Gripping device and manipulator

Abstract

The utility model relates to the technical field of clamping structures, and particularly discloses a grabbing device and a mechanical arm, the grabbing device comprises a fixing claw, the fixing claw comprises a main body part, an extending part and a bending part which are connected in sequence, and part of the main body part and the bending part are oppositely arranged; the sliding clamping jaw is in sliding connection with the extending part, and at least part of the sliding clamping jaw is located between part of the main body part and the bending part; the sliding clamping jaw and the bending part are oppositely arranged, and the shape of the opposite surface of the sliding clamping jaw and the bending part is matched with the shape of an operation object; the driving piece is connected with the sliding clamping jaw, and the driving piece is used for driving the sliding clamping jaw to move close to or away from the bending part; and the connecting seat is used for detachably connecting the main body part with the mechanical arm. According to the scheme, taking and placing of the rod-shaped hydrogen production electrode can be achieved, and automatic extraction operation of the rod-shaped hydrogen production electrode can be achieved on the whole.

Description

Technical Field

[0001] This specification relates to the field of gripping structure technology, and in particular to a gripping device and a robotic arm. Background Technology

[0002] A hydrogen production electrode is an electrode used in the hydrogen oxidation half-reaction in the preparation of hydrogen fuel cells. Its main function is to decompose water into hydrogen and oxygen, thereby generating an electric current. The materials used in hydrogen production electrodes are typically noble metal oxides such as palladium, RuOx, and IrOx, or composites thereof. These materials possess high electrochemical activity and high gas conversion rates, effectively promoting the water splitting reaction.

[0003] Hydrogen production electrodes can be in the form of thin films or rods. Currently, most methods for removing rod-shaped hydrogen production electrodes from the substrate involve manual handling. However, there is still a risk of electric shock when manually removing hydrogen production electrodes. Furthermore, for large hydrogen production electrodes, manual removal is time-consuming, labor-intensive, and costly.

[0004] There is currently no effective solution to the above problems. Utility Model Content

[0005] This specification provides a gripping device and a robotic arm to solve the problems of electric shock risk and high labor costs when manually extracting hydrogen production electrodes in the prior art.

[0006] This specification provides an embodiment of a gripping device, including:

[0007] A fixing claw, the fixing claw comprising a main body, an extension, and a bent portion connected in sequence, wherein a portion of the main body and the bent portion are disposed opposite to each other;

[0008] A sliding jaw is slidably connected to the extension portion, and at least a portion of the sliding jaw is located between the portion of the main body and the bent portion; the sliding jaw and the bent portion are disposed opposite to each other, and the shape of the opposite surface of the sliding jaw and the bent portion matches the shape of the object being operated on;

[0009] A driving component, which is connected to the sliding jaw, is used to drive the sliding jaw to move closer to or away from the bent portion;

[0010] A connecting seat is used to detachably connect the main body to the robotic arm.

[0011] In one embodiment, the extension is provided with a sliding hole, and the sliding claw is slidably connected to the sliding hole.

[0012] In one embodiment, the sliding claw includes a claw body, a claw connecting rod, and a top stop connected in sequence, the claw connecting rod passing through the sliding hole, and the claw body and the top stop being located at the bottom and top of the extension, respectively.

[0013] In one embodiment, the extension is further provided with a first slide groove and a second slide groove located on both sides of the slide hole, and a rotatable first pulley and a second pulley are connected to the top stop block. The first pulley cooperates with the first slide groove, and the second pulley cooperates with the second slide groove.

[0014] In one embodiment, the main body is provided with a mounting hole for mounting the drive component, a portion of the drive component is fixedly mounted in the mounting hole, and one end of the drive component is connected to the sliding claw.

[0015] In one embodiment, the object of operation is a rod-shaped hydrogen production electrode, and the opposing surfaces of the sliding claw and the bent portion are both curved surfaces that match the shape of the rod-shaped hydrogen production electrode.

[0016] In one embodiment, the curved cross section of the opposite surface of the bent portion is a first S-shaped curve, the first S-shaped curve including a first top inner bend, a vertical portion and a first bottom outer bend connected in sequence;

[0017] The curved cross section of the opposite surface of the sliding claw is a second S-shaped curve, which includes a second top inner curve, a curve concave part and a second bottom outer curve connected in sequence.

