Gripping device

Abstract

The utility model relates to the technical field of mechanical tools, aims to solve the technical problem that some known grabbing mechanisms are poor in universality, and provides a grabbing device which comprises a mounting part, a plurality of first transmission wheels, a plurality of second transmission wheels, a transmission part, a plurality of grabbing parts and a driving part. The first transmission wheels and the second transmission wheels are matched to form a plurality of corresponding transmission sets, each transmission set comprises the first transmission wheel and the corresponding second transmission wheels arranged at intervals, and in each transmission set, the distance between the second transmission wheels and the center of the installation part is larger than the distance between the first transmission wheels and the center of the installation part. The transmission part comprises a plurality of transmission sections, and the transmission sections are in transmission connection with the first transmission wheels and the second transmission wheels in the corresponding transmission sets. The transmission section of each transmission set is provided with a grabbing piece. The driving part is in transmission connection with the transmission part and used for driving the transmission section of the transmission part to move in the extending direction. The grabbing device has the beneficial effect that the universality of the grabbing device is improved.

Description

Technical Field

[0001] This application relates to the field of mechanical tooling technology, and more specifically, to gripping devices. Background Technology

[0002] Some known gripping mechanisms cannot adjust the gripping range, resulting in poor versatility. Utility Model Content

[0003] This application provides a gripping device to solve the technical problem of poor versatility of some known gripping mechanisms.

[0004] This application provides a gripping device, including a mounting component, a plurality of first transmission wheels, a plurality of second transmission wheels, a transmission component, a plurality of gripping components, and a driving component. The plurality of first transmission wheels and the plurality of second transmission wheels are adapted to form a plurality of corresponding transmission groups. Each transmission group includes a first transmission wheel and corresponding, spaced-apart second transmission wheels. In each transmission group, the distance from the second transmission wheel to the center of the mounting component is greater than the distance from the first transmission wheel to the center of the mounting component. The transmission component includes a plurality of transmission segments, each corresponding to one of the transmission groups. The transmission segments are tractively connected to the first and second transmission wheels in their respective transmission groups. Each transmission segment in each transmission group is provided with a gripping component. The driving component is tractively connected to the transmission component and drives the transmission segments of the transmission component to move along their extension direction, thereby causing the plurality of gripping components to move between the first and second transmission wheels of their corresponding transmission groups.

[0005] According to the gripping device of this application, a driving component drives a transmission component to move, enabling multiple gripping components to move on the transmission section of their corresponding transmission groups. These gripping components can move closer to or further away from the center of the mounting component, thus allowing adjustment of the gripping area enclosed by the multiple gripping components to meet the gripping requirements of workpieces of different sizes and improve the versatility of the gripping device. Furthermore, multiple first transmission wheels and multiple second transmission wheels enable stepless movement of the transmission components, thereby achieving stepless adjustment of the positions of the multiple gripping components between the first and second transmission wheels of the corresponding transmission groups, meeting the high-precision adjustment requirements of the gripping range.

[0006] In one possible implementation:

[0007] The transmission segments of the plurality of transmission assemblies are distributed radially along a direction away from the center of the mounting component.

[0008] In one possible implementation:

[0009] The gripping device further includes multiple guide components, which are disposed on the mounting component, and the multiple gripping components are connected to the guide components one by one.

[0010] In one possible implementation:

[0011] The mounting component includes a main body and a plurality of mounting portions, which are sequentially connected to the main body along its circumference and are oriented in different directions; each mounting portion is rotatably connected to a second transmission wheel at its end away from the main body; and a plurality of first transmission wheels are rotatably connected to the edge of the main body.

[0012] In one possible implementation:

[0013] Each transmission group has two transmission sections between the first transmission wheel and the second transmission wheel, with the two transmission sections located on both sides of the first transmission wheel. Each transmission group is provided with a corresponding gripping member, and the gripping member corresponding to the transmission group is connected to one of the two transmission sections.

[0014] In one possible implementation:

[0015] Along the circumference of the mounting member, the gripping member corresponding to each of the transmission groups is connected to the transmission segment on the same side of the first transmission wheel, so that the multiple gripping members move synchronously closer to or further away from the center of the mounting member.

