Grabbing mechanism
By designing a grasping mechanism containing an electric permanent magnet, the problem of grasping the parts without a certain position and complex curved surfaces in the roller welding production line of the coal miner is solved, and reliable grasping and transfer of the tooth seat, loading blades and end plates is achieved, and production efficiency is improved.
Patent Information
- Application Number
- CN202411313485.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2025-07-18
AI Technical Summary
The prior art is difficult to effectively grasp parts such as tooth seats, loading blades and end plates in coal mining drum welding production lines, especially the space curved surfaces in which there is no certain position in the material box and the surface is complex, resulting in difficulty in loading.
A grasping mechanism is designed, including a base, a first grasper and a second grasper. Using the electric permanent magnet adsorption function, the first grasper absorbs the loading blades and end plates, and the second grasper absorbs the tooth seat. The transfer and flip of the parts are realized through a multi-axis handling robot, and combined with the adaptive contact function of the magnet, reliable grasping is achieved.
Improve surface adaptability to the tooth seat, loading blades and end plates, realize flexible grasping, ensure reliable contact and transfer of parts, and simplify the loading process.
Smart Images
Figure CN120328167A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of shearer drum welding, and particularly to a grasping mechanism. Background Art
[0002] The shearer drum welding production line is a welding production line mainly used to complete the welding of parts such as the shearer spiral drum, tooth seats, loading blades, and end plates. Before welding, it is necessary to complete the feeding of tooth seats, loading blades, and end plates. Among them, when the materials arrive, the tooth seats, loading blades, and end plates are randomly placed without a definite position in the incoming material box. Moreover, the surfaces of the tooth seats, loading blades, and end plates are all spatial curved surfaces, with complex structures and many models, making it difficult to grasp and feed them. Summary of the Invention
[0003] The purpose of the present invention is to provide a grasping mechanism to solve the problems existing in the prior art and facilitate the grasping of tooth seats, loading blades, and end plates.
[0004] To achieve the above purpose, the present invention provides the following solution:
[0005] The present invention provides a grasping mechanism, including a base, a first gripper, and a second gripper. The base is fixedly connected to the execution end of a multi-axis handling robot. The first gripper includes an adapter seat and at least one magnetic attraction assembly. The adapter seat is fixedly arranged on the base. The magnetic attraction assembly includes a first electro-permanent magnet, and the first electro-permanent magnet is hinged to the adapter seat. When the first electro-permanent magnet is energized, it can adsorb the loading blade and the end plate. The second gripper includes a fixed flange and a second electro-permanent magnet. The fixed flange is fixedly arranged on the base. The second electro-permanent magnet is hinged to the fixed flange and can be locked to the fixed flange. When the second electro-permanent magnet is energized, it can adsorb the tooth seat.
[0006] Preferably, the magnetic attraction assembly further includes a magnet fixing plate, a rotating shaft, a first joint bearing, and a first bearing mounting seat. The first bearing mounting seat is arranged on the adapter seat. The first joint bearing is placed in the first bearing mounting seat. The outer ring of the first joint bearing is fixedly connected to the first bearing mounting seat. The inner ring of the first joint bearing is fixedly sleeved on the rotating shaft. One end of the rotating shaft is fixedly connected to the magnet fixing plate, and the magnet fixing plate is fixedly connected to the first electro-permanent magnet.
[0007] Preferably, the magnetic attraction assembly further includes at least two guide posts and at least two first elastic members. At least two guide holes are formed in the adapter base. The number of the guide holes, the guide posts, and the first elastic members is equal. The guide holes, the guide posts, and the first elastic members are arranged in one-to-one correspondence. The guide posts pass through the guide holes and can slide along the guide holes. The first end of the guide post is fixedly arranged on the first bearing mount. The second end of the guide post has a limiting structure to prevent the guide post from detaching from the guide hole. The first elastic member is placed between the first bearing mount and the adapter base.
