Grabbing device and transferring equipment

Abstract

The utility model discloses a grabbing device and transfer equipment, and relates to the technical field of partition plate transfer. The grabbing device comprises a mounting main body, at least two clamping mechanisms and an adjusting mechanism; the clamping mechanism is mounted on the mounting main body, the clamping mechanism is provided with a clamping jaw, and the inner side wall of the clamping jaw is attached to the partition plate mechanism in a clamping state of the clamping jaw so as to clamp the partition plate mechanism; the adjusting mechanism comprises a rotatable rotating part, and the rotating part is used for making contact with the supporting part and driving the supporting part to rotate between a first angle position and a second angle position; the supporting part is perpendicular to the plane where the partition plate mechanism is located when located at the first angle position. The supporting part is parallel to the plane where the partition plate mechanism is located when located at the second angle position. According to the grabbing device, the partition plate mechanism can be clamped, the supporting part on the partition plate mechanism can be driven to be switched between the first angle position and the second angle position, the transferring step of the partition plate mechanism is simplified, and working efficiency can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of partition transfer, and more specifically, to a grabbing device. In addition, the utility model also relates to a transfer device comprising the grabbing device. Background Art

[0002] At present, the problem of transferring partitions during the palletizing of wine boxes is generally solved by manual grabbing operations. During the manual operation, due to the large size of the partitions, the production efficiency is low and the labor cost is high.

[0003] In addition, when transferring the partition, the supporting part on the partition needs to be adjusted to a supporting state. Currently, the partition is generally sucked up by a suction cup. During the suction process, the support part cannot be adjusted. Additional equipment is required to adjust the state of the support part. The operation steps are cumbersome and the machinery cost increases.

[0004] In summary, how to provide a grabbing device that can grab the partition and adjust the state of the supporting part is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of the present invention is to provide a grabbing device, which can adjust the angular position of the support part through an adjustment mechanism while grabbing the partition mechanism, thereby simplifying the operation steps of transferring the partition.

[0006] Another object of the present invention is to provide a transfer device comprising the above-mentioned gripping device.

[0007] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0008] A grabbing device for grabbing a partition mechanism to be transferred, wherein the partition mechanism is rotatably provided with a support portion; the grabbing device comprises:

[0009] Install the main body;

[0010] At least two clamping mechanisms are mounted on the mounting body, the clamping mechanisms are provided with clamping claws, and when the clamping claws are in a clamping state, the inner side walls of the clamping claws are in contact with the partition mechanism to clamp the partition mechanism;

[0011] an adjustment mechanism mounted on the mounting body, the adjustment mechanism comprising a rotatable rotating portion, the rotating portion being configured to contact the supporting portion and drive the supporting portion to rotate between a first angular position and a second angular position;

[0012] Wherein, when the support portion is located at the first angular position, the support portion is perpendicular to the plane where the partition mechanism is located; when the support portion is located at the second angular position, the support portion is parallel to the plane where the partition mechanism is located.

[0013] Optionally, the clamping jaw comprises:

[0014] A clamping side plate, the inner side surface of which is adapted to fit the surface of the partition mechanism;

[0015] A support plate is arranged on one side of the clamping side plate for contacting the partition mechanism, and the extension direction of the support plate is perpendicular to the surface of the clamping side plate for contacting the partition mechanism. The support plate is used to contact the bottom of the partition mechanism to support the partition mechanism.

[0016] Optionally, the clamping mechanism further includes a clamping power member and a first mounting member connecting the clamping power member and the mounting body, the first mounting member is detachably arranged on the mounting body, and the mounting body is provided with at least two different first mounting positions for installing the first mounting member.

[0017] Optionally, the adjustment mechanism includes:

[0018] An adjusting power member has a rotatable rotation output end;

[0019] The rotating part includes:

[0020] a connecting member, mounted on the rotation output end and driven to rotate by the rotation output end;

[0021] The rotating lever is connected to the connecting member, and the connection position between the rotating lever and the connecting member avoids the rotation center of the connecting member; the rotating lever is used to contact the supporting part and drive the supporting part to rotate.

[0022] Optionally, the support portion includes a support rod and a toggle rod provided at one end of the support rod in the length direction, the extension direction of the toggle rod is perpendicular to the extension direction of the support rod, and one end of the support rod connected to the toggle rod is rotatably mounted on the partition mechanism;

[0023] The rotating lever is used to contact the toggle lever.

