Floating grabbing mechanism and equipment

Abstract

The utility model discloses a floating grabbing mechanism and equipment, and the floating grabbing mechanism comprises an upper steel ball roller mounting plate, a lower steel ball roller mounting plate, an upper steel ball roller, a lower steel ball roller, a clamping jaw mounting frame and a clamping jaw module, a limiting device is arranged between the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate and the clamping jaw mounting frame, and the limiting device is used for limiting the clamping jaw mounting frame to horizontally move between the upper steel ball roller mounting plate and the lower steel ball roller mounting plate; the equipment comprises the floating grabbing mechanism. According to the floating grabbing mechanism and equipment, the stand column assembling precision of the graphitization boxing equipment can be improved, the assembling efficiency is improved, the progress and the production efficiency of the equipment are further improved, and the production benefit can be improved.

Description

Technical Field

[0001] The utility model relates to the field of installation equipment, in particular to a floating grabbing mechanism and equipment. Background Art

[0002] The graphitization process utilizes electrical resistance heat to heat carbonaceous materials to 2300-3000°C, transforming the amorphous chaotic layer structure of carbon into an ordered graphite crystalline structure. The energy for this transformation and atomic rearrangement comes from the high-temperature heat treatment. As the heat treatment temperature increases, the interlayer spacing of the graphite decreases, typically to between 0.343 and 0.346 nm. This change is most pronounced at 2500°C, then slows down to 3000°C, until the graphitization process is complete. Artificial graphite anode materials achieve the desired function as lithium battery negative electrodes precisely through the high-temperature graphitization process, successfully transforming their carbon structure into graphite. This graphitization process is integral to the lithium battery production process.

[0003] At present, the furnace types used in the graphitization process of negative electrode materials are mainly Acheson graphitization furnace, internal string graphitization furnace, box-type graphitization furnace and continuous graphitization furnace. Among them, Acheson graphitization furnace is the most commonly used, and internal string graphitization furnace is used in a small amount. Box-type graphitization furnace and continuous graphitization furnace are new furnace types developed in recent years. The box-type graphitization furnace is developing rapidly and has obvious energy consumption advantages compared with Acheson graphitization furnace (crucible furnace).

[0004] During the graphitization process in a box-type graphitization furnace, the carbonaceous negative material is directly loaded into a large chamber pre-installed with carbon or graphite plates. A carbon or graphite cover acts as a resistor, and insulation is placed on the upper and sides of the furnace. After power is supplied, graphitization is completed. A box-type graphitization furnace typically consists of a base plate, columns, and side panels. The columns primarily serve to carry loads in all directions and secure the side panels, making them the most critical structural components. During the assembly process, the gap between the chamber plate and the columns is very small, allowing for a positioning error of only 2mm, resulting in high column accuracy. However, during the installation of the columns, the entire equipment must be moved in the X, Y, and Z directions, making it extremely challenging to maintain these tolerances within the rigid equipment. Positioning errors can occur during operation, causing the columns to miss their intended position and potentially damage them. Over time, these accumulated errors lead to insufficient positioning accuracy, impacting production efficiency and increasing costs.

[0005] Therefore, the purpose of this utility model is to provide a new technical solution to solve the existing technical problems. Utility Model Content

[0006] In order to overcome the shortcomings of the existing technology, the utility model provides a floating grabbing mechanism and equipment, which solves the technical defects of the existing equipment in the process of transporting the graphitization box furnace columns, such as poor positioning accuracy, low assembly efficiency, affecting equipment accuracy and increasing production costs.

[0007] The technical solution adopted by the utility model to solve its technical problems is:

[0008] A floating grasping mechanism comprises an upper steel ball roller mounting plate and a lower steel ball roller mounting plate, wherein an upper steel ball roller is provided on the lower surface of the upper steel ball roller mounting plate, and a lower steel ball roller is provided on the upper surface of the lower steel ball roller mounting plate, a clamping claw mounting frame is provided between the upper steel ball roller and the lower steel ball roller, and a clamping claw module is provided on the clamping claw mounting frame, the upper part of the clamping claw mounting frame is in rolling connection with the upper steel ball roller mounting plate through the upper steel ball roller, and the lower part of the clamping claw mounting frame is in rolling connection with the lower steel ball roller mounting plate through the lower steel ball roller.