[0008] Preferably, the first bearing mount includes a first bearing fixing sleeve, a first bearing spacer sleeve, and a first bearing gland. The first bearing gland is arranged on the adapter base. The first joint bearing and the first bearing spacer sleeve are both placed inside the first bearing fixing sleeve. The first end of the first bearing fixing sleeve has a first limiting step. The first joint bearing is placed between the first limiting step and the first bearing spacer sleeve. The first bearing gland is fixedly arranged at the second end of the first bearing fixing sleeve. The first bearing gland can press and fix the outer ring of the first joint bearing between the first limiting step and the first bearing spacer sleeve. The rotating shaft has a second limiting step. A first nut is arranged on the rotating shaft. The first nut can press the inner ring of the first joint bearing onto the second limiting step.
[0009] Preferably, a through hole is formed in the first bearing gland. The through hole can allow one end of the rotating shaft away from the magnet fixing plate to pass through. A limiting flange is fixedly arranged on the surface of the first bearing gland away from the magnet fixing plate. A limiting hole is formed in the limiting flange. The limiting hole is smaller than the through hole. The limiting hole can allow one end of the rotating shaft away from the magnet fixing plate to pass through.
[0010] Preferably, the second gripper further includes a sliding shaft, a second joint bearing, and a second bearing mount. The second bearing mount is fixedly arranged on the fixed flange. The second joint bearing is placed inside the second bearing mount. The outer ring of the second joint bearing is fixedly connected to the second bearing mount. The inner ring of the second joint bearing is sleeved on the sliding shaft. The sliding shaft can slide relative to the inner ring of the second joint bearing. The first end of the sliding shaft is fixedly connected to the second electro-permanent magnet.
[0011] Preferably, the second gripper further includes a plurality of limiting shafts and a plurality of second elastic members. The number of the limiting shafts is equal to that of the second elastic members, and the limiting shafts and the second elastic members are arranged in one-to-one correspondence. The first end of the limiting shaft is fixedly arranged on the second bearing mounting seat. The second end of the limiting shaft has a tapered portion that gradually contracts in the direction of the first end of the limiting shaft. A plurality of tapered holes are formed in the sliding shaft, and the tapered holes are arranged in one-to-one correspondence with the tapered portions. The inner wall of the tapered hole can be attached to the outer wall of the tapered portion. When the sliding shaft moves towards the fixed flange, the inner wall of the tapered hole can be separated from the outer wall of the tapered portion. The second elastic member is disposed between the tapered hole and the second bearing mounting seat.
[0012] Preferably, the second bearing mounting seat includes a second bearing fixing sleeve, a second bearing spacer sleeve, and a second bearing gland. The second bearing gland is fixedly arranged on the fixed flange. The second spherical plain bearing and the second bearing spacer sleeve are both disposed within the second bearing fixing sleeve. The first end of the second bearing fixing sleeve has a third limiting step. The second spherical plain bearing is disposed between the third limiting step and the second bearing spacer sleeve. The second bearing gland is fixedly arranged at the second end of the second bearing fixing sleeve. The second bearing gland can press and fix the outer ring of the second spherical plain bearing between the third limiting step and the second bearing spacer sleeve. The sliding shaft has a fourth limiting step for contacting the side surface of the inner ring of the second spherical plain bearing.
[0013] Preferably, the second gripper further includes a cylinder. The cylinder body of the cylinder is fixedly arranged within the fixed flange, and the piston rod of the cylinder is ball-joint connected to the second end of the sliding shaft.
[0014] Preferably, it further includes a first proximity sensor and a second proximity sensor. The first proximity sensor is fixedly arranged on the first gripper, and the second proximity sensor is fixedly arranged on the second gripper.
