Gap-adjustable grabbing device capable of ascending and descending independently

Abstract

According to the grabbing device with the adjustable gap and capable of ascending and descending independently, the multiple track grooves are formed in the gap adjusting shaft, and the multiple gap bearing assemblies and the multiple lifting mechanisms are arranged, so that multiple targets are grabbed at the same time. The gap motor drives the gap adjusting shaft to rotate, so that the gap bearing assemblies are driven to slide in the track grooves, the gaps between the gap bearing assemblies are changed, and the gaps are changed during grabbing. Each lifting mechanism is composed of a shell provided with a plurality of through holes and a sliding piece, the matched design between the lifting mechanisms and the connecting shafts is combined, the lifting mechanisms are driven by different power mechanisms, and independent control lifting is achieved. The gap bearing assembly is connected with a shell of the lifting mechanism, and combination of gap adjustment and lifting control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated grasping, and in particular to a grasping device with adjustable gap and independent lifting capability. Background Art

[0002] With the advancement of technology and the increasing automation of industrial production, traditional manual grasping methods have been replaced by robotic grasping for products in industries like electronics. Existing grasping devices are generally capable of grasping and moving products. However, to facilitate subsequent production processes such as grasping, testing, and packaging, grasping devices often need to be able to grasp multiple objects at once, adjust the gap, and independently control lifting and lowering. Summary of the Invention

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a gripping device with adjustable gap and independent lifting capability, which can simultaneously grip multiple targets and adjust the gap and independently control the lifting.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A gripping device with adjustable gap and independently liftable, comprising a gap motor, a lifting motor, a gap adjustment mechanism, a lifting mechanism, a connecting shaft and a gripping mechanism; the lifting mechanism, connecting shaft and lifting motor are multiple, the lifting mechanism comprises a sliding member and a shell, the shell is provided with multiple through holes penetrating the front and back sides of the shell, the sliding member is arranged in the shell and both ends extend out of the shell, the sliding member is arranged perpendicular to the center line of the through hole, one end of the sliding member is connected to the gripping mechanism, multiple connecting shafts are respectively passed through different through holes of the lifting mechanism, and each connecting shaft is slidably connected to the sliding member of a different lifting mechanism, and each connecting shaft is respectively connected to a different lifting mechanism. Motor; the gap adjustment mechanism includes a gap seat, a gap adjustment shaft, a gap bearing assembly and a guide shaft. The side wall of the gap adjustment shaft is provided with a plurality of track grooves axially arranged around the gap adjustment shaft. There are intervals between the plurality of track grooves and the intervals change gradually. There are multiple gap bearing assemblies. The gap adjustment shaft is rotatably connected to the gap seat. The guide shaft is arranged below the gap adjustment shaft and connected to the gap seat. The guide shaft is passed through the gap bearing assembly. One end of each gap bearing assembly is arranged in one of the track grooves and is slidably connected to the track groove, and the other end is connected to the side of the housing away from the through hole and the sliding member. The gap adjustment shaft is connected to the gap motor.

[0006] Furthermore, the clearance bearing assembly includes a bearing bracket, a linear bearing and a clearance bearing, the linear bearing is arranged in the middle of the bearing bracket, the clearance bearing is arranged at one end of the bearing bracket, the guide shaft is passed through the linear bearing, the clearance bearing is arranged in the track groove, and the other end of the bearing bracket is connected to the side of the shell away from the through hole and the sliding member.

[0007] Furthermore, the bearing bracket includes a main body, the linear bearing is arranged on the main body, a clearance bearing is arranged at the center position of one end of the main body, and two arms extend outward from the other end of the main body. The side of the shell away from the through hole and the sliding part is arranged between the two arms and connected to the two arms.

[0008] Furthermore, the interval between two adjacent track grooves gradually decreases from the starting point to the end point of the track groove.

[0009] Furthermore, the plurality of track grooves are evenly distributed, and on the same horizontal line, the intervals between two adjacent track grooves are the same.

[0010] Furthermore, the sliding member is a rack, the connecting shaft is connected to the rack of the lifting mechanism through a gear, and a plurality of balls are also provided in the housing, and the rack slides under the guidance and support of the balls.