[0024] Optionally, the adjustment mechanism also includes a second mounting member, which is used to connect the adjustment power member and the mounting body. The second mounting member is detachably arranged on the mounting body, and the mounting body is provided with at least two different second mounting positions for installing the second mounting member.

[0025] Optionally, the adjustment mechanism further includes a first angle limiter, a second angle limiter, a first angle detection sensor installed on the first angle limiter, and a second angle detection sensor installed on the second angle limiter;

[0026] When the support portion is located at the first angle position, the connecting member contacts the first angle limiter and triggers the first angle detection sensor; when the support portion is located at the second angle position, the connecting member contacts the second angle limiter and triggers the second angle sensor.

[0027] Optionally, there are multiple clamping mechanisms and multiple adjustment mechanisms, the installation body is a frame structure, and the multiple clamping mechanisms and the multiple adjustment mechanisms are respectively arranged on different sides of the installation body.

[0028] Optionally, the mounting body is provided with a photographing component for acquiring a position image of the clamped partition mechanism or for acquiring a position image of a partition mechanism located below the clamped partition mechanism.

[0029] A transfer device comprises a moving device and any one of the above-mentioned grasping devices, wherein the grasping device is installed on the moving device and is driven to move by the moving device.

[0030] In the process of using the grabbing device provided by the utility model, it is first necessary to move the grabbing device to a position where the partition mechanism can be grabbed, control the clamping claws of the clamping mechanism to clamp the partition mechanism, and control the rotating part of the adjustment mechanism to drive the support part to rotate to the first angle position.

[0031] Compared with the existing technology, the gripping device provided by the utility model can clamp the partition mechanism, and can also drive the support part on the partition mechanism to switch between the first angle position and the second angle position, which simplifies the transfer steps of the partition mechanism and can effectively improve work efficiency.

[0032] In addition, the utility model also provides a transfer device including the above-mentioned grasping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0034] Figure 1 A structural diagram of a specific embodiment of the partition mechanism provided by the utility model;

[0035] Figure 2 for Figure 1 A schematic structural diagram of a partition mechanism in which part of the support portion is at a first angular position;

[0036] Figure 3 A schematic diagram of the structure of a stacked partition mechanism;

[0037] Figure 4 This is a schematic structural diagram of a specific embodiment of the grabbing device provided by the present utility model;

[0038] Figure 5 for Figure 4 A schematic structural diagram of the grabbing device from another angle;

[0039] Figure 6 is a structural schematic diagram of a specific embodiment of the clamping mechanism;

[0040] Figure 7 It is a structural diagram of a specific embodiment of the adjustment mechanism;

[0041] Figure 8 It is a structural diagram of the clamping mechanism clamped on the partition mechanism;

[0042] Figure 9 A schematic structural diagram of a specific embodiment of the transfer device provided by the present invention;

[0043] Figure 10 for Figure 9 Side view of the transfer equipment;

[0044] Figure 11 for Figure 9 Top view of the transfer equipment.

[0045] Figures 1-11 middle:

[0046] 100 is a partition mechanism;

[0047] 110 is a partition frame, 120 is a support portion, 1201 is a support rod, and 1202 is a toggle rod;

[0048] 200 is a grabbing device;

[0049] 210 is the installation body, 220 is the clamping mechanism, 2201 is the clamping claw, 2201A is the clamping side plate, 2201B is the supporting plate, 2202 is the clamping power member, 2203 is the first installation member, 230 is the adjustment mechanism, 2301 is the adjustment power member, 2302 is the connecting member, 2303 is the rotating lever, 2304 is the second installation member, 2305 is the first angle limiter, 2306 is the first angle detection sensor, 2307 is the second angle limiter, and 2308 is the second angle sensor;

[0050] 300 is a mobile device;

[0051] 400 is the base. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] The core of the present invention is to provide a grabbing device that can adjust the angle of the support part through an adjustment mechanism while grabbing the partition mechanism, thereby simplifying the operation steps of transferring the partition. Another core of the present invention is to provide a transfer device including the grabbing device.

