Gripper device

Abstract

This utility model relates to a gripping device, belonging to the field of clamping technology. The gripping device includes: a support assembly; a transmission assembly disposed on the support assembly; a first gripper assembly disposed on the support assembly; and a second gripper assembly disposed on the support assembly and / or the transmission assembly. The second gripper assembly is rotatable relative to the support assembly under the control of the transmission assembly. The second gripper assembly can rotate relative to the support assembly in a direction closer to or farther from the first gripper assembly, forming a clamping space between the second gripper assembly and the first gripper assembly. The gripping device disclosed in this application, by enabling the second gripper assembly to rotate relative to the support assembly under the control of the transmission assembly, allows for a greater clamping force on the profile, achieving stable and reliable clamping of the profile and effectively preventing loosening.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, and in particular to a hand clamping device. Background Technology

[0002] A gripper is a mechanical device used to hold objects. A gripper typically consists of two jaws that move closer together or further apart to grasp and release the object. However, traditional grippers require simultaneous actuation of both jaws to perform these functions, necessitating greater power output. Therefore, improvements are needed to address this limitation of grippers. Utility Model Content

[0003] Therefore, it is necessary to provide a gripping device that addresses the problem that traditional gripping devices require driving two grippers simultaneously to achieve the functions of grasping and placing objects, which necessitates a larger driving energy.

[0004] A gripper device includes: a support assembly; a transmission assembly disposed on the support assembly; a first gripper assembly disposed on the support assembly; and a second gripper assembly disposed on the support assembly and / or the transmission assembly, wherein the second gripper assembly is rotatable relative to the support assembly under the control of the transmission assembly, and the second gripper assembly is rotatable relative to the support assembly in a direction toward or away from the first gripper assembly, and a gripping space is formed between the second gripper assembly and the first gripper assembly.

[0005] This application discloses a gripping device that can grasp or release profiles by moving a first gripper assembly and a second gripper assembly closer together or further apart, thus achieving the function of conveying profiles. By fixing the first gripper assembly and driving only the second gripper assembly to rotate, the required driving force is significantly reduced, effectively reducing energy consumption and achieving cost reduction and efficiency improvement. This design reduces energy consumption while maintaining good gripping performance, achieving a highly efficient and energy-saving operation. The second gripper assembly rotates relative to the support assembly under the control of the transmission assembly, resulting in a greater gripping force on the profile, enabling stable and reliable clamping and effectively preventing the profile from loosening. This design can meet the diverse needs of profile usage; by adjusting the rotation angle of the second gripper assembly, it can adapt to the clamping requirements of different profile specifications. Moreover, the stable clamping effect greatly improves the overall operating accuracy of the machine, ensuring the stability and reliability of the profile conveying process.

[0006] In one embodiment, the transmission assembly includes a first transmission member and a second transmission member. The first transmission member is movably mounted on the support assembly and is rotatable relative to the support assembly. The second transmission member is movably connected to the first transmission member and is also rotatable relative to the first transmission member. A second gripper assembly is mounted on the first transmission member and / or the second transmission member. Through the rotational connection between the first transmission member and the support assembly, and the rotational connection between the second transmission member and the first transmission member, the linked design of the first and second transmission members allows the second gripper assembly to apply a greater clamping force, ensuring a secure clamping of the profile. The multi-stage rotating transmission block makes the clamping action smoother, effectively preventing the profile from loosening or shifting during clamping.

[0007] In one embodiment, one end of the second gripper assembly is located at the connection between the first and second transmission members. By positioning the second gripper assembly at the connection between the first and second transmission members, the driving force can be more effectively converted into clamping force, improving clamping stability. This design allows the gripper device to exert a greater clamping force on the profile, enabling stable and reliable clamping and effectively preventing the profile from loosening.

[0008] In one embodiment, the second gripper assembly is located outside the second transmission member. This placement of the second gripper assembly outside the second transmission member results in a more rational layout, smoother power transmission, and better power transmission performance.

