Gripper structure

Abstract

The invention relates to the technical field of vehicle manufacturing, in particular to a gripper structure. The embodiment of the invention provides a gripper structure which comprises a frame and a plurality of clamping units, and the frame is provided with a first part; each clamping unit is provided with a second part; wherein the first parts and the second parts are detachably connected, so that any clamping unit can be selectively installed on the frame, and the structures of the multiple second parts are the same. The technical problems that the compatibility of the gripper structure is poor and the occupied area of offline storage is large after the overall gripper structure is switched are solved, the compatibility of the gripper structure is improved, and the cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle manufacturing, and in particular to a gripper structure. Background Art

[0002] In the related art, each handling gripper on the frame can only correspond to one object to be clamped, and the frame and the handling gripper are fixedly connected, resulting in poor adaptability of the entire gripper structure. When switching production for different models, the gripper structure needs to be switched as a whole and then the handling gripper needs to be replaced, and the storage of the switched gripper requires a large area. Summary of the invention

[0003] The present application provides a gripper structure, which solves the technical problems of poor compatibility of the gripper structure and large offline storage area after overall switching, thereby improving the compatibility of the gripper structure and reducing costs.

[0004] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0005] An embodiment of the present application provides a gripper structure, including a frame and a plurality of clamping units, wherein the frame is provided with a first part; each of the clamping units is provided with a second part; wherein the first part and the second part are detachably connected so that any one of the clamping units can be selectively installed on the frame, and the structures of the plurality of second parts are the same.

[0006] The gripper structure proposed in the embodiment of the present application has a first part on the frame, and each clamping unit is provided with a second part. The first part and the second part are detachably connected. When the corresponding clamping unit needs to be replaced to grasp different components, it is only necessary to remove the second part from the first part, and then connect the second part of the corresponding clamping unit to the first part. In this way, the same frame can be adapted to different components, thereby improving the compatibility of the entire gripper structure, reducing the storage area occupied by the gripper structure, and reducing costs.

[0007] Optionally, the first part is provided with a plurality of first mounting holes extending in the first direction, and the second part is provided with a plurality of second mounting holes; the first part and the second part are connected by a plurality of first fasteners, and the first fasteners pass through the corresponding second mounting holes and the corresponding first mounting holes. The first mounting holes and the second mounting holes are arranged correspondingly, and the first fasteners pass through the second mounting holes and the first mounting holes in sequence, so as to realize a detachable connection between the first part and the second part, facilitate manual disassembly, and thus facilitate replacement of different clamping units.

[0008] Optionally, the first fastener passes through the corresponding second mounting hole and is threadedly matched with the corresponding first mounting hole. The first fastener passes through the corresponding second mounting hole and the first mounting hole in sequence and is threadedly matched with the first mounting hole, and the first part and the second part are detachably connected, thereby realizing a detachable connection between the clamping unit and the frame and facilitating manual disassembly.

[0009] Optionally, the first part is provided with a plurality of third mounting holes extending in a second direction, the second direction is perpendicular to the first direction, and the second part is provided with a plurality of fourth mounting holes; the first part and the second part are connected by a second fastener, and the second fastener passes through the corresponding third mounting hole and the corresponding fourth mounting hole. The fourth mounting hole is provided correspondingly to the third mounting hole, and the second fastener passes through the fourth mounting hole and the third mounting hole in sequence, thereby strengthening the detachable connection between the first part and the second part.

[0010] Optionally, the second fastener passes through the corresponding fourth mounting hole and is threadedly matched with the corresponding third mounting hole. The second fastener passes through the corresponding fourth mounting hole and the third mounting hole in sequence and is threadedly matched with the third mounting hole to strengthen the detachable connection between the first part and the second part.

