Workpiece gripping device

Abstract

The utility model provides a workpiece grabbing device. The workpiece grabbing device comprises a mounting base assembly. The driving assembly is connected with the mounting seat assembly; the grabbing assembly comprises a grabbing structure, an elastic structure and a connecting structure, the connecting structure is connected with the driving assembly, the grabbing structure comprises a clamping jaw and a driving part, the driving part is connected with the connecting structure, the clamping jaw comprises a clamping part and a first connecting part, and the first connecting part is connected with the output end of the driving part; the clamping part is movably connected with the first connecting part, the number of the clamping jaws is at least two, the two clamping jaws have a mutually close grabbing state and a mutually away to-be-grabbed state, the elastic structure is connected with the connecting structure and located between the two clamping jaws, and the side, away from the first connecting part, of the clamping part is provided with a limiting part. According to the technical scheme, the problem that in the prior art, in the grabbing process of irregular workpieces, the workpieces are prone to shaking, and consequently the workpieces fall off is effectively solved.

Description

Technical Field

[0001] The present application relates to the field of workpiece clamping, and in particular to a workpiece gripping device. Background Art

[0002] During the workpiece processing, the workpiece to be processed needs to be grabbed to the processing station and processed.

[0003] A device generally used for grasping workpieces, often using a clamp to directly grasp the workpiece and transfer the workpiece to a suitable location.

[0004] When grasping irregularly shaped parts, the workpiece grasping device in the prior art is prone to shaking due to the low fit between the part surface and the clamping claws, such as CN105619443A. Utility Model Content

[0005] A technical problem to be solved by the present application is that, during the process of grasping irregular workpieces, there is a problem that the workpieces are easily shaken and thus fall off.

[0006] In order to solve the above technical problems, the present application provides a workpiece grasping device.

[0007] A workpiece grasping device provided according to the present application includes: a mounting seat assembly; a driving assembly, the driving assembly is connected to the mounting seat assembly; a grasping assembly, the grasping assembly includes a grasping structure, an elastic structure and a connecting structure, the connecting structure is connected to the driving assembly, the grasping structure includes a clamping jaw and a driving part, the driving part is connected to the connecting structure, the clamping jaw includes a clamping part and a first connecting part, the first connecting part is connected to the output end of the driving part, the clamping part is movably connected to the first connecting part, the clamping jaw includes at least two, the two clamping jaws have a grasping state close to each other and a waiting state away from each other, the elastic structure is connected to the connecting structure and is located between the two clamping jaws, and the clamping part has a limiting part on the side away from the first connecting part.

[0008] In some embodiments, the elastic structure includes an elastic member and a force applying portion, a first end of the elastic member is connected to the connection structure, and a second end of the elastic member is connected to the force applying portion.

[0009] In some embodiments, the elastic structure further includes a guide portion, the guide portion is connected to the connection structure, and the guide portion and the elastic member are arranged in a one-to-one correspondence.

[0010] In some embodiments, the connecting structure includes a second connecting part and a third connecting part, the first end of the second connecting part is connected to the driving component, the second end of the second connecting part is connected to the third connecting part, there is a predetermined gap between the driving component and the third connecting part, the guide part is passed through the elastic part, the guide part and the third connecting part are movably connected, and the elastic part is located between the force-applying part and the third connecting part.

[0011] In some embodiments, the guide portion includes a first limiting section and a first guiding section, the first end of the first guiding section is connected to the first limiting section, the second end of the first guiding section is connected to the force-applying portion, the third connecting portion has a through hole, the first guide section is movably arranged in the through hole, and the projection area of ​​the first limiting section in a direction parallel to the axis of the first guiding section is larger than the projection area of ​​the through hole in the direction of its axis.

[0012] In some embodiments, the force applying portion includes a fourth connecting portion and a buffer portion, the fourth connecting portion is connected to the second end of the elastic member, and the buffer portion is connected to the fourth connecting portion and is located on a side of the fourth connecting portion away from the elastic member.

[0013] In some embodiments, the cushioning portion includes a polyurethane layer.

