A gripper device

Abstract

The utility model relates to a kind of gripper device, including driving member and gripper component, wherein the fixed end of the driving member is fixed on workbench by support, the movable end of the driving member is fixed into an organic whole with gripper component, and the setting of common movement;Gripper component is driven under the driving of driving member, can rotate freely with respect to workbench Angle, to realize the switching of different work stations on gripper part, realize the continuity of operation, and can be self-adapting movement with workpiece shape during work, ensure that every clamp can effectively constrain workpiece, can ensure that workpiece is not damaged or deformed;It is favorable to the accuracy, stability of processing, simplifies subsequent work adjustment, improves yield, this device runs smoothly, action amplitude is small, energy consumption is low, sustainability is good, efficiency is high, meet the needs of high-speed processing.

Description

Technical Field

[0001] This utility model belongs to the technical field of automated production equipment in intelligent manufacturing, and specifically relates to a gripper device for workpiece processing. Background Technology

[0002] The production of betel nuts was originally mostly done manually. However, with the development of industrialization and intelligentization, as well as the growing demand in the betel nut market, the processing of betel nuts needs to rely on industrialization and intelligentization to replace the relatively inefficient manual production.

[0003] In the processing of areca nuts, workpieces need to be picked up and sent to the processing station. After processing, the workpieces are sent to the discharge port or area to coordinate with the main processing steps. Manual transfer is slow and lacks continuity, which is not conducive to automated production line operations.

[0004] Currently, in the overall processing technology of areca nuts, the inconsistent particle size poses a significant challenge to the automated grasping process. Existing picking mechanisms, designed with multi-link reciprocating motion mechanisms, suffer from large motion amplitude, poor stability, high energy consumption, and low efficiency limits. When the size and shape of the objects being processed vary greatly, simple clamps have poor adaptability, are not easy to grasp securely, have a single force point, and are prone to damaging the workpiece. After grasping, the workpiece's shape is restricted by the clamps, resulting in a complex workpiece posture that is not conducive to subsequent processing.

[0005] In view of this, the present invention aims to provide a gripping device that can adaptively move according to the shape of the workpiece during operation, ensuring that each gripper can effectively constrain the workpiece and prevent damage or deformation; it can automatically reset, which is beneficial to the accuracy and stability of processing, simplifies subsequent work adjustments, and improves the yield. This device operates smoothly, has a small range of motion, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model provides a gripper device that can adaptively move according to the shape of the workpiece during operation, ensuring that each gripper can effectively constrain the workpiece and prevent damage or deformation. It can automatically reset, which is beneficial to the accuracy and stability of processing, simplifies subsequent work adjustments, and improves the yield. This device operates smoothly, has a small range of motion, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing.

[0007] To achieve the above objectives, the technical solution of this utility model embodiment is implemented as follows: A gripper device includes a driving component and a gripper component. The fixed end of the driving component is fixed to the worktable via a bracket, and the movable end of the driving component is integrated with the gripper component and moved together. Driven by the driving component, the gripper component can rotate freely relative to the worktable to switch between different work positions, enabling continuous operation. During operation, the gripper unit can adaptively float according to the workpiece shape, ensuring that each gripper effectively constrains the workpiece and prevents damage or deformation. The gripper unit can automatically reset, improving processing accuracy and stability, simplifying subsequent adjustments, and increasing yield. This device operates smoothly, with small movement amplitude, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing.

[0008] Furthermore, it also includes a reducer and a coupling, wherein the reducer and the coupling are disposed between the drive component and the gripper component, and are integrally connected to the movable end of the drive component, and are configured to move together.

[0009] Furthermore, it also includes a slip ring mechanism disposed on the gripper component and drivenly connected to the gripper component, the slip ring mechanism being located on the side opposite to the driving component and being coaxially arranged with the driving component.

[0010] Furthermore, the slip ring mechanism is detachably fixed to the gripper component, located on the side opposite to the drive component, and is arranged coaxially with the drive component.

[0011] Furthermore, the gripper component includes a gripper body, a body drive shaft, and at least one gripper assembly, wherein the gripper body is a polygonal column with a central opening; the body drive shaft is embedded inside the central opening of the gripper body and is detachably fixedly connected to the gripper body; the gripper assemblies are arranged in a circular array on the peripheral outer surface of the gripper body and extend along the radial direction of the gripper body.