[0016] In one possible implementation:

[0017] The gripping device further includes a drive wheel, which is tractively connected to the drive member. The drive member further includes a drive segment connected between two adjacent drive segments, the drive segment being tensioned to the drive wheel, and the drive member being configured to drive the drive wheel to rotate, thereby causing the drive segment to move along its extension direction via the drive segment.

[0018] In one possible implementation:

[0019] The gripper includes a first limiting part and an adsorption part. One end of the first limiting part is connected to the transmission section, and the other end of the first limiting part is provided with a first limiting surface. The adsorption part is connected to the first limiting part and is used to adsorb the target part until the target part abuts against multiple first limiting surfaces.

[0020] In one possible implementation:

[0021] The gripping device further includes a second limiting part, which protrudes from the mounting member and has a second limiting surface opposite to the mounting member. The second limiting surface is coplanar with a plurality of first limiting surfaces.

[0022] In one possible implementation:

[0023] Both the first and second transmission wheels are pulley structures, the transmission component is a transmission belt, and the transmission component is connected to multiple first and second transmission wheels. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the gripping device and target component according to an embodiment of this application.

[0026] Figure 2 This is a three-dimensional structural diagram of a gripping device according to an embodiment of this application.

[0027] Figure 3 This is a schematic diagram of the transmission component and gripping component according to an embodiment of this application.

[0028] Figure 4 This is a schematic diagram of the structure of a transmission component according to an embodiment of this application.

[0029] Figure 5 This is a bottom view of a gripping device according to an embodiment of this application.

[0030] Figure 6 This is a side view of a gripping device according to an embodiment of this application.

[0031] Figure 7 This is a partial structural schematic diagram of a gripping device according to an embodiment of this application.

[0032] Figure 8 This is a partial exploded structural diagram of a gripper according to an embodiment of this application.

[0033] Explanation of key component symbols:

[0034] Grasping device 100

[0035] Installation component 10

[0036] Main body 11

[0037] Installation section 12

[0038] First transmission wheel 21

[0039] Second drive wheel 22

[0040] Transmission group 30

[0041] Transmission component 40

[0042] Transmission section 41

[0043] Drive segment 42

[0044] First connecting segment 43

[0045] Second connecting section 44

[0046] 50 items were grabbed

[0047] First limiting part 51

[0048] Limit block 511

[0049] Connecting protrusion 512

[0050] Adsorption section 52

[0051] Connecting part 53

[0052] First connecting block 531

[0053] Second connecting block 532

[0054] Connecting arm 54

[0055] Drive component 60

[0056] Drive wheel 70

[0057] Guide component 80

[0058] Guide rail 81

[0059] Slider 82

[0060] Second limiting part 90

[0061] First surface P1

[0062] Second surface P2

[0063] First limiting plane P3

[0064] Second limiting surface P4

[0065] Mounting hole K

[0066] Connecting slot C

[0067] Target part 200

[0068] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0069] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0070] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is said to be "set on" another component, it can be directly set on the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0071] 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. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0072] Some embodiments of this application are described in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0073] See Figure 1 and Figure 2This embodiment provides a gripping device 100, including a mounting member 10, a first transmission wheel 21, a second transmission wheel 22, a transmission member 40, multiple gripping elements 50, and a driving member 60. The multiple first transmission wheels 21 and multiple second transmission wheels 22 are adapted to form multiple corresponding transmission groups 30. Each transmission group 30 includes a first transmission wheel 21 and corresponding, spaced-apart second transmission wheels 22. In each transmission group 30, the distance from the second transmission wheel 22 to the center of the mounting member 10 is greater than the distance from the first transmission wheel 21 to the center of the mounting member 10. The transmission member 40 includes multiple transmission segments 41, which are correspondingly disposed in the multiple transmission groups 30. The transmission segments 41 are drively connected to the first transmission wheel 21 and the second transmission wheel 22 in the corresponding transmission group 30. Each transmission segment 41 of each transmission group 30 is provided with a gripping element 50. The drive unit 60 is connected to the transmission unit 40. The drive unit 60 is used to drive the transmission section 41 of the transmission unit 40 to move along its extension direction, so as to drive the multiple gripping members 50 to move between the first transmission wheel 21 and the second transmission wheel 22 of the corresponding transmission group 30.