[0009] In one embodiment, the first transmission member includes a first connecting shaft, a transmission block, and a second connecting shaft. The first connecting shaft is disposed on the support assembly, the transmission block is disposed on the first connecting shaft, and the second connecting shaft is disposed on the transmission block, with the second connecting shaft located at the end of the transmission block away from the first connecting shaft. The second connecting shaft is used to cooperate with the second transmission member. The first connecting shaft allows the first transmission member to rotate relative to the support assembly, and the second connecting shaft allows the first transmission member to rotate relative to the second transmission member. This design makes the power transmission smoother and more reliable, allowing the gripper device to exert a greater clamping force on the profile, resulting in better clamping stability and reliability.

[0010] In one embodiment, the second gripper assembly has a first mating hole, and the first connecting shaft passes through the support assembly, engaging with the first mating hole after passing through the support assembly. The first connecting shaft passing through the support assembly and engaging with the first mating hole forms a stable connection structure, ensuring the reliability of the power transmission path. The mating design of the first mating hole and the first connecting shaft ensures accurate positioning of the second gripper assembly, making the gripping action more precise and reliable. This design makes the movement trajectory of the second gripper assembly more stable, effectively preventing deviation during the gripping process.

[0011] In one embodiment, the second gripper assembly has a second mating hole, and the second connecting shaft passes through the second transmission member, engaging with the second mating hole after passing through the second transmission member. By having the second connecting shaft engage with the second mating hole after passing through the second transmission member, the second gripper assembly and the second transmission member can rotate relative to the support assembly, achieving stable clamping of the profile. This design makes the movement trajectory of the second gripper assembly more stable, effectively preventing the profile from shifting during the clamping process.

[0012] In one embodiment, the transmission block is movably mounted on the first connecting shaft and is rotatable relative to the first connecting shaft. Because the transmission block can rotate relative to the first connecting shaft, the second gripper assembly can rotate relative to the support assembly along with the first transmission member, enabling it to move closer to or further away from the first gripper assembly to grasp and release the profile. This design improves the clamping force on the profile and provides good clamping stability.

[0013] In one embodiment, the second transmission member is movably mounted on the second connecting shaft, and the second transmission member is rotatable relative to the second connecting shaft. By movably mounting the second transmission member on the second connecting shaft, the first transmission member can drive the second transmission member and the second gripper assembly to rotate. Precise rotational coordination ensures stable and reliable clamping action, effectively increasing the clamping force on the profile.

[0014] In one embodiment, the second transmission component includes a third connecting shaft, a first movable block, and a second movable block. One end of both the first and second movable blocks is movably connected to the first transmission component, and the other end of both is connected to the third connecting shaft. The first and second movable blocks are located on opposite sides of the first transmission component. The symmetrical distribution of the first and second movable blocks on both sides of the first transmission component ensures stable power transmission while effectively improving overall rigidity and connection stability.

[0015] In one embodiment, a movable rod is further included, which is movably connected to the second transmission member. The movable rod is movable relative to the support assembly and has at least a first position and a second position when moving relative to the support assembly. When the movable rod moves to the first position relative to the support assembly, the second transmission member rotates relative to the movable rod by a first angle; when the movable rod moves to the second position relative to the support assembly, the second transmission member rotates relative to the movable rod by a second angle. By moving the movable rod between the first and second positions, power transmission between the first and second transmission members and the second gripper assembly can be achieved, enabling precise adjustment of the clamping action. This design can increase the clamping force on the profile and improve the stability and reliability of the clamping.

[0016] In one embodiment, the movable rod includes a connecting portion and a moving portion. The connecting portion is movably connected to the second transmission member, which is rotatable relative to the connecting portion. The moving portion is disposed on the connecting portion. The movable connection between the connecting portion and the second transmission member ensures that the driving force is smoothly transmitted to the second gripper assembly. The cooperative design of the moving portion and the connecting portion enables precise control of the movable rod's stroke, making the gripper device more reliable in picking up and placing profiles.