[0009] As an improvement of the above technical solution, a limiting device is provided between the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate and the clamp mounting frame, and the limiting device is used to limit the horizontal position movement of the clamp mounting frame between the upper steel ball roller mounting plate and the lower steel ball roller mounting plate.

[0010] As a further improvement to the above technical solution, the limiting device includes a latch driving cylinder provided on the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate, a limiting latch installed at an output end of the latch driving cylinder, and a limiting hole provided on the clamp mounting frame and adapted to fit the limiting latch;

[0011] Alternatively, the limiting device comprises a latch driving cylinder (61) arranged on the clamping jaw mounting frame (3), a limiting latch (62) installed at the output end of the latch driving cylinder (61), and a limiting hole (63) arranged on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2) and adapted to fit the limiting latch (62);

[0012] The pin driving cylinder is used to drive the limit pin to be inserted into the limit hole or to drive the limit pin to be pulled out from the limit hole, so as to realize the mutual limiting or releasing function of the upper steel ball roller mounting plate, the lower steel ball roller mounting plate and the clamp mounting frame.

[0013] As a further improvement of the above technical solution, the limit pin is movably mounted on the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate through a pin guide seat, and the output end of the pin driving cylinder is provided with a pin connecting block, one end of the limit pin is fixedly mounted on the pin connecting block, and the pin driving cylinder can drive the limit pin to move along the guide direction of the pin guide seat through the pin connecting block.

[0014] As a further improvement of the above technical solution, the latch driving cylinder is mounted on the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate through the latch driving cylinder seat, the output shaft end of the latch driving cylinder is provided with an output shaft connecting plate, the latch connecting block is fixedly mounted on the output shaft connecting plate, the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate are provided with an air avoidance groove adapted to the output shaft connecting plate and the latch connecting block, and the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate are also provided with a latch through hole for passing the limit latch.

[0015] As a further improvement of the above technical solution, the free end of the limiting pin is provided with a tapered insertion portion, and the mouth of the limiting hole is provided with a tapered opening for facilitating the insertion of the limiting pin into the limiting hole.

[0016] As a further improvement of the above technical solution, a closed upper limit baffle is provided at the bottom of the upper steel ball roller mounting plate, and the upper limit baffle and the bottom surface of the upper steel ball roller mounting plate together form an upper limit cavity, and the upper steel ball roller is arranged in the upper limit cavity, and an upper contact boss is provided on the upper part of the clamping jaw mounting frame, and the upper contact boss extends into the upper limit cavity and the upper contact boss is connected to the steel ball of the upper steel ball roller in a rolling manner. An upper rolling gap is provided between the side wall of the upper contact boss and the inner wall of the upper limit baffle, and the upper steel ball roller mounting plate and the clamping jaw mounting frame can move horizontally relative to each other through the upper steel ball roller within the limited range of the upper rolling gap.

[0017] As a further improvement of the above technical solution, the surface of the lower steel ball roller mounting plate is provided with a closed lower limit baffle, and the lower limit baffle and the upper surface of the lower steel ball roller mounting plate together form a lower limit cavity, and the lower steel ball roller is arranged in the lower limit cavity, and the lower part of the clamping jaw mounting frame is provided with a lower contact boss, and the lower contact boss extends into the lower limit cavity and the lower contact boss is connected to the steel ball of the lower steel ball roller in a rolling manner. There is a lower rolling gap between the side wall of the lower contact boss and the inner wall of the lower limit baffle, and the lower steel ball roller mounting plate and the clamping jaw mounting frame can move horizontally with each other through the lower steel ball roller within the limited range of the lower rolling gap.

[0018] As a further improvement of the above technical solution, an upper mounting frame is provided on the side of the upper steel ball roller mounting plate, a lower mounting frame is provided on the side of the lower steel ball roller mounting plate, an upper reinforcing rib is provided between the upper mounting frame and the upper steel ball roller mounting plate, and a lower reinforcing rib is provided between the lower mounting frame and the lower steel ball roller mounting plate.