[0018] The first top inward bend matches the shape of the second top inward bend, and the first bottom outward bend matches the shape of the second bottom outward bend. A clamping area for fixing the rod-shaped hydrogen production electrode is formed between the concave part of the curve and the vertical part.

[0019] In one embodiment, the grasping device further includes:

[0020] A connecting plate is connected to one side of the main body, and the bottom of the connecting plate is also connected to the connecting seat.

[0021] In one embodiment, the gripping device further includes a connecting spring, one end of which is connected to the connecting plate, and the other end of which is connected to the junction of the extension and the bend.

[0022] In one embodiment, the grasping device further includes:

[0023] A top corner connector and a bottom corner connector are provided. The top corner connector is used to connect the upper end of the main body to the connecting plate, and the bottom corner connector is used to connect the lower end of the main body to the connecting plate.

[0024] In one embodiment, a top fixing rod is provided at the upper end of the main body, and the top fixing rod is used to connect with the top corner connector;

[0025] A bottom fixing rod is provided at the lower end of the main body, and the bottom fixing rod is used to connect with the bottom corner connector.

[0026] In one embodiment, both the fixed claw and the sliding claw are made of insulating material.

[0027] In one embodiment, the connecting seat is adapted to the connecting structure of the robotic arm.

[0028] In one embodiment, the driving component is a telescopic electric cylinder.

[0029] This specification also provides a robotic arm, comprising:

[0030] The grasping device described in any of the above embodiments;

[0031] A robotic arm, which is connected to the connecting seat of the gripping device.

[0032] The technical solution in this specification has the following significant advantages:

[0033] This specification provides a gripping device in its embodiments, including a fixed claw, a sliding claw, a drive member, and a connecting seat. The fixed claw includes a main body, an extension, and a bent portion connected in sequence. The sliding claw is slidably connected to the extension and located between the main body and the bent portion. The drive member can drive the sliding claw to move closer to or away from the bent portion, thereby gripping or placing the object. Furthermore, the gripping device also includes a connecting seat for connecting the main body to a robotic arm, which can facilitate the picking and placing of the object. Overall, it can realize automated object extraction, reduce labor costs, improve work efficiency, and is safer and more convenient.

[0034] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0035] It should be emphasized that the term "comprising / including" as used herein refers to the presence of a feature, part, step, or component, but does not exclude the presence or addition of one or more other features, parts, steps, or components. Attached Figure Description

[0036] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely schematic to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, under the guidance of this invention, can select various possible shapes and proportions to implement this invention according to specific circumstances. In the drawings:

[0037] Figure 1 A schematic diagram of the gripping device in one embodiment of this specification is shown;

[0038] Figure 2 A partial structural schematic diagram of the gripping device in one embodiment of this specification is shown;

[0039] Figure 3 A schematic diagram of the structure of the opposing surfaces of the bent portion and the sliding claw of the gripping device in one embodiment of this specification is shown;

[0040] Figure 4 A partial structural schematic diagram of the gripping device in one embodiment of this specification is shown;

[0041] Figure 5 A partial structural schematic diagram of the gripping device in one embodiment of this specification is shown.

[0042] The reference numerals in the above figures are as follows:

[0043] 1. Fixing claw; 11. Main body; 111. Mounting hole; 112. Top fixing rod; 113. Bottom fixing rod; 12. Extension; 121. Sliding hole; 122. First sliding groove; 123. Second sliding groove; 13. Bending part; 131. First S-shaped curve; 14. Cavity; 2. Connecting plate; 3. Connecting seat; 4. Driving component; 5. Sliding claw; 501. Second S-shaped curve; 51. Claw body; 52. Claw connecting rod; 53. Top stop; 531. First pulley; 532. Second pulley; 6. Connecting spring; 7. Top angle connector; 8. Bottom angle connector. Detailed Implementation

[0044] The principles and spirit of this specification will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are given merely to enable those skilled in the art to better understand and implement this specification, and are not intended to limit the scope of this specification in any way. Rather, these embodiments are provided to make this disclosure more thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0045] The details of this utility model can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of this utility model described herein are only for explaining the purpose of this utility model and should not be construed as limiting this utility model in any way. Under the teachings of this utility model, those skilled in the art can conceive of any possible modifications based on this utility model, and these should all be considered to fall within the scope of this utility model. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, it can be a mechanical connection or an electrical connection, or it can be a connection within two elements, which can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this specification belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0047] This specification provides an example of a gripping device. Figure 1 A schematic diagram of the gripping device according to one embodiment of this specification is shown. Specifically, as... Figure 1 As shown, the gripping device provided in one embodiment of this specification may include a fixed claw 1, a connecting seat 3, a driving component 4, and a sliding claw 5.

