Workpiece grabbing device and equipment

Abstract

The utility model relates to the technical field of workpiece grabbing, in particular to a workpiece grabbing device and equipment, which comprises a support frame, a rotating mechanism and a first grabbing mechanism, the rotary driving piece is arranged on the mounting base, and the output end of the rotary driving piece is connected with the supporting frame; the first grabbing mechanism comprises a first driving assembly and two oppositely-arranged first sliding claws, and the first driving assembly is arranged on the supporting frame. The two first sliding claws are arranged on the supporting frame in a sliding mode in the first direction and connected with the output end of the first driving assembly, and the first driving assembly drives the two first sliding claws to get close to or get away from each other so as to grab or put down workpieces. The contact positions of the first sliding claws and the workpiece to be clamped can be adjusted through the rotating mechanism, the two first sliding claws can be matched to clamp or put down the workpiece, interference between the first sliding claws and peripheral workpieces or other parts is avoided, and the working efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece grasping, in particular to a workpiece grasping device and equipment. Background Art

[0002] When processing the workpiece, it is necessary to transfer the workpiece from the trolley to the processing platform. After the workpiece is processed, the workpiece is grabbed onto the tooling.

[0003] In the prior art, a clamp is disclosed, which mainly includes a connecting rod mechanism whose movable part is a scissor fork. When the clamp is opened, it rotates and opens with the connection point of the scissor mechanism as the center. This requires a large clamping space and is not suitable for clamping closely arranged workpieces. It is also easy to interfere with parts around the workpiece.

[0004] Therefore, it is necessary to provide a new workpiece grasping device and equipment to solve the above technical problems. Utility Model Content

[0005] The main purpose of the utility model is to provide a workpiece grasping device and equipment, aiming to solve the problem that the existing workpiece grasping device structure is not suitable for clamping closely arranged workpieces and is easy to interfere with surrounding parts.

[0006] To achieve the above-mentioned purpose, the utility model proposes a workpiece grasping device, which includes a support frame, a rotating mechanism and a first grasping mechanism, the rotating mechanism includes a mounting seat and a rotating drive assembly, the mounting seat is used to connect with an external device; the rotating drive assembly is arranged on the mounting seat, and the output end of the rotating drive assembly is connected to the support frame; the first grasping mechanism includes a first driving assembly and two oppositely arranged first sliding claws, the first driving assembly is arranged on the support frame; the two first sliding claws are slidably arranged on the support frame along a first direction, and the first sliding claws are connected to the output end of the first driving assembly, and the first driving assembly drives the two first sliding claws to approach or move away from each other to grasp or put down the workpiece.

[0007] Optionally, the rotary drive assembly includes a rotary drive member, a rotary shaft, a rotary driving wheel and a rotary driven wheel, the rotary drive member is arranged on the support frame; the first end of the rotary shaft is rotatably connected to the mounting seat via a bearing, and the second end extends vertically downward to be connected to the support frame; the rotary driving wheel is connected to the output shaft of the rotary drive member; the rotary driven wheel is arranged on the rotary shaft, and the rotary driven wheel is meshed with the rotary driving wheel.

[0008] Optionally, the support frame includes a base and an adapter seat, the first grasping mechanism is arranged on the base; the adapter seat is arranged at the center of the base; the rotating shaft passes through the adapter seat and is connected to the base, and an annular groove is provided on the rotating shaft, and the rotation drive assembly also includes a limit plate, the limit plate is arranged in the annular groove, and the limit plate is connected to the bottom of the adapter seat through a fastener to limit the rotating shaft.

[0009] Optionally, the first sliding claw includes a nut seat, a supporting bottom and two grasping arms connected and arranged opposite to each other between the nut seat and the supporting bottom, the nut seat is connected to the output end of the first driving assembly, and the sliding setting of the nut seat is on the base; an escape space is formed between the two grasping arms, the grasping arm includes a vertical section, a connecting section and a grasping section connected in sequence, the vertical section is connected to the nut seat; the connecting section is inclined in a vertical downward direction toward a direction close to the escape space; the grasping section is connected to the supporting bottom, and the supporting bottom is used to support the workpiece.