[0017] In one embodiment, a drive assembly is further included, which is tractively connected to the movable rod and can drive the movable rod to move relative to the support assembly. The tractive connection between the drive assembly and the movable rod enables automatic control of the clamping action, resulting in a high degree of automation.

[0018] In one embodiment, a washer is further included, disposed on the second gripper assembly and / or the second transmission member, the washer being located between the second gripper assembly and the second transmission member. The washer's placement between the second gripper assembly and the second transmission member enhances the connection strength between them. Furthermore, it effectively reduces friction and wear between components, extending service life.

[0019] In one embodiment, the second gripper assembly includes a mating portion and a clamping portion. One end of the mating portion has a first mating hole, and the other end has a second mating hole. Both the first and second mating holes are movably engaged with the first transmission member. The clamping portion is disposed on the mating portion, forming the clamping space between the clamping portion and the first gripper assembly. The first mating hole is movably engaged with the first connecting shaft of the first transmission member, and the second mating hole is movably engaged with the second connecting shaft of the first transmission member, enabling stable rotation of the second gripper assembly relative to the support assembly, thus achieving clamping or releasing of the profile. This design ensures smooth and reliable clamping and releasing actions.

[0020] In one embodiment, a sensing component is further included, comprising a sensor and a clamping pin. The sensor is disposed on the support assembly, and the clamping pin is disposed on the support assembly and / or the first gripper assembly. One end of the clamping pin is located at or adjacent to the clamping space, and the other end of the clamping pin can trigger the sensor. The clamping pin and sensor configuration allows for real-time monitoring of the clamping action completion status. This design provides a reliable clamping completion signal for the automation system, ensuring that subsequent operations are only performed after the profile is fully clamped in place. Attached Figure Description

[0021] Figure 1 The first perspective view of the gripper device;

[0022] Figure 2 This is a second perspective view of the gripper device;

[0023] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 This is the first exploded view of the hand-clamping device;

[0025] Figure 5 This is the second exploded view of the hand-clamping device;

[0026] Figure 6 This is the third exploded view of the gripper device;

[0027] Figure 7 A perspective view of the transmission assembly, the second gripper assembly, the moving rod, and the washer;

[0028] Figure 8 Exploded view of the transmission assembly, the second gripper assembly, the moving rod, and the washer;

[0029] Figure 9 This is a 3D view of the transmission components;

[0030] Figure 10 This is an exploded view of the transmission assembly;

[0031] Figure 11 A perspective view of the second gripper assembly;

[0032] Figure 12 This is a 3D view of the movable rod;

[0033] Figure 13 A perspective view of the first gripper assembly and the sensing assembly;

[0034] Figure 14 An exploded view of the first gripper assembly and the sensing assembly;

[0035] Figure 15 A 3D diagram of the supporting components.

[0036] The correspondence between the reference numerals and the component names is as follows:

[0037] 1. Supporting components;

[0038] 2. Transmission assembly, 21. First transmission component, 211. First connecting shaft, 212. Transmission block, 213. Second connecting shaft, 22. Second transmission component, 221. Third connecting shaft, 222. First movable block, 223. Second movable block;

[0039] 3. First gripper assembly;

[0040] 4 Second gripper assembly, 41 mating part, 42 clamping part, 401 clamping space, 402 first mating hole, 403 second mating hole;

[0041] 5. Moving rod; 51. Connecting part; 52. Moving part;

[0042] 6 washers;

[0043] 7. Sensing components, 71. Sensor, 72. Clamping pin. Detailed Implementation

[0044] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0045] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0046] like Figure 1-15 As shown, this embodiment discloses a gripper device, including: a support assembly 1; a transmission assembly 2, the transmission assembly 2 being disposed on the support assembly 1; a first gripper assembly 3, the first gripper assembly 3 being disposed on the support assembly 1; and a second gripper assembly 4, the second gripper assembly 4 being disposed on the support assembly 1 and / or the transmission assembly 2, the second gripper assembly 4 being able to rotate relative to the support assembly 1 under the control of the transmission assembly 2, the second gripper assembly 4 being able to rotate relative to the support assembly 1 in a direction toward or away from the first gripper assembly 3, and a gripping space 401 being formed between the second gripper assembly 4 and the first gripper assembly 3.

