Material gripping and handling equipment

Abstract

This utility model belongs to the technical field of packaging equipment and discloses a material gripping device and a handling device. The material gripping device includes a device body, a first gripping unit, a first suction unit, and a second suction unit. The first gripping unit is disposed on the device body, and its output end is capable of gripping products along a first direction. The first suction unit is disposed on the device body and is used to absorb products. The second suction unit includes a lifting component and a first suction component. The lifting component is disposed on the device body, and the first suction component is connected to the output end of the lifting component, enabling it to absorb products. The material gripping device and handling device disclosed in this utility model can absorb products with highly irregular shapes, expanding the absorption range, improving the versatility of the material gripping device, enhancing gripping stability, and increasing the gripping reliability of the material gripping device.

Description

Technical Field

[0001] This utility model relates to the field of packaging equipment technology, and in particular to a material gripping device and handling equipment. Background Technology

[0002] In logistics packaging, packaged products need to be boxed. Generally, robotic arms are used to grab and pack the products. However, when ordinary robotic arms grab the products, the angles are not consistent, which can cause the products to bump into the box during packing, resulting in damage to the box. It may also cause the products to fall off the robotic arms, thus increasing packaging costs.

[0003] A related technology provides a robot-guided box-packing mechanism, including a box-packing fixture. The box-packing fixture includes a support plate, guide rods at the four corners of the support plate, sponge suction cups below the guide rods, and a mounting plate on the guide rods. A lifting cylinder for driving the mounting plate is mounted on the support plate, and a gripper cylinder with auxiliary grippers is located below the mounting plate. These auxiliary grippers prevent materials from falling off the box-packing fixture during packing. However, for materials with irregular suction surfaces, the limited compression of the sponge suction cups during gripping leads to unstable or weak gripping, reducing reliability and efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a material gripping device and handling equipment. It can adsorb highly irregular products, expand the adsorption range, improve the versatility of the material gripping device, enhance gripping stability, and increase the gripping reliability.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Material gripping device, including:

[0007] device body;

[0008] A first gripping unit is disposed on the device body, and the output end of the first gripping unit is capable of gripping a product along a first direction;

[0009] A first suction unit is disposed on the device body and is used to adsorb the product.

[0010] The second suction unit includes a lifting component and a first suction component. The lifting component is disposed on the device body, and the first suction component is connected to the output end of the lifting component. The first suction component is capable of adsorbing the product.

[0011] Preferably, the first suction component includes:

[0012] A suction connector is provided at the output end of the lifting assembly;

[0013] Multiple first suction elements are spaced apart on the suction connector.

[0014] Preferably, the lifting assembly includes:

[0015] A lifting and fixing component is disposed on the main body of the device;

[0016] A lifting drive component, wherein the lifting drive component is disposed on the lifting fixed component;

[0017] A lifting connector is provided, wherein the lifting connector is connected to the output end of the lifting drive component, and the first suction component is fixedly connected to the lifting connector.

[0018] Preferably, the first grasping unit includes:

[0019] A first driving component is disposed on the device body;

[0020] The first gripping component includes two first gripping members, which are connected to the output end of the first driving component. The two first gripping members move closer to or further away from each other along the first direction.

[0021] Preferably, the first gripping unit further includes a first guiding component, which includes a first guide rail and a first slider that are slidably connected. The first guide rail extends along the first direction, and one of the first guide rail and the first slider is disposed on the device body, while the other is disposed on the first gripping component.

[0022] Preferably, multiple first guide components are provided, and the multiple first guide components are spaced apart along a second direction perpendicular to the first direction.

[0023] Preferably, the material gripping device further includes a second gripping unit disposed on the device body, the second gripping unit being capable of gripping the product along a second direction perpendicular to the first direction.

[0024] Preferably, the material gripping device further includes:

[0025] A first sensor is disposed at the output end of the first gripping unit and electrically connected to the first gripping unit. The first sensor is used to detect the product.

[0026] Preferably, the material gripping device further includes a buffer element, which is disposed at the output end of the first gripping unit and can conform to the product.

[0027] The material handling equipment includes a main body and a material gripping device as described above, the material gripping device being disposed on the main body.