[0010] Optionally, the workpiece grasping device also includes a second grasping mechanism, which includes a second drive assembly and two oppositely arranged second sliding claws, and the second drive assembly is arranged on the side of the support frame away from the first drive assembly; the second sliding claw is slidably arranged on the support frame perpendicular to the first direction, and the second sliding claw cooperates with the first sliding claw to grasp or put down the workpiece.

[0011] Optionally, the second driving assembly has the same structure as the first driving assembly, and the second sliding claw has the same structure as the first sliding claw.

[0012] Optionally, the first drive assembly includes a grabbing drive, a right-angle steering gear and a screw rod, the grabbing drive and the right-angle steering gear are both arranged on the support frame, and the grabbing drive is arranged perpendicular to the first direction, and the grabbing drive is connected to the screw rod through the right-angle steering gear; the screw rod is rotatably arranged on the support frame along the first direction, and the two ends of the screw rod are respectively provided with threads with opposite rotation directions, and the two first sliding claws are relatively arranged at the two ends of the screw rod, and are respectively threadedly connected to the screw rod.

[0013] Optionally, the first drive assembly includes a grabbing drive, a right-angle steering gear and two screw rods rotatably arranged on the support frame, the grabbing drive and the right-angle steering gear are both arranged on the support frame, and the grabbing drive is arranged perpendicular to the first direction, and the output shaft of the grabbing drive is connected to the input shaft of the right-angle steering gear; the two screw rods are arranged at two ends of the right-angle steering gear relatively along the first direction, and are respectively connected to the output shafts of the right-angle steering gear; the first sliding claw is arranged one-to-one with the screw rod, and is threadedly connected to the screw rod.

[0014] In addition, the utility model also provides a workpiece grasping device, which includes an equipment body, a three-dimensional vision device and the workpiece grasping device as described above, wherein the three-dimensional vision device is arranged on the equipment body and is arranged opposite to the workpiece grasping device; the mounting seat of the workpiece grasping device is connected to the equipment body.

[0015] In the technical solution of the utility model, the rotating mechanism can drive the support frame to rotate, thereby changing the angle of the first grasping mechanism, and then adjusting the contact position of the first sliding claw and the workpiece to be clamped, and the first driving component can drive the two first sliding claws to move closer to or away from each other, which can not only cooperate to clamp or put down the workpiece, but also avoid interference between the first sliding claws and surrounding workpieces or other components, which is conducive to improving working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model 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 utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the structure of a workpiece grasping device in an embodiment of the utility model;

[0018] Figure 2 A bottom view of the workpiece grasping device in the embodiment of the utility model;

[0019] Figure 3 It is a side view of the workpiece grasping device in the embodiment of the utility model;

[0020] Figure 4 This is a front view of the workpiece grasping device in the embodiment of the utility model;

[0021] Figure 5 for Figure 4 AA section view in.

[0022] Description of Figure Numbers:

[0023] 1 Support frame, 1.1 Base, 1.1.1 First slide rail, 1.1.2 Second slide rail, 1.2 Adapter seat, 2 Rotating mechanism, 2.1 Mounting seat, 2.2 Rotating drive assembly, 2.2.1 Rotating drive member, 2.2.2 Rotating shaft, 2.2.3 Rotating active wheel, 2.2.4 Rotating passive wheel, 2.2.5 Limiting plate, 2.2.6 Bearing, 3 First grabbing mechanism, 3.1 First drive assembly, 3.1.1 Grasping drive member, 3.1.2 Right-angle steering gear, 3.1.3 Screw rod, 3.2 First sliding claw, 3.2.1 Nut seat, 3.2.2 Bottom support, 3.2.3 Grasping arm, 3.2.3.1 Vertical section, 3.2.3.2 Connecting section, 3.2.3.3 Grasping section, 4 Second grabbing mechanism, 4.1 Second drive assembly, 4.2 Second sliding claw, 5 Coupling.