[0047] This application discloses a gripping device that can grasp or release profiles by moving the first gripper assembly 3 and the second gripper assembly 4 closer together or further apart, thus realizing the function of profile conveying. By fixing the first gripper assembly 3 and driving only the second gripper assembly 4 to rotate, the driving force requirement is significantly reduced, effectively reducing energy consumption and achieving cost reduction and efficiency improvement. This design reduces energy consumption while maintaining good clamping performance, achieving a highly efficient and energy-saving operation. The second gripper assembly 4 can rotate relative to the support assembly 1 under the control of the transmission assembly 2, resulting in a greater clamping force on the profile, enabling stable and reliable clamping and effectively preventing the profile from loosening. This design can meet the diverse needs of profile usage; by adjusting the rotation angle of the second gripper assembly 4, it can adapt to the clamping requirements of different profile specifications. Moreover, the stable clamping effect greatly improves the overall operating accuracy of the machine, ensuring the stability and reliability of the profile conveying process.

[0048] like Figure 1-2 and Figure 7-10 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the transmission assembly 2 includes a first transmission member 21 and a second transmission member 22. The first transmission member 21 is movably disposed on the support assembly 1 and is rotatable relative to the support assembly 1. The second transmission member 22 is movably connected to the first transmission member 21 and is rotatable relative to the first transmission member 21. The second gripper assembly 4 is disposed on the first transmission member 21 and / or the second transmission member 22. Through the rotational connection between the first transmission member 21 and the support assembly 1 and the rotational connection between the second transmission member 22 and the first transmission member 21, the linkage design of the first transmission member 21 and the second transmission member 22 enables the second gripper assembly 4 to apply a greater clamping force, ensuring that the profile is firmly clamped. The multi-stage rotating transmission block 212 makes the clamping action smoother and effectively prevents the profile from loosening or shifting during the clamping process.

[0049] like Figure 2-5 and Figure 7 As shown, in addition to the features of the above embodiments, this embodiment further specifies that one end of the second gripper assembly 4 is located at the connection between the first transmission member 21 and the second transmission member 22. By positioning the second gripper assembly 4 at the connection between the first transmission member 21 and the second transmission member 22, the driving force can be more effectively converted into clamping force, improving clamping stability. This design allows the gripper device to exert a greater clamping force on the profile, enabling stable and reliable clamping of the profile and effectively preventing it from loosening.

[0050] like Figure 2-5 and Figure 7As shown, in addition to the features of the above embodiments, this embodiment further specifies that the second gripper assembly 4 is located outside the second transmission member 22. By positioning the second gripper assembly 4 outside the second transmission member 22, the layout is more reasonable, enabling smoother power transmission and better power transmission performance.

[0051] like Figure 1-3 and Figure 9-10 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the first transmission member 21 includes a first connecting shaft 211, a transmission block 212, and a second connecting shaft 213. The first connecting shaft 211 is disposed on the support assembly 1, the transmission block 212 is disposed on the first connecting shaft 211, and the second connecting shaft 213 is disposed on the transmission block 212, with the second connecting shaft 213 located at the end of the transmission block 212 away from the first connecting shaft 211. The second connecting shaft 213 is used to cooperate with the second transmission member 22. The first connecting shaft 211 enables the first transmission member 21 to rotate relative to the support assembly 1, and the second connecting shaft 213 enables the first transmission member 21 to rotate relative to the second transmission member 22. This design makes the power transmission more stable and reliable, allowing the clamping device to exert a greater clamping force on the profile, resulting in better clamping stability and reliability.