[0074] According to the gripping device 100 of this embodiment, the driving member 60 drives the transmission member 40 to move, enabling multiple gripping members 50 to move on the transmission section 41 of the corresponding transmission group 30, and to move closer to or further away from the center of the mounting member 10. This allows for adjustment of the size of the gripping area enclosed by the multiple gripping members 50, meeting the gripping requirements of workpieces of different sizes and improving the versatility of the gripping device 100. Furthermore, the multiple first transmission wheels 21 and multiple second transmission wheels 22 enable stepless movement of the transmission member 40, thereby achieving stepless adjustment of the position of the multiple gripping members 50 between the first transmission wheels 21 and the second transmission wheels 22 of the corresponding transmission group 30, meeting the high-precision adjustment requirements of the gripping range.

[0075] In some embodiments, multiple transmission groups 30 are distributed circumferentially along the mounting member 10, so that multiple gripping members 50 can grip the target member 200 circumferentially along the mounting member 10, thereby improving the gripping stability of the target member 200.

[0076] In some embodiments, the transmission segments 41 of the plurality of transmission assemblies 30 are radially distributed along a direction away from the center of the mounting member 10. This can improve the uniformity of the gripping area enclosed by the plurality of gripping members 50, so as to achieve stable gripping of target members 200 of conventional rectangular, circular or other shapes.

[0077] In some embodiments, see Figures 2 to 4The transmission component 40 is a closed ring, sleeved on multiple second transmission wheels 22, with multiple first transmission wheels 21 located on the outside of the transmission component 40. The transmission component 40 includes multiple circumferentially distributed transmission segments 41, which are connected end-to-end in sequence. Each transmission group 30 has two transmission segments 41 between the first transmission wheel 21 and the second transmission wheel 22, located on both sides of the first transmission wheel 21. Each transmission group 30 is correspondingly provided with a gripping component 50, and the gripping component 50 corresponding to the transmission group 30 is connected to one of the two transmission segments 41.

[0078] Thus, the transmission member 40 can be tensioned by multiple first transmission wheels 21 and multiple second transmission wheels 22, and multiple transmission segments 41 can be driven to move circumferentially along the transmission member 40 by the drive member 60, thereby driving the gripping member 50 connected to the transmission segment 41 to move. Since the transmission segment 41 is tensioned between the first transmission wheels 21 and the second transmission wheels 22, the gripping member 50 can move between adjacent first transmission wheels 21 and second transmission wheels 22, and can move to the inside or outside of the mounting member 10, thereby realizing the position adjustment of multiple gripping members 50 and the adjustment of the gripping range of multiple gripping members 50.

[0079] Furthermore, by moving a single closed-loop transmission member 40, the number of first transmission wheels 21 and second transmission wheels 22 can be reduced, thereby reducing the overall weight of the gripping device 100.

[0080] In some embodiments, along the circumferential direction of the mounting member 10, the gripping member 50 corresponding to each transmission group 30 is connected to the transmission segment 41 on the same side of the first transmission wheel 21, so that the multiple gripping members 50 move synchronously closer to or further away from the center of the mounting member 10. In this way, the range of the multiple gripping members 50 can be uniformly expanded or uniformly reduced.

[0081] In some embodiments, see Figure 2 and Figure 3 The transmission component 40 also includes multiple first connecting sections 43 and multiple second connecting sections 44. Two adjacent transmission sections 41 are connected at their ends near the inner side of the mounting member 10 via a first connecting section 43, and the first connecting section 43 is tensioned to the first transmission wheel 21. Two adjacent transmission components 40 are connected at their ends near the outer side of the mounting member 10 via a second connecting section 44, and the second connecting section 44 is tensioned to the second transmission wheel 22. Along the circumference of the mounting member 10, the first connecting sections 43 and second connecting sections 44 are staggered, and adjacent first connecting sections 43 and second connecting sections 44 are connected by a transmission section 41.

[0082] In some embodiments, both the first transmission wheel 21 and the second transmission wheel 22 are pulley structures, and the transmission member 40 is a transmission belt, which is connected to the plurality of first transmission wheels 21 and the plurality of second transmission wheels 22. In other embodiments, the transmission member 40 may also be a transmission chain, and the first transmission wheels 21 and the second transmission wheels 22 are respectively configured as sprockets.