[0028] The beneficial effects of this utility model are:

[0029] This utility model discloses a material gripping device and a handling equipment. The material gripping device includes a device body, a first gripping unit, a first suction unit, and a second suction unit. The first gripping unit is disposed on the device body, and its output end is capable of gripping products along a first direction. The first suction unit is disposed on the device body and is used to absorb products. The second suction unit includes a lifting component and a first suction component. The lifting component is disposed on the device body, and the first suction component is connected to the output end of the lifting component. The first suction component is capable of absorbing products.

[0030] When gripping a product, the output end of the first gripping unit grips the product, and the first adsorption unit adsorbs the product. Simultaneously, the lifting component is activated, driving the first suction component to rise and fall, adsorbing the product. The first suction component and the first suction unit assist the first gripping unit in gripping the product. The addition of the lifting component and the first suction component increases the lifting and adjustment capability of the first suction component, enabling the adsorption of products with irregular heights, expanding the adsorption range, improving the versatility of the material gripping device, enhancing gripping stability, and increasing the gripping reliability of the material gripping device. Attached Figure Description

[0031] Figure 1 This is a top view of the material gripping device provided in this embodiment of the utility model;

[0032] Figure 2 This is a first side view of the material gripping device provided in this embodiment of the utility model;

[0033] Figure 3 This is a second side view of the material gripping device provided in this embodiment of the utility model.

[0034] In the picture:

[0035] 1. Device body;

[0036] 2. First gripping unit; 21. First drive assembly; 211. First drive component; 212. First driven wheel; 213. First timing belt; 22. First gripping assembly; 221. First gripper; 23. First guide assembly; 231. First guide rail; 232. First slider;

[0037] 3. Second gripping unit; 31. Second drive assembly; 311. Second drive component; 312. Second driven wheel; 313. Second timing belt; 32. Second gripping assembly; 321. Second gripper; 33. Second guide assembly; 331. Second guide rail; 332. Second slider;

[0038] 4. First absorption unit;

[0039] 5. Second suction unit; 51. Lifting drive component; 52. First suction component;

[0040] 6. First sensor; 7. Second sensor. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] In the description of this embodiment, the terms "upper," "lower," "right," 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.

[0045] This embodiment provides a material gripping device, such as... Figures 1-3 As shown, the device includes a device body 1, a first gripping unit 2, a first suction unit 4, and a second suction unit 5. The first gripping unit 2 is disposed on the device body 1, and its output end is capable of gripping products along a first direction. The first suction unit 4 is disposed on the device body 1 and is used to absorb products. The second suction unit 5 includes a lifting assembly and a first suction assembly. The lifting assembly is disposed on the device body 1, and the first suction assembly is connected to the output end of the lifting assembly. The first suction assembly is capable of absorbing products.

[0046] When gripping a product, the output end of the first gripping unit 2 grips the product, and the first suction unit 4 adsorbs the product. Simultaneously, the lifting component is activated, driving the first suction component to rise and fall, adsorbing the product. The first suction component and the first suction unit 4 assist the first gripping unit 2 in gripping the product. The addition of the lifting component and the first suction component increases the lifting and adjusting capability of the first suction component, enabling it to adsorb products with irregular heights, expanding the adsorption range, improving the versatility of the material gripping device, enhancing gripping stability, and increasing the gripping reliability of the material gripping device.

[0047] Optionally, such as Figure 1 As shown, in this embodiment, the first suction unit 4 is a sponge suction cup. In other embodiments, the first suction unit 4 can also be an electric vacuum suction cup, etc. No limitation is made here.

[0048] Optionally, such as Figure 2 and Figure 3 As shown, in this embodiment, two second suction units 5 are provided, and the two second suction units 5 are arranged parallel to each other and spaced apart on the outer periphery of the first suction unit 4 along the first direction. In other embodiments, one, three, or four second suction units 5 are provided. No limitation is made here.