[0048] like Figure 1As shown, the fixing claw 1 may include a main body 11, an extension 12, and a bent portion 13 connected in sequence. In one embodiment, the main body 11, the extension 12, and the bent portion 13 may be integrally formed. In another embodiment, the main body 11, the extension 12, and the bent portion 13 may be manufactured separately and then connected.

[0049] The extension 12 can extend laterally as a whole. The main body 11 is connected to one end of the extension 12. The bent portion 13 is connected to the other end of the extension 12. Parts of the main body 11 and the bent portion 13 can be arranged opposite each other. For example... Figure 1 As shown, the main body 11, the extension 12, and the bending portion 13 can form a U-shaped structure with a cavity 14. The cavity 14 is located between part of the main body 11 and the bending portion 13 and is located below the extension 12.

[0050] The sliding claw 5 can be slidably connected to the extension 12. At least a portion of the sliding claw 5 is located between a portion of the main body 11 and the bent portion 13, within the cavity 14. The sliding claw 5 and the bent portion 13 can be arranged opposite to each other. The shape of the opposing surfaces of the sliding claw 5 and the bent portion 13 matches the shape of the object to be manipulated. The opposing surface of the sliding claw 5 is the surface of the sliding claw 5 facing the bent portion 13 of the fixed claw 1. The object to be manipulated is the object operated by the gripping device, used to grip or place the object. The opposing surface of the bent portion 13 is the surface of the bent portion 13 facing the sliding claw 5. In this embodiment, the object to be manipulated can be rod-shaped or block-shaped.

[0051] The drive component 4 is connected to the sliding jaw 5. The drive component 4 is used to drive the sliding jaw 5 to move closer to or away from the bend 13, so as to grasp or place the object to be operated.

[0052] The connecting base 3 is used to detachably connect the main body 11 to the robotic arm. The robotic arm can be used to move the grasping device, thereby moving the object being manipulated. The movement can include operations such as translation and flipping.

[0053] The gripping device in the above embodiment includes a fixed claw 1, a sliding claw 5, a driving member 4, and a connecting seat 3. The fixed claw 1 includes a main body 11, an extension 12, and a bent portion 13 connected in sequence. The sliding claw 5 is slidably connected to the extension 12 and located in the cavity 14 between the main body 11 and the bent portion 13. The driving member 4 can drive the sliding claw 5 to move closer to or away from the bent portion 13, thereby gripping or placing the object. Furthermore, the gripping device also includes a connecting seat 3 for connecting the main body 11 to the robotic arm, which can drive the picking and placing of the object. Overall, it can realize automated extraction of the object, reduce labor costs, improve work efficiency, and is safer and more convenient.

[0054] Please refer to Figure 2This diagram illustrates a partial structural schematic of the gripping device in an embodiment of this specification. Figure 2 As shown, in some embodiments of this specification, a sliding hole 121 may be provided on the extension 12. The sliding claw 5 is slidably connected to the sliding hole 121. The sliding hole 121 can extend along the extending direction of the extension 12. The sliding claw 5 can slide along the sliding hole 121 to move closer to or away from the bent portion 13 of the fixed claw 1. By providing the sliding hole 121, it is convenient for the sliding claw 5 to slide smoothly connected to the extension 12.