[0083] In some embodiments, see Figure 5 The gripping device 100 also includes a drive wheel 70, which is tractively connected to the drive member 60. The drive member 40 also includes a drive section 42, which is connected between two adjacent drive sections 41. The drive section 42 is tensioned to the drive wheel 70. The drive member 60 is configured to drive the drive wheel 70 to rotate, so as to drive the drive section 41 to move along its extension direction via the drive section 42.

[0084] Thus, by driving the drive wheel 70 to rotate through the drive component 60, the transmission component 40 can be moved along its circumference, thereby causing multiple gripping components 50 to reciprocate between the inner and outer sides of the mounting component 10.

[0085] In some embodiments, see Figure 5 Two first transmission wheels 21 are provided between two adjacent second transmission wheels 22 among a plurality of second transmission wheels 22. Along the circumference of the mounting member 10, the drive wheel 70 is located between the two first transmission wheels 21. Along the radial direction of the mounting member 10, the drive wheel 70 is located between the second transmission wheels 22 and the first transmission wheels 21. The drive section 42 is wound around the drive wheel 70 and the two first transmission wheels 21 located on both sides of the drive wheel 70. The transmission section 41 is wound around the other first transmission wheels 21 and the second transmission wheels 22, and the transmission section 41 and the drive section 42 are connected end to end to form a closed structure.

[0086] Thus, the drive wheel 70 can be positioned between the two first transmission wheels 21 located inside the mounting member 10, making it difficult for components located outside the mounting member 10 to extend into the inside of the mounting member 10, thereby improving the operational reliability of the drive wheel 70. Here, the radial direction of the mounting member 10 refers to the direction between the inner side and the outer side of the mounting member 10.

[0087] In some embodiments, see Figure 6 The mounting component 10 includes a first surface P1 and a second surface P2 arranged opposite to each other. The driving component 60 is disposed on the first surface P1. The first transmission wheel 21, the second transmission wheel 22, and the driving wheel 70 are all located on the side of the second surface P2 opposite to the first surface P1. Thus, the driving component 60 does not occupy the space on one side of the second surface P2, improving the overall integration of the gripping device 100.

[0088] In some embodiments, see Figure 5The mounting component 10 includes a main body 11 and a plurality of mounting portions 12. The plurality of mounting portions 12 are sequentially connected to the main body 11 along its circumference, and are oriented in different directions. Each mounting portion 12 has a second drive wheel 22 rotatably connected to one end opposite to the main body 11. A plurality of first drive wheels 21 are rotatably connected to the edge of the main body 11. In this way, the overall weight of the mounting component 10 can be reduced, so as to realize a lightweight design of the gripping device 100. In other embodiments, the mounting component 10 can also be constructed as a single plate.

[0089] In some implementations, see Figure 5 The mounting portion 12 is generally elongated, with one end connected to the main body portion 11 and the other end extending outward along the radial direction of the main body portion 11. Multiple elongated mounting portions 12 are arranged radially.

[0090] In other embodiments, the second drive wheel 22 may also be connected to one end of the mounting portion 12 connected to the main body portion 11.

[0091] In some embodiments, see Figure 5 There are four mounting parts 12, which are arranged in a cross shape.

[0092] In some embodiments, see Figure 5 The gripping device 100 also includes a plurality of guide components 80, which are disposed on the mounting member 10, and the plurality of gripping members 50 are connected to the guide components 80 one by one. In this way, the guide components 80 can guide the movement direction of the gripping members 50, thereby improving the accuracy of the movement position of the gripping members 50.

[0093] In some implementations, see Figure 5 Multiple guide components 80 are distributed circumferentially along the mounting member 10, and the extension directions of the multiple guide components 80 are arranged radially. The multiple guide components 80 are respectively connected to the mounting member 10 and the multiple gripping members 50, and the multiple guide components 80 are used to guide the gripping members 50 to move closer to each other or further away from each other along the radial direction of the mounting member 10.