[0011] Optionally, the second part includes a main body and a pressing part, the main body is orthogonal to the pressing part; the first direction is the thickness direction of the first part and the thickness direction of the main body, the main body is in contact with one side of the first part in the thickness direction, and the pressing part is in contact with one side of the first part in the second direction; wherein a plurality of the fourth mounting holes are provided on the pressing part. The pressing part is detachably connected to the first part in the second direction, and the main body is detachably connected to the first part in the first direction, thereby enhancing the connection strength between the first part and the second part, thereby ensuring sufficient connection strength between the clamping unit and the frame, and improving the integrity of the entire gripper structure.

[0012] Optionally, the frame includes a plurality of connecting frames, each of which is provided with the first part, and each of the first parts of the connecting frames is provided with an error-proofing structure. The error-proofing structure is provided on the first part to facilitate identification and installation of the corresponding clamping unit to the corresponding first part, thereby improving installation efficiency.

[0013] Optionally, there are multiple third mounting holes, and the error-proofing structure is a positioning pin, which is installed in the corresponding third mounting hole; wherein the positioning pins on the first parts of the multiple connecting frames are installed at different positions. The positioning pins on different connecting frames are inserted into different third mounting holes for quick identification and completion of the connection between the second part and the first part of the clamping unit, thereby improving the installation efficiency.

[0014] Optionally, the first part and the second part respectively have a first wall surface and a second wall surface that fit each other, one of the first wall surface and the second wall surface is provided with a first key groove, and the other of the first wall surface and the second wall surface is provided with a first positioning key that can selectively match with the first key groove. When the first part and the second part are installed together, the first positioning key is matched in the first key groove, thereby improving the matching accuracy between the first part and the second part, and further improving the connection accuracy between the clamping unit and the frame.

[0015] Optionally, a second key slot is further provided on one of the first wall surface and the second wall surface where the first key slot is provided, and the second key slot can be selectively matched with the first positioning key, and the extension direction of the first key slot is set at an angle with the extension direction of the second key slot. When the connection between the second part and the first part requires the second part to rotate a certain angle, the first positioning key can be matched with the second key slot to improve the matching accuracy between the first part and the second part, thereby improving the connection accuracy between the clamping unit and the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of the structure of the gripper structure of this application;

[0018] Figure 2 This is a schematic diagram of the partial structure of the gripper structure of this application;

[0019] Figure 3 This is a schematic diagram of the partial structure of the gripper structure of this application;

[0020] Figure 4 This is a schematic diagram of the partial structure of the gripper structure of this application;

[0021] Figure 5 This is a schematic diagram of the partial structure of the gripper structure of this application;

[0022] Figure 6 This is a schematic diagram of the structure of the second part of this application;

[0023] Figure 7 This is a schematic diagram of the local structure of the gripper structure of this application.

[0024] [Description of Reference Numerals]

[0025] 1: frame; 11: connecting frame; 12: first part; 121: first mounting hole; 122: third mounting hole; 123: positioning pin; 124: first wall surface;

[0026] 2: clamping unit; 21: second part; 211: second mounting hole; 212: fourth mounting hole; 213: second wall surface; 22: main body; 23: pressing part;

[0027] 3: First keyway;

[0028] 4: Second keyway;

[0029] 5: First positioning key;

[0030] 6: first fastener;

[0031] 7: second fastener;

[0032] 8: Change the gun tray;

[0033] 9: valve island; A: first direction; B: second direction; C: width direction. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0035] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0036] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0037] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] The term "and / or" in this application 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 application generally indicates that the associated objects before and after are in an "or" relationship.

[0039] The term "multiple" as used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0040] In the related art, the handling gripper on each frame can only correspond to one object to be clamped, and a fixed connection is used between the frame and the handling gripper, resulting in poor adaptability of the entire gripper structure. When switching production for different vehicle models, it is necessary to switch the gripper structure as a whole, and then replace the handling gripper. However, the storage of the gripper structure after the overall switch requires a large floor space. Therefore, a gripper structure is needed. When other production components need to be replaced, there is no need to completely dismantle the entire gripper structure. Only the clamping unit needs to be replaced to make the entire gripper structure compatible with other components. The storage area of ​​the replaced gripper structure is much smaller than the area of ​​the entire gripper structure, thereby saving floor space.