[0011] Furthermore, it also includes a fixed plate, a left support plate and a right support plate, the gap seat includes a left gap adjustment seat and a right gap adjustment seat, the fixed plate is provided with a through slot matching the gap adjustment shaft, the two ends of the fixed plate are respectively fixedly connected to the left gap adjustment seat and the right gap adjustment seat, the gap adjustment shaft is provided on the fixed plate and partially located in the through slot, the two ends of the gap adjustment shaft are respectively rotatably connected to the left gap adjustment seat and the right gap adjustment seat, the left support plate and the right support plate are respectively fixed to the two ends below the fixed plate, the two ends of the guide shaft are respectively fixedly connected to the left support plate and the right support plate, and there is a gap between the guide shaft and the fixed plate.

[0012] Furthermore, it also includes a bearing support assembly, a coupling, a left vertical plate and a right vertical plate, one end of the connecting shaft is connected to the bearing support assembly, and the other end is fixedly connected to the lifting motor through a coupling, the left vertical plate is fixed to the left support plate, the bearing support assembly is fixed to the left vertical plate, the coupling is provided on one side of the right vertical plate, the lifting motor is fixed to the other side of the right vertical plate, and the gap motor is fixed to the other side of the right vertical plate.

[0013] Furthermore, a sensor is included, and the gap adjustment shaft is connected to the sensor.

[0014] The beneficial effects of the present invention are as follows: by providing multiple track grooves on the gap adjustment shaft, as well as multiple clearance bearing assemblies and multiple lifting mechanisms, it is possible to simultaneously grasp multiple targets. The gap motor drives the gap adjustment shaft to rotate, thereby driving the clearance bearing assembly to slide in the track groove, thereby changing the gap between the clearance bearing assemblies, and realizing the change of gap during grasping. The lifting mechanism is composed of a shell with multiple through holes and a sliding part. Combined with the matching design between the lifting mechanism and the connecting shaft, and each lifting mechanism is driven by a different power mechanism, independent control of lifting is achieved. The clearance bearing assembly is connected to the shell of the lifting mechanism to achieve a combination of gap adjustment and lifting control. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure of the gripping device with adjustable gap and independent lifting capability according to the embodiment of the present invention is shown. Figure 1 Figure 1 Figure 1 ;

[0016] Figure 2 The structure of the gripping device with adjustable gap and independent lifting capability according to the embodiment of the present invention is shown. Figure 2 Figure 2 Figure 2 ;

[0017] Figure 3 Shown is a structural diagram of a lifting mechanism according to an embodiment of the present invention;

[0018] Figure 4 Shown is a structural diagram of a clearance bearing according to an embodiment of the present invention;

[0019] Figure 5 Shown is a partial structural schematic diagram of a gripping device with adjustable gap and independent lifting capability according to an embodiment of the present invention.

[0020] Description of labels:

[0021] 1. Gap motor; 2. Lifting motor; 3. Lifting mechanism; 4. Connecting shaft; 5. Coupling; 6. Bearing support assembly; 7. Grabbing mechanism; 8. Fixing plate; 9. Left support plate; 10. Right support plate; 11. Left vertical plate; 12. Right vertical plate; 13. Rack; 14. Housing; 15. Through hole; 16. Gear; 17. Left gap adjustment seat; 18. Right gap adjustment seat; 19. Gap adjustment shaft; 20. Gap bearing assembly; 21. Guide shaft; 22. Bearing bracket; 23. Linear bearing; 24. Gap bearing; 25. Track groove; 26. Support shaft; 27. Left sensor; 28. Right sensor; 29. ​​Sensor mounting seat; 30. Left sensor indication; 31. Right sensor indication; 32. Main connecting shaft; 33. Slave connecting shaft; 34. Main synchronous pulley; 35. Synchronous belt; 36. Slave synchronous pulley; 37. Left bearing assembly; 38. Target product. DETAILED DESCRIPTION

[0022] In order to more clearly understand the technical content, achieved purposes and effects of the present invention, the present invention is described in detail below in conjunction with specific embodiments and in conjunction with the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention. The embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] Please refer to Figure 1-5 As shown, the technical solution provided by the present invention is:

[0024] A gripping device with adjustable gap and independently liftable, comprising a gap motor, a lifting motor, a gap adjustment mechanism, a lifting mechanism, a connecting shaft and a gripping mechanism; the lifting mechanism, connecting shaft and lifting motor are multiple, the lifting mechanism comprises a sliding member and a shell, the shell is provided with multiple through holes penetrating the front and back sides of the shell, the sliding member is arranged in the shell and both ends extend out of the shell, the sliding member is arranged perpendicular to the center line of the through hole, one end of the sliding member is connected to the gripping mechanism, multiple connecting shafts are respectively passed through different through holes of the lifting mechanism, and each connecting shaft is slidably connected to the sliding member of a different lifting mechanism, and each connecting shaft is respectively connected to a different lifting mechanism. Motor; the gap adjustment mechanism includes a gap seat, a gap adjustment shaft, a gap bearing assembly and a guide shaft. The side wall of the gap adjustment shaft is provided with a plurality of track grooves axially arranged around the gap adjustment shaft. There are intervals between the plurality of track grooves and the intervals change gradually. There are multiple gap bearing assemblies. The gap adjustment shaft is rotatably connected to the gap seat. The guide shaft is arranged below the gap adjustment shaft and connected to the gap seat. The guide shaft is passed through the gap bearing assembly. One end of each gap bearing assembly is arranged in one of the track grooves and is slidably connected to the track groove, and the other end is connected to the side of the housing away from the through hole and the sliding member. The gap adjustment shaft is connected to the gap motor.

[0025] The beneficial effects of the present invention are as follows: by providing multiple track grooves on the gap adjustment shaft, as well as multiple clearance bearing assemblies and multiple lifting mechanisms, it is possible to simultaneously grasp multiple targets. The gap motor drives the gap adjustment shaft to rotate, thereby driving the clearance bearing assembly to slide in the track groove, thereby changing the gap between the clearance bearing assemblies, and realizing the change of gap during grasping. The lifting mechanism is composed of a shell with multiple through holes and a sliding part. Combined with the matching design between the lifting mechanism and the connecting shaft, and each lifting mechanism is driven by a different power mechanism, independent control of lifting is achieved. The clearance bearing assembly is connected to the shell of the lifting mechanism to achieve a combination of gap adjustment and lifting control.

[0026] Furthermore, the clearance bearing assembly includes a bearing bracket, a linear bearing and a clearance bearing, the linear bearing is arranged in the middle of the bearing bracket, the clearance bearing is arranged at one end of the bearing bracket, the guide shaft is passed through the linear bearing, the clearance bearing is arranged in the track groove, and the other end of the bearing bracket is connected to the side of the shell away from the through hole and the sliding member.

[0027] From the above description, it can be seen that by adopting the above-mentioned clearance bearing assembly structure, the linear bearing can slide in the track groove under the action of the guide shaft. When the clearance adjustment shaft rotates, it drives the clearance bearing to slide in the track groove, thereby changing the clearance between the clearance bearing assemblies.

[0028] Furthermore, the bearing bracket includes a main body, the linear bearing is arranged on the main body, a clearance bearing is arranged at the center position of one end of the main body, and two arms extend outward from the other end of the main body. The side of the shell away from the through hole and the sliding part is arranged between the two arms and connected to the two arms.

[0029] As can be seen from the above description, the present invention specifically adopts the above-mentioned bearing bracket structure to achieve the best grasping effect.

[0030] Furthermore, the interval between two adjacent track grooves gradually decreases from the starting point to the end point of the track groove.

[0031] Furthermore, the plurality of track grooves are evenly distributed, and on the same horizontal line, the intervals between two adjacent track grooves are the same.

[0032] As can be seen from the above description, the above arrangement can ensure that the clearances between the clearance bearing assemblies are the same, thereby achieving accurate clearance adjustment.

[0033] Furthermore, the sliding member is a rack, the connecting shaft is connected to the rack of the lifting mechanism through a gear, and a plurality of balls are also provided in the housing, and the rack slides under the guidance and support of the balls.

[0034] As can be seen from the above description, the sliding member specifically adopts a rack design and is supported and slidable by balls.

