Clamping jaw and clamping jaw device

Abstract

The utility model relates to the technical field of photovoltaics and semiconductors, in particular to a clamping jaw and a clamping jaw device, and aims to solve the problem that a boat carrying manipulator cannot carry a plurality of carriers at the same time. The clamping jaw comprises a first supporting assembly, at least two first bearing assemblies, at least two first sensors and at least two first elastic assemblies. The at least two first bearing assemblies can grab the ends of the two carriers at the same time, so that the first bearing assemblies are matched with the two side clamping jaws to grab the two carriers at the same time, the number of products capable of being grabbed by the clamping jaws is increased, and then the number of products carried by the boat carrying manipulator comprising the clamping jaws is increased. Besides, under the condition that the first bearing assembly does not bear the carrier, the first bearing assembly is separated from the sensing part of the corresponding first sensor, and under the condition that the first bearing assembly bears the carrier, the first bearing assembly compresses the first elastic assembly and makes contact with the corresponding first sensor, and therefore whether the first bearing assembly bears the carrier or not is detected; therefore, material existence detection of the clamping jaw is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of photovoltaic and semiconductor technology, and in particular to a clamping jaw and a clamping jaw device. BACKGROUND

[0002] Semiconductor and photovoltaic tube type devices, such as diffusion furnaces, annealing furnaces, oxidation furnaces, low pressure chemical vapor deposition (LPCVD), plasma enhanced chemical vapor deposition (PECVD), etc., are basically multi-tube devices. The multi-tube devices share a purification table and loading and unloading equipment. The purification table includes a boat handling robot. The boat handling robot carries a boat carrier between a paddle position and a buffer position. As the market continues to demand higher production capacity, the size of the product is increasing, the number of single tubes is increasing, and the number of products that the robot needs to carry is also increasing. However, the boat handling robot in the related art cannot simultaneously carry multiple carriers. CONTENT OF THE UTILITY MODEL

[0003] Therefore, an embodiment of the present application provides a clamping jaw and a clamping jaw device to solve the problem that the boat handling robot cannot simultaneously carry multiple carriers.

[0004] In a first aspect, an embodiment of the present application provides a clamping jaw, comprising: a first support assembly; at least two first carrier assemblies rotatably connected to the first support assembly about a first axis, the at least two first carrier assemblies being respectively arranged on a first side and a second side of the first support assembly in a first direction, the first direction being perpendicular to the extension direction of the first axis; at least two first sensors arranged on the first support assembly, a sensing part of at least one of the first sensors facing the first carrier assembly on the first side of the first support assembly, and a sensing part of at least another one of the first sensors facing the first carrier assembly on the second side of the first support assembly; at least two first elastic assemblies, at least one of the first elastic assemblies being arranged between each of the first carrier assemblies and the first support assembly; wherein the first elastic assembly is configured to provide a pushing force for the corresponding first carrier assembly, so that the first carrier assembly is separated from the sensing part of the corresponding first sensor when the first carrier assembly does not carry a carrier; when the first carrier assembly carries the carrier, the carrier exerts a first reaction force on the first carrier assembly, so that the first carrier assembly compresses the first elastic assembly and contacts the corresponding first sensor.

[0005] In some embodiments of the first aspect, the first support assembly comprises: at least two first support members arranged opposite to each other along the extension direction of the first axis to form an avoiding space, the at least two first bearing assemblies being rotatably connected to the first support members about the first axis; a second support member connecting the at least two first support members, the at least two first sensors being connected to the second support member, and the first sensors being located in the avoiding space.

[0006] In some embodiments of the first aspect, the first support assembly comprises: at least two first support members arranged opposite to each other along the extension direction of the first axis to form an avoiding space, the at least two first bearing assemblies being rotatably connected to the first support members about the first axis; a second support member connecting the at least two first support members, the at least two first sensors being connected to the second support member, and the first sensors being located in the avoiding space.

[0007] In some embodiments of the first aspect, the first support assembly comprises: at least two first support members arranged opposite to each other along the extension direction of the first axis to form an avoiding space, the at least two first bearing assemblies being rotatably connected to the first support members about the first axis; a second support member connecting the at least two first support members, the at least two first sensors being connected to the second support member, and the first sensors being located in the avoiding space.

[0008] In some embodiments of the first aspect, the first bearing assembly comprises: a first bearing body rotatably connected with the first support assembly about the first axis, the first bearing body having a first bearing slot configured to accommodate an end portion of the carrier; and a first spacer disposed in the first bearing slot, the first spacer configured to isolate the first bearing body from the carrier.

[0009] In some embodiments of the second aspect, the gripper device further comprises: a gripper support structure extending along a first direction; the gripper of the first aspect mounted on the gripper support structure at a middle region of the first direction; and at least two side grippers mounted on the gripper support structure at two ends of the first direction, wherein the gripper cooperates with at least one of the side grippers to grip one carrier, and the gripper cooperates with at least another one of the side grippers to grip another carrier.