[0094] In some embodiments, see Figure 5 The guide assembly 80 includes a guide rail 81 and a slider 82. The guide rail 81 extends radially along the mounting member 10 and is mounted on the second surface P2. The slider 82 is slidably disposed on the guide rail 81 and connected to the gripper 50 to guide the gripper 50. In other embodiments, the guide assembly 80 may also be configured as a guide post or other guide structure.

[0095] In some embodiments, see Figure 6 and Figure 7The gripper 50 includes a first limiting part 51 and an adsorption part 52. One end of the first limiting part 51 is connected to the transmission section 41, and the other end of the first limiting part 51 is provided with a first limiting surface P3. The first limiting surfaces P3 of the multiple first limiting parts 51 are coplanar. The adsorption part 52 is connected to the first limiting part 51 and is used to adsorb the target part 200 until the target part 200 abuts against the multiple first limiting surfaces P3.

[0096] When the gripper 50 grips the target piece 200, multiple first limiting surfaces P3 abut against the surface of the target piece 200, and the adsorption part 52 applies an adsorption force to the target piece 200, causing the target piece 200 to abut against the multiple first limiting surfaces P3. Thus, when the target piece 200 has a relatively thin structure, the first limiting surfaces P3 can limit the deformation of the target piece 200, thereby improving the protective effect of the gripping device 100 on the target piece 200 when gripping it.

[0097] In some implementations, see Figure 6 Multiple first limiting surfaces P3 are arranged coplanarly to enhance the protection of the target component 200 with a planar surface. In other embodiments, the positional relationship of the multiple first limiting surfaces P3 can be appropriately adjusted according to the different structures of the target component 200.

[0098] In some embodiments, see Figure 6 The gripping device 100 also includes a second limiting part 90, which protrudes from the mounting member 10 and is located inside the plurality of first transmission wheels 21. The second limiting part 90 has a second limiting surface P4 that is opposite to the mounting member 10, and the second limiting surface P4 is coplanar with the plurality of first limiting surfaces P3.

[0099] During the grasping of the target part 200, some parts of the target part 200 have through holes, making certain areas of the target part 200 relatively weak. By setting the second limiting part 90, the second limiting surface P4 abuts against the weak part of the target part 200, thereby further improving the reliability of the target part 200 when it is adsorbed. At the same time, the second limiting surface P4 is coplanar with multiple first limiting surfaces P3, which can ensure the positional accuracy of the grasping part 50 in the height direction when adsorbing the target part 200, thereby facilitating improved grasping accuracy and meeting various needs such as precise handling, precision machining, and precision inspection of the target part 200.

[0100] In some implementations, see Figure 6 The second limiting part 90 is protruding from the second surface P2 and is disposed on the main body part 11 of the mounting part 10.

[0101] In some embodiments, see Figure 7 and Figure 8The gripper 50 also includes a connecting portion 53. One end of the connecting portion 53 is connected to the transmission member 40, and the other end of the connecting portion 53 is connected to the first limiting portion 51 and the adsorption portion 52. The connecting portion 53 is also connected to the slider 82 of the guide assembly 80.

[0102] In some implementations, see Figure 7 and Figure 8 The gripper 50 also includes a connecting arm 54. A connecting portion 53 is located between two adjacent transmission sections 41. One end of the connecting arm 54 is connected to the connecting portion 53, and the other end of the connecting arm 54 is suspended relative to the second connecting block 532 and has a connecting groove C. The transmission section 41 fits into the connecting groove C and is connected to the connecting arm 54. In other embodiments, the connecting arm 54 may be located on one side of the transmission section 41 and connected to the transmission section 41 by a fastening structure.

[0103] In some implementations, see Figure 7 and Figure 8 The connecting part 53 includes a first connecting block 531 and a second connecting block 532. The first connecting block 531 is connected to the first limiting part 51 and the adsorption part 52. The second connecting block 532 connects the first connecting block 531 and the slider 82. The second connecting block 532 is located between two adjacent transmission sections 41. One end of the first connecting block 531 is connected to the second connecting block 532, and the other end extends beyond the two adjacent transmission sections 41 and is connected to the first limiting part 51. The adsorption part 52 is also connected to the end of the first connecting block 531 that extends beyond the transmission section 41. This improves the installation stability of the adsorption part 52.

