Floating clamping jaw mechanism

Abstract

The utility model provides a floating clamping jaw mechanism which comprises a clamping jaw assembly which comprises a clamping jaw arm and a clamping jaw air cylinder and is configured to clamp a target object under the control of a robot; and a floating connection assembly connecting the jaw assembly to a robotic arm of the robot, in particular, the floating connection assembly comprising a first plate rigidly connected to the jaw assembly and a second plate rigidly connected to the robotic arm of the robot, the first plate and the second plate are arranged oppositely in parallel and are arranged to be translatable relative to each other in a vertical direction. The floating clamping jaw mechanism can provide floating allowance for the clamped target object, and product or equipment damage caused by collision of the target object such as a rotor assembly in the automatic assembling process can be avoided.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated production, and in particular relates to a gripper mechanism for flipping and transporting shaft workpieces or components (such as rotor assemblies) in automated assembly operations. Specifically, it relates to a floating gripper mechanism. Background Technology

[0002] In recent years, robotics technology has developed rapidly and its application in the field of intelligent manufacturing has become increasingly widespread. In automated production processes, robotic gripper mechanisms are increasingly used to perform the grasping and handling of parts or components.

[0003] Taking the engine industry as an example, during the assembly process, rotor components are usually manually transported to the assembly station. However, in order to improve work efficiency and save labor costs, people are increasingly using gripper mechanisms to perform the handling of rotor components, such as the gripper mechanism of a six-axis robot for handling motor rotor components.

[0004] Existing six-axis robotic arms use conventional rigid (fixed) gripper mechanisms for handling motor rotor assemblies, meaning they lack any floating margin. In practical use, this rigid gripper mechanism can cause the held motor rotor assembly to experience significant impact and collisions with the production equipment. Especially during the placement of the gripped rotor assembly, collisions with the contacting production equipment (such as worktables or other mating components) are likely to occur. Under significant impact, this can damage the motor rotor, rendering it unusable, or damage the grippers and the production equipment, resulting not only in production cost losses but also potentially affecting order fulfillment.

[0005] Therefore, it is necessary to provide a gripper assembly that can prevent damage to the product or equipment caused by collision during the assembly of the rotor assembly. Utility Model Content

[0006] The technical problem to be solved by this disclosure is how to avoid damage to products or equipment caused by collisions during the automatic assembly of rotor assemblies.

[0007] The purpose of this disclosure is to provide a flexible gripper mechanism that can prevent damage to products or equipment caused by collisions during the automatic assembly of rotor assemblies.

[0008] To address the aforementioned technical problems, according to one aspect of this disclosure, a floating gripper mechanism is provided, comprising: a gripper assembly including a gripper arm and a gripper cylinder, configured to grip a target object under the control of a robot; and a floating connection assembly connecting the gripper assembly to the robot's robotic arm. Specifically, the floating connection assembly includes a first plate rigidly connected to the gripper assembly and a second plate rigidly connected to the robot's robotic arm, the first and second plates being arranged in parallel opposite directions and configured to be translatable relative to each other in the vertical direction.

[0009] In this disclosure, by giving the gripper assembly a floating margin in the vertical direction relative to the robotic arm, the impact force between the rotor assembly and the production equipment it comes into contact with during handling and placement is effectively reduced, thereby avoiding damage to the product or equipment due to excessive impact force.

[0010] Furthermore, a slider is mounted on the surface of the first plate facing the second plate, and a slide rail arranged in the vertical direction is mounted on the surface of the second plate facing the first plate. By moving the slider on the slide rail, the first plate can be translated relative to the second plate in the vertical direction.

[0011] Furthermore, the floating connection assembly also includes a limiting device, which includes an upper limit block disposed at the upper end of the second plate and a lower limit block disposed at the lower end of the second plate, and both the upper limit block and the lower limit block extend toward the first plate. The upper limit block is configured to stop the first plate relative to the second plate at a first position, and the lower limit block is configured to stop the first plate relative to the second plate at a second position.

[0012] In this disclosure, by setting an upper limit block and a lower limit block, on the one hand, the first plate is prevented from moving away from the second plate, and on the other hand, it can also be used to support the weight of the first plate and the components connected thereto.