[0010] In some embodiments of the first aspect, the side gripper comprises: a second support assembly mounted on the gripper support structure; a second bearing assembly rotatably connected with the second support assembly about a third axis; a third sensor disposed on the second support assembly; a sensing member disposed on the second bearing assembly and extending towards a sensing portion of the third sensor; and a third elastic assembly disposed between the second support assembly and the second bearing assembly, wherein the third elastic assembly is configured to provide a pushing force to the second bearing assembly to separate the second bearing assembly from the sensing portion of the third sensor when the second bearing assembly does not carry the carrier, and the carrier exerts a second reaction force on the second bearing assembly to compress the third elastic assembly and make the second bearing assembly contact the third sensor when the second bearing assembly carries the carrier.

[0011] In some embodiments of the first aspect, the second bearing assembly has a blind hole with an opening facing the second support assembly, the second support assembly has a threaded portion extending through the second support assembly along the first direction, the threaded portion is in communication with the blind hole, a first end of the third elastic assembly abuts a blind end of the blind hole, and a second end of the third elastic assembly extends into the threaded portion; and the side gripper further comprises: a locking screw threadedly connected with the threaded portion and abutting the second end of the third elastic assembly.

[0012] In some implementations of the first aspect, the side gripper further comprises: a second mounting component, an end of the second support component away from the second carrier component is rotatably connected with the second mounting component about a fourth axis, the fourth axis is parallel to the first direction; at least two fourth sensors are arranged on the second support component, the sensing part of the fourth sensor faces the second mounting component, at least one of the fourth sensors is located on a first side of the fourth axis in a second direction, and at least another fourth sensor is located on a second side of the fourth axis in the second direction, the second direction is parallel to the extension direction of the third axis; at least two fourth elastic components are arranged between the second mounting component and the second support component, at least one of the fourth elastic components is located on the first side of the fourth axis in the second direction, and at least another fourth elastic component is located on the second side of the fourth axis in the second direction; wherein the fourth elastic component is configured to provide a pushing force for the second support component to separate the second mounting component from the sensing part of the fourth sensor; in the case that the second support component or the second carrier component is collided, the second support component rotates about the fourth axis and compresses the fourth elastic component located on one side of the fourth axis in the second direction, so that the second mounting component contacts the fourth sensor located on the same side of the fourth axis in the second direction.

[0013] In some implementations of the first aspect, the second mounting component comprises: a third mounting piece, the fourth elastic component is arranged between the third mounting piece and the second support component, and the fourth sensor can be separated from or contacted with the third mounting piece; and a fourth mounting piece, which is connected with the third mounting piece perpendicularly, and an end of the second support component away from the second carrier component is rotatably connected with the fourth mounting piece about the fourth axis.

[0014] The gripper provided by the embodiments of the present application has at least two first carrier components, which can simultaneously grasp the end portions of two carriers, so that the two side grippers can simultaneously grasp the two carriers, thereby increasing the number of products that can be grasped by the gripper, and further increasing the number of products handled by the boat carrying manipulator comprising the gripper.

[0015] In addition, the first sensor and the first elastic component are arranged to detect whether the first carrier component carries a carrier, that is, to detect whether the gripper has a load. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description thereof taken in conjunction with the accompanying drawings, in which: The accompanying drawings provide a further understanding of the present application and constitute a part of this specification that illustrates embodiments of the present application. The drawings illustrate exemplary embodiments of the present application and together with the description serve to explain the principles of the present application. In the drawings:

[0017] Figure 1 Fig. 1 shows a structure diagram of a gripper according to an embodiment of the present application.

[0018] Figure 2 Fig. 2 shows a structure diagram of a gripper according to another embodiment of the present application.

[0019] Figure 3 Fig. 3 shows a structure diagram of a gripper according to another embodiment of the present application.

[0020] Figure 4 Fig. 4 shows a top view of a gripper according to an embodiment of the present application.

[0021] Figure 5 Fig. 5 shows a structure diagram of a gripper according to an embodiment of the present application. Figure 4 Fig. 6 shows a cross-sectional view of a gripper in A-A direction.

[0022] Figure 6 Fig. 7 shows a structure diagram of a gripper according to an embodiment of the present application. Figure 4 Fig. 8 shows a cross-sectional view of a gripper in B-B direction.

[0023] Figure 7 Fig. 9 shows a structure diagram of a gripper according to an embodiment of the present application. Figure 4 Fig. 10 shows a cross-sectional view of a gripper in C-C direction.

[0024] Figure 8 Fig. 11 shows a structure diagram of a gripper according to an embodiment of the present application. Figure 4 Fig. 12 shows a cross-sectional view of a gripper in D-D direction.

[0025] Figure 9 Fig. 13 shows a structure diagram of a gripper according to an embodiment of the present application. Figure 4 Fig. 14 shows a cross-sectional view of a gripper in E-E direction.