[0055] like Figure 2 As shown, in some embodiments of this specification, the sliding claw 5 may include a claw body 51, a claw connecting rod 52, and a top stop 53 connected in sequence. The claw connecting rod 52 passes through the sliding hole 121. The claw body 51 and the top stop 53 are located at the bottom and top of the extension 12, respectively. In one embodiment, the dimension of the top stop 53 along the width direction of the sliding hole 121 is greater than the width of the sliding hole 121, the dimension of the connecting rod along the width direction of the sliding hole 121 is less than the width of the sliding hole 121, the dimension of the claw body 51 along the width direction of the sliding hole 121 is greater than the width of the sliding hole 121, and the length of the connecting rod is greater than the depth of the sliding hole 121, so that the sliding claw 5 is slidably connected to the sliding hole 121. The claw body 51 of the sliding claw 5 is disposed opposite to the bent portion 13 of the fixed claw 1. The claw connecting rod 52 can slide along the sliding hole 121 to drive the claw body 51 to move closer to or away from the bent portion 13 of the fixed claw 1.

[0056] In the above embodiments, based on the sliding claw 5 being driven by the driving member 4, a claw connecting rod 52 and a top stop 53 are provided on the claw body 51 of the sliding claw 5. The claw connecting rod 52 passes through the sliding hole 121 of the extension 12 of the fixed claw 1, so that the top stop 53 is mounted on the top of the extension 12, thereby achieving sliding guidance, ensuring the linear movement of the sliding claw 5, and improving the stability of the structure.

[0057] Please continue to refer to this. Figure 2 ,like Figure 2 As shown in some embodiments of this specification, the extension 12 is further provided with a first sliding groove 122 and a second sliding groove 123 located on both sides of the sliding hole 121. A rotatable first pulley 531 and a second pulley 532 are connected to the top stop 53. The first pulley 531 engages with the first sliding groove 122. The second pulley 532 engages with the second sliding groove 123. By providing the first sliding groove 122 and the second sliding groove 123, and the first pulley 531 and the second pulley 532 that match the first sliding groove 122 and the second sliding groove 123, the sliding resistance of the sliding claw 5 can be reduced, making the sliding of the sliding claw 5 smoother.

[0058] like Figure 1As shown, in some embodiments of this specification, the main body 11 may be provided with mounting holes 111 for mounting the drive member 4. The mounting hole 111 is a through hole on the main body. Part of the drive member 4 is fixedly mounted in the mounting hole 111. One end of the drive member 4 is connected to the sliding claw 5. By providing mounting holes 111 on the main body 11, the installation of the drive member 4 is facilitated.

[0059] In some embodiments of this specification, the object of operation is a rod-shaped hydrogen production electrode. The opposing surfaces of the sliding claw 5 and the bent portion 13 are both curved surfaces, and they match the shape of the rod-shaped hydrogen production electrode.

[0060] Please refer to Figure 3 This diagram shows a schematic representation of the opposing surfaces of the bent portion 13 and the sliding claw 5 in an embodiment of this specification. Figure 3 As shown in some embodiments of this specification, the curved cross-section of the opposite surface of the bent portion 13 is a first S-shaped curve 131. The first S-shaped curve 131 may include a first top inner curve, a vertical portion, and a first bottom outer curve connected in sequence. The curved cross-section of the opposite surface of the sliding claw 5 is a second S-shaped curve 501, which may include a second top inner curve, a curve concave portion, and a second bottom outer curve connected in sequence. The shapes of the first top inner curve and the second top inner curve are matched, and the shapes of the first bottom outer curve and the second bottom outer curve are matched. A clamping area for fixing the rod-shaped hydrogen production electrode is formed between the curve concave portion and the vertical portion.

[0061] In the above embodiment, the vertical first S-shaped curve 131 and the bent second S-shaped curve 501 work together to guide the rod-shaped hydrogen production electrode to slide into the clamping area through the two top inward bends, and the two bottom outward bends further bring the bottom area between the sliding claw 5 and the bend 13 closer, which can prevent the rod-shaped hydrogen production electrode from falling and achieve stable fixation. The clamping area formed by the vertical part and the concave part of the curve can be matched to accommodate the clamping of various specifications of rod-shaped hydrogen production electrodes, and the two bottom outward bends ensure reliable fixation of various specifications of fixed rod-shaped hydrogen production electrodes.

[0062] like Figure 1 As shown, in some embodiments of this specification, the gripping device may further include a connecting plate 2. The connecting plate 2 is connected to one side of the main body 11, and the bottom of the connecting plate 2 is also connected to the connecting seat 3. The connecting plate 2 is used to connect the main body 11 and the connecting seat 3. The upper part of the connecting plate 2 is connected to one side of the main body 11. The bottom of the connecting plate 2 is connected to the connecting seat 3.