[0014] In some embodiments, the first connecting portion has a long hole, a fastener is inserted between the clamping portion and the long hole, and the length direction of the long hole is parallel to the elastic member.

[0015] In some embodiments, the driving assembly includes a horizontal driving structure, a vertical driving structure and a reinforcement structure, the output end of the horizontal driving structure is connected to the reinforcement structure, the reinforcement structure is connected to the vertical driving structure, and the output end of the vertical driving structure is connected to the connecting structure.

[0016] In some embodiments, the horizontal driving structure includes a slide rail and a slider, the slide rail is connected to the mounting seat assembly, the slider is movably connected to the slide rail, and the reinforcement structure is connected to the slider.

[0017] Through the above technical solution, the workpiece grasping device provided by the present application has a driving unit that controls the two clamping jaws to move away from each other. When the distance between the two limiting parts is greater than the width of the workpiece to be grasped, the driving component is used to control the grasping component to approach the workpiece until the workpiece is located between the two clamping jaws. The driving unit controls the two clamping jaws to approach each other to clamp the workpiece. At this time, the limiting part is located at the bottom of the workpiece, and the elastic structure is compressed. At this time, the workpiece is not only subject to the clamping force provided by the two clamping jaws, but also to the clamping force from the elastic structure and the limiting part. Even if the workpiece shakes, the elastic structure will move with the shaking of the workpiece and continue to provide an elastic clamping force to the workpiece. The technical solution of the present application effectively solves the problem of workpiece falling off due to the easy shaking of the workpiece in the prior art during the grasping of irregular workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of a workpiece grasping device disclosed in Embodiment 1 of the present application is shown;

[0020] Figure 2 Shows Figure 1 A schematic diagram of a partially enlarged structure of a gripping component of a workpiece gripping device;

[0021] Figure 3 Shows Figure 1 A partial enlarged structural schematic diagram of a gripping structure of a workpiece gripping device;

[0022] Figure 4 Shows Figure 1 A schematic diagram of the main structure of a workpiece grasping device;

[0023] Figure 5 Shows Figure 1 A schematic diagram of the front view of the elastic structure of the workpiece grasping device;

[0024] Figure 6 A cross-sectional structural schematic diagram of the elastic structure of the workpiece grasping device disclosed in the second embodiment of the present application is shown.

[0025] Description of reference numerals:

[0026] 10. Mounting seat assembly; 20. Driving assembly; 21. Horizontal driving structure; 211. Slide rail; 212. Sliding block; 22. Vertical driving structure; 23. Reinforcement structure; 30. Grabbing assembly; 31. Grabbing structure; 311. Clamping claw; 3111. Clamping part; 3112. First connecting part; 312. Driving part; 32. Elastic structure; 321. Elastic member; 322. Force-applying part; 3221. Fourth connecting part; 3222. Buffering part; 323. Guide part; 3231. First limiting section; 3232. First guiding section; 33. Connection structure; 331. Second connecting part; 332. Third connecting part. DETAILED DESCRIPTION

[0027] The following is a further detailed description of the implementation methods of the present application in conjunction with the accompanying drawings and examples. The detailed descriptions and drawings of the following examples are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms and is not limited to the specific embodiments of the present application, but includes all technical solutions that fall within the scope of the claims.

[0028] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0029] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "multiple" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0030] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0031] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0032] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0033] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0034] like Figures 1 to 5 As shown, the workpiece grasping device disclosed in the first embodiment of the present application includes: a mounting seat assembly 10, a driving assembly 20 and a grasping assembly 30, the driving assembly 20 is connected to the mounting seat assembly 10, the grasping assembly 30 includes a grasping structure 31, an elastic structure 32 and a connecting structure 33, the connecting structure 33 is connected to the driving assembly 20, the grasping structure 31 includes a clamping jaw 311 and a driving portion 312, the driving portion 312 is connected to the connecting structure 33, the clamping jaw 311 includes a clamping portion 3111 and a first connecting portion 3112, the first connecting portion 3112 is connected to the output end of the driving portion 312, the clamping portion 3111 is movably connected to the first connecting portion 3112, the clamping jaw 311 includes at least two, the two clamping jaws 311 have a grasping state close to each other and a waiting state away from each other, the elastic structure 32 is connected to the connecting structure 33 and is located between the two clamping jaws 311, and the clamping portion 3111 has a limiting portion on the side away from the first connecting portion 3112.