[0024] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0026] The utility model provides a workpiece grasping device and equipment, aiming to solve the problem that the existing workpiece grasping device structure is not suitable for clamping closely arranged workpieces and is easy to interfere with surrounding components.

[0027] Embodiment 1:

[0028] like Figure 1As shown, a workpiece grasping device includes a support frame 1, a rotating mechanism 2 and a first grasping mechanism 3, the rotating mechanism 2 includes a mounting seat 2.1 and a rotating drive assembly 2.2, the mounting seat 2.1 is used to connect with an external device; the rotating drive assembly 2.2 is arranged on the mounting seat 2.1, and the output end of the rotating drive assembly 2.2 is connected to the support frame 1; the first grasping mechanism 3 includes a first driving assembly 3.1 and two oppositely arranged first sliding claws 3.2, the first driving assembly 3.1 is arranged on the support frame 1; the two first sliding claws 3.2 are slidably arranged on the support frame 1 along a first direction, and the first sliding claws 3.2 are connected to the output end of the first driving assembly 3.1, and the first driving assembly 3.1 drives the two first sliding claws 3.2 to move closer to or away from each other to grasp or put down the workpiece. In actual operation, the workpiece loaded on the trolley needs to be transported to the working platform. The trolley is provided with multiple placement areas, and at least three limit seats are provided on the placement area. The three limit seats are arranged circumferentially with the center of the placement area as the center of the circle, and the three limit seats cooperate to support the workpiece, so as to leave a gap between the workpiece and the surface of the placement area for the first sliding claw 3.2 to extend into, so as to facilitate the clamping of the workpiece. When the grasping machine claw in this embodiment grasps the workpiece, the rotation mechanism 2 can drive the support frame 1 to rotate, thereby changing the angle of the first grasping mechanism 3, and then adjusting the contact position of the first sliding claw 3.2 with the workpiece to be clamped, and the first driving component 3.1 can drive the two first sliding claws 3.2 to move closer or farther from each other, which can not only cooperate to clamp or put down the workpiece, but also avoid the first sliding claw 3.2 from interfering with the surrounding workpiece or other components, which is conducive to improving the working efficiency.

[0029] See also Figures 2 to 5Based on the above embodiment, the rotary drive assembly 2.2 includes a rotary drive member 2.2.1, a rotary shaft 2.2.2, a rotary driving wheel 2.2.3 and a rotary passive wheel 2.2.4, the rotary drive member 2.2.1 is arranged on the support frame 1; the first end of the rotary shaft 2.2.2 is rotatably connected to the mounting seat 2.1 through a bearing 2.2.6, and the second end extends vertically downward to be connected to the support frame 1; the rotary driving wheel 2.2.3 is connected to the output shaft of the rotary drive member 2.2.1; the rotary passive wheel 2.2.4 is arranged on the rotary shaft 2.2.2, and the rotary passive wheel 2.2.4 is meshed with the rotary driving wheel 2.2.3. The rotating driving member 2.2.1 drives the rotating driven wheel 2.2.4 to rotate through the rotating driving wheel 2.2.3, and the rotating driven wheel 2.2.4 drives the support frame 1 to rotate through the rotating shaft 2.2.2 to adjust the clamping angle of the first grabbing mechanism 3 on the support frame 1 relative to the workpiece. The rotating driving member 2.2.1 rotates through the rotating driving wheel 2.2.3 and the rotating driven wheel 2.2.4, which can ensure both the transmission efficiency and the stability of the transmission. In addition, since the rotating driving member 2.2.1 is arranged on the support frame 1, the rotating driving wheel 2.2.3 will rotate with the support frame 1 while rotating. However, the transmission ratio between the rotating driving wheel 2.2.3 and the rotating driven wheel 2.2.4 can ensure the transmission between the rotating driving wheel 2.2.3 and the rotating driven wheel 2.2.4 when the support frame 1 rotates. The transmission ratio between the rotating driving wheel and the rotating driven wheel needs to be set according to the actual operation requirements.

