controls the first driving member (6) to move the bracket (1) from the third initial position and along the X-axis direction and toward the position of the material (80) until the first sensor (2) generates two state jumps, and the controller is suitable for determining the width of the material (80) based on the distance the first sensor (2) moves along the X-axis direction when the first sensor (2) generates a state jump; wherein, when the bracket (1) is in the third initial position, the first sensor (2) senses that it is not blocked by the material (80); or the first sensor (2) senses that the material (80) is not blocked by the material (80); A sensor (2) is a group, the controller controls the first driving member (6) to make the bracket (1) move from the fourth initial position and in the positive direction along the X-axis until the first sensor (2) generates a state jump, and then drives the bracket (1) to move in the reverse direction along the X-axis until the first sensor (2) generates two state jumps; the controller is suitable for determining the width of the material (80) based on the distance of the first sensor (2) moving in the reverse direction along the X-axis; when the bracket (1) is in the fourth initial position, the first sensor (2) senses being blocked by the material (80).

5. A gripping mechanism according to claim 1, characterized in that: It also includes a second driving member (5), and the grasping member (3) is suitable for contacting the material (80) to absorb the material (80); the controller is suitable for controlling the second driving member (5) to drive the bracket (1) to move downward along the Z-axis direction and when the first sensor (2) senses being blocked by the material (80), the controller controls the second driving member (5) to decelerate the bracket (1) until the grasping member (3) contacts the material (80).

6. A gripping mechanism according to claim 1, characterized in that: The material comprises at least one column of objects to be grasped, and the controller is suitable for adjusting the spacing between the grasping members (3) based on the width of the material (80) along the X-axis direction and the number of columns of objects to be grasped.

7. A gripping mechanism according to claim 1, characterized in that: The controller also determines the center of the material (80) in the width direction based on the width of the material (80) in the X-axis direction, so as to drive the support (1) to move in the X-axis direction to a position where the grabbing member (3) is suitable for grabbing the material.

8. A gripping mechanism according to claim 1, characterized in that: The grabbing member (3) comprises a plurality of material grabbing members arranged along the Y-axis direction.

9. A feeding device, characterized in that: It comprises a material receiving platform (30) and a gripping mechanism (10) as described in any one of claims 1 to 8, wherein the material receiving platform (30) is suitable for stacking materials (80), and the gripping member (3) of the gripping mechanism (10) is suitable for gripping materials (80) on the material receiving platform (30).

10. A feeding device according to claim 9, characterized in that: It also includes a third driving member, a fourth sensor (40), and a fifth sensor (50), wherein the third driving member is suitable for driving the material receiving platform (30) to move up and down along the Z-axis direction; the fifth sensor (50) is located above the fourth sensor (40), and the fourth sensor (40) and the fifth sensor (50) are both suitable for tilting upward or tilting downward to sense whether they are blocked by the material (80); The fourth sensor (40) is adapted to sense whether there is material (80) on the material receiving platform (30), and the controller is adapted to control the third driving member to drive the material receiving platform (30) to rise along the Z-axis direction until the fifth sensor (50) senses the material (80) when the fourth sensor (40) senses that there is material (80) on the material receiving platform (30) and the fifth sensor (50) senses that it is not blocked by the material (80); The controller is suitable for controlling the third driving member to drive the material receiving platform (30) to descend along the Z-axis direction to the initial position of the material receiving platform (30) when the fourth sensor (40) senses that there is no material (80) on the material receiving platform (30).

11. A feeding device according to claim 9, characterized in that: It also includes a transmission member (60) and a sixth sensor (70), wherein the transmission member (60) is suitable for carrying materials (80) and transmitting the materials (80) at the carrying position, and the gripping member (3) is suitable for placing the materials (80) at the carrying position of the transmission member (60); the sixth sensor (70) is suitable for sensing whether there is a material (80) at the carrying position along a direction perpendicular to the Z-axis direction and intersecting with the transmission direction of the transmission member (60); and the controller is suitable for controlling the transmission member (60) to transmit the material (80) when the sixth sensor (70) senses that there is a material (80) at the carrying position.

12. A feeding device according to claim 11, characterized in that: The sixth sensor (70) is suitable for sensing whether it is blocked by the material (80) along a direction perpendicular to the Z-axis direction and along a direction inclined to the X-axis direction and inclined to the Y-axis direction.

13. A method for adjusting a gripping member, characterized in that: A gripping mechanism (10) based on any one of claims 1 to 8, at least utilizing the distance moved by the first sensor (2) moving along the X-axis direction during two state jumps to measure the width of the material (80) along the X-axis direction, and based on the width of the material (80) along the X-axis direction, controlling each of the gripping members (3) to move along the X-axis direction to adjust the spacing between each of the gripping members (3); the first sensor (2) is suitable for sensing whether it is blocked by the material (80) along the Y-axis direction.

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