[0049] Optionally, such as Figure 2As shown, the first suction component includes a suction connector and multiple first suction elements 52. The suction connector is located at the output end of the lifting component, and the multiple first suction elements 52 are spaced apart on the suction connector. The lifting component can drive the multiple first suction elements 52 to move up and down, achieving height adjustment. The spaced arrangement of the multiple first suction elements 52 allows for simultaneous adsorption of different parts of the product. Through a "multi-point collaborative adsorption" mechanism, the force on the product is balanced, and the stability of product gripping is improved. It should be noted that the first suction element 52 is a buffer suction cup. In other embodiments, the first suction element 52 can also be a flat vacuum suction cup or a corrugated tube vacuum suction cup, etc. No limitation is made here. It should also be noted that the suction connector is a Z-shaped connecting plate. In other embodiments, the suction connector can also be a connecting frame, etc. No limitation is made here.

[0050] Specifically, such as Figure 2 and Figure 3 As shown, in this embodiment, two first suction members 52 are provided, and the two first suction members 52 are arranged parallel to each other along a second direction perpendicular to the first direction. In other embodiments, there may be one, three, four, or five first suction members 52, etc. No limitation is made here. More specifically, in this embodiment, four first suction members 52 surround the outer periphery of the first suction unit 4.

[0051] Optionally, such as Figures 1-3 As shown, the lifting assembly includes a lifting fixing component (not shown), a lifting drive component 51, and a lifting connecting component (not shown). The lifting fixing component is disposed on the device body 1, the lifting drive component 51 is disposed on the lifting fixing component, the lifting connecting component is drivenly connected to the output end of the lifting drive component 51, and the first suction component is fixedly connected to the lifting connecting component. When a product is gripped, the lifting drive component 51 is activated, driving the lifting connecting component to rise and fall, and simultaneously driving the first suction component to rise and fall to adsorb the product. The above configuration realizes the lifting and adsorption of the product. In this embodiment, the lifting fixing component is a lifting fixing plate, and the lifting drive component 51 is threadedly connected to the lifting fixing component. In other embodiments, the lifting fixing component is a lifting fixing frame, and the lifting drive component 51 is threadedly connected to the lifting fixing component, etc. No limitation is made here.

[0052] Specifically, in this embodiment, the lifting drive component 51 is a lifting cylinder. In other embodiments, the lifting drive component 51 may also be a linear motor or a rotary motor, etc. No limitation is imposed here.

[0053] Specifically, in this embodiment, the lifting connector is fixedly connected to the output end of the lifting drive 51. In other embodiments, the lifting connector is connected to the output end of the lifting drive 51 via a gear and rack structure, or via a worm gear structure, etc. No limitation is made here. It should be noted that in this embodiment, the lifting connector is a connecting plate. In other embodiments, the lifting connector is a connecting rod or a connecting block, etc. No limitation is made here.

[0054] Optionally, such as Figures 1-3 As shown, the first gripping unit 2 includes a first driving component 21 and a first gripping component 22. The first driving component 21 is disposed on the device body 1. The first gripping component 22 includes two first gripping elements 221, which are tractively connected to the output end of the first driving component 21. The two first gripping elements 221 move closer to or further away from each other along a first direction. When the first driving component 21 is activated, causing the two first gripping elements 221 to move closer to each other, the product can be clamped and gripped. When the first driving component 21 is activated, causing the two first gripping elements 221 to move further away from each other, the gripped product can be released. It should be noted that the first gripping element 221 is a first gripper.

[0055] Optionally, such as Figures 1-3 As shown, in this embodiment, the first drive assembly 21 includes a first drive member 211, a first drive wheel, a first driven wheel 212, and a first synchronous belt 213. The first drive member 211 is threadedly connected to the device body 1. The output end of the first drive member 211 is coaxially fixed to the first drive wheel. The first driven wheel 212 is spaced apart from the first drive wheel along a first direction and is rotatably connected to the device body 1. The first synchronous belt 213 is sleeved on the outer periphery of the first drive wheel and the first driven wheel 212 and is meshed with the first drive wheel and the first driven wheel 212. Two first gripping members 221 are respectively fixedly connected to the first synchronous belt 213. When the first driving member 211 is activated, it drives the first driving wheel, which is coaxially fixed with it, to rotate around its axis. Simultaneously, through the first synchronous belt 213, it drives the first driven wheel 212 to rotate synchronously. The first synchronous belt 213 rotates between the first driving wheel and the first driven wheel 212, simultaneously causing the two first gripping members 221, which are fixedly connected to the first synchronous belt 213, to move closer or further apart in a first direction to grip or release the product. In other embodiments, the first driving member 211 is connected to the two first gripping members 221 through a first sprocket and chain structure, or the first driving member 211 is connected to the two first gripping members 221 through a first gear and rack structure, etc. No limitations are imposed here.