[0015] The present invention has achieved the following technical effects compared with the prior art:
[0016] The grasping mechanism provided by the present invention adsorbs and grasps the loading blades and end plates in the material box through the first electro-permanent magnet, and adsorbs and grasps the tooth bases in the material box through the second electro-permanent magnet, improving the adaptability to the surfaces of the tooth bases, loading blades or end plates. Moreover, the first electro-permanent magnet is hinged to the adapter seat, and the second electro-permanent magnet is hinged to the fixed flange, enabling the first electro-permanent magnet and the second electro-permanent magnet to independently grasp and both have the adaptive contact function. After contacting the tooth base, loading blade or end plate, they can adapt to the curved surfaces of the tooth base, loading blade or end plate, achieving reliable contact and a high degree of flexibility, facilitating the grasping of the tooth base, loading blades and end plates. Brief Description of the Drawings
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0018] Figure 1 Schematic diagram of the grasping mechanism provided by the present invention;
[0019] Figure 2 is Figure 1 Enlarged view of the second gripper in the grasping mechanism;
[0020] Figure 3 is Figure 1 Enlarged view of the first gripper in the grasping mechanism;
[0021] In the figure: 1 - base, 2 - first gripper, 3 - second gripper, 4 - adapter base, 5 - magnetic attraction assembly, 6 - first electro-permanent magnet, 7 - fixed flange, 8 - second electro-permanent magnet, 9 - magnet fixing plate, 10 - rotating shaft, 11 - first spherical plain bearing, 12 - guiding column, 13 - first elastic member, 14 - first bearing fixing sleeve, 15 - first bearing spacer sleeve, 16 - first bearing gland, 17 - first nut, 18 - limit flange, 19 - sliding shaft, 20 - second spherical plain bearing, 21 - limit shaft, 22 - second elastic member, 23 - tapered portion, 24 - second bearing fixing sleeve, 25 - second bearing spacer sleeve, 26 - second bearing gland, 27 - cylinder, 28 - first proximity sensor, 29 - second proximity sensor. Detailed Description of the Invention
[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.
[0023] The purpose of the present invention is to provide a grasping mechanism to solve the problems existing in the prior art and facilitate the grasping of the tooth seat, loading blades and end plates.
[0024] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the drawings and specific embodiments.
[0025] Such as Figures 1 - 3As shown in the figure, the present invention provides a grasping mechanism, which includes a base 1, a first gripper 2 and a second gripper 3. The base 1 is fixedly connected to the execution end of a multi-axis handling robot. The first gripper 2 includes an adapter base 4 and at least one magnetic adsorption component 5. The adapter base 4 is fixedly arranged on the base 1. The magnetic adsorption component 5 includes a first electro-permanent magnet 6. The first electro-permanent magnet 6 is hinged to the adapter base 4. When the first electro-permanent magnet 6 is energized, it can adsorb the loading blades and end plates. The second gripper 3 includes a fixed flange 7 and a second electro-permanent magnet 8. The fixed flange 7 is fixedly arranged on the base 1. The second electro-permanent magnet 8 is hinged to the fixed flange 7 and can be locked on the fixed flange 7. When the second electro-permanent magnet 8 is energized, it can adsorb the tooth base.
[0026] The grasping mechanism provided by the present invention adsorbs and grasps the loading blades and end plates in the bin through the first electro-permanent magnet 6, and adsorbs and grasps the tooth base in the bin through the second electro-permanent magnet 8, improving the adaptability to the surfaces of the tooth base, loading blades or end plates. And the first electro-permanent magnet 6 is hinged to the adapter base 4, and the second electro-permanent magnet 8 is hinged to the fixed flange 7, so that the first electro-permanent magnet 6 and the second electro-permanent magnet 8 can independently grasp and both have an adaptive contact function, and can adapt to the curved surfaces of the tooth base, loading blades or end plates after contacting them, realizing reliable contact and having a high degree of flexibility, which is convenient for grasping the tooth base, loading blades and end plates.