[0104] In some implementations, see Figure 7 and Figure 8 The first limiting part 51 has a mounting hole K. The adsorption part 52 is received within the mounting hole K. This allows the adsorption part 52 to adsorb the target part 200 while the first limiting part 51 abuts against the target part 200, thereby improving the integration of the gripper 50. In other embodiments, the first limiting part 51 and the adsorption part 52 may also be arranged adjacent to each other.

[0105] In some implementations, see Figure 7 and Figure 8 The first limiting part 51 includes a limiting block 511 and two connecting protrusions 512. The limiting block 511 has mounting holes K. The two connecting protrusions 512 are spaced apart from the limiting block 511, and both connecting protrusions 512 are connected to the first connecting block 531. The adsorption part 52 is located between the two connecting protrusions 512. This facilitates the installation of the adsorption part 52.

[0106] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A gripping device, characterized in that, include: Installation components; Multiple first transmission wheels and multiple second transmission wheels are adapted to form multiple corresponding transmission groups. Each transmission group includes a first transmission wheel and a corresponding and spaced-apart second transmission wheel. In each transmission group, the distance from the second transmission wheel to the center of the mounting component is greater than the distance from the first transmission wheel to the center of the mounting component. A transmission component, comprising multiple transmission segments, each of which is correspondingly disposed in multiple transmission groups, wherein the transmission segments are drivingly connected to the first transmission wheel and the second transmission wheel in the corresponding transmission group; Multiple gripping components are provided, and each of the transmission sections of the transmission group is provided with a gripping component; as well as A driving member is connected to the transmission member and is used to drive the transmission segment of the transmission member to move along its extension direction, so as to drive the plurality of gripping members to move between the first transmission wheel and the second transmission wheel of the corresponding transmission group.

2. The gripping device according to claim 1, characterized in that: The transmission segments of the plurality of transmission assemblies are distributed radially along a direction away from the center of the mounting component.

3. The gripping device according to claim 1, characterized in that: The gripping device further includes multiple guide components, which are disposed on the mounting component, and the multiple gripping components are connected to the guide components one by one.

4. The gripping device according to claim 1, characterized in that: The mounting component includes a main body and a plurality of mounting parts, wherein the plurality of mounting parts are sequentially connected to the main body along the circumference of the main body, and the plurality of mounting parts are arranged in different directions; Each of the mounting portions is rotatably connected to a second transmission wheel at one end away from the main body portion; The edge of the main body is rotatably connected to a plurality of the first transmission wheels.

5. The gripping device according to claim 1, characterized in that: Each transmission group has two transmission sections between the first transmission wheel and the second transmission wheel, with the two transmission sections located on both sides of the first transmission wheel. Each transmission group is provided with a corresponding gripping member, and the gripping member corresponding to the transmission group is connected to one of the two transmission sections.

6. The gripping device according to claim 5, characterized in that: Along the circumference of the mounting member, the gripping member corresponding to each of the transmission groups is connected to the transmission segment on the same side of the first transmission wheel, so that the multiple gripping members move synchronously closer to or further away from the center of the mounting member.

7. The gripping device according to claim 1, characterized in that: The gripping device further includes a drive wheel, which is throttle-connected to the drive component; The transmission component further includes a drive section connected between two adjacent transmission sections. The drive section is tensioned to the drive wheel. The drive component is configured to drive the drive wheel to rotate, thereby driving the transmission section to move along its extension direction via the drive section.

8. The gripping device according to claim 1, characterized in that: The gripper includes a first limiting part and an adsorption part. One end of the first limiting part is connected to the transmission section, and the other end of the first limiting part is provided with a first limiting surface. The adsorption part is connected to the first limiting part and is used to adsorb the target part until the target part abuts against multiple first limiting surfaces.

9. The gripping device according to claim 8, characterized in that: The gripping device further includes a second limiting part, which protrudes from the mounting member and has a second limiting surface opposite to the mounting member. The second limiting surface is coplanar with a plurality of first limiting surfaces.

10. The gripping device according to claim 1, characterized in that: Both the first and second transmission wheels are pulley structures, the transmission component is a transmission belt, and the transmission component is connected to multiple first and second transmission wheels.

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