[0056] Specifically, in this embodiment, the first driving component 211 is a first motor reducer. In other embodiments, the first driving component 211 may also be a first double-acting cylinder, etc. No limitation is made here.

[0057] Optionally, such as Figures 1-3 As shown, the first gripping unit 2 also includes a first guide assembly 23, which includes a first guide rail 231 and a first slider 232 that are slidably connected. The first guide rail 231 extends along a first direction. One of the first guide rail 231 and the first slider 232 is disposed on the device body 1, and the other is disposed on the first gripping assembly 22. The interconnected first guide rail 231 and first slider 232 can not only provide support for the first gripping assembly 22, but also ensure that the first gripping assembly 22 performs stable and precise linear motion on the device body 1. The cooperation between the first guide rail 231 and the first slider 232 restricts unnecessary degrees of freedom, thereby improving the motion accuracy and stability of the first gripping unit 2.

[0058] Specifically, such as Figures 1-3 As shown, in this embodiment, the first slider 232 is disposed on the device body 1, and the first guide rail 231 is disposed on the first gripping component 22. In other embodiments, the first slider 232 is disposed on the first gripping component 22, and the first guide rail 231 is disposed on the device body 1. No limitation is made here. More specifically, in this embodiment, the first guide rail 231 is threadedly connected to the first gripping member 221.

[0059] Specifically, such as Figures 1-3 As shown, multiple first guide components 23 are provided, and these multiple first guide components 23 are spaced apart along a second direction perpendicular to the first direction. The arrangement of multiple first guide components 23 allows for more uniform and stable guidance of the movement of the first gripper 221 along the first direction. It should be noted that in this embodiment, two first guide components 23 are provided. In other embodiments, one, three, or four first guide components 23 may be provided, etc. No limitation is made here.

[0060] Optionally, such as Figures 1-3 As shown, the material gripping device also includes a second gripping unit 3, which is disposed on the device body 1. The second gripping unit 3 is capable of gripping the product along a second direction perpendicular to the first direction. The two sets of mutually perpendicular gripping units can grip the product simultaneously from all sides, increasing the gripping stability of the product.

[0061] Optionally, such as Figures 1-3As shown, the second gripping unit 3 includes a second driving component 31 and a second gripping component 32. The second driving component 31 is disposed on the device body 1. The second gripping component 32 includes two second gripping elements 321, which are tractively connected to the output end of the second driving component 31. The two second gripping elements 321 move closer to or further away from each other along a second direction. When the second driving component 31 is activated, causing the two second gripping elements 321 to move closer to each other, the product can be clamped and gripped. When the second driving component 31 is activated, causing the two second gripping elements 321 to move further away from each other, the gripped product can be released. It should be noted that the second gripping element 321 is a second gripper.

[0062] Optionally, such as Figures 1-3 As shown, in this embodiment, the second drive assembly 31 includes a second drive member 311, a second drive wheel, a second driven wheel 312, and a second synchronous belt 313. The second drive member 311 is threadedly connected to the device body 1. The output end of the second drive member 311 is coaxially fixed with the second drive wheel. The second driven wheel 312 is spaced apart from the second drive wheel along the second direction and is rotatably connected to the device body 1. The second synchronous belt 313 is sleeved on the outer periphery of the second drive wheel and the second driven wheel 312 and is meshed with the second drive wheel and the second driven wheel 312. Two second gripping members 321 are respectively fixedly connected to the second synchronous belt 313. When the second drive member 311 is activated, it drives the second driving wheel, which is coaxially fixed with it, to rotate around its axis. Simultaneously, through the second synchronous belt 313, it drives the second driven wheel 312 to rotate synchronously. The second synchronous belt 313 rotates between the second driving wheel and the second driven wheel 312, simultaneously causing the two second gripping members 321, which are fixedly connected to the second synchronous belt 313, to move closer or further apart in a second direction to grip or release the product. In other embodiments, the second drive member 311 is connected to the two first gripping members 221 through a second sprocket and chain structure, or the second drive member 311 is connected to the two second gripping members 321 through a second gear and rack, etc. No limitations are imposed here.