[0052] like Figure 3 and Figure 11 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the second gripper assembly 4 is provided with a first mating hole 402, and the first connecting shaft 211 passes through the support assembly 1, and after passing through the support assembly 1, the first connecting shaft 211 mates with the first mating hole 402. By having the first connecting shaft 211 pass through the support assembly 1 and mate with the first mating hole 402, a stable connection structure is formed, ensuring the reliability of the power transmission path. The mating design of the first mating hole 402 and the first connecting shaft 211 ensures the accurate positioning of the second gripper assembly 4, making the gripping action more precise and reliable. This design makes the movement trajectory of the second gripper assembly 4 more stable, effectively preventing deviation during the gripping process.

[0053] like Figure 3 and Figure 11As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the second gripper assembly 4 is provided with a second mating hole 403, and the second connecting shaft 213 passes through the second transmission member 22, and after passing through the second transmission member 22, the second connecting shaft 213 mates with the second mating hole 403. By having the second connecting shaft 213 pass through the second transmission member 22 and mate with the second mating hole 403, the second gripper assembly 4 and the second transmission member 22 can rotate relative to the support assembly 1, achieving stable clamping of the profile. This design makes the movement trajectory of the second gripper assembly 4 more stable, effectively preventing the profile from shifting during the clamping process.

[0054] like Figure 1-3 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the transmission block 212 is movably disposed on the first connecting shaft 211, and the transmission block 212 is rotatable relative to the first connecting shaft 211. Because the transmission block 212 can rotate relative to the first connecting shaft 211, the second gripper assembly 4 can rotate relative to the support assembly 1 along with the first transmission member 21, realizing the operation of moving closer to or away from the first gripper assembly 3 to achieve the function of gripping and releasing the profile. This design can improve the clamping force on the profile and provide good clamping stability.

[0055] like Figure 1-3 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the second transmission member 22 is movably disposed on the second connecting shaft 213, and the second transmission member 22 is rotatable relative to the second connecting shaft 213. Because the second transmission member 22 is movably disposed on the second connecting shaft 213, the first transmission member 21 can drive the second transmission member 22 and the second gripper assembly 4 to rotate. Precise rotational coordination ensures stable and reliable clamping action, effectively increasing the clamping force on the profile.

[0056] like Figure 1-3 and Figure 9-10 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the second transmission member 22 includes a third connecting shaft 221, a first movable block 222, and a second movable block 223. One end of each of the first movable block 222 and the second movable block 223 is movably connected to the first transmission member 21, and the other end of each of the first movable block 222 and the second movable block 223 is connected to the third connecting shaft 221. The first movable block 222 and the second movable block 223 are respectively located on both sides of the first transmission member 21. By symmetrically distributing the first movable block 222 and the second movable block 223 on both sides of the first transmission member 21, stable power transmission can be ensured while effectively improving overall rigidity and connection stability.

[0057] like Figure 1-2 and Figure 4-8As shown, in addition to the features of the above embodiments, this embodiment further includes a movable rod 5, which is movably connected to the second transmission member 22. The movable rod 5 is movable relative to the support assembly 1, and when it moves relative to the support assembly 1, it has at least a first position and a second position. When the movable rod 5 moves relative to the support assembly 1 to the first position, the second transmission member 22 rotates relative to the movable rod 5 by a first angle, and when the movable rod 5 moves relative to the support assembly 1 to the second position, the second transmission member 22 rotates relative to the movable rod 5 by a second angle. Through the movement of the movable rod 5 between the first and second positions, power transmission between the first transmission member 21, the second transmission member 22, and the second gripper assembly 4 can be realized, achieving precise adjustment of the clamping action. This design can increase the clamping force on the profile and improve the stability and reliability of the clamping.