[0035] The technical solution of the first embodiment is applied, and the driving unit 312 controls the two clamping jaws 311 to move away from each other. When the distance between the two limiting parts is greater than the width of the workpiece to be grasped, the driving component 20 is used to control the grasping component 30 to approach the workpiece until the workpiece is located between the two clamping jaws 311. The driving unit 312 controls the two clamping jaws 311 to move closer to each other to clamp the workpiece. At this time, the limiting part is located at the bottom of the workpiece, and the elastic structure 32 is compressed. At this time, the workpiece is not only subjected to the clamping force provided by the two clamping jaws 311, but also to the clamping force from the elastic structure 32 and the limiting part. Even if the workpiece shakes, the elastic structure 32 will move with the shaking of the workpiece and continue to provide elastic clamping force for the workpiece. The technical solution of the first embodiment effectively solves the problem of workpiece falling off due to the easy shaking of the workpiece in the prior art during the grasping of irregular workpieces.

[0036] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, in the technical solution of the first embodiment, the elastic structure 32 includes an elastic member 321 and a force-applying portion 322, the first end of the elastic member 321 is connected to the connection structure 33, and the second end of the elastic member 321 is connected to the force-applying portion 322. The elastic member 321 is a spring. When grabbing the workpiece, the grabbing assembly 30 approaches the workpiece, the force-applying portion 322 contacts the workpiece, the driving assembly 20 drives the grabbing assembly 30 to move downward, the force-applying portion 322 is subjected to an upward force from the workpiece, the elastic member 321 is deformed, the distance between the force-applying portion 322 and the limiting portion in the vertical direction increases, the driving portion 312 controls the two clamping jaws to approach each other, the two limiting portions approach each other and contact the bottom of the workpiece, and the workpiece is subjected to the elastic pressure applied by the force-applying portion 322. The elastic member 321 and the force-applying portion 322 are selected to cooperate to apply external force to the workpiece, which can be applied to workpieces of different heights and has good versatility.

[0037] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in the technical solution of the first embodiment, the elastic structure 32 further includes a guide portion 323, which is connected to the connecting structure 33, and the guide portion 323 is arranged one-to-one with the elastic member 321. The setting of the guide portion 323 guides the compression and extension of the elastic member 321, avoids the problem that the middle section of the elastic member 321 deviates from the axis after being compressed, and protects the elastic member 321.

[0038] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, in the technical solution of the first embodiment, the connection structure 33 includes a second connection part 331 and a third connection part 332, the first end of the second connection part 331 is connected to the driving assembly 20, the second end of the second connection part 331 is connected to the third connection part 332, there is a predetermined gap between the driving assembly 20 and the third connection part 332, the guide part 323 is inserted into the elastic member 321, the guide part 323 is movably connected to the third connection part 332, and the elastic member 321 is located between the force-applying part 322 and the third connection part 332. In this embodiment, the second connection part 331 includes four connecting rods, the first ends of the four connecting rods are connected to the driving assembly 20, the third connection part 332 uses a plate body, the second ends of the four connecting rods are all connected to the third connection part 332 and the connection points are located at the four vertex corners of the plate body to ensure the stability of the entire third connection part 332. The two ends of the elastic member 321 are connected to the force-applying portion 322 and the third connecting portion 332 respectively. When the force-applying portion 322 moves close to the third connecting portion 332, the elastic member 321 is compressed, the guide portion 323 and the third connecting portion 332 move relatively, and the guide portion 323 moves in the direction close to the driving assembly 20. When the end of the guide portion 323 away from the force-applying portion 322 abuts against the driving assembly 20, it is the maximum compression amount of the elastic member 321. Therefore, the maximum pressure provided by the elastic member is the product of the elastic coefficient of the elastic member 321 and its maximum compression amount. The maximum pressure provided by the elastic structure 32 can be controlled by reasonably selecting the appropriate length of the guide portion 323 to prevent the workpiece from being subjected to a large pressure and causing irreversible deformation.