[0063] Please refer to Figure 4 This diagram illustrates a partial structural schematic of the gripping device in an embodiment of this specification. Figure 4As shown in some embodiments of this specification, the gripping device may further include a connecting spring 6. One end of the connecting spring 6 is connected to the connecting plate 2, and the other end of the connecting spring 6 is connected to the junction of the extension 12 and the bend 13.

[0064] In the above embodiments, considering that gripping heavy objects may cause the top of the fixed claw 1 to bend or even break, a connecting spring 6 is provided to connect the top of the fixed claw 1 and the connecting plate 2 to improve the reliability of the use process. If the top of the fixed claw 1 bends during use, it will provide a certain elastic force to ensure the stable use of the fixed claw 1.

[0065] In some embodiments of this specification, the gripping device may further include a top corner connector 7 and a bottom corner connector 8. The top corner connector 7 is used to connect the upper end of the main body 11 to the connecting plate 2. The bottom corner connector 8 is used to connect the lower end of the main body 11 to the connecting plate 2.

[0066] In some embodiments of this specification, a top fixing rod 112 may be provided at the upper end of the main body 11, and the top fixing rod 112 is used to connect with the top corner connector 7. A bottom fixing rod 113 may be provided at the lower end of the main body 11, and the bottom fixing rod 113 is used to connect with the bottom corner connector 8. Through the connection method of the fixing rods, the relative position between the fixing claw 1 and the connecting plate 2 is more stable and less prone to displacement.

[0067] In some embodiments of this specification, both the fixed claw 1 and the sliding claw 5 are made of insulating material, such as plastic. This ensures structural stability while preventing current from entering the main structure and affecting normal operation.

[0068] In some embodiments of this specification, the connection structure between the connecting seat 3 and the robotic arm can be adapted to connect the robotic arm, thereby enabling vertical extraction or flipping operations of the gripped rod-shaped hydrogen production electrode.

[0069] In some embodiments of this specification, the drive element 4 is a telescopic electric cylinder. The telescopic electric cylinder can be controlled in conjunction with a controller, facilitating the control of the drive element 4.

[0070] The following description uses a specific embodiment as an example.

[0071] In one specific embodiment, such as Figure 1As shown, the gripping device may include a fixed claw 1, a connecting plate 2, a connecting seat 3, a driving member 4, and a sliding claw 5. The connecting plate 2 is fixed to one side of the fixed claw 1, and its bottom is connected to the connecting seat 3. The fixed claw 1 includes a main body 11, an extension 12, and a bent portion 13 connected in sequence, forming a U-shaped structure with a cavity 14 in the middle. The extension 12 is provided with a sliding hole 121. The sliding claw 5 is slidably connected to the sliding hole 121 and is located in the cavity 14. The main body 11 is provided with a mounting hole 111 for fixing the driving member 4. The telescopic end of the driving member 4 is fixed in the mounting hole 111 and passes through the mounting hole 111 to connect to the sliding claw 5. The opposing surfaces of the sliding claw 5 and the bent portion 13 are both curved surfaces, and they match the shape of the rod-shaped hydrogen production electrode. The driving member 4 may be a telescopic electric cylinder, controlled by a controller.

[0072] like Figure 2 As shown, the curved cross-section of the side of the bent portion 13 facing the sliding claw 5 is a vertical first S-shaped curve 131, including a first top inner curve, a vertical portion, and a first bottom outer curve connected in sequence. The curved cross-section of the side of the sliding claw 5 facing the bent portion 13 is a bent second S-shaped curve 501, including a second top inner curve, a curve concave portion, and a second bottom outer curve connected in sequence. The shapes of the first top inner curve and the second top inner curve are matched. The shapes of the first bottom outer curve and the second bottom outer curve are matched. A clamping area for fixing the rod-shaped hydrogen production electrode is formed between the curve concave portion and the vertical portion.

[0073] like Figure 3 As shown, the sliding jaw 5 includes a jaw body 51, a jaw connecting rod 52, and a top stop 53. The two ends of the jaw connecting rod 52 are connected to the jaw body 51 and the top stop 53, respectively, and pass through the sliding hole 121. The jaw body 51 and the top stop 53 are located at the bottom and top of the extension 12 of the fixed jaw 1, respectively.