[0019] As a further improvement of the above technical solution, a clamp mounting seat is provided on the clamp mounting frame, and the clamp module includes a clamp driving cylinder fixedly provided on the clamp mounting seat and a column clamp provided at the output end of the clamp driving cylinder.

[0020] The utility model also provides:

[0021] A device, comprising a device bracket, a three-axis movable module being provided on the device bracket, and a floating grasping mechanism being provided at the output end of the three-axis movable module, wherein the upper steel ball roller mounting plate and the lower steel ball roller mounting plate are both fixedly mounted on the output end of the three-axis movable module.

[0022] The beneficial effects of the present invention are as follows: the present invention provides a floating grasping mechanism and equipment, which is provided with a limiting device, and the clamping claw mounting frame and the upper steel ball roller mounting plate and / or the lower steel ball roller mounting plate are limited by the limiting device. The limiting device can be used to limit the position of the column during long-distance transportation, thereby ensuring the normal transportation process; in addition, the floating grasping mechanism and equipment are provided with an upper steel ball roller between the upper steel ball roller mounting plate and the clamping claw mounting frame, and a lower steel ball roller between the lower steel ball roller mounting plate and the clamping claw mounting frame. The upper steel ball roller and the lower steel ball roller can be used to accurately fine-tune the position of the column during the positioning process, so that the grasping mechanism of the column has a certain amount of horizontal movement and floating when installing the column, thereby ensuring the position installation accuracy of the column, improving the installation efficiency, and further improving the accuracy and production efficiency of the equipment, thereby improving the production benefits.

[0023] In summary, this floating grabbing mechanism and equipment solves the technical defects of existing equipment in the process of transporting graphitization box furnace columns, such as poor positioning accuracy, low assembly efficiency, affecting equipment accuracy, and increasing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a schematic diagram of the assembly of the floating grabbing mechanism in the utility model;

[0026] Figure 2 This is another assembly diagram of the floating grabbing mechanism in the utility model;

[0027] Figure 3 yes Figure 2 Cross-sectional view in the AA direction;

[0028] Figure 4 This is the third assembly diagram of the floating grabbing mechanism in the present utility model;

[0029] Figure 5 yes Figure 4 Cross-sectional view in the middle BB direction;

[0030] Figure 6 This is a schematic diagram of the assembly of the upper steel ball roller mounting plate of the utility model;

[0031] Figure 7 This is another assembly diagram of the upper steel ball roller mounting plate of the utility model;

[0032] Figure 8 It is a schematic diagram of the assembly of the lower steel ball roller mounting plate of the utility model. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technical personnel in this field without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the present utility model can be combined interactively without conflicting with each other, refer to Figure 1-8 .

[0034] A floating grasping mechanism comprises an upper steel ball roller mounting plate 1 and a lower steel ball roller mounting plate 2, wherein an upper steel ball roller 11 is provided on the lower surface of the upper steel ball roller mounting plate 1, and a lower steel ball roller 21 is provided on the upper surface of the lower steel ball roller mounting plate 2, a clamping claw mounting frame 3 is provided between the upper steel ball roller 11 and the lower steel ball roller 21, a clamping claw module 4 is provided on the clamping claw mounting frame 3, the upper part of the clamping claw mounting frame 3 is rollingly connected to the upper steel ball roller mounting plate 1 through the upper steel ball roller 11, and the lower part of the clamping claw mounting frame 3 is rollingly connected to the lower steel ball roller mounting plate 2 through the lower steel ball roller 21, a limiting device is provided between the upper steel ball roller mounting plate 1 and / or the lower steel ball roller mounting plate 2 and the clamping claw mounting frame 3, and the limiting device is used to limit the horizontal position movement of the clamping claw mounting frame 3 between the upper steel ball roller mounting plate 1 and the lower steel ball roller mounting plate 2. When the utility model is specifically implemented, the floating grabbing mechanism is installed on the equipment.