[0013] Furthermore, the floating connection assembly also includes a telescopic limiting member comprising: a telescopic cylinder mounted on the side of the second plate opposite to the first plate; a limiting post extending from the telescopic cylinder and passing through a mounting hole on the second plate toward the first plate, the limiting post being extended or shortened under the control of the telescopic cylinder; and a positioning hole provided on the first plate, the positioning hole being configured to align with the mounting hole when the first plate is translated to a first position, wherein the first plate can be locked in the first position by extending the limiting post to pass through the positioning hole, and the first plate can be unlocked from the first position by retracting the limiting post to disengage from the positioning hole.

[0014] In this disclosure, by setting a telescopic limiting component, the sliding of the first plate relative to the second plate can be prevented during handling or flipping, thereby avoiding collisions caused by sliding and damage to the product or equipment caused thereby.

[0015] Furthermore, an upper sensor is provided on the upper limit block, which is configured to send a first positioning signal to the robot when it senses that the first plate has been translated to the first position; and a lower sensor is provided on the lower limit block, which is configured to send a second positioning signal to the robot when it senses that the first plate has been translated to the second position.

[0016] For example, the floating gripper mechanism is configured to grasp a target object in a positive orientation, wherein when the gripper assembly grasps the target object, the first plate is translated to a first position and locked.

[0017] For example, the floating gripper mechanism is configured to perform a flipping action during transport and place the target object in a flipped posture. During transport, the first plate is locked at the first position until the target object is transported to a nearby target position, at which point the first plate is unlocked from the first position.

[0018] Preferably, the telescopic limiting member further includes a guide structure, which includes: a guide sleeve installed in a positioning hole in the first plate; and a guide block installed on the side of the second plate opposite to the telescopic cylinder, and installed such that the inner hole of the guide block is aligned with the mounting hole and the limiting post, wherein the inner hole of the guide sleeve and the inner hole of the guide block are both funnel-shaped to facilitate the insertion of the limiting post.

[0019] By setting this guide structure, the limiting post can pass through the first plate and the second plate more smoothly, thereby performing locking and unlocking of the first plate more accurately.

[0020] Preferably, the floating gripper mechanism further includes a bottom support assembly disposed between the gripper assembly and the floating connection assembly. The bottom support assembly includes: a bottom support cylinder, which is fixedly connected to the gripper cylinder and has a shaft that extends and retracts in a vertical direction; and a support plate, which is horizontally connected to the bottom end of the shaft and extends toward the target object to provide bottom support for the target object when the gripper assembly grasps the target object.

[0021] For example, the target object is a rotor assembly.

[0022] Compared to cases where the gripper assembly is rigidly connected to the robotic arm, the floating gripper mechanism according to this disclosure can effectively reduce the damage or scrapping of the motor rotor itself, other components of the gripper mechanism, and the production equipment it contacts, thereby effectively reducing the loss of production costs caused by these situations and avoiding delays in the delivery of production orders. Attached Figure Description

[0023] The features and advantages of one or more embodiments of the present invention will become more readily understood from the following description with reference to the accompanying drawings. The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. The drawings are not drawn to scale and some features may be enlarged or reduced to show details of specific components. In the drawings:

[0024] Figure 1 This is a schematic diagram of the floating gripper mechanism according to an embodiment of the present disclosure in the first pose;

[0025] Figure 2 yes Figure 1 An exploded view of the floating gripper mechanism shown.

[0026] Figure 3 This is a schematic diagram of a floating gripper mechanism in a second pose according to an embodiment of the present disclosure;

[0027] Figure 4 This is a schematic diagram of a floating gripper mechanism according to an embodiment of the present disclosure in a third pose.

[0028] Explanation of icon numbers:

[0029] 1. Robotic arm; 10. Rotor assembly; 12. Cover plate

[0030] 20 Gripper arm; 22 Gripper cylinder; 24 Gripper cylinder base plate

[0031] 30 Bottom support cylinder; 32 Support plate; 36 Shaft.

[0032] 40 side panels

[0033] 50 First board 52 Upper limit block 52s Upper sensor

[0034] 54 Lower limit block, 54s Lower sensor, 56 Positioning hole

[0035] 58 Guide sleeve 60 Slider 62 Slide rail

[0036] 70 Second plate 72 Guide block 73 Inner hole

[0037] 74 mounting holes

[0038] 80 Telescopic cylinder; 82 Limiting post; 90 Connecting plate Detailed Implementation

[0039] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0040] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise.