[0030] The support frame 1 includes a base 1.1 and an adapter 1.2, a first gripping mechanism 3 is arranged on the base 1.1; the adapter 1.2 is arranged at the center of the base 1.1; the rotating shaft 2.2.2 passes through the adapter 1.2 and is connected to the base 1.1, and an annular groove is arranged on the rotating shaft 2.2.2, and the rotating drive assembly 2.2 also includes a limiting plate 2.2.5, the limiting plate 2.2.5 is arranged in the annular groove, and the limiting plate 2.2.5 is connected to the bottom of the adapter 1.2 through a fastener to limit the rotating shaft 2.2.2. An installation space for the first gripping mechanism 3 to be arranged is formed between the adapter 1.2 and the base 1.1, an assembly hole is opened at the center of the adapter 1.2, the rotating shaft 2.2.2 passes through the assembly hole and is connected to the base 1.1, and the rotating shaft 2.2.2 is limited by the limiting plate 2.2.5 to avoid being separated from the assembly hole, thereby realizing the fixed connection between the rotating shaft 2.2.2 and the adapter. Connecting arms are formed at the four corners of the adapter frame, and the adapter frame is connected to the base 1.1 through the connecting arms to ensure the structural stability of the support frame 1 and the stability of the rotation process.

[0031] Specifically, the first sliding claw 3.2 includes a nut seat 3.2.1, a supporting bottom 3.2.2 and two grasping arms 3.2.3 connected and arranged opposite to each other between the nut seat 3.2.1 and the supporting bottom 3.2.2, the nut seat 3.2.1 is connected to the output end of the first driving assembly 3.1, and the sliding arrangement of the nut seat 3.2.1 is on the base 1.1; an escape space is formed between the two grasping arms 3.2.3, the grasping arms 3.2.3 include a vertical section 3.2.3.1, a connecting section 3.2.3.2 and a grasping section 3.2.3.3 connected in sequence, the vertical section 3.2.3.1 is connected to the nut seat 3.2.1; the connecting section 3.2.3.2 is inclined in a vertical downward direction toward a direction close to the escape space; the grasping section 3.2.3.3 is connected to the supporting bottom 3.2.2, and the supporting bottom 3.2.2 is used to support the workpiece. The base 1.1 is provided with two first slide rails 1.1.1 arranged along the first direction, and the two ends of the nut seat 3.2.1 are slidably connected to the two first slide rails 1.1.1 respectively; in this embodiment, the workpiece is a column, and the avoidance space formed between the two support arms can provide for the protruding parts of the base 1.1 and the workpiece, and the protruding parts can be the arc surface or side edges of the column, thereby avoiding interference between the components and improving the fit between the workpiece and the first sliding claw 3.2, and the two grasping arms can support and limit the side wall of the workpiece to prevent the workpiece from tipping over; the connecting section 3.2.3.2 is inclined to disperse the force, so that the nut seat 3.2.1 is balanced in force and the stability is improved; and the bottom support 3.2.2 protrudes 2cm-3cm along the first direction toward the center of the rotating mechanism 2, so as to extend into the gap between the workpiece and the surface of the placement area to support the bottom of the workpiece, which is convenient for clamping heavy workpieces, and when putting the workpiece back, the first sliding claw 3.2 will not interfere with the components on the trolley.