[0026] Figure 10 Fig. 15 shows a structure diagram of a gripper device according to an embodiment of the present application.

[0027] Figure 11 Fig. 16 shows a structure diagram of a gripper device and a carrier according to an embodiment of the present application.

[0028] Figure 12 Fig. 17 shows a structure diagram of a side gripper according to an embodiment of the present application.

[0029] Figure 13 An exploded view of a side clamping jaw is shown.

[0030] Figure 14 A top view of a side clamping jaw is shown.

[0031] Figure 15 A side view of a side clamping jaw is shown. Figure 14 A cross-sectional view of a side clamping jaw in the F-F direction is shown.

[0032] Figure 16 A side view of a side clamping jaw is shown. Figure 14 A cross-sectional view of a side clamping jaw in the G-G direction is shown.

[0033] Figure 17 A side view of a side clamping jaw is shown. Figure 14 A cross-sectional view of a side clamping jaw in the H-H direction is shown.

[0034] Figure 18 A side view of a side clamping jaw is shown. Figure 14 A cross-sectional view of a side clamping jaw in the I-I direction is shown.

[0035] Reference signs:

[0036] 1, jaw device; 10, jaw; 110, first support assembly; 111, first support; 112, second support; 113, avoiding space; 120, first bearing assembly; 121, first bearing body; 1210, first bearing groove; 122, first isolation piece; 130, first sensor; 131, sensing part of first sensor; 140, first elastic assembly; 150, first mounting assembly; 151, first mounting piece; 152, second mounting piece; 160, second sensor; 161, sensing part of second sensor; 170, second elastic assembly; 181, first heat insulation piece; 182, second heat insulation piece; 183, third heat insulation piece; 20, side jaw; 210, second support assembly; 211, threaded part; 212, third support; 213, fourth support; 220, second bearing assembly; 221, blind hole; 230, third sensor; 231, sensing part of third sensor; 240, sensing piece; 250, third elastic assembly; 260, locking screw; 270, second mounting assembly; 271, third mounting piece; 272, fourth mounting piece; 273, fifth mounting piece; 280, fourth sensor; 281, sensing part of fourth sensor; 290, fourth elastic assembly; 291, protective plate; 292, fourth heat insulation piece; 293, fifth heat insulation piece; 30, jaw support structure; 2, carrier; X, first direction; Y, second direction; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0038] Figure 1 The structure schematic diagram of the jaw provided by an embodiment of the present application is shown. Figure 2 The structure schematic diagram of the jaw provided by another embodiment of the present application is shown. Figure 3 The structure schematic diagram of the jaw provided by another embodiment of the present application is shown. Figure 4 The top view of the jaw provided by an embodiment of the present application is shown. Figure 5 The structure schematic diagram of the jaw provided by an embodiment of the present application is shown. Figure 4 The cross-sectional view of the jaw in the A-A direction is shown.

[0039] Figure 6 The structure schematic diagram of the jaw provided by an embodiment of the present application is shown. Figure 4 The cross-sectional view of the jaw in the B-B direction is shown.

[0040] Figure 7 A structure schematic diagram of a clamping jaw device provided by an embodiment of the present application is shown. Figure 4 A cross-sectional view of the clamping jaw in the C-C direction is shown.

[0041] Figure 8 A structure schematic diagram of a clamping jaw device provided by an embodiment of the present application is shown. Figure 4 A cross-sectional view of the clamping jaw in the D-D direction is shown.

[0042] Figure 9 A structure schematic diagram of a clamping jaw device provided by an embodiment of the present application is shown. Figure 4 A cross-sectional view of the clamping jaw in the E-E direction is shown.

[0043] Figure 10 A structure schematic diagram of a clamping jaw device provided by an embodiment of the present application is shown. Figure 11 A structure schematic diagram of a clamping jaw device and a carrier provided by an embodiment of the present application is shown. As shown in the figure, Figures 1 to 11 The clamping jaw 10 comprises a first support assembly 110, at least two first bearing assemblies 120, at least two first sensors 130 and at least two first elastic assemblies 140.

[0044] Exemplarily, as shown in the figure, Figure 1 The at least two first bearing assemblies 120 are respectively rotatably connected with the first support assembly 110 around the first axis L1. The at least two first bearing assemblies 120 are respectively arranged on the first side and the second side of the first support assembly 110 in the first direction X. The first direction X is perpendicular to the extension direction of the first axis L1.

[0045] As shown in the figure, Figure 5 and Figure 6 The at least two first sensors 130 are arranged on the first support assembly 110, the sensing part 131 of at least one first sensor faces the first bearing assembly 120 on the first side of the first support assembly 110, and the sensing part 131 of at least another first sensor faces the first bearing assembly 120 on the second side of the first support assembly 110. Exemplarily, the first sensor 130 can be a bump microswitch seat, a contact sensor, etc.