[0074] like Figure 3 As shown, the extension 12 of the fixing claw 1 is also provided with a first sliding groove 122 and a second sliding groove 123. The first sliding groove 122 and the second sliding groove 123 are respectively located on both sides of the sliding hole 121. The top stop 53 is rotatably connected to a first pulley 531 that cooperates with the first sliding groove 122 and a second pulley 532 that cooperates with the second sliding groove 123. Furthermore, the first sliding groove 122 and the second sliding groove 123 can be provided on the extension 12 of the fixing claw 1, and the first pulley 531 and the second pulley 532 can be correspondingly provided on the top stop 53, so that the sliding claw 5 slides more smoothly.

[0075] like Figure 4 As shown, the gripping device may also include a connecting spring 6. One end of the connecting spring 6 is connected to the connecting plate 2, and the other end is connected to the junction of the extension 12 and the bend 13.

[0076] like Figure 5 As shown, for the connection between the fixed claw 1 and the connecting plate 2, the gripping device further includes a top angle connector 7 and a bottom angle connector 8. The top angle connector 7 and the bottom angle connector 8 are located at the upper and lower ends of the main body 11 of the fixed claw 1, respectively. Both the top angle connector 7 and the bottom angle connector 8 are connected to the connecting plate 2 and the main body 11 of the fixed claw 1, respectively. Furthermore, a top fixing rod 112 and a bottom fixing rod 113 are fixed at the upper and lower ends of the main body 11 of the fixed claw 1, respectively. The top fixing rod 112 is connected to the top angle connector 7, and the bottom fixing rod 113 is connected to the bottom angle connector 8.

[0077] Both the fixed claw 1 and the sliding claw 5 are made of insulating material, which can be plastic. This ensures structural stability and prevents current from entering the main structure and affecting normal operation.

[0078] The connecting seat 3 can be connected to the external robotic arm to enable vertical extraction or flipping of the gripped rod-shaped hydrogen production electrode.

[0079] Compared with the prior art, the gripping device of this utility model has the following advantages:

[0080] (1) This specification provides a gripping device for extracting rod-shaped hydrogen production electrodes. The sliding claw 5 driven by the telescopic cylinder and the relatively fixed claw 1 can grip the rod-shaped hydrogen production electrode. It is also equipped with a connecting seat 3, which can be connected to other robotic arm structures to realize the picking and placing of rod-shaped hydrogen production electrodes. Overall, it can realize the automated extraction operation of rod-shaped hydrogen production electrodes, reduce labor costs, improve work efficiency, and make it safer and more convenient.

[0081] (2) In this embodiment of the specification, the vertical first S-shaped curve 131 and the bent second S-shaped curve 501 work together to guide the fixed rod-shaped hydrogen production electrode to slide into the clamping area. The two bottom outward curves bring the bottom area between the sliding claw 5 and the bent part 13 closer, which can prevent the fixed rod-shaped hydrogen production electrode from falling and achieve stable fixation. The clamping area formed by the vertical part and the concave part of the curve can be matched to the clamping of various specifications of fixed rod-shaped hydrogen production electrodes, and the two bottom outward curves ensure reliable fixation of various specifications of fixed rod-shaped hydrogen production electrodes.

[0082] (3) In this embodiment of the specification, based on the linear drive of the sliding claw 5 by the telescopic cylinder, a claw connecting rod 52 and a top stop 53 are also provided on the sliding claw 5. The claw connecting rod 52 passes through the sliding hole 121 of the extension 12 of the fixed claw 1, so that the top stop 53 is mounted on the top of the extension 12, thereby achieving sliding guidance, ensuring the linear movement of the sliding claw 5, and improving the stability of the structure.

[0083] (4) In this embodiment of the specification, considering that the gripping of the heavy rod-shaped hydrogen production electrode may cause the top of the fixing claw 1 to bend or even break, in order to improve the reliability of the use process, a connecting spring 6 is provided to connect the top of the fixing claw 1 and the connecting plate 2. If the top of the fixing claw 1 bends during use, it will provide a certain elastic force to ensure the stable use of the fixing claw 1.