[0027] When the grasping mechanism provided by the present invention is in use, the multi-axis handling robot drives the first gripper 2 to reciprocate between the bin and the first platform to transfer the loading blades and end plates from the bin to the first platform. The multi-axis handling robot drives the second gripper 3 to flip to flip the tooth base. The multi-axis handling robot drives the second gripper 3 to reciprocate between the bin and the second platform to transfer the tooth base from the bin to the second platform, and the lower end of the reference hole on the tooth base is sleeved on the positioning post on the second platform. The loading blades and end plates are grasped by the first gripper 2, and the tooth base is grasped by the second gripper 3. The transfer of the tooth base, loading blades or end plates from the bin to the first platform or the second platform is realized by driving of the multi-axis handling robot, and the flipping of the tooth base is realized by driving of the multi-axis handling robot so that the reference hole is vertical, which is convenient for the lower end of the reference hole on the tooth base to be sleeved on the positioning post on the second platform.
[0028] As a relatively preferred implementation manner of this embodiment, the first electro-permanent magnet 6 is a square electro-permanent magnet, and the second electro-permanent magnet 8 is a circular electro-permanent magnet to meet the different adsorption area requirements for grasping the tooth base, loading blades and end plates.
[0029] As a more preferred embodiment of this embodiment, the number of magnetic attraction components 5 is two. The first electro-permanent magnets 6 in the two magnetic attraction components 5 are symmetrically installed and work independently without affecting each other, improving adaptability and making the adsorption more reliable. In addition, when adsorbing, a multi-axis handling robot applies pressure to the first electro-permanent magnet 6 to make the first electro-permanent magnet 6 fit well with the surface of the loaded blade or end plate, further improving the reliability.
[0030] Furthermore, the magnetic attraction component 5 further includes a magnet fixing plate 9, a rotating shaft 10, a first joint bearing 11 and a first bearing mounting seat. The first bearing mounting seat is arranged on the adapter seat 4. The first joint bearing 11 is placed in the first bearing mounting seat. The outer ring of the first joint bearing 11 is fixedly connected to the first bearing mounting seat. The inner ring of the first joint bearing 11 is fixedly sleeved on the rotating shaft 10. One end of the rotating shaft 10 is fixedly connected to the magnet fixing plate 9, and the magnet fixing plate 9 is fixedly connected to the first electro-permanent magnet 6, enabling the first electro-permanent magnet 6 to rotate flexibly and improving the adaptability to the loaded blades and end plates to be grasped.
[0031] Furthermore, the magnetic attraction component 5 further includes at least two guide posts 12 and at least two first elastic members 13. At least two guide holes are formed in the adapter seat 4. The number of the guide holes, the guide posts 12 and the first elastic members 13 is equal. The guide holes, the guide posts 12 and the first elastic members 13 are arranged in one-to-one correspondence. The guide posts 12 pass through the guide holes. The guide posts 12 can slide along the guide holes. The first end of the guide post 12 is fixedly arranged on the first bearing mounting seat. The second end of the guide post 12 has a limiting structure to prevent the guide post 12 from disengaging from the guide hole. The first elastic member 13 is placed between the first bearing mounting seat and the adapter seat 4. The first elastic member 13 absorbs pressure to avoid structural damage and maintains balance and stability through the elastic force of the first elastic member 13, enabling the first electro-permanent magnet 6 to stably fit on the surface of the loaded blade or end plate to be grasped.
[0032] Further, the first bearing mounting seat includes a first bearing fixing sleeve 14, a first bearing spacer sleeve 15, and a first bearing gland 16. The first bearing gland 16 is provided on the adapter seat 4. The first spherical plain bearing 11 and the first bearing spacer sleeve 15 are both placed inside the first bearing fixing sleeve 14. The first end of the first bearing fixing sleeve 14 has a first limiting step. The first spherical plain bearing 11 is placed between the first limiting step and the first bearing spacer sleeve 15. The first bearing gland 16 is fixedly provided at the second end of the first bearing fixing sleeve 14. The first bearing gland 16 can press and fix the outer ring of the first spherical plain bearing 11 between the first limiting step and the first bearing spacer sleeve 15, realizing the axial positioning and locking of the outer ring of the first spherical plain bearing 11. The structure is simple and convenient for disassembly and assembly. The rotating shaft 10 has a second limiting step. A first nut 17 is provided on the rotating shaft 10. The first nut 17 can press the inner ring of the first spherical plain bearing 11 against the second limiting step, realizing the axial positioning and locking of the inner ring of the first spherical plain bearing 11. The structure is simple and convenient for disassembly and assembly.