[0046] As shown in the figure, Figure 7As shown, at least one first elastic component 140 is arranged between each first bearing component 120 and the first support component 110. The first elastic component 140 is configured to provide a pushing force for the corresponding first bearing component 120 to separate the first bearing component 120 from the sensing part 131 of the corresponding first sensor when the first bearing component 120 does not bear the carrier 2. When the first bearing component 120 bears the carrier 2, the carrier 2 exerts a first reaction force on the first bearing component 120, which compresses the first elastic component 140 and brings the first bearing component 120 into contact with the corresponding first sensor 130.

[0047] Exemplarily, the carrier 2 is a structure capable of bearing a silicon wafer, a glass substrate, a wafer, a battery piece, etc., such as a boat, a boat structure, a flower basket, etc.

[0048] Exemplarily, the first elastic component 140 is a structure with elasticity, such as a rectangular spring, a spiral spring, a rubber piece, etc. Exemplarily, when the carrier 2 is placed on the first bearing component 120, the carrier 2 exerts a first reaction force on the first bearing component 120, which rotates the first bearing component 120 around the first axis L1 and compresses the first elastic component 140 until the first bearing component 120 comes into contact with the corresponding first sensor 130. In other words, the separation of the first bearing component 120 from the sensing part 131 of the corresponding first sensor 130 indicates that the gripper 10 does not grasp the carrier 2, and the contact between the first bearing component 120 and the sensing part 131 of the corresponding first sensor 130 indicates that the gripper 10 grasps the carrier 2.

[0049] The gripper 10 has at least two first bearing components 120, which can simultaneously grasp the end portions of two carriers 2, so as to be capable of cooperating with two side grippers 20 to simultaneously grasp two carriers 2, thereby increasing the number of products that can be grasped by the gripper 10, and further increasing the number of products handled by the boat handling robot including the gripper 10.

[0050] In addition, the first sensor 130 and the first elastic component 140 are arranged to detect whether the first bearing component 120 bears the carrier 2, i.e., to detect whether the gripper 10 has a product.

[0051] In some embodiments, as shown, Figure 8 The first support component 110 includes at least two first support members 111 and a second support member 112.

[0052] The at least two first support members 111 are oppositely arranged along the extension direction of the first axis L1 to form an avoiding space 113, and the at least two first bearing components 120 are rotatably connected to the first support members 111 around the first axis L1.

[0053] Exemplarily, the first bearing assembly 120 is rotatably connected with the first support 111, which can be hinged or connected through a hole shaft, as long as the rotatable connection can be achieved, and the application does not make specific limitation to the rotatable connection mode.

[0054] The second support 112 is connected with the at least two first supports 111, and the at least two first sensors 130 are connected to the second support 112, and the first sensors 130 are located in the avoiding space 113, so that the space inside the first support assembly 110 can be fully utilized, and the size of the clamping jaw 10 is reduced.

[0055] In some embodiments, as shown in Figure 1 and Figure 9 The clamping jaw 10 further comprises a first mounting assembly 150, at least two second sensors 160 and at least two second elastic assemblies 170. The end of the first support assembly 110 away from the first bearing assembly 120 is rotatably connected with the first mounting assembly 150 around a second axis L2. The extension direction of the second axis L2 is parallel to the first direction X.

[0056] The at least two second sensors 160 are arranged on the first support assembly 110. The sensing part 161 of the second sensor faces the first mounting assembly 150. At least one second sensor 160 is located on the first side of the second axis L2 in the second direction Y, and at least another second sensor 160 is located on the second side of the second axis L2 in the second direction Y, which is parallel to the extension direction of the first axis L1.

[0057] The second elastic assembly 170 is arranged between the first mounting assembly 150 and the first support assembly 110. At least one second elastic assembly 170 is located on the first side of the second axis L2 in the second direction Y, and at least another second elastic assembly 170 is located on the second side of the second axis L2 in the second direction Y. The second elastic assembly 170 is configured to provide a pushing force to the first support assembly 110, so that the first mounting assembly 150 is separated from the sensing part 161 of the second sensor. In the case that the first support assembly 110 or the first bearing assembly 120 is collided, the first support assembly 110 rotates around the second axis L1 and compresses the second elastic assembly 170 located on one side of the second axis L2 in the second direction Y, so that the first mounting assembly 150 contacts the second sensor 160 located on the same side of the second axis L2 in the second direction Y.

[0058] In other words, if the first mounting assembly 150 is separated from the sensing part 161 of the second sensor, it indicates that the first support assembly 110 or the first bearing assembly 120 is not collided or the collision is relatively light, which does not affect the boat moving action and can be ignored. If the first mounting assembly 150 is in contact with the second sensor 160 located on the same side of the second axis L2 in the second direction Y, it indicates that the first support assembly 110 or the first bearing assembly 120 is collided, that is, the anti-collision detection of the gripper 10 is realized.

[0059] Exemplarily, the second elastic assembly 170 is a structure with elasticity such as a rectangular spring, a spiral spring, a rubber piece, etc.