[0054] This specific embodiment discloses a grasping device 200 for grasping a partition mechanism 100 to be transferred, wherein the partition mechanism 100 is rotatably provided with a support portion 120; the grasping device 200 includes an installation body 210, at least two clamping mechanisms 220 and an adjustment mechanism 230, and at least two clamping mechanisms 220 are arranged opposite to each other; wherein, the clamping mechanism 220 is installed on the installation body 210, and the clamping mechanism 220 is provided with a clamping claw 2201, and when the clamping claws 2201 of at least two clamping structures 220 are in a clamped state, the inner side wall of the clamping claw 2201 is in contact with the partition mechanism 100 to clamp the partition mechanism 100, that is, when clamping, the clamping claw 2201 of the clamping mechanism 220 moves in a direction close to the partition mechanism 100, and the clamping claws of the two opposite clamping mechanisms 220 constitute a clamping space to clamp the partition mechanism 100, and at this time, the clamping claw 2201 of the clamping mechanism 220 is in a clamped state. When the clamping jaws 2201 of the opposing clamping mechanism 220 move to the top position, the inner wall of the clamping jaws 2201 is completely in contact with the partition mechanism 100, and the clamping jaws 2201 cannot move further toward the partition mechanism 100. The adjustment mechanism 230 is mounted on the mounting body 210. The adjustment mechanism 230 includes a rotatable rotating portion configured to contact the support portion 120 and drive the support portion 120 to rotate between a first angular position and a second angular position. When the support portion 120 is in the first angular position, the support portion 120 is perpendicular to the plane of the partition mechanism 100. When the support portion 120 is in the second angular position, the support portion 120 is parallel to the plane of the partition mechanism 100.

[0055] It should be noted that the partition mechanism 100 mentioned in this specific embodiment can be Figure 1 、 Figure 2 The partition mechanism 100 shown can also be other partition structures that meet the requirements, which are determined according to actual conditions. In the actual operation process, the forklift will stack the partition mechanism 100 and place it on the conveyor line at the partition material level, and then convey it to the partition material taking position. At the partition material taking position, the partition positioning component will position the partition. After positioning, the partition mechanism 100 will be as shown in FIG. Figure 3 As shown, a plurality of partition mechanisms 100 are stacked and placed on a base 400 , and then the grasping device 200 needs to be controlled to grasp the partition mechanism 100 .

[0056] When using the grasping device 200 provided in this specific embodiment, it is first necessary to move the grasping device 200 to a position where the partition mechanism 100 can be grasped, and control the clamping claw 2201 of the clamping mechanism 220 to clamp the partition mechanism 100. When the support part 120 needs to be erected, control the rotating part of the adjustment mechanism 230 to drive the support part 120 to rotate to the first angle position. The support portion 120 in the first angle position is perpendicular to the plane where the partition mechanism 100 is located. Subsequently, the product can be placed on the upper surface of the partition mechanism 100 and located on the inner side of the support portion 120. When the grasped partition mechanism 100 needs to be stacked in the vertical direction, another partition mechanism 100 can be set on the upper surface of the support portion 120, so that the support portion 120 supports the partition mechanism 100 located above it. Adjacent partition mechanisms 100 are supported by the support portion 120, so that adjacent partition mechanisms 100 form an overhead space of a certain height in the vertical direction. The overhead space can be used to place products to avoid squeezing the products.

[0057] It should be noted that when the number of the clamping mechanisms 220 in this specific embodiment is two, the two clamping mechanisms 220 need to be respectively arranged on opposite sides of the installation body 210, and the clamping jaws 2201 in the two clamping mechanisms 220 cooperate with the clamping partition mechanism 100 by controlling the opening and closing of the clamping jaws 2201 in the clamping mechanism 220; when the number of the clamping mechanisms 220 is multiple, the clamping mechanisms 220 can be set on multiple sides of the installation body 210, which is determined according to actual conditions and will not be elaborated here. The opening and closing of the clamping jaws 2201 can be achieved by setting the clamping jaws 2201 in a retractable and movable structure or setting the clamping jaws 2201 to a rotatable structure, which is determined according to actual conditions.

[0058] Compared with the existing technology, the gripping device 200 provided in this specific embodiment can clamp the partition mechanism 100, and can also drive the support part 120 on the partition mechanism 100 to switch between the first angle position and the second angle position, which simplifies the transfer steps of the partition mechanism 100 and can effectively improve work efficiency.