[0033] Further, a through hole is provided in the first bearing gland 16. The through hole can allow one end of the rotating shaft 10 far from the magnet fixing plate 9 to pass through. A limiting flange 18 is fixedly provided on the surface of the first bearing gland 16 far from the magnet fixing plate 9. A limiting hole is provided in the limiting flange 18. The limiting hole is smaller than the through hole. The limiting hole can allow one end of the rotating shaft 10 far from the magnet fixing plate 9 to pass through. By adjusting the size of the limiting hole, the movement range of the first electro-permanent magnet 6 can be restricted.
[0034] Further, the second gripper 3 further includes a sliding shaft 19, a second spherical plain bearing 20, and a second bearing mounting seat. The second bearing mounting seat is fixedly provided on the fixed flange 7. The second spherical plain bearing 20 is placed inside the second bearing mounting seat. The outer ring of the second spherical plain bearing 20 is fixedly connected to the second bearing mounting seat. The inner ring of the second spherical plain bearing 20 is sleeved on the sliding shaft 19. The sliding shaft 19 can slide relative to the inner ring of the second spherical plain bearing 20. The first end of the sliding shaft 19 is fixedly connected to the second electro-permanent magnet 8, enabling the second electro-permanent magnet 8 to rotate flexibly and improving the adaptability to the to-be-gripped tooth seat.
[0035] Further, the second gripper 3 further includes a plurality of limiting shafts 21 and a plurality of second elastic members 22. The number of the limiting shafts 21 is equal to that of the second elastic members 22, and the limiting shafts 21 and the second elastic members 22 are arranged in one-to-one correspondence. The first end of the limiting shaft 21 is fixedly arranged on the second bearing mounting seat. The second end of the limiting shaft 21 has a tapered portion 23, and the tapered portion 23 gradually contracts in the direction of the first end of the limiting shaft 21. A plurality of tapered holes are formed in the sliding shaft 19, and the tapered holes are arranged in one-to-one correspondence with the tapered portions 23. The inner wall of the tapered hole can be attached to the outer wall of the tapered portion 23. When the sliding shaft 19 moves towards the fixed flange 7, the inner wall of the tapered hole can be separated from the outer wall of the tapered portion 23. Before adsorption, the sliding shaft 19 is moved towards the fixed flange 7 to separate the inner wall of the tapered hole from the outer wall of the tapered portion 23, so that the second electro-permanent magnet 8 can rotate flexibly and adapt to the curved surface of the tooth seat surface, improving the adsorption reliability. After adsorption, the sliding shaft 19 moves away from the fixed flange 7 to make the inner wall of the tapered hole fit the outer wall of the tapered portion 23, so that the degree of freedom of the second electro-permanent magnet 8 is limited by the tapered portion 23, which is convenient for ensuring the position accuracy of the tooth seat and facilitating the flipping of the tooth seat by the multi-axis handling robot and placing the tooth seat at the designated position. In addition, when adsorbing, a pressure is applied to the second electro-permanent magnet 8 by the multi-axis handling robot to make the second electro-permanent magnet 8 fit well with the surface of the tooth seat, further improving the reliability. The second elastic member 22 is placed between the tapered hole and the second bearing mounting seat. The second elastic member 22 absorbs the pressure to avoid structural damage, and maintains balance and stability through the elastic force of the second elastic member 22, so that the second electro-permanent magnet 8 can be stably attached to the surface of the tooth seat to be grabbed.