[0041] The present application embodiment provides a gripper structure, referring to Figure 1 and Figure 7 The gripper structure includes a frame 1 and a plurality of clamping units 2, wherein the frame 1 is provided with a first part 12; each clamping unit 2 is provided with a second part 21; wherein the first part 12 and the second part 21 are detachably connected so that any clamping unit 2 can be selectively installed on the frame 1, and the structures of the plurality of second parts 21 are the same.

[0042] The gripper structure proposed in the embodiment of the present application is provided with a first part 12 on the frame 1, and each clamping unit 2 is provided with a second part 21. The first part 12 and the second part 21 are detachably connected. When the corresponding clamping unit 2 needs to be replaced to grasp different components, it is only necessary to remove the second part 21 from the first part 12, and then connect the second part 21 of the corresponding clamping unit 2 to the first part 12. In this way, the same frame 1 can be adapted to different components, thereby improving the compatibility of the entire gripper structure and reducing the storage area occupied by the gripper structure.

[0043] The gripper structure in the present application can use the same frame 1 for parts of similar size, and only the clamping unit 2 needs to be replaced for different parts, thereby achieving the sharing of the frame 1 and the gun changing plate 8 connected to the frame 1 when processing different parts, thereby reducing costs.

[0044] Optionally, refer to Figures 2 to 7 The first part 12 is provided with a plurality of first mounting holes 121 extending along the first direction A, and the second part 21 is provided with a plurality of second mounting holes 211; the first part 12 and the second part 21 are connected by a plurality of first fasteners 6, and the first fasteners 6 pass through the corresponding first mounting holes 121 and the corresponding second mounting holes 211. The first mounting holes 121 and the second mounting holes 211 are arranged correspondingly, and the first fasteners 6 pass through the corresponding second mounting holes 211 and the first mounting holes 121 in sequence. The first part 12 and the second part 21 are detachably connected, realizing the detachable connection between the clamping unit 2 and the frame 1, and facilitating manual disassembly, thereby facilitating replacement of different clamping units 2.

[0045] Specifically, along the width direction C of the first part 12, two rows of first mounting holes 121 are provided on the first part 12, each row of first mounting holes 121 includes a plurality of first mounting holes 121, and the plurality of first mounting holes 121 are distributed along the length direction of the first part 12, wherein the length direction of the first part 12 is the second direction B; the width direction C of the first part 12, the first direction A, and the second direction B are perpendicular to each other. The second mounting holes 211 provided on the second part 21 correspond to the first mounting holes 121 one by one. The first fastener 6 passes through the corresponding second mounting holes 211 and the first mounting holes 121 in sequence, and the first part 12 and the second part 21 are detachably connected, thereby realizing a detachable connection between the clamping unit 2 and the frame 1.

[0046] Optionally, the first fastener 6 passes through the corresponding first mounting hole 121 and is threadedly engaged with the corresponding second mounting hole 211. The first fastener 6 passes through the corresponding second mounting hole 211 and the first mounting hole 121 in sequence and is threadedly engaged with the first mounting hole 121 to achieve a detachable connection between the first part 12 and the second part 21, facilitating manual disassembly. It should be understood that the first fastener 6 can be threadedly engaged with only the first mounting hole 121, or can be threadedly engaged with both the second mounting hole 211 and the first mounting hole 121.

[0047] Optionally, the first part 12 is provided with a plurality of third mounting holes 122 extending along the second direction B, the second direction B is perpendicular to the first direction A, and the second part 21 is provided with a plurality of fourth mounting holes 212; the first part 12 and the second part 21 are connected by the second fastener 7, and the second fastener 7 passes through the corresponding third mounting hole 122 and the corresponding fourth mounting hole 212. The fourth mounting hole 212 is provided corresponding to the third mounting hole 122, and the second fastener 7 passes through the corresponding fourth mounting hole 212 and the third mounting hole 122 in sequence, so as to strengthen the detachable connection between the first part 12 and the second part 21.