[0060] In some embodiments, the first mounting assembly 150 includes a first mounting piece 151 and a second mounting piece 152 connected with each other. The second elastic assembly 170 is arranged between the first mounting piece 151 and the first support assembly 110, and the second sensor 160 can be separated from or in contact with the first mounting piece 151. The second mounting piece 152 is connected with the first mounting piece 151 perpendicularly, and the end of the first support assembly 110 away from the first bearing assembly 120 is rotatably connected with the second mounting piece 152 around the second axis L2. In other words, the first mounting piece 151 and the second mounting piece 152 form a T-shaped structure, which facilitates the installation of the second elastic assembly 170, can reasonably utilize the space, and reduces the size of the gripper 10. Exemplarily, the first mounting piece 151 and the second mounting piece 152 can be integrally formed or separately arranged.

[0061] In some embodiments, the first bearing assembly 120 includes a first bearing body 121 and a first isolation piece 122. The first bearing body 121 is rotatably connected with the first support assembly 110 around the first axis L1, and the first bearing body 121 has a first bearing groove 1210 configured to accommodate the end of the carrier 22. The first isolation piece 122 is arranged in the first bearing groove 1210, and the first isolation piece 122 is configured to isolate the first bearing body 121 from the carrier 2 to prevent the first bearing body 121 from contaminating the carrier 2.

[0062] Exemplarily, the number of the first isolation pieces 122 is multiple, and the multiple first isolation pieces 122 are arranged at both ends of the first bearing groove 1210 in the second direction Y. Exemplarily, the first isolation piece 122 can be arranged at any position requiring isolation such as the side wall and / or the groove bottom of the first bearing groove 1210.

[0063] Exemplarily, the material of the first isolation piece 122 can be ceramic. The first isolation piece 122 can be in point contact or line contact with the carrier 2 to reduce the contact area of the first isolation piece 122 with the carrier 2.

[0064] For example, the first spacer 122 is an elongated structure, and the cross-section of the first spacer 122 is an arc-shaped, semi-circular, triangular, or other structure, so that the carrier 2 can make line contact with the first spacer 122. Figure 1 As shown, the cross-section of the first spacer 122 can be arc-shaped. Exemplarily, the first spacer 122 is a sphere, hemisphere, cone, or other structure, allowing the carrier 2 to make point contact with the first spacer 122. Exemplarily, the first spacer 122 can be designed in other shapes as needed, such as block-shaped, plate-shaped, etc.

[0065] For example, such as Figure 3 , Figures 5 to 7 As shown, the gripper 10 also includes a first heat insulation element 181, a second heat insulation element 182, and a third heat insulation element 183. The first heat insulation element 181, the second heat insulation element 182, and the third heat insulation element 183 can all be sheet metal parts or plate-shaped structural parts.

[0066] This application embodiment also provides a gripper device 1, such as... Figure 10 and Figure 11 As shown, the gripper device 1 includes a gripper support structure 30, a gripper 10 as described in the above embodiment, and at least two side grippers 20.

[0067] The gripper support structure 30 extends along a first direction X. A gripper 10 is mounted in the middle region of the gripper support structure 30 in the first direction X. At least two side grippers 20 are mounted at both ends of the gripper support structure 30 in the first direction X. The gripper 10 cooperates with at least one side gripper 20 to grip one vehicle 2, and the gripper 10 cooperates with at least another side gripper 20 to grip another vehicle 2.

[0068] Since the gripper device 1 includes the gripper 10 in the above embodiments, the gripper device 1 has all the technical features and effects of the gripper 10, which will not be repeated here.

[0069] Figure 12 The diagram shown is a schematic diagram of the side gripper provided in an embodiment of this application. Figure 13 The image shown is an exploded view of a side gripper provided in an embodiment of this application. Figure 14 The image shown is a top view of a side gripper provided in an embodiment of this application. Figure 15 The image shown is an embodiment provided by this application. Figure 14 The diagram shows a cross-sectional view of the side gripper in the FF direction. Figure 16 The image shown is an embodiment provided by this application. Figure 14 The diagram shows a cross-sectional view of the side gripper in the GG direction. Figure 17 The image shown is an embodiment provided by this application. Figure 14 The diagram shows a cross-sectional view of the side gripper in the HH direction. Figure 18 The image shown is an embodiment provided by this application.Figure 14 A cross-sectional view of the side gripper in the I-I direction is shown. In some embodiments, as Figures 12 to 18 As shown, the side gripper 20 includes a second support assembly 210, a second bearing assembly 220, a third sensor 230, an inductor 240, and a third elastic assembly 250.

[0070] The second support assembly 210 is mounted to the gripper support structure 30. Illustratively, as Figure 13 As shown, the second support assembly 210 includes a third support member 212 and a fourth support member 213 connected to each other.