[0036] Further, the second bearing mounting seat includes a second bearing fixing sleeve 24, a second bearing spacer sleeve 25 and a second bearing gland 26. The second bearing gland 26 is fixedly arranged on the fixed flange 7. The second joint bearing 20 and the second bearing spacer sleeve 25 are both arranged inside the second bearing fixing sleeve 24. The first end of the second bearing fixing sleeve 24 has a third limiting step. The second joint bearing 20 is arranged between the third limiting step and the second bearing spacer sleeve 25. The second bearing gland 26 is fixedly arranged at the second end of the second bearing fixing sleeve 24. The second bearing gland 26 can press and fix the outer ring of the second joint bearing 20 between the third limiting step and the second bearing spacer sleeve 25, realizing the axial positioning and locking of the outer ring of the second joint bearing 20. The structure is simple and convenient for disassembly and assembly. The sliding shaft 19 has a fourth limiting step, which is used to contact the inner ring side surface of the second joint bearing 20 to limit the axial movement of the sliding shaft 19. The structure is simple and convenient to use.
[0037] Further, the second gripper 3 further includes a cylinder 27. The cylinder body of the cylinder 27 is fixedly arranged in the fixed flange 7, and the piston rod of the cylinder 27 is ball-joint connected to the second end of the sliding shaft 19, facilitating the movement of the sliding shaft 19 towards the fixed flange 7 by the cylinder 27 before adsorption, so as to separate the inner wall of the tapered hole from the outer wall of the tapered portion 23, and at the same time enabling the second electro-permanent magnet 8 to have a higher degree of freedom, thereby more flexibly adapting to the surface shape of the tooth seat.
[0038] Further, the grasping mechanism provided by the present invention further includes a first proximity sensor 28 and a second proximity sensor 29. The first proximity sensor 28 is fixedly arranged on the first gripper 2, and the second proximity sensor 29 is fixedly arranged on the second gripper 3. The first proximity sensor 28 is used to detect whether the loading blade or the end plate is separated from the first gripper 2, and the second proximity sensor 29 is used to detect whether the tooth seat is separated from the second gripper 3, forming a closed-loop detection.
[0039] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.
Claims
1. A grasping mechanism, characterized in that: It includes a base, a first gripper and a second gripper. The base is fixedly connected to the execution end of a multi-axis handling robot. The first gripper includes an adapter seat and at least one magnetic attraction assembly. The adapter seat is fixedly arranged on the base. The magnetic attraction assembly includes a first electro-permanent magnet, and the first electro-permanent magnet is hinged to the adapter seat. When the first electro-permanent magnet is energized, it can adsorb the loading blade and the end plate. The second gripper includes a fixed flange and a second electro-permanent magnet. The fixed flange is fixedly arranged on the base. The second electro-permanent magnet is hinged to the fixed flange, and the second electro-permanent magnet can be locked to the fixed flange. When the second electro-permanent magnet is energized, it can adsorb the tooth seat.
2. The grasping mechanism according to claim 1, characterized in that: The magnetic attraction assembly further includes a magnet fixing plate, a rotating shaft, a first joint bearing and a first bearing mount. The first bearing mount is arranged on the adapter seat. The first joint bearing is placed in the first bearing mount. The outer ring of the first joint bearing is fixedly connected to the first bearing mount. The inner ring of the first joint bearing is fixedly sleeved on the rotating shaft. One end of the rotating shaft is fixedly connected to the magnet fixing plate, and the magnet fixing plate is fixedly connected to the first electro-permanent magnet.
3. The grasping mechanism according to claim 2, wherein: The magnetic attraction assembly further includes at least two guide posts and at least two first elastic members. At least two guide holes are formed on the adapter seat. The number of the guide holes, the guide posts and the first elastic members is equal. The guide holes, the guide posts and the first elastic members are arranged in one-to-one correspondence. The guide posts pass through the guide holes, and the guide posts can slide along the guide holes. The first end of the guide post is fixedly arranged on the first bearing mount. The second end of the guide post has a limiting structure to prevent the guide post from detaching from the guide hole. The first elastic member is placed between the first bearing mount and the adapter seat.