[0035] When in use, the clamping claw module 4 clamps the equipment column that needs to be transported, and then drives the floating grasping mechanism and the column to the preset assembly position through the three-axis moving module of the equipment. During the movement of the column, the floating grasping mechanism locks the clamping claw mounting frame 3 with the upper steel ball roller mounting plate 1 and the lower steel ball roller mounting frame 2 through the limiting device, so that the clamping claw mounting frame 3 and the upper steel ball roller mounting plate 1 and the lower steel ball roller mounting frame 2 form a stable mechanism, and the clamping claw mounting frame 3 and the upper steel ball roller mounting plate 1 and the lower steel ball roller mounting frame 2 will not be displaced from each other, thereby maintaining the integrity and stability of the mechanism.

[0036] During the assembly process of the graphitization box, the assembly positioning error of its columns is only 2mm. Once the columns are moved to the preset assembly position, due to the low precision of the three-axis motion module of the large equipment, it is difficult to control the error of the entire set of rigid equipment within the required range, and the control difficulty is extremely high. Therefore, for traditional assembly equipment, the positioning process of finding a column is very difficult, requiring a lot of time and effort to control, and the assembly efficiency is low. Moreover, due to the poor control accuracy, the assembly error of the columns is also large, affecting the accuracy of the graphitization furnace, and further affecting the production efficiency of the graphitization furnace.

[0037] Therefore, after the equipment drives the column to the preset assembly position via the three-axis moving module, the limiting device releases the mutual restraint between the upper and lower steel ball roller mounting plates 1 and 2 and the clamping jaw mounting frame 3, allowing the clamping jaw mounting frame 3 to have a certain range of horizontal movement floating between the upper and lower steel ball roller mounting plates 1 and 2. Through this floating amount, the clamping jaw mounting frame 3 and the clamping jaw module 4 can be floated and adjusted within a certain range along with the column to be positioned, thereby meeting the column positioning accuracy requirement of 2mm, fully satisfying the column positioning needs, thereby reducing the assembly difficulty and efficiency of the column, and ultimately achieving better assembly accuracy of the graphitization rate and higher production efficiency.

[0038] During the above floating adjustment process, the clamping jaw mounting frame 3 realizes a horizontal floating function through the upper steel ball roller 11 and the lower steel ball roller 21 .

[0039] In this embodiment, the limiting device includes a latch-driven cylinder 61 provided on the upper steel ball roller mounting plate 1 and / or the lower steel ball roller mounting plate 2, a limiting latch 62 installed at the output end of the latch-driven cylinder 61, and a limiting hole 63 provided on the clamping jaw mounting frame 3 and adapted to accommodate the limiting latch 62. The latch-driven cylinder 61 is used to drive the limiting latch 62 to be inserted into the limiting hole 63 or to drive the limiting latch 62 to be pulled out of the limiting hole 63, so as to realize the function of limiting or releasing the limiting between the upper steel ball roller mounting plate 1, the lower steel ball roller mounting plate 2 and the clamping jaw mounting frame 3. When the column needs to be transported and moved, the latch-driven cylinder 61 drives the limiting latch 62 to be inserted into the limiting hole 63, so that the clamping jaw mounting frame 3 and the upper steel ball roller mounting plate 1, the lower steel ball roller mounting plate 2 are mutually limited. At this time, the clamping jaw mounting frame 3 cannot be adjusted for horizontal floating. When the column reaches the assembly position, the limit drive cylinder 61 drives the limit pin 62 to be pulled out of the limit hole 63. At this time, the limit of the clamping jaw mounting frame 3 and the upper steel ball roller mounting plate 1 and the lower steel ball roller mounting plate 2 are released, and the clamping jaw mounting frame 3 can be horizontally floated and adjusted, thereby floatingly adjusting the clamping jaw module 4 and the column clamped on the clamping jaw module 4.

[0040] In another embodiment, the limiting device includes a latch driving cylinder 61 arranged on the clamp mounting frame 3, a limiting latch 62 installed at the output end of the latch driving cylinder 61, and a limiting hole 63 arranged on the upper steel ball roller mounting plate 1 and / or the lower steel ball roller mounting plate 2 and used to adapt to the limiting latch 62; in this embodiment, the working principle of the limiting device is the same as the working principle of the above embodiment, and will not be repeated here.