[0041] In the following embodiments, a motor rotor assembly is used as an example of the target object to be clamped. However, those skilled in the art will understand that the actual scope of protection of this application is not limited to this specific embodiment, and the target object is obviously not limited to the rotor assembly, but can be any other tool or component that can use the floating gripper mechanism of this disclosure.

[0042] Figure 1 This is a schematic diagram of the floating gripper mechanism according to an embodiment of the present disclosure in the first pose. Figure 2 yes Figure 1 The diagram shows an exploded view of the floating gripper mechanism.

[0043] See Figure 1 According to an embodiment of this disclosure, a floating gripper mechanism includes a gripper assembly and a floating connection assembly connecting the gripper assembly to a robotic arm 1 of a robot. The gripper assembly includes a gripper arm 20 and a gripper cylinder 22 for gripping a rotor assembly 10 (target object) under the control of the robot. The floating connection assembly includes a first plate 50 and a second plate 70 that are floatingly connected to each other. The first plate 50 is fixedly connected to a gripper cylinder base plate 24 on which the gripper cylinder 22 is fixed via a side plate 40, thereby rigidly connecting to the gripper assembly. The second plate 70 is fixed to a connecting plate 90 mounted on a turntable of the robotic arm 1, thereby rigidly connecting to the robotic arm 1. The first plate 50 and the second plate 70 are arranged in parallel opposite directions and connected via a floating (flexible) connector so that they can translate relative to each other in the vertical direction.

[0044] The first plate 50 and the second plate 70 are allowed to translate relative to each other in the vertical direction, so that the floating connection assembly has a floating margin in the vertical direction. In other words, the floating connection assembly makes the connection between the gripper assembly and the robotic arm 1 flexible. Thus, during the process of the robot handling or placing the gripped rotor assembly, since the gripper assembly has a floating margin relative to the robotic arm in the vertical direction, when the rotor assembly has vertical contact or even collision with other production equipment (such as worktables or other mating parts), the impact force between the rotor assembly and the contacted production equipment caused by the downward motion inertia of the rotor assembly can be effectively reduced by the upward floating of the gripper assembly.

[0045] Therefore, compared with the case where the gripper assembly is rigidly connected to the robotic arm, the floating gripper mechanism according to this disclosure can effectively reduce the damage or scrapping of the motor rotor itself, other parts of the gripper mechanism, and the production equipment in contact with it, thereby effectively reducing the loss of production costs caused by these situations and avoiding the delay in delivery of production orders.

[0046] Further, see Figure 1 and Figure 2 In this example, the rotor assembly 10 is also connected to a cover plate 12 at its bottom when it is gripped. Therefore, to prevent bottom parts such as the cover plate 12 from falling off during handling, and considering the large initial lifting force typically required when gripping the assembly, the floating gripper mechanism also provides a bottom support assembly for providing bottom support to the rotor assembly. This bottom support assembly is positioned between the gripper assembly and the floating connection assembly. Specifically, the bottom support assembly includes a bottom support cylinder 30 and a support plate 32 controlled by the bottom support cylinder 30. The bottom support cylinder is fixedly connected to the gripper cylinder 22 and has a vertically extending shaft 36. The support plate 32 is horizontally connected to the bottom end of the shaft 36 and extends towards the target object to provide bottom support for the target object when the gripper assembly grips it. The vertical height of the support plate 32 (i.e., its position relative to the gripper arm) can be changed according to the actual shape and size of the target object via the position of the shaft 36 of the bottom support cylinder 30.

[0047] By incorporating an adjustable support component, the floating gripper mechanism of this disclosure exhibits more stable and stronger gripping performance, and can be adapted to target objects of different sizes or models.

[0048] The following will combine Figure 1 and Figure 2 This section provides a detailed description of the structure and working principle of the floating connection component according to this embodiment.

[0049] As an example, the relative translation between the first plate 50 and the second plate 70 is achieved through a slider-rail assembly. Specifically, as... Figure 1 and Figure 2 As shown, a slider 60 is mounted on the surface of the first plate 50 facing the second plate 70, and a linear slide rail 62 arranged in the vertical direction is mounted on the surface of the second plate 70 facing the first plate 50. By moving the slider 60 on the slide rail, the first plate 50 can be translated relative to the second plate 70 in the vertical direction.

