Anti-falling grabbing mechanism

Abstract

The utility model belongs to the technical field of battery cell production, and discloses an anti-falling grabbing mechanism. The mechanism comprises a carrier plate, a suction assembly installed on the carrier plate and at least two sets of oppositely-arranged grabbing assemblies, the suction assembly is used for sucking products, each grabbing assembly comprises a grabbing driving unit and a clamping jaw, and the grabbing driving units are connected to the carrier plate; the clamping jaws are in transmission connection with the output end of the grabbing driving unit, each clamping jaw comprises a vertical part and a horizontal part which are vertically connected, the horizontal parts are used for bearing products, the vertical parts of the two opposite clamping jaws are used for jointly clamping the products, even if the grabbing driving unit is powered off or breaks down, clamping of the vertical parts to the products becomes loose, the products can fall on the horizontal parts, and therefore the products cannot fall off. And the suction assembly can limit the products in the horizontal direction, so that the stability of the products in the carrying process is further improved, the products are prevented from sliding off, deforming or being damaged, and the safety of the products in the transportation process is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of battery cell manufacturing technology, and in particular to an anti-drop gripping mechanism. Background Technology

[0002] With the advancement of technology and the progress of the times, the new energy industry has gradually emerged, and the use of new energy battery cells is becoming increasingly frequent. During the production and transportation of new energy battery cells, assembly and transfer are necessary. Currently, in the market, grippers are typically used to hold the battery cells on both sides during production and transfer. However, this device is prone to causing the battery cells to fall when they are heavy; or, if the gripper's drive mechanism fails to power, the grip may loosen, causing the battery cells to fall and become damaged.

[0003] To address the aforementioned shortcomings, existing technologies provide a battery cell gripping mechanism utilizing an L-shaped gripping block. By supporting and clamping the battery cell from both sides, this ensures that the cell receives lateral and downward support forces, preventing it from falling during movement. However, because this gripping mechanism cannot guarantee secure clamping of the battery cell in the horizontal direction, the cell may still slip or wobble horizontally during transport, posing a risk of surface damage, deformation, or slipping off the gripping block and falling out.

[0004] Therefore, it is necessary to design an anti-fall gripping mechanism to solve the problems existing in the current technology. Utility Model Content

[0005] The purpose of this invention is to provide an anti-drop gripping mechanism that can further improve the stability and safety of products during handling.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An anti-drop gripping mechanism includes a carrier plate, a suction assembly mounted on the carrier plate, and at least two sets of opposing gripping assemblies. The suction assembly is used to adsorb products. Each gripping assembly includes: a gripping drive unit connected to the carrier plate; and grippers tractively connected to the output end of the gripping drive unit. Each gripper includes a vertically connected vertical portion and a horizontal portion. The horizontal portion is used to support the product, and the vertical portions of the two opposing grippers are used to jointly clamp the product.

[0008] Preferably, the gripping assembly further includes the guiding assembly, which includes a guide block and a guide rod. The guide block is disposed on the carrier plate and has a guide sliding hole. The guide rod extends horizontally, with one end connected to the gripper and the other end slidably passing through the guide sliding hole.

[0009] Preferably, the gripping assembly further includes a connecting plate and a displacement plate. The connecting plate is disposed at the bottom of the carrier plate and is connected to the corresponding gripping drive unit and the guide block. The displacement plate is connected to the output end of the corresponding gripping drive unit, the gripper, and the guide rod.

[0010] Preferably, each of the displacement plates is provided with at least one gripper at intervals, and the number of grippers on the two displacement plates is the same.

[0011] Preferably, the gripper is movably connected to the displacement plate in the vertical direction.

[0012] Preferably, the gripper has at least one first connecting hole arranged at intervals along the vertical direction, and the displacement plate has at least two second connecting holes arranged at intervals along the vertical direction. The first connecting hole can be selectively connected to one of the second connecting holes. The gripping component also includes a docking plug, which passes through the docking first connecting hole and the second connecting hole.