[0058] like Figure 7-8 and Figure 12 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the moving rod 5 includes a connecting part 51 and a moving part 52. The connecting part 51 is movably connected to the second transmission member 22, and the second transmission member 22 is rotatable relative to the connecting part 51. The moving part 52 is disposed on the connecting part 51. The movable connection between the connecting part 51 and the second transmission member 22 ensures that the driving force is smoothly transmitted to the second gripper assembly 4. The cooperative design of the moving part 52 and the connecting part 51 enables precise control of the stroke of the moving rod 5, making the gripper device more reliable in picking up and placing profiles.

[0059] In addition to the features of the above embodiments, this embodiment further includes a drive component, which is tractively connected to the movable rod 5 and can drive the movable rod 5 to move relative to the support component 1. The tractive connection between the drive component and the movable rod 5 enables automatic control of the clamping action, resulting in a high degree of automation.

[0060] like Figure 3 and Figure 5-8 As shown, in addition to the features of the above embodiments, this embodiment further includes a washer 6, which is disposed on the second gripper assembly 4 and / or the second transmission member 22, and is located between the second gripper assembly 4 and the second transmission member 22. By positioning the washer 6 between the second gripper assembly 4 and the second transmission member 22, the connection strength between the second gripper assembly 4 and the second transmission member 22 is enhanced. Furthermore, it effectively reduces friction and wear between components, extending service life.

[0061] like Figure 1-3 and Figure 11As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the second gripper assembly 4 includes a mating part 41 and a clamping part 42. One end of the mating part 41 is provided with a first mating hole 402, and the other end of the mating part 41 is provided with a second mating hole 403. Both the first mating hole 402 and the second mating hole 403 are movably mated with the first transmission member 21. The clamping part 42 is disposed on the mating part 41, and the clamping part 42 and the first gripper assembly 3 form the clamping space 401. The first mating hole 402 is movably mated with the first connecting shaft 211 of the first transmission member 21, and the second mating hole 403 is movably mated with the second connecting shaft 213 of the first transmission member 21, which enables the second gripper assembly 4 to rotate stably relative to the support assembly 1, thereby achieving the clamping or releasing of the profile. This design ensures that the clamping and releasing actions are smooth and reliable.

[0062] like Figure 1-5 and Figure 13-14 As shown, in addition to the features of the above embodiments, this embodiment further includes a sensing component 7, which comprises a sensor 71 and a clamping pin 72. The sensor 71 is disposed on the support component 1, and the clamping pin 72 is disposed on the support component 1 and / or the first gripper component 3. One end of the clamping pin 72 is located at or adjacent to the clamping space 401, and the other end of the clamping pin 72 can trigger the sensor 71. Through the arrangement of the clamping pin 72 and the sensor 71, the completion status of the clamping action is monitored in real time. This design provides a reliable clamping completion signal for the automation system, ensuring that subsequent operations are only performed after the profile is fully clamped in place.

[0063] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A gripping device, characterized in that, include: Support component (1); A transmission assembly (2) is disposed on the support assembly (1); The first gripper assembly (3) is disposed on the support assembly (1); The second gripper assembly (4) is disposed on the support assembly (1) and / or the transmission assembly (2). The second gripper assembly (4) is able to rotate relative to the support assembly (1) under the control of the transmission assembly (2). The second gripper assembly (4) is able to rotate relative to the support assembly (1) in a direction that is closer to or farther away from the first gripper assembly (3). A clamping space (401) is formed between the second gripper assembly (4) and the first gripper assembly (3).

2. The gripping device according to claim 1, characterized in that, The transmission assembly (2) includes a first transmission member (21) and a second transmission member (22). The first transmission member (21) is movably disposed on the support assembly (1) and can rotate relative to the support assembly (1). The second transmission member (22) is movably connected to the first transmission member (21) and can rotate relative to the first transmission member (21). The second gripper assembly (4) is disposed on the first transmission member (21) and / or the second transmission member (22).