[0039] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in the technical scheme of embodiment one, the guide portion 323 includes a first limiting segment 3231 and a first guide segment 3232, the first end of the first guide segment 3232 is connected to the first limiting segment 3231, the second end of the first guide segment 3232 is connected to the force-applying portion 322, the third connecting portion 332 has a through hole, the first guide segment 3232 is movably inserted into the through hole, and the projection area of ​​the first limiting segment 3231 in a direction parallel to the axis of the first guide segment 3232 is larger than the projection area of ​​the through hole in the direction of its axis. The first guide section 3232 can move in the through hole along the axial direction of the through hole, and the first limiting section 3231 cannot enter the through hole. When the force-applying portion 322 is located at the initial position, the elastic member 321 has a predetermined compression amount, and the first limiting section 3231 abuts against the third connecting portion 332. When the force-applying portion 322 is subjected to an upward force from the workpiece, the elastic member 321 is compressed, and the first guide section 3232 moves along the axial direction of the through hole, and the first limiting section 3231 moves in a direction away from the third connecting portion 332. The provision of the first limiting section 3231 prevents the first guide section 3232 from falling off from the third connecting portion 332 under the action of the elastic member 321.

[0040] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in the technical solution of the first embodiment, the force-applying portion 322 includes a fourth connection portion 3221 and a buffer portion 3222, the fourth connection portion 3221 is connected to the second end of the elastic member 321, and the buffer portion 3222 is connected to the fourth connection portion 3221 and is located on a side of the fourth connection portion 3221 away from the elastic member 321. The buffer portion 3222 is made of a material with a soft surface and a certain elasticity to prevent the workpiece from being worn during the pressure process.

[0041] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in the technical solution of the first embodiment, the buffer part 3222 includes a polyurethane layer. The surface of the polyurethane material is soft, and the surface is not easily scratched when the polyurethane layer contacts; the polyurethane material has good elasticity and can effectively absorb impact, further protecting the workpiece from being bumped. The buffer part 3222 also includes a sponge layer, which is connected to the fourth connecting part 3221. The polyurethane layer is connected to the sponge layer and is located on the side of the sponge layer away from the fourth connecting part 3221. The sponge material has good elasticity and low cost. After the sponge layer is provided, the thickness of the polyurethane layer can be reduced, thereby reducing the cost.

[0042] like Figures 1 to 4 As shown, in the technical solution of the first embodiment, the first connecting portion 3112 has a long hole, a fastener is inserted between the clamping portion 3111 and the long hole, and the length direction of the long hole is parallel to the elastic member 321. Each first connecting portion 3112 includes at least two long holes, and the plurality of long holes are arranged in parallel with each other. The clamping portion 3111 is provided with connecting holes arranged in a one-to-one correspondence with the long holes, and fasteners are inserted at the long holes and the connecting holes. The fasteners are loosened to adjust the clamping portion 3111 to a suitable position, and the fasteners are tightened to fix the clamping portion 3111. By setting the long holes and the connecting holes, the size of the entire clamping jaw 311 can be changed to be suitable for workpieces of different sizes, thereby improving the versatility of the entire device.

[0043] like Figure 1 , Figure 2 and Figure 4As shown, in the technical solution of the first embodiment, the driving assembly 20 includes a horizontal driving structure 21, a vertical driving structure 22 and a reinforcing structure 23. The output end of the horizontal driving structure 21 is connected to the reinforcing structure 23, the reinforcing structure 23 is connected to the vertical driving structure 22, and the output end of the vertical driving structure 22 is connected to the connecting structure 33. The vertical driving structure 22 includes a mounting plate and a vertical driving part. The mounting plate is connected to the output end of the vertical driving part, and the second connecting part 331 is connected to the mounting plate. The vertical driving structure 22 controls the grabbing assembly 30 to move in the vertical direction. The vertical driving structure 22 can use a lifting cylinder or other structure. The horizontal driving structure 21 controls the reinforcing structure 23 to move in the horizontal direction, thereby driving the vertical driving structure 22 and the grabbing assembly 30 to move in the horizontal direction. The reinforcing structure 23 increases the strength of the connection to avoid fracture at the connection. The setting of the driving assembly 20 facilitates the grabbing assembly 30 to move between various stations, so as to grab the workpiece to each station.