[0071] The second bearing assembly 220 is rotatably connected to the second support assembly 210 about a third axis L3. The third sensor 230 is disposed on the second support assembly 210. The inductor 240 is disposed on the second bearing assembly 220 and extends towards a sensing portion 231 of the third sensor. The third elastic assembly 250 is disposed between the second support assembly 210 and the second bearing assembly 220. The third elastic assembly 250 is configured to provide a pushing force to the second bearing assembly 220 to separate the second bearing assembly 220 from the sensing portion 231 of the third sensor when the second bearing assembly 220 does not bear the carrier 2. When the second bearing assembly 220 bears the carrier 2, the carrier 2 exerts a second reaction force on the second bearing assembly 220, causing the second bearing assembly 220 to compress the third elastic assembly 250 and contact the third sensor 230.

[0072] Illustratively, the rotatable connection between the second bearing assembly 220 and the second support assembly 210 can be a hinge connection or a hole shaft connection, as long as the rotatable connection can be achieved, and the application does not limit the specific manner of the rotatable connection.

[0073] Illustratively, the third elastic assembly 250 is a structure with elasticity, such as a rectangular spring, a spiral spring, a rubber piece, etc. Illustratively, when the carrier 2 is placed on the second bearing assembly 220, the carrier 2 exerts a second reaction force on the second bearing assembly 220, causing the second bearing assembly 220 to rotate about the third axis L3 and compress the third elastic assembly 250 until the second bearing assembly 220 contacts the sensing portion 231 of the third sensor. In other words, the separation of the second bearing assembly 220 and the sensing portion 231 of the third sensor indicates that the side gripper 20 does not grasp the carrier 2, and the contact between the second bearing assembly 220 and the sensing portion 231 of the third sensor indicates that the side gripper 20 grasps the carrier 2.

[0074] The third sensor 230 and the third elastic assembly 250 are configured to detect whether the second bearing assembly 220 bears the carrier 2, i.e., to detect whether the side gripper 20 has the carrier 2.

[0075] In some embodiments, the second bearing assembly 220 has a blind hole 221 with an opening facing the second support assembly 210, the second support assembly 210 has a threaded portion 211 extending through the second support assembly 210 along the first direction X, the threaded portion 211 is in communication with the blind hole 221, a first end of the third elastic assembly 250 abuts a blind end of the blind hole 221, and a second end of the third elastic assembly 250 extends into the threaded portion 211. The side jaw 20 further comprises a locking screw 260. The locking screw 260 is screwed with the threaded portion 211 and abuts the second end of the third elastic assembly 250.

[0076] In practical applications, the third elastic assembly 250 can be replaced by disassembling the locking screw 260, which facilitates the replacement of the third elastic assembly 250. In addition, by adjusting the screwing length of the locking screw 260 and the threaded portion 211, the compression degree of the third elastic assembly 250 can also be adjusted.

[0077] In some embodiments, as shown in FIG. 2B, the side jaw 20 further comprises a second mounting assembly 270, at least two fourth sensors 280, and at least two fourth elastic assemblies 290. Figure 18

[0078] The end of the second support assembly 210 away from the second bearing assembly 220 is rotatably connected to the second mounting assembly 270 about a fourth axis L4. The extension direction of the fourth axis L4 is parallel to the first direction X.

[0079] The at least two fourth sensors 280 are arranged on the second support assembly 210. The sensing portion 281 of the fourth sensor faces the second mounting assembly 270. At least one fourth sensor 280 is located on the first side of the fourth axis L4 in the second direction Y, and at least another fourth sensor 280 is located on the second side of the fourth axis L4 in the second direction Y. The second direction Y is parallel to the extension direction of the third axis L3.

[0080] The at least two fourth elastic assemblies 290 are arranged between the second mounting assembly 270 and the second support assembly 210. At least one fourth elastic assembly 290 is located on the first side of the fourth axis L4 in the second direction Y, and at least another fourth elastic assembly 290 is located on the second side of the fourth axis L4 in the second direction Y. The fourth elastic assembly 290 is configured to provide a pushing force to the second support assembly 210 to separate the second mounting assembly 270 from the sensing portion 281 of the fourth sensor. In the case that the second support assembly 210 or the second bearing assembly 220 is collided, the second support assembly 210 rotates about the fourth axis L4 and compresses the fourth elastic assembly 290 located on one side of the fourth axis L4 in the second direction Y, so as to make the second mounting assembly 270 contact the fourth sensor 280 located on the same side of the fourth axis L4 in the second direction Y. ​

[0081] In other words, if the second mounting assembly 270 is separated from the sensing part 281 of the fourth sensor, it indicates that the second support assembly 210 or the second bearing assembly 220 is not collided or the collision is relatively light, which does not affect the moving action of the boat and can be ignored. If the second mounting assembly 270 is in contact with the sensing part 281 of the fourth sensor located on the same side of the fourth axis L4 in the second direction Y, it indicates that the second support assembly 210 or the second bearing assembly 220 is collided, that is, the anti-collision detection of the side jaw 20 is realized.