[0084] This specification also provides a robotic arm, which may include the gripping device and robotic arm as described in any of the above embodiments. The robotic arm is connected to the connecting seat of the gripping device. The robotic arm in the above embodiments can realize the picking and placing of the rod-shaped hydrogen production electrode, and can realize the automated extraction operation of the rod-shaped hydrogen production electrode, reducing labor costs, improving work efficiency, and making it safer and more convenient.

[0085] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. For details, please refer to the foregoing descriptions of the relevant processing embodiments; they will not be repeated here.

[0086] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this specification should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents.

[0087] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to the embodiments described herein by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A gripping device, characterized in that, include: A fixing claw, the fixing claw comprising a main body, an extension, and a bent portion connected in sequence, wherein a portion of the main body and the bent portion are disposed opposite to each other; A sliding jaw is slidably connected to the extension portion, and at least a portion of the sliding jaw is located between the portion of the main body and the bent portion; the sliding jaw and the bent portion are disposed opposite to each other, and the shape of the opposite surface of the sliding jaw and the bent portion matches the shape of the object being operated on; A driving component, which is connected to the sliding jaw, is used to drive the sliding jaw to move closer to or away from the bent portion; A connecting seat is used to detachably connect the main body to the robotic arm.

2. The gripping device according to claim 1, characterized in that, The extension is provided with a sliding hole, and the sliding claw is slidably connected to the sliding hole.

3. The gripping device according to claim 2, characterized in that, The sliding jaw includes a jaw body, a jaw connecting rod, and a top stop connected in sequence. The jaw connecting rod passes through the sliding hole, and the jaw body and the top stop are located at the bottom and top of the extension, respectively.

4. The gripping device according to claim 3, characterized in that, The extension is also provided with a first sliding groove and a second sliding groove located on both sides of the sliding hole. The top stop is connected with a rotatable first pulley and a second pulley. The first pulley cooperates with the first sliding groove, and the second pulley cooperates with the second sliding groove.

5. The gripping device according to claim 1, characterized in that, The main body is provided with mounting holes for installing the driving component. Part of the driving component is fixedly installed in the mounting holes, and one end of the driving component is connected to the sliding claw.

6. The gripping device according to claim 1, characterized in that, The object being operated on is a rod-shaped hydrogen production electrode. The opposing surfaces of the sliding claw and the bent portion are both curved surfaces, and they match the shape of the rod-shaped hydrogen production electrode.

7. The gripping device according to claim 6, characterized in that, The curved cross section of the opposite surface of the bent portion is a first S-shaped curve, which includes a first top inner bend, a vertical portion and a first bottom outer bend connected in sequence. The curved cross section of the opposite surface of the sliding claw is a second S-shaped curve, which includes a second top inner curve, a curve concave part and a second bottom outer curve connected in sequence. The first top inward bend matches the shape of the second top inward bend, and the first bottom outward bend matches the shape of the second bottom outward bend. A clamping area for fixing the rod-shaped hydrogen production electrode is formed between the concave part of the curve and the vertical part.

8. The gripping device according to claim 1, characterized in that, Also includes: A connecting plate is connected to one side of the main body, and the bottom of the connecting plate is also connected to the connecting seat.

9. The gripping device according to claim 8, characterized in that, The gripping device also includes a connecting spring, one end of which is connected to the connecting plate, and the other end of which is connected to the junction of the extension and the bend.

10. The gripping device according to claim 8, characterized in that, The grasping device further includes: A top corner connector and a bottom corner connector are provided. The top corner connector is used to connect the upper end of the main body to the connecting plate, and the bottom corner connector is used to connect the lower end of the main body to the connecting plate.

11. The gripping device according to claim 10, characterized in that, A top fixing rod is provided at the upper end of the main body, and the top fixing rod is used to connect with the top corner connector. A bottom fixing rod is provided at the lower end of the main body, and the bottom fixing rod is used to connect with the bottom corner connector.

12. The gripping device according to claim 1, characterized in that, Both the fixed claw and the sliding claw are made of insulating material.

13. The gripping device according to claim 1, characterized in that, The connecting seat is adapted to the connection structure of the robotic arm.

14. The gripping device according to claim 1, characterized in that, The driving component is a telescopic electric cylinder.

15. A robotic arm, characterized in that, include: The gripping device according to any one of claims 1 to 14; A robotic arm, which is connected to the connecting seat of the gripping device.

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