[0048] Optionally, the second fastener 7 passes through the corresponding fourth mounting hole 212 and is threadedly engaged with the corresponding third mounting hole 122. The second fastener 7 passes through the corresponding fourth mounting hole 212 and the third mounting hole 122 in sequence and is threadedly engaged with the third mounting hole 122, thereby strengthening the detachable connection between the first part 12 and the second part 21 and facilitating manual disassembly. It should be understood that the second fastener 7 may be threadedly engaged with only the third mounting hole 122, or may be threadedly engaged with both the third mounting hole 122 and the fourth mounting hole 212.

[0049] Optionally, refer to Figure 6 The second part 21 includes a main body 22 and a pressing part 23, the main body 22 is orthogonal to the pressing part 23; the first direction A is the thickness direction of the first part 12 and the thickness direction of the main body 22, the main body 22 is in contact with one side of the first part 12 in the thickness direction, and the pressing part 23 is in contact with one side of the first part 12 in the second direction B; wherein, a plurality of fourth mounting holes 212 are provided in the pressing part 23. When the first part 12 and the second part 21 are mounted together, the pressing part 23 is in contact with one side of the first part 12 in the second direction B, and the second fastener 7 passes through the corresponding fourth mounting hole 212 and the third mounting hole 122 to make a detachable connection; the main body 22 is in contact with one side of the first part 12 in the thickness direction, and the first fastener 6 passes through the second mounting hole 211 and the first mounting hole 121 to make a detachable connection.

[0050] The pressing portion 23 is detachably connected to the first portion 12 in the second direction B, and the main body portion 22 is detachably connected to the first portion 12 in the first direction A, thereby enhancing the connection strength between the first portion 12 and the second portion 21, so that the connection strength between the clamping unit 2 and the frame 1 is sufficient, thereby improving the integrity of the entire gripper structure.

[0051] It should be understood that when the main body 22 is detachably connected to the first part 12, the number of the first fasteners 6 is multiple, such as the first part 12 is provided with four first mounting holes 121, two first mounting holes 121 are in a row, the main body 22 is provided with four second mounting holes 211, each second mounting hole 211 corresponds to a first mounting hole 121, and there are four first fasteners 6, which pass through the corresponding second mounting holes 211 and the first mounting holes 121, and are threadedly matched in the first mounting holes 121. When the pressing part 23 is detachably connected to the pressing part 23, the number of the second fasteners 7 can be one or more.

[0052] Optionally, refer to Figures 2 to 5 The frame 1 includes a plurality of connecting frames 11, each of which is provided with a first portion 12, and the first portion 12 of each connecting frame 11 is provided with an error-proofing structure. The frame 1 includes a plurality of connecting frames 11, each of which is connected to a corresponding clamping unit 2, and the clamping unit 2 is detachably connected to the connecting frame 11 through the first portion 12 and the second portion 21. Since the structures of the multiple clamping units 2 corresponding to the parts to be clamped on the same frame 1 are different, the specific structures of each corresponding clamping unit 2 are also different, in order to facilitate the identification of the installation position of the clamping unit 2, the installation is completed quickly. An error-proofing structure is provided on the first portion 12 to facilitate the identification and installation of the corresponding clamping unit 2 to the corresponding first portion 12, thereby improving the installation efficiency.

[0053] Optionally, there are multiple third mounting holes 122, and the error-proofing structure is a positioning pin 123, which is installed in the corresponding third mounting hole 122; wherein, the installation positions of the positioning pins 123 on the first parts 12 of the multiple connecting frames 11 are different. The positioning pins 123 on different connecting frames 11 are inserted into different third mounting holes 122, so as to facilitate quick identification and complete the connection between the second part 21 and the first part 12 of the clamping unit 2, thereby improving the installation efficiency and the accuracy of the installation position of the clamping unit 2. The positioning pin 123 is installed in the third mounting hole 122 and cooperates with the corresponding fourth mounting hole 212, playing a positioning role between the first part 12 and the second part 21.