[0041] Furthermore, the limit pin 62 is movably mounted on the upper steel ball roller mounting plate 1 and / or the lower steel ball roller mounting plate 2 through a pin guide seat 64, and a pin connecting block 65 is provided at the output end of the pin driving cylinder 61. One end of the limit pin 62 is fixedly mounted on the pin connecting block 65, and the pin driving cylinder 61 can drive the limit pin 62 to move along the guide direction of the pin guide seat 64 through the pin connecting block 65. The latch drive cylinder 61 is mounted on the upper steel roller mounting plate 1 and / or the lower steel roller mounting plate 2 via a latch drive cylinder seat 66. An output shaft connecting plate 67 is provided at the output shaft end of the latch drive cylinder 61. The latch connecting block 65 is fixedly mounted on the output shaft connecting plate 67. A clearance groove is provided on the upper steel roller mounting plate 1 and / or the lower steel roller mounting plate 2 to accommodate the output shaft connecting plate 67 and the latch connecting block 65. A latch through hole is also provided on the upper steel roller mounting plate 1 and / or the lower steel roller mounting plate 2 for passing the limit latch 62. In this embodiment, the latch drive cylinder 61 is mounted on the upper steel roller mounting plate 1. Two limit latches 62 are provided, which are correspondingly connected to the two ends of the latch connecting block 65. Two limit holes 63 are provided and are disposed on the upper portion of the clamp mounting frame 3.

[0042] Furthermore, the free end of the limiting pin 62 is provided with a tapered insert portion, and the mouth of the limiting hole 63 is provided with a tapered opening that facilitates the insertion of the limiting pin 62 into the limiting hole 63. The tapered opening and the tapered insert portion make it easier to insert the limiting pin 62 into the limiting hole 63, reducing operational difficulty and improving work efficiency.

[0043] In the above technical solution, a closed upper limit baffle 12 is provided at the bottom of the upper steel ball roller mounting plate 1, and the upper limit baffle 12 and the bottom surface of the upper steel ball roller mounting plate 1 together form an upper limit cavity 10, and the upper steel ball roller 11 is arranged in the upper limit cavity 10. An upper contact boss 31 is provided on the upper part of the clamping jaw mounting frame 3, and the upper contact boss 31 extends into the upper limit cavity 10 and the upper contact boss 31 is connected to the steel ball rolling of the upper steel ball roller 11. There is an upper rolling gap between the side wall of the upper contact boss 31 and the inner wall of the upper limit baffle 12, and the upper steel ball roller mounting plate 1 and the clamping jaw mounting frame 3 can move horizontally with each other through the upper steel ball roller 11 within the limited range of the upper rolling gap.

[0044] In this embodiment, the limiting hole 63 passes through the upper contact boss 31, and the tapered opening is provided on the upper contact boss 31. In a specific application, the upper rolling gap is the range within which the upper portion of the clamping jaw mounting frame 3 can be adjusted horizontally. Within this range, the positioning position of the column can be adjusted so that the column can be smoothly inserted into the corresponding mounting hole.

[0045] Similarly, a closed lower limit baffle 22 is provided on the surface of the lower steel ball roller mounting plate 2, and the lower limit baffle 22 and the upper surface of the lower steel ball roller mounting plate 2 together form a lower limit cavity 20, and the lower steel ball roller 21 is arranged in the lower limit cavity 20. A lower contact boss 32 is provided at the lower part of the clamping jaw mounting frame 3, and the lower contact boss 32 extends into the lower limit cavity 20 and the lower contact boss 32 is connected to the steel ball rolling of the lower steel ball roller 21. There is a lower rolling gap between the side wall of the lower contact boss 32 and the inner wall of the lower limit baffle 22, and the lower steel ball roller mounting plate 2 and the clamping jaw mounting frame 3 can move horizontally relative to each other through the lower steel ball roller 21 within the limited range of the lower rolling gap.