[0032] In addition, the workpiece grasping device further comprises a second grasping mechanism 4, which comprises a second driving assembly 4.1 and two second sliding claws 4.2 arranged opposite to each other. The second driving assembly 4.1 is arranged on the side of the support frame 1 away from the first driving assembly 3.1; the second sliding claw 4.2 is arranged on the support frame 1 for sliding perpendicular to the first direction, and the second sliding claw 4.2 cooperates with the first sliding claw 3.2 to grasp or put down the workpiece. The second driving assembly 4.1 has the same structure as the first driving assembly 3.1, and the second sliding claw 4.2 has the same structure as the first sliding claw 3.2. The base 1.1 is further provided with two second slide rails 1.1.2 arranged at intervals perpendicular to the first direction, and the second sliding claw 4.2 is slidably connected to the base 1.1 through the two second slide rails 1.1.2. The second driving assembly 4.1 can drive the second sliding claw 4.2 to move closer to or farther from each other perpendicular to the first direction, so as to cooperate with the first sliding claw 3.2 to clamp the workpiece, so as to prevent the workpiece from tipping over during the conveying process, thereby ensuring the safety of the conveying process. Preferably, the base 1.1 is in a cross-shaped structure, and both ends along the first direction pass through the avoidance space, and are slidably connected to the nut seat 3.2.1 of the first sliding claw 3.2 through the first sliding rail 1.1.1.

[0033] In addition, the first drive assembly 3.1 includes a grabbing drive member 3.1.1, a right-angle deflector 3.1.2 and a screw rod 3.1.3. The grabbing drive member 3.1.1 and the right-angle deflector 3.1.2 are both arranged on the support frame 1, and the grabbing drive member 3.1.1 is arranged perpendicular to the first direction, and the grabbing drive member 3.1.1 is connected to the screw rod 3.1.3 through the right-angle deflector 3.1.2; the screw rod 3.1.3 is rotatably arranged on the support frame 1 along the first direction, and the two ends of the screw rod 3.1.3 are respectively provided with threads with opposite rotation directions, and the two first sliding claws 3.2 are relatively arranged at the two ends of the screw rod 3.1.3, and are respectively threadedly connected to the screw rod 3.1.3. The right-angle steering gear 3.1.2 can convert the torque perpendicular to the first direction output by the grabbing driving member 3.1.1 into the first direction and transmit it to the screw rod 3.1.3. The grabbing driving member 3.1.1 drives the screw rod 3.1.3 to rotate through the right-angle steering gear 3.1.2. Since the threads at both ends of the screw rod 3.1.3 have opposite rotation directions, the screw rod 3.1.3 can drive the two first sliding claws 3.2 to move closer to or away from each other when rotating. Only one screw rod 3.1.3 is needed to drive the two first sliding claws 3.2, which simplifies the structure. The steering is performed through the right-angle steering gear 3.1.2, so that the components can be installed tightly and the occupied space is reduced.

[0034] Specifically, the right-angle steering gear 3.1.2 includes an input connecting shaft, an input wheel, an output wheel and an output connecting shaft, the input connecting shaft is connected to the output shaft of the grab driving member 3.1.1 through a coupling 5, the input wheel is connected to the input connecting shaft, the output wheel is vertically arranged with the input wheel and meshes with each other, and the output wheel is connected to the screw rod 3.1.3 in turn through the output connecting shaft and the coupling 5, thereby realizing the right-angle steering of the torque. Preferably, the grab driving member 3.1.1 includes a motor and a reducer, and the motor is connected to the right-angle steering gear 3.1.2 through the reducer.

[0035] This embodiment also provides a workpiece grasping device, which includes a device body, a three-dimensional vision device and the workpiece grasping device as described above, wherein the three-dimensional vision device is arranged on the device body and is arranged opposite to the workpiece grasping device; the mounting seat 2.1 of the workpiece grasping device is connected to the device body. The three-dimensional vision device is used to scan the workpiece and measure the gap size around the workpiece, and then calculate the rotation angle of the central rotating mechanism 2, so that the first sliding claw 3.2 and the second sliding claw 4.2 can avoid the gap between the surrounding parts of the workpiece and extend into the bottom of the workpiece to clamp the workpiece.