[0035] Furthermore, it also includes a fixed plate, a left support plate and a right support plate, the gap seat includes a left gap adjustment seat and a right gap adjustment seat, the fixed plate is provided with a through slot matching the gap adjustment shaft, the two ends of the fixed plate are respectively fixedly connected to the left gap adjustment seat and the right gap adjustment seat, the gap adjustment shaft is provided on the fixed plate and partially located in the through slot, the two ends of the gap adjustment shaft are respectively rotatably connected to the left gap adjustment seat and the right gap adjustment seat, the left support plate and the right support plate are respectively fixed to the two ends below the fixed plate, the two ends of the guide shaft are respectively fixedly connected to the left support plate and the right support plate, and there is a gap between the guide shaft and the fixed plate.

[0036] Furthermore, it also includes a bearing support assembly, a coupling, a left vertical plate and a right vertical plate, one end of the connecting shaft is connected to the bearing support assembly, and the other end is fixedly connected to the lifting motor through a coupling, the left vertical plate is fixed to the left support plate, the bearing support assembly is fixed to the left vertical plate, the coupling is provided on one side of the right vertical plate, the lifting motor is fixed to the other side of the right vertical plate, and the gap motor is fixed to the other side of the right vertical plate.

[0037] As can be seen from the above description, by adopting the above-mentioned fixed installation method, the gap adjustment and lifting adjustment components are effectively and compactly installed together.

[0038] Furthermore, a sensor is included, and the gap adjustment shaft is connected to the sensor.

[0039] From the above description, it can be seen that precise gap adjustment can be achieved by setting a sensor.

[0040] Please refer to Figure 1-5 , embodiment 1 of the present invention is:

[0041] A gripping device with adjustable gap and independent lifting capability includes a gap motor 1, a lifting motor 2, a gap adjustment mechanism, a lifting mechanism 3, a connecting shaft 4, a coupling 5, a bearing support assembly 6, a gripping mechanism 7, a fixing plate 8, a left support plate 9, a right support plate 10, a left vertical plate 11, and a right vertical plate 12.

[0042] The lifting mechanism 3 includes a rack 13, a housing 14, and a plurality of balls. The housing 14 is provided with a plurality of through holes 15 that pass through the front and back of the housing. The rack 13 is arranged inside the housing 14 with both ends extending outside the housing 14. The rack 13 is arranged perpendicular to the center line of the through holes 15. The rack 13 can slide up and down under the guidance and support of the balls. One end of the rack 13 is connected to a gripping mechanism. In a specific example, the gripping mechanism 7 is a suction cup, such as Figure 3 The grabbing mechanism 7 is used to grab the target product 38.

[0043] There are multiple lifting mechanisms 3, connecting shafts 4 and lifting motors 2. Multiple connecting shafts 4 are respectively inserted into different through holes 15 of the shell 14 of the lifting mechanism 3. Each connecting shaft 4 is slidingly connected to the rack 13 of a different lifting mechanism 3 through a gear 16. Each connecting shaft 4 is provided with a guide groove so that the lifting mechanism 3 can slide horizontally on the connecting shaft 4 with the help of the guide groove. Each connecting shaft 4 is respectively connected to a different lifting motor 2.

[0044] One end of the connecting shaft 4 is fixed in the inner hole of the bearing support assembly 6, and the other end is fixedly connected to the lifting motor 2 through the coupling 5. The bearing support assembly 6 is fixed on the left vertical plate 11, the coupling 5 is provided on one side of the right vertical plate 12, and the lifting motor 2 is fixed on the other side of the right vertical plate 12.

[0045] The gap adjustment mechanism includes a left gap adjustment seat 17, a right gap adjustment seat 18, a gap adjustment shaft 19, a gap bearing assembly 20 and a guide shaft 21. The gap bearing assembly 20 includes a bearing bracket 22, a linear bearing 23 and a gap bearing 24. The bearing bracket 22 includes a body, on which the linear bearing 23 is arranged. The gap bearing 24 is arranged at the center of one end of the body, and two arms extend outward from the other end of the body, such as Figure 4 The housing 14 of the lifting mechanism 3 is located between the two arms and connected to the two arms at a side away from the through hole 15 and the rack 13 .

[0046] The side wall of the gap adjustment shaft 19 is provided with a plurality of track grooves 25 axially arranged around the gap adjustment shaft. There are intervals between the plurality of track grooves 25 and the intervals gradually change. Specifically, from the starting point to the end point of the track groove 25, the interval between two adjacent track grooves 25 gradually decreases. The plurality of track grooves 25 are evenly distributed, and on the same horizontal line, the intervals between two adjacent track grooves 25 are the same.