[0059] Based on the above embodiments, Figure 6 As shown, the clamping jaw 2201 can include a clamping side plate 2201A and a supporting plate 2201B, wherein the inner side surface of the clamping side plate 2201A is used to fit with the surface of the partition mechanism 100; the supporting plate 2201B is arranged on the side of the clamping side plate 2201A for contacting the partition mechanism 100, and the extension direction of the supporting plate 2201B is perpendicular to the surface of the clamping side plate 2201A for contacting the partition mechanism 100, and the supporting plate 2201B is used to contact the bottom of the partition mechanism 100 to support the partition mechanism 100.

[0060] When actually clamping the partition mechanism 100, Figure 8 As shown, the inner side surface of the clamping side plate 2201A is in contact with the outer peripheral side surface of the partition mechanism 100, and the clamping claws 2201 in the relatively arranged clamping mechanism 220 are relatively close, and the relatively arranged clamping side plates 2201A realize the clamping of the partition mechanism 100; the upper surface of the supporting plate 2201B is in contact with the lower surface of the partition mechanism 100, which further improves the reliability of the clamping process and can effectively prevent the partition mechanism 100 from accidentally falling.

[0061] like Figure 6 As shown, the clamping mechanism 220 includes a clamping power member 2202, which is used to drive the clamping jaw 2201 to open and close. Specifically, the opening and closing of the clamping jaw 2201 can be achieved by driving the clamping jaw 2201 to move, or by controlling the rotation of the clamping jaw 2201. Figure 6 The middle clamping power member 2202 drives the clamping jaws 2201 to move, and the opening and closing of the clamping jaws 2201 are controlled by the relative approach or distance of the clamping jaws 2201 of the clamping mechanism 220 that are arranged relatively.

[0062] Furthermore, the clamping mechanism 220 can also include a clamping power member 2202 and a first mounting member 2203 connecting the clamping power member 2202 and the mounting body 210. The first mounting member 2203 is detachably arranged on the mounting body 210, and the mounting body 210 is provided with at least two different first mounting positions for installing the first mounting member 2203.

[0063] The clamping power member 2202 in this specific embodiment can be a power structure that meets the requirements, such as a cylinder, a motor, etc., which is determined according to actual conditions and will not be described in detail here.

[0064] The clamping mechanism 220 is installed on the installation body 210 in an adjustable position through the first installation member 2203, which can be suitable for grabbing different partition mechanisms 100. The number and installation position of the clamping mechanism 220 can be adjusted according to different partition mechanisms 100.

[0065] Specifically, the installation body 210 can be set as a frame structure built with profiles, and the first installation member 2203 can be installed on the installation body 210 in an adjustable position along the length direction of the profile.

[0066] In a specific embodiment, if Figure 7As shown, the adjustment mechanism 230 includes an adjustment power member 2301 having a rotatable rotation output end; the rotating portion includes a connecting member 2302 and a rotation lever 2303. The connecting member 2302 is mounted on the rotation output end and is driven to rotate by the rotation output end; the rotation lever 2303 is connected to the connecting member 2302, and the connection position of the rotation lever 2303 and the connecting member 2302 is away from the rotation center of the connecting member 2302; the rotation lever 2303 is used to contact the support portion 120 and drive the support portion 120 to rotate.

[0067] like Figure 1 As shown, the support part 120 includes a support rod 1201 and a toggle rod 1202 arranged at one end of the support rod 1201 in the length direction, the extension direction of the toggle rod 1202 is perpendicular to the extension direction of the support rod 1201, and the end of the support rod 1201 connected to the toggle rod 1202 is rotatably installed on the partition mechanism 100; the rotating toggle rod 2303 is used to contact the toggle rod 1202.

[0068] In actual operation, Figure 4 、 Figure 5 As shown, the grasping device 200 moves to a position where it can grasp the partition mechanism 100, the clamping mechanism 220 operates to clamp the partition mechanism 100, and the rotating part of the adjustment mechanism 230 rotates, driving the rotating lever 2303 to swing during the rotation process. The rotating lever 2303 contacts the toggle lever 1202 of the support part 120 and drives the toggle lever 1202 to rotate. During the rotation of the toggle lever 1202, the support part 120 is driven to rotate to the first angle position.

[0069] In order to prevent the rotating lever 2303 from sliding relative to the toggle lever 1202 during the process of rotating, a recess for cooperating with the rotating lever 2303 may be provided on the toggle lever 1202 .