[0050] Furthermore, in the vertical direction, the size of the first plate 50 is set to be smaller than the size of the second plate 70. To limit the translational range (floating range) of the first plate 50 relative to the second plate 70, the floating connection assembly also includes a limiting device. For example... Figure 1 and Figure 2 As shown, the limiting device includes an upper limit block 52 and a lower limit block 54 respectively disposed at the upper and lower ends of the second plate 70. Both the upper limit block 52 and the lower limit block 54 extend laterally toward the first plate 50 perpendicular to the second plate, and extend at least beyond the thickness of the first plate 50 in the assembled state. Thus, the upper limit block 52 stops the first plate 50 at a first position, i.e., the highest floating position, and the lower limit block 54 stops the first plate 50 at a second position, i.e., the lowest floating position.

[0051] The upper limit block 52 and the lower limit block 54 limit the floating range of the first plate 50 relative to the second plate 70, preventing the first plate 50 from moving away from the second plate 70. On the other hand, they can also support the weight of the first plate 50 and the components connected to it.

[0052] Furthermore, the floating connection assembly also includes a telescopic limiting member for locking the first plate 50 relative to the second plate 70, the telescopic limiting member including a telescopic cylinder 80 and a limiting post 82 controlled by the telescopic cylinder 80. Figure 1 and Figure 2 As shown, the telescopic cylinder 80 is installed on the side of the second plate 70 opposite to the first plate 50, and the limiting post 82 extends from the telescopic cylinder 80 and passes through the mounting hole 74 on the second plate 70 toward the first plate 50. The limiting post 82 can be extended or shortened under the control of the telescopic cylinder 80.

[0053] Correspondingly, the telescopic limiting member also includes a positioning hole 56 provided on the first plate 50, and the positioning hole 56 is configured such that when the first plate 50 is translated to the first position (the highest floating position), the positioning hole 56 is just aligned with the mounting hole 74. At this time, by using the telescopic cylinder 80 to extend the limiting post 82 to pass through the positioning hole 56, the first plate 50 can be locked in the first position (the highest floating position). Correspondingly, by retracting the limiting post 82 to disengage from the positioning hole 56, the first plate 50 can be unlocked from the first position (the highest floating position).

[0054] By setting telescopic limiters, the first plate 50 can be prevented from sliding relative to the second plate 70 during handling or flipping, thereby avoiding collisions caused by sliding and damage to products or equipment.

[0055] Furthermore, the telescopic limiting component also includes a guide structure, which includes a guide sleeve 58 disposed on the first plate 50 and a guide block 72 disposed on the second plate 70. Specifically, in combination with... Figure 2 The guide sleeve 58 is installed in the positioning hole 56 of the first plate 50, and the guide block 72 is installed on the side of the second plate 70 opposite to the telescopic cylinder 80, and is installed such that the inner hole 73 of the guide block 72 is aligned with the mounting hole 74 and the limiting post 82. In particular, the inner holes 73 of the guide sleeve 58 and the guide block 72 are both flared to facilitate the insertion of the limiting post 82, so that the limiting post 82 can pass more smoothly through the first plate 50 and the second plate 70 to perform locking and unlocking of the first plate 50.

[0056] The operation of the telescopic cylinder 80, along with the limit post 82, is controlled by the robot's control system (e.g., via a PLC). Specifically, an upper sensor 52s is provided on the upper limit block 52. This upper sensor 52s is configured to send a first positioning signal to the robot when it senses that the first plate 50 has moved to a first position. The robot can then issue a command to execute the next step based on this first positioning signal and the currently executing operation step and state. Correspondingly, a lower sensor 54s is provided on the lower limit block 54. This lower sensor 54s is configured to send a second positioning signal to the robot when it senses that the first plate 50 has moved to a second position. The robot can then issue a command to execute the next step based on this second positioning signal and the currently executing operation step and state. The upper sensor 52s and the lower sensor 54s are, for example, photoelectric sensors or any other suitable sensing elements.

[0057] The floating gripper mechanism according to embodiments of the present disclosure can perform flipping of the target object during the handling of the target object. Exemplarily, the floating gripper mechanism is configured to grasp the target object in a forward orientation (i.e., a first orientation, with the pallet 32 ​​located at the bottom of the floating gripper mechanism), flip the target object during handling, and then place the target object in a flipped orientation (i.e., a second orientation, with the pallet 32 ​​located at the top of the floating gripper mechanism).