[0046] In specific applications, the lower rolling gap is the range within which the lower portion of the clamp mounting bracket 3 can be adjusted for horizontal floating. Within this range, the positioning position of the column can be adjusted so that the column can be smoothly inserted into the corresponding mounting hole.

[0047] In this embodiment, both the upper and lower rolling gaps are 10 mm. This means that the jaw mounting frame 3, jaw module 4, and column have 10 mm of floating adjustment space in all four directions, front, back, left, and right, meeting the column's required positioning accuracy of 2 mm. In other embodiments, the specific parameters of the upper and lower rolling gaps can be customized according to actual needs, which will not be further detailed here.

[0048] Furthermore, an upper mounting frame 13 is provided on the side of the upper steel roller mounting plate 1, and a lower mounting frame 23 is provided on the side of the lower steel roller mounting plate 2. An upper reinforcing rib 14 is provided between the upper mounting frame 13 and the upper steel roller mounting plate 1, and a lower reinforcing rib 24 is provided between the lower mounting frame 23 and the lower steel roller mounting plate 2. The upper mounting frame 13 and the lower mounting frame 23 are fixedly mounted on the three-axis moving module of the equipment. The upper reinforcing ribs 14 and the lower reinforcing ribs 24 can improve the installation strength of the upper steel roller mounting plate 1 and the lower steel roller mounting plate 2, thereby improving the stability and reliability of the structure.

[0049] In the above technical solution, the clamping jaw mounting frame 3 is provided with a clamping jaw mounting base 40, and the clamping jaw module 4 includes a clamping jaw driving cylinder 41 fixedly mounted on the clamping jaw mounting base 40 and a column clamping jaw 42 disposed at the output end of the clamping jaw driving cylinder 41. The column clamping jaws 42 are provided with two clamping pins on their clamping surfaces to enhance the clamping stability.

[0050] Based on the above floating grabbing mechanism, the utility model also provides:

[0051] A device, comprising a device bracket, a three-axis movable module being provided on the device bracket, and a floating grasping mechanism being provided at the output end of the three-axis movable module, wherein the upper steel ball roller mounting plate 1 and the lower steel ball roller mounting plate 2 are both fixedly mounted on the output end of the three-axis movable module.

[0052] The above is a specific description of the preferred implementation of the present invention, but the invention of the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A floating grabbing mechanism, characterized in that: The invention comprises an upper steel ball roller mounting plate (1) and a lower steel ball roller mounting plate (2), wherein the lower surface of the upper steel ball roller mounting plate (1) is provided with an upper steel ball roller (11), and the upper surface of the lower steel ball roller mounting plate (2) is provided with a lower steel ball roller (21), a clamping jaw mounting frame (3) is provided between the upper steel ball roller (11) and the lower steel ball roller (21), and a clamping jaw module (4) is provided on the clamping jaw mounting frame (3), the upper part of the clamping jaw mounting frame (3) is connected to the upper steel ball roller mounting plate (1) in a rolling manner through the upper steel ball roller (11), and the lower part of the clamping jaw mounting frame (3) is connected to the lower steel ball roller mounting plate (2) in a rolling manner through the lower steel ball roller (21).

2. A floating grabbing mechanism according to claim 1, characterized in that: A limiting device is provided between the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2) and the clamping jaw mounting frame (3), and the limiting device is used to limit the horizontal position movement of the clamping jaw mounting frame (3) between the upper steel ball roller mounting plate (1) and the lower steel ball roller mounting plate (2).

3. A floating grabbing mechanism according to claim 2, characterized in that: The limiting device comprises a pin driving cylinder (61) arranged on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2), a limiting pin (62) installed at the output end of the pin driving cylinder (61), and a limiting hole (63) arranged on the clamping jaw mounting frame (3) and adapted to fit the limiting pin (62); Alternatively, the limiting device comprises a latch driving cylinder (61) arranged on the clamping jaw mounting frame (3), a limiting latch (62) installed at the output end of the latch driving cylinder (61), and a limiting hole (63) arranged on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2) and adapted to fit the limiting latch (62); The pin driving cylinder (61) is used to drive the limiting pin (62) to be inserted into the limiting hole (63) or to drive the limiting pin (62) to be pulled out from the limiting hole (63), so as to realize the mutual limiting or releasing function of the upper steel ball roller mounting plate (1), the lower steel ball roller mounting plate (2) and the clamp mounting frame (3).