[0070] Based on the above embodiment, the adjustment mechanism 230 also includes a second mounting member 2304, which is used to connect the adjustment power member 2301 and the mounting body 210. The second mounting member 2304 is detachably arranged on the mounting body 210, and the mounting body 210 is provided with at least two different second mounting positions for installing the second mounting member 2304.

[0071] The adjustment mechanism 230 is installed on the installation body 210 in an adjustable position through the second installation member 2304, which can be applied to the adjustment of the support part 120 of different partition mechanisms 100. The number and installation position of the adjustment mechanism 230 are adjusted for different partition mechanisms 100.

[0072] Further, if Figure 4 、 Figure 5As shown, the number of the clamping mechanism 220 and the number of the adjustment mechanism 230 can be multiple, the installation body 210 is a frame structure, and the multiple clamping mechanisms 220 and the multiple adjustment mechanisms 230 are respectively arranged on different sides of the installation body 210.

[0073] Based on the above embodiment, the adjustment mechanism 230 also includes a first angle limiter 2305, a second angle limiter 2307, a first angle detection sensor 2306 installed on the first angle limiter 2305, and a second angle detection sensor 2308 installed on the second angle limiter 2307; when the support part 120 is in the first angle position, the connecting part 2302 contacts the first angle limiter 2305 and triggers the first angle detection sensor 2306; when the support part 120 is in the second angle position, the connecting part 2302 contacts the second angle limiter 2307 and triggers the second angle sensor 2308.

[0074] like Figure 7 As shown, in the process of adjusting the angular position of the support part 120, when the support part 120 rotates to the first angular position, the connecting member 2302 will contact the first angle limiter 2305 to prevent the support part 120 from excessive rotation, and at the same time trigger the first angle detection sensor 2306. The first angle detection sensor sends a signal to the controller, and the controller receives the signal sent by the first angle detection sensor 2306, and then determines that the support part 120 is rotated to the first angular position; when the support part 120 rotates to the second angular position, the connecting member 2302 will contact the second angle limiter 2307 to prevent the support part 120 from excessive rotation, and at the same time trigger the second angle detection sensor 2308. The second angle detection sensor 2308 sends a signal to the controller, and the controller receives the signal sent by the second angle detection sensor 2308, and then determines that the support part 120 is rotated to the second angular position.

[0075] In this specific embodiment, by setting the first angle limiter 2305, the second angle limiter 2307, the first angle detection sensor 2306, and the second angle detection sensor 2308, the rotation angle of the connecting member 2302 can be limited, thereby limiting the rotation angle of the support part 120. At the same time, the angular position information of the support part 120 can be obtained in time for subsequent operation control, which is conducive to automation.

[0076] On the basis of the above embodiment, a shooting component can also be set on the installation body 210, and the shooting component is used to obtain the position image of the clamped partition mechanism 100, so as to facilitate moving the grasping device 200 to a suitable grasping position, accurately grasping the partition mechanism 100 to be clamped, and facilitating placing the grasped partition mechanism 100 to a suitable position; or the shooting component is used to obtain the position image of the partition mechanism 100 located on the lower side of the clamped partition mechanism 100. During actual use, the partition mechanism 100 can be accurately clamped according to the height position information between adjacent partition mechanisms 100, avoiding the situation of clamping two partition mechanisms 100 at the same time.

[0077] In addition to the above-mentioned grasping device 200, the present invention also provides a transfer device including a moving device 300 and the grasping device 200 disclosed in the above embodiment. For the structures of other parts of the transfer device, please refer to the prior art and will not be described in detail herein.

[0078] The mobile device 300 in this specific embodiment can be configured as a multi-axis manipulator, or a multi-axis module, etc., which is determined according to actual conditions and will not be elaborated here.

[0079] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. Any combination of all the embodiments provided by this utility model is within the scope of protection of this utility model and will not be described in detail here.