[0012] Furthermore, the gripper assembly includes a clamping base and a mechanical clamping assembly. The clamping base is a receiving housing with one end open and the other end having a through hole. The mechanical clamping assembly passes through the clamping base and is linked to the distributor.

[0013] Furthermore, the gripper assembly also includes a mounting shaft that passes through the middle of the mechanical clamping assembly, and the mechanical clamping assembly is movably fixed to the clamping fixture via the mounting shaft.

[0014] Furthermore, the mechanical clamp assembly includes at least one mechanical clamp, which is a clamping mechanism with one end open, and the other end of which is drivably fixed inside the receiving cavity of the clamp fixing seat; the mounting shaft passes through the mechanical clamp and is movably fixed to the clamp fixing seat as a whole.

[0015] Furthermore, the gripper assembly also includes a reset component that is sleeved on the movable end of the mechanical clamping group and detachably fixed to the clamping fixture.

[0016] Furthermore, the gripper component also includes at least one sensor group, which is fixed to the gripper body and electrically connected to the control system.

[0017] The areca nut processing gripper device provided in the above embodiments, through multiple gripper components arranged on the outer peripheral side of the gripper body, can provide continuous gripping operations, featuring good continuity, high efficiency, and the ability to meet high-speed processing requirements. Driven by a drive source, one or more retractable mechanical clamps with wedge-shaped openings are driven. Each mechanical clamp has one or more degrees of freedom along a direction perpendicular to the mounting axis, thereby achieving a floating connection with the clamping base. When gripping an irregularly shaped target, each mechanical clamp in the clamping group can adaptively float, providing effective clamping, thus achieving intelligent adaptive picking of irregularly shaped workpieces. A reset component, sleeved on the movable end of the clamping group and detachably fixed to the clamping base, allows the mechanical... The clamping assembly acts as a constraint during the picking process, enabling the mechanical clamping assembly to automatically return to center, thereby driving the workpiece to align or approach the centerline, simplifying the complex procedures of subsequent processing. Driven by the drive component, the gripper components can rotate freely relative to the worktable, allowing for switching between different workstations on the gripper section and enabling continuous operation. Furthermore, it can adaptively move according to the workpiece's shape during operation, ensuring that each clamp effectively constrains the workpiece, thus reducing the force requirements on individual clamps and preventing workpiece damage or deformation. Automatic reset improves processing accuracy and stability, simplifies subsequent adjustments, and increases yield. This device operates smoothly, with small movement amplitude, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating a usage scenario of the gripper device in an embodiment. Figure 2 This is a schematic diagram of the gripper device shown in the embodiment; Figure 3 This is a schematic diagram of the structure of a gripper assembly suitable for a gripper device, as shown in the embodiment. Figure 4 This is a schematic diagram of the structure of a gripper assembly suitable for a gripper device, as shown in the embodiment. Figure 5 A schematic diagram of a gripper assembly suitable for a gripper device is shown for an embodiment. Figure 6 Another schematic diagram of a gripper assembly suitable for a gripper device is shown for an embodiment. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] It should be noted that if any directional indication, such as up, down, left, right, front, back, etc., is involved in the embodiments of this utility model, such directional indication is only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indication will also change accordingly. Furthermore, if any description involving "first," "second," "S1," "S2," "step one," "step two," etc., is involved in the embodiments of this utility model, such description is only for descriptive purposes and should not be construed as indicating or implying their relative importance, or implicitly indicating the number of technical features indicated or the execution order of the method. Those skilled in the art will understand that anything that does not violate the essential points of the utility model within the scope of its inventive concept should be included within the protection scope of this utility model.

[0021] like Figure 1 As shown in the illustration, a processing apparatus using a gripper device is described, taking betel nut processing as an example. This processing apparatus is used for processing workpiece 100 and includes a feeding section, such as a vibratory feeder 20, spaced apart on a worktable 10, and a transmission section 30, such as a conveyor belt. The input end of the transmission section 30 is located at the output end of the vibratory feeder 20. It also includes… The flipping section 40 flips and arranges the workpieces during the workpiece conveying process, forming an orderly arrangement; The gripper device 50 picks up the workpiece and places it in the processing position; The cutting section 60 performs processes such as piercing, cutting, tearing, picking out, and removing from the workpiece to complete the final processing. The flipping part 40, the gripping device 50 and the cutting part 60 are arranged on the worktable 10 at intervals via brackets. The flipping part 40 is located at the output end of the transmission part 30, the gripping device 50 is located at the output end of the flipping part 40, and the cutting part 60 is located at the output end of the gripping device 50, along the workpiece travel direction.