[0063] Specifically, in this embodiment, the second driving component 311 is a second motor reducer. In other embodiments, the second driving component 311 may also be a second double-acting cylinder, etc. No limitation is made here.

[0064] Optionally, such as Figures 1-3As shown, the second gripping unit 3 also includes a second guide assembly 33. The second guide assembly 33 includes a second guide rail 331 and a second slider 332 that are slidably connected. The second guide rail 331 extends along a second direction. One of the second guide rail 331 and the second slider 332 is disposed on the device body 1, and the other is disposed on the second gripping assembly 32. The interconnected second guide rail 331 and the second slider 332 can both provide support for the second gripping assembly 32 and ensure that the second gripping assembly 32 performs stable and precise linear motion on the device body 1. The cooperation between the second guide rail 331 and the second slider 332 restricts unnecessary degrees of freedom, thereby improving the motion accuracy and stability of the second gripping unit 3.

[0065] Specifically, such as Figures 1-3 As shown, in this embodiment, the second slider 332 is disposed on the device body 1, and the second guide rail 331 is disposed on the second gripping component 32. In other embodiments, the second slider 332 is disposed on the second gripping component 32, and the second guide rail 331 is disposed on the device body 1. No limitation is made here. More specifically, in this embodiment, the second guide rail 331 is threadedly connected to the second gripping member 321.

[0066] Specifically, such as Figures 1-3 As shown, multiple second guide components 33 are provided, and these multiple second guide components 33 are spaced apart along the first direction. The arrangement of multiple second guide components 33 can guide the movement of the second gripper 321 along the second direction more evenly and smoothly. It should be noted that in this embodiment, two second guide components 33 are provided. In other embodiments, one, three, or four second guide components 33 may also be provided, etc. No limitation is made here.

[0067] Optionally, such as Figure 2 and Figure 3 As shown, the material gripping device also includes a first sensor 6, which is disposed at the output end of the first gripping unit 2 and electrically connected to the first gripping unit 2. The first sensor 6 is used to detect the product. The first sensor 6 is disposed on the first gripping member 221. When the first sensor 6 detects a product, the first driving member 211 drives the two first gripping members 221 to move closer together, and the second driving member 311 drives the two second gripping members 321 to move closer together to grip the product. Simultaneously, the sponge suction cup and the first suction member 52 adsorb the product. It should be noted that in this embodiment, each first gripping member 221 is provided with two first sensors 6. In other embodiments, each first gripping member 221 is provided with one, three, or four first sensors 6, etc. No limitation is made here. It should be noted that the first sensor 6 is electrically connected to the first driving member 211.

[0068] It should be noted that the first sensor 6 is an existing structure, and any existing sensor can be used as long as it can detect the presence of the product. Further details will not be provided here.

[0069] Optionally, such as Figure 2 and Figure 3 As shown, the material gripping device also includes a second sensor 7, which is disposed at the output end of the second gripping member 321 and electrically connected to the second driving member 311. The second sensor 7 is used to identify the product's code. When the second driving member 311 drives the two second gripping members 321 close to the product, the second sensor 7 identifies the code on the product, facilitating the recording of the product information. It should be noted that in this embodiment, each second gripping member 321 is provided with two second sensors 7. In other embodiments, each second gripping member 321 is provided with one, three, or four second sensors 7, etc. No limitation is made here.

[0070] It should be noted that the second sensor 7 is an existing structure, and any existing sensor can be used as long as it can identify the product's code. Further details will not be provided here.