4. A floating grabbing mechanism according to claim 3, characterized in that: The limit pin (62) is movably mounted on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2) via a pin guide seat (64); a pin connection block (65) is provided at the output end of the pin driving cylinder (61); one end of the limit pin (62) is fixedly mounted on the pin connection block (65); and the pin driving cylinder (61) can drive the limit pin (62) to move along the guide direction of the pin guide seat (64) via the pin connection block (65).

5. The floating grabbing mechanism according to claim 4, characterized in that: The latch driving cylinder (61) is mounted on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2) via a latch driving cylinder seat (66); an output shaft connecting plate (67) is provided at the output shaft end of the latch driving cylinder (61); the latch connecting block (65) is fixedly mounted on the output shaft connecting plate (67); a clearance groove adapted to the output shaft connecting plate (67) and the latch connecting block (65) is provided on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2); and a latch through hole for passing the limiting latch (62) is further provided on the upper steel ball roller mounting plate (1) and / or the lower steel ball roller mounting plate (2).

6. The floating grabbing mechanism according to claim 3, characterized in that: The free end of the limiting pin (62) is provided with a tapered inserting portion, and the mouth of the limiting hole (63) is provided with a tapered opening for facilitating the insertion of the limiting pin (62) into the limiting hole (63).

7. The floating grabbing mechanism according to claim 1, characterized in that: A closed upper limit baffle (12) is provided at the bottom of the upper steel ball roller mounting plate (1), and the upper limit baffle (12) and the bottom surface of the upper steel ball roller mounting plate (1) together form an upper limit cavity (10), and the upper steel ball roller (11) is arranged in the upper limit cavity (10), and an upper contact boss (31) is provided on the upper part of the clamping jaw mounting frame (3), and the upper contact boss (31) extends into the upper limit cavity (10) and is connected to the steel ball of the upper steel ball roller (11) by rolling, and an upper rolling gap is provided between the side wall of the upper contact boss (31) and the inner wall of the upper limit baffle (12), and the upper steel ball roller mounting plate (1) and the clamping jaw mounting frame (3) can move horizontally relative to each other through the upper steel ball roller (11) within the limited range of the upper rolling gap.

8. The floating grabbing mechanism according to claim 1, characterized in that: The surface of the lower steel ball roller mounting plate (2) is provided with a closed lower limit baffle (22), and the lower limit baffle (22) and the upper surface of the lower steel ball roller mounting plate (2) together form a lower limit cavity (20), and the lower steel ball roller (21) is arranged in the lower limit cavity (20), and the lower part of the clamping jaw mounting frame (3) is provided with a lower contact boss (32), and the lower contact boss (32) extends into the lower limit cavity (20) and the lower contact boss (32) is connected to the steel ball of the lower steel ball roller (21) by rolling, and a lower rolling gap is provided between the side wall of the lower contact boss (32) and the inner wall of the lower limit baffle (22), and the lower steel ball roller mounting plate (2) and the clamping jaw mounting frame (3) can move horizontally relative to each other through the lower steel ball roller (21) within the limited range of the lower rolling gap.

9. The floating grabbing mechanism according to claim 1, characterized in that: An upper mounting frame (13) is provided on the side of the upper steel ball roller mounting plate (1), a lower mounting frame (23) is provided on the side of the lower steel ball roller mounting plate (2), an upper reinforcing rib (14) is provided between the upper mounting frame (13) and the upper steel ball roller mounting plate (1), and a lower reinforcing rib (24) is provided between the lower mounting frame (23) and the lower steel ball roller mounting plate (2).

10. A device, characterized in that: The device includes a device bracket, a three-axis movable module is provided on the device bracket, and the output end of the three-axis movable module is provided with a floating grasping mechanism according to any one of claims 1 to 9, wherein the upper steel ball roller mounting plate (1) and the lower steel ball roller mounting plate (2) are both fixedly mounted on the output end of the three-axis movable module.

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