[0044] like Figure 1 , Figure 2 and Figure 4 As shown, in the technical solution of the first embodiment, the horizontal driving structure 21 includes a slide rail 211 and a slider 212. The slide rail 211 is connected to the mounting seat assembly 10, the slider 212 is movably connected to the slide rail 211, and the reinforcing structure 23 is connected to the slider 212. The slider 212 moves along the extension direction of the slide rail 211, and the slide rail 211 guides the movement of the slider 212. The slide rail 211 and the slider 212 cooperate in a stable transmission, are not easy to vibrate, and improve the service life of the entire device.

[0045] like Figure 6 As shown, the difference between the technical solution of the second embodiment and the technical solution of the first embodiment is that the guide part 323 includes a first guide tube and a second guide tube, the first guide tube is connected to the third connecting part, the second guide tube is connected to the force applying part, the second guide tube is partially inserted in the first guide tube, the elastic member 321 is arranged in the first guide tube and the second guide tube, the first guide tube includes a second guide section and a second limiting section, the second guide section is connected to the second limiting section, the inner diameter of the second guide section is larger than the inner diameter of the second limiting section, the second guide tube includes a third guide section and a third limiting section, the third guide section is connected to the third limiting section, the third limiting section is arranged in the second guide section, the outer diameter of the third limiting section is smaller than the inner diameter of the second guide section, the outer diameter of the third limiting section is larger than the inner diameter of the second limiting section, the first guide tube is prevented from being separated from the second guide tube, and the inner diameter of the third guide section is the same as that of the third limiting section and is larger than the size of the elastic member 321. While playing a guiding role, this structure can prevent the elastic member 321 from directly contacting the outside world, thereby improving the service life of the elastic member 321.

[0046] From the above, it can be known that the installation method is: the synchronous belt module (horizontal drive structure 21) is fixed on the square tube column stand (mounting seat assembly 10), the connecting plate (reinforcement structure 23) is fixed on the synchronous belt module, the three-axis lifting cylinder (vertical drive structure 22) is fixed on the connecting plate, the three-axis lifting cylinder is connected to the cylinder fixing part (mounting plate), the thin clamping cylinder (drive part 312) is connected to the cylinder fixing part, and the thin clamping cylinder is connected to the adjusting part (first connecting part 3112) and the clamping claw (clamping part 3111). The clamping mechanism includes a synchronous belt module assembly (drive assembly 20) and a grab assembly 30, and the grab assembly 30 includes: a clamping claw (clamping part 3111), a PU protection workpiece (buffer part 3222), a pressure plate (fourth connection part 3221), a spring (elastic part 321), a guide rod (guide part 323), a connecting rod (second connection part 331), a cylinder fixing part (mounting plate), a connecting part (reinforcement structure 23), and an adjusting part (first connection part 3112). This module adopts a synchronous belt module structure to move the axis in parallel. The column is welded with a square tube, which is strong and durable. The three-axis cylinder on the module moves up and down, and a thin cylinder is used below to open and close the clamping object. There are adjustable holes on the top and bottom. In addition, an elastic pressing method is adopted, and a proximity switch is used to detect whether the object is in place. The elastic pressing method is adopted, which can be adapted to workpieces of different sizes. The column is welded with a square tube, which is strong and durable. The synchronous belt module structure is used for parallel movement, the transmission is more accurate, there is no slip during operation, the transmission efficiency is high, the maintenance is convenient, no lubrication is required, and the maintenance cost is low.

[0047] So far, the embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution of the present application.

[0048] Although some specific embodiments of the present application have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict.