4. The grasping mechanism according to claim 2, wherein: The first bearing mount includes a first bearing fixing sleeve, a first bearing spacer sleeve and a first bearing gland. The first bearing gland is arranged on the adapter seat. The first joint bearing and the first bearing spacer sleeve are both placed in the first bearing fixing sleeve. The first end of the first bearing fixing sleeve has a first limiting step. The first joint bearing is placed between the first limiting step and the first bearing spacer sleeve. The first bearing gland is fixedly arranged at the second end of the first bearing fixing sleeve. The first bearing gland can tightly press and fix the outer ring of the first joint bearing between the first limiting step and the first bearing spacer sleeve. The rotating shaft has a second limiting step, and a first nut is arranged on the rotating shaft. The first nut can tightly press the inner ring of the first joint bearing on the second limiting step.
5. The grasping mechanism according to claim 4, wherein: The first bearing gland is provided with a through hole, and the through hole can allow one end of the rotating shaft far away from the magnet fixing plate to pass through. A limiting flange is fixedly arranged on the surface of the first bearing gland far away from the magnet fixing plate, and a limiting hole is formed in the limiting flange. The limiting hole is smaller than the through hole, and the limiting hole can allow one end of the rotating shaft far away from the magnet fixing plate to pass through.
6. The grasping mechanism according to claim 1, characterized in that: The second gripper further includes a sliding shaft, a second spherical bearing and a second bearing mounting seat. The second bearing mounting seat is fixedly arranged on the fixed flange. The second spherical bearing is placed in the second bearing mounting seat. The outer ring of the second spherical bearing is fixedly connected with the second bearing mounting seat. The inner ring of the second spherical bearing is sleeved on the sliding shaft. The sliding shaft can slide relative to the inner ring of the second spherical bearing. The first end of the sliding shaft is fixedly connected with the second electro-permanent magnet.
7. The grasping mechanism according to claim 6, wherein: The second gripper further includes a plurality of limiting shafts and a plurality of second elastic members. The number of the limiting shafts is equal to that of the second elastic members, and the limiting shafts and the second elastic members are arranged in one-to-one correspondence. The first end of the limiting shaft is fixedly arranged on the second bearing mounting seat. The second end of the limiting shaft has a tapered portion which gradually contracts towards the first end of the limiting shaft. A plurality of tapered holes are formed in the sliding shaft, and the tapered holes are arranged in one-to-one correspondence with the tapered portions. The inner wall of the tapered hole can be attached to the outer wall of the tapered portion. When the sliding shaft moves towards the fixed flange, the inner wall of the tapered hole can be separated from the outer wall of the tapered portion. The second elastic member is placed between the tapered hole and the second bearing mounting seat.
8. The grasping mechanism according to claim 7, wherein: The second bearing mounting seat includes a second bearing fixing sleeve, a second bearing spacer sleeve and a second bearing gland. The second bearing gland is fixedly arranged on the fixed flange. The second spherical bearing and the second bearing spacer sleeve are both placed in the second bearing fixing sleeve. The first end of the second bearing fixing sleeve has a third limiting step. The second spherical bearing is placed between the third limiting step and the second bearing spacer sleeve. The second bearing gland is fixedly arranged at the second end of the second bearing fixing sleeve. The second bearing gland can press and fix the outer ring of the second spherical bearing between the third limiting step and the second bearing spacer sleeve. The sliding shaft has a fourth limiting step which is used for contacting the side surface of the inner ring of the second spherical bearing.
9. The grasping mechanism according to claim 7, wherein: The second gripper further includes a cylinder. The cylinder body of the cylinder is fixedly arranged in the fixed flange, and the piston rod of the cylinder is ball-joint connected with the second end of the sliding shaft.
10. The grasping mechanism according to claim 1, wherein: It further includes a first proximity sensor and a second proximity sensor. The first proximity sensor is fixedly arranged on the first gripper, and the second proximity sensor is fixedly arranged on the second gripper.