[0013] Preferably, the suction assembly includes a suction cup and an air extraction component. The suction cup is disposed on the carrier plate, and the suction surface of the suction cup is disposed away from the carrier plate. The air extraction component is connected to the suction cup.

[0014] Preferably, the suction assembly further includes a fixing block, a displacement tube, and an elastic connector. The fixing block is connected to the carrier plate, the carrier plate has a first displacement through hole, and the fixing block has a second displacement through hole. The first displacement through hole is disposed opposite to the second displacement through hole. One end of the displacement tube is connected to the suction cup, and the other end of the displacement tube is slidably inserted into the first displacement through hole and the second displacement through hole. The elastic connector is sandwiched between the suction cup and the carrier plate.

[0015] Preferably, the inner surface of the gripper is provided with a buffer pad layer.

[0016] Preferably, the anti-fall gripping mechanism further includes a moving module, which includes a horizontal drive module and a vertical drive module. The horizontal drive module is drivenly connected to the vertical drive module, and the vertical drive module is drivenly connected to the carrier plate, so that the carrier plate and the gripping assembly can move in the horizontal direction and in the vertical direction.

[0017] And / or, the anti-fall gripping mechanism further includes a rotating module connected to the vertical drive module and driven to the carrier plate, so that the carrier plate and the gripping assembly can rotate horizontally about the axis of the carrier plate.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] The anti-drop gripping mechanism provided in this embodiment includes a gripping component and a suction component. The suction component can adsorb the product, and the gripping component can clamp the product, providing double protection for the product clamping. Furthermore, the gripping component includes grippers with vertically connected vertical and horizontal portions. The vertical portions of the two opposing grippers can approach and jointly clamp the product, and the horizontal portions of the two opposing grippers can approach and jointly support the product. Even if either the gripping drive unit or the suction component experiences a power outage or malfunction, causing the product clamping to loosen, the product will fall onto the horizontal portion, thus ensuring that the product will not fall and be damaged. Moreover, the suction component, adsorbed onto the product, can limit the product's horizontal movement, thereby improving the stability of the product's movement during handling, preventing the product from slipping, deforming, or being damaged, and ensuring the safety of the product during transportation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the anti-fall gripping mechanism provided in this embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the anti-fall gripping mechanism provided in this embodiment of the present invention after hiding the moving module and the rotating module.

[0022] In the picture:

[0023] 100. Battery cells;

[0024] 1. Carrier plate;

[0025] 2. Gripping assembly; 21. Gripper; 211. Vertical part; 2111. First connecting hole; 212. Horizontal part; 213. Buffer pad; 22. Connecting plate; 23. Displacement plate; 231. Second connecting hole; 24. Guide assembly; 241. Guide block; 242. Guide rod;

[0026] 3. Suction assembly; 31. Suction cup; 32. Fixing block; 33. Displacement tube; 34. Flexible connector;

[0027] 4. Mobile module;

[0028] 5. Rotating module. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0030] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0033] The technical solution provided by this utility model will be described below with reference to the accompanying drawings and specific embodiments.

[0034] Combination Figures 1 to 2 As shown, this embodiment provides an anti-drop gripping mechanism that can be used to transfer products such as batteries and packaging boxes between different workstations, ensuring the safety and reliability of the transfer process. Taking the transfer of battery cell 100 as an example, in this embodiment, the anti-drop gripping mechanism includes a carrier plate 1, a suction component 3 mounted on the carrier plate 1, and at least two sets of opposing gripping components 2. The suction component 3 is used to adsorb the product, and the at least two sets of opposing gripping components 2 can work together to grip or remove the battery cell 100.