[0047] There are multiple clearance bearing assemblies 20, the same number as the track grooves 25. The guide shaft 21 is inserted into the linear bearing of each clearance bearing assembly 20. The clearance bearing 24 is disposed in and slidably connected to the track groove 25. The clearance bearing 24 of each clearance bearing assembly 20 is disposed in a different track groove 25.

[0048] The fixed plate 8 is provided with a through groove matching the gap adjustment shaft 19, and the two ends of the fixed plate 8 are fixedly connected to the left gap adjustment seat 17 and the right gap adjustment seat 18 respectively. The gap adjustment shaft 19 is provided on the fixed plate 8 and partially located in the through groove. The two ends of the gap adjustment shaft 19 are rotatably connected to the left gap adjustment seat 17 and the right gap adjustment seat 18 respectively. The left support plate 9 and the right support plate 10 are respectively fixed to the two ends below the fixed plate 8, and the two ends of the guide shaft 21 are fixedly connected to the left support plate 9 and the right support plate 10 respectively. There is a gap between the guide shaft 21 and the fixed plate 8.

[0049] The left vertical plate 11 is fixed on the left support plate 9 , the right support plate 10 is fixedly connected to the right vertical plate 12 via a support shaft 26 , and the gap motor 1 is fixed to the other side of the right vertical plate 12 .

[0050] It also includes a left sensor 27, a right sensor 28, a sensor mounting seat 29, a left sensor indicator 30, a right sensor indicator 31, a main connecting shaft 32, a slave connecting shaft 33, a main synchronous wheel 34, a synchronous belt 35, a slave synchronous pulley 36, and a left bearing assembly 37. The left and right ends of the gap adjustment shaft 19 are respectively connected to the slave connecting shaft 33 and the main connecting shaft 32, the right end shaft of the main connecting shaft 32 passes through the bearing inner hole of the right gap adjustment seat 18 and is fixedly connected to the slave synchronous pulley 36, the slave synchronous pulley 36 and the main synchronous wheel 35 are connected by the synchronous belt 35, the gap motor 1 is connected to the main synchronous wheel 34, the left bearing assembly 37 is fixed on the left gap adjustment seat 17, the right end of the main connecting shaft 32 passes through the bearing inner hole of the left gap adjustment seat 17 and is fixedly connected to the left sensor indicator 30 and the right sensor indicator 31, and the left sensor 27 and the right sensor 28 are fixed to the left gap adjustment seat 17 through the sensor mounting seat 29.

[0051] In the above embodiment, the linear bearing of the clearance bearing assembly can slide in the track groove under the action of the guide shaft. When the clearance adjustment shaft rotates, it drives the clearance bearing to slide in the track groove, thereby changing the gap between the clearance bearing assemblies, and further changing the gap of the lifting mechanism connected to the clearance bearing assembly. Different lifting motors drive different connecting shafts to rotate. The gear connected to the connecting shaft has a groove and slides horizontally in the guide groove of the connecting shaft together with the lifting mechanism. It can drive the rack to slide up and down with the rotation of the connecting shaft, thereby driving the grasping mechanism to slide up and down, thereby achieving the simultaneous grasping of multiple targets and independent control of lifting. Figure 1 and Figure 2 The figure shows the structure of the gripping device when the clearance bearing assembly is in different clearances. Figure 1 、 2 As shown in Figures 3 and 5, there are 8 track grooves, and the number of lifting motors is 8, which are independently controlled to start and stop, so as to ensure that the 8 lifting mechanisms can be raised and lowered independently or synchronously. The specific number can be determined according to actual needs.

[0052] It should be noted that the above-mentioned direction-related description is only relative and does not limit the present invention.

[0053] In summary, the gripping device with adjustable gap and independent lifting capability of the present invention effectively combines batch gripping, gap adjustment and independent lifting control.