[0082] Exemplarily, the fourth elastic assembly 290 is a structure with elasticity such as a rectangular spring, a spiral spring, a rubber piece, etc.

[0083] In some embodiments, as shown in Figure 13 , the second mounting assembly 270 comprises a third mounting piece 271 and a fourth mounting piece 272. The fourth elastic assembly 290 is arranged between the third mounting piece 271 and the second support assembly 210. The fourth sensor 280 can be separated from or in contact with the third mounting piece 271. The fourth mounting piece 272 is connected with the third mounting piece 271 perpendicularly, and the end of the second support assembly 210 away from the second bearing assembly 220 is rotatably connected with the fourth mounting piece 272 around the fourth axis L4. In other words, the third mounting piece 271 and the fourth mounting piece 272 form a T-shaped structure, which facilitates the installation of the fourth elastic assembly 290, can reasonably utilize the space, and reduces the size of the side jaw 20. Exemplarily, the third mounting piece 271 and the fourth mounting piece 272 can be integrally formed or separately arranged.

[0084] Exemplarily, the second mounting assembly 270 further comprises a fifth mounting piece 273. The fifth mounting piece 273 is connected with the third mounting piece 271. Exemplarily, the size of the fifth mounting piece 273 is larger than that of the third mounting piece 271, so as to facilitate the connection of the fifth mounting piece 273 with the jaw support structure 30.

[0085] Exemplarily, as shown in Figure 13 , Figure 15 and Figure 16 , the side jaw 20 further comprises a protective plate 291, a fourth heat insulation piece 292 and a fifth heat insulation piece 293. The protective plate 291, the fourth heat insulation piece 292 and the fifth heat insulation piece 293 can be sheet metal pieces or plate-shaped structural pieces.

[0086] The basic principles of the present application are described above in combination with specific embodiments, but it should be pointed out that the advantages, advantages, effects, etc. mentioned in the present application are only examples and cannot be considered as the must-have of each embodiment of the present application. In addition, the above specific details are only for the purpose of example and understanding, and the above details do not limit the present application to the above specific details.

[0087] The block diagrams of the devices, apparatuses, equipment, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be as shown in the block diagrams. These devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner as will be appreciated by those skilled in the art. Words such as "including," "containing," "comprising," and the like are to be construed in an inclusive fashion, indicating open-ended groups and that "consisting of will be perceived as specifying the noted components or steps and further alternative embodiments are useful while yet being encompassed by such definitions. The words "or" and "and" as used herein are to be interpreted as the word "and / or" unless context indicates otherwise. The word "comprising" as used herein is to be construed as "including but not limited to."

[0088] It is also important to note that the devices, apparatuses, and methods of the present application can be embodied in a variety of other forms, including devices, apparatuses, and methods that are not specifically described herein. It is to be understood that the devices, apparatuses, and methods of the present application are not limited to the particular examples described herein, but the right to repair equivalents including, but not limited to, home-made and after-market equivalents is reserved.

[0089] The above description of disclosed aspects is given for illustrative purposes only and is not intended to limit the scope of the application. Although a number of exemplary aspects and embodiments have been discussed, those of skill in the art will recognize certain modifications, permutations, additions, and sub-combinations thereof. It is therefore intended that the scope of the application be determined by the following claims and that equivalents be

[0090] The above description has been given for illustrative purposes only and is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of exemplary aspects and embodiments have been discussed, those of skill in the art will recognize certain modifications, permutations, additions, and sub-combinations thereof. It is therefore intended that the scope of the application be determined by the following claims and that equivalents be

Claims

1. A gripper characterized by, Comprise: A first support assembly; At least two first bearing assemblies, respectively rotatably connected with the first support assembly around a first axis, the at least two first bearing assemblies are respectively arranged on a first side and a second side of the first support assembly in a first direction, the first direction is perpendicular to the extension direction of the first axis; At least two first sensors arranged on the first support assembly, the sensing part of at least one of the first sensors is directed to the first bearing assembly on the first side of the first support assembly, and the sensing part of at least another of the first sensors is directed to the first bearing assembly on the second side of the first support assembly; At least two first elastic assemblies, at least one of the first elastic assemblies is arranged between each of the first bearing assemblies and the first support assembly; wherein the first elastic assembly is configured to provide a pushing force for the corresponding first bearing assembly to separate the first bearing assembly from the sensing part of the corresponding first sensor when the first bearing assembly does not bear a carrier; When the first bearing assembly bears the carrier, the carrier exerts a first reaction force on the first bearing assembly, so that the first bearing assembly compresses the first elastic assembly and contacts the corresponding first sensor.

2. The jaw of claim 1, wherein The first support assembly comprises: At least two first supports, oppositely arranged along the extension direction of the first axis to form an avoiding space, the at least two first bearing assemblies are rotatably connected with the first supports around the first axis; A second support connected with the at least two first supports, the at least two first sensors are connected to the second support, and the first sensors are located in the avoiding space.