[0035] Specifically, the gripping assembly 2 includes a gripping drive unit and grippers 21. The gripping drive unit is connected to the carrier plate 1; the grippers 21 are throttle connected to the output end of the gripping drive unit, so that the drive unit can control the grippers 21 to move horizontally. The grippers 21 include a vertically connected vertical portion 211 and a horizontal portion 212. The vertical portions 211 of the two opposing grippers 21 can approach each other and be used to jointly grip the battery cell 100, so that the vertical portions 211 grip or release the battery cell 100 at the side wall of the battery cell 100. At the same time, the horizontal portion 212 of the grippers 21 can abut against the bottom of the battery cell 100 to support the battery cell 100. In this way, even if the gripping drive unit loses power or malfunctions, and the vertical portion 211 of the gripper 21 loosens its grip on the battery cell 100, the battery cell 100 will still fall onto the horizontal portion 212 of the gripper 21. This ensures that the horizontal portion 212 still provides support and limits the battery cell 100, preventing it from falling and being damaged. Furthermore, since the suction component 3 adheres to the battery cell 100, it can limit the battery cell 100 in the horizontal direction, thereby improving the stability of the battery cell 100 during transport and preventing it from being bumped, deformed, worn, or slipping off the gripper 21 during transport. This further ensures the safety of the battery cell 100 during transportation.

[0036] Preferably, the gripping drive unit is a servo motor, which can precisely control the moving distance of the gripper 21, ensuring that the gripper 21 clamps the battery cell 100 with appropriate force. While ensuring gripping stability, it minimizes the damage to the battery cell 100 and reduces the risk of deformation of the battery cell 100. Moreover, the servo motor is small in size and light in weight, making it easy to assemble and connect to the carrier plate 1. At the same time, it ensures that the anti-drop gripping mechanism is lightweight, making it easy to store and transport.

[0037] Furthermore, in this embodiment, reference is made to... Figure 2 As shown, a buffer layer 213 is also provided on the inner sidewall of the vertical portion 211 of the gripper 21. The buffer layer 213 can prevent the insulation film on the outer surface of the battery cell 100 from breaking, which could lead to a short circuit due to electrical connection with the metal casing. Preferably, in one embodiment of this invention, the buffer layer 213 is a polyurethane insulation layer. The polyurethane insulation layer not only enables flexible contact between the vertical portion 211 and the battery cell 100, preventing damage to the insulation film on the outer surface of the battery cell 100, but also increases the friction between the vertical portion 211 and the outer surface of the battery cell 100, thereby further reducing the possibility of the battery cell 100 falling off.

[0038] Specifically, please refer to Figure 2As shown, the gripping assembly 2 also includes a connecting plate 22 and a displacement plate 23. The connecting plate 22 is disposed at the bottom of the carrier plate 1 and is connected to the corresponding gripping drive unit. One of the connecting plate 22 and the carrier plate 1 may be provided with an oblong hole, so that the connecting plate 22 and the carrier plate 1 can move relative to each other through the oblong hole. This allows the position of the gripping drive unit on the carrier plate 1 to be finely adjusted indirectly through the connecting plate 22, ensuring that the gripping drive unit is installed in the appropriate position on the carrier plate 1. The displacement plate 23 is connected to the output end of the corresponding gripping drive unit and the gripper 21, so that the gripping drive unit can control the displacement plate 23 to move the gripper 21 in the horizontal direction.

[0039] The gripper 21 is movably connected to the displacement plate 23 in the vertical direction, so that the relative distance between the gripper 21 and the carrier plate 1 is adjustable. When the relative distance between the gripper 21 and the carrier plate 1 increases, the gripper 21 can grasp and transfer thicker battery cells 100, thereby improving the applicability of the anti-drop gripping mechanism.