[0036] Since the workpiece grasping equipment includes the workpiece grasping device as described above, the workpiece grasping equipment has all the beneficial effects of the above-mentioned workpiece grasping device, which will not be described in detail here.

[0037] Embodiment 2:

[0038] The difference from Example 1 lies in that: the first drive assembly 3.1 includes a grabbing drive member 3.1.1, a right-angle steering gear 3.1.2 and two screw rods 3.1.3 rotatably arranged on the support frame 1; the grabbing drive member 3.1.1 and the right-angle steering gear 3.1.2 are both arranged on the support frame 1, and the grabbing drive member 3.1.1 is arranged perpendicular to the first direction, and the output shaft of the grabbing drive member 3.1.1 is connected to the input shaft of the right-angle steering gear 3.1.2; the two screw rods 3.1.3 are arranged at the two ends of the right-angle steering gear 3.1.2 relatively along the first direction, and are respectively connected to the output shafts of the right-angle steering gear 3.1.2; the first sliding claw 3.2 is arranged one-to-one with the screw rod 3.1.3, and is threadedly connected to the screw rod 3.1.3. The direct steering gear includes two output connecting shafts, which are respectively connected to the two screw rods 3.1.3 to convert the torque of the grabbing driving member 3.1.1 into a torque in the first direction and transmit it to the two screw rods 3.1.3, and transmit the two first sliding claws 3.2 through the two screw rods 3.1.3, which is conducive to ensuring the transmission efficiency.

[0039] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A workpiece grasping device, characterized in that: The workpiece grasping device comprises a support frame (1), a rotating mechanism (2) and a first grasping mechanism (3). The rotating mechanism (2) comprises a mounting seat (2.1) and a rotating drive assembly (2.2); the mounting seat (2.1) is used to be connected to an external device; the rotating drive assembly (2.2) is arranged on the mounting seat (2.1), and the output end of the rotating drive assembly (2.2) is connected to the support frame (1); The first grasping mechanism (3) comprises a first driving component (3.1) and two first sliding claws (3.2) arranged opposite to each other, wherein the first driving component is arranged on the support frame (1); the two first sliding claws (3.2) are arranged on the support frame (1) for sliding along a first direction, and the first sliding claws (3.2) are connected to the output end of the first driving component (3.1); the first driving component (3.1) drives the two first sliding claws (3.2) to move closer to or farther from each other so as to grasp or put down a workpiece.

2. The workpiece grasping device according to claim 1, characterized in that: The rotary drive assembly (2.2) comprises a rotary drive member (2.2.1), a rotary shaft (2.2.2), a rotary driving wheel (2.2.3) and a rotary driven wheel (2.2.4); the rotary drive member (2.2.1) is arranged on the support frame (1); the first end of the rotary shaft (2.2.2) is rotatably connected to the mounting seat (2.1) via a bearing (2.2.6), and the second end extends vertically downward to be connected to the support frame (1); the rotary driving wheel (2.2.3) is connected to the output shaft of the rotary drive member (2.2.1); the rotary driven wheel (2.2.4) is arranged on the rotary shaft (2.2.2), and the rotary driven wheel (2.2.4) is meshed with the rotary driving wheel (2.2.3).

3. The workpiece grasping device according to claim 2, characterized in that: The support frame (1) comprises a base (1.1) and an adapter seat (1.2); the first gripping mechanism (3) is arranged on the base (1.1); the adapter seat (1.2) is arranged at the center of the base (1.1); the rotating shaft (2.2.2) passes through the adapter seat (1.2) and is connected to the base (1.1), and an annular groove is provided on the rotating shaft (2.2.2); the rotating drive assembly (2.2) further comprises a limiting plate (2.2.5), the limiting plate (2.2.5) is arranged in the annular groove, and the limiting plate (2.2.5) is connected to the bottom of the adapter seat (1.2) through a fastener to limit the rotating shaft (2.2.2).