[0022] The processing flow of this betel nut, for example, is as follows: after the betel nut is conveyed by the vibrating plate 20 and the transmission unit 30, its internal cavity needs to be processed and cleaned. It needs to be grabbed by the gripping device 50 and its front side exposed to the cutting part. The betel nut is removed by piercing, cutting, breaking, picking out and removing, etc., for subsequent production processing.

[0023] In this process, areca nuts are output from the conveyor 30 in a single line and are sequentially picked up by the gripper device 50 and sent to the cutting section 60 for pit removal. The work efficiency is low. The key to this utility model is to provide a gripper device that moves adaptively with the shape of the workpiece, ensuring that each clamp can effectively constrain the workpiece and prevent damage or deformation. It can also automatically reset, which is beneficial to the accuracy and stability of the processing, thereby improving the efficiency of areca nut processing.

[0024] like Figures 2 to 6 As shown in the illustration, a gripper device 50 according to a partially exemplary embodiment includes a drive member 51 and a gripper member 54. The fixed end of the drive member 51 is fixed to the worktable 10 via a bracket, and the movable end of the drive member 51 is integrated with the gripper member 54 and moves together. Preferably, the drive member 51 is a stepper motor. Thus, driven by the drive member 51, the gripper member 54 can rotate freely relative to the worktable 10, enabling switching between different work positions on the gripper device 50, achieving continuous operation. During operation, the gripper unit can adaptively float according to the workpiece shape, ensuring that each gripper effectively constrains the workpiece and prevents damage or deformation. The gripper unit can automatically reset, which improves processing accuracy and stability, simplifies subsequent adjustments, and increases yield. This device operates smoothly, with small movement amplitude, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing.

[0025] Optionally, Figure 2 This is a schematic diagram of the gripper device shown in an embodiment. Figure 2 As shown, the gripper device 50 also includes a reducer 52 and a coupling 53. The reducer 52 and the coupling 53 are disposed between the drive member 51 and the gripper member 54, and are integrally connected to the movable end of the drive member 51, moving together. Specifically, the movable end of the drive member 51 is driven to the gripper member 54 through the reducer 52 and the coupling 53.

[0026] Furthermore, the gripper device 50 also includes a slip ring mechanism 55 disposed on and drivenly connected to the gripper component 54. Preferably, to improve the smoothness of the gripper component 54's operation, the slip ring mechanism 55 is detachably fixed to the gripper component 54, located on the side opposite to the drive component 51, and coaxially arranged with the drive component 51. Preferably, it also includes a control system electrically connected to the slip ring mechanism 55; therefore, under the control of the control system, the slip ring mechanism converts the electrical signals of the driving medium, sensor, microcontroller, and microvalve from a linear rigid connection to a rotatable flexible connection, thereby achieving precise control of the drive component and realizing the intelligent operation of the gripper device.

[0027] Specifically, the movable end of the slip ring mechanism 55 is connected to one side of the gripper component 54, and is integrally connected with the movable ends of the main drive shaft 545, coupling 53, and drive component 51, moving together, and extending along the axial direction of the drive component 51. Preferably, the movable end of the slip ring mechanism 55 is integrally connected with the gripper component 54, and is arranged to move together.

[0028] Figure 3 This is another structural schematic diagram of the gripper device shown in the embodiment. Optionally, as shown... Figure 3 As shown, the gripper component 54 includes a gripper body 541, a body drive shaft 545, and at least one gripper assembly 542. The gripper body 541 is a polygonal cylinder with a central opening. The body drive shaft 545 is embedded in the central opening of the gripper body 541 and is rotatably connected to the gripper body 541. The gripper assemblies 542 are arranged in a circular array on the outer peripheral surface of the gripper body 541 and extend along the radial direction of the gripper body 541. Thus, the body drive shaft can conveniently drive the gripper body to rotate along its central axis, thereby driving multiple gripper assemblies arranged on the outer peripheral side of the gripper body, realizing the switching of multiple gripper assemblies in turn, thereby providing continuous gripping operations with good continuity, high efficiency, and the ability to meet high-speed processing requirements.