3. The gripping device according to claim 2, characterized in that, One end of the second gripper assembly (4) is located at the connection between the first transmission member (21) and the second transmission member (22); And / or the second gripper assembly (4) is located outside the second transmission member (22).

4. The gripping device according to claim 2, characterized in that, The first transmission component (21) includes a first connecting shaft (211), a transmission block (212), and a second connecting shaft (213). The first connecting shaft (211) is disposed on the support assembly (1), the transmission block (212) is disposed on the first connecting shaft (211), and the second connecting shaft (213) is disposed on the transmission block (212) and the second connecting shaft (213) is located at the end of the transmission block (212) away from the first connecting shaft (211). The second connecting shaft (213) is used to cooperate with the second transmission component (22).

5. The gripping device according to claim 4, characterized in that, The second gripper assembly (4) is provided with a first mating hole (402), and the first connecting shaft (211) passes through the support assembly (1). After passing through the support assembly (1), the first connecting shaft (211) mates with the first mating hole (402). And / or the second gripper assembly (4) is provided with a second mating hole (403), the second connecting shaft (213) passes through the second transmission member (22), and the second connecting shaft (213) mates with the second mating hole (403) after passing through the second transmission member (22); And / or the transmission block (212) is movably disposed on the first connecting shaft (211), and the transmission block (212) is rotatable relative to the first connecting shaft (211); And / or the second transmission member (22) is movably disposed on the second connecting shaft (213), and the second transmission member (22) is rotatable relative to the second connecting shaft (213).

6. The gripping device according to claim 2, characterized in that, The second transmission component (22) includes a third connecting shaft (221), a first movable block (222), and a second movable block (223). One end of the first movable block (222) and the second movable block (223) are movably connected to the first transmission component (21), and the other end of the first movable block (222) and the second movable block (223) are connected to the third connecting shaft (221). The first movable block (222) and the second movable block (223) are located on both sides of the first transmission component (21).

7. The gripping device according to claim 2, characterized in that, It also includes a movable rod (5), which is movably connected to the second transmission member (22). The movable rod (5) is movable relative to the support assembly (1). When the movable rod (5) moves relative to the support assembly (1), it has at least a first position and a second position. When the movable rod (5) moves relative to the support assembly (1) to the first position, the second transmission member (22) rotates relative to the movable rod (5) by a first angle. When the movable rod (5) moves relative to the support assembly (1) to the second position, the second transmission member (22) rotates relative to the movable rod (5) by a second angle.

8. The gripping device according to claim 7, characterized in that, The movable rod (5) includes a connecting part (51) and a movable part (52). The connecting part (51) is movably connected to the second transmission member (22). The second transmission member (22) is rotatable relative to the connecting part (51). The movable part (52) is disposed on the connecting part (51). And / or may also include a drive assembly, which is tractively connected to the moving rod (5) and is capable of driving the moving rod (5) to move relative to the support assembly (1).

9. The gripping device according to claim 2, characterized in that, It also includes a washer (6) disposed on the second gripper assembly (4) and / or the second transmission member (22), the washer (6) being located between the second gripper assembly (4) and the second transmission member (22); And / or the second gripper assembly (4) includes a mating part (41) and a clamping part (42). One end of the mating part (41) is provided with a first mating hole (402), and the other end of the mating part (41) is provided with a second mating hole (403). The first mating hole (402) and the second mating hole (403) are both movably mated with the first transmission member (21). The clamping part (42) is disposed on the mating part (41), and the clamping space (401) is formed between the clamping part (42) and the first gripper assembly (3).

10. The gripping device according to claim 1, characterized in that, It also includes a sensing component (7), which includes a sensor (71) and a clamping pin (72). The sensor (71) is disposed on the support component (1), and the clamping pin (72) is disposed on the support component (1) and / or the first gripper component (3). One end of the clamping pin (72) is located at or adjacent to the clamping space (401), and the other end of the clamping pin (72) can trigger the sensor (71).

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