[0054] Specifically, the first portion 12 is provided with a plurality of third mounting holes 122 distributed along the width direction C of the first portion 12 , and at least one of the third mounting holes 122 corresponds to the fourth mounting hole 212 and is detachably connected via the second fastener 7 .

[0055] In a specific embodiment, the connecting frame 11 has four, and the first portion 12 is provided with five third mounting holes 122 distributed along the width direction C of the first portion 12, and the third mounting hole 122 located in the middle is threadedly matched with the second fastener 7. The positioning pins 123 corresponding to different connecting frames 11 are respectively inserted into different third mounting holes 122, so as to quickly identify the installation position of the clamping unit 2.

[0056] It should be understood that the positioning pins 123 corresponding to different connecting frames 11 can also be respectively inserted into two different third mounting holes 122. As long as the positions of the positioning pins 123 between different connecting frames 11 are different, the installation position of the corresponding clamping unit 2 can be identified.

[0057] In a specific embodiment, the third mounting hole 122 that cooperates with the second fastener 7 and the third mounting hole 122 that cooperates with the positioning pin 123 have different shapes, and the third mounting hole 122 that cooperates with the positioning pin 123 can be a waist-shaped hole; the fourth mounting hole 212 that cooperates with the second fastener 7 and the fourth mounting hole 212 that cooperates with the positioning pin 123 have different shapes, and the fourth mounting hole 212 that cooperates with the positioning pin 123 can be a waist-shaped hole.

[0058] Optionally, refer to Figures 2 to 6 The first part 12 and the second part 21 respectively have a first wall 124 and a second wall 213 that fit each other, one of the first wall 124 and the second wall 213 is provided with a first key groove 3, and the other of the first wall 124 and the second wall 213 is provided with a first positioning key 5 that can selectively cooperate with the first key groove 3.

[0059] Specifically, the main body 22 of the first part 12 and the second part 21 respectively have a first wall 124 and a second wall 213 along the first direction A, one of the first wall 124 and the second wall 213 is provided with a first key groove 3, and the other is provided with a first positioning key 5. When the first part 12 and the second part 21 are installed together, the first positioning key 5 is engaged in the first key groove 3, thereby improving the matching accuracy between the first part 12 and the second part 21, and thereby improving the connection accuracy between the clamping unit 2 and the frame 1.

[0060] Optionally, a second key groove 4 is further provided on one of the first wall surface 124 and the second wall surface 213 where the first key groove 3 is provided, and the second key groove 4 can be selectively matched with the first positioning key 5, and the extension direction of the first key groove 3 is set at an angle with the extension direction of the second key groove 4. When the connection between the second part 21 and the first part 12 requires the second part 21 to rotate a certain angle, the first positioning key 5 can cooperate with the second key groove 4 to improve the matching accuracy between the first part 12 and the second part 21, thereby improving the connection accuracy between the clamping unit 2 and the frame 1.

[0061] The gripper structure in the present application includes a frame 1, on which a plurality of connecting frames 11 are provided, each connecting frame 11 is provided with a first portion 12, on which a plurality of first mounting holes 121 extending along a first direction A and a plurality of third mounting holes 122 extending along a second direction B are provided. A second portion 21 is provided on a gripping unit 2, on which a plurality of second mounting holes 211 extending along a first direction A and a plurality of fourth mounting holes 212 extending along a second direction B are provided. A plurality of first fasteners 6 sequentially pass through the corresponding second mounting holes 211 and the first mounting holes 121 and are threadedly engaged with at least the first mounting holes 121, and at least one second fastener 7 sequentially passes through the corresponding fourth mounting holes 212 and the third mounting holes 122 and is threadedly engaged with at least the third mounting holes 122, so as to realize a detachable connection between the gripping unit 2 and the frame 1.