[0058] The following will combine Figure 1 , Figure 3 and Figure 4 Describe the working principle of the floating gripper mechanism.

[0059] like Figure 1As shown, the floating gripper mechanism grips the rotor assembly at the previous station in a forward orientation. During the gripping process, the floating gripper mechanism uses the gripper assembly and the support assembly to firmly grip the rotor assembly, and the first plate 50 and the second plate 70 undergo relative translation until the first plate 50 reaches the uppermost first position. When the first plate 50 reaches the first position and abuts against the upper limit block 52, the upper sensor 52s sends a first positioning signal to the robot. Based on this first positioning signal, the robot controls the telescopic cylinder 80 to extend the limit post 82, thereby locking the first plate 50 in the first position. At this time, the floating gripper mechanism is in the first orientation.

[0060] Next, the robot controls the floating gripper mechanism to perform the transport operation. The floating gripper mechanism moves the rotor assembly away from the previous station and towards the target position. During the transport process, the robot controls the floating gripper mechanism to perform a flipping action. After the flip, both the floating gripper mechanism and the rotor assembly are upside down. At this time, the floating gripper mechanism is in the second pose, where the first position is located under the second plate 70, as shown below. Figure 3 As shown. Since the first plate 50 is locked in the first position during the process, even if bumps or shaking occur during flipping and handling, the rotor assembly can always be firmly clamped without shaking relative to the robotic arm because the first plate 50 is fixed relative to the second plate 70, thereby avoiding collisions caused by shaking and resulting damage to the product or equipment.

[0061] When the rotor assembly is moved to the vicinity of the target position, the robot commands the telescopic cylinder 80 to retract the limiting post 82, thereby unlocking the first plate 50 relative to the second plate 70 to allow them to slide relative to each other. The floating gripper mechanism then places the rotor assembly at the target position in its currently inverted posture, and a relative translation occurs between the first plate 50 and the second plate 70 until the first plate 50 reaches its current uppermost second position, i.e., moves to the third pose, as shown below. Figure 4 As shown. When the first plate 50 reaches the second position and abuts against the lower limit block 54, the lower sensor 54s sends a second positioning signal to the robot. Based on the second positioning signal, the robot controls the gripper assembly and the bottom support assembly to release the rotor assembly, thereby completing the placement of the rotor assembly at the target position.

[0062] In summary, the floating gripper mechanism disclosed herein mainly comprises a gripper assembly and a floating connection assembly. The key improvement lies in connecting the gripper assembly to the robotic arm via the floating connection assembly, allowing the gripper assembly to have a vertical floating margin relative to the robotic arm during the robot's handling or placement of the gripped rotor assembly. Therefore, compared to a gripper assembly rigidly connected to the robotic arm, the floating gripper mechanism of this disclosure effectively reduces damage or scrapping of the motor rotor itself, other components of the gripper mechanism, and the production equipment it contacts, thereby significantly reducing production cost losses caused by these factors and preventing delays in order delivery.

[0063] The advantages of the floating gripper mechanism disclosed herein are as follows:

[0064] ① The gripper assembly has a floating margin in the vertical direction relative to the robotic arm, which effectively reduces the impact force between the rotor assembly and the production equipment it comes into contact with during handling and placement.

[0065] ② By setting an adjustable bottom support component, the floating gripper mechanism of this disclosure has a more stable and stronger gripping performance, and can be adapted to target objects of various sizes or models.

[0066] ③ It is equipped with an upper limit block and a lower limit block, which on the one hand prevents the first plate from moving away from the second plate, and on the other hand can also be used to support the weight of the first plate and the components connected to it.

[0067] ④ By setting telescopic limiters, the first plate can be prevented from sliding relative to the second plate during handling or flipping, thereby avoiding collisions caused by sliding and damage to products or equipment.

[0068] ⑤ The guide structure allows the limiting post to pass through the first and second plates more smoothly to perform locking and unlocking of the first plate.

[0069] The various embodiments and variations of this utility model have been described in detail above. However, those skilled in the art should understand that this utility model is not limited to the specific embodiments and variations described above, but may include various other possible combinations and arrangements. Other variations and modifications can be implemented by those skilled in the art without departing from the spirit and scope of this utility model. All these variations and modifications fall within the scope of this utility model. Moreover, all components described herein can be replaced by other technically equivalent components.