Claims

1. A workpiece grasping device, characterized in that: include: Mounting seat assembly (10); A drive assembly (20), the drive assembly (20) being connected to the mounting seat assembly (10); A gripping assembly (30), the gripping assembly (30) comprising a gripping structure (31), an elastic structure (32) and a connecting structure (33), the connecting structure (33) being connected to the driving assembly (20), the gripping structure (31) comprising a clamping claw (311) and a driving portion (312), the driving portion (312) being connected to the connecting structure (33), the clamping claw (311) comprising a clamping portion (3111) and a first connecting portion (3112), the first connecting portion (3112) being connected to the driving portion (312) and the gripping claw (311) The output end of the driving part (312) is connected, the clamping part (3111) is movably connected to the first connecting part (3112), the clamping jaws (311) include at least two, the two clamping jaws (311) have a grasping state close to each other and a ready-to-grasp state away from each other, the elastic structure (32) is connected to the connecting structure (33) and is located between the two clamping jaws (311), and the clamping part (3111) has a limiting part on a side away from the first connecting part (3112).

2. The workpiece grasping device according to claim 1, characterized in that: The elastic structure (32) comprises an elastic member (321) and a force-applying portion (322); a first end of the elastic member (321) is connected to the connecting structure (33); and a second end of the elastic member (321) is connected to the force-applying portion (322).

3. The workpiece grasping device according to claim 2, characterized in that: The elastic structure (32) further comprises a guide portion (323), the guide portion (323) being connected to the connection structure (33), and the guide portion (323) and the elastic member (321) being arranged in a one-to-one correspondence.

4. The workpiece grasping device according to claim 3, characterized in that: The connecting structure (33) comprises a second connecting portion (331) and a third connecting portion (332), wherein the first end of the second connecting portion (331) is connected to the driving component (20), and the second end of the second connecting portion (331) is connected to the third connecting portion (332), and a predetermined gap is provided between the driving component (20) and the third connecting portion (332), and the guiding portion (323) is inserted into the elastic member (321), and the guiding portion (323) is movably connected to the third connecting portion (332), and the elastic member (321) is located between the force applying portion (322) and the third connecting portion (332).

5. The workpiece grasping device according to claim 4, characterized in that: The guide portion (323) comprises a first limiting segment (3231) and a first guide segment (3232), wherein the first end of the first guiding segment (3232) is connected to the first limiting segment (3231), and the second end of the first guiding segment (3232) is connected to the force-applying portion (322), and the third connecting portion (332) has a through hole, and the first guiding segment (3232) is movably arranged in the through hole, and the projection area of ​​the first limiting segment (3231) in a direction parallel to the axis of the first guiding segment (3232) is larger than the projection area of ​​the through hole in the direction of its axis.

6. The workpiece grasping device according to claim 2, characterized in that: The force-applying portion (322) comprises a fourth connecting portion (3221) and a buffer portion (3222), wherein the fourth connecting portion (3221) is connected to the second end of the elastic member (321), and the buffer portion (3222) is connected to the fourth connecting portion (3221) and is located on a side of the fourth connecting portion (3221) away from the elastic member (321).

7. The workpiece grasping device according to claim 6, characterized in that: The buffer portion (3222) includes a polyurethane layer.

8. The workpiece grasping device according to claim 2, characterized in that: The first connecting portion (3112) has a long hole, a fastener is provided between the clamping portion (3111) and the long hole, and the length direction of the long hole is parallel to the elastic member (321).

9. The workpiece gripping device according to any one of claims 1 to 8, characterized in that: The driving assembly (20) comprises a horizontal driving structure (21), a vertical driving structure (22) and a reinforcing structure (23); the output end of the horizontal driving structure (21) is connected to the reinforcing structure (23), the reinforcing structure (23) is connected to the vertical driving structure (22), and the output end of the vertical driving structure (22) is connected to the connecting structure (33).

10. The workpiece gripping device according to claim 9, characterized in that: The horizontal driving structure (21) comprises a slide rail (211) and a slider (212); the slide rail (211) is connected to the mounting seat assembly (10); the slider (212) is movably connected to the slide rail (211); and the reinforcing structure (23) is connected to the slider (212).

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