[0040] For example, refer to Figure 2 As shown, in one embodiment of this invention, at least one first connecting hole 2111 is arranged at intervals along the vertical direction on the vertical portion 211 of the gripper 21, and at least two second connecting holes 231 are arranged at intervals along the vertical direction on the displacement plate 23. The first connecting hole 2111 can be selectively connected to one of the second connecting holes 231. The gripping component 2 also includes a docking plug (not shown in the figure), which passes through the docking first connecting hole 2111 and the second connecting hole 231, thereby completing the detachable fixed connection between the gripper 21 and the displacement plate 23, so as to realize the movement of the gripper 21 relative to the displacement plate 23 in the vertical direction. Since the displacement plate 23 is connected to the output end of the gripping drive unit, the gripping drive unit is fixedly arranged relative to the carrier plate 1 in the vertical direction, thereby realizing the effect of adjustable relative distance between the gripper 21 and the carrier plate 1. Moreover, the above method is convenient to operate, and the connection stability between the gripper 21 and the displacement plate 23 is high.

[0041] Preferably, the gripper 21 has two first connecting holes 2111 arranged at intervals along the vertical direction, and the displacement plate 23 has three second connecting holes 231 arranged at intervals along the vertical direction. The vertical distance between the two first connecting holes 2111 is equal to the vertical distance between each two adjacent second connecting holes 231. With the above configuration, when the lower first connecting hole 2111 on the gripper 21 corresponds to the uppermost second connecting hole 231 on the displacement plate 23, the gripper 21 can move to the position closest to the carrier plate 1. When the lower first connecting hole 2111 on the gripper 21 corresponds to the middle second connecting hole 231 on the displacement plate 23, and the upper first connecting hole 2111 on the gripper 21 corresponds to the uppermost second connecting hole 231 on the displacement plate 23, it indicates that the gripper 21 has moved away from the carrier plate 1, thus increasing the relative distance between the gripper 21 and the carrier plate 1 to a certain extent. Furthermore, the gripper 21 and the displacement plate 23 can be connected via two docking plugs, improving stability. Higher; when the lower first connecting hole 2111 on the gripper 21 corresponds to the lowermost second connecting hole 231 on the displacement plate 23, and the upper first connecting hole 2111 on the gripper 21 corresponds to the middle second connecting hole 231 on the displacement plate 23, it indicates that the gripper 21 continues to move away from the carrier plate 1, further increasing the relative distance between the gripper 21 and the carrier plate 1; finally, when the upper first connecting hole 2111 on the gripper 21 corresponds to the lowermost second connecting hole 231 on the displacement plate 23, the gripper 21 can move to the position furthest from the carrier plate 1. Therefore, the gripper 21 can achieve adjustment of four distance states, which helps to expand the application range of the anti-fall gripping mechanism.

[0042] Of course, it is understood that in other alternative embodiments, those skilled in the art can flexibly adjust the number of the first connecting hole 2111 and the second connecting hole 231 according to actual usage requirements to increase or decrease the moving distance of the gripper 21. Alternatively, the above embodiment can be replaced by providing a sliding module, a snap-fit ​​structure, or other measures between the displacement plate 23 and the gripper 21 to adjust the relative distance between the gripper 21 and the carrier plate 1. Therefore, this utility model does not limit the number of the first connecting hole 2111 and the second connecting hole 231, nor the method of changing the relative position between the gripper 21 and the displacement plate 23.

[0043] Furthermore, in this embodiment, each shift plate 23 is provided with two grippers 21 arranged at intervals, that is, four grippers 21 are provided at the bottom of the carrier plate 1, so that one pair of grippers 21 can grip and hold the front end of the battery cell 100, and the other pair of grippers 21 can grip and hold the rear end of the battery cell 100, thereby further improving the gripping firmness of the anti-drop gripping mechanism on the battery cell 100.

[0044] In other embodiments, each shift plate 23 may be provided with three, four or more grippers 21 to uniformly clamp the longer battery cell 100. Therefore, the present invention limits the number of grippers 21 on each shift plate 23.