Claims

1. A floating gripper mechanism, comprising: A gripper assembly, comprising a gripper arm (20) and a gripper cylinder (22), and configured to grip a target object under the control of a robot; as well as A floating connection assembly connects the gripper assembly to the robot's robotic arm (1). Its features are, The floating connection assembly includes a first plate (50) rigidly connected to the gripper assembly and a second plate (70) rigidly connected to the robotic arm (1) of the robot. The first plate (50) and the second plate (70) are arranged in parallel opposite directions and configured to be able to translate relative to each other in the vertical direction.

2. The floating gripper mechanism according to claim 1, characterized in that, A slider (60) is mounted on the surface of the first plate (50) facing the second plate (70), and a slide rail (62) arranged along the vertical direction is mounted on the surface of the second plate (70) facing the first plate (50). By moving the slider (60) on the slide rail (62), the first plate (50) can be translated relative to the second plate (70) in the vertical direction.

3. The floating gripper mechanism according to claim 1, characterized in that, The floating connection assembly further includes a limiting device, which includes an upper limiting block (52) disposed at the upper end of the second plate (70) and a lower limiting block (54) disposed at the lower end of the second plate (70). Both the upper limiting block (52) and the lower limiting block (54) extend toward the first plate (50), wherein: The upper limit block (52) is configured to stop the first plate (50) relative to the second plate (70) at a first position; and The lower limit block (54) is configured to stop the first plate (50) relative to the second plate (70) at a second position.

4. The floating gripper mechanism according to claim 3, characterized in that, The floating connection assembly further includes a telescopic limiting member, which includes: Telescopic cylinder (80), said telescopic cylinder (80) is installed on the side of the second plate (70) opposite to the first plate (50); A limiting post (82) extends from the telescopic cylinder (80) and through a mounting hole (74) on the second plate (70) toward the first plate (50), and the limiting post (82) is extendable or retractable under the control of the telescopic cylinder (80); and A positioning hole (56) is provided on the first plate (50), the positioning hole (56) being configured such that when the first plate (50) is translated to the first position, the positioning hole (56) is aligned with the mounting hole (74), the first plate (50) can be locked in the first position by extending the limiting post (82) through the positioning hole (56), and the first plate (50) can be unlocked from the first position by retracting the limiting post (82) to disengage from the positioning hole (56).

5. The floating gripper mechanism according to claim 4, characterized in that, The upper limit block (52) is provided with an upper sensor (52s), which is configured to send a first positioning signal to the robot when it senses that the first plate (50) has been translated to the first position; and The lower limit block (54) is provided with a lower sensor (54s), which is configured to send a second positioning signal to the robot when it senses that the first plate (50) has been translated to the second position.

6. The floating gripper mechanism according to claim 4, characterized in that, The floating gripper mechanism is configured to grasp the target object in a first posture, wherein when the gripper assembly grasps the target object, the first plate (50) is translated to the first position and locked.

7. The floating gripper mechanism according to claim 4, characterized in that, The floating gripper mechanism is configured to perform an up-and-down flipping action during the transport process to assume a second posture and place the target object in the second posture. During the transport process, the first plate (50) is locked at the first position until the target object is transported to a nearby target position, at which point the first plate (50) is unlocked from the first position.

8. The floating gripper mechanism according to claim 4, characterized in that, The telescopic limiting member further includes a guide structure, the guide structure comprising: A guide sleeve (58) is installed in the positioning hole (56) of the first plate (50); and A guide block (72) is mounted on the side of the second plate (70) opposite to the telescopic cylinder (80), and is mounted such that the inner hole (73) of the guide block (72) is aligned with the mounting hole (74) and the limiting post (82). The inner hole of the guide sleeve (58) and the inner hole (73) of the guide block (72) are both funnel-shaped to facilitate the insertion of the limiting post (82).

9. The floating gripper mechanism according to any one of claims 1 to 8, characterized in that, The floating gripper mechanism further includes a bottom support component disposed between the gripper assembly and the floating connection assembly, the bottom support component comprising: A bottom-supporting cylinder (30), which is fixedly connected to the gripper cylinder (22) and has a shaft (36) that extends and retracts along the vertical direction; and A tray (32) is horizontally connected to the bottom end of the shaft (36) and extends toward the target object to provide bottom support for the target object when the gripper assembly grasps the target object.

10. The floating gripper mechanism according to any one of claims 1 to 8, characterized in that, The target object is a rotor assembly.

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