[0029] Preferably, the gripper component 54 further includes at least one distributor 543 spaced apart and fixed on the gripper body 541, the distributor 543 being driven to connect with the gripper assembly 542. Further, the gripper assembly 542 is driven to connect with at least one distributor 543. Preferably, the number of distributors 543 is adapted to the number of gripper assemblies 542. Optionally, the distributor 543 is a working medium connector, such as a high-pressure gas, electric, and / or hydraulic manifold.

[0030] In addition, the distributor 543 can also be an electrically driven electric pump. The specific structure or other structural shape that achieves the same function should be easy for those skilled in the art to conceive of, so it will not be described in detail here.

[0031] Optionally, the gripper component 54 further includes at least one sensor group 544, which is fixed to the gripper body 541 and electrically connected to the control system. Specifically, the sensor group 544 includes a first sensor 5441 for monitoring and providing feedback on the action signal of the gripper component 542, and a second sensor 5442 for monitoring and providing feedback on the release of the gripper component 542. The first sensor 5441 and the second sensor 5442 are configured to link data and are electrically connected to the control system for data exchange and logical calculations.

[0032] In a specific embodiment of this application, when the gripper component 54 rotates cyclically, each gripper assembly 542 sequentially enters the workstation. The monitoring signals from the first sensor 5441 and the second sensor 5442, along with other signals, are used for logical calculations to determine whether the gripper assembly 542 at the workstation has activated or released. Furthermore, a slip ring mechanism 55 connects to the power source (electricity, air pressure source, hydraulic source, etc.), controller (computer, PLC, programmer, logic circuit, etc.), and controllable valves (switches) (relays, electric valves, electronic power components, hydraulic valves, etc.) of the working medium, which are necessary for management or control. The aforementioned controllers and controllable valves (switches) can also be all or partly arranged in the gripper body 541 or the clamp fixing seat 5421.

[0033] Optionally, Figure 4 This is a schematic diagram of the gripper assembly shown in the embodiment, such as... Figure 4 As shown, the gripper assembly 542 includes a clamping base 5421 and a mechanical clamping assembly 5422. The clamping base 5421 is a receiving housing with one end open and the other end having a through hole. The mechanical clamping assembly 5422 passes through the clamping base 5421 and is connected to the distributor 543. Preferably, the gripper assembly 542 also includes a mounting shaft 5424 passing through the middle of the mechanical clamping assembly 5422, and the mechanical clamping assembly 5422 is movably fixed to the clamping base 5421 via the mounting shaft 5424.

[0034] Specifically, the mechanical clamping assembly 5422 includes at least one mechanical clamp 5422a, which is a clamping mechanism with one open end and the other end drivably fixed inside the receiving cavity of the fixture fixing seat 5421. The mounting shaft 5424 passes through the mechanical clamp 5422a and is movably fixed to the fixture fixing seat 5421 as a whole. Preferably, the open end of the mechanical clamp 5422a has a wedge-shaped opening. Thus, under the action of the driving source, one or more mechanical clamps 5422a with wedge-shaped openings are driven to be telescopically set. Each mechanical clamp 5422a has one or more degrees of freedom along the direction perpendicular to the axis of the mounting shaft 5424, thereby achieving flexible fixation with the fixture fixing seat 5421. When clamping an irregularly shaped target, each mechanical clamp 5422a in the mechanical clamping assembly 5422 can intelligently and adaptively float and has an effective clamping effect, thereby achieving reliable picking up of irregularly shaped workpieces 100.

[0035] Preferably, the mechanical clamping assembly 5422 includes three mechanical clamps 5422a, so that when the mechanical clamping assembly 5422 clamps the workpiece 100, it does not rely on one or a few mechanical clamps 5422a to apply force, making the clamping force of the entire mechanical clamping assembly 5422 more uniform, reliable and stable, while not easily damaging the workpiece.

[0036] Optionally, the gripper assembly 542 also includes a reset member 5423 sleeved on the movable end of the mechanical clamping group 5422 and detachably fixed to the clamping base 5421; thus, when the mechanical clamping group 5422 plays a restraining role during the picking process, the mechanical clamping group 5422 can automatically return to the center, thereby driving the workpiece 100 to tend to the center line and move closer to the center line of the clamp, simplifying the complex procedures of subsequent processing.