[0045] Specifically, the gripping component 2 provided in this embodiment further includes a guide component 24. The guide component 24 is mounted on the carrier plate 1 and is used to guide the gripper 21 to move in the horizontal direction. Exemplarily, in this embodiment, the guide component 24 includes a guide block 241 and a guide rod 242. The guide block 241 is fixedly connected to the connecting plate 22 together with the gripping drive unit. The guide block 241 is provided with a guide sliding hole. The guide rod 242 extends horizontally. One end of the guide rod 242 is fixedly connected to the displacement plate 23, and the other end of the guide rod 242 passes through the guide sliding hole. With the above configuration, when the gripping drive unit controls the displacement plate 23 to move horizontally, the guide rod 242 can move stably along the axis of the guide sliding hole under the constraint of the guide sliding hole. This allows the guide block 241 and the guide rod 242 to work together to guide the movement of the gripper 21, thereby improving the stability of the gripper 21 during the pre-gripping process of the battery cell 100. This significantly reduces the risk of deformation or damage to the surface of the battery cell 100 caused by gripper 21 shaking, ensuring the safety of the battery cell 100 transfer process. Furthermore, the guide component 24 provided in this embodiment has a simple structure and reliable operation, effectively reducing the manufacturing difficulty and complexity of the anti-drop gripping mechanism.

[0046] Optionally, in this embodiment, the suction assembly 3 includes a suction cup 31 and an air extraction component. The suction cup 31 is disposed on the carrier plate 1, with its adsorption surface facing away from the carrier plate 1. The air extraction component is connected to the suction cup 31. Through this arrangement, before the gripper 21 grasps the battery cell 100, the anti-drop gripping mechanism can first adsorb the battery cell 100 through the suction cup 31, ensuring a relatively stable state between the battery cell 100 and the carrier plate 1 before gripping. This facilitates the gripper 21's grasping and holding of the battery cell 100. During the transfer of the battery cell 100, the suction cup 31 assembly continuously maintains adsorption on the battery cell 100. This allows the suction cup 31, the vertical portion 211 of the gripper 21, and the horizontal portion 212 of the gripper 21 to apply a securing force to the battery cell 100 at the top, side, and bottom, respectively, providing triple protection and further ensuring that the battery cell 100 will not fall during movement.

[0047] Furthermore, the suction assembly 3 also includes a fixing block 32, a displacement tube 33, and an elastic connector 34. The fixing block 32 is connected to the carrier plate 1, and the carrier plate 1 has a first displacement through hole. The fixing block 32 has a second displacement through hole, and the first displacement through hole and the second displacement through hole are arranged opposite to each other. One end of the displacement connector is connected to the suction cup 31, and the other end is slidably inserted into the first displacement through hole and the second displacement through hole. The elastic connector 34 is sandwiched between the suction cup 31 and the carrier plate 1. In this embodiment, the elastic connector 34 is a tension spring, which is sleeved on the displacement tube 33. By using the above-mentioned suction assembly 3, the displacement tube 33 can slide up and down on the carrier plate 1, thereby providing a certain buffering effect on the contact between the suction cup 31 and the battery cell 100, preventing hard contact between the suction cup 31 and the battery cell 100, and reducing the possibility of damage caused by denting and deformation of the top of the battery cell 100 due to force.

[0048] Optionally, in this embodiment, the anti-drop gripping mechanism further includes a moving module 4, which comprises a horizontal drive module and a vertical drive module. The horizontal drive module is tractively connected to the vertical drive module, and the vertical drive module is tractively connected to the carrier plate 1, so that the carrier plate 1 and the gripping component 2 can move in the horizontal and vertical directions. Furthermore, the anti-drop gripping mechanism provided in this embodiment also includes a rotating module 5, which is connected to the vertical drive module and tractively connected to the carrier plate 1, so that the carrier plate 1 and the gripping component 2 can rotate horizontally around the axis of the carrier plate 1, thereby rotating the position and orientation of the battery cell 100. Through the aforementioned moving module 4, the anti-drop gripping mechanism can adjust the horizontal and vertical position and rotation of the battery cell 100, thereby facilitating the gripping, moving, and placement of the battery cell 100.