3. The jaw according to claim 1 or 2, characterized in that Further comprise: A first mounting assembly, one end of the first support assembly away from the first bearing assembly is rotatably connected with the first mounting assembly around a second axis, the extension direction of the second axis is parallel to the first direction; At least two second sensors arranged on the first support assembly, the sensing part of the second sensors is directed to the first mounting assembly, at least one of the second sensors is located on the first side of the second axis in a second direction, and at least another of the second sensors is located on the second side of the second axis in the second direction, the second direction is parallel to the extension direction of the first axis; At least two second elastic components are arranged between the first mounting component and the first support component, at least one of the second elastic components is located on a first side of the second axis in the second direction, and at least another one of the second elastic components is located on a second side of the second axis in the second direction; wherein the second elastic components are configured to provide a pushing force for the first support component to separate the first mounting component from a sensing part of the second sensor; in the case that the first support component or the first bearing component is impacted, the first support component rotates around the second axis and compresses the second elastic component located on the side of the second axis in the second direction, so that the first mounting component is in contact with the second sensor located on the same side of the second axis in the second direction.

4. The jaw of claim 3, wherein The first mounting component comprises: a first mounting member, the second elastic component is arranged between the first mounting member and the first support component, and the second sensor can be separated from or in contact with the first mounting member; a second mounting member, which is connected perpendicularly to the first mounting member, and an end of the first support component away from the first bearing component is rotatably connected to the second mounting member around the second axis.

5. The jaw of claim 1 or 2, wherein The first bearing component comprises: a first bearing body, which is rotatably connected to the first support component around the first axis, and the first bearing body has a first bearing slot configured to accommodate an end of the carrier; a first isolation member arranged in the first bearing slot, which is configured to isolate the first bearing body from the carrier.

6. A gripper device, characterized in that It comprises: a jaw support structure extending in a first direction ； The jaw of any one of claims 1 to 5 is mounted in a middle region of the jaw support structure in the first direction; At least two side jaws are mounted at both ends of the jaw support structure in the first direction, wherein the jaw cooperates with at least one of the side jaws to grasp one carrier, and the jaw cooperates with at least another one of the side jaws to grasp another carrier.

7. The jaw device of claim 6, wherein The side jaw comprises: a second support component mounted on the jaw support structure; a second bearing component rotatably connected to the second support component around a third axis; a third sensor arranged on the second support component; a sensing member arranged on the second bearing component and extending towards a sensing part of the third sensor; a third elastic component arranged between the second support component and the second bearing component, wherein the third elastic component is configured to provide a pushing force for the second bearing component to separate the second bearing component from the sensing part of the third sensor in the case that the second bearing component does not carry the carrier; in the case that the second bearing component carries the carrier, the carrier exerts a second reaction force on the second bearing component, so that the second bearing component compresses the third elastic component and is in contact with the third sensor.

8. The jaw device of claim 7, wherein The second bearing assembly has a blind hole with an opening facing the second support assembly, the second support assembly has a threaded portion penetrating through the second support assembly along the first direction, the threaded portion is in communication with the blind hole, a first end of the third elastic assembly abuts a blind end of the blind hole, and a second end of the third elastic assembly extends into the threaded portion; The side clamping jaw further comprises: A locking screw is screwed with the threaded portion and abuts the second end of the third elastic assembly.

9. The jaw device of claim 8, wherein, The side clamping jaw further comprises: A second mounting assembly, one end of the second support assembly away from the second bearing assembly is rotatably connected with the second mounting assembly around a fourth axis, and the fourth axis extends in parallel with the first direction; At least two fourth sensors are arranged on the second support assembly, sensing portions of the fourth sensors face the second mounting assembly, at least one of the fourth sensors is located on a first side of the fourth axis in a second direction, and at least another fourth sensor is located on a second side of the fourth axis in the second direction, and the second direction is parallel to the extension direction of the third axis; At least two fourth elastic assemblies are arranged between the second mounting assembly and the second support assembly, at least one of the fourth elastic assemblies is located on the first side of the fourth axis in the second direction, and at least another fourth elastic assembly is located on the second side of the fourth axis in the second direction; wherein the fourth elastic assembly is configured to provide a pushing force for the second support assembly, so that the second mounting assembly is separated from the sensing portion of the fourth sensor; in the case that the second support assembly or the second bearing assembly is collided, the second support assembly rotates around the fourth axis and compresses the fourth elastic assembly located on one side of the fourth axis in the second direction, so that the second mounting assembly contacts the fourth sensor located on the same side of the fourth axis in the second direction.

10. The jaw device of claim 9, wherein, The second mounting assembly comprises: A third mounting member, the fourth elastic assembly is arranged between the third mounting member and the second support assembly, and the fourth sensor can be separated from or contacted with the third mounting member; A fourth mounting member is connected perpendicularly with the third mounting member, and one end of the second support assembly away from the second bearing assembly is rotatably connected with the fourth mounting member around the fourth axis.

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