[0071] Specifically, in this embodiment, the material gripping device further includes a controller, and the first sensor 6, the second sensor 7, the first drive component 211, the second drive component 311, the lifting drive component 51 and the first suction unit 4 are all electrically connected to the controller.

[0072] It should be noted that the controller is existing technology. The controller in this embodiment can be any type of existing controller and can be connected to the first sensor 6, the second sensor 7, the first drive unit 211, the second drive unit 311, the lifting drive unit 51, and the first suction unit 4 using any connection method. Further details will not be provided here.

[0073] Optionally, such as Figures 1-3 As shown, the material gripping device also includes a buffer (not shown in the figure), which is disposed at the output end of the first gripping unit 2 and can conform to the product. The presence of the buffer prevents the first gripping unit 2 from making hard contact with the product, reducing wear, indentations, and other damage to the product surface. Furthermore, the buffer can adapt to minor unevenness on the product surface through its own elastic or flexible deformation, improving the fit during gripping and indirectly enhancing gripping stability. Simultaneously, the buffer cushions the impact force at the moment of gripping, reducing the risk of the product falling or deforming due to excessive force. It should be noted that in this embodiment, the buffer is disposed on the opposite sides of the two first gripping units 221.

[0074] Specifically, in this embodiment, buffers are also provided on the opposite sides of the two second gripping members 321.

[0075] This embodiment also provides a material handling device, including a device body and a material gripping device, the material gripping device being disposed on the device body. By applying the material gripping device to the device body, highly irregular products can be adsorbed, expanding the adsorption range, improving the versatility of the material gripping device, enhancing gripping stability, and increasing the gripping reliability of the material gripping device.

[0076] 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. A material gripping device, characterized in that, include: Device body(1); The first gripping unit (2) is disposed on the device body (1), and the output end of the first gripping unit (2) can grip the product along the first direction; The first suction unit (4) is disposed on the device body (1) and is used to adsorb the product. The second suction unit (5) includes a lifting component and a first suction component. The lifting component is disposed on the device body (1), and the first suction component is connected to the output end of the lifting component. The first suction component can adsorb the product.

2. The material gripping device of claim 1, wherein, The first suction component includes: A suction connector is provided at the output end of the lifting assembly; A plurality of first suction members (52) are spaced apart on the suction connector.

3. The material grabbing device of claim 1, wherein, The lifting assembly includes: A lifting and fixing component is provided on the device body (1); A lifting drive component (51) is disposed on the lifting fixing component; The lifting connector is connected to the output end of the lifting drive (51) and the first suction component is fixedly connected to the lifting connector.

4. The material gripping device of claim 1, wherein, The first grasping unit (2) includes: The first drive component (21) is disposed on the device body (1); The first gripping component (22) includes two first gripping members (221), which are connected to the output end of the first driving component (21) in a transmission manner. The two first gripping members (221) move closer to or further away from each other along the first direction.

5. The material gripping device of claim 4, wherein, The first gripping unit (2) further includes a first guide component (23), which includes a first guide rail (231) and a first slider (232) that are slidably connected. The first guide rail (231) extends along the first direction. One of the first guide rail (231) and the first slider (232) is disposed on the device body (1), and the other is disposed on the first gripping component (22).

6. The material gripping device of claim 5, wherein, The first guide component (23) is provided in multiple ways, and the multiple first guide components (23) are spaced apart along a second direction perpendicular to the first direction.

7. A material gripping device according to any one of claims 1-6, characterized in that The material gripping device further includes a second gripping unit (3), which is disposed on the device body (1). The second gripping unit (3) is capable of gripping the product along a second direction perpendicular to the first direction.

8. A material gripping device according to any one of claims 1-6, characterized in that The material gripping device further includes: The first sensor (6) is located at the output end of the first gripping unit (2) and is electrically connected to the first gripping unit (2). The first sensor (6) is used to detect the product.

9. A material gripping device according to any one of claims 1-6, characterized in that The material gripping device also includes a buffer, which is disposed at the output end of the first gripping unit (2) and can fit against the product.

10. A handling device, characterized in that, The apparatus comprises an apparatus body and a material gripping device as claimed in any one of claims 1-9, which is arranged on the apparatus body.

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