[0037] like Figure 5 and Figure 6 As shown, when the gripper assembly 542 is clamping an irregular workpiece 100, each individual mechanical clamp 5422a in the gripper assembly 542 will deflect (float) around the mounting axis 5424 at an angle according to the shape of the workpiece 100 to adapt to the position required for clamping and picking up. At this time, the angle or position of the mechanical clamps 5422a in the gripper assembly 542 are different. Under the action of the reset member 5423, a reset restoring force is applied to the deflected mechanical clamps 5422a, so that each mechanical clamp 5422a forms a tightly connected whole, causing the mechanical clamps 5422a clamping the workpiece 100 to reset to the mounting position, and finally achieve overall balance. Figure 5 and Figure 6In one embodiment shown, when the driving medium of the single mechanical clamp 5422a in the middle position is controlled by the distributor 543, it moves to the left in the figure after resisting the deformation of the reset member 5423 caused by the shape of the workpiece 100, and then uses its wedge-shaped opening to pick up the workpiece 100. For example, under the control of the controller, the working medium acts as a driving force on the single mechanical clamp to realize the corresponding action. At the same time, the mechanical clamp 5422a that has picked up the workpiece 100 will be subjected to the rightward force of the reset member 5423. Based on the deformation of the reset member 5423, the adjacent mechanical clamps 5422b and 5422c connected to the same reset member 5423 are subjected to opposite forces, i.e. Figure 6 The leftward reaction force minimizes the distance h between the longitudinal axis aa of the clamped workpiece 100 and the axis oo of the mounting shaft 5424, and minimizes the angle α between the longitudinal axis a of the workpiece 100 and the axis of the mounting shaft 5424. Compared to using a single mechanical clamp, this results in more and more evenly distributed force points, reducing the pressure on individual force points of the workpiece 100 and protecting its surface from damage. Simultaneously, the increased force-bearing area makes the workpiece 100 more stable and less prone to slipping. This ensures that the workpiece 100 is more aligned with the axis of the mounting shaft 5424 when gripped, better meeting subsequent processing requirements and simplifying the subsequent handling process. After releasing the workpiece 100, the mechanical clamps 5422a automatically return to their neat arrangement. The entire gripping assembly features a compact structure, low cost, safe and stable gripping, high precision, high efficiency, and the ability to achieve flexible clamping.

[0038] Furthermore, the specific structure of the reset component is not specifically limited here. It can be a rubber sleeve, a film, or a combination of one or more of the following: a spring, a steel wire, a magnetic mechanism, a pneumatic mechanism, or an electromagnetic mechanism. The specific structural design of the reset mechanism should be easy for those skilled in the art to conceive of, so it will not be described in detail here.

[0039] In summary, the gripper device provided in this application embodiment, through multiple gripper components disposed on the outer peripheral side of the gripper body, can provide continuous gripping operations, featuring good continuity, high efficiency, and the ability to meet high-speed processing requirements. Driven by a driving source, one or more retractable mechanical clamps with wedge-shaped openings are driven. Each mechanical clamp has one or more degrees of freedom along a direction perpendicular to the mounting axis, thereby achieving a floating connection with the clamping base. When gripping an irregularly shaped target, each mechanical clamp in the clamping group can adaptively float, providing effective clamping, thus achieving adaptive picking of irregularly shaped workpieces. A reset component, sleeved on the movable end of the mechanical clamping group and detachably fixed to the clamping base, provides a constraint during picking, allowing the mechanical clamping group to automatically return to center, thereby driving the workpiece to align with the centerline and approach (e.g., ...). Figure 6 With smaller h and smaller α, the complex procedures for subsequent processing are simplified. The gripper component can rotate freely relative to the worktable under the drive of the drive component, so as to realize the switching of different working positions on the gripper section, realize continuous operation, and can intelligently and adaptively move according to the shape of the workpiece during operation, ensuring that each clamp can effectively constrain the workpiece, thereby reducing the force requirements of individual clamps and ensuring that the workpiece is not damaged or deformed. It can automatically reset, which is beneficial to the accuracy and stability of processing, simplifies subsequent work adjustments, and improves the yield. This device operates smoothly, has a small range of motion, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing.

[0040] Furthermore, the control system described in this application can control the starting and stopping of the motor. The configuration of the control system is well known to those skilled in the art and will not be described in detail here.