[0062] A first keyway 3 is provided on one of the main bodies 22 of the first part 12 and the second part 21, and a first positioning key 5 is provided on the other to improve the matching accuracy between the first part 12 and the second part 21, so that the connection accuracy between the first part 12 and the second part 21 meets the error range of ±0.1mm.

[0063] The first portion 12 is provided with a positioning pin 123 for preventing errors. The installation positions of the positioning pin 123 of the first portion 12 on different connecting frames 11 are different, so as to quickly identify the installation position of the corresponding clamping unit 2 and improve the installation efficiency.

[0064] In the present application, the clamping unit 2 is detachably connected to the frame 1, and the frame 1, the valve island 9 installed on the frame 1 and the gun changing tray 8 can be shared according to the architecture within a similar vehicle model series. Only the clamping unit 2 needs to be replaced, which reduces the cost and the floor space occupied by the storage frame 1.

[0065] The gripper structure of the present application is also connected to intermediate structures such as air pipes and electric wires, which are used to facilitate manual plugging and unplugging when installing the clamping unit 2.

[0066] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0067] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0068] The above is only an 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 changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0069] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A gripper structure, characterized in that: include: A framework is provided with a first part; A plurality of gripping units, each of which is provided with a second portion; The first part and the second part are detachably connected so that any one of the clamping units can be selectively installed on the frame, and the structures of multiple second parts are the same.

2. The gripper structure according to claim 1, characterized in that: The first part is provided with a plurality of first mounting holes extending along a first direction, and the second part is provided with a plurality of second mounting holes; The first part and the second part are connected by a plurality of first fasteners, and the first fasteners pass through the corresponding second mounting holes and the corresponding first mounting holes.

3. The gripper structure according to claim 2, characterized in that: The first fastener passes through the corresponding second mounting hole and is threadedly engaged with the corresponding first mounting hole.

4. The gripper structure according to claim 2, characterized in that: The first portion is provided with a plurality of third mounting holes extending along a second direction, the second direction being perpendicular to the first direction, and the second portion is provided with a plurality of fourth mounting holes; The first part and the second part are connected by a second fastener, and the second fastener passes through the corresponding third mounting hole and the corresponding fourth mounting hole.

5. The gripper structure according to claim 4, characterized in that: The second fastener passes through the corresponding fourth mounting hole and is threadedly engaged with the corresponding third mounting hole.

6. The gripper structure according to claim 4, characterized in that: The second part includes a main body and a pressing part, and the main body is orthogonal to the pressing part; The first direction is the thickness direction of the first part and the thickness direction of the main body, the main body is in contact with a side surface of the first part in the thickness direction, and the pressing part is in contact with a side surface of the first part in the second direction; wherein, a plurality of the fourth mounting holes are provided in the pressing part.

7. The gripper structure according to claim 4, characterized in that: The frame includes a plurality of connecting frames, each of which is provided with the first part, and the first part of each of the connecting frames is provided with an error-proofing structure.

8. The gripper structure according to claim 7, characterized in that: There are a plurality of third mounting holes, and the error-proofing structure is a positioning pin, which is installed in the corresponding third mounting hole; Wherein, the installation positions of the first upper positioning pins of the plurality of connecting frames are different.

9. The gripper structure according to claim 1, characterized in that: The first part and the second part respectively have a first wall surface and a second wall surface that fit each other, one of the first wall surface and the second wall surface is provided with a first key groove, and the other of the first wall surface and the second wall surface is provided with a first positioning key that can selectively cooperate with the first key groove.

10. The gripper structure according to claim 9, characterized in that: A second key groove is also provided on one of the first wall surface and the second wall surface where the first key groove is provided. The second key groove can selectively cooperate with the first positioning key. The extension direction of the first key groove is set at an angle to the extension direction of the second key groove.

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