[0049] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An anti-fall gripping mechanism, characterized in that, Includes a carrier plate (1), a suction assembly (3) mounted on the carrier plate (1), and at least two sets of opposing gripping assemblies (2), the suction assembly (3) being used to adsorb products, and the gripping assembly (2) comprising: A gripping drive unit is connected to the carrier plate (1); The gripper (21) is connected to the output end of the gripping drive unit. The gripper (21) includes a vertically connected vertical part (211) and a horizontal part (212). The two vertical parts (211) of the gripper (21) are used to grip the product together, and the horizontal part (212) is used to support the product.

2. The anti-fall gripping mechanism according to claim 1, characterized in that, The gripping component (2) further includes a guide component (24), which includes a guide block (241) and a guide rod (242). The guide block (241) is disposed on the carrier plate (1) and has a guide sliding hole. The guide rod (242) extends horizontally, with one end connected to the gripper (21) and the other end slidably passing through the guide sliding hole.

3. The anti-fall gripping mechanism according to claim 2, characterized in that, The gripping assembly (2) further includes a connecting plate (22) and a displacement plate (23). The connecting plate (22) is disposed at the bottom of the carrier plate (1) and is connected to the corresponding gripping drive unit and the guide block (241). The displacement plate (23) is connected to the output end of the corresponding gripping drive unit, the gripper (21) and the guide rod (242).

4. The anti-fall gripping mechanism according to claim 3, characterized in that, Each displacement plate (23) is provided with at least one gripper (21) arranged at intervals, and the number of grippers (21) on the two displacement plates (23) is the same.

5. The anti-fall gripping mechanism according to claim 3, characterized in that, The gripper (21) is movably connected to the displacement plate (23) in the vertical direction.

6. The anti-fall gripping mechanism according to claim 5, characterized in that, The gripper (21) has at least one first connecting hole (2111) arranged at intervals along the vertical direction, and the displacement plate (23) has at least two second connecting holes (231) arranged at intervals along the vertical direction. The first connecting hole (2111) can be selectively connected to one of the second connecting holes (231). The gripping component (2) also includes a docking plug, which passes through the first connecting hole (2111) and the second connecting hole (231) that are docked.

7. The anti-drop gripping mechanism according to any one of claims 1-6, characterized in that, The suction component (3) includes a suction cup (31) and an air extraction component. The suction cup (31) is disposed on the carrier plate (1), and the adsorption surface of the suction cup (31) is disposed away from the carrier plate (1). The air extraction component is connected to the suction cup (31).

8. The anti-fall gripping mechanism according to claim 7, characterized in that, The suction assembly (3) further includes a fixing block (32), a displacement tube (33), and an elastic connector (34). The fixing block (32) is connected to the carrier plate (1). The carrier plate (1) has a first displacement through hole and a second displacement through hole. The first displacement through hole is disposed opposite to the second displacement through hole. One end of the displacement tube (33) is connected to the suction cup (31), and the other end of the displacement tube (33) is slidably inserted into the first displacement through hole and the second displacement through hole. The elastic connector (34) is sandwiched between the suction cup (31) and the carrier plate (1).

9. The anti-drop gripping mechanism according to any one of claims 1-6, characterized in that, The inner surface of the gripper (21) is provided with a buffer pad layer (213).

10. The anti-drop gripping mechanism according to any one of claims 1-6, characterized in that, The anti-fall gripping mechanism also includes a moving module (4), which includes a horizontal drive module and a vertical drive module. The horizontal drive module is connected to the vertical drive module, and the vertical drive module is connected to the carrier plate (1) so that the carrier plate (1) and the gripping assembly (2) can move in the horizontal direction and in the vertical direction. And / or, the anti-fall gripping mechanism further includes a rotating module (5), which is connected to the vertical drive module and driven to the carrier plate (1) so that the carrier plate (1) and the gripping assembly (2) can rotate horizontally around the axis of the carrier plate (1).

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