[0041] The gripper device provided in the above embodiments of this application has at least the following characteristics: The gripper device provided in this application, through multiple gripper components arranged on the outer peripheral side of the gripper body, can provide continuous gripping operations, featuring good continuity, high efficiency, and the ability to meet high-speed processing requirements. Driven by a drive source, one or more retractable mechanical clamps with wedge-shaped opening clamping mechanisms are driven. Each mechanical clamp has one or more degrees of freedom along a direction perpendicular to the mounting axis, thus achieving a floating connection with the clamping base. When gripping an irregularly shaped target, each mechanical clamp in the clamping group can adaptively float, providing effective clamping, thereby achieving intelligent adaptive picking of irregularly shaped workpieces. A reset component, sleeved on the movable end of the clamping group and fixed to the clamping base, allows the clamping group to adjust its position during the picking process. During the process, it acts as a constraint, enabling the mechanical clamping assembly to automatically return to center, thereby driving the workpiece to align and approach the centerline, simplifying the complex procedures of subsequent processing. Driven by the drive component, the gripper components can rotate freely relative to the worktable, allowing for switching between different workstations and continuous operation. Furthermore, it intelligently and adaptively moves according to the workpiece's shape, ensuring that each clamp effectively constrains the workpiece, thus reducing the force requirements on individual clamps and preventing workpiece damage or deformation. Automatic reset improves processing accuracy and stability, simplifies subsequent adjustments, and increases yield. This device operates smoothly, with small movement amplitude, low energy consumption, good continuity, and high efficiency, meeting the needs of high-speed processing.

[0042] The above description is merely a specific embodiment of this utility model. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should all be considered to be within the scope of this specification.

[0043] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, 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 gripper device, characterized in that It includes a drive component (51) and a gripper component (54), wherein the fixed end of the drive component (51) is fixed on the worktable (10) by a bracket, and the movable end of the drive component (51) is fixed together with the gripper component (54) and is configured to move together; The gripper component (54) includes a gripper body (541), a body drive shaft (545), and at least one gripper assembly (542). The gripper body (541) is a polygonal column with a central opening. The body drive shaft (545) is embedded in the central opening of the gripper body (541) and is detachably fixedly connected to the gripper body (541). The gripper assemblies (542) are arranged in a circular array on the peripheral outer surface of the gripper body (541) and extend along the radial direction of the gripper body (541).

2. The gripper device of claim 1, wherein It also includes a reducer (52) and a coupling (53), wherein the reducer (52) and the coupling (53) are disposed between the drive member (51) and the gripper member (54), and are connected to the movable end of the drive member (51) as a whole, and are configured to move together.

3. The gripper device of claim 1, wherein It also includes a slip ring mechanism (55) that is detachably fixed to the gripper member (54) and drivenly connected to the gripper member (54), the slip ring mechanism (55) being located on the side opposite to the drive member (51) and being arranged coaxially with the drive member (51).

4. The gripper device of claim 3, wherein The slip ring mechanism (55) is detachably fixed to the gripper component (54).

5. The gripper device according to claim 1, characterized in that, The gripper assembly (542) includes a clamp fixing seat (5421) and a mechanical clamping group (5422). One end of the clamp fixing seat (5421) is open, and the other end is a receiving shell with a through hole. The mechanical clamping group (5422) passes through the clamp fixing seat (5421) and is connected to the distributor (543).

6. The gripper device according to claim 5, characterized in that, The gripper assembly (542) also includes a mounting shaft (5424) that passes through the middle of the mechanical clamping group (5422), and the mechanical clamping group (5422) is movably fixed to the clamp fixing seat (5421) by the mounting shaft (5424).

7. The gripper device according to claim 6, characterized in that, The mechanical clamp assembly (5422) includes at least one mechanical clamp (5422a), which is a clamping mechanism with one open end and the other end is drivably fixed inside the receiving cavity of the clamp fixing seat (5421); the mounting shaft (5424) passes through the mechanical clamp (5422a) and is movably fixed to the clamp fixing seat (5421) as a whole.

8. The gripper device according to claim 7, characterized in that, The gripper assembly (542) also includes a reset member (5423) that is sleeved on the movable end of the mechanical clamp (5422) and detachably fixed to the clamp fixing seat (5421).

9. The gripper device according to any one of claims 1 to 8, characterized in that, The gripper component (54) further includes at least one sensor group (544), which is fixed to the gripper body (541) and electrically connected to the control system.

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