[0054] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Therefore, any modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A gripping device with adjustable gap and independent lifting capability, characterized in that: It includes a gap motor, a lifting motor, a gap adjustment mechanism, a lifting mechanism, a connecting shaft and a grabbing mechanism; there are multiple lifting mechanisms, connecting shafts and lifting motors, and the lifting mechanism includes a sliding member and a shell, and the shell is provided with multiple through holes that penetrate the front and back sides of the shell, the sliding member is arranged in the shell and the two ends extend out of the shell, the sliding member is arranged perpendicular to the center line of the through hole, one end of the sliding member is connected to the grabbing mechanism, and multiple connecting shafts are respectively inserted into different through holes of the lifting mechanism, and each connecting shaft is slidably connected to the sliding members of different lifting mechanisms, and each connecting shaft is respectively connected to different lifting motors; the gap adjustment The mechanism includes a gap seat, a gap adjustment shaft, a gap bearing assembly and a guide shaft. The side wall of the gap adjustment shaft is provided with a plurality of track grooves circumferentially arranged in the axial direction of the gap adjustment shaft. There are intervals between the plurality of track grooves and the intervals change gradually. There are a plurality of gap bearing assemblies. The gap adjustment shaft is rotatably connected to the gap seat. The guide shaft is arranged below the gap adjustment shaft and connected to the gap seat. The guide shaft is passed through the gap bearing assembly. One end of each gap bearing assembly is arranged in one of the track grooves and is slidably connected to the track groove, and the other end is connected to a side of the housing away from the through hole and the sliding member. The gap adjustment shaft is connected to the gap motor.

2. The gripping device with adjustable gap and independent lifting capability according to claim 1, characterized in that: The clearance bearing assembly includes a bearing bracket, a linear bearing and a clearance bearing, wherein the linear bearing is arranged in the middle of the bearing bracket, the clearance bearing is arranged at one end of the bearing bracket, the guide shaft is passed through the linear bearing, the clearance bearing is arranged in the track groove, and the other end of the bearing bracket is connected to the side of the housing away from the through hole and the sliding member.

3. The gripping device with adjustable gap and independent lifting capability according to claim 2, characterized in that: The bearing bracket includes a body, the linear bearing is arranged on the body, a clearance bearing is arranged at the center position of one end of the body, two arms extend outward from the other end of the body, and the side of the shell away from the through hole and the sliding member is arranged between the two arms and connected to the two arms.

4. The gripping device with adjustable gap and independent lifting capability according to claim 1, characterized in that: From the starting point to the end point of the track groove, the interval between two adjacent track grooves gradually decreases.

5. The gripping device with adjustable gap and independent lifting capability according to claim 4, characterized in that: The plurality of track grooves are evenly distributed, and the intervals between two adjacent track grooves on the same horizontal line are the same.

6. The gripping device with adjustable gap and independent lifting capability according to claim 1, characterized in that: The sliding member is a rack, the connecting shaft is connected to the rack of the lifting mechanism through a gear, and a plurality of balls are also arranged in the housing, and the rack slides under the guidance and support of the balls.

7. The gripping device with adjustable gap and independent lifting capability according to claim 1, characterized in that: The invention also includes a fixed plate, a left supporting plate and a right supporting plate, the gap seat includes a left gap adjusting seat and a right gap adjusting seat, the fixed plate is provided with a through slot matching the gap adjusting shaft, the two ends of the fixed plate are respectively fixedly connected with the left gap adjusting seat and the right gap adjusting seat, the gap adjusting shaft is provided on the fixed plate and partially located in the through slot, the two ends of the gap adjusting shaft are respectively rotatably connected with the left gap adjusting seat and the right gap adjusting seat, the left supporting plate and the right supporting plate are respectively fixed at the two ends below the fixed plate, the two ends of the guide shaft are respectively fixedly connected with the left supporting plate and the right supporting plate, and there is a gap between the guide shaft and the fixed plate.

8. The gripping device with adjustable gap and independent lifting capability according to claim 7, characterized in that: It also includes a bearing support assembly, a coupling, a left vertical plate and a right vertical plate, one end of the connecting shaft is connected to the bearing support assembly, and the other end is fixedly connected to the lifting motor through a coupling, the left vertical plate is fixed to the left support plate, the bearing support assembly is fixed to the left vertical plate, the coupling is arranged on one side of the right vertical plate, the lifting motor is fixed to the other side of the right vertical plate, and the gap motor is fixed to the other side of the right vertical plate.

9. The gripping device with adjustable gap and independent lifting capability according to claim 1, characterized in that: A sensor is also included, and the gap adjustment shaft is connected to the sensor.

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