[0080] The above describes in detail the gripping device and transfer device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above examples is only intended to help understand the method and core concept of the present invention. It should be noted that for those skilled in the art, without departing from the principles of the present invention, various improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A gripping device, characterized in that: A partition mechanism (100) for grabbing a material to be transferred, wherein the partition mechanism (100) is rotatably provided with a support portion (120); the grabbing device (200) comprises: Install the main body (210); At least two clamping mechanisms (220) are installed on the installation body (210), the clamping mechanisms (220) are provided with clamping claws (2201), and when the clamping claws (2201) are in a clamping state, the inner side walls of the clamping claws (2201) are in contact with the partition mechanism (100) to clamp the partition mechanism (100); an adjustment mechanism (230) mounted on the mounting body (210), the adjustment mechanism (230) comprising a rotatable rotating portion, the rotating portion being configured to contact the support portion (120) and drive the support portion (120) to rotate between a first angular position and a second angular position; Wherein, when the support portion (120) is located at the first angular position, the support portion (120) is perpendicular to the plane where the partition mechanism (100) is located; when the support portion (120) is located at the second angular position, the support portion (120) is parallel to the plane where the partition mechanism (100) is located.

2. The gripping device according to claim 1, characterized in that The clamping jaw (2201) comprises: A clamping side plate (2201A), the inner side surface of the clamping side plate (2201A) being adapted to fit the surface of the partition mechanism (100); A supporting plate (2201B) is arranged on a side of the clamping side plate (2201A) for contacting the partition mechanism (100), and an extension direction of the supporting plate (2201B) is perpendicular to a surface of the clamping side plate (2201A) for contacting the partition mechanism (100), and the supporting plate (2201B) is used to contact the bottom of the partition mechanism (100) to support the partition mechanism (100).

3. The gripping device according to claim 2, characterized in that The clamping mechanism (220) further comprises a clamping power member (2202) and a first mounting member (2203) connecting the clamping power member (2202) and the mounting body (210); the first mounting member (2203) is detachably arranged on the mounting body (210), and the mounting body (210) is provided with at least two different first mounting positions for mounting the first mounting member (2203).

4. The gripping device according to claim 1, characterized in that The adjustment mechanism (230) comprises: An adjusting power member (2301) has a rotatable rotation output end; The rotating part includes: A connecting member (2302) is mounted on the rotation output end and driven to rotate by the rotation output end; The rotating lever (2303) is connected to the connecting member (2302), and the connection position between the rotating lever (2303) and the connecting member (2302) avoids the rotation center of the connecting member (2302); the rotating lever (2303) is used to contact the supporting portion (120) and drive the supporting portion (120) to rotate.

5. The gripping device according to claim 4, characterized in that The support portion (120) comprises a support rod (1201) and a toggle rod (1202) provided at one end of the support rod (1201) in the longitudinal direction, the toggle rod (1202) extending in a direction perpendicular to the extending direction of the support rod (1201), and one end of the support rod (1201) connected to the toggle rod (1202) is rotatably mounted on the partition mechanism (100); The rotating lever (2303) is used to contact the toggle lever (1202).

6. The gripping device according to claim 4, characterized in that The adjustment mechanism (230) further comprises a second mounting member (2304), the second mounting member (2304) being used to connect the adjustment power member (2301) and the mounting body (210), the second mounting member (2304) being detachably arranged on the mounting body (210), and the mounting body (210) being provided with at least two different second mounting positions for mounting the second mounting member (2304).

7. The gripping device according to claim 4, characterized in that The adjustment mechanism (230) further comprises a first angle limiter (2305), a second angle limiter (2307), a first angle detection sensor (2306) mounted on the first angle limiter (2305), and a second angle detection sensor (2308) mounted on the second angle limiter (2307); When the support portion (120) is located at the first angle position, the connecting member (2302) contacts the first angle limit member (2305) and triggers the first angle detection sensor (2306); when the support portion (120) is located at the second angle position, the connecting member (2302) contacts the second angle limit member (2307) and triggers the second angle sensor (2308).

8. The gripping device according to any one of claims 1 to 6, characterized in that: The clamping mechanisms (220) and the adjusting mechanisms (230) are both plural in number, the installation body (210) is a frame structure, and the plural clamping mechanisms (220) and the plural adjusting mechanisms (230) are arranged on different sides of the installation body (210).

9. The gripping device according to any one of claims 1 to 6, characterized in that: The mounting body (210) is provided with a photographing component, and the photographing component is used to obtain a position image of the clamped partition mechanism (100) or to obtain a position image of the partition mechanism (100) located below the clamped partition mechanism (100).

10. A transfer device, characterized in that: The invention comprises a moving device (300) and a grabbing device (200) according to any one of claims 1 to 9, wherein the grabbing device (200) is installed on the moving device (300) and is driven to move by the moving device (300).

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