4. The workpiece grasping device according to claim 3, characterized in that: The first sliding claw (3.2) comprises a nut seat (3.2.1), a support base (3.2.2) and two grasping arms (3.2.3) connected to and arranged opposite to each other between the nut seat (3.2.1) and the support base (3.2.2); the nut seat (3.2.1) is connected to the output end of the first driving component (3.1), and the nut seat (3.2.1) is slidingly arranged on the base (1.1); an avoidance space is formed between the two grasping arms (3.2.3), and the grasping arms (3.2.3) are arranged to move relative to each other. The arm (3.2.3) comprises a vertical section (3.2.3.1), a connecting section (3.2.3.2) and a grabbing section (3.2.3.3) which are connected in sequence, wherein the vertical section (3.2.3.1) is connected to the nut seat (3.2.1); the connecting section (3.2.3.2) is inclined in a vertical downward direction toward the direction close to the avoidance space; the grabbing section (3.2.3.3) is connected to the supporting base (3.2.2), and the supporting base (3.2.2) is used to support a workpiece.

5. The workpiece gripping device according to any one of claims 1 to 4, characterized in that: The workpiece grasping device further comprises a second grasping mechanism (4), the second grasping mechanism (4) comprising a second driving assembly (4.1) and two second sliding claws (4.2) arranged opposite to each other, the second driving assembly (4.1) being arranged on a side of the support frame (1) away from the first driving assembly (3.1); the second sliding claw (4.2) being slidably arranged on the support frame (1) perpendicular to the first direction, the second sliding claw (4.2) cooperating with the first sliding claw (3.2) to grasp or put down the workpiece.

6. The workpiece grasping device according to claim 5, characterized in that: The second driving assembly (4.1) has the same structure as the first driving assembly (3.1), and the second sliding claw (4.2) has the same structure as the first sliding claw (3.2).

7. The workpiece grasping device according to claim 6, characterized in that: The first drive assembly (3.1) comprises a grabbing drive member (3.1.1), a right-angle steering gear (3.1.2) and a screw rod (3.1.3); the grabbing drive member (3.1.1) and the right-angle steering gear (3.1.2) are both arranged on the support frame (1), and the grabbing drive member (3.1.1) is arranged perpendicular to the first direction, and the grabbing drive member (3.1.1) is connected to the screw rod (3.1.3) through the right-angle steering gear (3.1.2); the screw rod (3.1.3) is arranged on the support frame (1) to rotate along the first direction, and the two ends of the screw rod (3.1.3) are respectively provided with threads with opposite rotation directions, and the two first sliding claws (3.2) are arranged at the two ends of the screw rod (3.1.3) opposite to each other and are respectively threadedly connected to the screw rod (3.1.3).

8. The workpiece grasping device according to claim 6, characterized in that: The first drive assembly (3.1) comprises a grabbing drive member (3.1.1), a right-angle steering gear (3.1.2) and two screw rods (3.1.2) rotatably arranged on the support frame (1). 3.1.3), the grabbing drive member (3.1.1) and the right-angle steering gear (3.1.2) are both arranged on the support frame (1), and the grabbing drive member (3.1.1) is arranged perpendicular to the first direction, and the output shaft of the grabbing drive member (3.1.1) is connected to the input shaft of the right-angle steering gear (3.1.2); the two screw rods (3.1.3) are arranged at two ends of the right-angle steering gear (3.1.2) along the first direction, and are respectively connected to the output shafts of the right-angle steering gear (3.1.2); the first sliding claw (3.2) is arranged in a one-to-one correspondence with the screw rod (3.1.3), and is threadedly connected to the screw rod (3.1.3).

9. A workpiece grasping device, characterized in that: The workpiece grasping device comprises an equipment body, a three-dimensional vision device and a workpiece grasping device as described in any one of claims 1 to 8, wherein the three-dimensional vision device is arranged on the equipment body and facing the workpiece grasping device; the mounting seat (2.1) of the workpiece grasping device is connected to the equipment body.

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